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Irreversible Markov chain Monte Carlo algorithm for self-avoiding walk 被引量:1
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作者 Hao Hu Xiaosong Chen Youjin Deng 《Frontiers of physics》 SCIE CSCD 2017年第1期91-98,共8页
We formulate an irreversible Markov chain Monte Carlo algorithm for the self-avoiding walk (SAW), which violates the detailed balance condition and satisfies tile balance condition. Its performance improves signific... We formulate an irreversible Markov chain Monte Carlo algorithm for the self-avoiding walk (SAW), which violates the detailed balance condition and satisfies tile balance condition. Its performance improves significantly compared to that of the Berretti-Sokal algorithm, which is a variant of the Metropolis Hastings method. The gained efficiency increases with spatial dimension (D), from approximately 10 times in 2D to approximately 40 times in 5D. We simulate the SAW on a 5D hypercubic lattice with periodic boundary conditions, for a linear system with a size up to L = 128, and confirm that as for the 5D Ising model, the finite-size scaling of the SAW is governed by renormalized exponents, υ^* = 2/d and γ/υ^* = d/2. The critical point is determined, which is approximately 8 times more precise than the best available estimate. 展开更多
关键词 Monte Carlo algorithms self-avoiding walk IRREVERSIBLE balance condition
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Computer simulation of self-avoiding walk terminally attached to wall
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作者 吴大诚 杜鹏 康健 《Chinese Science Bulletin》 SCIE EI CAS 1996年第11期954-957,共4页
The self-avoiding walk (SAW) is an important model greatly different from the normalrandom walk in mathematics. Since a site that has been occupied once cannot be visitedagain by the walker, the SAW is not a Markov ch... The self-avoiding walk (SAW) is an important model greatly different from the normalrandom walk in mathematics. Since a site that has been occupied once cannot be visitedagain by the walker, the SAW is not a Markov chain. Generally speaking, it is difficult togive an accurate analytical expression of the problem dealing with the SAW. It is wellknown that the SAW model is widely used in physics, chemistry and biology. For exam- 展开更多
关键词 self-avoiding walk EXACT ENUMERATION MONTE Carlo simulation TAIL polymer chain.
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Surgical intervention combined with weight-bearing walking training promotes recovery in patients with chronic spinal cord injury:a randomized controlled study 被引量:1
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作者 Hui Zhu James D.Guest +19 位作者 Sarah Dunlop Jia-Xin Xie Sujuan Gao Zhuojing Luo Joe E.Springer Wutian Wu Wise Young Wai Sang Poon Song Liu Hongkun Gao Tao Yu Dianchun Wang Libing Zhou Shengping Wu Lei Zhong Fang Niu Xiaomei Wang Yansheng Liu Kwok-Fai So Xiao-Ming Xu 《Neural Regeneration Research》 SCIE CAS CSCD 2024年第12期2773-2784,共12页
