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A learning-based control pipeline for generic motor skills for quadruped robots

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第6期25卷 443-454页

作者： Yecheng SHAO yongbin jin Zhilong HUANG Hongtao WANG Wei YANG Center for X-Mechanics Zhejiang UniversityHangzhou310027China ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou311200China State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou310058China Institute of Applied Mechanics Zhejiang UniversityHangzhou310027China

Performing diverse motor skills with a universal controller has been a longstanding challenge for legged *** motion imitation-based reinforcement learning(RL)has shown remarkable performance in reproducing designed motor skills,the trained controller is only suitable for one specific type of *** synthesis has been well developed to generate a variety of different motions for character animation,but those motions only contain kinematic information and cannot be used for *** this study,we introduce a control pipeline combining motion synthesis and motion imitation-based RL for generic motor *** design an animation state machine to synthesize motion from various sources and feed the generated kinematic reference trajectory to the RL controller as part of the *** the proposed method,we show that a single policy is able to learn various motor skills ***,we notice the ability of the policy to uncover the correlations lurking behind the reference motions to improve control *** analyze this ability based on the predictability of the reference trajectory and use the quantified measurements to optimize the design of the *** demonstrate the effectiveness of our method,we deploy the trained policy on hardware and,with a single control policy,the quadruped robot can perform various learned skills,including automatic gait transitions,high kick,and forward jump.

关键词： Quadruped robot Reinforcement learning(RL) Motion synthesis Control

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Discovery of pockmarks in the Zengmu Basin,southern South China Sea and the implication

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Journal of Oceanology and Limnology 2023年第2期41卷 757-768页

作者： Yanlin WANG Guanghong TU Junhui YU Pin YAN yongbin jin Changliang CHEN Jie LIU Key Laboratory of Ocean and Marginal Sea Geology South China Sea Institute of OceanologyInnovation Academy of South China Sea Ecology and Environmental EngineeringChinese Academy of SciencesGuangzhou 510301China Southern Marine Science and Engineering Guangdong Laboratory(Guangzhou) Guangzhou 511458China Guangzhou Marine Geological Survey China Geological SurveyMinistry of Natural ResourcesGuangzhou 511458China University of Chinese Academy of Sciences Beijing 100049China

The Zengmu Basin located in the shallow water area of the southern South China Sea,is rich in oil and gas resources,within which faults and mud-diapir are developed,but it is unknown whether oil and gas migrate to the seafloor *** newly collected multibeam data across the Zengmu Basin reveal a large number of depressions,with depths of 2-4 m,widths of several tens of meters,large distribution range of 1.8-8 km along survey line,up to~50 km,and their backscatter intensity(-26 dB)is much greater than that of the surrounding area(-38 dB).Combined with the developed mud-diapir and fracture structures,and abundant oil and gas resources within this basin,these depressions are presumed to be ***,more than 110 mono-sized small circular pockmarks,with a depth of less than 1 m and a width of 5 m,are observed in an area of less than 0.03 km2,which are not obliterated by sediment infilling with high sedimentation rate,implying an existence of unit-pockmarks that are or recently were *** addition,seismic profiles across the Zengmu Basin show characterization of upward migration of hydrocarbons,expressed as mud-diapir structures,bright spots in the shallow formation with characteristics of“low frequency increase and high frequency attenuation”.The subbottom profiles show the mud-diapir structures,as well as the gas-bearing blank zones beneath the *** features suggest large gas leaking and occurrence of large amounts of carbonate nodules on the *** indicates the complex and variable substrate type in the Zengmu Basin,while the area was once thought to be mainly silty sand and find *** is the first report on the discovery of pockmarks in the Zengmu Basin;it will provide basic information for submarine stability and marine engineering in China’s maritime boundaries.

关键词： South China Sea Zengmu Basin dense pockmarks gas leaking substrate type

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Electromechanical behavior of fiber-reinforced dielectric elastomer membrane

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International Journal of Smart and Nano Materials 2015年第2期6卷 124-134页

作者： Chi Li Yuhan Xie Guorui Li Xuxu Yang yongbin jin Tiefeng Li Institute of Applied Mechanics Zhejiang University38 Zheda RoadHangzhou 310027China

Based on its large deformation,light weight,and high energy density,dielectric elastomer(DE)has been used as driven muscle in many *** design the fiberreinforced DE membrane by adding fibers in the *** deformation and driven force direction of the membrane can be tuned by changing the fiber *** actuation in the perpendicular direction of the DE membrane with long fibers first increases and then decreases by the increasing of the fiber spacing in the perpendicular *** horizontal actuation of the membrane decreases by decreasing the spacing of short *** the membrane-inflating structure,the radially arranged fibers will break the axisymmetric behavior of the *** top area of the inflated balloon without fiber will buckle up when the voltage reaches a certain *** element simulations based on nonlinear field theory are conducted to investigate the effects of fiber arrangement and verify the experimental *** work can guide the design of fiber-reinforced DE.

