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Capturability-based Fuzzy Footstep Planner for a Biped Robot with Centroidal Compliance

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Journal of Bionic Engineering 2024年第1期21卷 84-100页

作者： Zihan Xu qin Fang yong Ren Chengju Liu Robot and Artificial Intelligence Lab(RAIL) College of Electronic and Information EngineeringTongji UniversityShanghai 201804China Applied Technology College Soochow UniversitySuzhou 215000China

Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious *** force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled *** this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be *** fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired *** fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external *** validate the presented methods,a series of experiments on a real humanoid robot are *** results verify the effectiveness of the proposed balance control framework.

关键词： Biped walking Centroidal compliance Gravity projection observer Fuzzy footstep planner

Evaluation and Projection of Population Exposure to Temperature Extremes over the Beijing−Tianjin−Hebei Region Using a High-Resolution Regional Climate Model RegCM4 Ensemble

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Advances in Atmospheric Sciences 2024年第6期41卷 1132-1146页

作者： Peihua qin Zhenghui xie Rui HAN Buchun LIU State Key Laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical Fluid Dynamics(LASG) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Institute of Environment and Sustainable Development in Agriculture Chinese Academy of Agricultural Sciences(CAAS)Beijing 100081China

Temperature extremes over rapidly urbanizing regions with high population densities have been scrutinized due to their severe impacts on human safety and *** of all,the performance of the regional climate model RegCM4 with a hydrostatic or non-hydrostatic dynamic core in simulating seasonal temperature and temperature extremes was evaluated over the historical period of 1991–99 at a 12-km spatial resolution over China and a 3-km resolution over the Beijing−Tianjin−Hebei(JJJ)region,a typical urban agglomeration of *** of spatial distributions of temperature extremes over the JJJ region using RegCM4 with hydrostatic and non-hydrostatic cores showed high spatial correlations of more than 0.8 with the *** a warming climate,temperature extremes of annual maximum daily temperature(TXx)and summer days(SU)in China and the JJJ region showed obvious increases by the end of the 21st century while there was a general reduction in frost days(FD).The ensemble of RegCM4 with different land surface components was used to examine population exposure to temperature extremes over the JJJ *** exposure to temperature extremes was found to decrease in 2091−99 relative to 1991−99 over the majority of the JJJ region due to the joint impacts of increases in temperature extremes over the JJJ and population decreases over the JJJ region,except for downtown ***,changes in population exposure to temperature extremes were mainly dominated by future population ***,we quantified changes in exposure to temperature extremes with temperature increase over the JJJ *** study helps to provide relevant policies to respond future climate risks over the JJJ region.

关键词： CMIP6 convection-permitting population exposure RegCM4 temperature extremes

Application of texture signatures based on multiparameter-magnetic resonance imaging for predicting microvascular invasion in hepatocellular carcinoma:Retrospective study

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World Journal of Gastrointestinal Oncology 2024年第4期16卷 1309-1318页

作者： Hai-Yang Nong yong-Yi Cen Mi qin Wen-Qi qin You-Xiang xie Lin Li Man-Rong Liu Ke Ding Department of Radiology The Third Affiliated Hospital of Guangxi Medical UniversityNanning 530031Guangxi Zhuang Autonomous RegionChina Department of Radiology The Affiliated Hospital of Youjiang Medical University for NationalitiesBaise 533000Guangxi Zhuang Autonomous RegionChina Department of Radiology The First Affiliated Hospital of Guangxi University of Traditional Chinese MedicineNanning 530031Guangxi Zhuang Autonomous RegionChina Department of Hepatobiliary Surgery The Third Affiliated Hospital of Guangxi Medical UniversityNanning 530031Guangxi Zhuang Autonomous RegionChina Department of Ultrasound The Third Affiliated Hospital of Guangxi Medical UniversityNanning 530031Guangxi Zhuang Autonomous RegionChina

BACKGROUND Despite continuous changes in treatment methods,the survival rate for advanced hepatocellular carcinoma(HCC)patients remains low,highlighting the importance of diagnostic methods for *** To explore the efficacy of texture analysis based on multi-parametric magnetic resonance(MR)imaging(MRI)in predicting microvascular invasion(MVI)in preoperative *** This study included 105 patients with pathologically confirmed HCC,categorized into MVI-positive and MVI-negative *** employed Original Data Analysis,Principal Component Analysis,Linear Discriminant Analysis(LDA),and Non-LDA(NDA)for texture analysis using multi-parametric MR images to predict preoperative *** effectiveness of texture analysis was determined using the B11 program of the MaZda4.6 software,with results expressed as the misjudgment rate(MCR).RESULTS Texture analysis using multi-parametric MRI,particularly the MI+PA+F dimensionality reduction method combined with NDA discrimination,demonstrated the most effective prediction of MVI in *** accuracy in the pulse and equilibrium phases was 83.81%.MCRs for the combination of T2-weighted imaging(T2WI),arterial phase,portal venous phase,and equilibrium phase were 22.86%,16.19%,20.95%,and 20.95%,*** area under the curve for predicting MVI positivity was 0.844,with a sensitivity of 77.19%and specificity of 91.67%.CONCLUSION Texture analysis of arterial phase images demonstrated superior predictive efficacy for MVI in HCC compared to T2WI,portal venous,and equilibrium *** study provides an objective,non-invasive method for preoperative prediction of MVI,offering a theoretical foundation for the selection of clinical therapy.

