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High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control

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Journal of Bionic Engineering 2024年第1期21卷 101-111页

作者： Sai Gu Fei meng Botao Liu Junyao Gao Qiang Huang School of Mechatronical Engineering Beijing Institute of Technology100081 BeijingChina Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped *** method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum *** the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is *** switching and landing stability control are also ***,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.

关键词： Quadruped robot High dynamic motion control-Periodic limit cycle Trajectory optimization

Effect of particle composition and consolidation degree on the wave-induced liquefaction of soil beds

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Acta Oceanologica Sinica 2024年第2期43卷 11-22页

作者： Zhiyuan Chen Yupeng Ren Guohui Xu meng Li Shandong Provincial Key Laboratory of Marine Environment and Geological Engineering Ocean University of ChinaQingdao 266100China Marine Ecological Restoration and Smart Ocean Engineering Research Center of Hebei Province Qinhuangdao 066000China Key Laboratory of Marine Environment and Ecology(Ocean University of China) Ministry of EducationQingdao 266100China Key Laboratory of Submarine Geoscience and Prospecting Techniques(Ocean University of China) Ministry of EducationQingdao 266100China

The wave-induced liquefaction of seabed is responsible for causing damage to marine *** composition and consolidation degree are the key factors affecting the pore water pressure response and liquefaction behavior of the seabed under wave *** present study conducted wave flume experiments on silt and silty fine sand beds with varying particle ***,a comprehensive analysis of the differences and underlying reasons for liquefaction behavior in two different types of soil was conducted from both macroscopic and microscopic *** experimental results indicate that the silt bed necessitates a lower wave load intensity to attain the liquefaction state in comparison to the silty fine sand ***,the duration and development depth of liquefaction are greater in the silt *** dissimilarity in liquefaction behavior between the two types of soil can be attributed to the variation in their permeability and plastic deformation *** permeability coefficient and compression modulus of silt are lower than those of silty fine ***,silt is more prone to the accumulation of pore pressure and subsequent liquefaction under external *** research has demonstrated that silt beds with varying consolidation degrees exhibit distinct initial failure ***,a dense bed undergoes shear failure,whereas a loose bed experiences initial liquefaction *** study utilized discrete element simulation to examine the microscopic mechanisms that underlie this phenomenon.

关键词： wave flume liquefaction pore water pressure consolidation permeability experiment discrete element simulation

Cu,N codoped carbon nanosheets encapsulating ultrasmall Cu nanoparticles for enhancing selective 1,2-propanediol oxidation

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Journal of Energy Chemistry 2024年第4期91卷 27-35页

作者： Yonghai Feng Min Yu Minjia meng Lei Liu Dewei Rao Institute for Advanced Materials School of Materials Science and EngineeringJiangsu UniversityZhenjiang 212013JiangsuChina School of Chemistry and Chemical Engineering Jiangsu UniversityZhenjiang 212013JiangsuChina

In the selective oxidation of biomass-based 1,2-propanediol(PDO)with oxygen as the terminal oxidant,it is challenging to improve the lactic acid(LA)selectivity for nonnoble metal nanoparticles(NPs)due to their limited oxygen reduction rate and easy C-C *** the high economic feasibility of nonnoble metals,i.e.,Cu,in this work,copper and nitrogen codoped porous carbon nanosheets encapsulating ultrafine Cu nanoparticles(Cu@Cu-N-C)were developed to realize highly selective of PDO oxidation to *** carbon-encapsulated ultrasmall Cu^(0)NPs in Cu@Cu-N-C have high PDO dehydrogenation activity while N-coordinated Cu(Cu-N)sites are responsible for the high oxygen reduction ***,the performance of catalytic PDO conversion to LA is optimized by a proposed pathway of PDO→hydroxylacetone→lactaldehyde→***,the enhanced LA selectivity is 88.5%,and the PDO conversion is up to 75.1%in an O_(2)-pressurized reaction system(1.0 MPa O_(2)),superior to other Cu-based catalysts,while in a milder nonpressurized system(O_(2)flow rate of 100 mL min-1),a remarkable LA selectivity(94.2%)is obtained with 39.8%PDO conversion,2.2 times higher than that of supported Au nanoparticles(1%Au/C).Moreover,carbon encapsulation offers Cu@Cu-N-C with strong leaching resistance for better recycling.

