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Brain Cognition Mechanism-Inspired Hierarchical Navigation Method for Mobile Robots

Journal of Bionic Engineering 2024年第2期21卷 852-865页

作者： Qiang Zou Chengdong Wu ming cong Dong {2. Faculty of Robot Science and Engineering Northeastern UniversityShenyang110819China School of Mechanical Engineering Dalian University of TechnologyDalian116024China

Autonomous navigation is a fundamental problem in *** methods generally build point cloud map or dense feature map in perceptual space;due to lack of cognition and memory formation mechanism,traditional methods exist poor robustness and low cognitive *** a new navigation technology that draws inspiration from mammal’s navigation,bionic navigation method can map perceptual information into cognitive space,and have strong autonomy and environment *** improve the robot’s autonomous navigation ability,this paper proposes a cognitive map-based hierarchical navigation ***,the mammals’navigation-related grid cells and head direction cells are modeled to provide the robots with location *** then a global path planning strategy based on cognitive map is proposed,which can anticipate one preferred global path to the target with high efficiency and short ***,a hierarchical motion controlling method is proposed,with which the target navigation can be divided into several sub-target navigation,and the mobile robot can reach to these sub-targets with high confidence ***,some experiments are implemented,the results show that the proposed path planning method can avoid passing through obstacles and obtain one preferred global path to the target with high efficiency,and the time cost does not increase extremely with the increase of experience nodes *** motion controlling results show that the mobile robot can arrive at the target successfully only depending on its self-motion information,which is an effective attempt and reflects strong bionic properties.

关键词： Bionic navigation Spatial localization cells Global path planning Hierarchical motion controlling

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A Constrained Local Neighborhood Approach for Efficient Markov Blanket Discovery in Undirected Independent Graphs

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Computers, Materials & Continua 2024年第8期80卷 2535-2555页

作者： Kun liu Peiran Li yu Zhang JiaRen {2. Li Xianyu Wang cong Li School of Information and Communication Engineering Hainan UniversityHaikou570228China National Key Laboratory of Science and Technology on Space Microwave China Academy of Space Technology Xi’anXi’an710100China Strategic Emerging Industries Department CRSC Communication&Information Group Co.Ltd.Beijing100070China Military Representative Bureau of the Army Equipment Department in Xi’an Xi’an710032China

When learning the structure of a Bayesian network,the search space expands significantly as the network size and the number of nodes increase,leading to a noticeable decrease in algorithm *** constraint-based methods typically rely on the results of conditional independence ***,excessive reliance on these test results can lead to a series of problems,including increased computational complexity and inaccurate results,especially when dealing with large-scale networks where performance bottlenecks are particularly *** overcome these challenges,we propose a Markov blanket discovery algorithm based on constrained local neighborhoods for constructing undirected independence *** method uses the Markov blanket discovery algorithm to refine the constraints in the initial search space,sets an appropriate constraint radius,thereby reducing the initial computational cost of the algorithm and effectively narrowing the initial solution ***,the method first determines the local neighborhood space to limit the search range,thereby reducing the number of possible graph structures that need to be *** process not only improves the accuracy of the search space constraints but also significantly reduces the number of conditional independence *** performing conditional independence tests within the local neighborhood of each node,the method avoids comprehensive tests across the entire network,greatly reducing computational *** the same time,the setting of the constraint radius further improves computational efficiency while ensuring *** to other algorithms,this method can quickly and efficiently construct undirected independence graphs while maintaining high *** simulation results show that,this method has significant advantages in obtaining the structure of undirected independence graphs,not only maintaining an accuracy of over 96%but also reducing the number of conditi

关键词： Bayesian network structure learning Markov blanket conditional independence

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Temporal and Spectral Characteristics of Persistent Emission and Special Bursts of Magnetar SGR J1935+2.54 Based on Insight-HXMT

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Research in Astronomy and Astrophysics 2024年第6期24卷 225-233页

