Journal of Zhejiang University-SCIENCE A
more >
1 of 5
 ArticleStable and continuous vertical jumping control of hydraulic legged robots through reinforcement learning: Hydraulic legged robots have potential for high-dynamic motion due to their large power-to-weight ratios. However, it is challenging to ensure both stability and continuity in the motion of such robots. In this study, we propose a jumping motion control framework based on deep reinforcement learning that enables hydraulic limb leg units to perform stable and continuous jumping motions. First, to accurately represent the performance of a physical prototype, a quasi-realistic model incorporating physical feasibility constraints is constructed. This model is informed by analysis of the relevant fluid dynamics, and incorporates a trajectory generator and a motion tracking controller. To achieve ... DOI:10.1631/jzus.A2500142 Downloaded:2601 Clicked:2631 Cited:0 Comments:0 <Full Text>2601 <PPT>926
+Chinese Summary 基于强化学习的液压足式机器人稳定连续的垂直跳跃控制方法<202>基于强化学习的液压足式机器人稳定连续的垂直跳跃控制方法作者：张军辉，姬鹏远，方李舟，刘津源，王丹丹，艾吉昆，纵怀志，徐兵
机构：浙江大学，流体动力基础件与机电系统全国重点实验室，中国杭州，310058
目的：液压式足式机器人由于具有较高的功率质量比，在实现高动态运动方面具有巨大潜力。然而，如何同时保证其运动的稳定性与连续性仍面临挑战。本文旨在提出针对液压足式机器人动态跳跃运动的控制方法，在解决控制器优化过程中参数耦合问题的同时实现运动性能的多方面提升。
创新点：1.建立准真实仿真模型，准确反映液压肢腿单元的动态特性；2.提出基于强化学习的液压足式机器人运动控制框架；3.在样机上实现强化学习策略的部署与验证。
方法：1.基于液压驱动系统的动力学分析，结合物理可行性约束，构建液压肢腿单元的准真实模型；2.运用近端策略优化（PPO）强化学习算法，同时优化轨迹生成器与运动跟踪控制器的参数，并在仿真环境中训练控制策略；3.将训练后的策略部署于样机，在竖直跳跃和前向跳跃的不同工况下验证控制策略的性能。
结论：1.所提出的准真实模型能够准确反映物理样机的性能；2.运用强化学习控制框架的液压肢腿单元能够在仿真中实现连续且稳定的跳跃；3.训练后的策略成功部署于物理样机并在高度跟踪和落地柔顺性方面取得显著提升。
关键词组：足式机器人；深度强化学习；准真实模型；液压系统；跳跃控制 ArticleStress relaxation properties of calcium silicate hydrate: a molecular dynamics study: The time-dependent viscoelastic response of cement-based materials to applied deformation is far from fully understood at the atomic level. Calcium silicate hydrate (C-S-H), the main hydration product of Portland cement, is responsible for the viscoelastic mechanism of cement-based materials. In this study, a molecular model of C-S-H was developed to explain the stress relaxation characteristics of C-S-H at different initial deformation states, Ca/Si ratios, temperatures, and water contents, which cannot be accessed experimentally. The stress relaxation of C-S-H occurs regardless of whether it is subjected to initial shear, tensile, or compressive deformation, and shows a heterogeneous chara... DOI:10.1631/jzus.A2300476 Downloaded:8418 Clicked:19680 Cited:0 Comments:0 <Full Text>8418 <PPT>4548
+Chinese Summary 水化硅酸钙应力松弛特性的分子动力学研究<2586>水化硅酸钙应力松弛特性的分子动力学研究作者：耿志成1，汤盛文1,2，汪洋1，阿胡宝1，何真1，吴凯2，王磊3
机构：1武汉大学，水资源工程与调度全国重点实验室，中国武汉，430072；2同济大学，先进土木工程材料教育部重点实验室，中国上海，200092；3西安建筑科技大学，材料科学与工程学院，中国西安，710055
