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仿人机器人三维实时仿真系统的研究与实现 被引量:25
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作者 甘志刚 肖南峰 《系统仿真学报》 EI CAS CSCD 北大核心 2007年第11期2444-2448,2518,共6页
利用仿真来研究、分析和检验仿人形机器人在步行过程中的受力,对于改进和提高它的步行控制方法具有非常重要的意义。本文首先介绍了作者用OpenGL图形库开发仿人形机器人三维实时仿真系统和全方位观测技术,然后通过分析环境作用力对机器... 利用仿真来研究、分析和检验仿人形机器人在步行过程中的受力,对于改进和提高它的步行控制方法具有非常重要的意义。本文首先介绍了作者用OpenGL图形库开发仿人形机器人三维实时仿真系统和全方位观测技术,然后通过分析环境作用力对机器人的影响,提出了在点支撑、线支撑和面支撑三种模式下,机器人的平衡条件和失稳时翻转的旋转轴及旋转速度的求解方法;最后将上述方法应用到机器人三维实时仿真系统中,实现了仿人形机器人控制的可视化,为仿人形机器人研究提供了强有力的手段。 展开更多
关键词 仿人形机器人 仿真 OPENGL 全方位观测 环境作用力
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建筑与看不见的力
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作者 刘伟 《时代建筑》 1997年第2期55-58,共4页
建筑不仅受整个时代的影响,也受具体环境的影响,本文试图分析三者的关系。
关键词 建筑环境理论 环境建筑 环境作用力 建筑
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Main properties of ultra-high performance fiber reinforced cement composites under couple effect of load and environment
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作者 Saly Fathy 顾春平 孙伟 《Journal of Southeast University(English Edition)》 EI CAS 2012年第2期184-189,共6页
This study aims to reveal the mechanism that how the content of steel fibers and strength grades affect the macro performance of the ultra-high performance fiber reinforced cementitious composite (UHPFRCC) and to st... This study aims to reveal the mechanism that how the content of steel fibers and strength grades affect the macro performance of the ultra-high performance fiber reinforced cementitious composite (UHPFRCC) and to study the UHPFRCC durability under the combined effect of loads and environments. Three types of high and ultra-high performance fiber reinforced cement composites with different strength grades (100, 150, 200 MPa) and different steel fiber volume fractions (0%, 1%, 2%, 3%) are prepared. The main properties of mechanical performance and short-term durability are studied. A preloading frame is designed to apply a four- point load external flexural stress with a stress selection ratio of 0.5 for UHPFRCC150 specimens. The results show that the growth in strength grade with a proper content of steel fiber greatly increases the strength and toughness of the HPFRCC and the UHPFRCC while decreasing the dry-shrinkage ratio. For the loaded specimens, the existence of steel fiber can reduce the negative influence of tensile stress on the Cl- penetration resistance of the UHPFRCC in addition to improving its ability to resist the freeze-thaw damage. 展开更多
关键词 ultra-high performance fiber reinforced cementitious composite couple effect of load and environment mechanical properties DURABILITY
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Factors Affecting Cr(Ⅲ) Oxidation by Manganese Oxides 被引量:5
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作者 CHEN YINGXU CHEN YIYI +2 位作者 LIN QI HU ZIQIANG HU HONG and WU JIANYANG(Dept. of Environ. Sci., Zhejiang Agricultural Univereity, Hangzhou, 310029 (China)) 《Pedosphere》 SCIE CAS CSCD 1997年第2期185-192,共8页
The high oxidation ability of manganese oxides or soils was used to study effects of pH and coatingon Cr(Ⅲ) oxidation. The results indicated that Cr(Ⅲ) oxidation peaked in pH 4.0-6.5. The amount andrate of Cr(Ⅲ) be... The high oxidation ability of manganese oxides or soils was used to study effects of pH and coatingon Cr(Ⅲ) oxidation. The results indicated that Cr(Ⅲ) oxidation peaked in pH 4.0-6.5. The amount andrate of Cr(Ⅲ) being oxidized by uncoated δ-MnO2 were larger than those by Fe oxide- or CaCO3-coatedone. Inorganic Cr(Ⅲ) was more easi1y oxidized by MnO2 than organic complex Cr(Ⅲ) due to differentsurface affinities. Precipitated Cr(Ⅲ) and adsorbed Cr(Ⅲ) might be transferred onto MnO2 surface andthen oxidized to Cr(VI). 展开更多
关键词 CHROMIUM environmental chemistry kinetics manganese oxides OXIDATION
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Environmental effects induced by excavation 被引量:1
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作者 Yu-qi LI Jian ZHOU Kang-he XIE 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2008年第1期50-57,共8页
Based on 3D Biot’s consolidation theory and nonlinear Duncan-Chang’s model, a 3D FEM (finite element method) program is developed considering the coupling of groundwater seepage and soil skeleton deformation during ... Based on 3D Biot’s consolidation theory and nonlinear Duncan-Chang’s model, a 3D FEM (finite element method) program is developed considering the coupling of groundwater seepage and soil skeleton deformation during excavation. The comparison between the analysis result considering the variation of water head difference and that without considering it shows that the porewater pressure distribution of the former is distinctly different from that of the latter and that the foundation pit de- formations of the former are larger than those of the latter, so that the result without considering the variation of water head dif- ference is unreliable. The distribution rules of soil horizontal and vertical displacements around the pit and excess porewater pressure are analyzed in detail in time and space, which is very significant for guiding underground engineering construction and ensuring environment safety around the pit. 展开更多
关键词 Environmental effect EXCAVATION DEFORMATION Excess porewater pressure
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Sex-specific effects of inbreeding and early ife conditions on the adult oxidative balance 被引量:2
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作者 Raissa Anna DE BOER David COSTANTINI +4 位作者 Giulia CASASOLE Hamada ABDELGAWAD Han ASARD Marcel EENS Wendt MIJLLER 《Current Zoology》 SCIE CAS CSCD 2018年第5期631-639,共9页
