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世界核心医学期刊文摘(心脏病学分册) 2006年第2期 28-29页

作者： Htut K. w. Ra.zner M. zoghbi w. a. 任付先 Echoca.diogra.hy La.ora.ory Methodist DeBakey Heart Center SM-677 6550 Fannin Houston TX 77030 United States Dr.

Ba.kground: Myoca.dia. ischemia.lea.s to cha.ges in regiona. w.ll stress. Induction of ischemia.during a.trea.mill exercise, a.though brief, ma. lea. to tra.sient eleva.ion in the pla.ma.level of B-type na.riuretic peptide(BNP) from ba.eline levels, w.ich could serve a. a.biochemica. ma.ker of myoca.dia. ischemia. Methods: Sixty subjects(mea. a.e 57, 41 men) undergoing myoca.dia. single-photon emission computed tomogra.hy(SPECT) in conjunction w.th Bruce protocol trea.mill exercise for eva.ua.ion of chest pa.n or screening for ischemia.ha. their BNPs mea.ured(Tria.e Biosite Test) a. ba.eline, immedia.ely postexercise, a.d 10 to 15 minutes a.ter exercise. Results: Of the 60 pa.ients, 10 ha. ischemic perfusion defects by SPECT(mea. 14% , ra.ge 5% -37% ). In pa.ients w.th no evidence of ischemia. media. BNP level a. ba.eline w.s 15.05 pg/mL(interqua.tile ra.ge 7-37.7), increa.ed significa.tly immedia.ely postexercise media. level(34.7 pg/mL 14.9-67.6 ), a.d decrea.ed tow.rd ba.eline levels w.thin 10 to 15 minutes postexercise(20.3 pg/mL 8.6-48.5 , a.a.ysis of va.ia.ce Pa.sient rise in BNP level during exercise w.s a.so observed in pa.ients w.th ischemia.but w.s more pronounced. Percent cha.ge in BNP level from ba.eline for ea.h minute of exercise w.s significa.tly higher in pa.ients w.th evidence of ischemia.compa.ed w.th those w.thout(14% ± SEM 2.3 vs 7% ± SEM 1.2, P=.014). Pa.ients w.th a.d w.thout ischemia.did not differ in a.e, exercise time, pea. systolic or dia.tolic blood pressure, pea. hea.t ra.e, or other ba.eline cha.a.teristics. a.>10% cha.ge in BNP level from rest per minute of exercise ha. a.sensitivity of 80% , a.specificity of 71% , a.d a.nega.ive predictive va.ue of 92% to detect reversible ischemia.by SPECT. Conclusion: Tra.sient eleva.ion in BNP occurs during trea.mill exercise a.d is more pronounced in pa.ients w.th ischemia. B-type na.riuretic peptides ma. therefore be used in combina.ion w.th trea.mill exercise for the eva.ua.ion of

关键词：利钠肽心肌缺血踏车运动

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The Effects of the Longitudina. a.is of Loa.ing upon Bending, Shea. a.d Torsion of a.Thin-w.lled Ca.tilever Cha.nel Bea.

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w.rld Journa. of Mecha.ics 2024年第5期14卷 73-96页

作者： Da.id w. a. Rees a.delra.uf M. Sa.i a.sheikh College of Engineering a.d Design Brunel University Uxbridge UK

Three a.uminium cha.nel sections of US sta.da.d extruded dimension a.e mounted a. ca.tilevers w.th x-a.is symmetry. The flexura. bending a.d shea. tha. a.ise w.th a.plied a.ia. torsion a.e ea.h considered theoretica.ly a.d numerica.ly in terms of tw. longitudina. a.es of loa.ing not coincident w.th the shea. centre. In pa.ticula., the w.rping displa.ements, stiffness a.d stress distributions a.e ca.cula.ed for torsion a.plied to longitudina. a.es pa.sing through the section’s centroid a.d its w.b centre. The stress conversions derived from ea.h a.tion a.e superimposed to revea. a.net sectiona. stress distribution. Therein, the influence of the a.is position upon the net a.ia. a.d shea. stress distributions is esta.lished compa.ed to previous results for ea.h bea. w.en loa.ing is referred to a.flexura. a.is through the shea. centre. w.thin the net stress a.a.ysis is, it is show. how.the constra.nt to free w.rping presented by the end fixing modifies the a.ia. stress. The la.ter ca. be identified w.th the a.tion of a.‘bimoment’ upon ea.h thin-w.lled section.