目的：水化硅酸钙（C-S-H）是波特兰水泥的主要水化产物，是影响水泥基材料粘弹性机制的主要成分之一。然而，人们还未能在原子层面上完全理解水泥基材料在外加变形作用下随时间变化的粘弹性响应。本文旨在通过建立不同钙硅比的C-S-H模型，以分子动力学模拟的方式系统研究不同因素对水化硅酸钙应力松弛性能的影响。
创新点：1.基于分子动力学模拟，获得C-S-H的应力松弛特性；2.研究应变状态、钙硅比和内部水含量对C-S-H应力松弛的影响，揭示其在应力松弛过程中所涉及的内部结构及能量变化。
方法：1.通过各原子基团的均方位移在应力松弛过程中考虑C-S-H层间区域的粘度变化；2.基于时间相关函数，在不同应变状态、钙硅比以及温度的条件下研究C-S-H层间区域涉及到的化学键断裂与重组；3.阐明氢键网络和C-S-H形态对不同含水量下C-S-H应力松弛特性演变的影响。
结论：1.在不同的初始变形条件下，C-S-H应力松弛响应均会发生，并显示出非均质特征；2.钙硅比的增大以及温度的提高会导致水分子、羟基和层间钙原子的运动加快，从而引起C-S-H层间区域的粘度降低，进而导致C-S-H的初始应力及残余应力降低；3.由于水分子会影响C-S-H的形貌以及层间氢键网络，所以C-S-H在不同水含量时展现出不同的应力松弛特性。
关键词组：水化硅酸钙；应力松弛；钙硅比；温度；水含量；原子模拟 ReviewInkjet 3D bioprinting for tissue engineering and pharmaceutics: 3D bioprinting has the capability to create 3D cellular constructs with the desired shape using a layer-by-layer approach. Inkjet 3D bioprinting, as a key component of 3D bioprinting, relies on the deposition of cell-laden droplets to create native-like tissues/organs which are envisioned to be transplantable into human body for replacing damaged ones. Benefiting from its superiorities such as high printing resolution and deposition accuracy, inkjet 3D bioprinting has been widely applied to various areas, including, but not limited to, tissue engineering and drug screening in pharmaceutics. Even though inkjet 3D bioprinting has proved its feasibility and versatility in various fields, the cu... DOI:10.1631/jzus.A2200569 Downloaded:12007 Clicked:36104 Cited:0 Comments:0 <Full Text>12007 <PPT>5517
+Chinese Summary 喷墨生物3D打印的组织工程和药学应用<4018>喷墨生物3D打印的组织工程和药学应用作者：赵登科1,2,3，徐赫崎1,3，尹俊1,2，杨华勇1
机构：1浙江大学，流体动力与机电系统国家重点实验室，中国杭州，310058；2浙江大学，浙江省三维打印工艺与装备重点实验室，中国杭州，310058；3这些作者对本文的贡献相同
概要：生物3D打印具有通过层层叠加增材制造的方式构建所需载活细胞3D结构的能力。作为生物3D打印技术的重要组成部分，喷墨生物3D打印利用载细胞液滴作为基本单元，构造仿生组织或器官，以期用于替代人体损伤或病变的组织或器官。由于其优异的打印精度和准确性，喷墨生物3D打印目前已被广泛应用于组织工程和药物研发等领域。然而，尽管大量的应用已证明其在不同领域内的可行性和广泛适用性，喷墨生物3D打印仍然受限于生物材料的选择和打印工艺。本文针对喷墨生物3D打印，首先归纳总结了现有关键打印技术、可打印生物材料和其在组织工程和药学领域内的典型应用，进而对其面临的关键挑战和潜在解决方案进行讨论。
关键词组：喷墨生物3D打印；生物材料；体外组织模型；体内组织替代物；药物筛选 ReviewDevelopment of amphibious biomimetic robots: Amphibious robots are becoming increasingly important for civilian, scientific, and environmental missions. They are widely used in disaster rescue, ecosystem monitoring, and entertainment. However, some have two different locomotion systems that need to be changed manually to fulfill both swimming in the water and moving on land, which may reduce their efficiency and reliability. Applying bioinspiration and biomimetics, many recently developed amphibious robots can undertake various tasks in complex amphibious environments with high mobility, flexibility, and energy efficiency. This review overviews the latest developments in amphibious robots, emphasizing biomimetic design concepts, backbo... DOI:10.1631/jzus.A2100137 Downloaded:8963 Clicked:24048 Cited:0 Comments:0 <Full Text>8963 <PPT>5404
