基于异构计算的简单行走模型的吸引区域研究

被动行走机器人由于结构简单、能量利用率高而倍受青睐, 但其很容易跌倒, 因此准确把握最终步态与吸引区域成了关键. 由于面对非光滑系统, 大规模数值计算很难避免, 为此本文先提出基于CPU+GPU异构平台的Poincaré映射算法. 该算法可发挥最新平台计算潜力, 比传统CPU上算法快上百倍. 得益于此, 本文针对双足被动行走的最基本模型, 大规模地选取样点进行计算, 不仅清晰地得出吸引区域的形状轮廓和细节特征, 揭示了其内在分形结构, 还得到系统吸引集和吸引区域随倾角k的变化关系, 发现了新的稳定三周期步态和倍周期分岔混沌现象, 并研究了吸引区域.     

A Self-Supporting Strategy for Gas-Phase and Slurry-Phase Ethylene Polymerization using Late-Transition-Metal Catalysts

The polyolefin industry is dominated by gas-phase and slurry-phase polymerization using heterogeneous catalysts. In contrast, academic research is focused on homogeneous systems, especially for late-transition-metal catalysts. The heterogenization of homogeneous catalysts is a general strategy to provide catalyst solutions for existing industrial polyolefin synthesis. Herein, we report an alternative, potentially general strategy for using homogeneous late-transition-metal catalysts in gas-phase and slurry-phase polymerization. In this self-supporting strategy, catalysts with moderate chain-walking capabilities produced porous polymer supports during gas-phase ethylene polymerization. Chain walking, in which the metal center can move up and down the polymer chain during polymerization, ensures that the metal center can travel along the polymer chain to find suitable sites for ethylene enchainment. This strategy enables simple heterogenization of catalysts on solid supports for slurry-phase polymerization. Most importantly, various branched ultra-high-molecular-weight polyethylenes can be prepared under various polymerization conditions with proper catalyst selection.     

Jahn–Teller Disproportionation Induced Exfoliation of Unit-Cell Scale ϵ-MnO2

Exfoliation of non-layered (structurally) bulk materials at the nanoscale is challenging because of the strong chemical bonds in the lattice, as opposed to the weak van der Waals (vdW) interactions in layered materials. We propose a top-down method to exfoliate ϵ-MnO₂ nanosheets in a family of charge-ordered La_1−xAE_xMnO₃ (AE=Ca, Sr, Ba) perovskites, taking advantage of the Jahn–Teller disproportionation effect of Mn³⁺ and bond-strength differences. ϵ-MnO₂ crystallized into a nickel arsenide (NiAs) structure, with a thickness of 0.91 nm, displays thermal metastability and superior water oxidation activity compared to other manganese oxides. The exfoliation mechanism involves a synergistic proton-induced Mn³⁺ disproportionation and structural reconstruction. The synthetic method could also be potentially extended to the exfoliation of other two-dimensional nanosheet materials with non-layered structures.     

分层模糊控制器在四足步行机器人中的应用

本文针对四足步行机器人模糊控制器规则庞大，逻辑复杂的问题，提出了一种分层模糊控制器的设计方法。该方法不依赖被控对象的数学模型，将状态变量分层以降低多变量系统的设计复杂性，仿真和实验结果显示了该方法的有效性。     

Mathematical simulation of combined trajectory paths of a seven link biped robot

The following article focuses on biped robot simulation and control over combined trajectory paths with the aid of mathematical modeling methods focusing on the effects of hip height over torso’s modified motion. The mathematical simulation has been exploited to interpolate the combined trajectory of the robot path with the given breakpoints using inverse kinematic and dynamic methods to determine ZMP and stability treatments. After the robot’s combined path determination, a third-order spline is utilized because of its high precision and ability to calculate the kinematic, dynamic and control parameters. With the aid of this software, common parameters such as joint angles and inertial forces for the given specifications and nominal conditions are calculated and simulated.     

