In the hydrological year 2022/2023,the glaciers in the Qilian Mountains experienced unprecedented mass loss.The glacier-wide mass balance was-1,188 mm w.e.,in contrast to-350 mm of average mass balance since 1990 over...In the hydrological year 2022/2023,the glaciers in the Qilian Mountains experienced unprecedented mass loss.The glacier-wide mass balance was-1,188 mm w.e.,in contrast to-350 mm of average mass balance since 1990 over the Bailanghe Glacier No.12 in the middle of Qilian Mountains.The temperature during 2022–2023 reached the highest value ever recorded,second only to 2022,while at the same time the precipitation amount was less compared to other year since 2000,which together led to the strongest glacier mass loss during 2022–2023.The atmospheric circulation analysis shows that the high temperature in the Qilian Mountains in 2023 was jointly caused by the Arctic air mass and East Asian monsoon.展开更多
With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical robots.The bone-attached robot,a popular orthopedic robot in recent ye...With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical robots.The bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and refinement.Thus,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force feedback.To optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search method.This study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large workspace.Moreover,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU PMs.According to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is analyzed.The proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.展开更多
基金supported by the Science Fund for Creative Research Groups of Gansu Province (Grant No.23JRRA567)the National Natural Science Foundation of China (42101139,42071018)+1 种基金Meteorological Administration Climate Change Special Program (CMA-CCSP:QBZ202308)CAS"Light of West China"Program。
文摘In the hydrological year 2022/2023,the glaciers in the Qilian Mountains experienced unprecedented mass loss.The glacier-wide mass balance was-1,188 mm w.e.,in contrast to-350 mm of average mass balance since 1990 over the Bailanghe Glacier No.12 in the middle of Qilian Mountains.The temperature during 2022–2023 reached the highest value ever recorded,second only to 2022,while at the same time the precipitation amount was less compared to other year since 2000,which together led to the strongest glacier mass loss during 2022–2023.The atmospheric circulation analysis shows that the high temperature in the Qilian Mountains in 2023 was jointly caused by the Arctic air mass and East Asian monsoon.
基金National Natural Science Foundation of China(Grant Nos.51775052,52175019)Beijing Municipal Natural Science Foundation of China(Grant No.21C10109)Beijing Municipal Key Laboratory of Space-ground Interconnection and Convergence of China.
文摘With the increasingly more extensive application of the medical surgical robot in the clinic,higher requirements have been put forward for medical robots.The bone-attached robot,a popular orthopedic robot in recent years,has a tendency of miniaturization and refinement.Thus,a bone-attached parallel manipulator(PM)based on 6-UCU(universalcylindrical-universal)configuration is proposed,which is characterized by small volume,compact structure,high precision and six-dimensional force feedback.To optimize the structure and make it more compact,the workspace of the 6-UCU PM is analyzed based on the analysis of three kinds of constraint,and workspace model is established through spherical coordinate search method.This study also analyzes the influence of structural parameters on workspace,which may contribute to improving the efficiency of design and ensuring small-sized robots possess relatively large workspace.Moreover,to improve the motion accuracy,an error modeling method is developed based on the structure of 6-UCU PMs.According to this established error model,the output pose error curves are drawn using MATLAB software when the structure parameters change,and the influence of the structure and pose parameters change on the output pose error of PMs is analyzed.The proposed research provides the instruction to design and analysis of small PMs such as bone-attached robots.
