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1.
Ghassemi  Payam  Balazon  Mark  Chowdhury  Souma 《Autonomous Robots》2022,46(6):725-747
Autonomous Robots - Swarm-robotic approaches to search and target localization, where target sources emit a spatially varying signal, promise unparalleled time efficiency and robustness. With most...  相似文献   
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This paper analyzes optimal control problems with linear time-varying dynamics defined on a smooth manifold in addition to mixed constraints and pure control constraints. The main contribution is the identification of sufficient conditions for the optimal controls to be non-singular, which enables exact (or lossless) convex relaxations of the control constraints. The problem is analyzed in a geometric framework using a recent maximum principle on manifolds, and it is shown that strong observability of the dual system on the cotangent space is the key condition. Two minimum time problems are analyzed and solved. A minimum fuel planetary descent problem is then analyzed and relaxed to a convex form. Convexity enables its efficient solution in less than one second without any initial guess.  相似文献   
4.
Pai  Yun Suen  Bait  Marsel L.  Lee  Juyoung  Xu  Jingjing  Peiris  Roshan L  Woo  Woontack  Billinghurst  Mark  Kunze  Kai 《Virtual Reality》2022,26(2):437-451
Virtual Reality - We present NapWell, a Sleep Assistant using virtual reality (VR) to decrease sleep onset latency by providing a realistic imagery distraction prior to sleep onset. Our proposed...  相似文献   
5.
Feng  Shuo  He  Weiping  Wang  Shouxia  Billinghurst  Mark 《Virtual Reality》2022,26(3):1207-1215
Virtual Reality - Sketch design is generally a feasible concept within virtual reality (VR). However, VR controllers suffer from a fundamental problem that limits operability and immersion, which...  相似文献   
6.
利用水力空化过程产生局部的高温、高压、高射流以及强大的剪切力等极端化学物理条件改质处理沙特重质原油,试验结果表明:沙特重质原油经过水力空化改质后粘度由13.61降低至7.22mm2/s,残碳由7.16%降低至6.48%,实沸点蒸馏后减压渣油降低1个百分点。进一步采用APPI FT-IR MS、XRD、FT-IR、SEM和粒度分布等技术研究了水力空化改质对沙重原油分子组成,沥青质团聚体微晶结构、沥青质胶束粒径分布、沥青质官能团、沥青质形貌等方面的影响,从分子角度阐述空化改质重油的机理。研究结果表明:水力空化改质后沙重原油分子量分布、芳烃类化合物缔合作用变小;沥青质对低DBE化合物吸附性能降低;沥青质团聚体微晶结构更加松散;沥青质胶束粒度分布降低;沥青质分子相互团聚作用力减弱。进一步考察了水力空化改质前后减压渣油延迟焦化性能,改质处理后焦炭产率降低1.85个百分点,液体收率和气体产率分别增加1.52和0.33个百分点,水力空化改质对沥青质性质、结构特点的改善能够有效的提高其加工性能。  相似文献   
7.
冠状病毒具有一层脂质膜。虽然复制需要劫持宿主的RNA工具来合成病毒体蛋白,但必须将其包裹在脂质膜中,促其萌生以扩展感染。最近研究表明,某些必需脂肪酸可以抑制其复制活性。脂质膜通常被认为是水溶物的脂肪屏障,但它对细胞和亚细胞的功能是高度有序和组分特异性的,其对病毒外壳可能也有最佳的特异性。虽然复制中DNA、RNA和蛋白质组成不受饮食影响,但脂质膜受其影响。此外,自1960年代以来,人们就知道男性对这些必需脂肪酸和膜完整性不足的敏感性高于女性。有证据表明,花生四烯酸和二十二碳六烯酸具有抗病毒、免疫、抗炎、控制血压和消退素活性,因此,迫切需要考察它们在Covid-19预防和治疗中的地位,也需重新评估现行的膳食指导。当前,有关脑、神经、血管和免疫系统等富含膜系统对脂质需求还尚未被详细认识。毫无疑问,这些脂质在几百万年来塑造人类基因组方面具有重要意义,因此,如果这些膜脂质失衡将会使人类面临机体紊乱和感染风险,且男性比女性风险更大。  相似文献   
8.