+Chinese Summary 水陆两栖仿生机器人的发展与展望<4418>水陆两栖仿生机器人的发展与展望作者：白向娟，尚建忠，罗自荣，蒋涛，殷谦
机构：国防科技大学，智能科学学院，智能机械与仪器系，中国长沙，410073
目的：1.通过对仿生生物行进功能和结构特性等特征的研究，分析总结现有两栖仿生机器人的特征。2.分析总结探讨仿生生物的自身生物结构优势，并通过应用仿生学提高水陆两栖环境下的机器人性能。
创新点：1.从13种不同仿生原型的角度归纳了典型的两栖机器人，比较了目前两栖机器人的研究技术参数，并总结了两栖机器人10种不同的推进方法以及行驶速度、工作效率、机动性和稳定性。2.创新性地提出了两栖机器人运动能力评价指标和仿生机器人仿生化程度评价方法。
方法：1.通过查阅现有多种水陆两栖仿生机器人的研究技术参数，总结两栖机器人的功能和结构等特性。2.通过应用性验证，对提出的仿生机器人性能进行评价比较分析。
结论：1.应用仿生学的设计理念，可以有效地提高水陆两栖仿生机器人在复杂两栖环境中的机动性、灵活性和能效等性能。2.通过比较分析现有两栖机器人的推进方式、工作效率和机动性等性能，可以将该仿生学设计方法和机理应用到其他种类的机器人研究中，从而提高机器人在民用、科学和环境任务中的应用潜能。
关键词组：水陆两栖机器人；仿生机器人；仿生技术；智能机器人；机器人学 ReviewDevelopment of electric construction machinery in China: a review of key technologies and future directions: The issues of energy shortage and environmental pollution have accelerated the electrification of construction machinery (CM) industry globally. In China, the amount of electric construction machinery (ECM) has been growing across the industry. The sales of ECM are estimated to reach 600 000 vehicles by the end of 2025, while the total demand for battery power will reach 60 GWh. However, the development of ECM still faces critical challenges including reliable power supply and energy distribution among various components. In this review, we primarily focus on important technological breakthroughs and the difficulties faced by the CM industry in China. An overview of ECM including classificat... DOI:10.1631/jzus.A2100006 Downloaded:20738 Clicked:33569 Cited:0 Comments:0 <Full Text>20738 <PPT>9145
+Chinese Summary 中国工程机械电气化发展的关键技术综述<3708>中国工程机械电气化发展的关键技术综述概要:能源短缺和环境污染问题加速了全球工程机械行业的电气化进程.在中国,整个行业内的电动工程机械数量一直在快速增长.在未来5年内,电动工程机械的销量预计达到六十万辆,对电池的整体需求将达到60 GWh.然而,工程机械电气化发展仍然面临着严峻挑战,其中包括可靠的电力供应和组件间能源分配问题.本文主要讨论了中国工程机械产业中的重大技术突破和面临的挑战.首先概述了电动工程机械的分类及其特点.其次,讨论了纯电驱动系统中电动机、储能单元等关键部件的选型及控制策略.详细分析了混合动力驱动系统的结构设计和动力匹配等技术特性.电池管理系统(BMS)对于确保电池处于适当的健康状态并提供稳定的能源具有十分重要的意义.在这里,我们广泛地总结了电池管理系统的发展进程.此外,我们大致估算了中国工程机械的总排放量以及采用电动工程机械所带来的潜在的环境效益.最后,阐述了电动工程机械的未来研究方向和产业化发展前景.关键词组：工程机械;电力驱动系统;电池管理系统;能量回收;电气化
|
Journal of Zhejiang University-SCIENCE B
more >
1 of 5
 ReviewOverview of the main biological mechanisms linked to changes in periodontal ligament stem cells and the inflammatory microenvironment: Periodontitis is a complex chronic inflammatory disease. The invasion of pathogens induces the inflammatory microenvironment in periodontitis. Cell behavior changes in response to changes in the microenvironment, which in turn alters the local inflammatory microenvironment of the periodontium through factors secreted by cells. It has been confirmed