For patients with chronic spinal cord injury,the co nventional treatment is rehabilitation and treatment of spinal cord injury complications such as urinary tract infection,pressure sores,osteoporosis,and deep vein th... For patients with chronic spinal cord injury,the co nventional treatment is rehabilitation and treatment of spinal cord injury complications such as urinary tract infection,pressure sores,osteoporosis,and deep vein thrombosis.Surgery is rarely perfo rmed on spinal co rd injury in the chronic phase,and few treatments have been proven effective in chronic spinal cord injury patients.Development of effective therapies fo r chronic spinal co rd injury patients is needed.We conducted a randomized controlled clinical trial in patients with chronic complete thoracic spinal co rd injury to compare intensive rehabilitation(weight-bearing walking training)alone with surgical intervention plus intensive rehabilitation.This clinical trial was registered at ClinicalTrials.gov(NCT02663310).The goal of surgical intervention was spinal cord detethering,restoration of cerebrospinal fluid flow,and elimination of residual spinal cord compression.We found that surgical intervention plus weight-bearing walking training was associated with a higher incidence of American Spinal Injury Association Impairment Scale improvement,reduced spasticity,and more rapid bowel and bladder functional recovery than weight-bearing walking training alone.Overall,the surgical procedures and intensive rehabilitation were safe.American Spinal Injury Association Impairment Scale improvement was more common in T7-T11 injuries than in T2-T6 injuries.Surgery combined with rehabilitation appears to have a role in treatment of chronic spinal cord injury patients. 展开更多
关键词 chronic spinal cord injury intensive rehabilitation locomotor training neurological recovery surgical intervention weightbearing walking training
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Strong invariance principle for a counterbalanced random walk
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作者 TAN Hui-qun HU Zhi-shui DONG Liang 《Applied Mathematics(A Journal of Chinese Universities)》 SCIE CSCD 2024年第2期370-380,共11页
We study a counterbalanced random walkS_(n)=X_(1)+…+X_(n),which is a discrete time non-Markovian process andX_(n) are given recursively as follows.For n≥2,X_(n) is a new independent sample from some fixed law̸=0 wit... We study a counterbalanced random walkS_(n)=X_(1)+…+X_(n),which is a discrete time non-Markovian process andX_(n) are given recursively as follows.For n≥2,X_(n) is a new independent sample from some fixed law̸=0 with a fixed probability p,andX_(n)=−X_(v(n))with probability 1−p,where v(n)is a uniform random variable on{1;…;n−1}.We apply martingale method to obtain a strong invariance principle forS_(n). 展开更多
关键词 random walk MARTINGALE invariance principle
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Mobility edges and localization characteristics in one-dimensional quasiperiodic quantum walk
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作者 崔鑫辉 王慧敏 李志坚 《Chinese Physics B》 SCIE EI CAS CSCD 2024年第6期156-160,共5页
We construct a one-dimensional quasiperiodic quantum walk to investigate the localization–delocalization transition.The inverse participation ratio and Lyapunov exponent are employed as two indexes to determine the m... We construct a one-dimensional quasiperiodic quantum walk to investigate the localization–delocalization transition.The inverse participation ratio and Lyapunov exponent are employed as two indexes to determine the mobility edge, a critical energy to distinguish the energy regions of extended and localized states. The analytical solution of mobility edge is obtained by the Lyapunov exponents in global theory, and the consistency of the two indexes is confirmed. We further study the dynamic characteristics of the quantum walk and show that the probabilities are localized to some specific lattice sites with time evolution. This phenomenon is explained by the effective potential of the Hamiltonian which corresponds to the phase in the coin operator of the quantum walk. 展开更多