作者： Xue-Feng Lu Li-ming Song ming-{2. Ge Shuang-Nan Zhang Jin-Lu Qu Ce Cai cong-Zhan liu Cheng-Kui Li {2.-cong Fu Ying-Chen Xu Key Laboratory of Particle Astrophysics Institute of High Energy PhysicsBeijing 100049China University of Chinese Academy of Sciences Chinese Academy of SciencesBeijing 100049China College of Physics and Hebei Key Laboratory of Photophysics Research and Application Hebei Normal UniversityShijiazhuang 050024China Department of Astronomy Beijing Normal UniversityBeijing 100875China

In October 2.2.,the magnetar SGR J1935+2.54 entered the active outburst *** the episode,the InsightHXMT satellite carried out a long observation that lasted for 2. *** than 300 bursts were detected,and a certain amount of persistent radiation signals were also *** paper mainly introduces the results of persistent radiation profile folding and period search based on Insight-HXMT *** the same time,the burst phase distribution characteristics,spectral lag results of burst,the spectral characteristics of zero-lag bursts and the time-resolved spectral evolution characteristics of high-flux bursts are *** found that there is no significant delay feature during different energy bands for the bursts of SGR J1935+*** observed zero-lag burst does not have a unique *** time-resolved spectrum of the individual burst has consistent spectral types and spectral parameters at different time periods of the *** also find that the burst number phase distribution and the burst photon phase distribution have the same tendency to concentrate in specific regions of the persistent emission profile.

关键词： radiation mechanisms:general dense matter magnetic fields

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Manufacturing task data chain-driven production logistics trajectory analysis and optimization decision making method

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Advances in Manufacturing 2024年第1期12卷 185-206页

作者： Lin Ling Zhe-ming Song Xi Zhang Peng-Zhou Cao Xiao-Qiao Wang cong-Hu {2. ming-Zhou {2. School of Mechanical Engineering Hefei University of TechnologyHefei230009People’s Republic of China Guobo Electronics Co.Ltd. Nanjing211111People’s Republic of China School of Mechanical and Electronic Engineering Suzhou UniversitySuzhou234000AnhuiPeople’s Republic of China Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai200030People’s Republic of China

Production logistics(PL)is considered as a critical factor that affects the efficiency and cost of production operations in discrete manufacturing *** effectively utilize manufacturing big data to improve PL efficiency and promote job shop floor economic benefits,this study proposes a PL trajectory analysis and optimization decision making method driven by a manufacturing task data chain(MTDC).First,the manufacturing task chain(MTC)is defined to characterize the discrete production process of a *** handle manufacturing big data,the MTC data paradigm is designed,and the MTDC is ***,the logistics trajectory model is presented,where the various types of logistics trajectories are extracted using the MTC as the search engine for the *** on this,a logistics efficiency evaluation indicator system is proposed to support the optimization decision making for the ***,a case study is applied to verify the proposed method,and the method determines the PL optimization decisions for PL efficiency without changing the layout and workshop equipment,which can assist managers in implementing the optimization decisions.

关键词： Production logistics(PL) Logistics trajectory analysis Logistics optimization Data driven Manufacturing task data chain(MTDC)

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Wellbore-heat-transfer-model-based optimization and control for cooling downhole drilling fluid

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Petroleum Science 2024年第3期21卷 1955-1968页

作者： Chao Wang He liu Guo-Wei yu Chen yu Xian-ming liu Peng Huang Yangtze University Jingzhou434023HubeiChina State Key Laboratory of Petroleum Resources and Engineering China University of Petroleum(Beijing)Beijing2249China CNPC Bohai Drilling Engineering Co. LtdTianjin300280China Exploration Development and Construction Engineering Division of PetroChina Jidong Oilfield Company Tangshan63200HebeiChin Henan University of Urban Construction Pingdingshan467036HenanChina

