Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

Why ecosystem characteristics predicted from remotely sensed data are unbiased and biased at the same time-and how this affects applications

Remotely sensed data are frequently used for predicting and mapping ecosystem characteristics,and spatially explicit wall-to-wall information is sometimes proposed as the best possible source of information for decisionmaking.However,wall-to-wall information typically relies on model-based prediction,and several features of model-based prediction should be understood before extensively relying on this type of information.One such feature is that model-based predictors can be considered both unbiased and biased at the same time,which has important implications in several areas of application.In this discussion paper,we first describe the conventional model-unbiasedness paradigm that underpins most prediction techniques using remotely sensed(or other)auxiliary data.From this point of view,model-based predictors are typically unbiased.Secondly,we show that for specific domains,identified based on their true values,the same model-based predictors can be considered biased,and sometimes severely so.We suggest distinguishing between conventional model-bias,defined in the statistical literature as the difference between the expected value of a predictor and the expected value of the quantity being predicted,and design-bias of model-based estimators,defined as the difference between the expected value of a model-based estimator and the true value of the quantity being predicted.We show that model-based estimators(or predictors)are typically design-biased,and that there is a trend in the design-bias from overestimating small true values to underestimating large true values.Further,we give examples of applications where this is important to acknowledge and to potentially make adjustments to correct for the design-bias trend.We argue that relying entirely on conventional model-unbiasedness may lead to mistakes in several areas of application that use predictions from remotely sensed data.

Research on High Speed Communication Method of ELF-EM While Drilling Based on Adaptive Combined Filtering Algorithm

In terms of the electromagnetic wave measurement while drilling,the extremely low frequency electromagnetic(ELF-EM)signal below 20Hz is usually chosen as the downhole data carrier.To improve the transmission rate of ELF-EM signal and the signal to noise ratio(SNR)at the receiving end,the DQPSK modulation was proposed as the modulation method for the communication of electromagnetic wave system.Different from the traditional IQ orthogonal modulation and coherent demodulation methods,the proposed phase selection modulation and correlation algorithm demodulation are easier to implement and more practical.With regard to the communication synchronization,a fast algorithm,which based on the normalized cross-relation number,was used for waveform matching,and the maximum point of the correlation coefficient was used as the starting point of communication synchronization.The communication simulation results show that the proposed DQPSK modulation signal based on the adaptive combined filtering algorithm has better terminal error rate and transmission rate than the traditional modulation method.Under the same carrier frequency and code width,the transmission rate of DQPSK modulation is 4 to 5 times and 2 times that of PPM modulation and 2DPSK modulation respectively.The communication modulation and demodulation modes as well as the decoding algorithm with combined adaptive filter proposed in this paper can effectively solve practical engineering problems.

Comparative catalytic study on butene/isobutane alkylation over LaX and CeX zeolites: The influence of calcination atmosphere

Lanthanum-containing(LaX)and cerium-containing X zeolites(CeX)were prepared by a doubleexchange,double-calcination method.By changing the calcination atmospheres between nitrogen and air,the Ce^(IV) contents in CeX zeolites were adjusted and their impacts on physicochemical properties and catalytic performance in isobutane alkylation were established.The crystallinity of CeX zeolite was found to be negatively correlated with the Ce^(IV) content.This i s believed to be due to the water formed during the oxidation of Ce^(III),which facilitates the framework dealumination.As a consequence,calcining in air resulted in a great elimination of strong Brønsted acid sites while under nitrogen protection,this phenomenon was mostly hindered and the sample’s acidity was preserved.When tested in a continuously flowed slurry reactor,the catalyst lifetime for isobutane alkylation was found to be linearly related to the strong Brønsted acid concentration.In addition,Ce^(3+)was found more benefit for the hydride transfer compared with La^(3+),which is ascribed to the stronger polarization effect on the CH bond of isobutane.Moreover,the decline of hydride transfer activity can be slowed down by the catalytic cracking of the bulky molecules.Based on the product distribution,a new catalytic cycle of dimethylhexanes(DMHs)involving a direct formation of isobutene rather than tert-butyl carbocation was proposed in isobutane alkylation.

