Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas

In response to the weaknesses of traditional agricultural equipment chassis with poor environmental adaptability and inferior mobility, a novel unmanned agricultural machinery chassis has been developed that can operate stably and efficiently under various complex terrain conditions. Initially, a new wheel-legged structure was designed by drawing inspiration from the motion principles of grasshopper hind legs and combining them with pneumatic-hydraulic linkage mechanisms. Kinematic analysis was conducted on this wheel-legged configuration by utilizing the D-H parameter method, which revealed that its end effector has a travel range of 0-450 mm in the X-direction, 0-840 mm in the Y-direction, and 0-770 mm in the Z-direction, thereby providing the structural foundation for features such as independent four-wheel steering, adjustable wheel track, automatic vehicle body elevation adjustment, and maintaining a level body posture on different slopes. Subsequently, theoretical analysis and structural parameter calculations were completed to design each subsystem of the unmanned chassis. Further, kinematic analysis of the wheel-legged unmanned chassis was carried out using RecurDyn, which substantiated the feasibility of achieving functions like slope leveling and autonomous obstacle negotiation. An omnidirectional leveling control system was also established, taking into account factors such as pitch angle, roll angle, virtual leg deployment, and center of gravity height. Joint simulations using Adams and Matlab were performed on the wheel-legged unmanned chassis, comparing its leveling performance with that of a PID control system. The results indicated that the maximum absolute value of leveling error was 1.08° for the pitch angle and 1.19° for the roll angle, while the standard deviations were 0.216 47° for the pitch angle and 0.176 22° for the roll angle, demonstrating that the wheel-legged unmanned chassis surpassed the PID control system in leveling performance, thus validating the correctness and feasibility of its full-directional body posture leveling control in complex environments. Finally, the wheel-legged unmanned chassis was fabricated, assembled, and subjected to in-place leveling and ground clearance adjustment tests. The experimental outcomes showed that the vehicle was capable of achieving in-place leveling with response speed and leveling accuracy meeting practical operational requirements under the action of the posture control system. Moreover, the adjustable ground clearance proved sufficient to meet the demands of actual obstacle crossing scenarios.

Ecological-Based Mining:A Coal-Water-Thermal Collaborative Paradigm in Ecologically Fragile Areas in Western China

A substantial reduction in groundwater level,exacerbated by coal mining activities,is intensifying water scarcity in western China’s ecologically fragile coal mining areas.China’s national strategic goal of achieving a carbon peak and carbon neutrality has made eco-friendly mining that prioritizes the protection and efficient use of water resources essential.Based on the resource characteristics of mine water and heat hazards,an intensive coal-water-thermal collaborative co-mining paradigm for the duration of the mining process is proposed.An integrated system for the production,supply,and storage of mining companion resources is achieved through technologies such as roof water inrush prevention and control,hydrothermal quality improvement,and deep-injection geological storage.An active preventive and control system achieved by adjusting the mining technology and a passive system centered on multiobjective drainage and grouting treatment are suggested,in accordance with the original geological characteristics and dynamic process of water inrush.By implementing advanced multi-objective drainage,specifically designed to address the“skylight-type”water inrush mode in the Yulin mining area of Shaanxi Province,a substantial reduction of 50%in water drillings and inflow was achieved,leading to stabilized water conditions that effectively ensure subsequent safe coal mining.An integrated-energy complementary model that incorporates the clean production concept of heat utilization is also proposed.The findings indicate a potential saving of 8419 t of standard coal by using water and air heat as an alternative heating source for the Xiaojihan coalmine,resulting in an impressive energy conservation of 50.2%and a notable 24.2%reduction in carbon emissions.The ultra-deep sustained water injection of 100 m^(3)·h^(-1)in a single well would not rupture the formation or cause water leakage,and 7.87×10^(5)t of mine water could be effectively stored in the Liujiagou Formation,presenting a viable method for mine-water management in the Ordos Basin and providing insights for green and low-carbon mining.

A Stroke-Limitation AMD Control System with Variable Gain and Limited Area for High-Rise Buildings

Collisions between a moving mass and an anti-collision device increase structural responses and threaten structural safety.An active mass damper(AMD)with stroke limitations is often used to avoid collisions.However,a strokelimited AMD control system with a fixed limited area shortens the available AMD stroke and leads to significant control power.To solve this problem,the design approach with variable gain and limited area(VGLA)is proposed in this study.First,the boundary of variable-limited areas is calculated based on the real-time status of the moving mass.The variable gain(VG)expression at the variable limited area is deduced by considering the saturation of AMD stroke.Then,numerical simulations of a stroke-limited AMD control system with VGLA are conducted on a high-rise building structure.These numerical simulations show that the proposed approach has superior strokelimitation performance compared with a stroke-limited AMD control system with a fixed limited area.Finally,the proposed approach is validated through experiments on a four-story steel frame.