关键词 quantum walk mobility edges QUASIPERIODICITY
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ON THE EMPTY BALLS OF A CRITICAL OR SUBCRITICAL BRANCHING RANDOM WALK
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作者 Shuxiong ZHANG Jie XIONG 《Acta Mathematica Scientia》 SCIE CSCD 2024年第5期2051-2072,共22页
Let{Z_(n)}_(n)≥0 be a critical or subcritical d-dimensional branching random walk started from a Poisson random measure whose intensity measure is the Lebesugue measure on R^(d).Denote by R_(n):=sup{u>0:Z_(n)({x∈... Let{Z_(n)}_(n)≥0 be a critical or subcritical d-dimensional branching random walk started from a Poisson random measure whose intensity measure is the Lebesugue measure on R^(d).Denote by R_(n):=sup{u>0:Z_(n)({x∈R^(d):∣x∣<u})=0}the radius of the largest empty ball centered at the origin of Z_(n).In this work,we prove that after suitable renormalization,Rn converges in law to some non-degenerate distribution as n→∞.Furthermore,our work shows that the renormalization scales depend on the offspring law and the dimension of the branching random walk.This completes the results of Révész[13]for the critical binary branching Wiener process. 展开更多
关键词 empty ball DIMENSION branching random walk super-Brownian motion
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DeepSurNet-NSGA II:Deep Surrogate Model-Assisted Multi-Objective Evolutionary Algorithm for Enhancing Leg Linkage in Walking Robots
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作者 Sayat Ibrayev Batyrkhan Omarov +1 位作者 Arman Ibrayeva Zeinel Momynkulov 《Computers, Materials & Continua》 SCIE EI 2024年第10期229-249,共21页
This research paper presents a comprehensive investigation into the effectiveness of the DeepSurNet-NSGA II(Deep Surrogate Model-Assisted Non-dominated Sorting Genetic Algorithm II)for solving complex multiobjective o... This research paper presents a comprehensive investigation into the effectiveness of the DeepSurNet-NSGA II(Deep Surrogate Model-Assisted Non-dominated Sorting Genetic Algorithm II)for solving complex multiobjective optimization problems,with a particular focus on robotic leg-linkage design.The study introduces an innovative approach that integrates deep learning-based surrogate models with the robust Non-dominated Sorting Genetic Algorithm II,aiming to enhance the efficiency and precision of the optimization process.Through a series of empirical experiments and algorithmic analyses,the paper demonstrates a high degree of correlation between solutions generated by the DeepSurNet-NSGA II and those obtained from direct experimental methods,underscoring the algorithm’s capability to accurately approximate the Pareto-optimal frontier while significantly reducing computational demands.The methodology encompasses a detailed exploration of the algorithm’s configuration,the experimental setup,and the criteria for performance evaluation,ensuring the reproducibility of results and facilitating future advancements in the field.The findings of this study not only confirm the practical applicability and theoretical soundness of the DeepSurNet-NSGA II in navigating the intricacies of multi-objective optimization but also highlight its potential as a transformative tool in engineering and design optimization.By bridging the gap between complex optimization challenges and achievable solutions,this research contributes valuable insights into the optimization domain,offering a promising direction for future inquiries and technological innovations. 展开更多