Inbreeding negatively affects various life-history traits, with inbred individuals typically having lower fit- ness than outbred individuals (=inbreeding depression). Inbreeding depression is often emphasized under ... Inbreeding negatively affects various life-history traits, with inbred individuals typically having lower fit- ness than outbred individuals (=inbreeding depression). Inbreeding depression is often emphasized under environmental stress, but the underlying mechanisms and potential long-lasting consequences of such inbreeding-environment interactions remain poorly understood. Here, we hypothesize that inbreeding-environment interactions that occur early in life have long-term physiological effects, in partic- ular on the adult oxidative balance. We applied a unique experimental design to manipulate early life conditions of inbred and outbred songbirds (Serinus canaria) that allowed us to separate prenatal and postnatal components of early life conditions and their respective importance in inbreeding-environment interactions. We measured a wide variety of markers of oxidative status in adulthood, resulting in a com- prehensive account for oxidative balance. Using a Bayesian approach with Markov chain Monte Carlo, we found clear sex-specific effects and we also found only in females small yet significant long-term effects of inbreeding-environment interactions on adult oxidative balance. Postnatal components of early life conditions were most persuasively reflected on adult oxidative balance, with inbred females that experienced disadvantageous postnatal conditions upregulating enzymatic antioxidants in adulthood. Our study provides some evidence that adult oxidative balance can reflect inbreeding-environment inter- actions early in life, but given the rather small effects that were limited to females, we conclude that oxida- tive stress miaht have a limited role as mechanism underlvina inhre.e.dina-envirnnme.nt inte.raetinn.q_ 展开更多
关键词 CANARY maternal effects gene-environment interactions hatching asynchrony.
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High-strength super-hydrophobic double-layered PBO nanofiberpolytetrafluoroethylene nanocomposite paper for high-performance wave-transparent applications 被引量:9
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作者 Lin Tang Yusheng Tang +4 位作者 Junliang Zhang Yuhan Lin Jie Kong Kun Zhou Junwei Gu 《Science Bulletin》 SCIE EI CAS CSCD 2022年第21期2196-2207,共12页
Poly(p-phenylene-2,6-benzobisoxazole)nanofiber(PNF)paper is facing unprecedented challenges in enhancing the interaction between the PNFs and improving its hydrophobicity.In this work,a sol–gel film transformation ap... Poly(p-phenylene-2,6-benzobisoxazole)nanofiber(PNF)paper is facing unprecedented challenges in enhancing the interaction between the PNFs and improving its hydrophobicity.In this work,a sol–gel film transformation approach was developed to fabricate high-strength PNF paper.Iron ions formed coordination bonds between PNFs to obtain a preforming three-dimensional,interconnective nanofiber network.Subsequently,polytetrafluoroethylene(PTFE)particles were sprayed onto the surface of the paper,followed by thermal treatment to obtain double-layered PTFE-P/PNF nanocomposite paper.The nanocomposite paper presents incredible tensile strength(271.6 MPa,increased by 52.9%),folding endurance,super-hydrophobicity,and self-cleaning performances.Moreover,it exhibits low dielectric constant(2.06)and dielectric loss tangent(0.0133)values.According to the wave-transparent model for a doublelayered dielectric established by Maxwell’s equations,the wave-transparent coefficients of electromagnetic waves incident from both sides of the paper are 97.6%(PNF side)and 96.0%(PTFE/P(S-co-BCB-coMMA)side),respectively.The PTFE-P/PNF nanocomposite paper possesses great potential in the fields of wave-transparent applications. 展开更多
关键词 Poly(p-phenylene-2 6-benzobisoxazole) Coordination bonds Tensile strength Wave-transparent SUPER-HYDROPHOBICITY
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Decoherence-and Dimerization-assisted Energy Transport in Protomer of Light-Harvesting Complexes
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作者 周运清 李有泉 《Communications in Theoretical Physics》 SCIE CAS CSCD 2016年第1期114-120,共7页
We have investigated the dynamics of a protomer coupled to two different decoherent environments,each in a configuration called the spin star configuration.Using the quantum mechanics method,in different situations,we... We have investigated the dynamics of a protomer coupled to two different decoherent environments,each in a configuration called the spin star configuration.Using the quantum mechanics method,in different situations,we obtain the analytical expressions for the transition probability in the protomer system.In thermal equilibrium,there exist well-defined ranges of parameters for which decoherent interaction between the protomer and the environment assists energy transfer in the protomer system,while in pure quantum mechanics states,the decoherent interaction assists energy transfer for an eigenstate but against energy transfer for quantum mechanics averages.In particular,we also find that the dimerization of two bacteriochlorophylls in protomer can always assist energy transfer in certain parameter range,and in the appropriate spin bath energy,the efficiency of energy transport is sensitively depended on the temperature of environments. 展开更多
关键词 clecoherence assisted energy transport light-harvesting complexes protomer
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