Baoziwan-Majiashan Area of Jiyuan Oilfield Analysis of Reservoir Characteristics and Main Control Factors in Long 4 5 Section

Based on the sheet, scanning electron microscope and high pressure mercury analysis method, this paper takes Jiyuan oilfield-Ma Jia mountain district 4 5 sandstone reservoir as the research object, from the reservoir petrology, pore type and porosity, permeability, the system analyzed the reservoir characteristics and its control factors. The results show that the sandstone in the 4 5 section of Baoziwan-Majiashan area of Jiyuan oilfield is fine in size and high in filling content. The pore types were dominated by intergranular pores and dissolved pores, with a low face rate. The reservoir property is relatively poor, with mean porosity of 11.11% and mean permeability of 1.16 × 10−3 µm2. In the low porous, low otonic background, the development of relatively high pore hypertonic areas. Compaction and cementation should play a destructive role in reservoir properties, and dissolution should play a positive role in reservoir properties. Compaction adjusts the migration of clay minerals and miscellaneous bases in the original sediment in the study area, greatly reducing the porosity and permeability of the reservoir;the development of the cement cement, carbonate cementation and some quartz secondary compounds reduces the storage space;the dissolution effect, especially the secondary dissolution pores of the reservoir, which obviously improves the properties of the reservoir.

Settlement Control Technology of High Filled Soil-Rock Embankment in Alpine and High-Altitude Areas

China's infrastructure has gradually achieved large-scale development,and transportation construction has also shifted from east to west,transitioning from plains to mountainous areas.High-fill embankments of different sizes in mountainous areas are unavoidable,and the settlement of high-fill embankments is usually the most concerned issue in high-fill projects.According to the current research of highway projects,most of the high embankments in mountainous areas are soil-rock mixed embankments or rock-filled embankments,and their post-construction settlements are directly related to construction technology and the type of filler used.In this paper,the problems in the settlement control of earth-filled embankment and related factors are analyzed in detail.The settlement control technology of high-fill embankment in high-cold and high-altitude areas is also discussed,so as to ensure the overall quality of high-fill embankment.

Cause of over Water Quality Standard and Control Measures of State-controlled Sections in Northern Water-deficient Area of Jiangsu

Taking state-controlled section of Xuzhou Peiyan river as an example,the current water quality was monitored,and the cause of over water quality standard was analyzed.The results showed that the pollutants of Peiyan river were mainly from the urban river segment,and the immediate cause of over standard was tributary pollutants in urban river segment with the runoff into rivers.So we should strengthen the maintenance of drainage control and gate-han,accelerate the construction of urban wastewater treatment facilities and supporting pipe network,promote rural decentralized sewage treatment,prevent and control livestock and poultry pollution,pesticides and fertilizers pollution,and intercept non-point source pollution by using eco-technology.

Occurrence and Epidemic Dynamics and Accurate Prevention and Control of Important Sugarcane Pests and Diseases in the Sugarcane Areas of Yunnan

Based on investigation and research, according to the current actual production of sugarcane, the occurrence dynamics and outbreak causes of important pests and diseases that seriously affect sugarcane production were summarized, and accurate and efficient green prevention and control technology was put forward according to the occurrence and damage characteristics of important pests and diseases, such as strengthening sugarcane introduction and quarantine, breeding and selecting varieties resistant to diseases and pests, promoting the use of detoxified healthy seedlings vigorously, applying lamp trapping technology on a large scale, scientifically guiding and promoting biological prevention and control technology, practically promoting the precise and efficient application of slow-release long- acting and low toxic pesticides, strengthening field management, spraying pesticides in time at the early stage of a disease, and doing a good job of monitoring and emergency prevention and control of sudden pests.