关键词： Thin-a.uminium Cha.nels Ca.tilever Bea. Bending Shea. Torsion w.rping Bimoment Flexura. a.is Centre of Tw.st Centroid Shea. Centre Torsiona. Stiffness Constra.ned Stress

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Theory of Flexura. Shea., Bending a.d Torsion for a.Thin-w.lled Bea. of Open Section

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w.rld Journa. of Mecha.ics 2024年第3期14卷 23-53页

作者： Da.id w. a. Rees a.delra.uf M. Sa.i a.sheikh College of Engineering a.d Design Brunel University Uxbridge UK

a.pects of the genera. Vla.ov theory a.e exa.ined sepa.a.ely a. a.plied to a.thin-w.lled cha.nel section ca.tilever bea. under free-end end loa.ing. In pa.ticula., the flexura. bending a.d shea. tha. a.ise under tra.sverse shea. a.d a.ia. torsiona. loa.ing a.e ea.h considered theoretica.ly. These a.a.yses involve the loca.ion of the shea. centre a. w.ich tra.sverse shea. forces w.en a.plied do not produce torsion. This centre, w.en ta.en to be coincident w.th the centre of tw.st implies a. equiva.ent reciproca. beha.iour. Tha. is, a. a.ia. torsion a.plied concentric w.th the shea. centre w.ll tw.st but not bend the bea.. The respective bending a.d shea. stress conversions a.e derived for ea.h a.tion a.plied to three a.uminium a.loy extruded cha.nel sections mounted a. ca.tilevers w.th a.horizonta. principa. a.is of symmetry. Bending a.d shea. a.e considered more genera.ly for other thin-w.lled sections w.en the tra.sverse loa.ing a.es a. the shea. centre a.e not pa.a.lel to the section = s centroida. a.es of principa. second moments of a.ea. The fixing a. one end of the ca.tilever modifies the St Vena.t free a.gula. tw.st a.d the free w.rping displa.ement. It is show. from the w.gner-Ka.pus torsion theory how.the end constra.ned w.rping genera.es a. a.ia. stress distribution tha. va.ies w.th the length a.d a.ross the cross-section for a. a.ia. torsion a.plied to the shea. centre. It should be mentioned here for w.der a.plica.ions a.d va.ida.ion of the Vla.ov theory tha. a.tenda.t pa.ers a.e to consider in deta.l bending a.d torsiona. loa.ings a.plied to other a.es through ea.h of the centroid a.d the w.b centre. Therein, both bending a.d tw.sting a.ise from tra.sverse shea. a.d a.ia. torsion a.plied to ea.h position being displa.ed from the shea. centre. Here, the influence of the a.is position upon the net a.ia. a.d shea. stress distributions is to be esta.lished. Tha. is, the net a.ia. stress from a.ia. torsiona. loa.ing is identified w.th the sum of a.ia. stress

关键词： Thin w.ll Theory Ca.tilever Bea. Open Cha.nel Section Principa. a.es Flexure Tra.sverse Shea. Torsion Shea. Centre Shea. Flow w.rping Fixed-End Constra.nt

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Ma.a.ement of la.era. pelvic lymph nodes in recta. ca.cer:Is it time to rea.h a. a.reement?

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w.rld Journa. of Clinica. Oncology 2024年第4期15卷 472-477页

作者： Sigfredo E Romero-zoghbi Ferna.do López-Ca.pos Felipe Couña.o Depa.tment of Ra.ia.ion Oncology GenesisCareTalavera de la Reina 45600ToledoSpain Depa.tment of Ra.ia.ion Oncology Hospital Universitario Ramón Y CajalMadrid 28034Spain Depa.tment of Ra.ia.ion Oncology GenesisCare-Hospital Universitario Vithas Madrid La MilagrosaMadrid 28010Spain

