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Humanoid robot heads for human-robot interaction:A review

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Science China(Technological Sciences) 2024年第2期67卷 357-379页

作者： li Yi ZHU liXiang ZHAng ZiQian GUO MingFei li ZhiXin li YanBiao HASHIMOTO Minoru Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education Zhejiang University of TechnologyHangzhou 310023China Zhejiang Provincial Key Laboratoryof Special Purpose Equipment and Advanced Processing Technology Zhejang Universityof Technology Hangzhou 310023 China Faculy of Textile Science and Technology Shinshu UniversityUeda 386-8567Japan

The humanoid robot head plays an important role in the emotional expression of human-robot interaction(HRI).They are emerging in industrial manufacturing,business reception,entertainment,teaching assistance,and tour *** recent years,significant progress has been made in the field of humanoid ***,there is still a lack of humanoid robots that can interact with humans naturally and *** review comprises a comprehensive survey of state-of-the-art technologies for humanoid robot heads over the last three decades,which covers the aspects of mechanical structures,actuators and sensors,anthropomorphic behavior control,emotional expression,and human-robot ***,the current challenges and possible future directions are discussed.

关键词： humanoid robot head anthropomorphic behaviors emotional expression human-robot interaction

LPCS Ni-Zn-Al_(2)O_(3) Intermediate Layer Enhanced SPS NiCr-Cr_(3)C_(2) Coating with Higher Corrosion and Wear Resistances

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Journal of Wuhan University of Technology(Materials Science) 2024年第1期39卷 188-195页

作者：白杨 li Yan XIng Lukuo li Xiangbo WAng Zhenhua State Key Laboratory of Marine Coatings Marine Chemical Research Institute Co.Ltd.Qingdao 266071China College of Mechanical and Electrical Engineering University of China Petroleum(East China)Qingdao 266580China Science and Technology on Marine Corrosion and Protection Laboratory Luoyang Ship Materials Research InstituteQingdao 266101China

The double-layer NiCr-Cr_(3)C_(2)/Ni-Zn-Al_(2)O_(3) coatings with sufficient corrosion and wear resistance were prepared on low carbon steel *** intermediate layers Ni-Zn-Al_(2)O_(3) were fabricated by using low-pressure cold spray (LPCS) method to improve the salt fog corrosion resistance properties of the supersonic plasma spray (SPS) NiCr-Cr_(3)C_(2) *** friction and wear performance for the double-layer and single-layer NiCr-Cr_(3)C_(2) coatings were carried out by line-contact reciprocating sliding,*** with the coating surface analysis techniques,the effect of the salt fog corrosion on the tribological properties of the double-layer coatings was *** results showed that the double-layer coatings exhibited better wear resistance than that of the single-layer coatings,due to the better corrosion resistance of the intermediate layer;the wear mass losses of the double-layer coatings was reduced by 70%than that of the single layer coatings and the wear mechanism of coatings after salt fog corrosion conditions is mainly corrosion wear.

关键词： low-pressure cold spray NiCr-Cr_(3)C_(2)coating wear behavior salt fog corrosion

Erosion-induced recovery CO_(2) sink offset the horizontal soil organic carbon removal at the basin scale

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Science China Earth Sciences 2024年第6期67卷 2019-2033页

作者： lingxia WAng Xiaodong NIE Jiaqi li Yaojun liU Hui WAng Yazhe li Zhongwu li School of Geographic Science Hunan Normal UniversityChangsha 410081China Institute of Interdisciplinary Studies Hunan Normal University and Hunan Provincial Key Laboratory for Eco-environmental Changes and Carbon Sequestration of the Dongting Lake BasinChangsha 410081China College of Environmental Science and Engineering Hunan University and Key Laboratory of Environmental Biology and Pollution Control(Hunan University)Ministry of EducationChangsha 410082China

To improve soil carbon sequestration capacity,the full soil carbon cycle process needs to be understood and *** is essential to evaluate whether water erosion acts as a net source or sink of atmospheric CO_(2)at the basin scale,which encompasses the entire hydrological *** study introduced an approach that combined a spatially distributed sediment delivery model and biogeochemical model to estimate the lateral and vertical carbon fluxes by water erosion at the basin *** this coupling model to the Dongting Lake Basin,the results showed that the annual average amount of soil erosion during 1980-2020 was 1.33×10^(8)t,displaying a decreasing trend followed by a slight *** 12% of the soil organic carbon displacement was ultimately lost in the riverine systems,and the rest was deposited downhill within the *** average lateral soil organic carbon loss induced by erosion was 8.86×10^(11)g C in 1980 and 1.50×10^(11)g C in 2020,with a decline rate of 83%.A net land sink for atmospheric CO_(2)of 5.54×1011g C a^(-1)occurred during erosion,primarily through sediment burial and dynamic ***,ecological restoration projects and tillage practice policies are still significant in reducing erosion,which could improve the capacity of the carbon sink for recovery beyond the rate of horizontal carbon ***,our model enables the spatial explicit simulation of erosion-induced carbon fluxes using costeffective and easily accessible input data across large spatial scales and long ***,it offers a valuable tool for predicting the interactions between carbon dynamics,land use changes,and future climate.

