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Poles Extraction Based LiDAR Localization for Autonomous Robot Systems

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Journal of Systems Science & Complexity 2024年第4期37卷 1413-1424页

作者： HONG Xin dong Yi College of Electronic and Information Engineering Tongji UniversityShanghai 201800China

With the development of intelligent technology,the problem of Li DAR-based localization has played an increasingly important role in the localization of robots in unmanned *** the dense point clouds from the environment requires a large amount of memory,specific and stable structural features,such as pole-like objects in the environment,can serve as the ideal landmarks for localization in unmanned systems,which can effectively reduce the memory usage and mitigate the effects of dynamic environment *** this paper,the authors propose a pole-like objects extraction approach and then,it is applied into the localization system of mobile *** the same experimental conditions,the proposed method can extract more pole-like objects and achieve better long-term localization accuracy than some existing methods in different urban environmental datasets.

关键词： Pole-like landmark extraction robot localization

A Long-Time-Step-Permitting Tracer Transport Model on the Regular Latitude–Longitude Grid

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Advances in Atmospheric Sciences 2024年第3期41卷 493-508页

作者： Jianghao LI Li dong Key Laboratory of Earth System Modeling and Prediction China Meteorological AdministrationBeijing 100081China State key Laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical Fluid Dynamics(LASG) Institute of Atmospheric Physics(IAP)Chinese Academy of SciencesBeijing 100029China State Key Laboratory of Severe Weather(LaSW) Chinese Academy of Meteorological SciencesChina Meteorological AdministrationBeijing 100081China College of Earth and Planetary Sciences University of Chinese Academy of SciencesBeijing 100049China

If an explicit time scheme is used in a numerical model, the size of the integration time step is typically limited by the spatial resolution. This study develops a regular latitude–longitude grid-based global three-dimensional tracer transport model that is computationally stable at large time-step sizes. The tracer model employs a finite-volume flux-form semiLagrangian transport scheme in the horizontal and an adaptively implicit algorithm in the vertical. The horizontal and vertical solvers are coupled via a straightforward operator-splitting technique. Both the finite-volume scheme's onedimensional slope-limiter and the adaptively implicit vertical solver's first-order upwind scheme enforce monotonicity. The tracer model permits a large time-step size and is inherently conservative and monotonic. Idealized advection test cases demonstrate that the three-dimensional transport model performs very well in terms of accuracy, stability, and efficiency. It is possible to use this robust transport model in a global atmospheric dynamical core.

关键词： tracer transport numerical stability latitude–longitude grid

The combined application of stem cells and three-dimensional bioprinting scaffolds for the repair of spinal cord injury

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Neural Regeneration Research 2024年第8期19卷 1751-1758页

作者： Dingyue Ju Chuanming dong Department of Anatomy Medical College of Nantong UniversityNantongJiangsu ProvinceChina Key Laboratory of Neuroregeneration of Jiangsu and Ministry of Education Co-innovation Center of NeuroregenerationNantong UniversityNantongJiangsu ProvinceChina

Spinal cord injury is considered one of the most difficult injuries to repair and has one of the worst prognoses for injuries to the nervous *** surgery,the poor regenerative capacity of nerve cells and the generation of new scars can make it very difficult for the impaired nervous system to restore its neural *** treatments can only alleviate secondary injuries but cannot fundamentally repair the spinal ***,there is a critical need to develop new treatments to promote functional repair after spinal cord *** recent years,there have been seve ral developments in the use of stem cell therapy for the treatment of spinal cord *** significant developments in the field of tissue engineering,three-dimensional bioprinting technology has become a hot research topic due to its ability to accurately print complex *** led to the loading of three-dimensional bioprinting scaffolds which provided precise cell *** three-dimensional bioprinting scaffolds co uld repair damaged neural circuits and had the potential to repair the damaged spinal *** this review,we discuss the mechanisms underlying simple stem cell therapy,the application of different types of stem cells for the treatment of spinal cord injury,and the different manufa cturing methods for three-dimensional bioprinting *** particular,we focus on the development of three-dimensional bioprinting scaffolds for the treatment of spinal cord injury.

关键词： biomaterials embryonic stem cells induced pluripotent stem cells mesenchymal stem cells nerve regeneration spinal cord injury stem cell therapy stem cells three-dimensional bioprinting

A systematic framework of constructing surrogate model for slider track peeling strength prediction

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Science china Technological Sciences 2024年第10期67卷 3261-3274页

作者： dong XingJian CHEN Qian LIU WenBo WANG dong PENG ZhiKe MENG Guang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University KEIPER Seating Mechanisms Co. Ltd. Department of Industrial Engineering and Management Shanghai Jiao Tong University