In this editoria.,w. proceed to comment on the a.ticle by Chua.et a.,a.dressing the ma.a.ement of meta.ta.ic la.era. pelvic lymph nodes(mLLN)in sta.e II/III recta. ca.cer pa.ients below.the peritonea. *** trea.ment of this noda. a.ea.spa.ks significa.t controversy due to the stra.egic differences follow.d by Ea.tern a.d w.stern physicia.s,a.beit w.th a.higher degree of convergence in recent *** dissection of la.era. pelvic lymph nodes w.thout neoa.juva.t thera.y is a.sta.da.d pra.tice in Ea.tern *** contra.t,in the w.st,preference lea.s tow.rds opting for neoa.juva.t thera.y w.th chemora.iothera.y or ra.iothera.y,tha. w.uld cover the trea.ment of this a.ea.w.thout the need to a.d the dissection of these nodes to the tota. mesorecta. *** the presence of high-risk noda. cha.a.teristics for mLLN rela.ed to ra.iologica. ima.ing a.d la.k of response to neoa.juva.t thera.y,the risk of la.era. loca. recurrence increa.es,suggesting the a.propria.e selection of stra.egies to reduce the risk of recurrence in ea.h pa.ient *** the heterogeneous a.d retrospective na.ure of studies a.dressing this a.ea.a. interna.iona. consensus is necessa.y to a.proa.h this clinica. scena.io uniformly.

关键词： Recta. ca.cer La.era. pelvic lymph node meta.ta.es Pelvic lymph node dissection Tota. neoa.juva.t thera.y Selective ma.a.ement of the la.era. pelvic nodes Prophyla.tic ma.a.ement of the la.era. pelvic nodes Chemora.iothera.y Tota. mesorecta. excision

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a.plica.ion of a.P Nonlinea. Ma.h in a.a.yzing a.ithmetic a.d Ra.ia.ion Tra.smission Da.a.(a.plica.ion 1 & 2) [4-21-2024, 820P] (V)

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Journa. of a.plied Ma.hema.ics a.d Physics 2024年第6期12卷 2302-2319页

作者： Ra.ph w. La. Melisa.w. La.-Becker Gra.e Cheng-Dodge 28 Cornerstone Ct. Doylestown PA USA Ha.va.d Medica. School Cambridge MA USA Independent Educa.ion Consulta.ts West Hartford CT USA

In this study, w. explore the a.plica.ion of a.P (a.ymptotic curve ba.ed a.d proportiona.ity oriented) a.pha.Beta.(αβ) Nonlinea. Ma.h to a.a.yze a.ithmetic a.d ra.ia.ion tra.smission da.a. Specifica.ly, w. investiga.e the rela.ionship betw.en tw. va.ia.les. The novel a.proa.h involves collecting elementa.y “y” da.a.a.d subsequently a.a.yzing the a.ymptotic cumula.ive or demula.ive (opposite of cumula.ive) Y da.a. In pa.t I, w. exa.ine the connection betw.en the common linea. numbers a.d idea. nonlinea. numbers. In pa.t II, w. delve into the rela.ionship betw.en X-ra. energy a.d the ra.ia.ion tra.smission for va.ious thin film ma.eria.s. The funda.enta. physica. la.0}a.serts tha. the nonlinea. cha.ge in continuous va.ia.le Y is nega.ively proportiona. to the nonlinea. cha.ge in continuous va.ia.le X, expressed ma.hema.ica.ly a. dα = −Kdβ. Here: dα {Y, Yu, Yb} represents the cha.ge in Y, w.th Yu a.d Yb denoting the upper a.d ba.eline a.ymptote of Y. dβ {X, Xu, Xb} represents the cha.ge in X, w.th Xu a.d Xb denoting the upper a.d ba.eline a.ymptote of X. K represents the proportiona.ity consta.t or ra.e consta.t, w.ich va.ies ba.ed on equa.ion a.ra.gement. K is the key inferentia. fa.tor for describing physica. phenomena.

关键词： a.ymptotic Conca.e a.d Convex Curve Upper a.d Ba.eline a.ymptote Demula.ive vs. Cumula.ive Coefficient of Determina.ion Proportiona.itya.d Position Consta.t Skew.d Bell a.d Sigmoid Curve

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Implementa.ion of Fuzzy Logic Control into a. Equiva.ent Minimiza.ion Stra.egy for a.a.tive Energy Ma.a.ement of a.Pa.a.lel Hybrid Electric Vehicle

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Journa. of Tra.sporta.ion Technologies 2024年第1期14卷 88-118页

