足式机器人SLIP模型向上跳跃台阶的运动控制

由于存在地势起伏,台阶对足式机器人运动稳定性会带来较大挑战.弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板,能否完成向上跳跃台阶的动作与其腿部摆角,起跳位置和跳跃高度都有密切的关系.由于调整模型腿部摆角规律容易引发运动失效,故本文在算法中引入虚拟弹簧腿,根据虚拟弹簧腿的运行规律确定合理起跳位置,根据起跳位置来控制系统跳跃高度进而完成跳跃台阶的动作.最后利用仿真软件进行多组仿真,结果表明本文算法对起跳区间划分合理,对起跳高度控制精准,能够实现SLIP模型跳跃台阶前后的稳定运动.

液体润滑浸渍表面(SLIPS)船舶防污涂层最新研究进展

综述了近3年来关于液体润滑浸渍表面(SLIPS)船舶防污涂层的研究进展,特别是润滑液的选择与涂层的结构设计,以及这些因素如何影响涂层的整体性能,以期为未来的研究提供最新思路及研究方法。

基于Slide的研山铁矿高陡边坡稳定性分析

露天矿山边坡稳定性对采场安全生产至关重要。为探究边坡施工过程中的安全隐患,以研山铁矿高陡边坡为研究对象,考虑爆破震动及地震作用荷载,运用Slide二维边坡数值模拟软件对典型剖面进行稳定性计算。结果表明:在正常工况条件、爆破震动及地震作用下,边坡整体安全系数符合要求,整体处于稳定状态。但在爆破震动及地震作用下,边坡局部安全系数介于临界值,可能存在局部滑坡风险。为保证采场生产安全,提出了相应的边坡管理预防措施,为相关实践工作提供一定参考。

Coseismic deformation and fault slip distribution of the 2023 M_(W)7.8 and M_(W)7.6 earthquakes in Türkiye

On February 6,2023,a devastating earthquake with a moment magnitude of M_(W)7.8 struck the town of Pazarcik in south-central Türkiye,followed by another powerful earthquake with a moment magnitude of M_(W)7.6 that struck the nearby city of Elbistan 9 h later.To study the characteristics of surface deformation caused by this event and the influence of fault rupture,this study calculated the static coseismic deformation of 56 stations and dynamic displacement waveforms of 15 stations using data from the Turkish national fixed global navigation satellite system(GNSS)network.A maximum static coseismic displacement of 0.38 m for the M_(W)7.8 Kahramanmaras earthquake was observed at station ANTE,36 km from the epicenter,and a maximum dynamic coseismic displacement of 4.4 m for the M_(W)7.6 Elbistan earthquake was observed at station EKZ1,5 km from the epicenter.The rupture-slip distributions of the two earthquakes were inverted using GNSS coseismic deformation as a constraint.The results showed that the Kahramanmaras earthquake rupture segment was distinct and exposed on the ground,resulting in significant rupture slip along the Amanos and Pazarcik fault segments of the East Anatolian Fault.The maximum slip in the Pazarcik fault segment was 10.7 m,and rupture occurred at depths of 0–15 km.In the Cardak fault region,the Elbistan earthquake caused significant ruptures at depths of 0–12 km,with the largest amount of slip reaching 11.6 m.The Coulomb stress change caused by the Kahramanmaras earthquake rupture along the Cardak fault segment was approximately 2 bars,and the area of increased Coulomb stress corresponded to the subsequent rupture region of the M_(W)7.6 earthquake.Thus,it is likely that the M_(W)7.8 earthquake triggered or promoted the M_(W)7.6 earthquake.Based on the cumulative stress impact of the M_(W)7.8 and M_(W)7.6 events,the southwestern segment of the East Anatolian Fault,specifically the Amanos fault segment,experienced a Coulomb rupture stress change exceeding 2 bars,warranting further attention to assess its future seismic hazard risk.