关键词 Multi-objective optimization genetic algorithm surrogate model deep learning walking robots
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City Walk:美好生活视域下的体文旅融合发展研究
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作者 于兆楠 荆雯 《体育科技文献通报》 2024年第9期118-122,165,共6页
City Walk是一种以漫步为主要途径来体验城市风景和文化氛围的新型“微旅游”方式。本文在分析City Walk的内在机理及价值的基础上,对以美好生活视域下City Walk中体文旅融合所面临的现实困境与纾困路径进行分析。研究发现,City Walk中... City Walk是一种以漫步为主要途径来体验城市风景和文化氛围的新型“微旅游”方式。本文在分析City Walk的内在机理及价值的基础上,对以美好生活视域下City Walk中体文旅融合所面临的现实困境与纾困路径进行分析。研究发现,City Walk中体文旅融合的现实困境为缺乏相应科学健身知识储备、影响旅游目的地居民生活、过度商业化与文化原貌冲突、过于集中的City Walk路线。据此提出纾困路径:在人才支持方面要培育体文旅复合人才,组建专业队伍;在政策支持方面要完善法律法规,建立奖惩机制;在创新支持方面要持续探索新区域,助力体文旅高质量发展;在宣传支持方面要打造City Walk中的城市IP属性,扩大知名度。 展开更多
关键词 美好生活 City walk 体文旅 融合发展
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从“走向自然”到“走向城市”:休闲美学视域下的City Walk
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作者 李灿垠 李社教 《湖北理工学院学报(人文社会科学版)》 2024年第4期54-60,共7页
“如何休闲”之问具有“顶天立地”的双重品格,既关乎具体可感的现实生活样态,又牵涉本己本真的存在与生命之思。以往,人们通过践履山水自然而追寻人性自然。而今,“走向自然”的休闲难以与日常生活相协调,亟待思考的是如何另辟蹊径。Ci... “如何休闲”之问具有“顶天立地”的双重品格,既关乎具体可感的现实生活样态,又牵涉本己本真的存在与生命之思。以往,人们通过践履山水自然而追寻人性自然。而今,“走向自然”的休闲难以与日常生活相协调,亟待思考的是如何另辟蹊径。City Walk是一种时兴的、以徒步为主要方式来探索城市空间、感受别样趣味的休闲活动,其低成本、慢节奏、益身心等特点极大地推动了休闲的开展,其“反叛技术”“背离秩序”的超越性品格规避了休闲异化的风险,其维持身心健康、促进友好交往、建构和谐关系及回归诗意栖居的美学价值助力人们属人地生存与属人地休闲。研究其活动特质与美学价值,既可为休闲美学添砖加瓦,又可为城市生活建言献策。 展开更多
关键词 City walk 城市漫步 休闲美学
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Heat Kernel Estimates on Simple Random Walks and On-Diagonal Upper Bounds
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作者 Runquan Zuo Yuxiao Yan +2 位作者 Zishan Zhu Liwen Yao Qihao Han 《Journal of Applied Mathematics and Physics》 2024年第10期3613-3625,共13页
We primarily provide several estimates for the heat kernel defined on the 2-dimensional simple random walk. Additionally, we offer an estimate for the heat kernel on high-dimensional random walks, demonstrating that t... We primarily provide several estimates for the heat kernel defined on the 2-dimensional simple random walk. Additionally, we offer an estimate for the heat kernel on high-dimensional random walks, demonstrating that the heat kernel in higher dimensions converges rapidly. We also compute the constants involved in the estimate for the 1-dimensional heat kernel. Furthermore, we discuss the general case of on-diagonal estimates for the heat kernel. 展开更多
关键词 Heat Kernel Simple Random walk On-Diagonal Estimate
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从City Walk到乡村旅游
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作者 丛洋 《中国农垦》 2024年第2期30-31,共2页
自2022年开始,一种名为City Walk(城市漫步)的旅行方式广受推崇,网上的路线攻略、结伴成团、报道评论越来越多。City Walk原是20世纪30年代发源于英国的一种城市旅游形式,指的是几个人在一起,在专业讲述员的带领下,有计划地行走在一条... 自2022年开始,一种名为City Walk(城市漫步)的旅行方式广受推崇,网上的路线攻略、结伴成团、报道评论越来越多。City Walk原是20世纪30年代发源于英国的一种城市旅游形式,指的是几个人在一起,在专业讲述员的带领下,有计划地行走在一条独特的道路上。但现在流行的这一概念更多指的是深入到城市的街巷、情境和空间,非功利化、无目的性地随意漫步游走,不受他人评价和引导的影响。 展开更多
关键词 乡村旅游 他人评价 walk 旅行方式 功利化
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Effect of Brisk Walking on Self-Care Agency or Care Dependency among Colorectal Cancer Patients with Permanent Stoma
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作者 Zhen Zhang Anabella G.Javier 《Journal of Clinical and Nursing Research》 2024年第5期68-82,共15页