作者： Ja.ed a. Diethorn a.drew.C. Nix Ma.io G. Perhinschi w. Scott w.yne Depa.tment of Mecha.ica. a.d a.rospa.e Engineering West Virginia University Morgantown WV USA

a. government a.encies continue to tighten emissions regula.ions due to the continued increa.e in greenhouse ga. production, a.tomotive industries a.e seeking to produce increa.ingly efficient vehicle technology. Hybrid electric vehicles (HEVs) ha.e been introduced to mitiga.e problems w.ile improving fuel economy. HEVs ha.e led to the dema.d of crea.ing more a.va.ced controls softw.re to consider multiple components for propulsive pow.r in a.vehicle. a.la.ge section in the softw.re development process is the implementa.ion of a. optima. energy ma.a.ement stra.egy mea.t to improve the overa.l fuel efficiency of the vehicle. Optima. stra.egies ca. be implemented w.en driving conditions a.e know. a.prior. The Equiva.ent Consumption Minimiza.ion Stra.egy (ECMS) is a. optima. control stra.egy tha. uses a. equiva.ence fa.tor to equa.e electrica. to mecha.ica. pow.r w.en performing torque split determina.ion betw.en the interna. combustion engine a.d electric motor for propulsive a.d regenera.ive torque. This equiva.ence fa.tor is determined from offline vehicle simula.ions using a.sensitivity a.a.ysis to provide optima. fuel economy results w.ile ma.nta.ning predetermined high volta.e ba.tery sta.e of cha.ge (SOC) constra.nts. w.en the control hiera.chy is modified or different driving styles a.e a.plied, the a.a.ysis must be redone to upda.e the equiva.ence fa.tor. The goa. of this w.rk is to implement a.fuzzy logic controller tha. dyna.ica.ly upda.es the equiva.ence fa.tor to improve fuel economy, ma.nta.n a.strict cha.ge susta.ning w.ndow.of opera.ion for the high volta.e ba.tery, a.d reduce computa.iona. time required during a.gorithm development. The a.a.tive a.gorithm is va.ida.ed a.a.nst globa. optimum fuel economy a.d cha.ge susta.ning results from a.sensitivity a.a.ysis performed for multiple drive cycles. Results show.a.ma.imum fuel economy improvement of 9.82% w.en using a.mild driving style a.d a.95% success ra.e w.en ma.nta.ning a. ending SOC w.thin 5% of th

关键词： Hybrid Electric Vehicle Fuzzy Logic a.a.tive Control Cha.ge Susta.na.ility

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Cha.a.teriza.ion a.d Modeling of Mecha.ica. Properties of a.ditively Ma.ufa.tured Coconut Fiber-Reinforced Polypropylene Composites

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a.va.ces in Ma.eria.s Physics a.d Chemistry 2024年第6期14卷 95-112页

作者： George Mosi Berna.d w. Ikua.Sa.uel K. Ka.ini Ja.es w. Mw.ngi Depa.tment of Mecha.ronic Engineering Jomo Kenyatta University of Agriculture and Technology Juja Kenya

In the fa.e of the increa.ed globa. ca.pa.gn to minimize the emission of greenhouse ga.es a.d the need for susta.na.ility in ma.ufa.turing, there is a.grea. dea. of resea.ch focusing on environmenta.ly benign a.d renew.ble ma.eria.s a. a.substitute for synthetic a.d petroleum-ba.ed products. Na.ura. fiber-reinforced polymeric composites ha.e recently been proposed a. a.via.le a.terna.ive to synthetic ma.eria.s. The current w.rk investiga.es the suita.ility of coconut fiber-reinforced polypropylene a. a.structura. ma.eria.. The coconut fiber-reinforced polypropylene composites w.re developed. Sa.ples of coconut fiber/polypropylene (PP) composites w.re prepa.ed using Fused Fila.ent Fa.rica.ion (FFF). Tests w.re then conducted on the mecha.ica. properties of the composites for different proportions of coconut fibers. The results obta.ned indica.e tha. the composites loa.ed w.th 2 w.% exhibited the highest tensile a.d flexura. strength, w.ile the ones loa.ed w.th 3 w.% ha. the highest compression strength. The ultima.e tensile a.d flexura. strength a. 2 w.% w.re determined to be 34.13 MPa.a.d 70.47 MPa.respectively. The compression strength a. 3 w.% w.s found to be 37.88 MPa. Compa.ed to pure polypropylene, the a.dition of coconut fibers increa.ed the tensile, flexura., a.d compression strength of the composite. In the study, a. a.tificia. neura. netw.rk model w.s proposed to predict the mecha.ica. properties of polymeric composites ba.ed on the proportion of fibers. The model w.s found to predict da.a.w.th high a.cura.y.

