This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. H...This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.展开更多
According to the prime task of ''readjusting industrial structure,energetically developing service industry, completing service standards and promoting servicelevel'', which are raised in the 10th Five...According to the prime task of ''readjusting industrial structure,energetically developing service industry, completing service standards and promoting servicelevel'', which are raised in the 10th Five-Year Plan Outline of National Economy and SocialDevelopment, Standardization Administration of China (SAC), National Development and ReformCommission, Ministry of Civil Affairs of the People'' s Republic of China, Ministry of Constructionof P.R.C, Ministry of Commerce of the People''s Republic of China, Ministry of Culture of the People''s Republic of China, the People''s Bank of China, General Administration of Quality Supervision,Inspection and Quarantine of P.R.C (AQSIQ), the State Administration of Radio, Film and Television,State General Administration of Sport, National Tourism Administration, China Seismological Bureau,China Meteorological Administration, China Insurance Regulatory Commission, State Post Bureau, StateCultural Relics, State Administration of Traditional Chinese Medicine Bureau, China NationalTechnical Committee 264 on Service of Standardization Administration of China, China Consumers''Association and China National Institute of Standardization had compiled and officially ratified theDevelopment Planning of National Service Standard 2005-2008 by the end of 2005.展开更多
Despite the great progress of rural socioeconomic development in the 11 th Five-year Plan period （2006-2010）, China＇s agriculture and countryside are still.lacing the challenges of a crude development pattern, back...Despite the great progress of rural socioeconomic development in the 11 th Five-year Plan period （2006-2010）, China＇s agriculture and countryside are still.lacing the challenges of a crude development pattern, backward rural development and cities＇ weak driving effect on the countryside. In the 12th Five-year Plan period （20I 1-2015）, China should transform the way agriculture grows and operates; promote rural socioeconomic development; improve urban planning and its functions, institutional innovation, and urban/rural integration to lay a solid foundation for building an all-round well- off society.展开更多
The inspection and quarantine standard is one of important basics to executeinspection and quarantine by laws. In recent years, with the development of economy and trade inChina, standardization has played an importan...The inspection and quarantine standard is one of important basics to executeinspection and quarantine by laws. In recent years, with the development of economy and trade inChina, standardization has played an important role in inspection and quarantine. During 2002-2004,department of Standards of Inspection and Quarantine, Certification and Accreditation Administrationof China has organized the research of the standards of inspection and quarantine, and has builtstandard sub- systems of nine fields in inspection and quarantine.展开更多
College campuses pride themselves in being leaders in promoting innovation in both technical and theoretical aspects of all fields of study, including sustainability. The drive for sustainability in higher education h...College campuses pride themselves in being leaders in promoting innovation in both technical and theoretical aspects of all fields of study, including sustainability. The drive for sustainability in higher education has become institutionalized in many college campuses in the form of offices of sustainability, as well as membership in the American Association for Sustainability in Higher Education (AASHE). In parallel, but not always in concert, are more grass-roots efforts by students to promote sustainability through recycling programs, urban agriculture, and similar initiatives. Students are often frustrated between the classroom lessons they learn about sustainability and the slow adoption of sustainable practices in the “real-world,” including on campus. In order to address this issue, faculty have begun to engage students in the sustainability challenges facing their own campuses. The Journal of Green Building showcases these projects in the New Directions in Teaching and Research section of the journal. As part of this series, this article will highlight a course at the University of Massachusetts-Amherst in which students engage in green infrastructure planning projects for the campus.展开更多
基金supported by the National Natural Science Foundation of China (11072122)
文摘This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.
文摘According to the prime task of ''readjusting industrial structure,energetically developing service industry, completing service standards and promoting servicelevel'', which are raised in the 10th Five-Year Plan Outline of National Economy and SocialDevelopment, Standardization Administration of China (SAC), National Development and ReformCommission, Ministry of Civil Affairs of the People'' s Republic of China, Ministry of Constructionof P.R.C, Ministry of Commerce of the People''s Republic of China, Ministry of Culture of the People''s Republic of China, the People''s Bank of China, General Administration of Quality Supervision,Inspection and Quarantine of P.R.C (AQSIQ), the State Administration of Radio, Film and Television,State General Administration of Sport, National Tourism Administration, China Seismological Bureau,China Meteorological Administration, China Insurance Regulatory Commission, State Post Bureau, StateCultural Relics, State Administration of Traditional Chinese Medicine Bureau, China NationalTechnical Committee 264 on Service of Standardization Administration of China, China Consumers''Association and China National Institute of Standardization had compiled and officially ratified theDevelopment Planning of National Service Standard 2005-2008 by the end of 2005.
文摘Despite the great progress of rural socioeconomic development in the 11 th Five-year Plan period （2006-2010）, China＇s agriculture and countryside are still.lacing the challenges of a crude development pattern, backward rural development and cities＇ weak driving effect on the countryside. In the 12th Five-year Plan period （20I 1-2015）, China should transform the way agriculture grows and operates; promote rural socioeconomic development; improve urban planning and its functions, institutional innovation, and urban/rural integration to lay a solid foundation for building an all-round well- off society.
文摘The inspection and quarantine standard is one of important basics to executeinspection and quarantine by laws. In recent years, with the development of economy and trade inChina, standardization has played an important role in inspection and quarantine. During 2002-2004,department of Standards of Inspection and Quarantine, Certification and Accreditation Administrationof China has organized the research of the standards of inspection and quarantine, and has builtstandard sub- systems of nine fields in inspection and quarantine.
文摘College campuses pride themselves in being leaders in promoting innovation in both technical and theoretical aspects of all fields of study, including sustainability. The drive for sustainability in higher education has become institutionalized in many college campuses in the form of offices of sustainability, as well as membership in the American Association for Sustainability in Higher Education (AASHE). In parallel, but not always in concert, are more grass-roots efforts by students to promote sustainability through recycling programs, urban agriculture, and similar initiatives. Students are often frustrated between the classroom lessons they learn about sustainability and the slow adoption of sustainable practices in the “real-world,” including on campus. In order to address this issue, faculty have begun to engage students in the sustainability challenges facing their own campuses. The Journal of Green Building showcases these projects in the New Directions in Teaching and Research section of the journal. As part of this series, this article will highlight a course at the University of Massachusetts-Amherst in which students engage in green infrastructure planning projects for the campus.