that periodontal ligament stem cells (PDLSCs) are vital in the development of periodontal disease. Moreover, PDLSCs are the most effective cell type to be used for periodontium regeneration. This review focuses on changes in PDLSCs, their basic biological behavior, osteogenic differentiation, and drug effects caused by the inflammatory microenviro... DOI:10.1631/jzus.B2200576 Downloaded:6977 Clicked:9631 Cited:0 Comments:0 <Full Text>6977 <PPT>4684
+Chinese Summary 牙周膜干细胞与炎症微环境相互作用的主要生物学机制概述<2290>牙周膜干细胞与炎症微环境相互作用的主要生物学机制概述赵雪涛1，林泓兵1，丁瞳1，王亚玮1，柳娜2，申玉芹1
1吉林大学口腔医院牙周科，吉林省牙发育及颌骨重塑与再生重点实验室，中国长春市，130021
2广州医科大学附属口腔医院牙周科，广州市口腔再生医学基础与应用研究重点实验室，中国广州市，510182
概要：牙周炎是一种复杂的慢性炎症性疾病，在此过程中病原体的入侵导致了炎症微环境的发生。细胞的生物学性质在炎症微环境的作用下发生改变，同时又可以通过分泌细胞因子对牙周组织的炎症微环境进行调节。研究证明，牙周膜干细胞在牙周疾病过程中至关重要。此外，牙周膜干细胞被证明是在牙周组织再生过程中最有效的干细胞类型。本综述关注在炎症微环境影响下，牙周膜干细胞生物学性质、成骨分化能力以及药物对细胞的影响等方面，有利于进一步理解上述因素对牙周组织稳态的影响。另外，我们还对牙周膜干细胞影响炎症微环境的相关机制进行了讨论。
关键词组：炎症微环境；炎症调节；成骨分化；牙周膜干细胞；牙周炎 ReviewSeasonal coronaviruses and SARS-CoV-2: effects of preexisting immunity during the COVID-19 pandemic: Although the coronavirus disease 2019 (COVID-19) epidemic is still ongoing, vaccination rates are rising slowly and related treatments and drugs are being developed. At the same time, there is increasing evidence of preexisting immunity against severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) in humans, mainly consisting of preexisting antibodies and immune cells (including T cells and B cells). The presence of these antibodies is mainly due to the seasonal prevalence of four common coronavirus types, especially OC43 and HKU1. The accumulated relevant evidence has suggested that the target of antibodies is mainly the S2 subunit of S protein, followed by evolutionary conservative ... DOI:10.1631/jzus.B2200049 Downloaded:6880 Clicked:9698 Cited:0 Comments:0 <Full Text>6880 <PPT>5283
+Chinese Summary 季节性冠状病毒和SARS-CoV-2：在COVID-19疫情中预存免疫的影响<3251>季节性冠状病毒和SARS-CoV-2：在COVID-19疫情中预存免疫的影响王刚1，向泽2，汪伟3，陈智1
1浙江大学医学院附属第一医院传染病诊治国家重点实验室、国家感染性疾病临床医学研究中心、国家传染病医学中心、感染性疾病诊治协同创新中心，中国杭州市，310003
2浙江大学医学院，中国杭州市，310003
3江苏省寄生虫病研究所，中国无锡市，214064
摘要：新型冠状病毒肺炎（COVID-19）疫情仍在持续，疫苗接种率正在缓慢上升，相关治疗方法和药物也在研发中。越来越多的证据表明，人类群体中已存在针对严重急性呼吸综合征冠状病毒2型（SARS-CoV-2）的免疫力，包括抗体和免疫细胞（T细胞和B细胞）。这些抗体的存在主要是由于四种常见冠状病毒类型（尤其OC43和HKU1）的季节性流行所致。预存抗体的靶点主要是S蛋白的S2亚基，其次是核衣壳（N）等蛋白进化保守区。此外，人群中也存在预存的记忆T细胞和B细胞。预存抗体可以帮助身体抵御SARS-CoV-2感染，降低COVID-19的严重程度并迅速增加感染后的免疫反应。这些多重影响可以直接影响某些个体的疾病进展，甚至死亡的风险性。除了积极作用外，预存免疫也可能产生消极后果，例如抗体依赖性增强（ADE）和原始抗原原罪（OAS），其流行程度需要进一步确定。未来，更多的研究应侧重于评估已有免疫力在COVID-19中的作用，采取适当的政策和策略来抗击新冠大流行，同时也要考虑已有免疫力的疫苗开发。