关键词： Water erosion Sediment transfer Lateral soil carbon loss Land-atmosphere CO_(2) flux Dongting Lake Basin

Advanced Algorithm for Parameters Estimation of Negative Binomial Distribution with High Dimensional Sparse Group Structure

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Journal of Systems Science & Complexity 2024年第5期37卷 2173-2195页

作者： li Meiqi JIN Baisuo School of Management University of Science and Technology of China

Negative binomial regression is a powerful technique for modeling count data, particularly when dealing with overdispersion. However, estimating the parameters for large-dimensional sparse models is challenging due to the complexity of optimizing the mean and dispersion parameter of the negative binomial distribution. To address this issue, the authors propose a novel approach that employs two iterations of the majorize-minimize(MM) algorithm, one for estimating the dispersion parameter and the other for estimating the mean parameters. These approaches improve the convergence speed and stability of the algorithm. The authors also use group penalty for variable selection, which enhances the accuracy and efficiency of the algorithm. The proposed method provides an explicit solution,simplifies the iteration process, and maintains good stability while ensuring algorithm ***, the authors apply the proposed algorithm to the zero-inflated model and demonstrate its promising predictive performance on specific data sets. The research has important implications for count data modeling and analysis in various fields, such as data mining, machine learning, and bioinformatics.

关键词： Group structure majorize-minimize (MM) negative binomial

Observation and verification of surface electrical explosion driven by radial-distributed pulsed current in laboratory lightning strike test

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High Voltage 2024年第1期9卷 137-149页

作者： Ruoyu Han Yuchen Cao Yakun liu Xi Chen Ting li Chen li Pengfei li State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijingChina School of Mechatronical Engineering Beijing Institute of TechnologyBeijingChina Department of Electrical Engineering Shanghai Jiaotong UniversityShanghaiChina Beijing Institute of Astronautical System Engineering BeijingChina Aerospace Research Institute of Materials and Processing Technology BeijingChina

The laboratory lightning test is essential for assessing the effectiveness of lightning strike protection(LSP).Particularly,direct lightning strike damage can be performed with pulsed current injection into the *** paper focuses on the dynamic process of arc plasma and shock wave behaviour in the vicinity of the‘strike’point.A rod-plate discharge load is built for testing aluminium and coated plate under 40-kA-level pulsed *** visualisation of the luminous discharge plasma and its flow field via high-speed photography(from different angles)is meticulously designed and implemented,synchronised with electro-physical *** results indicate some new mechanisms for lightning strike damage,apart from the impulse heat loading from the thermal *** transient current injection through the arc root concentrates on a thin skin layer(skin-depth effect),with the radial-attenuated current density,driving asynchronously electrical explosions on the plate *** inhomogeneous Joule heating of the plate leads to outwardly propagating phase transition and shock wave along the conductive *** addition,the electro-thermal instability is observed and regarded as the seed of irregular erosion *** information reveals two different plasma states of main discharge arc channel and adjacent surface electrical *** correspondence of the physical mechanism of electrical explosion and optical radiation is *** images for different regions depict erosion characteristics and summarise influencing factors,further confirming the mechanism *** research clarifies the role of skin-depth effect in transaction arc erosion for electrode,complements the electrical explosion theory with unevenly distributed current and helps optimise strategies of LSP.

关键词： electrical lightning radial

Optimal pivot path of the simplex method for linear programming based on reinforcement learning

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Science China Mathematics 2024年第6期67卷 1263-1286页

作者： Anqi li Tiande Guo Congying Han Bonan li Haoran li School of Mathematical Sciences University of Chinese Academy of SciencesBeijing100049China

Based on the existing pivot rules,the simplex method for linear programming is not polynomial in the worst ***,the optimal pivot of the simplex method is *** this paper,we propose the optimal rule to find all the shortest pivot paths of the simplex method for linear programming problems based on Monte Carlo tree ***,we first propose the SimplexPseudoTree to transfer the simplex method into tree search mode while avoiding repeated basis ***,we propose four reinforcement learning models with two actions and two rewards to make the Monte Carlo tree search suitable for the simplex ***,we set a new action selection criterion to ameliorate the inaccurate evaluation in the initial *** is proved that when the number of vertices in the feasible region is C_(n)^(m),our method can generate all the shortest pivot paths,which is the polynomial of the number of *** addition,we experimentally validate that the proposed schedule can avoid unnecessary search and provide the optimal pivot ***,this method can provide the best pivot labels for all kinds of supervised learning methods to solve linear programming problems.

