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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

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Frontiers of Mechanical Engineering 2024年第3期19卷 23-40页

作者： qi LI Lei DING xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China School of Computer Science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

Evaluation of 3D crustal seismic velocity models in southwest China:Model performance,limitation,and prospects

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Science China Earth Sciences 2024年第2期67卷 604-619页

作者： xin WANG Ling CHEN qi-Fu CHEN Key Laboratory of Earth and Planetary Physics Institute of Geology and GeophysicsChinese Academy of SciencesBeijing100029China College of Earth and Planetary Sciences University of Chinese Academy of SciencesBeijing100049China State Key Laboratory of Lithospheric Evolution Institute of Geology and GeophysicsChinese Academy of SciencesBeijing100029China

Southwest China is a tectonically and seismically active region,witnessing strong deformation due to the collision between the Indian and Eurasian *** the subsurface velocity structure of this region is thus important in understanding the tectonics and geodynamic processes of continental collision and in mitigating seismic *** studies have provided various 3D seismic velocity models in southwest ***,discrepancies exist among these models,and less effort has been made to quantify the reliability and accuracy of these existing velocity *** this study,we use regional 3D waveform simulation to evaluate the performance of various regional crustal 3D velocity models in reproducing observed *** particularly focus on two recent earthquake sequence in the region,the 2021 Yunnan Yangbi MS_(6.4) earthquake sequence and the 2022 Sichuan Luding MS_(6.8) earthquake *** tested 3D velocity models include the Southwest China Community Velocity model V1.0,the Unified Seismic Tomography Models for Continental China Lithosphere V2.0,the adjoint full waveform tomography model of the crustal and upper mantle beneath Eastern Tibetan Plateau,and the shallow seismic structure model beneath continental *** results show that the tested 3D velocity models generally capture well long-period(<0.2 Hz)waveforms,indicating that the 3D models adequately resolve overall large-scale subsurface ***,the 3D synthetics show discrepancies in higher frequencies(0.05–0.3 Hz)and the performance of the 3D velocity models varies from region to region,suggesting that smaller scale heterogeneities are not well *** shallow velocity structures(<10 km)can improve the waveform fitting,emphasizing the importance of incorporating shallow structures in waveform *** full-waveform tomography model shows a slighter better performance than the other models,especially for the body-waves,highlighting the advantages

关键词： Southwest China Seismic tomography models Shallow Structures Waveform simulation Model evaluation

Experimental study on effects of gas flow rate on soot characteristics in diffusion flames coupled with plasma

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Science China(Technological Sciences) 2024年第2期67卷 475-485页

作者： qi DanDan CHEN MingXiao TU xin LIU Dong MIIT Key Laboratory of Thermal Control of Electronic Equipment School of Energy and Power EngineeringNanjing University of Science and TechnologyNanjing 210094China Advanced Combustion Laboratory School of Energy and Power EngineeringNanjing University of Science and TechnologyNanjing 210094China Department of Electrical Engineering and Electronics University of LiverpoolLiverpool L693GJUK

This study examined the evolution of morphology and nanostructure of soot particles from the plasma-flame interaction for various gas flow *** current study used both optical diagnostic and sampling methods to explore the soot production and combustion *** particles were characterized at the same positions downstream from the flame zone by thermophoretic sampling and transmission electron ***,X-ray diffraction analysis,and thermogravimetric analysis were performed to study the nanostructure and oxidation reactivity of soot.A reduction in soot concentration was found with the plasma addition,which illustrated an inhibition effect of plasma on soot *** increased gas flow rate promoted soot concentration since a growing number of carbons participated in the combustion *** on the gas flow rate(carbon content)variation and plasma activation,either liquid-like soot material with irregularly shaped protrusions or chain-like structure,or a mixture of both,were generated from the diffusion *** soot produced by plasma-flame interaction also demonstrated a high correlation between nanostructure and *** soot from lower carbon content with plasma activation had a shorter fringe length and larger fringe tortuosity related to higher oxidation *** the contrary,soot from the highest carbon content without plasma-flame interaction exhibited prevalent fullerene-like nanostructures with evident large or small shells and also had a higher carbonization degree resulting in lower oxidation reactivity.

关键词： soot characteristics gas flow rate plasma diffusion flames

Quaternary Activity Characteristics and Regional Tectonic Significance of the Jiulong Fault in Jiujiang,Jiangxi Province,China

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Journal of Earth Science 2024年第4期35卷 1107-1117页

作者： xin qi Yuyong Jiao qinghua Li Bin Li Faculty of Engineering China University of GeosciencesWuhan430074China Wuhan Center China Geological SurveyWuhan430205China Institute of Geological Survey China University of GeosciencesWuhan430074China

