Multiple mobile-obstacle avoidance algorithm for redundant manipulator

In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.

An AI‑Based Method for Estimating the Potential Runout Distance of Post‑Seismic Debris Flows

The widely distributed sediments following an earthquake presents a continuous threat to local residential areas and infrastructure. These materials become more easily mobilized due to reduced rainfall thresholds. Before establishing an effective management plan for debris flow hazards, it is crucial to determine the potential reach of these sediments. In this study, a deep learning-based method-Dual Attention Network(DAN)-was developed to predict the runout distance of potential debris flows after the 2022 Luding Earthquake, taking into account the topography and precipitation conditions. Given that the availability of reliable precipitation data remains a challenge, attributable to the scarcity of rain gauge stations and the relatively coarse resolution of satellite-based observations, our approach involved three key steps. First, we employed the DAN model to refine the Global Precipitation Measurement(GPM) data, enhancing its spatial and temporal resolution. This refinement was achieved by leveraging the correlation between precipitation and regional environment factors(REVs) at a seasonal scale. Second, the downscaled GPM underwent calibration using observations from rain gauge stations. Third,mean absolute error(MAE), mean square error(MSE), and root mean square error(RMSE) were employed to evaluate the performance of both the downscaling and calibration processes. Then the calibrated precipitation, catchment area, channel length, average channel gradient, and sediment volume were selected to develop a prediction model based on debris flows following the Wenchuan Earthquake. This model was applied to estimate the runout distance of potential debris flows after the Luding Earthquake. The results show that:(1) The calibrated GPM achieves an average MAE of 1.56 mm, surpassing the MAEs of original GPM(4.25 mm) and downscaled GPM(3.83 mm);(2) The developed prediction model reduces the prediction error by 40 m in comparison to an empirical equation;(3) The potential runout distance of debris flows after the Luding Earthquake reaches 0.77 km when intraday rainfall is 100 mm, while the minimum distance value is only 0.06 km.Overall, the developed model offers a scientific support for decision makers in taking reasonable measurements for loss reduction caused by post-seismic debris flows.

Accelerating the detection of unfeasible hypothetical zeolites via symmetric local interatomic distance criteria

In silico prediction of potential synthetic targets is the prerequisite for function-led discovery of new zeolites. Millions of hypothetical zeolitic structures have been predicted via various computational methods, but most of them are experimentally inaccessible under conventional synthetic conditions.Screening out unfeasible structures is crucial for the selection of synthetic targets with desired functions.The local interatomic distance（LID） criteria are a set of structure rules strictly obeyed by all existing zeolite framework types. Using these criteria, many unfeasible hypothetical structures have been detected. However, to calculate their LIDs, all hypothetical structures need to be fully optimized without symmetry constraints. When evaluating a large number of hypothetical structures, such calculations may become too computationally expensive due to the forbiddingly high degree of freedom. Here, we propose calculating LIDs among structures optimized with symmetry constraints and using them as new structure evaluation criteria, i.e., the LIDsymcriteria, to screen out unfeasible hypothetical structures. We find that the LIDsymcriteria can detect unfeasible structures as many as the original non-symmetric LID criteria do, yet require at least one order of magnitude less computation at the initial geometry optimization stage.