Source Rock and Cap Rock Controls on the Upper Ordovician Wufeng Formation–Lower Silurian Longmaxi Formation Shale Gas Accumulation in the Sichuan Basin and its Peripheral Areas

Objective The Upper Ordovician Wufeng Formation-Lower Silurian Longmaxi Formation is one of the priority interval for shale gas exploration in the Sichuan Basin and its peripheral areas, and commercial shale gas has been discovered from this interval in Jiaoshiba, Changning and Weiyuan shale gas fields in Sichuan Province. However, there is no significant discovery in other parts of the basin due to the different quality of black shale and the differences of tectonic evolution. Based on the progress of shale gas geological theory and exploration discoveries, as well as the theory of ＂source rock and cap rock controls on hydrocarbon accumulation＂, of the Upper Ordovician the main controlling factors Wufeng Formation-Lower Silurian Longmaxi Formation shale gas enrichment in the Sichuan Basin and its peripheral areas were analyzed, and the source rock and cap rock controls on the shale gas were also discussed. The results can provide new insights for the next shale gas exploration in this area.

Risk prevention and control strategies for the severely affected areas of snow disaster in the Three Rivers Source Region(TRSR), China

Historically,frequent and heavy snow disaster(SD)has caused serious livestock death and casualties,resulting in a devastating impact on animal husbandry development in the Three Rivers Source Region(TRSR).From winter in 2018 to spring in 2019,the largest SD occurred in this area over the past 10 years,especially in core zones of the Lancang River Source Region.Field research results show that the main causes of the major SD include weak infrastructure(i.e.,roads,communications,warm sheds,and insufficient forage reserve),low rate of domestic animals for sale before the SD,and low loss settlement rate.SD occurrence could furtherly reduce the ability of disaster prevention,mitigation and relief of disaster loss.In the future,heavily affected SD areas should improve the forecasting ability of snowfall incidents,strengthen infrastructure construction,implement grass and livestock balance strategies,optimize livestock structure,improve loss settlement rate,and develop a modern compound model of animal husbandry development model that combines breeding,slaughtering and deep processing of animal product.

Impact of climate change and human activities on the spatiotemporal dynamics of surface water area in Gansu Province, China

Understanding the dynamics of surface water area and their drivers is crucial for human survival and ecosystem stability in inland arid and semi-arid areas.This study took Gansu Province,China,a typical area with complex terrain and variable climate,as the research subject.Based on Google Earth Engine,we used Landsat data and the Open-surface Water Detection Method with Enhanced Impurity Control method to monitor the spatiotemporal dynamics of surface water area in Gansu Province from 1985 to 2022,and quantitatively analyzed the main causes of regional differences in surface water area.The findings revealed that surface water area in Gansu Province expanded by 406.88 km2 from 1985 to 2022.Seasonal surface water area exhibited significant fluctuations,while permanent surface water area showed a steady increase.Notably,terrestrial water storage exhibited a trend of first decreasing and then increasing,correlated with the dynamics of surface water area.Climate change and human activities jointly affected surface hydrological processes,with the impact of climate change being slightly higher than that of human activities.Spatially,climate change affected the'source'of surface water to a greater extent,while human activities tended to affect the'destination'of surface water.Challenges of surface water resources faced by inland arid and semi-arid areas like Gansu Province are multifaceted.Therefore,we summarized the surface hydrology patterns typical in inland arid and semi-arid areas and tailored surface water'supply-demand'balance strategies.The study not only sheds light on the dynamics of surface water area in Gansu Province,but also offers valuable insights for ecological protection and surface water resource management in inland arid and semi-arid areas facing water scarcity.

DNBP-CCA:A Novel Approach to Enhancing Heterogeneous Data Traffic and Reliable Data Transmission for Body Area Network

The increased adoption of Internet of Medical Things (IoMT) technologies has resulted in the widespread use ofBody Area Networks (BANs) in medical and non-medical domains. However, the performance of IEEE 802.15.4-based BANs is impacted by challenges related to heterogeneous data traffic requirements among nodes, includingcontention during finite backoff periods, association delays, and traffic channel access through clear channelassessment (CCA) algorithms. These challenges lead to increased packet collisions, queuing delays, retransmissions,and the neglect of critical traffic, thereby hindering performance indicators such as throughput, packet deliveryratio, packet drop rate, and packet delay. Therefore, we propose Dynamic Next Backoff Period and Clear ChannelAssessment (DNBP-CCA) schemes to address these issues. The DNBP-CCA schemes leverage a combination ofthe Dynamic Next Backoff Period (DNBP) scheme and the Dynamic Next Clear Channel Assessment (DNCCA)scheme. The DNBP scheme employs a fuzzy Takagi, Sugeno, and Kang (TSK) model’s inference system toquantitatively analyze backoff exponent, channel clearance, collision ratio, and data rate as input parameters. Onthe other hand, the DNCCA scheme dynamically adapts the CCA process based on requested data transmission tothe coordinator, considering input parameters such as buffer status ratio and acknowledgement ratio. As a result,simulations demonstrate that our proposed schemes are better than some existing representative approaches andenhance data transmission, reduce node collisions, improve average throughput, and packet delivery ratio, anddecrease average packet drop rate and packet delay.

