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Development of Wheel-Legged Biped Robots:A Review

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Journal of Bionic Engineering 2024年第2期21卷 607-634页

作者： Xuefei Liu Yi Sun Shikun Wen kai cao qian qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged *** robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness ***-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this *** hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are *** summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped ***,this study discusses the key research directions and development trends for the wheel-legged biped robots.

关键词： Wheel-legged biped robot Wheeled motion Legged motion Control strategy

A Robust Framework for Multimodal Sentiment Analysis with Noisy Labels Generated from Distributed Data Annotation

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Computer Modeling in Engineering & Sciences 2024年第6期139卷 2965-2984页

作者： kai Jiang Bin cao Jing Fan School of Computer Science and Technology Zhejiang University of TechnologyHangzhou310023China

Multimodal sentiment analysis utilizes multimodal data such as text,facial expressions and voice to detect people’s *** the advent of distributed data collection and annotation,we can easily obtain and share such multimodal ***,due to professional discrepancies among annotators and lax quality control,noisy labels might be *** research suggests that deep neural networks(DNNs)will overfit noisy labels,leading to the poor performance of the *** address this challenging problem,we present a Multimodal Robust Meta Learning framework(MRML)for multimodal sentiment analysis to resist noisy labels and correlate distinct modalities ***,we propose a two-layer fusion net to deeply fuse different modalities and improve the quality of the multimodal data features for label correction and network ***,a multiple meta-learner(label corrector)strategy is proposed to enhance the label correction approach and prevent models from overfitting to noisy *** conducted experiments on three popular multimodal datasets to verify the superiority of ourmethod by comparing it with four baselines.

关键词： Distributed data collection multimodal sentiment analysis meta learning learn with noisy labels

Variability Analysis for a Two-station Queueing Network in Heavy Traffic with Arrival Processes Driven by Queues

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 445-466页

作者： Jian cao Yong-jiang GUO kai-ming YANG School of Science Beijing University of Posts and TelecommunicationsBeijing 100876China

The law of the iterated logarithm(LIL)for the performance measures of a two-station queueing network with arrivals modulated by independent queues is developed by a strong approximation *** convenience,two arrival processes modulated by queues comprise the external system,all others are belong to the internal *** is well known that the exogenous arrival has a great influence on the asymptotic variability of performance measures in *** the considered queueing network in heavy traffic,we get all the LILs for the queue length,workload,busy time,idle time and departure processes,and present them by some simple functions of the primitive *** LILs tell us some interesting insights,such as,the LILs of busy and idle times are zero and they reflect a small variability around their fluid approximations,the LIL of departure has nothing to do with the arrival process,both of the two phenomena well explain the service station’s situation of being busy all the *** external system shows us a distinguishing effect on the performance measures:an underloaded(overloaded,critically loaded)external system affects the internal system through its arrival(departure,arrival and departure together).In addition,we also get the strong approximation of the network as an auxiliary result.

关键词： two-station queueing network the law of the iterated logarithm(LIL) strong approximation fluid approximation

Adsorption limitation investigation on olefins for Cu–BTC

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Friction 2024年第4期12卷 606-617页

作者： Xiao YANG Yunbo WANG Weihua cao Ruizheng JIANG Guoxin XIE Yuying cao Xiaowen qi School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Key Laboratory of Self-Lubricating Spherical Plain Bearing Technology of Hebei Province Yanshan UniversityQinhuangdao 066004China State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Aviation Key Laboratory of Science and Technology on Generic Technology of Self-Lubricating Spherical Plain Bearing Yanshan UniversityQinhuangdao 066004China

To utilize Cu-benzene-1,3,5-tricarboxylate(Cu-BTC)adsorbed lubricant oils in the self-lubricating field,the adsorption properties of Cu-BTC on different 1-olefins must be *** this work,1-hexene,1-octene,1-nonene,1-decene,1-undecene,and 1-dodecene were studied by the Monte Carlo method and *** adsorption limit of Cu-BTC for n-olefins was determined as 1-undecene by the adsorption *** suggested a limit for even straight-chain molecules to the adsorption of *** maximum ratio of the olefin length of the largest pore diameter(L/D)of Cu-BTC was approximately ***,theoretical calculations(radial distribution function(RDF))and experiments(infrared(IR)spectra)confirmed the interaction of n-olefin adsorbates and the Cu-BTC framework occurred between the-CH=of olefins and the Cu and O atoms of the Cu-BTC *** work adds to the understanding and investigation of the adsorption of liquid lubricants using Cu-BTC as a metal-organic framework(MOF).