关键词： Dielectric elastomer fiber reinforced electromechanical

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Genetic Relationship between Natural Gas Dispersal Zone and Uranium Accumulation in the Northern Ordos Basin, China

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Acta Geologica Sinica(English Edition) 2007年第3期81卷 501-509页

作者： GAN Huajun XIAO Xianming LU Yongchao jin yongbin TIAN Hui LIU Dehan State Key Laboratory of Organic Geochemistry Guangzhou Institute of Geochemistry Chinese Academy of Sciences Guangzhou Guangdong 511640 Graduate School of the Chinese Academy of Sciences Beijing 100049 Faculty of Earth Resources China University of Geosciences Wuhan Hubei 430074

The Ordos Basin is well-known for the coexistence of oil, natural gas, coal and uranium. However, there has been little research to discuss the genetic relationship between them. In this paper, a case study of the Zaohuohao area in Dongsheng, Inner Mongolia, China, is conducted to investigate the genetic relationship between the natural gas and the uranium accumulation. Fluid inclusion data from the uranium-bearing sandstone samples indicate that the fluid inclusions formed in a gas-water transition zone. Using the homogeneous temperatures of aqueous inclusions coeval with hydrocarbon-bearing inclusions, combined with the buried history and paleo-temperature data, the gas-water transition zone reached the area at about 110 Ma. On the basis of this, the contents of Uranium （U） and Total Organic Carbon （TOC） of the samples were analyzed, and there was no obvious relation between them. With regard to the available data from both publications and this study, it is found that the U mineralization has a spatiotemporal accordance with the gas-water dispersal zone. Thus, it is believed that the natural gas in the gas-water zone is an effective reducer to the U-bearing ground water abundant in oxygen, which is the main factor to U accumulation. This result can be used as the reference to the U mines predicting and prospecting.

关键词： natural gas dispersal zone fluid inclusions uranium mine Ordos Basin

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Stabilizing semi-transparent perovskite solar cells with a polymer composite hole transport layer

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Nano Research 2024年第3期17卷 1500-1507页

作者： yongbin jin Huiping Feng Zheng Fang Liu Yang Kaikai Liu Bingru Deng jingfu Chen Xueling Chen Yawen Zhong jinxin Yang Chengbo Tian Liqiang Xie Zhanhua Wei Xiamen Key Laboratory of Optoelectronic Materials and Advanced Manufacturing Institute of Luminescent Materials and Information DisplaysCollege of Materials Science and EngineeringHuaqiao UniversityXiamen 361021China

Semi-transparent perovskite solar cells(ST-PSCs)have broad applications in building integrated ***,the stability of ST-PSCs needs to be improved,especially in n-i-p ST-PSCs since the doped 2,2',7,7'-tetrakis(N,N-di-p-methoxyphenyl-amine)-9,9'-spirobifluorene(Spiro-OMeTAD)is unstable at elevated temperatures and high *** this work,aπ-conjugated polymer poly[(2,6-(4,8-bis(5-(2-ethylhexyl)thiophene-2-yl)-benzo[1,2-b:4,5-b']dithiophene))-alt-(5,5-(1',3'-di-2-thienyl-5',7'-bis(2-ethylhexyl)benzo[1',2'-c:4',5'-c']dithiophene-4,8-dione)](PBDB-T)is selected to form a polymer composite hole transport layer(HTL)with *** sulfur atom of the thiophene unit and the carbonyl group of the polymer interact with the undercoordinated Pb2+at the perovskite surface,which stabilizes the perovskite/HTL interface and passivates the interfacial *** incorporation of the polymer also increases the glass transition temperature and the moisture resistance of *** a result,we obtain ST-PSCs with a champion efficiency of 13.71%and an average visible light transmittance of 36.04%.Therefore,a high light utilization efficiency of 4.94%can be ***,the encapsulated device can maintain 84%of the initial efficiency after 751 h under continuous one-sun illumination(at 30%relative humidity)at the open circuit and the unencapsulated device can maintain 80%of the initial efficiency after maximum power tracking for more than 1250 h under continuous one-sun illumination.

