STATE TRANSFORMATION PROCESSES FOR FREE-FLOATING THREE-LINK PLANAR ROBOTS

The transformation process of an m-DOF free-floating robot from one staticstate to a different static state has m degrees of freedom. The proposed approach of thesetransformations utilizes a series of single-DOF transformation processes as an alternative to them-DOF transformation process. Two static state transformation processes are studied in detail.First, a single-DOF transformation process is established using a newly defined concept, referred toas transformation planning, and the definite integral of conservation of angular momentum. Second,the governing equation of the single-DOF transformation process is established using the dynamicequations of motion of the robot. This allows the joint torques to be computed to effect the statetransformation. Finally, an extension of the single-DOF transformation process is proposed to extendthe application of this proposed transformation methodology to create a transformation net whichallows the reconfiguration of a robot from one state to many other possible states.

Transformation Process and Mechanism of Lithium Borates

Amounts of lithium-containing salt lake brine resources are widely distributed in the four provinces named Qinghai,Tibet,Inner Mongolia and Xinjiang province,especially the salt lakes in Qinghai-Tibet Plateau are abundant of

From the Current Industrial Stage to the Industry 4.0： Transformation Processes and Case Analysis of the FESTO Company

Despite of the acceleration of investments and the expansion of countries towards the Industry 4.0, companies have difficulties in planning the transition processes and implementation of the scenarios of Industry 4.0. To benefit from the Industry Approach 4.0, it is necessary to take technological and organizational transition processes into account, since the phenomenon involves interoperability between humans; between humans and machines; and between machines and production. This paper proposes to examine the transformation processes of the current industrial model to the Industry 4.0 model of FESTO AG, in addition to the framework proposition for the analysis of transformation processes for Industry 4.0. Through the face-to-face interviews and the institutional materials of FESTO, it was observed that the company inserted in its strategy of products and innovation the concept of Industry 4.0. To do so, FESTO planned and built a new production plant based on connectivity, sustainability, and collaborative environment, especially between man and machine. To support this orientation, FESTO has strengthened its technological base, culture, training of its productive, commercial, and management teams.

A preliminary analysis of physical mechanism of transformation process from a landed typhoon into an extratropical cyclone

A diagnostic study is performed in the paper on the process of typhoon Norris (1980) transforming into an ex-tratropical cyclone after its landing over Southeast China. The main findings are as follows:The changes of kinetic energy are mainly attributed to the generation due to non-divergent wind. During the early stage of the typhoon landing, there exits only a small quantity of kinetic energy exchanging with the environment. And after it is transformed into an extratropical cyclone, a large amount of kinetic energy is exported from the system toward the environment.The horizontal and vertical flux-divergence terms of eddy available potenlial energy are the prominent sinks in the budgets of eddy kinetic energy. The generations of eddy kinetic energy due to both the barotropic and baroclinic processes are source terms. The former is remarkable during the initial stage. But after the depression is transformed into an extratropical cyclone, the roles of the generation by the barotropic and baroclinic processes are reversed, 1. e. , the latter has become more significant than the former.Diabatic heating is the most dominant heat source. The terms of vertical heat flux by cumulus and large-scale motion are the major sinks. And the latter is prominent after the system is transformed into an extratropical cycfone.

On the Process of Peasant Workers' Transformation to Urban Residents

The unique two-stage "Chinese path" of China’s ru-ral-urban migration, which cannot be fully explained by classical theories of economic development, makes us to give peasant workers’ transformation to urban residents a top priority. On the basis of fully explaining peasant workers’ transformation to urban residents, a method for measuring its process has been advanced and then confirmed with the data of March in 2005 from surveys to peasant workers in Wuhan. Finally, the suggestions of acceler-ating peasant workers’ transformation to urban residents to pro-mote the construction of a harmonious society have been drawn from the analysis.

Soft sensor design for hydrodesulfurization process using support vector regression based on WT and PCA

A novel method for developing a reliable data driven soft sensor to improve the prediction accuracy of sulfur content in hydrodesulfurization(HDS) process was proposed. Therefore, an integrated approach using support vector regression(SVR) based on wavelet transform(WT) and principal component analysis(PCA) was used. Experimental data from the HDS setup were employed to validate the proposed model. The results reveal that the integrated WT-PCA with SVR model was able to increase the prediction accuracy of SVR model. Implementation of the proposed model delivers the best satisfactory predicting performance(EAARE=0.058 and R2=0.97) in comparison with SVR. The obtained results indicate that the proposed model is more reliable and more precise than the multiple linear regression(MLR), SVR and PCA-SVR.

