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Flexible Model Predictive Control for Bounded Gait Generation in Humanoid Robots.
Biomimetics (Basel)
January 2025
Institute of Automation, Chinese Academy of Sciences, Beijing 100089, China.
With advancements in bipedal locomotion for humanoid robots, a critical challenge lies in generating gaits that are bounded to ensure stable operation in complex environments. Traditional Model Predictive Control (MPC) methods based on Linear Inverted Pendulum (LIP) or Cart-Table (C-T) methods are straightforward and linear but inadequate for robots with flexible joints and linkages. To overcome this limitation, we propose a Flexible MPC (FMPC) framework that incorporates joint dynamics modeling and emphasizes bounded gait control to enable humanoid robots to achieve stable motion in various conditions.
View Article and Find Full Text PDFConnections Across Open Water: A Bi-Organelle, Genomics-Scale Assessment of Atlantic-Wide Population Dynamics in a Pelagic, Endangered Apex Predator Shark ().
Evol Appl
January 2025
Save Our Seas Foundation Shark Research Center, Halmos College of Arts & Sciences Nova Southeastern University Dania Florida USA.
Large-bodied pelagic sharks are key regulators of oceanic ecosystem stability, but highly impacted by severe overfishing. One such species, the shortfin mako shark (), a globally widespread, highly migratory predator, has undergone dramatic population reductions and is now Endangered (IUCN Red List), with Atlantic Ocean mako sharks in particular assessed by fishery managers as overfished and in need of urgent, improved management attention. Genomic-scale population assessments for this apex predator species have not been previously available to inform management planning; thus, we investigated the population genetics of mako sharks across the Atlantic using a bi-organelle genomics approach.
View Article and Find Full Text PDFInferior frontal sulcal hyperintensities (IFSH) observed on fluid-attenuated inversion recovery (FLAIR) MRI have been proposed as indicators of elevated cerebrospinal fluid waste accumulation in cerebral small vessel disease (CSVD). However, to validate IFSH as a reliable imaging biomarker, further replication studies are required. The objective of this study was to investigate associations between IFSH and CSVD, and their potential repercussions, i.
View Article and Find Full Text PDFSpatiotemporal estimates of anthropogenic NO emissions across China during 2015-2022 using a deep learning model.
J Hazard Mater
January 2025
Key Laboratory of Geographic Information Science of the Ministry of Education, School of Geographic Sciences, East China Normal University, Shanghai 200241, PR China; Institute of Eco-Chongming (IEC), 20 Cuiniao Road, Chenjia Town, Chongming District, Shanghai 202162, PR China. Electronic address:
As one of the significant air pollutants, nitrogen oxides (NO = NO + NO) not only pose a great threat to human health, but also contribute to the formation of secondary pollutants such as ozone and nitrate particles. Due to substantial uncertainties in bottom-up emission inventories, simulated concentrations of air pollutants using GEOS-Chem model often largely biased from those of ground-level observations. To address this issue, we developed a new deep learning model to simulate the inverse process of the GEOS-Chem model.
View Article and Find Full Text PDFAltermagnetism in two-dimensional CaRuO perovskite.
Nanoscale
January 2025
Departamento de Física, Universidad Técnica Federico Santa María, Avenida España 1680, Valparaíso, Chile.
We propose and characterize a novel two-dimensional material, 2D-CRO, derived from bulk calcium-based ruthenates (CROs) of the Ruddlesden-Popper family, CaRuO ( = 1 and 2). Using density functional theory, we demonstrate that 2D-CRO maintains structural stability down to the monolayer limit, exhibiting a tight interplay between structural and electronic properties. Notably, 2D-CRO displays altermagnetic behavior, characterized by zero net magnetization and strong spin-dependent phenomena, stabilized through dimensionality reduction.
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