Obtaining geological and landform dislocation features,as well as the measured stratigraphic activity age,provides direct evidence to evaluate fault activity,which is more difficult to do in areas with low tectonic activity,such as eastern and central China.A detailed investigation of the fault activity,trenching,drilling joint geological profile,geological survey,and chronological analysis were used to obtain the spatial geometry,fault kinematics,and activity chronology of the Jiulong *** conclusions are as follows:(1)The Jiulong fault was a fracture zone composed of four branch faults,with a width of around 30–40 m and good extendibility,while the maximum surface rupture length was 373 m.(2)The Jiulong fault has many strata dislocations,and the dislocation distance decreased from bottom to top,demonstrating synsedimentary structure characteristics,with a maximum stratigraphic dislocation distance of 18.2 m.(3)Preliminary analysis suggested the Jiulong fault as a secondary fracture of the Xiangfan-Guangji fault zone and provided evidence of the southeastward extension of the Xiangfan-Guangji fault.A preliminary hypothesis purported the Xiangfan-Guangji fault as the seismogenic fault of the Ms 5.0 magnitude earthquake in 1911.(4)According to OSL and ESR dating analyses,the upper breakpoint of the Jiulong fault cuts into the Late Pleistocene xingang Formation(Qp3x)strata,and the latest active age of the Jiulong fault was 57.6 *** chronology analysis confirmed an active fault from the Late Pleistocene and identified a weak tectonic in Jiujiang Province,which represents the largest active fault outcrop uncovered in the area so *** study provides evidence and research materials for the evaluation of fault activity and seismic stability in this region.

关键词： active fault regional tectonic earthquakes seismic intensity tectonics

A Bird’s Eye View of Quantitative Proteome of Tumor Tissues from Lung Cancer Patients by a High Precision Mass Spectrometry Method

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Chemical Research in Chinese Universities 2024年第1期40卷 136-144页

作者： DU Xiaohui LI Encheng WANG qi YOU xin Lung Cancer Transitional Medicine Center The Second Affiliated Hospital of Dalian Medical UniversityDalian116023P.R.China Department of Scientific Research Center The Second Affiliated Hospital of Dalian Medical UniversityDalian116023P.R.China Department of Respiratory Medicine The Second Affiliated Hospital of Dalian Medical UniversityDalian116023P.R.China

Lung cancer produces a high incidence of malignant *** have been many studies on lung cancer using mass spectrometry(MS)***,most studies have focused on humoral *** this work,26 pairs of tissue samples(tumor ***-tumor)from patients with lung cancer were analyzed using liquid chromatography-tandem MS(LC-MS/MS)with data-independent acquisition *** total,3152 proteins were quantified from tissue samples with high confidence,including 189 up-regulated and 522 down-regulated proteins(tumor ***-tumor).In addition,79 and 690 proteins were identified only in para-cancerous samples and cancerous samples,*** results from bio-informatics tools indicated that altered proteins like PEBP1,HRG and LYZ could be ideal reservoirs for screening the potential biomarkers for lung *** is believed these tissue-specific proteomics results will assist in the studies of lung cancer.

关键词： Lung cancer Proteome Data-independent aquisition

π-conjugated chromophore functionalized high-nuclearity titanium-oxo clusters containing structural unit of anatase for photocatalytic selective oxidation of sulfides

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Rare Metals 2024年第4期43卷 1736-1746页

作者： Ling-Rong Liao Dong-Chun Zheng Pin-Xi Ou qi-xin Zhao Wei-Min Xuan qi Zheng State Key Laboratory for Modification of Chemical Fibers and Polymer Materials&College of Materials Science and Engineering Donghua UniversityShanghai201620China State Key Laboratory for Modification of Chemical Fibers and Polymer Materials and College of Chemistry and Chemical Engineering Donghua UniversityShanghai 201620China

N-doping has significant influence in manipulating the properties of TiO_(2),and this has stimulated the development of N-donor-functionalized titanium-oxo clusters(TOCs)as molecular models to study the structure-property ***,the structural type and photoresponsive application are still limited for such TOCs,especially regarding the high-nuclearity TOCs that contain structure unit of TiO_(2)for ***,we showed the synthesis of a series of high-nuclearity TOCs 1-3 compounds usingπ-conjugated 1,10-phenanthroline(phen)as chromophore and N-donor functional *** 1 features cocrystal structure composed of one[Ti_(26)]~(2+)and half[Ti_(22)]~(2+),which renders it as the first cocrystallized TOC containing two positively charged species and phen-functionalized TOC showing the highest nuclearity up to 37 Ti *** adjusting the synthetic conditions,the individual{Ti_(22)}and{Ti_(26)}clusters can also be isolated as Compounds 2 and 3,*** core structure of{Ti_(22)}is mainly constructed from four lacunary{Ti_(4)}derived from pentagonal{Ti(Ti)_5}unit,while{Ti_(26)}is built from four complete{Ti(Ti)_5}***,a{Ti_8O_(14.}structure unit of anatase TiO_(2)can be identified in{Ti_(26)}.Based on the unique structural features and proper photophysical and photochemical properties of Compounds 1-3,they are applied for photocatalytic *** to the presence of anatase structure unit in{Ti_(26)}and the synergistic effect from{Ti_(22)}and{Ti_(26)},the catalytic performance presents in the order of Compound 1>Compound 3>Compound *** work provides excellent models to understand the structureproperty relationship from the perspective of cocrystallization and Ti-O binding model and will further promote the application of TOCs as functional catalysts for organic transformation.