关键词： Selective oxidation Copper and nitrogen doped carbon 1,2-Propanediol Ultrasmall Cu nanoparticles Lactic acid

Fully fluorinated hybrid zeolite imidazole/Prussian blue analogs with combined advantages for efficient oxygen evolution reaction

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Chinese Chemical Letters 2024年第6期35卷 222-228页

作者： Jiayu Xu meng Li Baoxia Dong Ligang Feng School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225002China

Hybrid metal-organic framework(MOF)derivatives play a significant role in the novel catalyst development in energy conversion ***,we demonstrated the low-temperature fully fluorinated zeolitic imidazole framework(ZIF)coupled with a three-dimensional open framework Prussian blue analog(PBA)with combined advantages for electrocatalytic oxygen evolution reaction(OER)in water splitting *** spectroscopic analysis and the electrochemical studies revealed the combined advantages of efficient electronic effect and active site *** of good conductivity improvement by Ndoped carbon derived from ZIF and the high electrochemical surface area and active site exposure from PBA derivatives,good catalytic performance was obtained on the optimal catalyst of Co Ni ZIF/Co Fe-PBAF-300,which required a low overpotential of 250 m V to reach 10 m A/cm^(2)loaded on the glassy carbon electrode,with Tafel slope of 47.4 m V/dec,and very high dynamic and steady *** addition,the multi-component with the mixed structure from highly polar metal fluorides promoted the easy formation of the active phase as revealed by the post-sample *** current results showed a novel composite catalyst materials development from the hybrid MOF derivatives,which would be promising in the electrolysis of water oxidation reactions and energy-relevant catalysis reactions.

关键词： Metal-organic framework Zeolitic imidazole framework Prussian blue analog Fluoridation Multi-component Oxygen evolution reaction

Single transition-metal atoms anchored on a novel Diracdispersiveπ-πconjugated holey graphitic carbon nitride substrate:computational screening toward efficient bifunctional OER/ORR electrocatalysts

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Rare Metals 2024年第8期43卷 3819-3832页

作者： Chun-Yao Fang Xi-Hang Zhang Qiang Zhang Di Liu Xiao-meng Cui Jing-Cheng Xu Cheng-Long Shi meng-Yu Yang College of Science University of Shanghai for Science and TechnologyShanghai 200093China School of Materials and Chemistry University of Shanghai for Science and TechnologyShanghai 200093China

Nonprecious-metal-group single-metal-atom catalysts with bifunctional catalytic capabilities toward the oxygen evolution reaction(OER)and oxygen reduction reaction(ORR)are highly sought after in energy-conversion and storage ***,producing renewable and sustainable energy sources remains ***,single-transition metal atoms anchored onπ-πconjugated two-dimensional(2D)graphitic carbon nitride substrates formπ-d conjugated conductive channels that enhance the overall electrocatalytic ***,firstprinciples calculations were carried out to design and demonstrate a novel macropore graphitic carbon nitride(gC_(10)N_(3))as a promising 2D electrocatalyst substrate to support single-transition metal(TM,from Sc to Au).The"donation-acceptance"charge interaction in the TM-N_(2)moiety effectively balances the adsorption strength of oxygenated intermediates in Ni@g-C_(10)N_(3)and Rh@gC_(10)N_3,making them effective bifunctional OER/ORR electrocatalysts with IrO_(2)/Pt-beyond overpotentials being as low as 0.39/0.38 V and 0.54/0.44 V,***,they possess high stability and conductivity and are less susceptible to oxidation and corrosion under working *** guarantees high activity under ambient ***,the origin of the OER/ORR activity of TM@g-C_(10)N_(3) is explained using multilevel descriptors:intrinsic(p,Bader charge,integral crystal orbital Hamilton population(ICOHP),bond length,and d-band center(εd).In particular,for optimal Ni@g-C_(10)N_(3),the clear hybridization between the Ni-d orbital and surface O-p orbital causes the paired electrons to occupy the bonding *** enables OH~*to be adsorbed on the Ni@g-C_(10)N_(3),thereby achieving the highest catalytic performance.

关键词： First-principles calculation Oxygen evolution reaction Oxygen reduction reaction Bifunctional electrocatalysts Single-metal-atom electrocatalysts

Progresses and Prospects of Asymmetrically Coordinated Single Atom Catalysts for Lithium-Sulfur Batteries

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Energy & Environmental Materials 2024年第4期7卷 48-63页

作者： Rong Zhou Shaonan Gu meng Guo Shuzheng Xu Guowei Zhou Key Laboratory of Fine Chemicals in Universities of Shandong Jinan Engineering Laboratory for Multi-scale Functional Materials School of Chemistry and Chemical Engineering Qilu University of Technology(Shandong Academy of Sciences)

Lithium-sulfur batteries (LSBs) are widely regarded as promising next-generation batteries due to their high theoretical specific capacity and low material ***,the practical applications of LSBs are limited by the shuttle effect of lithium polysulfides (LiPSs),electronic insulation of charge and discharge products,and slow LiPSs conversion reaction kinetics.