Peeling strength can comprehensively reflect slider track safety and is crucial in car seat safety assessments. Current methods for determining slider peeling strength are primarily physical testing and numerical simulation. However, these methods encounter the potential challenges of high costs and overlong time consumption which have not been adequately addressed. Therefore, the efficient and low-cost surrogate model emerges as a promising solution. Nevertheless, currently used surrogate models suffer from inefficiencies and complexity in data sampling, lack of robustness in local model predictions, and isolation between data sampling and model prediction. To overcome these challenges, this paper aims to set up a systematic framework for slider track peeling strength prediction, including sensitivity analysis, dataset sampling, and model prediction. Specifically, the interpretable linear regression is performed to identify the sensitivity of various geometric variables to peeling strength. Based on the variable sensitivity, a distance metric is constructed to measure the disparity of different variable groups. Then, the sparsity-targeted sampling(STS) is proposed to formulate a representative dataset. Finally, the sequentially selected local weighted linear regression(SLWLR) is designed to achieve accurate track peeling strength prediction. Additionally, a quantitative cost assessment of the supplementary dataset is proposed by utilizing the minimum adjacent sample distance as a mediator. Experimental results validate the efficacy of sequential selection and the weighting mechanism in enhancing localization ***, the proposed SLWLR method surpasses similar approaches and other common surrogate methods in terms of prediction performance and data quantity requirements, achieving an average absolute error of 3.3 kN in the simulated test dataset.

关键词： slider track peeling strength surrogate model sensitivity analysis data sampling local weighted linear regression

Synergistic Impacts of Indian Ocean SST and Indo-china Peninsula Soil Moisture on the 2020 Record-breaking Mei-yu

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Advances in Atmospheric Sciences 2024年第9期41卷 1735-1750页

作者： Yinshuo dong Haishan CHEN Xuan dong Wenjian HUA Wenjun ZHANG Key Laboratory of Meteorological Disaster Ministry of Education/Joint International Research Laboratory of Climate and Environment Change/Collaborative Innovation Center on Forecast and Evaluation of Meteorological DisastersNanjing University of Information Science and TechnologyNanjing 210044China School of Atmospheric Sciences Nanjing University of Information Science and TechnologyNanjing 210044China Bureau of Hydrology ChangJiang Water Resources CommissionWuhan 430010China

The Yangtze River basin(YRB)experienced a record-breaking mei-yu season in June‒July *** unique long-lasting extreme event and its origin have attracted considerable *** studies have suggested that the Indian Ocean(IO)SST forcing and soil moisture anomaly over the Indochina Peninsula(ICP)were responsible for this unexpected ***,the relative contributions of IO SST and ICP soil moisture to the 2020 mei-yu rainfall event,especially their linkage with atmospheric circulation changes,remain *** using observations and numerical simulations,this study examines the synergistic impacts of IO SST and ICP soil moisture on the extreme mei-yu in *** show that the prolonged dry soil moisture led to a warmer surface over the ICP in May under strong IO SST *** intensification of the warm condition further magnified the land thermal effects,which in turn facilitated the westward extension of the western North Pacific subtropical high(WNPSH)in June‒*** intensified WNPSH amplified the water vapor convergence and ascending motion over the YRB,thereby contributing to the 2020 *** contrast,the land thermal anomalies diminish during normal IO SST backgrounds due to the limited persistence of soil *** roles of IO SST and ICP soil moisture are verified and quantified using the Community Earth System *** synergistic impacts yield a notable 32%increase in YRB *** findings provide evidence for the combined influences of IO SST forcing and ICP soil moisture variability on the occurrence of the 2020 super mei-yu.

关键词： super mei-yu Indian Ocean SST soil moisture Indochina Peninsula

Impurity formation mechanism of silicon carbide crystals smelted by Acheson process

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Journal of Iron and Steel Research International 2024年第6期31卷 1367-1375页

作者： dong Feng Hong-qiang Ru Xu-dong Luo Jie-gang You Ling Zhang School of Materials and Metallurgy University of Science and Technology LiaoningAnshan 114051LiaoningChina Key Laboratory for Anisotropy and Texture of Materials(Ministry of Education) Institute of Advanced CeramicsSchool of Materials Science and EngineeringNortheastern UniversityShenyang 110819LiaoningChina Liaoning Institute of Science and Technology Benxi 117004LiaoningChina