Constrained Al sites in FER-type zeolites

Crystallographic sites of Brönsted acids(Si-OH-Al)in zeolites,which are closely associated with the Al sites,play a significant and unique role in the catalytic application,especially when they are distributed in open channel systems or confined in cavities with small pore openings.In this article,we unraveled constrained Al crystallographic sites in FER-type zeolites containing the distinct local environments(10-ring channels and ferrierite cavities)by Rietveld refinement against the powder X-ray diffraction data.Final refinement demonstrates that regardless of the types of structure-directing agents and synthetic medium utilized,T1 and/or T3 are Al-rich positions,which are further confirmed by theoretical calculations.This new finding of constrained Al sites in the FER-type zeolite can well explain its limited catalytic activity in the DME carbonylation reaction.

Key Technology Research on the Efficient Exploitation and Comprehensive Utilization of Resources in the Deep Jinchuan Nickel Deposit

To understand the resource features and geology in the deep Jinchuan nickel deposit, difficult geological conditions were systematically analyzed, including high stress, fragmentized ore rock, prevalent deformation, difficult tunnel support, complicated rock mechanics, and low mining recovery. An integrated technology package was built for safe, efficient, and continuous mining in a deep, massive, and complex nickel and cobalt mine. This was done by the invention of a large-area continuous mining method with honeycomb drives; the establishment of ground control theory and a technology package for high-stress and fragmented ore rock： and the development of a new type of backfilling cement material, along with a deep backfilling technology that comprises the pipeline transport of high-density slurry with coarse aggregates. In this way, good solutions to existing problems were found to permit the efficient exploitation and comprehensive utilization of the resources in the deep Jinchuan nickel mine. In addition, a technological demonstration in an underground mine was performed using the cemented undercut-and-fill mining method for stressful, frag- mented, and rheological rock.

Statistical Multiscale Analysis of Transient Conduction and Radiation Heat Transfer Problem in Random Inhomogeneous Porous Materials

This paper is devoted to the homogenization and statistical multiscale analysis of a transient heat conduction problem in random porous materials with a nonlinear radiation boundary condition.A novel statistical multiscale analysis method based on the two-scale asymptotic expansion is proposed.In the statistical multiscale formulations,a unified linear homogenization procedure is established and the second-order correctors are introduced for modeling the nonlinear radiative heat transfer in random perforations,which are our main contributions.Besides,a numerical algorithm based on the statistical multiscale method is given in details.Numerical results prove the accuracy and efficiency of our method for multiscale simulation of transient nonlinear conduction and radiation heat transfer problem in random porous materials.

Stochastic Second-Order Two-Scale Method for Predicting the Mechanical Properties of Composite Materials with Random Interpenetrating Phase

In this paper,a stochastic second-order two-scale(SSOTS)method is proposed for predicting the non-deterministic mechanical properties of composites with random interpenetrating phase.Firstly,based on random morphology description functions(RMDF),the randomness of the material properties of the constituents as well as the correlation among these random properties are fully characterized through the topologies of the constituents.Then,by virtue of multiscale asymptotic analysis,the random effective quantities such as stiffness parameters and strength parameters along with their numerical computation formulae are derived by a SSOTS strategy combined with the Monte-Carlo method.Finally,the SSOTS method developed in this paper shows an excellent computational accuracy,and therefore present an important advance towards computationally efficient multiscale modeling frameworks considering microstructure uncertainties.

Computed tomography imaging of an ectopic thyroid on the ascending aorta

Ectopic thyroid on the ascending aorta is extremely rare, and its radiologic characteristics have not been reported in the radiologic literature. A case of ectopic thyroid on the ascending aorta is reported, and its imaging characteristics on computed tomography are discussed.