关键词： asymmetrical coordination conversion catalysis Li-S batteries shuttle effect single atom catalysts

Shock Initiation Experiments with Modeling on a DNAN Based MeltCast Insensitive Explosive

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Defence Technology（防务技术） 2024年第2期32卷 655-662页

作者： Feichao Miao Dandan Li Yangfan Cheng Junjiong meng Lin Zhou School of Chemical Engineering Anhui University of Science and TechnologyHuainan 232001China Composite Explosive Research Department Xi'an Modern Chemistry Research InstituteXi'an 710065China State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing 100081China

2,4-dinitroanisole(DNAN)is a good replacement for 2,4,6-trinitrotoluene(TNT)in melt-cast explosives due to its superior *** the increasing use of DNAN-based melt-cast explosives,the prediction of reaction violence and hazard assessment of the explosives subjected to shock is of great *** study investigated the shock initiation characteristics for a DNAN-based melt-cast explosive,DHFA,using the one-dimensional Lagrangian *** embedded manganin gauges in the apparatus record the pressure histories at four Lagrangian positions and show that shock-todetonation transition in DHFA needs a high input shock *** experimental data are analyzed to calibrate the Ignition and Growth *** calibration is performed using an objective function based on both pressure history and the arrival time of *** agreement between experimental and calculated pressure histories indicates the high accuracy of the calibrated parameters with the optimization method.

关键词： 2,4-Dinitroanisole(DNAN) Shock initiation Insensitive explosives Ignition and growth model Equation of state(EOS)

A LiDAR Point Clouds Dataset of Ships in a Maritime Environment

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1681-1694页

作者： Qiuyu Zhang Lipeng Wang Hao meng Wen Zhang Genghua Huang the College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Key Laboratory of Space Active Opto-Electronics Technology Shanghai Institute of Technical PhysicsChinese Academy of SciencesShanghai 200083China

For the first time, this article introduces a LiDAR Point Clouds Dataset of Ships composed of both collected and simulated data to address the scarcity of LiDAR data in maritime applications. The collected data are acquired using specialized maritime LiDAR sensors in both inland waterways and wide-open ocean environments. The simulated data is generated by placing a ship in the LiDAR coordinate system and scanning it with a redeveloped Blensor that emulates the operation of a LiDAR sensor equipped with various laser beams. Furthermore,we also render point clouds for foggy and rainy weather conditions. To describe a realistic shipping environment, a dynamic tail wave is modeled by iterating the wave elevation of each point in a time series. Finally, networks serving small objects are migrated to ship applications by feeding our dataset. The positive effect of simulated data is described in object detection experiments, and the negative impact of tail waves as noise is verified in single-object tracking experiments. The Dataset is available at https://***/zqy411470859/ship_dataset.

关键词： 3D point clouds dataset dynamic tail wave fog simulation rainy simulation simulated data

Aeroengine thrust estimation and embedded verification based on improved temporal convolutional network

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Chinese Journal of Aeronautics 2024年第1期37卷 106-117页

作者： Wanzhi meng Zhuorui PAN Sixin WEN Pan QIN Ximing SUN Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of TechnologyDalian 116024China School of Control Science and Engineering Dalian University of TechnologyDalian 116024China

Thrust estimation is a significant part of aeroengine thrust control *** traditional estimation methods are either low in accuracy or large in *** further improve the estimation effect,a thrust estimator based on Multi-layer Residual Temporal Convolutional Network(M-RTCN)is *** solve the problem of dead Rectified Linear Unit(ReLU),the proposed method uses the Gaussian Error Linear Unit(GELU)activation function instead of ReLU in residual *** the overall architecture of the multi-layer convolutional network is adjusted by using residual connections,so that the network thrust estimation effect and memory consumption are further ***,the comparison with seven other methods shows that the proposed method has the advantages of higher estimation accuracy and faster convergence ***,six neural network models are deployed in the embedded controller of the micro-turbojet *** Hardware-in-the-Loop(HIL)testing results demonstrate the superiority of M-RTCN in terms of estimation accuracy,memory occupation and running ***,an ignition verification is conducted to confirm the expected thrust estimation and real-time performance.

关键词： Thrust estimation Temporal convolutional network Embedded deployment Hardware-in-the-loop testing Ignition verification