关键词： Titanium-oxo cluster Molecular model of anatase TiO_(2) High nuclearity π-conjugated chromophore Photocatalytic sulfoxidation

Zn-air batteries for electric vehicles

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Tungsten 2024年第1期6卷 164-173页

作者： Nai-qi Meng Yu-xin Fan Jing-Sheng Cai State Key Laboratory of Molecular Engineering of Polymers Department of Macromolecular ScienceFudan UniversityShanghai 200438China College of Energy Soochow Institute for Energy and Materials InnovationS(SIEMIS)Key Laboratory of Advanced Carbon Materials and Wearable Energy Technologies of Jiangsu Province Soochow UniversitySuzhou 215006China Institute of New Energy for Vehicles School of Materials Science and EngineeringTongji UniversityShanghai 201804China

The increasingly serious environmental challenges have gradually aroused people's interest in electric *** the last decade,governments and automakers have collaborated on the manufacturing of electric vehicles with high ***-edge battery technologies are pivotal for the performance of electric ***-air batteries are considered as potential power batteries for electric vehicles due to their high ***-air battery researches can be classified into three categories:primary batteries,mechanically rechargeable batteries,and chemically rechargeable *** majority of current studies aim at developing and improving chemically rechargeable and mechanically rechargeable Zn-air *** have tried to use catalytic materials design and device design for Zn-air batteries to make it possible for their applications in electric *** review will highlight the state-of-the-art in primary batteries,mechanically rechargeable batteries,and chemically rechargeable batteries,revealing the prospects of Zn-air batteries for electric vehicles.

关键词： Energy storage Electric vehicles Bifunctional oxygen catalysts Mechanically rechargeable Zn-air batteries Chemically rechargeable Zn-air batteries

Plant aquaporins:Their roles beyond water transport

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The Crop Journal 2024年第3期12卷 641-655页

作者： qi Sun xin Liu Yoshichika Kitagawa Giuseppe Calamita Xiaodong Ding Key Laboratory of Agricultural Biological Functional Genes Northeast Agricultural UniversityHarbin 150030HeilongjiangChina Graduate School of Bioresource Sciences Akita Prefectural UniversityAkita 010-0195Japan Department of Biosciences Biotechnologies and BiopharmaceuticsUniversity of Bari‘Aldo Moro’I-70125 BariItaly Key Laboratory of Soybean Biology of Chinese Education Ministry Northeast Agricultural UniversityHarbin 150030HeilongjiangChina

Compared to other organisms,plants have evolved a greater number of aquaporins with diverse substrates and functions to adapt to ever-changing environmental and internal stimuli for growth and *** aquaporins were initially identified as channels that allow water molecules to cross biological membranes,progress has been made in identifying various novel permeable *** studies have characterized the versatile physiological and biophysical functions of plant ***,we review the recent reports that highlight aquaporin-facilitated regulation of major physiological processes and stress tolerance throughout plant life cycles as well as the potential prospects and possibilities of applying aquaporins to improve agricultural productivity,food quality,environmental protection,and ecological conservation.

关键词： Plant aquaporin Substrate Physiological function Agriculture and environment

Wind-sand flow simulation and radius optimization of highway embankment under different vertical curve radius

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Journal of Mountain Science 2024年第8期21卷 2533-2546页

作者： LI Liangying LI qi WANG Xu xin Guowei WANG Zhenqiang School of Civil Engineering Lanzhou Jiaotong UniversityLanzhou 730070China

It is of great practical value to explore the correlation between the vertical curve radius of desert highway and the increase of sand accumulation in local lines,and to select the appropriate vertical curve radius for reducing the risk of sand *** this study,three-dimensional models of desert highway embankments with different vertical curve radii were constructed,and Fluent software was used to simulate the wind-sand flow field and sand accumulation distribution of vertical curve *** results show that:(1)Along the direction of the road,the concave and the convex vertical curve embankments have the effect of collecting and diverging the wind-sand flow,*** the radius of the concave vertical curve is 3000 m,5000 m,8000 m,10000 m and 20000 m,the wind velocity in the middle of the vertical curve is 31.76%,22.58%,10.78%,10.53%and 10.44%,higher than that at both *** the radius of the convex vertical curve is 6500 m,8000 m,10000 m,20000 m and 30000 m,the wind velocity at both ends of the vertical curve is 14.06%,9.99%,6.14.,3.22%and 2.41%,higher than that in the *** diversion effect also decreases with the increase of the radius.(2)The conductivity of the concave and convex vertical curve embankments with different radii is greater than 1,which is the sediment transport *** conductivity increases with the increase of radius and gradually tends to be *** the radius of the concave and convex vertical curves reaches 8000 m and 20000 m respectively,the phenomenon of sand accumulation is no longer *** the same radius condition,the concave vertical curve embankment is more prone to sand accumulation than the convex one.(3)Considering the strength of the collection and diversion of the vertical curve embankment with different radii,and the sand accumulation of the vertical curve embankment in the desert section of Wuma Expressway,the radius of the concave vertical curve is not less than 8000 m,and the r

关键词： Highway engineering Vertical curve Numerical simulation Embankment wind-sand flow Radius optimization