关键词： metal-organic framework(MOF) Cu-benzene-1,3,5-tricarboxylate(Cu-BTC) Monte Carlo method adsorption properties 1-olefins

Sound event localization and detection based on deep learning

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Journal of Systems Engineering and Electronics 2024年第2期35卷 294-301页

作者： ZHAO Dada DING kai qi Xiaogang CHEN Yu FENG Hailin School of Mathematics and Statistics Xidian UniversityXi’an 710071China Science and Technology on Near-Surface Detection Laboratory Wuxi 214035China

Acoustic source localization(ASL)and sound event detection(SED)are two widely pursued independent research *** recent years,in order to achieve a more complete spatial and temporal representation of sound field,sound event localization and detection(SELD)has become a very active research *** paper presents a deep learning-based multioverlapping sound event localization and detection algorithm in three-dimensional ***-Mel spectrum and generalized cross-correlation spectrum are joined together in channel dimension as input *** features are classified and regressed in parallel after training by a neural network to obtain sound recognition and localization results *** channel attention mechanism is also introduced in the network to selectively enhance the features containing essential information and suppress the useless ***,a thourough comparison confirms the efficiency and effectiveness of the proposed SELD *** experiments show that the proposed algorithm is robust to reverberation and environment and can achieve higher recognition and localization accuracy compared with the baseline method.

关键词： sound event localization and detection(SELD) deep learning convolutional recursive neural network(CRNN) channel attention mechanism

A review of in situ carbon mineralization in basalt

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第4期16卷 1467-1485页

作者： Xiaomin cao qi Li Liang Xu Yongsheng Tan State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan 430071China University of Chinese Academy of Sciences Beijing 100049China

Global warming has greatly threatened the human living environment and carbon capture and storage(CCS)technology is recognized as a promising way to reduce carbon *** storage is considered a reliable option for long-term carbon *** rich in alkaline earth elements facilitates rapid and permanent CO_(2) fixation as ***,the complex CO_(2)-fluid-basalt interaction poses challenges for assessing carbon storage *** different reaction conditions,the carbonation products and carbonation rates *** mineralization reactions also induce petrophysical and mechanical responses,which have potential risks for the long-term injectivity and the carbon storage safety in basalt *** this paper,recent advances in carbon mineralization storage in basalt based on laboratory research are comprehensively *** assessment methods for carbon storage potential are introduced and the carbon trapping mechanisms are investigated with the identification of the controlling *** in pore structure,permeability and mechanical properties in both static reactions and reactive percolation experiments are also *** study could provide insight into challenges as well as perspectives for future research.

关键词： Carbon mineralization Basalt CO_(2)-fluid-basalt interaction Petrophysical evolution Mechanical response Carbon capture and storage(CCS)

Triggering triplet excitons of carbon nanodots through nanospace domain confinement for multicolor phosphorescence in aqueous solution

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Nano Research 2024年第7期17卷 6534-6543页

作者： Ya-Chuan Liang qing cao Yuan Deng Yong Wang kai-kai Liu Chong-Xin Shan School of Electronics and Information Zhengzhou University of Light IndustryZhengzhou 450002China Henan Key Laboratory of Diamond Optoelectronic Material and Devices Key Laboratory of Material PhysicsMinistry of EducationSchool of Physics and MicroelectronicsZhengzhou UniversityZhengzhou 450001China Academy for Quantum Science and Technology Zhengzhou University of Light IndustryZhengzhou 450002China Institute of Quantum Materials and Physics Henan Academy of SciencesZhengzhou 450046China