Modal identification based on Hilbert-Huang Transform of structural response with S VD preprocessing

In recent years, Empirical mode decomposition and Hilbert spectral analysis have been combined to identify system parameters. Singular-Value Decomposition is pro- posed as a signal preprocessing technique of Hilbert-Huang Transform to extract modal parameters for closely spaced modes and low-energy components. The proposed method is applied to a simulated airplane model built in Automatic Dynamic Analysis of Mechanical Systems software. The results demonstrate that the identified modal parameters are in good agreement with the baseline model.

Deep Learning Applied to Computational Mechanics:A Comprehensive Review,State of the Art,and the Classics

Three recent breakthroughs due to AI in arts and science serve as motivation:An award winning digital image,protein folding,fast matrix multiplication.Many recent developments in artificial neural networks,particularly deep learning(DL),applied and relevant to computational mechanics(solid,fluids,finite-element technology)are reviewed in detail.Both hybrid and pure machine learning(ML)methods are discussed.Hybrid methods combine traditional PDE discretizations with ML methods either(1)to help model complex nonlinear constitutive relations,(2)to nonlinearly reduce the model order for efficient simulation(turbulence),or(3)to accelerate the simulation by predicting certain components in the traditional integration methods.Here,methods(1)and(2)relied on Long-Short-Term Memory(LSTM)architecture,with method(3)relying on convolutional neural networks.Pure ML methods to solve(nonlinear)PDEs are represented by Physics-Informed Neural network(PINN)methods,which could be combined with attention mechanism to address discontinuous solutions.Both LSTM and attention architectures,together with modern and generalized classic optimizers to include stochasticity for DL networks,are extensively reviewed.Kernel machines,including Gaussian processes,are provided to sufficient depth for more advanced works such as shallow networks with infinite width.Not only addressing experts,readers are assumed familiar with computational mechanics,but not with DL,whose concepts and applications are built up from the basics,aiming at bringing first-time learners quickly to the forefront of research.History and limitations of AI are recounted and discussed,with particular attention at pointing out misstatements or misconceptions of the classics,even in well-known references.Positioning and pointing control of a large-deformable beam is given as an example.

Mountain Pastures and Grasslands in the SW Tien Shan,Kyrgyzstan-Floristic Patterns,Environmental Gradients,Phytogeography,and Grazing Impact

Vast grasslands are found in the walnut-fruit forest region of southern Kyrgyzstan,Middle Asia.Located above the worldwide unique walnutfruit forests and used for grazing,they play a pivotal role in the mixed mountain agriculture of local farmers.Accordingly,these pastures are subject to an increasing utilization pressure reflecting the changing political and social conditions in the transformation process from a Soviet republic to an independent state.A first detailed analysis of mountain pasture vegetation in the Ferghana Range answers the following questions:What are the main plant community types among Kyrgyzstan's mountain pastures? What are the main environmental gradients that shape their species composition? Which phytogeographical distribution types are predominant? How does grazing affect community composition and species richness in these grasslands? Species composition was classified by cluster analysis;underlying environmental gradients were explored using DCA.A dataset of 395 relevés was used for classification,and a subset of 79 relevés was used in a DCA to analyze the correlation between vegetation,environment,and grazing impact.The investigated pastures were classified into four distinctive plant communities.The site factors altitude,heat load,inclination and grazing impact were found to be the major determinants of the vegetation pattern.A significant overlap between floristic composition and structural and spatial properties was shown.The majority of the species pool consisted of Middle Asian endemics and Eurosiberian species.However,disturbance-tolerant species played a significant role with respect to species composition and coverage of the herbaceous layer in vast areas of southern Kyrgyzstan's mountain pastures.In general,an intense grazing impact is clearly reflected by both species composition and structural variables of plant communities.The highly diverse and unique ecosystem is modified by an increasing utilization pressure.In order to maintain vital processes and functioning of this valuable ecosystem-in both economical and ecological terms-,it is indispensable to adopt appropriate pasture management strategies.