Predicting impact forces on pipelines from deep-sea fluidized slides:A comprehensive review of key factors

Deep-sea pipelines play a pivotal role in seabed mineral resource development,global energy and resource supply provision,network communication,and environmental protection.However,the placement of these pipelines on the seabed surface exposes them to potential risks arising from the complex deep-sea hydrodynamic and geological environment,particularly submarine slides.Historical incidents have highlighted the substantial damage to pipelines due to slides.Specifically,deep-sea fluidized slides(in a debris/mud flow or turbidity current physical state),characterized by high speed,pose a significant threat.Accurately assessing the impact forces exerted on pipelines by fluidized submarine slides is crucial for ensuring pipeline safety.This study aimed to provide a comprehensive overview of recent advancements in understanding pipeline impact forces caused by fluidized deep-sea slides,thereby identifying key factors and corresponding mechanisms that influence pipeline impact forces.These factors include the velocity,density,and shear behavior of deep-sea fluidized slides,as well as the geometry,stiffness,self-weight,and mechanical model of pipelines.Additionally,the interface contact conditions and spatial relations were examined within the context of deep-sea slides and their interactions with pipelines.Building upon a thorough review of these achievements,future directions were proposed for assessing and characterizing the key factors affecting slide impact loading on pipelines.A comprehensive understanding of these results is essential for the sustainable development of deep-sea pipeline projects associated with seabed resource development and the implementation of disaster prevention measures.

Revealing the role of pyramidal slip in the high ductility of Mg-Li alloy

The high ductility of Mg-Li alloy has been mainly ascribed to a high activity of pyramidal<c+a>slip to accommodate plastic strain.In the present study,however,a quantitative analysis reveals that Li-addition can only slightly stimulate the activation of pyramidal<c+a>slip under compression along the normal direction of a hot-rolled Mg-4.5 wt.%Li plate,with a relative activity of approximately 18%.Although the limited activity of pyramidal<c+a>slip alone cannot accommodate a large plastic strain,it effectively reduces the number of{10.11}−{10.12}double twins,which are believed to be favorable sites for crack initiation.The evidently reduced activity of double twins leads to a lower cracking tendency,and therefore improves ductility.

Experimental investigation on fluid-induced slip behavior of fault filled with fault gouge

Fault zones are usually filled with fault gouge and accompanied by fault water.The coupled effect of fault gouge and water significantly impacts the slip behavior of the fault,which may weaken the fault structure and further induce rupture propagation and earthquakes.In this study,we carried out a laboratory experiment to investigate the fluid-induced slip behavior of fault filled with gouge.The friction evolution characteristic associated with fluid pressure and effective stress was investigated during the slip process.In addition,the role transformation process of the gouge on the slip behavior of fault was revealed.The experimental result indicates that the friction on the filled fault surface is significantly affected by fault gouge.The rupture of the gouge promotes fault slip and the fluid pressure plays a vital role in the initiation of fault slip.The fault gouge enhances the shearing strength of the fault and acts as a barrier before the initial slip under fluid injection.Nevertheless,the fault gouge would accelerate the fault slip and transform into lubricant after the initial slip.

CrossLinkNet: An Explainable and Trustworthy AI Framework for Whole-Slide Images Segmentation

In the intelligent medical diagnosis area,Artificial Intelligence(AI)’s trustworthiness,reliability,and interpretability are critical,especially in cancer diagnosis.Traditional neural networks,while excellent at processing natural images,often lack interpretability and adaptability when processing high-resolution digital pathological images.This limitation is particularly evident in pathological diagnosis,which is the gold standard of cancer diagnosis and relies on a pathologist’s careful examination and analysis of digital pathological slides to identify the features and progression of the disease.Therefore,the integration of interpretable AI into smart medical diagnosis is not only an inevitable technological trend but also a key to improving diagnostic accuracy and reliability.In this paper,we introduce an innovative Multi-Scale Multi-Branch Feature Encoder(MSBE)and present the design of the CrossLinkNet Framework.The MSBE enhances the network’s capability for feature extraction by allowing the adjustment of hyperparameters to configure the number of branches and modules.The CrossLinkNet Framework,serving as a versatile image segmentation network architecture,employs cross-layer encoder-decoder connections for multi-level feature fusion,thereby enhancing feature integration and segmentation accuracy.Comprehensive quantitative and qualitative experiments on two datasets demonstrate that CrossLinkNet,equipped with the MSBE encoder,not only achieves accurate segmentation results but is also adaptable to various tumor segmentation tasks and scenarios by replacing different feature encoders.Crucially,CrossLinkNet emphasizes the interpretability of the AI model,a crucial aspect for medical professionals,providing an in-depth understanding of the model’s decisions and thereby enhancing trust and reliability in AI-assisted diagnostics.

