This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we he...This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.展开更多
We establish a general mapping from one-dimensional non-Hermitian mosaic models to their non-mosaic counterparts.This mapping can give rise to mobility edges and even Lyapunov exponents in the mosaic models if critica...We establish a general mapping from one-dimensional non-Hermitian mosaic models to their non-mosaic counterparts.This mapping can give rise to mobility edges and even Lyapunov exponents in the mosaic models if critical points of localization or Lyapunov exponents of localized states in the corresponding non-mosaic models have already been analytically solved.To demonstrate the validity of this mapping,we apply it to two non-Hermitian localization models:an Aubry-Andre-like model with nonreciprocal hopping and complex quasiperiodic potentials,and the Ganeshan-Pixley-Das Sarma model with nonreciprocal hopping.We successfully obtain the mobility edges and Lyapunov exponents in their mosaic models.This general mapping may catalyze further studies on mobility edges,Lyapunov exponents,and other significant quantities pertaining to localization in non-Hermitian mosaic models.展开更多
We study the one-dimensional tight-binding model with quasi-periodic disorders,where the quasi-period is tuned to be large compared to the system size.It is found that this type of model with large quasi-periodic diso...We study the one-dimensional tight-binding model with quasi-periodic disorders,where the quasi-period is tuned to be large compared to the system size.It is found that this type of model with large quasi-periodic disorders can also support the mobility edges,which is very similar to the models with slowly varying quasi-periodic disorders.The energy-matching method is employed to determine the locations of mobility edges in both types of models.These results of mobility edges are verified by numerical calculations in various examples.We also provide qualitative arguments to support the fact that large quasi-periodic disorders will lead to the existence of mobility edges.展开更多
A physics-based analytical expression that predicts the charge,electrical field and potential distributions along the gated region of the GaN HEMT channel has been developed.Unlike the gradual channel approximation(GC...A physics-based analytical expression that predicts the charge,electrical field and potential distributions along the gated region of the GaN HEMT channel has been developed.Unlike the gradual channel approximation(GCA),the proposed model considers the non-uniform variation of the concentration under the gated region as a function of terminal applied volt-ages.In addition,the model can capture the influence of mobility and channel temperature on the charge distribution trend.The comparison with the hydrodynamic(HD)numerical simulation showed a high agreement of the proposed model with numerical data for different bias conditions considering the self-heating and quantization of the electron concentration.The ana-lytical nature of the model allows us to reduce the computational and time cost of the simulation.Also,it can be used as a core expression to develop a complete physics-based transistorⅣmodel without GCA limitation.展开更多
A quantitative evaluation model that integrates kerogen adsorption and clay pore adsorption of shale oil was proposed,and the evaluation charts of adsorption-swelling capacity of kerogen(Mk)and adsorbed oil capacity o...A quantitative evaluation model that integrates kerogen adsorption and clay pore adsorption of shale oil was proposed,and the evaluation charts of adsorption-swelling capacity of kerogen(Mk)and adsorbed oil capacity of clay minerals(Mc)were established,taking the 1st member of Cretaceous Qingshankou Formation in the northern Songliao Basin as an example.The model and charts were derived from swelling oil experiments performed on naturally evolved kerogens and adsorbed oil experiments on clays(separated from shale core samples).They were constructed on the basis of clarifying the control law of kerogen maturity evolution on its adsorption-swelling capacity,and considering the effect of both the clay pore surface area that occupied by adsorbed oil and formation temperature.The results are obtained in four aspects:(1)For the Qing 1 Member shale,with the increase of maturity,Mk decreases.Given Ro of 0.83%–1.65%,Mk is about 50–250 mg/g.(2)The clay in shale adsorbs asphaltene.Mc is 0.63 mg/m^(2),and about 15%of the clay pore surface is occupied by adsorbed oil.(3)In the low to medium maturity stages,the shale oil adsorption is controlled by organic matter.When Ro>1.3%,the shale oil adsorption capacity is contributed by clay pores.(4)The oil adsorption capacity evaluated on the surface at room temperature is 8%–22%(avg.15%)higher than that is held in the formations.The proposed evaluation model reveals the occurrence mechanisms of shale oils with different maturities,and provides a new insight for estimating the reserves of shale oil under formation temperature conditions.展开更多
In the network field,Wireless Sensor Networks(WSN)contain prolonged attention due to afresh augmentations.Industries like health care,traffic,defense,and many more systems espoused the WSN.These networks contain tiny ...In the network field,Wireless Sensor Networks(WSN)contain prolonged attention due to afresh augmentations.Industries like health care,traffic,defense,and many more systems espoused the WSN.These networks contain tiny sensor nodes containing embedded processors,TinyOS,memory,and power source.Sensor nodes are responsible for forwarding the data packets.To manage all these components,there is a need to select appropriate parameters which control the quality of service of WSN.Multiple sensor nodes are involved in transmitting vital information,and there is a need for secure and efficient routing to reach the quality of service.But due to the high cost of the network,WSN components have limited resources to manage the network.There is a need to design a lightweight solution that ensures the quality of service in WSN.In this given manner,this study provides the quality of services in a wireless sensor network with a security mechanism.An incorporated hybrid lightweight security model is designed in which random waypoint mobility(RWM)model and grey wolf optimization(GWO)is used to enhance service quality and maintain security with efficient routing.MATLAB version 16 andNetwork Stimulator 2.35(NS2.35)are used in this research to evaluate the results.The overall cost factor is reduced at 60%without the optimization technique and 90.90%reduced by using the optimization technique,which is assessed by calculating the signal-to-noise ratio,overall energy nodes,and communication overhead.展开更多
基金National Natural Science Foundation of China(Grant No.51735009)。
文摘This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.