Species and Occurrence Regularity of Diseases and Insect Pests Harming Baccaurea ramiflora Lour. in Guangxi

[Objectives]The paper was to understand the species and harm of diseases and insect pests of Baccaurea ramiflora Lour.in Guangxi,and to provide basis for the prevention and control of diseases and insect pests.[Methods]From 2018 to 2021,a systematic investigation on diseases and insect pests of B.ramiflora was conducted in Dongxing City,Fangchenggang City,Longzhou County,Pingxiang City,Jingxi City and Napo County in Guangxi.[Results]There were 22 species of diseases and insect pests that harmed B.ramiflora in Guangxi,7 of which were diseases and 15 were insect pests.Leaf blight(Fuasrium spp.)was the main disease at seedling stage,causing severe damage,and anthracnose(Colletotrichum gloeosporioides Penz.)caused moderate damage.Cyclosia papilionaris Drury and Chrysochus chinensis Baly had high frequency of occurrence,wide damage area and severe damage.Cyclosia panthono Stoll and Lcerya aegyptiaca Douglas caused moderate damage,while other insect pests caused light damage.[Conclusions]The study lays a foundation for the scientific prevention and control of B.ramiflora diseases and insect pests,and promotes the sustainable and rapid development of B.ramiflora industry in Guangxi.

Landslide Research from the Perspectives of Qinling Mountains in China:A Critical Review

Landslides pose a frequent geological threat,endangering both productivity and the wellbeing of human life and property.In recent years,landslides have received widespread attention in various fields.This article presents a comprehensive review of landslide research in the Qinling Mountains,China.The first part introduces landslide investigation and inventory,which include manual visual interpretation and automatic landslide extraction.The second part discusses the types,characteristics,and temporal-spatial distribution of landslides in the Qinling Mountains.In the third part,the mechanisms and stability analysis of landslides are explored,along with a discussion of the applicability of various simulation methods.The fourth part focuses on significant studies related to landslide evaluation,including susceptibility,hazard,and risk assessment.The fifth part addresses landslide monitoring and early warning systems.Finally,an assessment is made of the current issues and research status concerning landslide studies in the Qinling Mountains,followed by a discussion on future research directions.

一种多因素融合的高效离群点检测方法

基于邻域粗糙集的对象邻域相对比和对象重要度等粒化特征,提出了改进的基于邻域粗糙熵的多因素融合的离群点检测(neighborhood rough entropy-based outlier,NREOD)算法。在加利福尼亚大学尔湾分校(University of CaliforniaIrvine,UCI)数据库的标准数据集上的对比实验表明,NREOD算法在不同类型的数据集的离群检测的误判率更低,并且有更好的适应性和有效性。此算法为混合型属性数据集的离群检测研究与应用提供了一条新的有效途径。

Active dry yeast supplementation benefits ruminal fermentation,bacterial community,blood immunoglobulins,and growth performance in young dairy goats,but not for intermittent supplementation

This study evaluated the effects of active dry yeast(ADY)supplementation and supplementation stra-tegies on ruminal fermentation,bacterial community,blood metabolites,and growth performance in young dairy goats.Sixty young female Guanzhong dairy goats of similar age(4.00±0.50 months)and BW(19.65±0.41 kg)were randomly divided into 3 groups(n=20):(1)basal diet group(CON);(2)basal diet continuously supplemented with 3.0 g/goat per day commercial ADY(a proprietary strain of Saccharomyces cerevisiae with 5.0×10^(9)cfu/g)group(CSY);(3)basal diet with intermittently supple-mented ADY group(ISY;5 d supplementation with ADY at 4.5 g/goat per day following 5 d of no sup-plementation).The experiment lasted 67 d with the first 7 d as an adaptive period.Rumen fluid and blood samples were collected bi-weekly.Data were analyzed using the MIXED procedure combined with the SLICE option in SAS.Specific orthogonal contrasts of ADY vs.CON and CSY vs.ISY were also analyzed.During the experimental period,ADY supplementation resulted in greater DMI(P=0.03),ruminal ac-etate proportion(P<0.01)and acetylesterase activity(P=0.01),and blood contents of glucose(P=0.01)and IgM(P=0.02)and tended to have greater ADG(P=0.05)and paunch girth(P=0.06)than the CON,despite the propionate proportion(P=0.03)and contents of total protein(P=0.04)and IgA(P=0.03)being lower.The lower ruminal NH_(3)-N(P<0.01)and blood urea nitrogen(P=0.07)contents indicated greater nitrogen utilization with ADY supplementation.ADY supplementation showed persistent effects after it was stopped because the BW at 12 months of age(P=0.03)and birth weight of lambs(P=0.02)were greater than the CON.However,the ISY did not show those benefits and had significantly lower relative abundances of fiber-degrading related bacteria than the CSY.In conclusion,ADY supplementa-tion,especially continuously supplemented,may enhance ADG and ADG:DMI ratio by improving DMI,ruminal cellulolytic bacteria abundance and enzyme activity,nitrogen utilization,and immune status.These findings provide a theoretical basis for the rational application of ADY and have important practical implications for the design of nutritional strategies in growing dairy goats.