Effect of boundary slip on electroosmotic flow in a curved rectangular microchannel

The aim of this study is to numerically investigate the impact of boundary slip on electroosmotic flow(EOF) in curved rectangular microchannels. Navier slip boundary conditions were employed at the curved microchannel walls. The electric potential distribution was governed by the Poisson–Boltzmann equation, whereas the velocity distribution was determined by the Navier–Stokes equation. The finite-difference method was employed to solve these two equations. The detailed discussion focuses on the impact of the curvature ratio, electrokinetic width, aspect ratio and slip length on the velocity. The results indicate that the present problem is strongly dependent on these parameters. The results demonstrate that by varying the dimensionless slip length from 0.001 to 0.01 while maintaining a curvature ratio of 0.5 there is a twofold increase in the maximum velocity. Moreover, this increase becomes more pronounced at higher curvature ratios. In addition, the velocity difference between the inner and outer radial regions increases with increasing slip length. Therefore, the incorporation of the slip boundary condition results in an augmented velocity and a more non-uniform velocity distribution. The findings presented here offer valuable insights into the design and optimization of EOF performance in curved hydrophobic microchannels featuring rectangular cross-sections.

基于Slide2的某铁矿尾矿库坝体稳定性分析

尾矿库是冶金矿山的重要附属设施,一旦失事将造成严重的环境污染和重大损失,尾矿库安全的核心在于尾矿坝是否稳定。通过采用Slide2软件,根据岩土工程勘察资料,建立山西某铁矿尾矿库坝体典型剖面的二维数值模型,对坝体三种运行工况下的渗流稳定性和坝坡稳定性进行分析,以确定尾矿库的安全性,并分析Slide2软件应用于尾矿坝稳定性分析中的可靠性和功能性。

基于SLIDE软件的某矿山排土场稳定性分析

为研究某矿山排土场稳定性,使用SLIDE软件,采用简化Bishop法、Janbu修正法和Spencer法对该排土场自然工况、降雨工况和地震工况下的安全系数进行计算。结果表明,该排土场边坡在自然和降雨工况下处于稳定,在地震工况下处于基本稳定,由此为该排土场将来的维护和治理作业提供了参考价值。

Co and postseismic fault slip models of the 2022 M_(W)6.7 Menyuan earthquake reveal conjugated faulting tectonics at the central section of the Lenglongling fault

The 2022 M_(W)6.7 Menyuan earthquake ruptured the western end of the Tianzhu seismic gap,providing an opportunity to study the regional seismogenic characteristics and seismic hazards.Here we use interferometric synthetic aperture radar(InSAR)and seismic data to study the mainshock rupture,early afterslip and the second largest aftershock of the 2022 Menyuan earthquake sequences.Our modeling results show that the mainshock ruptured the Lenglongling fault and the Tuolaishan fault with a maximum slip of~3 m.Rapid postseismic transient deformation occurred at the center of the Lenglongling fault.Our afterslip modeling reveals that the majority of afterslip occurred in the deeper part of the Lenglongling fault.A high-angle conjugated faulting event is found at the middle section of the Lenglongling fault.We use the stress inversion to investigate the possible triggering mechanism of the conjugated rupture event.The results indicate the maximum principal stress direction is in~222°,forming a~22°angle between the conjugated fault of second largest aftershock and the mainshock.The calculated normal stress changes indicate the region is within a pull-apart stress field,which favors such a conjugated rupturing event.Our study will help understand the rupture behavior of such kind of conjugated fault in other regions.

Interseismic slip distribution and locking characteristics of the mid-southern segment of the Tanlu fault zone

We employ the block negative dislocation model to invert the distribution of fault coupling and slip rate deficit on the different segments of the Tanlu(Tancheng-Lujiang) fault zone, according to the GPS horizontal velocity field from 1991 to 2007(the first phase) and 2013 to 2018(the second phase). By comparing the deformation characteristics results, we discuss the relationship between the deformation characteristics with the M earthquake in Japan. The results showed that the fault coupling rate of the northern section of Tancheng in the second phase reduced compared with that in the first phase. However, the results of the two phases showed that the northern section of Juxian still has a high coupling rate, a deep blocking depth, and a dextral compressive deficit, which is the enrapture section of the 1668 Tancheng earthquake. At the same time, the area strain results show that the strain rate of the central and eastern regions of the second phase is obviously enhanced compared with that of the first phase. The occurrence of the great earthquake in Japan has played a specific role in alleviating the strain accumulation in the middle and south sections of the Tanlu fault zone. The results of the maximum shear strain show that the shear strain in the middle section of the Tanlu fault zone in the second phase is weaker than that in the first phase, and the maximum shear strain in the southern section is stronger than that in the first phase. The fault coupling coefficient of the south Sihong to Jiashan section is high, and it is also the unruptured section of historical earthquakes. At the same time, small earthquakes in this area are not active and accumulate stress easily, so the future earthquake risk deserves attention.