关键词组：严重急性呼吸综合征冠状病毒2型（SARS-CoV-2）；新型冠状病毒肺炎（COVID-19）；预存免疫；季节性冠状病毒；疫苗 ReviewEmerging role of protein modification in inflammatory bowel disease: The onset of inflammatory bowel disease (IBD) involves many factors, including environmental parameters, microorganisms, and the immune system. Although research on IBD continues to expand, the specific pathogenesis mechanism is still unclear. Protein modification refers to chemical modification after protein biosynthesis, also known as post-translational modification (PTM), which causes changes in the properties and functions of proteins. Since proteins can be modified in different ways, such as acetylation, methylation, and phosphorylation, the functions of proteins in different modified states will also be different. Transitions between different states of protein or changes in modificati... DOI:10.1631/jzus.B2100114 Downloaded:9398 Clicked:10426 Cited:0 Comments:0 <Full Text>9398 <PPT>5275
+Chinese Summary 蛋白质修饰在炎症性肠病中作用研究进展<3025>蛋白质修饰在炎症性肠病中作用研究进展摘要：炎症性肠病（inflammatory bowel disease，IBD）的发病涉及许多因素，包括环境、微生物和免疫系统的改变。尽管对IBD的研究不断深入，但具体的发病机制尚不清楚。蛋白质修饰是指蛋白质生物合成后的化学修饰，也称为翻译后修饰（post-translational modification，PTM），使蛋白质的性质和功能发生变化。由于蛋白质可以通过乙酰化、甲基化和磷酸化等不同方式进行修饰，因此不同修饰状态的蛋白质的功能也会有所不同。蛋白质不同状态之间的转换或修饰位点的变化可以调节蛋白质的特性和功能，如NEDD8蛋白修饰、SUMO化修饰、糖基化和乙酰化等修饰可以通过改变肠道菌群、调节免疫细胞、调节细胞因子（如IL-1β、TNF-α、IFN-γ），最终维持肠上皮屏障的稳定性。在这篇综述中，我们关注当前对PTM的理解，并描述其在IBD发病机制中的调节作用。
关键词组：炎症性肠病（IBD）；蛋白质修饰；NEDD8蛋白修饰；SUMO化修饰；糖基化；乙酰化 ReviewApplication of extracorporeal therapies in critically ill COVID-19 patients: The coronavirus disease 2019 (COVID-19) pandemic is a major public health event caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2). COVID-19 has spread widely all over the world. A high proportion of patients become severely or critically ill, and suffer high mortality due to respiratory failure and multiple organ dysfunction. Therefore, providing timely and effective treatment for critically ill patients is essential to reduce overall mortality. Convalescent plasma therapy and pharmacological treatments, such as aerosol inhalation of interferon-α (IFN-α), corticosteroids, and tocilizumab, have all been applied in clinical practice; however, their effects rema... DOI:10.1631/jzus.B2100344 Downloaded:10584 Clicked:14219 Cited:0 Comments:0 <Full Text>10584 <PPT>8026
+Chinese Summary 体外疗法在重症COVID-19患者中的应用<3187>体外疗法在重症COVID-19患者中的应用概要：新型冠状病毒型肺炎（COVID-19）大流行是由严重急性呼吸系统综合症冠状病毒2（SARS-CoV-2）引起的重大公共卫生事件。COVID-19已在世界各地广泛传播。很大比例的患者因呼吸衰竭和多器官功能障碍而发展为重症或危重症，并且死亡率很高。因此，为危重患者提供及时有效的治疗对于降低总体死亡率至关重要。恢复期血浆治疗，干扰素-α（IFN-α）、皮质类固醇和托珠单抗的气雾吸入等药物治疗均已应用于临床治疗，但其效果仍存在争议。最近的研究表明，体外疗法可能在治疗COVID-19危重患者方面发挥潜在作用。在这篇综述中，我们阐述了连续性肾脏替代疗法（CRRT）、治疗性血浆置换（TPE）、血液吸附（HA）、体外膜肺氧合（ECMO）和体外二氧化碳清除（ECCO2R）在重症COVID-19患者中的应用，为COVID-19的进一步诊断和治疗提供支持。