Theoretical investigation on optical properties of Möbius carbon nanobelts in one-and two-photon absorption

The first successful synthesis of fully fused and fully conjugated Möbius carbon nanobelts(CNBs)has attracted considerable attention.However,theoretical calculations based on suchπ-conjugated Möbius CNB are still insufficient.Herein,we theoretically investigated molecular spectroscopy of Möbius CNBs without and with n-butoxy groups via visualization methods.The results show that the presence of n-butoxy groups can significantly affect Möbius CNBs’optical performance,changing electron-hole coherence and enhancing two-photon absorption cross-sections.Our work provides a deeper understanding of photophysical mechanisms of Möbius CNBs in one-and two-photon absorption and reveals possible applications on optoelectronic devices.

“生命之树”理念下的无障碍改造——北京市残疾人职业康复和托养服务中心

北京市残疾人职业康复和托养服务中心,原为西客站南广场西区的融信大厦,经过全面改造,以“生命之树”为设计理念,为残疾人提供了一个综合性服务和康复的平台。该项目改造工程注重个性化服务和无障碍环境建设,成功将中心打造成全国最大的省级残疾人服务阵地。汇爱大厦是北京2022年冬残奥会的展示窗口,项目在无障碍设计、客房布局、立面改造等方面展现了创新经验,为残障人士提供了一个充满阳光和生命力的康复环境。

稀土La改性X分子筛催化异丁烷/丁烯烷基化反应

采用液相离子交换法,通过改变交换和焙烧次数制备了5种不同浓度稀土La改性的X分子筛催化剂,使用连续进料的固定床反应器评价其催化异丁烷/丁烯烷基化反应的性能,分析了分子筛物相结构的变化,考察了分子筛的酸性.结果表明,催化剂制备过程对催化剂结构和性能影响显著,La3＋改性后X分子筛结晶度下降,但酸度显著增强,随La^3＋交换次数增加,分子筛的B酸量增多,L酸量减少;5种催化剂中,焙烧前离子交换2次、焙烧后再交换3次、再焙烧所制催化剂催化性能最佳,丁烯的初始转化率为89.94%, C8收率可达66.71%,这归因于酸性增加加快了氢负离子转移,降低了碳正离子上发生重复烷基化的可能性,抑制了大分子生成.反应温度和烯烃空速对反应影响显著,温度从80℃升至100℃,副反应裂解生成的C5-C7从9.64%增加到36.74%;丁烯进料空速从0.1 h^-1降至0.05 h^-1时,低聚生成的C9＋从7.2%增至31%.