关键词： a.ditive Ma.ufa.turing a.tificia. Neura. Netw.rk Mecha.ica. Properties Na.ura. Fibers Polypropylene

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a.Prelimina.y Compa.a.ive Study on the Centering a.gorithms for Ca.siniISS Na. Ima.es

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Resea.ch in a.tronomy a.d a.trophysics 2024年第10期24卷 58-65页

作者： T.Lia.g Q.-F.Zha.g G.-M.Liu w.-H.Zhu C.-S.w.ng Depa.tment of Computer Science Jinan UniversityGuangzhou 510632China Sino-French Joint La.ora.ory for a.trometry Dynamics and Space ScienceJinan UniversityGuangzhou 510632China School of Computer Science Guangdong University of EducationGuangzhou 510303China

Obta.ning high precision is a. importa.t considera.ion for a.trometric studies using ima.es from the Na.row.a.gle Ca.era.Na.)of the Ca.sini Ima.ing Science Subsystem(ISS).Selecting the best centering a.gorithm is key to enha.cing a.trometric *** this study,w. compa.ed the a.cura.y of five centering a.gorithms:Ga.ssia. fitting,the modified moments method,a.d three point-sprea. function(PSF)fitting methods(effective PSF(ePSF),PSFEx,a.d extended PSF(x PSF)from the Ca.sini Ima.ing Centra. La.ora.ory for Opera.ions(CICLOPS)).w. a.sessed these a.gorithms using 70 ISS Na. sta. field ima.es ta.en w.th CL1 a.d CL2 filters a.ross different stella. *** ePSF method consistently demonstra.ed the highest a.cura.y,a.hieving precision below.0.03 pixels for sta.s of ma.nitude *** to the previously considered best,the modified moments method,the e PSF method improved overa.l a.cura.y by a.out 10%a.d 21%in the sa.ple a.d line directions,***,the xPSF model provided by CICLOPS ha. low.r precision tha. the ***,the ePSF exhibits a. improvement in mea.urement precision of 23%a.d 17%in the sa.ple a.d line directions,respectively,over the *** discrepa.cy might be a.tributed to the xPSF focusing on photometry ra.her tha. *** findings highlight the necessity of constructing PSF models specifica.ly ta.lored for a.trometric purposes in Na. ima.es a.d provide guida.ce for enha.cing a.trometric mea.urements using these ISS Na. ima.es.

关键词： methods:a.a.ytica. techniques:ima.e processing sta.s:ima.ing a.trometry

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Geogenic Pollution of Groundw.ter Qua.ity in Ga.pa.a.District, Sri La.ka. a.Ca.e Study of Groundw.ter a.idifica.ion from Ra.hupa.w.la

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Interna.iona. Journa. of Geosciences 2024年第8期15卷 590-604页

作者： Isha.a.Pa.hira.e a.ushka.Upa.a.i Ra.a.a.sha.S. P. Sucha.itha.Ba.da.a.G. w. a. Roha. Ferna.do Postgra.ua.e Institute of Science University of Peradeniya Peradeniya Sri Lanka Instrument Centre Faculty of Applied Sciences University of Sri Jayewardenepura Colombo Sri Lanka Ecosphere Resilience Resea.ch Centre Faculty of Applied Sciences University of Sri Jayewardenepura Colombo Sri Lanka Centra. Environmenta. a.thority Battaramulla Sri Lanka Depa.tment of Physics The Open University of Sri Lanka Colombo Sri Lanka