Effect of Body Weight-supported Walking on Exercise Capacity and Walking Speed in Patients with Knee Osteoarthritis: A Randomized Controlled Trial

Objective: To compare the effect of body-weight-supported treadmill training (BWSTT) and full-body-weight treadmill training (FBWTT) on patients with knee osteoarthritis (OA). Methods: Design was Randomized controlled trial. Patients with knee osteoarthritis (n = 30; mean age, 76.0±7.5 y) were randomly assigned to BWSTT or FBWTT group. All patients performed 20 min walking exercise twice a week for 6 weeks under the supervision of the therapist. Main measures were 10-meter walking test (10MWT), functional reach test (FRT), timed get up and go test (TUG), one-leg standing test, 6-minute walking test (6MWT), the parameters set on the treadmill, MOS Short-Form 36-Item Health Survey (SF36), Japanese Knee Osteoarthritis Measure (JKOM). Results: Twenty-five patients (10 men, 15 women; mean age, 76.5 ± 8.0 y) completed the experiment. Exercise capacity, indicated by the heart rate, was similar in both groups. After 3 weeks of BWSTT, the patients performed significantly better in the 10-m and 6-min walking tests. This was not the case with FBWTT even after 6 weeks training. Pain levels assessed were significantly improved after 3 weeks of BWSTT and 6 weeks of FBWTT. There were no significant improvements in either group assessed by the FRT, one-leg standing time test, TUG, or SF -36 questionnaire. Conclusions: BWSTT enhanced exercise capacity in terms of walking speed and pain reduction after 3 weeks; however, there was no significant improvement in patients'' functional abilities or quality of life.     

接触与摩擦对行走影响的仿真与实验研究

主要通过实验测量的方法研究被动行走中的足地接触过程,得到接触过程对行走稳定性的影响,对实验测量结果与仿真计算结果进行了对比,得到了较好的吻合效果.     

Treadmill walking of the pneumatic biped Lucy: Walking at different speeds and step-lengths

Actuators with adaptable compliance are gaining interest in the field of legged robotics due to their capability to store motion energy and to exploit the natural dynamics of the system to reduce energy consumption while walking and running. To perform research on compliant actuators we have built the planar biped Lucy. The robot has six actuated joints, the ankle, knee and hip of both legs with each joint powered by two pleated pneumatic artificial muscles in an antagonistic setup. This makes it possible to control both the torque and the stiffness of the joint. Such compliant actuators are used in passive walkers to overcome friction when walking over level ground and to improve stability. Typically, this kind of robots is only designed to walk with a constant walking speed and step-length, determined by the mechanical design of the mechanism and the properties of the ground. In this paper, we show that by an appropriate control, the robot Lucy is able to walk at different speeds and step-lengths and that adding and releasing weights does not affect the stability of the robot. To perform these experiments, an automated treadmill was built Published in Prikladnaya Mekhanika, Vol. 44, No. 7, pp. 134–142, July 2008.     

Directional quantum random walk induced by coherence

Quantum walk (QW), which is considered as the quantum counterpart of the classical random walk (CRW), is actually the quantum extension of CRW from the single-coin interpretation. The sequential unitary evolution engenders correlation between different steps in QW and leads to a non-binomial position distribution. In this paper, we propose an alternative quantum extension of CRW from the ensemble interpretation, named quantum random walk (QRW), where the walker has many unrelated coins, modeled as two-level systems, initially prepared in the same state. We calculate the walker's position distribution in QRW for different initial coin states with the coin operator chosen as Hadamard matrix. In one-dimensional case, the walker's position is the asymmetric binomial distribution. We further demonstrate that in QRW, coherence leads the walker to perform directional movement. For an initially decoherenced coin state, the walker's position distribution is exactly the same as that of CRW. Moreover, we study QRW in 2D lattice, where the coherence plays a more diversified role in the walker's position distribution.