Easy non-radiative decay property of long-lived triplet excitons in aqueous solution obstructs their applications in aquatic *** reported phosphorescence phenomena in aqueous solution have excited researchers enormously but achieving full-color water-soluble phosphorescent carbon nanodots(CNDs)is still a challenging ***,full-color phosphorescence of water-soluble CNDs has been demonstrated by triggering their triplet excitons through nanospace domain confinement,and Förster energy resonance transfer is used for further tuning phosphorescence *** phosphorescence spans across most of the visible spectrum,ranging from 400 to 700 *** an aqueous solution,the CNDs exhibits blue,green,and red phosphorescence,lasting for approximately 6,10,and 7 s,***,the phosphorescence quantum yields are 11.85%,8.6%and 3.56%,making them readily discernible to the naked eyes and laying a solid foundation for practical ***,phosphorescence flexible optical display and bioimaging have been demonstrated by using the multicolor CNDs-based nanomaterials,showing distinct superiority for accuracy and complete display and imaging in complex emission background.

关键词： carbon nanodots triplet excitons multicolor aqueous solution

Feature-aided pose estimation approach based on variational auto-encoder structure for spacecrafts

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Chinese Journal of Aeronautics 2024年第8期37卷 329-341页

作者： Yanfang LIU Rui ZHOU Desong DU Shuqing cao Naiming qi Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China Suzhou Research Institute of HIT Suzhou 215104China Shanghai Institute of Spaceflight Control Technology Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China

Real-time 6 Degree-of-Freedom(DoF)pose estimation is of paramount importance for various on-orbit *** from the development of deep learning,Convolutional Neural Networks(CNNs)in feature extraction has yielded impressive achievements for spacecraft pose *** improve the robustness and interpretability of CNNs,this paper proposes a Pose Estimation approach based on Variational Auto-Encoder structure(PE-VAE)and a Feature-Aided pose estimation approach based on Variational Auto-Encoder structure(FA-VAE),which aim to accurately estimate the 6 DoF pose of a target *** methods treat the pose vector as latent variables,employing an encoder-decoder network with a Variational Auto-Encoder(VAE)*** enhance the precision of pose estimation,PE-VAE uses the VAE structure to introduce reconstruction mechanism with the whole ***,FA-VAE enforces feature shape constraints by exclusively reconstructing the segment of the target spacecraft with the desired *** evaluation against leading methods on public datasets reveals similar accuracy with a threefold improvement in processing speed,showcasing the significant contribution of VAE structures to accuracy enhancement,and the additional benefit of incorporating global shape prior features.

关键词： Pose estimation Variational auto-encoder Feature-aided Pose Estimation Approach On-orbit measurement tasks Simulated and experimental dataset

Preparation of Laser Cladding Coating Undercooling Cu-based Alloy and Co on Non-equilibrium Solidification Structure

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Journal of Wuhan University of Technology(Materials Science) 2024年第2期39卷 463-472页

作者：田徐铭 cao Shichao HOU kai HOU Xiaopeng WANG Hongfu 张煜 Department of Outpatient Xinzhou People’s HospitalXinzhou 034099China School of Mechanical Engineering North University of ChinaTaiyuan 030051China Department of Neurosurgery Xinzhou People’s HospitalXinzhou 034099China Department of Orthopedics Xinzhou People’s HospitalXinzhou 034099China

The effect of the gradient content of Co element on the solidification process of Cu-based alloy under deep under cooling conditions was *** non-equilibrium solidification structure of the under cooled alloy samples were *** is found that the rapidly solidified alloy has undergone twice grain refinement during the undercooling *** and significance of the maximum undercooling refinement structure of Cu60Ni35Co5 at T=253 K were ***-density defects were observed,such as dislocations,stacking faults networks,and twinning *** standard FCC diffraction pattern represents that it is still a single-phase *** on the metallographic diagram,EBSD and TEM data analysis,it is illustrated that the occurrence of grain refinement under high undercooling is due to stress induced *** addition,the laser cladding technology is used to coat Co-based alloy(Stellite12) coating on 304 stainless steel substrate;the microstructure of the coating cross-section was *** was found that the microstructure of the cross-section is presented as columnar crystals,planar crystals,and disordered growth direction,so that the coating has better hardness and wear *** electrochemical corrosion of the substrate and coating,it can be seen that the Co and Cr elements present in the coating are more likely to form a dense passivation film,which improved the corrosion resistance of the coating.

关键词： non-equilibrium solidification structure undercooling recrystallization laser cladding coating