关键词组：新型冠状病毒型肺炎（COVID-19）；重症疾病；细胞因子释放综合征（CRS）；急性肾损伤（AKI）；体外疗法 ReviewResearch advances in bioactive components and health benefits of jujube (Ziziphus jujuba Mill.) fruit: Jujube (Ziziphus jujuba Mill.), a highly nutritious and functional fruit, is reported to have various health benefits and has been extensively planted worldwide, especially in China. Many studies have shown that bioactive components derived from jujube fruit have significant nutritional and potential biological effects. In this paper, the latest progress in research on major bioactive compounds obtained from jujube is reviewed, and the potential biological functions of jujube fruit resources are discussed. As a dietary supplement, jujube fruit is well recognized as a healthy food which contains a variety of bioactive substances, such as polysaccharides, polyphenols, amino acids, nucle... DOI:10.1631/jzus.B2000594 Downloaded:22779 Clicked:20865 Cited:0 Comments:0 <Full Text>22779 <PPT>8775
+Chinese Summary 红枣生物活性成分及其保健作用的研究进展<2898>红枣生物活性成分及其保健作用的研究进展摘要：红枣作为一种膳食补充剂，是公认的健康食品。它含有多种生物活性物质，如多糖、多酚、氨基酸、核苷酸、脂肪酸和维生素等。这些活性物质具有抗癌、抗氧化、抗炎、降血脂、降血糖、免疫调节、神经保护、镇静和抗病毒等生理功能。除此之外，本文还归纳了红枣果实中的生物碱和膳食纤维及其生理功能。同时，对影响枣树果实资源开发利用的相关问题进行了探讨，并提出了未来红枣营养功能的研究方向。本文将为红枣产品的开发及红枣营养成分在功能性食品中的应用提供一定的参考依据。
关键词组：红枣；功能成分；生物活性；功能食品；保健作用
|
ENGINEERING Information Technology & Electronic Engineering
(since 2026)
more >
1 of 5
Former title: Frontiers of Information Technology & Electronic Engineering
 ReviewBig data storage technologies: a survey: There is a great thrust in industry toward the development of more feasible and viable tools for storing fast-growing volume, velocity, and diversity of data, termed ‘big data’. The structural shift of the storage mechanism from traditional data management systems to NoSQL technology is due to the intention of fulfilling big data storage requirements. However, the available big data storage technologies are inefficient to provide consistent, scalable, and available solutions for continuously growing heterogeneous data. Storage is the preliminary process of big data analytics for real-world applications such as scientific experiments, healthcare, social networks, and e-business.... DOI:10.1631/FITEE.1500441 Downloaded:25337 Clicked:31343 Cited:0 Comments:0 <Full Text>25337 <PPT>11754
+Chinese Summary 大数据存储技术综述<3296>大数据存储技术综述
概要：对于容量快速增长、日趋多元化的大数据，业界亟需开发可行性更好的存储工具。为满足大数据存储需求，存储机制已经形成从传统数据管理系统到NoSQL技术的结构化转移。然而，目前可用的大数据存储技术无法为持续增长的异构数据提供一致、可扩展和可用的解决方案。在科学实验、医疗保健、社交网络和电子商务等实际应用中，存储是大数据分析的第一步。截至目前，亚马逊、谷歌和阿帕奇等公司形成了大数据存储方案的行业标准，但尚未有关于大数据存储技术性能和容量提升的深入调查和文献报告。本文旨在对目前可用于大数据的最先进的存储技术进行全面调查，提供了一个明确的大数据存储技术分类方法，以帮助数据分析师和研究人员了解和选择更适合其需求的存储机制。我们使用布鲁尔的CAP定理比较和分析了现有存储方法，评估了不同存储架构的性能，讨论了存储技术的意义、应用及其对其他类别数据的支持。为了加快部署可靠和可扩展的存储系统，文中还突出了未来研究面临的几个挑战。