The mechanics of glass-ceramics subjected to sharp contact or other loading conditions remain elusive, even after being commercialized in many industrial applications. We present work herein to reveal atomic details of such deformations that are otherwise extremely difficult to probe experimentally for a lithium disilicate (LS2) and β-quartz containing glass-ceramics via molecular dynamics simulations. Specifically, the materials are comprised of LS2 and β-quartz nanocrystals in a residual glass matrix. Regardless of the deformation mechanism, whether it be nanoindentation or crack propagation for samples with pre-existing flaws, we observe that the LS2 nanocrystal itself undergoes substantial deformation, either by activating dislocations, forming an amorphization zone, or by initiating microcracks at glass-crystal interfaces or weak crystallographic planes. In contrast, the β-quartz nanocrystal is not easily deformed and remains almost intact with minimal plastic deformation, thereby forcing shear flow and crack propagation pathways to predominately occur in the residual glass and/or at interfaces. The dramatic difference between the crystalline phases also manifests itself in the deformation mode of interfaces under pure shear loading, in which shear bands preferably occur at the LS2-glass interfaces, while cavities form at the β-quartz-glass interfaces. These observations significantly advance our understanding of glass-ceramics and pave ways to exploit the understanding for more applications.  相似文献   
9.
Over the last two decades, many studies have contributed to improving our understanding of the brittle failure mechanisms of boron carbide and provided a road map for inhibiting the underlying mechanisms and improving the mechanical response of boron carbide. This paper provides a review of the design and processing approaches utilized to address the amorphization and transgranular fracture of boron carbide, which are mainly based on what we have found through 9 years of work in the field of boron carbides as armor ceramics.  相似文献   
10.

The coconut rhinoceros beetle, Oryctes rhinoceros (Linnaeus 1758) (Coleoptera: Scarabaeidae: Dynastinae) (CRB), is endemic to tropical Asia where it damages both coconut and oil palm. A new invasion by CRB occurred on Guam in 2007 and eradication attempts failed using commonly applied Oryctes rhinoceros nudivirus (OrNV) isolates. This and subsequent invasive outbreaks were found to have been caused by a previously unrecognized haplotype, CRB-G, which appeared to be tolerant to OrNV. The male-produced aggregation pheromone of the endemic, susceptible strain of O. rhinoceros (CRB-S) was previously identified as ethyl 4-methyloctanoate. Following reports from growers that commercial lures containing this compound were not attractive to CRB-G, the aim of this work was to identify the pheromone of CRB-G. Initial collections of volatiles from virgin male and female CRB-G adults from the Solomon Islands failed to show any male- or female-specific compounds as candidate pheromone components. Only after five months were significant quantities of ethyl 4-methyloctanoate and 4-methyloctanoic acid produced by males but not by females. No other male-specific compounds could be detected, in particular methyl 4-methyloctanoate, 4-methyl-1-octanol, or 4-methyl-1-octyl acetate, compounds identified in volatiles from some other species of Oryctes. Ethyl 4-methyloctanoate elicited a strong electroantennogram response from both male and female CRB-G, but these other compounds, including 4-methyloctanoic acid, did not. The enantiomers of ethyl 4-methyloctanoate and 4-methyloctanoic acid were conveniently prepared by enzymatic resolution of the commercially-available acid, and the enantiomers of the acid, but not the ester, could be separated by gas chromatography on an enantioselective cyclodextrin phase. Using this approach, both ethyl 4-methyloctanoate and 4-methyloctanoic acid produced by male CRB-G were shown to be exclusively the (R)-enantiomers whereas previous reports had suggested male O. rhinoceros produced the (S)-enantiomers. However, re-examination of the ester and acid produced by male CRB-S from Papua New Guinea showed that these were also the (R)-enantiomers. In field trapping experiments carried out in the Solomon Islands, both racemic and ethyl (R)-4-methyloctanoate were highly attractive to both male and female CRB-G beetles. The (S)-enantiomer and the corresponding acids were only weakly attractive. The addition of racemic 4-methyloctanoic acid to ethyl 4-methyloctanoate did significantly increase attractiveness, but the addition of (R)- or (S)-4-methyloctanoic acid to the corresponding ethyl esters did not. Possible reasons for the difference in assignment of configuration of the components of the CRB pheromone are discussed along with the practical implications of these results.

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