关键词： simplex method linear programming pivot rules reinforcement learning

Multi-Level Image Segmentation Combining Chaotic Initialized Chimp Optimization Algorithm and Cauchy Mutation

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Computers, Materials & Continua 2024年第8期80卷 2049-2063页

作者： Shujing li Zhangfei li Wenhui Cheng Chenyang Qi linguo li School of Computer and Information Engineering Fuyang Normal UniversityFuyang236041China

To enhance the diversity and distribution uniformity of initial population,as well as to avoid local extrema in the Chimp Optimization Algorithm(CHOA),this paper improves the CHOA based on chaos initialization and Cauchy ***,Sin chaos is introduced to improve the random population initialization scheme of the CHOA,which not only guarantees the diversity of the population,but also enhances the distribution uniformity of the initial ***,Cauchy mutation is added to optimize the global search ability of the CHOA in the process of position(threshold)updating to avoid the CHOA falling into local ***,an improved CHOA was formed through the combination of chaos initialization and Cauchy mutation(CICMCHOA),then taking fuzzy Kapur as the objective function,this paper applied CICMCHOA to natural and medical image segmentation,and compared it with four algorithms,including the improved Satin Bowerbird optimizer(ISBO),Cuckoo Search(ICS),*** experimental results deriving from visual and specific indicators demonstrate that CICMCHOA delivers superior segmentation effects in image segmentation.

关键词： Image segmentation image thresholding chimp optimization algorithm chaos initialization Cauchy mutation

Self-assembly of perovskite nanocrystals:From driving forces to applications

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Journal of Energy Chemistry 2024年第1期88卷 561-578,I0013页

作者： Yi li Fei Zhang School of Chemical Engineering and Technology Tianjin UniversityTianjin 300072China Collaborative Innovation Center of Chemical Science and Engineering(Tianjin) Tianjin 300072China

Self-assembly of metal halide perovskite nanocrystals(NCs)into superlattices can exhibit unique collective properties,which have significant application values in the display,detector,and solar cell *** review discusses the driving forces behind the self-assembly process of perovskite NCs,and the commonly used self-assembly methods and different self-assembly structures are ***,we summarize the collective optoelectronic properties and application areas of perovskite superlattice ***,we conclude with an outlook on the potential issues and future challenges in developing perovskite NCs.

关键词： Self-assembly Metal halide perovskite Nanocrystals Driving forces

lightweight Malicious Code Classification Method Based on Improved Squeeze Net

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Computers, Materials & Continua 2024年第1期78卷 551-567页

作者： li li Youran Kong Qing Zhang School of Computer and Control Engineering Northeast Forestry UniversityHarbin150040China

With the growth of the Internet,more and more business is being done online,for example,online offices,online education and so *** this makes people’s lives more convenient,it also increases the risk of the network being attacked by malicious ***,it is important to identify malicious codes on computer systems ***,most of the existing malicious code detection methods have two problems:(1)The ability of the model to extract features is weak,resulting in poor model performance.(2)The large scale of model data leads to difficulties deploying on devices with limited ***,this paper proposes a lightweight malicious code identification model lightweight Malicious Code Classification Method Based on Improved SqueezeNet(LCMISNet).In this paper,the MFire lightweight feature extraction module is constructed by proposing a feature slicing module and a multi-size depthwise separable convolution *** feature slicing module reduces the number of parameters by grouping *** multi-size depthwise separable convolution module reduces the number of parameters and enhances the feature extraction capability by replacing the standard convolution with depthwise separable convolution with different convolution kernel *** addition,this paper also proposes a feature splicing module to connect the MFire lightweight feature extraction module based on the feature reuse and constructs the lightweight model *** malicious code recognition accuracy of LCMISNet on the BIG 2015 dataset and the Malimg dataset reaches 98.90% and 99.58%,*** proves that LCMISNet has a powerful malicious code recognition *** addition,compared with other network models,LCMISNet has better performance,and a lower number of parameters and computations.

关键词： lightweight neural network malicious code classification feature slicing feature splicing multi-size depthwise separable convolution