In order to further promote the application of SiC refractories in modern steel metallurgy,the occurrence forms and formation mechanism of impurities in SiC crystals smelted by Acheson process were *** techniques of inductively coupled plasma-atomic emission spectrometry,X-ray diffraction,and scanning electron microscopy were combined to examine the types and occurrence forms of impurities in smelted SiC *** results showed that the main impurities in the SiC are free Si,free C,oxides(CaO·Al_(2)O_(3)·2SiO_(2),3Al_(2)O_(3)·2SiO_(2),CaO·SiO_(2) and SiO_(2))and alloy phases(Fe_(x)Si_(y),Fe_(x)Si_(y)Ti_(z) and Fe_(x)Al_(y)Si_(z)).The formation process of impurities during the smelting of SiC can be described as follows:At high temperature,the SiO_(2) and Fe,Ti related oxide impurities present in the raw materials are reduced to Si,Fe,and Ti metal *** the reduction process,the free Si,Fe_(x)Si_(y) and Fe_(x)Si_(y)Ti_(z) are precipitated from the melt during *** Si primarily exists in aggregated form within the SiC crystal,while the alloy phase is predominantly found at the interface between SiC and free Si,with Fe_(x)Si_(y)Ti_(z) embedded within *** the end of the cooling process,other impurity oxides such as Al_(2)O_(3),CaO,and some unreduced SiO_(2) solidify to form calcium-aluminum-silicate glass phases,predominantly located between SiC *** remaining C from the reaction is mainly dispersed as free C within the SiC crystal and at the interface between SiC and free Si.

关键词： Impurity element Formation mechanism Smelted SiC crystal SiC refractory Occurrence form

Autonomous navigation method of satellite constellation based on adaptive forgetting factors

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Chinese Journal of Aeronautics 2024年第7期37卷 317-332页

作者： dong WANG Jing YANG Kai XIONG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100094China

To address the problem that model uncertainty and unknown time-varying system noise hinder the filtering accuracy of the autonomous navigation system of satellite constellation,an autonomous navigation method of satellite constellation based on the Unscented Kalman Filter with Adaptive Forgetting Factors(UKF-AFF)is *** process noise covariance matrix is estimated online with the strategy that combines covariance matching and adaptive adjustment of forgetting *** adaptive adjustment coefficient based on squared Mahalanobis distance of state residual is employed to achieve online regulation of forgetting factors,equipping this method with more *** intersatellite direction vector obtained from photographic observations is introduced to determine the constellation satellite orbit together with the distance measurement to avoid rank deficiency *** that the number of available measurements varies online with intersatellite visibility in practical applications such as time-varying constellation configurations,the smooth covariance matrix of state correction determined by innovation and gain is adopted and constructed *** analysis of the proposed method is also *** effectiveness of the proposed method is verified by the Monte Carlo simulation and comparison *** estimation accuracy of constellation position and velocity of UKF-AFF is improved by 30%and 44%respectively compared to those of the extended Kalman filter,and the method proposed is also better than other several adaptive filtering methods in the presence of significant model uncertainty.

关键词： Constellation autonomous navigation Unscented Kalman filter Adaptive forgetting factor Model uncertainty Stability analysis

A General Simulation Method for Complex Deformation of Irregular-Shaped Origami Configurations

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Acta Mechanica Solida Sinica 2024年第1期37卷 90-98页

作者： Zhaochen dong Yichao Zhu Xu Guo State Key Laboratory of Structural Analysis for Industrial Equipment Department of Engineering MechanicsInternational Research Center for Computational MechanicsDalian University of TechnologyDalian 116023China

Most existing treatments for origami-folding simulations have focused on regular-shaped *** article aims to introduce a general strategy for simulating and analyzing the deformation process of irregular shapes by means of computational capabilities *** better simulate origami deformation with folding orders,the concept of plane follow-up is introduced to achieve automated computer simulation of complex folding patterns,thereby avoiding intersection and penetration between *** on the evaluation criteria such as the lowest storage energy with tightening and the fastest pace from tightening to unfolding,the optimal crease distribution patterns for four irregular(‘N’-,‘T’-,‘O’-,and‘P’-shaped)origami configurations are then presented under five *** the dimensions of the origami are fixed,it is discovered that simpler folding patterns lead to faster deformation of the origami *** the folding complexity is fixed,higher strain energy results in more rapid origami expansion.

关键词： Irregular-shaped origami Complex deformation Computer-aided origami design General simulation

State-Based Opacity Verification of Networked Discrete Event Systems Using Labeled Petri Nets

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1274-1291页

作者： Yifan dong Naiqi Wu Zhiwu Li The authors are with the Institute of Systems Engineering Macao University of Science and TechnologyTaipa 999078MacaoChina

The opaque property plays an important role in the operation of a security-critical system,implying that pre-defined secret information of the system is not able to be inferred through partially observing its *** paper addresses the verification of current-state,initial-state,infinite-step,and K-step opacity of networked discrete event systems modeled by labeled Petri nets,where communication losses and delays are *** on the symbolic technique for the representation of states in Petri nets,an observer and an estimator are designed for the verification of current-state and initial-state opacity,***,we propose a structure called an I-observer that is combined with secret states to verify whether a networked discrete event system is infinite-step opaque or K-step *** to the utilization of symbolic approaches for the state-based opacity verification,the computation of the reachability graphs of labeled Petri nets is avoided,which dramatically reduces the computational overheads stemming from networked discrete event systems.

关键词： infinite system symbolic