Objective:The purpose of this study was to determine the effectiveness of brisk walking as an intervention for self-care agency and care dependency in patients with permanent colorectal cancer stoma.Method:This study ... Objective:The purpose of this study was to determine the effectiveness of brisk walking as an intervention for self-care agency and care dependency in patients with permanent colorectal cancer stoma.Method:This study adopted a quasi-experimental research design,specifically a non-equivalent control group pre-test and post-test design.Utilizing the Exercise of Self-Care Agency Scale(ESCA)and Care Dependency Scale(CDS),a survey was administered to 64 patients from a hospital in Shandong Province.The statistical methods used for analyzing data included frequency,mean,standard deviation(SD),independent t-test,P-value calculation,and dependent t-test.Result:After two months of a brisk walking exercise program,participants in the experimental group had a higher level of self-care agency than before the experiment(P<0.05),and their level of care dependency was significantly reduced(P<0.05).Participants in the control group also showed higher levels of self-care agency(P<0.05)and lower levels of care dependency(P<0.05)after two months compared to their levels before the two months.Conclusion:The brisk walking program had a positive impact on patients’self-care agency and reduced their care dependency. 展开更多
关键词 Permanent stoma Colorectal cancer Brisk walking Self-care agency Care dependency
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建筑可阅读 城市可漫步——以City Walk为“小切口”打开名城保护“大视野”
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作者 马向明 龚艳芬 陈奕铭 《城乡建设》 2024年第18期46-49,共4页
周末约上两三朋友,就近寻一处城市街头漫步,看看老建筑,逛逛特色小店,点一杯咖啡,或是品尝地道的当地小吃。这种生活方式被称为“City Walk”(意为“城市漫步”),已成为当下年轻人城市生活的新方式。“City Walk”指参与者行走在一条独... 周末约上两三朋友,就近寻一处城市街头漫步,看看老建筑,逛逛特色小店,点一杯咖啡,或是品尝地道的当地小吃。这种生活方式被称为“City Walk”(意为“城市漫步”),已成为当下年轻人城市生活的新方式。“City Walk”指参与者行走在一条独特的城市路线上,用脚步探索城市,深入城市肌理,感受城市独特气质的生活方式。根据《中国旅行消费趋势洞察白皮书(2023年版)》,2023年旅行消费的四大新趋势是“小众独特、自在松弛、未知惊喜、深度在地”. 展开更多
关键词 消费趋势 名城保护 城市肌理 walk 城市街头 大视野 小切口 独特气质
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基于Deep Walk-GATVAE的中小微企业服务推荐探析
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作者 张明亮 齐林 《数字技术与应用》 2024年第8期104-107,共4页
为了解决中小微企业在推荐服务时,因为企业节点表征使用One-hot编码维度过高导致服务推荐不准确的问题,提出了一种基于随机游走嵌入的图注意力变分自编码器网络模型(DeepWalk-GATVAE)的中小微企业服务推荐算法。首先是为解决数据的稀疏... 为了解决中小微企业在推荐服务时,因为企业节点表征使用One-hot编码维度过高导致服务推荐不准确的问题,提出了一种基于随机游走嵌入的图注意力变分自编码器网络模型(DeepWalk-GATVAE)的中小微企业服务推荐算法。首先是为解决数据的稀疏性,使用DeepWalk进行分布特征表示,并将特征转化为低维的表征;其次输入GATVAE网络模型挖掘企业和服务之间的关联;最后对使用的超参数进行调整,找到最优的参数选择。测试结果表明,本研究提出的算法ROC_AUC和AP值分别为0.8475和0.8626,与常见的推荐算法相比,提高了服务推荐的准确性,有效解决了中小微企业服务数据稀疏的问题。 展开更多
关键词 服务推荐 推荐算法 中小微企业 数据稀疏 网络模型 随机游走 超参数 walk
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Synthesis of Branched Polyethylene via Bulky α-Diimine Nickel(II)-Catalyzed Ethylene Chain-Walking Polymerization
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作者 Zhengquan Dong Pei Li +1 位作者 Guoyong Xu Fuzhou Wang 《Open Journal of Organic Polymer Materials》 2024年第1期1-12,共12页
The catalysis of olefin polymerization through the chain-walking process is a subject of great interest. In this contribution, the successful synthesis of a Brookhart-type unsymmetrical α-diimine nickel catalyst Ni, ... The catalysis of olefin polymerization through the chain-walking process is a subject of great interest. In this contribution, the successful synthesis of a Brookhart-type unsymmetrical α-diimine nickel catalyst Ni, which contains both dibenzhydryl and phenyl groups, was determined by X-ray crystallography. The compound has a pseudo-tetrahedral geometry at the Ni center, showing pseudo-C2-symmetry. Upon activation with modified methylaluminoxane (MMAO), Ni1 exhibits high catalytic activity up to 1.02 × 107 g PE (mol Ni h)−1 toward ethylene polymerization, enabling the synthesis of high molecular weight branched polyethylene. The molecular weights and branching densities could be tuned over a very wide range. The polymerization results indicated the possibility of precise microstructure control, depending on the polymerization temperature. The branching densities were decreased with increasing the polymerization temperature. 展开更多