关键词： semi-transparent solar cells π-conjugated polymer composite hole transport layer building integrated photovoltaics

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Sputtering under Mild Heating Enables High-Quality ITO for Efficient Semi-Transparent Perovskite Solar Cells

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Journal of Renewable Materials 2022年第10期10卷 2509-2518页

作者： yongbin jin Zheng Fang Liu Yang Kaikai Liu Mingliang Li Yaping Zhao Yujie Luo Huiping Feng Bingru Deng Chengbo Tian Changcai Cui Liqiang Xie Xipeng Xu Zhanhua Wei Xiamen Key Laboratory of Optoelectronic Materials and Advanced Manufacturing Institute of Luminescent Materials and Information DisplaysCollege of Materials Science and EngineeringHuaqiao UniversityXiamen361021China MOE Engineering Research Center for Brittle Materials Machining Huaqiao UniversityXiamen361021China

Semi-transparent perovskite solar cells(ST-PSCs)are promising in building-integrated photovoltaics(BIPVs)and tandem solar cells(TSCs).One of the keys to fabricate high-performance ST-PSCs is depositing efficient transparent *** tin oxide(ITO)is an excellent transparent conductive oxide with good light transmittance and high ***,the high sheet resistance of ITO sputtered at room temperature leads to the low fill factor(FF)and poor power conversion efficiency(PCE)of the ***,we study the effect of the sputtering temperature on the properties of ITO and the performance of *** find that when the sputtering temperature increases from the room temperature to 70℃,the crystallinity of the sputtered ITO gradually ***,the sheet resistance decreases and the corresponding device performance ***,once the sputtering temperature further increases over 70℃,the underlying hole transport layer will be damaged,leading to poor device ***,the optimized mild heating temperature of 70℃is applied and we obtain ST-PSCs with a champion PCE of 15.21%.We believe this mild heating assisted sputtering method is applicable in fabricating BIPVs and TSCs.

关键词： Indium tin oxide sputtering temperatures semi-transparent perovskite solar cells

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Efficient Semi‑Transparent Wide‑Bandgap Perovskite Solar Cells Enabled by Pure‑Chloride 2D‑Perovskite Passivation

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Nano-Micro Letters 2023年第8期15卷 35-48页

作者： Liu Yang yongbin jin Zheng Fang jinyan Zhang Ziang Nan Lingfang Zheng Huihu Zhuang Qinghua Zeng Kaikai Liu Bingru Deng Huiping Feng Yujie Luo Chengbo Tian Changcai Cui Liqiang Xie Xipeng Xu Zhanhua Wei Xiamen Key Laboratory of Optoelectronic Materials and Advanced Manufacturing Institute of Luminescent Materials and Information DisplaysCollege of Materials Science and EngineeringHuaqiao UniversityXiamen 361021People’s Republic of China MOE Engineering Research Center for Brittle Materials Machining Institute of Manufacturing EngineeringCollege of Mechanical Engineering and AutomationHuaqiao UniversityXiamen 361021People’s Republic of China Gold Stone(Fujian)Energy Company Limited Quanzhou 362005People’s Republic of China Collaborative Innovation Center of Chemistry for Energy Materials Department of ChemistryCollege of Chemistry and Chemical EngineeringXiamen UniversityXiamen 361005People’s Republic of China

Wide-bandgap(WBG)perovskite solar cells suffer from severe non-radiative recombination and exhibit relatively large opencircuit voltage(V_(OC))deficits,limiting their photovoltaic ***,we address these issues by in-situ forming a well-defined 2D perovskite(PMA)_(2)PbCl_(4)(phenmethylammonium is referred to as PMA)passivation layer on top of the WBG active *** 2D layer with highly pure dimensionality and halide components is realized by intentionally tailoring the side-chain substituent at the aryl ring of the post-treatment ***-principle calculation and single-crystal X-ray diffraction results reveal that weak intermolecular interactions between bulky PMA cations and relatively low cation-halide hydrogen bonding strength are crucial in forming the well-defined 2D ***(PMA)_(2)PbCl_(4)forms improved type-I energy level alignment with the WBG perovskite,reducing the electron recombination at the perovskite/hole-transport-layer *** this strategy in fabricating semi-transparent WBG perovskite solar cells(indium tin oxide as the back electrode),the V_(OC)deficits can be reduced to 0.49 V,comparable with the reported state-of-the-art WBG perovskite solar cells using metal ***,we obtain hysteresis-free 18.60%-efficient WBG perovskite solar cells with a high V_(OC)of 1.23 V.