Dynamic Monitoring and Control Measures of Spodoptera frugiperda(J.E.Smmith) in Low Latitude Plateau Sugarcane Areas

Spodoptera frugiperda (J.E.Smmith) is one of the major migratory pests warned by the Food and Agriculture Organization (FAO).It has been successfully invaded sugarcane and corn in Jinggu,Longchuan,Gengma,Menghai,Yingjiang,Lancang of Yunan Province,China.In view of the great variety of hosts,wide range of habitats and strong migration ability,S.frugiperda has the potential of causing catastrophic threats to sugarcane production.In this paper,we made a systematic introduction to the morphological and biological characteristics of S.frugiperda,analyzed its occurrence situations and occurrence trends in Yunnan of China and other countries around the world,and proposed the control strategies and measures of ecological regulation and control,natural enemies protection and utilization,biological control,pesticide control and adults trapping based on the outbreak characteristics of S.frugiperda and the actual sugarcane production in low latitude plateau areas.

Impact of Village-based Health Education of Tobacco Control on the Current Smoking Rate in Chinese Rural Areas

The number of smokers in Chinese rural areas is more than 200 million, which is twice that in cities. It is very significant to carry out tobacco control interventions in rural areas. We performed this community intervention study to evaluate the efficacy of village-based health education of tobacco control on the male current smoking rate in rural areas. The population of this study was the males above 15 years old from 6 villages in rural areas. The villages were randomly assigned to intervention group or control group（3 villages in each group）. Self-designed smoking questionnaire was applied. The intervention group received the village-based health education of tobacco control for one year. The primary outcome measurement was the male current smoking rate. In the baseline investigation, completed surveys were returned by 814 male residents from the control group and 831 male residents from the intervention group. The male current smoking rate in the control group and the intervention group was 61.2% and 58.5%, respectively, before intervention. There was no significant difference between these two groups（P〉0.05）. After one-year intervention, the current smoking rate in the intervention group（51.2%） was significantly lower than that in the control group（62.8%）（P〈0.001）. Our study suggested that the village-based health education of tobacco control was effective in lowering the male current smoking rate in rural areas, which could be a suitable and feasible way for tobacco control in the Chinese rural areas.

Occurrence and Control of Tetranychus truncatus and T. urticae on Corns of Yanbian Area

The situation of occurrence and hazards by Tetranychus truncatus and T. urticae on corns in test garden of Agricultural College of Yanbian University were narrated in detail. The characteristics of distribution and damage by T. truncates and T. urticae, morphological characteristics, the rule of currencies and its relation- ship with environment were summarized, and the methods of comprehensive treat- ment were put out, which could effectively control the hazard degree of T. truncates and T. urticae on corns.

Geological Factors Controlling the Accumulation and High Yield of Marine-Facies Shale Gas: Case Study of the Wufeng-Longmaxi Formation in the Dingshan Area of Southeast Sichuan, China

The main geological factors controlling the accumulation and yield of marine-facies shale gas reservoirs are the focus of the current shale gas exploration and development research.In this study,the Wufeng-Longmaxi Formation in the Dingshan area of southeast Sichuan was investigated.Shale cores underwent laboratory testing,which included the evaluation of total organic carbon(TOC),vitrinite reflectance(Ro),whole-rock X-ray diffraction(XRD),pore permeability,and imaging through field emission scanning electron microscopy(FE-SEM).Based on the results of natural gamma ray spectrum logging,conventional logging,imaging logging,and seismic coherence properties,the exploration and development potential of shale gas in the Dingshan area have been discussed comprehensively.The results showed that(1)layer No.4(WF2-LM4)of the Wufeng-Longmaxi Formation has a Th/U ratio<2 and a Th/K ratio of 3.5–12.Graptolites and pyrite are relatively abundant in the shale core,indicating sub-high-energy and low-energy marine-facies anoxic reducing environments.(2)The organic matter is mainly I-type kerogen with a small amount of II1-type kerogen.There is a good correlation among TOC,Ro,gas content,and brittle minerals;the fracturing property(brittleness)is 57.3%.Organic and inorganic pores are moderately developed.A higher pressure coefficient is correlated with the increase in porosity and the decrease in permeability.(3)The DY1 well of the shale gas reservoir was affected by natural defects and important latestage double destructive effects,and it is poorly preserved.The DY2 well is located far from the Qiyueshan Fault.Large faults are absent,and upward fractures in the Longmaxi Formation are poorly developed.The well is affected by low tectonic deformation intensity,and it is well preserved.(4)The Dingshan area is located at the junction of the two sedimentary centers of Jiaoshiba and Changning.The thickness of the high-quality shale interval(WF2-LM4)is relatively small,which may be an important reason for the unstable production of shale gas thus far.Based on the systematic analysis of the geological factors controlling high-yield shale gas enrichment in the Dingshan area,and the comparative analysis with the surrounding typical exploration areas,the geological understanding of marine shale gas enrichment in southern China has been improved.Therefore,this study can provide a useful reference for shale gas exploration and further development.