Risk factors and clinical significance of posterior slip of the proximal vertebral body after lower lumbar fusion

BACKGROUND Adjacent segment disease(ASD)after fusion surgery is frequently manifests as a cranial segment instability,disc herniation,spinal canal stenosis,spondylolisthesis or retrolisthesis.The risk factors and mechanisms of ASD have been widely discussed but never clearly defined.AIM To investigate the risk factors and clinical significance of retrograde movement of the proximal vertebral body after lower lumbar fusion.METHODS This was a retrospective analysis of the clinical data of patients who underwent transforaminal lumbar interbody fusion surgery between September 2015 and July 2021 and who were followed up for more than 2 years.Ninety-one patients with degenerative lumbar diseases were included(22 males and 69 females),with an average age of 52.3 years(40-73 years).According to whether there was retrograde movement of the adjacent vertebral body on postoperative X-rays,the patients were divided into retrograde and nonretrograde groups.The sagittal parameters of the spine and pelvis were evaluated before surgery,after surgery,and at the final follow-up.At the same time,the Oswestry Disability Index(ODI)and Visual Analogue Scale(VAS)were used to evaluate the patients’quality of life.RESULTS Nineteen patients(20.9%)who experienced retrograde movement of proximal adjacent segments were included in this study.The pelvic incidence(PI)of the patients in the retrograde group were significantly higher than those of the patients in the nonretrograde group before surgery,after surgery and at the final follow-up(P<0.05).There was no significant difference in lumbar lordosis(LL)between the two groups before the operation,but LL in the retrograde group was significantly greater than that in the nonretrograde group postoperatively and at the final follow-up.No significant differences were detected in terms of the|PI–LL|,and there was no significant difference in the preoperative lordosis distribution index(LDI)between the two groups.The LDIs of the retrograde group were 68.1%±11.5%and 67.2%±11.9%,respectively,which were significantly lower than those of the nonretrograde group(75.7%±10.4%and 74.3%±9.4%,respectively)(P<0.05).Moreover,the patients in the retrograde group had a greater incidence of a LDI<50%than those in the nonretrograde group(P<0.05).There were no significant differences in the ODI or VAS scores between the two groups before the operation,but the ODI and VAS scores in the retrograde group were significantly worse than those in the nonretrograde group after the operation and at the last follow-up,(P<0.05).CONCLUSION The incidence of posterior slippage after lower lumbar fusion was approximately 20.9%.The risk factors are related to a higher PI and distribution of lumbar lordosis.When a patient has a high PI and insufficient reconstruction of the lower lumbar spine,adjacent segment compensation via posterior vertebral body slippage is one of the factors that significantly affects surgical outcomes.

支气管镜在儿童Slide气管成形术中的应用

目的 总结支气管镜在儿童Slide气管成形术中的作用。方法 回顾性分析2017—2020年湖南省人民医院收治的4例气管狭窄患儿的诊疗经过,总结支气管镜在Slide气管成形术术前评估、术中定位与测量及术后创面评估和治疗中的作用。结果 Slide气管成形术术前支气管镜评估显示,4例患儿中3例存在完全气管环,2例合并肺动脉吊带,2例存在多处狭窄。3例在该院完成Slide气管成形术,术中支气管镜下判断狭窄段中点及测量狭窄段长度,协助离断气管狭窄段,术后灌洗明确病原;1例外院Slide气管成形术术后9个月出现瘢痕牵拉,经支气管镜下介入治疗好转。2例术后第4天支气管镜下发现气管黏膜改变,调整治疗方案;2例术后1个月出现肉芽增生,经支气管镜下冷冻治疗好转。1例因吻合口坏死放弃治疗死亡,存活的3例随访6个月以上,预后可,但均存在气管支气管软化。结论 支气管镜可用于气管狭窄患儿Slide气管成形术的管理,有助于术后康复及随访。

Influence of wall slip on the hydrodynamic behavior of a two-dimensional slider bearing