Stability analysis of large-scale stope using stage subsequent fillingmining method in Sijiaying iron mine

To improve mining production capacity, a stage subsequent filling mining(SSFM) method is employed for Sijiaying iron mine. The height of the stage stope is approximately 100 m. As there are farmlands and villages on the surface of the mine, the surface deformation should be controlled when the ore is mined out for the purpose of stope stability and minimizing surface subsidence. In this paper, according to the site-specificgeological conditions, the self-stability of the stagefi lling body was analyzed, and the failure mechanism of back filling body was defined. Thus the relationship between the exposed height of filling body and the required strength was obtained. Next, the stability of back filling body and the characteristics of surface subsidence due to mining of 450 m level were analyzed using physical modeling.Finally, a three-dimensional numerical model was established using FLAC3 D, with which the surface subsidence and the stability of stope were achieved. The results show that the stope basically remains stable during the two-step recovery process. The maximum magnitude of the incline is 10.99 mm/m, a little larger than the permissible value of 10 mm/m, and the horizontal deformation is 5.9 mm/m,approaching the critical value of 6.0 mm/m, suggesting that the mine design is feasible for safety mining.

Highly efficient acousto-optic modulation using nonsuspended thin-fil1m lithium niobate-chalcogenide hybrid waveguides

A highly efficient on-chip acousto-optic modulator is as a key component and occupies an exceptional position in microwave-to-optical conversion.Homogeneous thin-film lithium niobate is preferentially employed to build the suspended configuration for the acoustic resonant cavity,with the aim of improving the modulation efficiency of the device.However,the limited cavity length and complex fabrication recipe of the suspended prototype restrain further breakthroughs in modulation efficiency and impose challenges for waveguide fabrication.In this work,based on a nonsuspended thin-film lithium niobate-chalcogenide glass hybrid Mach-Zehnder interferometer waveguide platform,we propose and demonstrate a built-in push-pull acousto-optic modulator with a half-wave-voltage-length product VnL as low as 0.03 V cm that presents a modulation efficiency comparable to that of a state-of-the-art suspended counterpart.A microwave modulation link is demonstrated using our developed built-in push-pull acousto-optic modulator,which has the advantage of low power consumption.The nontrivial acousto-optic modulation performance benefits from the superior photoelastic property of the chalcogenide membrane and the completely bidirectional participation of the antisymmetric Rayleigh surface acoustic wave mode excited by the impedance-matched interdigital transducer,overcoming the issue of low modulation efficiency induced by the incoordinate energy attenuation of acoustic waves applied to the Mach-Zehnder interferometer with two arms in traditional push-pull acousto-optic modulators.

A review on the influence of intelligent power consumption technologies on the utilization rate of distribution network equipment

The economy of distribution networks largely depends on the utilization rate of distribution network equipment.Most of the emerging intelligent power consumption technologies have a positive effect on equipment utilization and their use can save investment of distribution networks.In this paper,the influence of intelligent power consumption technologies on the utilization rate of distribution network equipment is reviewed.The evaluation methods and indexes are assessed first and then intelligent power consumption equipment with energy storage function,vehicle-to-grid(V2G)technology and time-of-use(TOU)tariff are reviewed respectively.It is concluded that these intelligent power consumption technologies and measures have great potential to improve utilization rate of distribution network equipment because of their effective improvement to power load.Meanwhile,recommendations on how to utilize these intelligent power consumption technologies to improve utilization rate of distribution network equipment are proposed.

Stability,acidity and interaction properties of [Bmim][SbF_6] coupled with concentrated sulfuric acid

Ionic liquid coupled with strong acid systems presents considerable promise in some catalytic fields. In the present work, the multiple complex systems composed by 98 wt% concentrated sulfuric acid and [Bmim][SbF6] were investigated in the terms of stability, acidity and interaction properties. It was found that acidolysis of [Bmim][SbF6] occurred in the 98 wt% concentrated sulfuric acid accompanied by HF releasing and SbF6−degrading to [SbF6−y(HSO4)y]−. The species after acidolysis in the multiple complex systems were checked and confirmed by electrospray ionization mass spectrometry (ESI-MS), Fourier transform infrared spectroscopy (FT-IR),1H NMR and19F NMR. Acidity increased slightly with less than 1 wt% [Bmim][SbF6] addition, while decreased with more proportion, which was determined based on the Hammett acidity functions H0, using13C NMR. The strong hydrogen bond S–O–HF of interaction among the multiple complex systems was confirmed by molecular dynamic simulation. © 2017, Science China Press and Springer-Verlag Berlin Heidelberg.