关键词 Ethylene Polymerization α-Diimine Ni(II) Complex Chain-walking Polymerization Branched Polyethylene
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基于Random Walk算法的CT图像肺实质自动分割 被引量:4
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作者 王兵 顾潇蒙 +3 位作者 杨颖 董华 田学东 顾力栩 《计算机应用》 CSCD 北大核心 2015年第9期2666-2672,2681,共8页
针对复杂情况下肺实质的分割问题,提出了一种基于Random Walk算法对肺实质自动分割的方法。首先,根据胸部组织解剖学及其计算机断层扫描(CT)图像的影像学特征,在肺实质及其周围组织分别确定目标区域种子点和背景种子点位置;然后,使用Ran... 针对复杂情况下肺实质的分割问题,提出了一种基于Random Walk算法对肺实质自动分割的方法。首先,根据胸部组织解剖学及其计算机断层扫描(CT)图像的影像学特征,在肺实质及其周围组织分别确定目标区域种子点和背景种子点位置;然后,使用Random Walk算法对CT图像进行分割,提取近似肺区域的掩模;接下来,对掩模实施数学形态学运算,来进一步调整目标区域种子点和背景种子点的标定位置,使其适合具体的复杂情况;最后,再次使用Random Walk算法分割图像,得到最终的肺实质分割结果。实验结果显示,该方法与金标准的平均绝对距离为0.44±0.13 mm,重合率(DC)为99.21%±0.38%。与其他分割方法相比,该方法在分割精度上得到了显著提高。结果表明,提出的方法能够解决复杂情况下肺实质分割的问题,确保了分割的完整性、准确性、实时性和鲁棒性,分割结果和时间均可满足临床需求。 展开更多
关键词 胸部图像 计算机断层扫描 Random walk算法 肺实质分割 种子点选择 数学形态学运算
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Walk-away VSP和3D-VSP自适应静校正方法研究 被引量:3
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作者 张山 朱海龙 +1 位作者 王家映 顾汉明 《地球物理学进展》 CSCD 北大核心 2011年第5期1755-1762,共8页
目前Walk-away VSP和3D-VSP处理中尚缺乏有效的静校正手段,主要是借用面地震静校正量.本文根据Walk-away VSP和3D-VSP观测系统和数据特点提出了自适应静校正的思路.主要包括自适应高程静校正和自适应剩余静校正,自适应高程静校正的要点... 目前Walk-away VSP和3D-VSP处理中尚缺乏有效的静校正手段,主要是借用面地震静校正量.本文根据Walk-away VSP和3D-VSP观测系统和数据特点提出了自适应静校正的思路.主要包括自适应高程静校正和自适应剩余静校正,自适应高程静校正的要点是通过VSP初至时间和激发点高程差,求出替换速度,然后根据高程计算静校正量;剩余静校正的要点是利用VTI各向异性速度模型计算出理论初至时间,实际初至时间与理论初至时间的差即为静校正量,本方法将目的层以上地层均校正为横向均匀介质,不但消除了地表、低速带、降速带横向变化的影响,而且消除了浅部基岩横向变化对目的层的影响.实例表明,按本方法进行静校正后,所得结果更符合沉积理论,对VSP资料的精细处理和正确解释起到了积极作用. 展开更多
关键词 walk—away VSP 3D-VSP 静校正 自适应 各向异性
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优秀男选手桑巴舞前进WALK步足底压力特征 被引量:1
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作者 李博 谢春香 余银 《武汉体育学院学报》 CSSCI 北大核心 2013年第2期98-100,共3页
运用比利时Rsscan footscan insol足底压力测试鞋垫系统,对武汉体育学院拉丁舞专选班8位优秀男选手完成的桑巴舞前进WALK步基本动作进行了测试与分析。结果显示,在桑巴前进WALK步的整个动作过程中,足底压力主要分布在脚前掌第一跖骨到... 运用比利时Rsscan footscan insol足底压力测试鞋垫系统,对武汉体育学院拉丁舞专选班8位优秀男选手完成的桑巴舞前进WALK步基本动作进行了测试与分析。结果显示,在桑巴前进WALK步的整个动作过程中,足底压力主要分布在脚前掌第一跖骨到第四跖骨以及大拇趾内侧部分;足底的压力的发展趋势是由主力腿足部第一跖骨到第四跖骨再到大拇趾内侧的循环过程。据此认为,在完成桑巴WALK步身体重心向前移动过程中,应该强调使用动力腿将重心完全推上主力腿脚部。 展开更多
关键词 桑巴舞 前进walk 足底压力 运动生物力学
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桑巴舞前进WALK步中身体髋膝关节角度的变化特征 被引量:4
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作者 李博 谢春香 《体育成人教育学刊》 2012年第4期81-82,88,共3页
应用运动生物力学研究手段,以武汉体育学院体育艺术学院拉丁舞专业班8位优秀男选手为研究对象,对桑巴舞前进WALK步基本动作进行图像解析,旨在揭示其运动的基本特点和规律,为诊断与分析运动员的技术动作提供理论依据。
关键词 桑巴舞 前进walk 三维图像解析 运动生物力学
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四足机器人walk步态仿真 被引量:1
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作者 马宗利 王建明 +1 位作者 李华 赵彦 《机床与液压》 北大核心 2013年第11期146-148,190,共4页
利用Pro/E设计每条腿有两个自由度的四足机器人简化模型,将此模型导入ADAMS中。根据walk步态的特点,设计合理的正弦函数和半波函数对四足机器人的髋关节和膝关节进行驱动,应用ADAMS对内膝肘式四足机器人模型进行仿真,验证结构设计方案... 利用Pro/E设计每条腿有两个自由度的四足机器人简化模型,将此模型导入ADAMS中。根据walk步态的特点,设计合理的正弦函数和半波函数对四足机器人的髋关节和膝关节进行驱动,应用ADAMS对内膝肘式四足机器人模型进行仿真,验证结构设计方案的可行性。 展开更多
关键词 四足机器人 ADAMS仿真 walk步态
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