基金the National Natural Science Foundation of China(Grant No.12204406)the National Key Research and Development Program of China(Grant No.2022YFA1405304)the Guangdong Provincial Key Laboratory(Grant No.2020B1212060066)。
文摘We establish a general mapping from one-dimensional non-Hermitian mosaic models to their non-mosaic counterparts.This mapping can give rise to mobility edges and even Lyapunov exponents in the mosaic models if critical points of localization or Lyapunov exponents of localized states in the corresponding non-mosaic models have already been analytically solved.To demonstrate the validity of this mapping,we apply it to two non-Hermitian localization models:an Aubry-Andre-like model with nonreciprocal hopping and complex quasiperiodic potentials,and the Ganeshan-Pixley-Das Sarma model with nonreciprocal hopping.We successfully obtain the mobility edges and Lyapunov exponents in their mosaic models.This general mapping may catalyze further studies on mobility edges,Lyapunov exponents,and other significant quantities pertaining to localization in non-Hermitian mosaic models.
基金Project supported by the National Natural Science Foundation of China (Grant No.11874272)Science Specialty Program of Sichuan University (Grant No.2020SCUNL210)。
文摘We study the one-dimensional tight-binding model with quasi-periodic disorders,where the quasi-period is tuned to be large compared to the system size.It is found that this type of model with large quasi-periodic disorders can also support the mobility edges,which is very similar to the models with slowly varying quasi-periodic disorders.The energy-matching method is employed to determine the locations of mobility edges in both types of models.These results of mobility edges are verified by numerical calculations in various examples.We also provide qualitative arguments to support the fact that large quasi-periodic disorders will lead to the existence of mobility edges.
基金This work was supported by the National Natural Science Foundation of China(NSFC)under Grant 61774141.
文摘A physics-based analytical expression that predicts the charge,electrical field and potential distributions along the gated region of the GaN HEMT channel has been developed.Unlike the gradual channel approximation(GCA),the proposed model considers the non-uniform variation of the concentration under the gated region as a function of terminal applied volt-ages.In addition,the model can capture the influence of mobility and channel temperature on the charge distribution trend.The comparison with the hydrodynamic(HD)numerical simulation showed a high agreement of the proposed model with numerical data for different bias conditions considering the self-heating and quantization of the electron concentration.The ana-lytical nature of the model allows us to reduce the computational and time cost of the simulation.Also,it can be used as a core expression to develop a complete physics-based transistorⅣmodel without GCA limitation.
基金Supported by the National Natural Science Foundation of China(42102154,41922015,42072147)China Postdoctoral Science Foundation(2021M690168)Postdoctoral Innovation Talent Support Program of Shandong Province(SDBX2021004).
文摘A quantitative evaluation model that integrates kerogen adsorption and clay pore adsorption of shale oil was proposed,and the evaluation charts of adsorption-swelling capacity of kerogen(Mk)and adsorbed oil capacity of clay minerals(Mc)were established,taking the 1st member of Cretaceous Qingshankou Formation in the northern Songliao Basin as an example.The model and charts were derived from swelling oil experiments performed on naturally evolved kerogens and adsorbed oil experiments on clays(separated from shale core samples).They were constructed on the basis of clarifying the control law of kerogen maturity evolution on its adsorption-swelling capacity,and considering the effect of both the clay pore surface area that occupied by adsorbed oil and formation temperature.The results are obtained in four aspects:(1)For the Qing 1 Member shale,with the increase of maturity,Mk decreases.Given Ro of 0.83%–1.65%,Mk is about 50–250 mg/g.(2)The clay in shale adsorbs asphaltene.Mc is 0.63 mg/m^(2),and about 15%of the clay pore surface is occupied by adsorbed oil.(3)In the low to medium maturity stages,the shale oil adsorption is controlled by organic matter.When Ro>1.3%,the shale oil adsorption capacity is contributed by clay pores.(4)The oil adsorption capacity evaluated on the surface at room temperature is 8%–22%(avg.15%)higher than that is held in the formations.The proposed evaluation model reveals the occurrence mechanisms of shale oils with different maturities,and provides a new insight for estimating the reserves of shale oil under formation temperature conditions.
基金The authors are thankful to the Deanship of Scientific Research at Najran University for funding this work under the Research Collaboration Funding program grant code NU/RC/SERC/11/7。
文摘In the network field,Wireless Sensor Networks(WSN)contain prolonged attention due to afresh augmentations.Industries like health care,traffic,defense,and many more systems espoused the WSN.These networks contain tiny sensor nodes containing embedded processors,TinyOS,memory,and power source.Sensor nodes are responsible for forwarding the data packets.To manage all these components,there is a need to select appropriate parameters which control the quality of service of WSN.Multiple sensor nodes are involved in transmitting vital information,and there is a need for secure and efficient routing to reach the quality of service.But due to the high cost of the network,WSN components have limited resources to manage the network.There is a need to design a lightweight solution that ensures the quality of service in WSN.In this given manner,this study provides the quality of services in a wireless sensor network with a security mechanism.An incorporated hybrid lightweight security model is designed in which random waypoint mobility(RWM)model and grey wolf optimization(GWO)is used to enhance service quality and maintain security with efficient routing.MATLAB version 16 andNetwork Stimulator 2.35(NS2.35)are used in this research to evaluate the results.The overall cost factor is reduced at 60%without the optimization technique and 90.90%reduced by using the optimization technique,which is assessed by calculating the signal-to-noise ratio,overall energy nodes,and communication overhead.
