The effect of mechanism design on the performance of a quadruped walking machine

The objective of this paper is to investigate the effect of mechanism design on the performance of a quadruped walking machine. For studying the effect of mechanism design on the performance of a quadruped walking machine, four designs with different crank and leg arrangements are proposed and analyzed. The performance of the walking machine, including the stance leg sequence, foot trajectory, pitch angle, and dynamic response of the quadruped walking machine are investigated and compared with the existing design. The results show that the phrase angle between front and rear legs on the same side should be 0° or 90° and the one between the legs on the different sides should be 180°. And, the design with the front and rear legs bent in the same direction has better performance in dynamic responses. The results of this study can serve as a reference for future design and optimization of quadruped walking machines

The effect of mechanism design on the performance of a quadruped walking machine

The objective of this paper is to investigate the effect of mechanism design on the performance of a quadruped walking machine. For studying the effect of mechanism design on the performance of a quadruped walking machine, four designs with different crank and leg arrangements are proposed and analyzed. The performance of the walking machine, including the stance leg sequence, foot trajectory, pitch angle, and dynamic response of the quadruped walking machine are investigated and compared with the existing design. The results show that the phrase angle between front and rear legs on the same side should be 0° or 90° and the one between the legs on the different sides should be 180°. And, the design with the front and rear legs bent in the same direction has better performance in dynamic responses. The results of this study can serve as a reference for future design and optimization of quadruped walking machines

Quantum information masking of an arbitrary qudit can be realized in multipartite lower dimensional systems

Quantum information masking is a protocol that hides the original quantum information from subsystems and spreads it over quantum correlation, which is available to multipartite except bipartite systems. In this work, we explicitly study the quantum information masking in multipartite scenario and prove that all the k-level quantum states can be masked into a m-qudit systems (m > 4) whose local dimension d < k and the upper bound of k is tighter than the quantum Singleton bound. In order to observe the masking process intuitively, explicitly controlled operations are provided. Our scheme well demonstrates the abundance of quantum correlation between multipartite quantum system and has potential application in the security of quantum information processing

Diffusion Model-Augmented Behavioral Cloning

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments either model the expert distribution as the conditional probability p(a|s) (e.g., behavioral cloning, BC) or the joint probability p(s, a) (e.g., implicit behavioral cloning). Despite its simplicity, modeling the conditional probability with BC usually struggles with generalization. While modeling the joint probability can lead to improved generalization performance, the inference procedure can be time-consuming and it often suffers from manifold overfitting. This work proposes an imitation learning framework that benefits from modeling both the conditional and joint probability of the expert distribution. Our proposed diffusion model-augmented behavioral cloning (DBC) employs a diffusion model trained to model expert behaviors and learns a policy to optimize both the BC loss (conditional) and our proposed diffusion model loss (joint). DBC outperforms baselines in various continuous control tasks in navigation, robot arm manipulation, dexterous manipulation, and locomotion. We design additional experiments to verify the limitations of modeling either the conditional probability or the joint probability of the expert distribution as well as compare different generative models

Cognitive decline and white matter changes in mesial temporal lobe epilepsy

Noninvasive imaging plays a pivotal role in assessing the brain structural and functional changes in presurgical mesial temporal lobe epilepsy (MTLE) patients. Our goal was to study the relationship between the changes of cerebral white matter (WM) and cognitive functions in MTLE patients.Voxel-based morphometry (VBM) and tract-based spatial statistics (TBSS) MRI were performed on 24 right-handed MTLE patients (12 with left MTLE and 12 with right MTLE) and 12 matching healthy controls. Gray matter (GM), WM, and whole brain (WB) volumes were measured with VBM while fractional anisotropy (FA), mean diffusivity (MD), axial diffusivity (AD), and radial diffusivity (RD) were measured with TBSS. All patients and controls also underwent Montreal Cognitive Assessment (MoCA) before MRI.WM volume and the ratio of WM volume versus WB volume were significantly lower in MTLE patients compared with controls. WM volume in MTLE patients had a positive correlation with MoCA score (r = 0.71, P < .001) and a negative correlation with the duration of epilepsy (r = -0.693, P < .001). Volumetric differences were mainly located in the corpus callosum, uncinate fasciculus, inferior longitudinal fasciculus, and superior longitudinal fasciculus. FA of both left MTLE and right MTLE groups was significantly decreased, while MD, AD, and RD were significantly increased. Most left MTLE patients showed bilateral WM fiber tract changes versus ipsilateral changes for right MTLE patients.Changes in DTI parameters and WM volume were found in MTLE patients and more ipsilateral changes were seen with right-sided MTLE. Cognitive changes of MTLE patients were found to be correlated with the changes in WM structure. These findings not only provide useful information for lateralization of the seizure focus but can also be used to explain functional connectivity disorders which may be an important physiological basis for cognitive changes in patients with MTLE