关键词组：大数据；大数据存储；NoSQL数据库；分布式数据库；CAP定理；可扩展性；一致性-分区弹性；可用性-分区弹性 ArticleSparse fast Clifford Fourier transform: The Clifford Fourier transform (CFT) can be applied to both vector and scalar fields. However, due to problems with big data, CFT is not efficient, because the algorithm is calculated in each semaphore. The sparse fast Fourier transform (sFFT) theory deals with the big data problem by using input data selectively. This has inspired us to create a new algorithm called sparse fast CFT (SFCFT), which can greatly improve the computing performance in scalar and vector fields. The experiments are implemented using the scalar field and grayscale and color images, and the results are compared with those using FFT, CFT, and sFFT. The results demonstrate that SFCFT can effectively improve the performa... DOI:10.1631/FITEE.1500452 Downloaded:13903 Clicked:25138 Cited:0 Comments:0 <Full Text>13903 <PPT>11790
+Chinese Summary 稀疏快速Clifford傅里叶变换<1223>稀疏快速Clifford傅里叶变换
概要：Clifford傅里叶变换（Clifford Fourier transform, CFT）可以应用于矢量场和标量场，但无法有效解决大数据问题，因为该算法是基于每个信号量计算的。稀疏快速傅里叶变换（sparse fast Fourier transform, sFFT）理论通过选择性地使用输入数据来处理大数据问题。受之启发，我们提出一个称为稀疏快速Clifford傅里叶变换（sparse fast CFT, SFCFT）的算法，该算法能够大幅度提高在标量场和矢量场中的计算性能。实验对标量场、灰度图和彩色图像数据进行处理，通过与FFT，CFT和sFFT进行比较，表明SFCFT可以有效提升多矢量信号处理的性能。
关键词组：稀疏快速傅里叶变换（sFFT）；Clifford傅里叶变换（CFT）；稀疏快速Clifford傅里叶变换（SFCFT）；Clifford代数 ArticleSimulation model of self-organizing pedestrian movement considering following behavior: A new force is introduced in the social force model (SFM) for computing following behavior in pedestrian counterflow, whereby an individual tries to approach others in the same direction to avoid conflicts with pedestrians from the opposite direction. The force, like a kind of gravitation, is modeled based on the movement state and visual field of the pedestrian, and is added to the classical SFM. The modified model is presented to study the impact of following behavior on the process of lane formation, the conflict, the number of lanes formed, and the traffic efficiency in the simulations. Simulation results show that the following behavior has a significant effect on the phenomenon of lane... DOI:10.1631/FITEE.1601592 Downloaded:14889 Clicked:25549 Cited:0 Comments:0 <Full Text>14889 <PPT>12017
+Chinese Summary 考虑跟随行为的行人自组织运动仿真模型<1513>考虑跟随行为的行人自组织运动仿真模型
概要：在本文中一种新的力学模型被引入到社会力模型中，用来仿真相向行人流中的跟随行为。这种跟随行为指的是行人通过接近同向行人以避免与反向行人冲突的行为。新的力学模型类似于一种引力模型，在建模过程中考虑了行人的视野范围、自身的运动状态、被跟随行人的运动状态等因素。我们利用新的力学模型对相向行人流进行了仿真，研究了跟随行为对渠化现象、行人间冲突以及双向通道通行效率的影响。仿真结果表明：跟随行为能促进渠化现象形成，并能起到缓解相向行人流拥堵的作用；跟随行为具有降低相向行人流冲突次数的作用，这种作用在入口流量较低时并不明显，但随着行人流量的升高而增强。跟随行为能够提高双向通道的通行效率，并且跟随行为的强度参数越大通道的通行效率越高。
