Versatile Reactive Bipedal Locomotion Planning Through Hierarchical Optimization

© 2019 IEEE. When experiencing disturbances during locomotion, human beings use several strategies to maintain balance, e.g. changing posture, modulating step frequency and location. However, when it comes to the gait generation for humanoid robots, modifying step time or body posture in real time introduces nonlinearities in the walking dynamics, thus increases the complexity of the planning. In this paper, we propose a two-layer hierarchical optimization framework to address this issue and provide the humanoids with the abilities of step time and step location adjustment, Center of Mass (CoM) height variation and angular momentum adaptation. In the first layer, times and locations of consecutive two steps are modulated online based on the current CoM state using the Linear Inverted Pendulum Model. By introducing new optimization variables to substitute the hyperbolic functions of step time, the derivatives of the objective function and feasibility constraints are analytically derived, thus reduces the computational cost. Then, taking the generated horizontal CoM trajectory, step times and step locations as inputs, CoM height and angular momentum changes are optimized by the second layer nonlinear model predictive control. This whole procedure will be repeated until the termination condition is met. The improved recovery capability under external disturbances is validated in simulation studies

Energy-Efficient Bipedal Gait Pattern Generation via CoM Acceleration Optimization

Energy consumption for bipedal walking plays a central role for a humanoid robot with limited battery capacity. Studies have revealed that exploiting the allowable Zero Moment Point region (AZR) and Center of Mass (CoM) height variation (CoMHV) are strategies capable of improving energy performance. In general, energetic cost is evaluated by integrating the electric power of multi joints. However, this Joint-Power-based Index requires computing joint torques and velocities in advance, which usually requires time-consuming iterative procedures, especially for multi-joints robots. In this work, we propose a CoM-Acceleration-based Optimal Index (CAOI) to synthesize an energetically efficient CoM trajectory. The proposed method is based on the Linear Inverted Pendulum Model, whose energetic cost can be easily measured by the input energy required for driving the point mass to track a reference trajectory. We characterize the CoM motion for a single walking cycle and define its energetic cost as Unit Energy Consumption. Based on the CAOI, an analytic solution for CoM trajectory generation is provided. Hardware experiments demonstrated the computational efficiency of the proposed approach and the energetic benefits of exploiting AZR and CoMHV strategies

Raman frequency shift in oxygen functionalized carbon nanotubes

In terms of lattice dynamics theory, we study the vibrational properties of the oxygen-functionalized single wall carbon nanotubes (O-SWCNs). Due to the C-O and O-O interactions, many degenerate phonon modes are split and even some new phonon modes are obtained, different from the bare SWCNs. A distinct Raman shift is found in both the radial breathing mode and G modes, depending not only on the tube diameter and chirality but also on oxygen coverage and adsorption configurations. With the oxygen coverage increasing, interesting, a nonmonotonic up- and down-shift is observed in G modes, which is contributed to the competition between the bond expansion and contraction, there coexisting in the functionalized carbon nanotube.Comment: 4 pages, 3 figures, 1 tabl

Rheological Characteristics of Molten Salt Seeded with Al₂O₃ Nanopowder and Graphene for Concentrated Solar Power

HITEC salt (NaNO₂-NaO₃-KNO₃) and solar salt (NaO₃-KNO₃) are typical molten salts used in concentrated solar power. Adding nanoparticles is an effective method to improve the thermo-physical properties of pure salt. It is indispensable to experimentally study the rheological behaviours of salt seeded with nanoparticles, which can increase the specific heat capacity of pure salt. In this work, the viscosities of HITEC salt were measured with different shear rates in the temperature range of 200 °C to 450 °C firstly, while those of solar salt were measured in the temperature range of 250 °C to 500 °C. The experimental data showed reasonable agreement with the literature correlations, which verify the Newtonian behaviours of pure salts. The evolutions of the viscosities of nanocomposites in the same temperature range were measured and analysed, where the nanocomposites were synthesized with 1 wt.% or 2 wt.% Al₂O₃ nanopowder and graphene, respectively. Results showed that the addition of Al2O₃ nanopowder had relatively little effect on viscosity, and the variations were about −35.4%~8.1% for the HITEC salt nanocomposites and −9.2%~68.1% for the solar salt nanocomposites. While graphene would apparently increase the viscosities of HITEC salt and solar salt, HITEC salt with the addition of graphene showed slight non-Newtonian fluid behaviour

Spin-Fluctuation-Induced Non-Fermi-Liquid Behavior with suppressed superconductivity in LiFe1−x_{1-x}Cox_{x}As