关键词： Wide-bandgap perovskite solar cells Transparent back electrodes Defect passivation Bulky cations

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费托合成反应中的碳同位素分馏

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石油勘探与开发 2011年第2期38卷 249-256页

作者：倪云燕靳永斌中国石油勘探开发研究院中国科学院南海海洋研究所

为了深入研究费托合成反应中的碳同位素分馏,在300℃和35MPa条件下,以Fe粉为催化剂,利用密闭黄金管对甲酸进行了费托合成实验。实验分为加水和不加水两组。由于金管容积有限,实验中烷烃类产物的碳同位素只测试到甲烷。两组实验都显示,CO... 详细信息

为了深入研究费托合成反应中的碳同位素分馏,在300℃和35MPa条件下,以Fe粉为催化剂,利用密闭黄金管对甲酸进行了费托合成实验。实验分为加水和不加水两组。由于金管容积有限,实验中烷烃类产物的碳同位素只测试到甲烷。两组实验都显示,CO2是最富集13C的气体,而甲烷则最贫13C,并且随着反应的进行变得越来越贫13C。在第144h时CO2与甲烷之间的碳同位素分馏α(CO2-CH4)达到1.052～1.059,与产甲烷菌将CO2还原为CH4过程中所发生的碳同位素分馏(1.048～1.079)相似。实验表明费托合成实验过程受到碳同位素动力学的控制。

关键词：费托合成碳同位素同位素分馏无机成因烷烃气

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Sputtered SnO_(2)as an interlayer for efficient semitransparent perovskite solar cells

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Chinese Physics B 2022年第11期31卷 67-73页

作者： Zheng Fang Liu Yang yongbin jin Kaikai Liu Huiping Feng Bingru Deng Lingfang Zheng Changcai Cui Chengbo Tian Liqiang Xie Xipeng Xu Zhanhua Wei MOE Engineering Research Center for Brittle Materials Machining Institute of Manufacturing EngineeringCollege of Mechanical Engineering and AutomationHuaqiao UniversityXiamen 361021China Xiamen Key Laboratory of Optoelectronic Materials and Advanced Manufacturing Institute of Luminescent Materials and Information DisplaysCollege of Materials Science and EngineeringHuaqiao UniversityXiamen 361021China

SnO_(2)is widely used as the electron transport layer(ETL)in perovskite solar cells(PSCs)due to its excellent electron mobility,low processing temperature,and low *** the most common way of preparing the SnO_(2)ETL is spincoating using the corresponding colloid ***,the spin-coated SnO_(2)layer is sometimes not so compact and contains pinholes,weakening the hole blocking ***,a SnO_(2)thin film prepared through magnetron-sputtering was inserted between ITO and the spin-coated SnO_(2)acted as an *** strategy can combine the advantages of efficient electron extraction and hole blocking due to the high compactness of the sputtered film and the excellent electronic property of the spin-coated SnO_(2).Therefore,the recombination of photo-generated carriers at the interface is significantly *** a result,the semitransparent perovskite solar cells(with a bandgap of 1.73 eV)based on this double-layered SnO_(2)demonstrate a maximum efficiency of 17.7%(stabilized at 17.04%)with negligible ***,the shelf stability of the device is also significantly improved,maintaining 95%of the initial efficiency after 800-hours of aging.

关键词： semitransparent perovskite solar cells sputtering interlayer hole blocking

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“实践”概念的泛化及其逻辑难题——“实践存在论美学”论析

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湖南社会科学 2010年第5期 152-155页

作者：金永兵北京大学中文系

"实践存在论美学"以"实践"为人的存在本体,将"实践"与"存在"相结合开启美学思考的路径,"实践"范畴是其核心范畴,其关于"实践"及其与相关范畴的逻辑关系的理论思考构成这一美学的理论基石。本文试图依循"实践存在论美学"自身的理论思路,... 详细信息

"实践存在论美学"以"实践"为人的存在本体,将"实践"与"存在"相结合开启美学思考的路径,"实践"范畴是其核心范畴,其关于"实践"及其与相关范畴的逻辑关系的理论思考构成这一美学的理论基石。本文试图依循"实践存在论美学"自身的理论思路,考察其"实践"的内涵以及该理论如何将这种"实践"与密切相关的一些理论关键词,如"存在"、"审美活动"、"唯物主义"等相结合,并进一步对这一理论的美学阐释力作出分析。

关键词：实践存在审美活动唯物主义

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