关键词组：引力模型；相向行人流；社会力模型；渠化现象；自组织行为 ArticleFlight control for air-breathing hypersonic vehicles using linear quadratic regulator design based on stochastic robustness analysis: The flight dynamics model of air-breathing hypersonic vehicles (AHVs) is highly nonlinear and multivariable coupling, and includes inertial uncertainties and external disturbances that require strong, robust, and high-accuracy controllers. In this paper, we propose a linear-quadratic regulator (LQR) design method based on stochastic robustness analysis for the longitudinal dynamics of AHVs. First, input/output feedback linearization is used to design LQRs. Second, subject to various system parameter uncertainties, system robustness is characterized by the probability of stability and desired performance. Then, the mapping relationship between system robustness and LQR parameters is establish... DOI:10.1631/FITEE.1601363 Downloaded:13947 Clicked:26066 Cited:0 Comments:0 <Full Text>13947 <PPT>11975
+Chinese Summary 基于随机鲁棒性分析的吸气式高超声速飞行器线性二次调节器设计<1338>基于随机鲁棒性分析的吸气式高超声速飞行器线性二次调节器设计
概要：吸气式高超声速飞行器（air-breathing hypersonic vehicle, AHV）的飞行动力学模型具有高度非线性与多变量耦合等特性，且受到内部不确定性与外部干扰的综合影响，因此需要具有强鲁棒性与高精度的控制器。本文介绍了一种改进的基于随机鲁棒性分析的线性二次调节器（linear-quadratic regulator, LQR）设计方法，用于AHV的纵向飞行控制器设计。首先，应用输入输出反馈线性化技术设计LQR控制器。其次，基于系统参数的不确定性，将系统鲁棒性表征为满足稳定性与设计指标要求的概率，并构建系统鲁棒性与LQR参数之间的映射关系。为了实现系统鲁棒性最大化的目标，提出一种全新的混合粒子群优化算法对LQR的控制参数进行寻优计算。在优化迭代的过程中，使用切诺夫边界理论确定蒙特卡洛估计的随机样本量。最后，仿真结果表明该优化算法可以高效地获取满足设计要求的LQR控制参数最优解。
关键词组：吸气式高超声速飞行器；随机鲁棒性分析；二次线性调节器；粒子群优化；改进混合粒子群算法 ArticleSteering control for underwater gliders: Steering control for an autonomous underwater glider (AUG) is very challenging due to its changing dynamic characteristics such as payload and shape. A good choice to solve this problem is online system identification via in-field trials to capture current dynamic characteristics for control law reconfiguration. Hence, an online polynomial estimator is designed to update the yaw dynamic model of the AUG, and an adaptive model predictive control (MPC) controller is used to calculate the optimal control command based on updated estimated parameters. The MPC controller uses a quadratic program (QP) to compute the optimal control command based on a user-defined cost function. The cost function h... DOI:10.1631/FITEE.1601735 Downloaded:13659 Clicked:23365 Cited:0 Comments:0 <Full Text>13659 <PPT>11885
+Chinese Summary 水下滑翔机航向控制<2054>水下滑翔机航向控制
概要：水下滑翔机动力学特性随有效载荷及外形变化而变化，其航向控制富有挑战性。解决方法是使用在线系统辨识算法捕捉当前动力学特性，更新运动模型。为此，我们设计了一个在线多项式辨识器，不断更新当前动力学模型，同时用一个自适应模型预测控制器计算并输出最优化的控制指令。该控制器根据用户自定义的指标函数，使用二次规划方法得到最优控制指令。该指标函数由两项组成，一项用来表达轨迹跟踪性能，一项用来表达输入指令抑制性能。输入指令抑制性能一定程度上可以代表该控制器的能量消耗性能。设计师可以通过调节这两项的权重，平衡两个控制器的性能。比较二次与五次多项式模型的控制效果，发现：二次多项式模型不足以表达无人机的动力学特性，且控制结果易发生剧烈波动。硬件在环模拟以及湖试结果验证了控制器性能。
关键词组：水下滑翔机；在线系统辨识；航向控制；自适应控制；最优控制；节能控制；硬件在环模拟
|