To address the two critical issues of evaluating the necessity of implementing cooling techniques and achieving real-time temperature control of drilling fluids underground in the current drilling fluid cooling technology,we first established a temperature and pressure coupled downhole heat transfer model,which can be used in both water-based and oil-based drilling ***,fourteen factors,which could affect wellbore temperature,were *** on the standard deviation of the downhole temperature corresponding to each influencing factor,the influence of each factor was *** influencing factors that can be used to guide the drilling fluid's cooling technology were drilling fluid thermal conductivity,drilling fluid heat capacity,drilling fluid density,drill strings rotation speed,pump rate,viscosity,ROP,and injection *** nondominated sorting genetic algorithm was used to optimize these six parameters,but the optimization process took 182.*** these eight parameters'influence rules with the nondominated sorting genetic algorithm can reduce the optimization time to 108 ***,the downhole temperature has been demonstrated to increase with the inlet temperature increasing linearly under quasi-steady *** this law and PID,the downhole temperature can be controlled,which can reduce the energy for cooling the surface drilling fluid and can ensure the downhole temperature reaches the set value as soon as possible.

关键词： Drilling Cooling Influencing factors Analysis Optimization Control

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Fuzzing:Progress,Challenges,and Perspectives

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Computers, Materials & Continua 2024年第1期78卷 1-29页

作者： Zhenhua yu Zhengqi liu Xuya {2. Xiaobo Li Li Yin Institute of Systems Security and Control College of Computer Science and TechnologyXi'an University of Science and TechnologyXi'an710054China School of Mathematics and Information Science Baoji University of Arts and SciencesBaoji721013China Institute of Systems Engineering Macao University of Science and TechnologyTaipaMacaoChina

As one of the most effective techniques for finding software vulnerabilities,fuzzing has become a hot topic in software *** feeds potentially syntactically or semantically malformed test data to a target program to mine vulnerabilities and crash the *** recent years,considerable efforts have been dedicated by researchers and practitioners towards improving fuzzing,so there aremore and more methods and forms,whichmake it difficult to have a comprehensive understanding of the *** paper conducts a thorough survey of fuzzing,focusing on its general process,classification,common application scenarios,and some state-of-the-art techniques that have been introduced to improve its ***,this paper puts forward key research challenges and proposes possible future research directions that may provide new insights for researchers.

关键词： Fuzzing vulnerability software testing software security

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Evolution of High-energy Electron Distribution in Pulsar Wind Nebulae

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Research in Astronomy and Astrophysics 2024年第7期24卷 198-214页

作者： Yi-ming liu Hou-Dun Zeng {2.-Liang Xin Si-ming liu Yi Zhang Key Laboratory of Dark Matter and Space Astronomy Purple Mountain ObservatoryChinese Academy of SciencesNanjing 210023China School of Astronomy and Space Science University of Science and Technology of ChinaHefei 230026China School of Physical Science and Technology Southwest Jiaotong UniversityChengdu 610031China

In this paper,we analyze the spectral energy distributions of 17 powerful(with a spin-down luminosity greater than10~(35)erg s~(-1))young(with an age less than 15,000 yr)pulsar wind nebulae(PWNe)using a simple timein-dependent one-zone emission *** aim is to investigate correlations between model parameters and the ages of the corresponding PWNe,thereby revealing the evolution of high-energy electron distributions within *** findings are as follows:(1)The electron distributions in PWNe can be characterized by a double power-law with a super-exponential cutoff.(2.As PWNe evolve,the high-energy end of the electron distribution spectrum becomes harder with the index decreasing from approximately 3.5 to 2.5,while the low-energy end spectrum index remains constant near 1.5.(3)There is no apparent correlation between the break energy or cutoff energy and the age of PWNe.(4)The average magnetic field within PWNe decreases with age,leading to a positive correlation between the energy loss timescale of electrons at the break energy or the high-energy cutoff and the age of the PWN.(5)The total electron energy within PWNe remains constant near 2.10~(48)erg,while the total magnetic energy decreases with age.