A series of LiFe$_{1-x}$Co$_{x}$As compounds with different Co concentrations have been studied by transport, optical spectroscopy, angle-resolved photoemission spectroscopy and nuclear magnetic resonance. We observed a Fermi liquid to non-Fermi liquid to Fermi liquid (FL-NFL-FL) crossover alongside a monotonic suppression of the superconductivity with increasing Co content. In parallel to the FL-NFL-FL crossover, we found that both the low-energy spin fluctuations and Fermi surface nesting are enhanced and then diminished, strongly suggesting that the NFL behavior in LiFe$_{1-x}$Co$_{x}$As is induced by low-energy spin fluctuations which are very likely tuned by Fermi surface nesting. Our study reveals a unique phase diagram of LiFe$_{1-x}$Co$_{x}$As where the region of NFL is moved to the boundary of the superconducting phase, implying that they are probably governed by different mechanisms.Comment: 10 pages, 11 figure

LNK (SH2B3): paradoxical effects in ovarian cancer.

LNK (SH2B3) is an adaptor protein studied extensively in normal and malignant hematopoietic cells. In these cells, it downregulates activated tyrosine kinases at the cell surface resulting in an antiproliferative effect. To date, no studies have examined activities of LNK in solid tumors. In this study, we found by in silico analysis and staining tissue arrays that the levels of LNK expression were elevated in high-grade ovarian cancer. To test the functional importance of this observation, LNK was either overexpressed or silenced in several ovarian cancer cell lines. Remarkably, overexpression of LNK rendered the cells resistant to death induced by either serum starvation or nutrient deprivation, and generated larger tumors using a murine xenograft model. In contrast, silencing of LNK decreased ovarian cancer cell growth in vitro and in vivo. Western blot studies indicated that overexpression of LNK upregulated and extended the transduction of the mitogenic signal, whereas silencing of LNK produced the opposite effects. Furthermore, forced expression of LNK reduced cell size, inhibited cell migration and markedly enhanced cell adhesion. Liquid chromatography-mass spectroscopy identified 14-3-3 as one of the LNK-binding partners. Our results suggest that in contrast to the findings in hematologic malignancies, the adaptor protein LNK acts as a positive signal transduction modulator in ovarian cancers

Comparison Between Electropositive and Electronegative Cold Atmospheric-Pressure Plasmas: A Modelling Study

Cold atmospheric-pressure He + N2 and He + O2 plasmas are chosen as the representatives for electropositive and electronegative plasmas, of which the discharge characteristics are studied and then compared to each other by fluid models. As the increase of the impurity (N2 or O2) fraction from 0 to 10%, for He + N2 plasmas the electron density and ion density increase, the spatiotemporal distributions of electron density, ion density, electron temperature and electron generation rate change a little. On contrast, for He + O2 plasmas the electron density decreases, the ion density first increases and then decreases, the electron temperature increases in the bulk region, but decreases in the sheath region, and the plasmas transform from ᵞ mode to α mode as the significant change of electron generation rate distributions. Larger electric field is needed in the bulk region to sustain the electronegative plasma, so the electrical characteristics of He + O2 plasmas transform form capacitive to resistive with increasing O2fraction. Meanwhile, the ion-coupling power increases dramatically, which can be estimated by a formula based on the electronegativity. A new criterion for determining the sheath boundary, |ΔE| = 5 kV/cm2, is put forward, which is found suitable for both the electropositive and electronegative plasmas

Stop reasoning! When multimodal LLMs with chain-of-thought reasoning meets adversarial images

Recently, Multimodal LLMs (MLLMs) have shown a great ability to understand images. However, like traditional vision models, they are still vulnerable to adversarial images. Meanwhile, Chain-of-Thought (CoT) reasoning has been widely explored on MLLMs, which not only improves model’s performance, but also enhances model’s explainability by giving intermediate reasoning steps. Nevertheless, there is still a lack of study regarding MLLMs’ adversarial robustness with CoT and an understanding of what the rationale looks like when MLLMs infer wrong answers with adversarial images. Our research evaluates the adversarial robustness of MLLMs when employing CoT reasoning, finding that CoT marginally improves adversarial robustness against existing attack methods. Moreover, we introduce a novel stop-reasoning attack technique that effectively bypasses the CoT-induced robustness enhancements. Finally, we demonstrate the alterations in CoT reasoning when MLLMs confront adversarial images, shedding light on their reasoning process under adversarial attacks

Theory of Quasi-Particles in the Underdoped High Tc Superconducting State

The microscopic theory of superconducting (SC) state in the SU(2) slave-boson model is developed. We show how the pseudogap and Fermi surface (FS) segments in the normal state develop into a d-wave gap in the superconducting state. Even though the superfluid density is of order x (the doping concentration), the physical properties of the low lying quasiparticles are found to resemble those in BCS theory. Thus the microscopic theory lay the foundation for our earlier phenomenological discussion of the unusual SC properties in the underdoped cuprates.Comment: 4 pages in RevTeX, 1 figure in eps, revised versio