Production Characteristics and the Control Factors of Surface Wells for Relieved Methane Drainage in the Huainan Mining Area

Based on the production data of a large number of surface drainage wells in the Huainan mining area,the present study shows that four types of typical production characteristics for relieved methane wells are recognized,of which the stable type for production and gas concentration is the most dominate,as determined by a comprehensive study on the volume and concentration of drained gases, as well as the stress changes of rocks influenced by mining.Some influence factors for the productive differences of the drainage wells were also been discussed.The results indicate that protective coal-seam mining has a significant effect on overlying strata,which promotes the development of pores and fractures of coal reservoirs for methane desorption and migration;however,the production and the stability of drainage wells are affected by deformation and damage of the overlying strata.The second distribution of strata stress is caused by mining engineering,and if the stress load is larger than the carrying capacity of the extraction well,the gas production would be influenced by the drainage well that has been damaged by rock movement.Furthermore,the case damage occurs first in the weak, lithologic interface by its special mechanical properties.The stability of drainage wells and the production status are also influenced by the different drilling techniques,uneven distribution of gas concentration,and combination of gob gas and methane from the protected layer.

Integrated controlling technique of ecological environment in Shendong Mining Area

To enclose the interactive relation between the underground mining with suitable protection for surface ecological environments and surface prevention of ecological environments adapting to mining disturbing was researched and developed core of this technique. There are three aspects of controlling ecological environments, to dispose and renew before exploitation, to protect surface ecological environments in the exploitative process and to repair and build up after exploitation. Based on the moving law of overburden strata in shallow seam, the surface subsidence law and the growth law of vegetation in subsidence mine area, the integrated controlling technique has been developed synthetically by methods of theoretic analysis, laboratory simulation, numerical calculation, commercial test etc.. It includes the key techniques of aquifer-protective mining, filtering and purging of mine water through goaf, preventing and extinguishing fire in shallow seam no-rock roadway layout and waste disposal in underground, frame-building ecological functional sphere before exploitation, frame-building the ecological cycle using system after mining and so on.

Architecture Design for Integrated Wide Area Protection and Control Systems

This paper firstly reviews the recent development in power system protection and control, with special attention paid to the wide-area and integrated protection, in order to look into future development of integration of protection and control for smart grids. This paper mainly reports on the development of integrated wide area protection and control for power systems. The concept of integrated wide area protection and control is introduced, in which a hierarchical protection and control system provides the protection and control of wide area or regional power substations/ plants and their associated power network. The system is mainly divided into three levels, the local, the substation/plant and the wide area/regional protection and control. The integrated functions at each level are described in details with an aim to develop an optimal coordination mechanism between the levels. One of the core elements in the system is the synchronised wide area communication network between the substations and the protection and control system, in which latest communication technology is employed. Another important player in the system is the wide area synchronized protection and control information platform, which not only enables the fusion three line of defence for power system protection and control, but also provides a perfect tool for the application of cloud computing to substations and power networks.

Reliability Analysis of Controller Area Network Based Systems—A Review

This paper reviews the research work done on the Reliability Analysis of Controller Area Network (CAN) based systems. During the last couple of decades, real-time researchers have extended schedulability analysis to a mature technique which for nontrivial systems can be used to determine whether a set of tasks executing on a single CPU or in a distributed system will meet their deadlines or not [1-3]. The main focus of the real-time research community is on hard real-time systems, and the essence of analyzing such systems is to investigate if deadlines are met in a worst case scenario. Whether this worst case actually will occur during execution, or if it is likely to occur, is not normally considered. Reliability modeling, on the other hand, involves study of fault models, characterization of distribution functions of faults and development of methods and tools for composing these distributions and models in estimating an overall reliability figure for the system [4]. This paper presents the research work done on reliability analysis developed with a focus on Controller-Area-Network-based automotive systems.