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足腿式机器人虚拟机身模拟测试平台
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作者 张哲 胡立坤 +3 位作者 王一飞 徐大也 刘恒佳 黄润辉 《广西大学学报(自然科学版)》 CAS 北大核心 2022年第5期1275-1285,共11页
针对现有足腿式机器人测试平台自由度少且缺乏变负载测试能力的问题,设计了“3+3”构型测试平台,并提出了一种非线性导纳控制策略,实现测试平台对待测单腿的动态力加载,模拟机身对单腿的力作用。建立“3+3”运动学模型;设计导纳控制器... 针对现有足腿式机器人测试平台自由度少且缺乏变负载测试能力的问题,设计了“3+3”构型测试平台,并提出了一种非线性导纳控制策略,实现测试平台对待测单腿的动态力加载,模拟机身对单腿的力作用。建立“3+3”运动学模型;设计导纳控制器将测试平台与待测单腿间的交互力转化为期望的运动轨迹;引入非线性期望阻尼与期望刚度提升动态力跟随性能。结果表明,非线性导纳控制策略较经典导纳控制策略动态力跟随性能有明显改善,实现测试平台对单腿较准确地动态力加载;通过多自由度复合加载较真实地模拟出足腿机器人机身对单腿的动态力交互过程。 展开更多
关键词 足腿式机器人 虚拟机身模拟 导纳控制 单腿性能测试平台 动态力交互
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A Conceptual Framework for Consciousness Based on a Deep Understanding of Matter 被引量:1
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作者 Joachim Keppler 《Journal of Philosophy Study》 2012年第10期689-703,共15页
One of the main challenges in consciousness research is widely known as the hard problem of consciousness. In order to tackle this problem, I utilize an approach from theoretical physics, called stochastic electrodyna... One of the main challenges in consciousness research is widely known as the hard problem of consciousness. In order to tackle this problem, I utilize an approach from theoretical physics, called stochastic electrodynamics (SED) which goes one step beyond quantum theory and sheds new light on the reality behind matter. According to this approach, matter is a resonant oscillator that is orchestrated by an all-pervasive stochastic radiation field, called zero-point field (ZPF). The properties of matter are not intrinsic but acquired by dynamic interaction with the ZPF, which in turn picks up information about the material system as soon as an ordered state, i.e., a stable attractor, is reached. I point out that these principles apply also to macroscopic biological systems. From this perspective, long-range correlations in the brain, such as neural gamma synchrony, can be interpreted in terms of order phenomena induced and stabilized by the ZPF, suggesting that every attractor in the brain goes along with an information state in the ZPF. In order to build the bridge to consciousness, I employ additional input from Eastern philosophy. From a comparison between SED and Eastern philosophy I draw the conclusion that the ZPF is an appropriate candidate for the substrate of consciousness, implying that information states in the ZPF are associated with conscious states. On this basis I develop a conceptual framework for consciousness that is fully consistent with physics, neurophysiology, and Eastern philosophy. I argue that this conceptual framework has many interesting features and opens a door to a theory of consciousness. Particularly, it solves the problem of how matter and consciousness communicate in a causally closed functional chain, it gives a physical grounding to existing approaches regarding the connection between consciousness and information, and it gives clear direction to future models and experiments. 展开更多
关键词 CONSCIOUSNESS hard problem quantum physics stochastic electrodynamics zero-point field double-aspect principle psychophysical laws QUALIA
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Dynamics of Entanglement for a Two-Parameter Class of States in a Qubit-Qutrit System
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作者 魏海瑞 任宝藏 +2 位作者 李涛 华明 邓富国 《Communications in Theoretical Physics》 SCIE CAS CSCD 2012年第6期983-990,共8页
We investigate the dynamics of entanglement for a two-parameter class of states in a hybrid qubit-qutrit system under the influence of various dissipative channels. Our results show that entanglement sudden death (ES... We investigate the dynamics of entanglement for a two-parameter class of states in a hybrid qubit-qutrit system under the influence of various dissipative channels. Our results show that entanglement sudden death (ESD) is a general phenomenon and it usually takes place in a qubit-qutrit system interacting with various noisy channels, not only the ease with dephasing and depolarizing channels observed by others. ESD can only be avoided for some initially entangled states under some particular noisy channels. Moreover, the environment affects the entanglement and the coherence of the system in very different ways. 展开更多
关键词 dynamics of entanglement qubit-qutrit systems a two-parameter class of states dissipative channels entanglement sudden death
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