关键词： Magnetic resonance imaging Hepatocellular carcinoma Texture analysis Microvascular invasion

Microstructure and mechanical properties of Ti/Al/Ti clad plates prepared via powder-in-tube method

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Journal of Iron and Steel Research International 2024年第3期31卷 670-687页

作者： Xian-lei Hu qin-cheng xie Yi Yuan Ying Zhi State Key Laboratory of Rolling and Automation Northeastern UniversityShenyang 110819LiaoningChina Suzhou Dongbao Haixing Metal Material Technology Co. Ltd.Suzhou 215600JiangsuChina School of Material Science and Engineering Northeastern UniversityShenyang 110819LiaoningChina

The Ti/Al/Ti clad plates exhibit a broad spectrum of potential ***,the conventional techniques of hot-pressing composite and explosive composite are intricate and environmentally hazardous.A novel method was introduced for preparing clad plates,namely,the powder-in-tube *** method involves a combination of cold rolling,annealing at a temperature of 550℃,and double *** morphology of the intermetallic compound layer was analyzed through the utilization of interface stripping test,tensile test,and microscopic *** interface morphology,interface bonding properties,tensile fracture structures,and properties of plates under the first and second rolling were compared,along with the effects of intermetallic compounds on the interface *** results indicate that the powder-in-tube method,when annealed at 550℃,can produce a composite plate featuring a complete and uniform Ti/Al *** obtained plate exhibits a peeling strength of 21.5 N/mm,tensile strength of 424 MPa,and elongation of 11.5%.Furthermore,a systematic analysis was conducted to determine the causes of performance degra-dation observed during annealing at temperatures of 600 and 650℃.

关键词： Powder-in-tube method-Ti/Al/Ti clad plate Annealing Cold rolling-Mechanical property

C-F insertion reaction sheds new light on the construction of fluorinated compounds

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Chinese Chemical Letters 2024年第8期35卷 163-169页

作者： Dong-Sheng Deng Su-qin Tang yong-Tu Yuan Ding-Xiong xie Zhi-Yuan Zhu Yue-Mei Huang Yun-Lin Liu Henan Key Laboratory of Function-Oriented Porous Materials and College of Chemistry and Chemical EngineeringLuoyang Normal UniversityLuoyang 471934China School of Chemistry and Chemical Engineering Guangzhou UniversityGuangzhou 510006China Key Laboratory of Organofluorine Chemistry Shanghai Institute of Organic ChemistryChinese Academy of SciencesShanghai 200032China

The atom-economical C-F insertion chemistry is emerged as a promising technology for the synthesis of various fluorinated scaffolds,which have wide applications both in the academic and the industrial *** past three years have witnessed rapid developments in this *** highlight provides an overview on the evolution according to the fluorinating agents used.

关键词： C-F insertion Benzyl fluoride Acyl fluoride gem-Difluorocyclopropane Fluorinated scaffold

Dynamic ocean inverse modeling based on differentiable rendering

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Computational Visual Media 2024年第2期10卷 279-294页

作者： Xueguang xie Yang Gao Fei Hou Aimin Hao Hong qin State Key Lab of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China qingdao Research Institute Beihang UniversityQingdao 266100Chinaand Peng Cheng LabShenzhen 518000China SKLCS Institute of SoftwareChinese Academy of SciencesBeijing 100190Chinaand University of Chinese Academy of SciencesBeijing 100049China Department of Computer Science Stony Brook University(SUNY at Stony Brook)Stony BrookNew York 11794-2424USA

Learning and inferring underlying motion patterns of captured 2D scenes and then re-creating dynamic evolution consistent with the real-world natural phenomena have high appeal for graphics and *** bridge the technical gap between virtual and real environments,we focus on the inverse modeling and reconstruction of visually consistent and property-verifiable oceans,taking advantage of deep learning and differentiable physics to learn geometry and constitute waves in a self-supervised ***,we infer hierarchical geometry using two networks,which are optimized via the differentiable *** extract wave components from the sequence of inferred geometry through a network equipped with a differentiable ocean ***,ocean dynamics can be evolved using the reconstructed wave *** extensive experiments,we verify that our new method yields satisfactory results for both geometry reconstruction and wave ***,the new framework has the inverse modeling potential to facilitate a host of graphics applications,such as the rapid production of physically accurate scene animation and editing guided by real ocean scenes.