In the present paper, a multi-linearity method is used to address the nonlinear slip control equation for the hydrodynamic analysis of a two-dimensional （2-D） slip gap flow. Numerical analysis of a finite length slider bearing with wall slip shows that the surface limiting shear stress exerts complicated influences on the hydrodynamic behavior of the gap flow. If the slip occurs at either the stationary surface or the moving surface （especially at the stationary surface）, there is a transition point in the initial limiting shear stress for the proportional coefficient to affect the hydrodynamic load support in two opposite ways： it increases the hydrodynamic load support at higher initial limiting shear stresses, but decreases the hydrodynamic load support at lower initial limiting shear stresses. If the slip occurs at the moving surface only, no fluid pressure is generated in the case of null initial limiting shear stress. If the slip occurs at both the surfaces with the same slip property, the hydrodynamic load support goes off after a critical sliding speed is reached. A small initial limiting shear stress and a small proportionality coefficient always give rise to a low friction drag.

Influence of permeation effect on themicrofabric of the slip zone soils: A case study from the Huangtupolandslide

This study aims to investigate the correlation between the permeation effect and microfabric of the slip zone soils with Huangtupo landslide in the Three Gorges Reservoir as the study case. Based on the permeability test and scanning electron microscope(SEM) images analysis, the fractal theory and probability entropy are used to quantify the characteristics of the remodeling specimens. First, the relationships between initial moisture content(IMC) and microstructure of the soil(percentage of particle area(PPA), pore roundness(Rp)) before and after permeability test are summarized. Then, the fractal dimension of the soil(pore distribution(Dpd), pore size(Dps)) are analyzed under the permeation effect. Based on the probability entropy, the entropy of pore(Ep) is used to characterize the porosity orientation, and the rose diagrams are used to show the particle orientation under the permeation effect. Finally, the relationship between the microstructure of the soil and its mechanical property is discussed. Results show that under the permeation effect, the microstructure of the soil has undergone tremendous changes. A flat long pore channel is formed. The order of the pore arrangement is enhanced, and soil particles switch the long axis to parallel infiltration direction to reach a new steady state. It can be inferred that the strength of soil would be weakened if the fractal dimension of soil pore decreases under any external environment.

Large-scale Rock Landslide Slip Surface Location Analysis and Strength Parameters Evaluation

Large-scale rock landslides have huge impacts on various large-scale rock engineering and project operations. They are also important aspects evaluating geological disasters. In the initial evaluations on the stability of large-scale rock landslides, in most cases, it is difficult to conduct evaluation or to have accurate evaluations because most of large-scale rock landslides are huge in size, high in slopes, and located in the canyon of mountains, which makes the exploration very difficult and thus hard to get credible data on slip surface form, location, depth and strength. This paper describes the Badi landslide happened along the Lancang River, and systematically introduces methods to analyze and verify large-scale slip surface form using terrain conditions surrounding the large-scale landslide, shape of the slide walls, and development patterns of streams and gully. This paper also introduces ways to obtain strength parameters of slip surface with the soil in the slide zone by using the principles of stress state, principles of gravity compaction, structure regeneration and strength regeneration. It is confirmed that analyzed results to the slip surface are basically consistent with the exploration results. The methods introduced here have been successfully applied to evaluate the stability of Badi large-scale rock landslide and have been applied in engineering practices.

HL-2A托卡马克上slide-away放电特征研究

托卡马克装置上等离子体不稳定性会被非麦克斯韦分布的逃逸电子激发。逃逸电子在特定条件下会与不稳定性发生反常多普勒共振,此共振结果将降低逃逸电子的能量,减小对装置造成的危害。本文利用电子回旋辐射(ECE)等诊断系统分析了HL-2A上slide-away放电中反常多普勒共振特征。实验结果表明:slide-away放电模式下ECE信号主要有台阶型、指数型、指数-台阶型和双波型4类波形。统计显示不稳定性阈值与等离子体电流以及磁场强度值无线性关系。反常多普勒不稳定性阈值(ωpe/ωce)统计分布范围约为0.17~0.80,其中最高值分布范围为0.35~0.40。

Evolution Mechanism of Slip Zone Under Fluctuation of Ground Water Table of Landslide

The fluctuation of ground water table of landslide caused by the changing of rain fall and reservoir water level leads the slip zone to possess the complicated deformation features of stepped and vibration.Actual role of the ground water fluctuation to landslide is the synthesis of pore pressure,chemical intenerating