关键词： radiation mechanisms non-thermal-ISM general-ISM supernova remnants-gamma-rays general

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Ferrite features in simulated transition zone of EH36 shipbuilding steel submerged arc welded by CaF_(2.-SiO_(2.-MnO fluxes

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Journal of Iron and Steel Research International 2024年第4期31卷 790-796页

作者： ming Zhong Dong Hu Da-ming Guo Somnath Basu {2. Wang Key Laboratory for Ecological Metallurgy of Multimetallic Mineral(Ministry of Education) Northeastern UniversityShenyang 110819LiaoningChina School of Metallurgy Northeastern UniversityShenyang 110819LiaoningChina The State Key Laboratory of Refractories and Metallurgy Wuhan University of Science and TechnologyWuhan 430081HubeiChina Department of Metallurgical Engineering and Materials Science Indian Institute of Technology BombayMumbai 400076MaharashtraIndia

Ferrite features in the simulated transition zone welded with CaF_(2.-SiO_(2.-MnO fluxes containing various MnO contents have been *** laser scanning microscopy has been applied to simulate the thermal cycling of the transition zone and the phase transformations during cooling have been in-situ *** has been found that the appearance temperature for ferrite side plate decreases with increasing Mn content in the weld metals caused by MnO content ***,growth rates for both ferrite side plate and acicular ferrite are significantly enhanced with a higher Mn content of weld ***,from the statistical fractions of salient microstructures,for all samples,the acicular ferrite,grain boundary ferrite,and polygonal ferrite take over more than 90%.It has also been demonstrated that with the increase in Mn content,the ferrite side plate fraction increases slightly from 5%to 10%and the acicular ferrite fraction shows a tendency of first increasing and then decreasing,which experiences the maximum with the flux containing 30 wt.%*** phenomenon is believed to be controlled by the O and Mn contents in weld metals synergistically.

关键词： Submerged arc welding Transition zone Phase transformation Microstructure

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Experimental Study on Towing Characteristics of Composite Bucket Wellhead Platform

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China Ocean Engineering 2024年第3期38卷 531-542页

作者： ZHANG Pu-yang liu Ying-fei LE cong-huan DING Hong-yan BAI {2. State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation Tianjin UniversityTianjin 300072China

With the rapid development of large-scale development of marginal oilfields in China,simple wellhead platforms that are simple in structure and easy to install have become an inevitable choice in the process of oilfield ***,traditional simple wellhead platforms are often discarded after a single *** pursuit of a more costeffective approach to developing marginal oilfields,this paper proposes a new offshore oil field development facility—an integrated bucket foundation for wellhead *** verify the safety of its towing behavior and obtain the dynamic response characteristics of the structure,this paper takes a bucket integrated bucket foundation for wellhead platform with a diameter of 40 m as the research *** combining physical model tests and numerical simulations,it analyzes the static stability and dynamic response characteristics of the structure during towing,complete with the effects of the draft,wave height,wave period,and towing point height,which produce the dynamic responses of the structure under different influence factors,such as roll angle,pitch angle,heave acceleration and towing force as well as the sensibility to transport *** results show that the integrated bucket foundation for wellhead platform is capable of self-floating towing,and its movement is affected by the local environment,which will provide a reference for actual projects.

关键词： composite bucket foundation wellhead platform air flotation towing model test

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Swelling of Spherical Polyelectrolyte Gels

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Chinese Journal of Polymer Science 2024年第9期42卷 1386-1392,I0009页

作者： ming-yu Duan Jia-Dong Chen Yi-ming liu Zhao-Feng Peng Guang Chen Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Polyelectrolyte(PE)gels,distinguished by their unique stimuli-responsive swelling behavior,serve as the basis of broad applications,such as artificial muscles and drug *** this work,we present a theoretical model to analyze the electrostatics and its contribution to the swelling behavior of PE gels in salt *** minimizing the free energy of PE gels,we obtain two distinct scaling regimes for the swelling ratio at equilibrium with respect to the salt *** compare our predictions for the swelling ratio with experimental measurements,which show excellent *** addition,we employ a finite element method to assess the applicability range of our theoretical model and *** anticipate that our model will also provide valuable insights into drug adsorption and release,deformation of red blood cells,4D printing and soft robotics,where the underlying mechanism of swelling remains enigmatic.

关键词： Gels Polyelectrolytes Swelling Stimuli-responsive Electrostatic interaction Cell model

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