关键词： inverse modeling surface reconstruction wave modeling ocean waves differentiable rendering(DR)

Empirical likelihood for spatial cross-sectional data models with matrix exponential spatial specification

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Applied Mathematics(A Journal of Chinese Universities) 2024年第1期39卷 125-139页

作者： LIU Yan RONG Jian-rong qin yong-song Nanning University Nanning 530200China Center for Applied Mathematics of Guangxi and College of Mathematics and Statistics Guangxi Normal UniversityGuilin 541004China

In this paper,we study spatial cross-sectional data models in the form of matrix exponential spatial specification(MESS),where MESS appears in both dependent and error *** empirical likelihood(EL)ratio statistics are established for the parameters of the MESS *** is shown that the limiting distributions of EL ratio statistics follow chi-square distributions,which are used to construct the confidence regions of model *** experiments are conducted to compare the performances of confidence regions based on EL method and normal approximation method.

关键词： MESS empirical likelihood con dence region

Control Policy Learning Design for Vehicle Urban Positioning via BeiDou Navigation

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Journal of Systems Science & Complexity 2024年第1期37卷 114-135页

作者： qin Yahang ZHANG Chengye CHEN Ci xie Shengli LEWIS Frank L School of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Key Laboratory of IoT Information Technology Guangzhou 510006China. Center for Intelligent Batch Manufacturing Based on IoT Technology Key Laboratory of Intelligent Detection and The Internet of Things in Manufacturing Ministry of EducationGuangzhou 510006China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou 510006China Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of EducationGuangzhou 510006China. UTA Research Institute The University of Texas at ArlingtonFort WorthTX 76019USA

This paper presents a learning-based control policy design for point-to-point vehicle positioning in the urban environment via BeiDou *** navigating in urban canyons,the multipath effect is a kind of interference that causes the navigation signal to drift and thus imposes severe impacts on vehicle localization due to the reflection and diffraction of the BeiDou ***,the authors formulated the navigation control system with unknown vehicle dynamics into an optimal control-seeking problem through a linear discrete-time system,and the point-to-point localization control is modeled and handled by leveraging off-policy reinforcement learning for feedback *** proposed learning-based design guarantees optimality with prescribed performance and also stabilizes the closed-loop navigation system,without the full knowledge of the vehicle *** is seen that the proposed method can withstand the impact of the multipath effect while satisfying the prescribed convergence rate.A case study demonstrates that the proposed algorithms effectively drive the vehicle to a desired setpoint under the multipath effect introduced by actual experiments of BeiDou navigation in the urban environment.

关键词： BeiDou navigation multipath effect prescribed convergence rate reinforcement learning urban localization.

Geochemical characteristics,generation,and evolution mechanism of coalbed methane in the south-western Ordos Basin,China

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Frontiers of Earth Science 2024年第2期18卷 296-311页

作者： Yabing LIN yong qin Dongmin MA Shengquan WANG College of Geology and Environment Xi’an University of Science and TechnologyXi’an 710054China Key Laboratory of Coalbed Methane Resource and Reservoir Formation Process(the Ministry of Education) China University of Mining and TechnologyXuzhou 221008China Shaanxi Provincial Key Laboratory of Geological Support for Coal Green Exploitation Xi’an 710054China

The south-western Ordos Basin is rich in low-middle rank coalbed methane(CBM)resources;while the geochemical characteristics and genetic mechanism of CBM are not ***,according to geological and geochemical test data from gas and coal seam water from CBM wells in Bingchang,Jiaoxun,Huangling,yonglong,and Longdong minging areas,we systematically studied the geochemical characteristics,generation,and evolution mechanism of CBM in Jurassic Yan’an Formation in the south-western Ordos *** results show that the CH4 content of whole gas is in the range of 42.01%-94.72%.The distribution ranges of theδ^(13)C-CH_(4)value is−87.2‰to−32.5‰,indicating diverse sources of thermogenic gas and biogenic *** microbial methane is mainly generated by a CO_(2)reduction pathway,with certain methyl-type fermentation ***δ^(13)C-CH_(4)has a positive correlation with burial depth,indicating the obvious fractionation of *** relationship between the genetic types and burial depth of the CBM reservoir indicates that the favorable depth of secondary biogenic gas is less than 660 *** Late Cretaceous Yanshanian Movement led to the uplift of the Ordos Basin,and a large amount of thermogenic gas escaped from the edge of the *** the Paleogene Period,the coal reservoir in the basin margin has received recharge from atmospheric precipitation,which is favorable for the formation of secondary biogenic *** deep area,generally under 1000 m,mainly contains residual thermogenic *** intermediate transition zone is mixed *** by the tectonic background,the genetic types of CBM in different mining areas are controlled by the coupling of burial depth,coal rank,and hydrogeological *** Binchang mining area contains biogenic gas,and the development of CBM has achieved initial success,indicating that similar blocks with biogenic gas formation conditions is key to the efficient development of *** research results provide a scientific basis for

关键词： coalbed methane stable isotopes geochemistry generation and evolution mechanism Ordos Basin