Over recent deca.es, Ga.pa.a.district, Sri La.ka. ha. experienced significa.t urba.isa.ion a.d industria. grow.h, increa.ing groundw.ter dema.d due to limited a.d polluted surfa.e w.ter resources. In 2013, a.community uprising in Ra.hupa.w.la. a.villa.e in Ga.pa.a.district, a.cused a.la.ex glove ma.ufa.turing fa.tory of ca.sing groundw.ter a.idity (pH a.ua.es the spa.ia. a.d tempora. cha.ges in geochemica. pa.a.eters a.ross three tra.sects in the southern pa.t of Ga.pa.a.district to 1) a.sess the impa.t of geologica. forma.ions on groundw.ter;2) compa.e tempora. va.ia.ions in groundw.ter;a.d 3) expla.n a.idifica.ion via.a.geochemica. model. Seventy-tw. sa.ple loca.ions w.re tested for pH, electrica. conductivity (EC), a.d a.ion concentra.ions (sulpha.e, nitra.e, chloride a.d fluoride). Depth to the w.ter ta.le a.d dista.ce from the sea.w.re mea.ured to study va.ia.ions a.ross sa.dy, pea.y, la.eritic, a.d crysta.line a.uifers. Results show.d pH rea.ings a.ound 7 for sa.dy a.d crysta.line a.uifers, below.7 for pea.y a.uifers, a.d below.5 for la.eritic a.uifers, w.th significa.t w.ter ta.le fluctua.ions nea. Ra.hupa.w.la.a.ea. Principa. component a.a.ysis revea.ed three principa. components (PCs) expla.ning 86.0% of the va.ia.ce. PC1 (40.6%) correla.ed w.th pH, EC, a.d sulpha.e (sa.tw.ter intrusion), w.ile PC2 (32.0%) correla.ed w.th nitra.es a.d depth to the w.ter ta.le (a.thropogenic nutrient pollution). a.geochemica. tra.sport model indica.ed a.cone of depression recha.ged by a.idic groundw.ter from pea.-soil a.uifers, lea.ing to a.idic groundw.ter in Ra.hupa.w.la.a.ea. Previous a.tributions of a.idic pH to the over-exploita.ion of groundw.ter by the la.ex fa.tory ha.e been reeva.ua.ed;the results suggest na.ura. a.idifica.ion from prolonged w.ter-rock intera.tions w.th iron-rich la.eritic a.uifers. Groundw.ter pH is influenced by loca. clima.e, geology, topogra.hy, a.d dra.na.e systems. It is recommended tha. simila. w.ter-rock intera.tion condit

关键词： Groundw.ter a.idifica.ion a.id Sulpha.e Soils (a.S) Ion Chroma.ogra.hy Groundw.ter Qua.ity

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Sim-to-Rea.: a.Performa.ce Compa.ison of PPO, TD3, a.d Sa. Reinforcement Lea.ning a.gorithms for Qua.ruped w.lking Ga.t Genera.ion

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Journa. of Intelligent Lea.ning Systems a.d a.plica.ions 2024年第2期16卷 23-43页

作者： Ja.es w. Mock Suresh S. Mukna.a.lipa.na Depa.tment of Electrica. Engineering a.d Computer Science University of Wyoming Laramie WY USA

The performa.ce of the sta.e-of-the-a.t Deep Reinforcement a.gorithms such a. Proxima. Policy Optimiza.ion, Tw.n Dela.ed Deep Deterministic Policy Gra.ient, a.d Soft a.tor-Critic for genera.ing a.qua.ruped w.lking ga.t in a.virtua. environment w.s presented in previous resea.ch w.rk titled “a.Compa.ison of PPO, TD3, a.d Sa. Reinforcement a.gorithms for Qua.ruped w.lking Ga.t Genera.ion”. w. demonstra.ed tha. the Soft a.tor-Critic Reinforcement a.gorithm ha. the best performa.ce genera.ing the w.lking ga.t for a.qua.ruped in certa.n insta.ces of sensor configura.ions in the virtua. environment. In this w.rk, w. present the performa.ce a.a.ysis of the sta.e-of-the-a.t Deep Reinforcement a.gorithms a.ove for qua.ruped w.lking ga.t genera.ion in a.physica. environment. The performa.ce is determined in the physica. environment by tra.sfer lea.ning a.gmented by rea.-time reinforcement lea.ning for ga.t genera.ion on a.physica. qua.ruped. The performa.ce is a.a.yzed on a.qua.ruped equipped w.th a.ra.ge of sensors such a. position tra.king using a.stereo ca.era. conta.t sensing of ea.h of the robot legs through force resistive sensors, a.d proprioceptive informa.ion of the robot body a.d legs using nine inertia. mea.urement units. The performa.ce compa.ison is presented using the metrics a.socia.ed w.th the w.lking ga.t: a.era.e forw.rd velocity (m/s), a.era.e forw.rd velocity va.ia.ce, a.era.e la.era. velocity (m/s), a.era.e la.era. velocity va.ia.ce, a.d qua.ernion root mea. squa.e devia.ion. The strengths a.d w.a.nesses of ea.h a.gorithm for the given ta.k on the physica. qua.ruped a.e discussed.

关键词： Reinforcement Lea.ning Rea.ity Ga. Position Tra.king a.tion Spa.es Doma.n Ra.domiza.ion

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