Hydrodynamic of a Novel Liquid-Solid Circulating Fluidized Bed Operating Below Particle Terminal Velocity

A novel type of circulating fluidized bed operating below the particle terminal velocity known as conventional circulating fluidized bed (CCFB) was proposed and tested for the first time in this study. The experiments were carried out in a liquid-solid circulating fluidized bed system, where both liquid and solid flew upwards in the riser and solids exiting the top of the riser were separated from liquid and then returned to the bottom of the riser via an accompanying downer. The system was essentially operated in the conventional fluidization regime but with continuously feeding of particles into riser bottom and particles moving up the riser to achieve solids circulation or circulating fluidization. The hydrodynamic of the CCFB was investigated at various operating conditions with two types of particles. The solids holdup of the conventional circulating fluidization was clearly higher when compared to conventional fluidization. Particles with a higher terminal velocity have higher solids holdup

SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion

The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in response to environmental variations. On the other hand, Reinforcement Learning (RL), celebrated for its model-free properties, has gained significant traction in robotics due to its inherent adaptability and robustness. However, initiating traditional RL approaches from the ground up presents computational challenges and a heightened risk of converging to suboptimal local minima. In this paper, we propose an innovative quadruped locomotion framework, SYNLOCO, by synthesizing CPG and RL that can ingeniously integrate the strengths of both methods, enabling the development of a locomotion controller that is both stable and natural. Furthermore, we introduce a set of performance-driven reward metrics that augment the learning of locomotion control. To optimize the learning trajectory of SYNLOCO, a two-phased training strategy is presented. Our empirical evaluation, conducted on a Unitree GO1 robot under varied conditions--including distinct velocities, terrains, and payload capacities--showcases SYNLOCO's ability to produce consistent and clear-footed gaits across diverse scenarios. The developed controller exhibits resilience against substantial parameter variations, underscoring its potential for robust real-world applications.Comment: 7 Page

TCBERT: A Technical Report for Chinese Topic Classification BERT

Bidirectional Encoder Representations from Transformers or BERT~\cite{devlin-etal-2019-bert} has been one of the base models for various NLP tasks due to its remarkable performance. Variants customized for different languages and tasks are proposed to further improve the performance. In this work, we investigate supervised continued pre-training~\cite{gururangan-etal-2020-dont} on BERT for Chinese topic classification task. Specifically, we incorporate prompt-based learning and contrastive learning into the pre-training. To adapt to the task of Chinese topic classification, we collect around 2.1M Chinese data spanning various topics. The pre-trained Chinese Topic Classification BERTs (TCBERTs) with different parameter sizes are open-sourced at \url{https://huggingface.co/IDEA-CCNL}

Evaluation and comparison of the processing methods of airborne gravimetry concerning the errors effects on downward continuation results: Case studies in Louisiana (USA) and the Tibetan Plateau (China)

Gravity data gaps in mountainous areas are nowadays often filled in with the data from airborne gravity surveys. Because of the errors caused by the airborne gravimeter sensors, and because of rough flight conditions, such errors cannot be completely eliminated. The precision of the gravity disturbances generated by the airborne gravimetry is around 3–5 mgal. A major obstacle in using airborne gravimetry are the errors caused by the downward continuation. In order to improve the results the external high-accuracy gravity information e.g., from the surface data can be used for high frequency correction, while satellite information can be applying for low frequency correction. Surface data may be used to reduce the systematic errors, while regularization methods can reduce the random errors in downward continuation. Airborne gravity surveys are sometimes conducted in mountainous areas and the most extreme area of the world for this type of survey is the Tibetan Plateau. Since there are no high-accuracy surface gravity data available for this area, the above error minimization method involving the external gravity data cannot be used. We propose a semi-parametric downward continuation method in combination with regularization to suppress the systematic error effect and the random error effect in the Tibetan Plateau; i.e., without the use of the external high-accuracy gravity data. We use a Louisiana airborne gravity dataset from the USA National Oceanic and Atmospheric Administration (NOAA) to demonstrate that the new method works effectively. Furthermore, and for the Tibetan Plateau we show that the numerical experiment is also successfully conducted using the synthetic Earth Gravitational Model 2008 (EGM08)-derived gravity data contaminated with the synthetic errors. The estimated systematic errors generated by the method are close to the simulated values. In addition, we study the relationship between the downward continuation altitudes and the error effect. The analysis results show that the proposed semi-parametric method combined with regularization is efficient to address such modelling problems