Test method and experimental research on resistance of oil shale under high temperature

Heating the oil shale by current underground to accomplish in-situ transformation process, is a viable direction. The electrical properties of oil shale under different temperatures, especially the resistance, become important. Charging oil shale underground to heat oil shale till kerogen's decomposition temperature, then crude oil and other gases can be generated. The resistance of the oil shale samples was measured by Direct Current (DC) quadripole method to find out the variation rules of resistance value. In the experiments, oil shale presented its semiconductor property. When heated till 350℃-450℃, its resistance changed greatly, optional for heating and cracking. The porosity, oil content, media and composition affected the resistance largely.

Conflict and Peace Attitudes of Black Sea Region States

The relationship between the democratic form of government and the tendency of states to use force in solving internal and foreign policy problems is one of the central research issues of modem international relations. This report summarizes the results of conflict research on countries in a democratic transformation process. Results of a study of their application for the Black Sea countries for the period 1990-2015 are presented.

Process and cause of urban-rural development transformation in the Bohai Rim Region, China

China＇s reform and opening-up policy has brought the country a great development opportunity. The high-speed growth of the economy not only led China to a period of industrialization, urbanization, informatization and agricultural modernization, but also exacerbated the situation of the urban–rural dual structure. Based on the review of current studies, we first used the analytic hierarchy process（AHP） method to evaluate the urban–rural development and transformation level by population transformation index, land transformation index, industrial transformation index and social transformation index between 1996 and 2012 around the Bohai Rim Region. Then, based on the results of each index, we used the exploratory spatial data analysis（ESDA） method to investigate the spatial autocorrelation of the change in the urban–rural development transformation index during the 16-year period using Global Moran＇s I index and Local Moran＇s I index. Finally, we investigated the mechanism of change of the urban–rural development transformation index at county level, summarizing five main factors：（1） the radiation from the surrounding big cities,（2） the acceleration of the urbanization process,（3） the upgrading of the industrial structure,（4） the publishing and implementation of a macro development strategy and regional policy, and（5） natural factors such as topology.

THE STUDY OF A BOCC M-ARY SPREAD SPECTRUM SCHEME

M-ary spread spectrum technique has been found wide applications in wireless communications, but it needs too many orthogonal spreading codes and its despreading/demodulation is quite complex computationally, which limit its wider applications. This paper proposes a novel scheme for Code Division Multiple Access (CDMA) communication systems based on M-ary spread spectrum, where only one prototype spreading code is assigned to each user and the codes for different users are orthogonal or quasi-orthogonal with each other. The M spreading codes of each user to represent K bits data are generated by circularly shifting the assigned code and reversing its polarity. The spreading codes generated like that are called as BiOrthogonal Cyclic Codes (BOCCs). At the receiver of the system, a transform domain matched-filter implemented by means of Fast Fourier Transform (FFT) is employed to despread and demodulate the received signals, which has very low computational complexity. The results of simulation experiments and bit-error performance analysis show that the proposed scheme is practical and very useful in many cases.

A WT-STFT combining Algorithm

A fast wavelet packet (WP) algorithm is presented, in which the wavelet transform (WT) and the short-time Fourier transform (STFT) are combined. As WT produces multiresolution of frequency and time, and STFT has a fast algorithm, the combining algorithm is suitable for fast signal analysis.

Study on the vehicle license plate tilt correction

The shortage of current different approaches of the vehicle license plate(VLP) tilt correction is analyzed in the paper and a new rotary correction method put forward based on the former ways of the VLP tilt correction in the horizontal direction and the vertical direction Owing to the VLP tilt taking place in the vertical direction,the array of the image’s pixels of the same column is broken,and even different rows come into being superposition.The VLP tilt taking place in the horizontal direction,by which the array of the image’s pixels of the same row broken,and so much as different columns come into being superposition.

On Clausius’, Post-Clausius’, and Negentropic Thermodynamics

The evidence here provided shows that the thermodynamics of the second law, as currently understood, originated in a correction of the flaws affecting Clausius original work on this matter. The body of knowledge emerging from this correction has been here called post-Clausius’ thermodynamics. The said corrections, carried on with the intended goal of preserving the validity of Clausius’ main result, namely the law of increasing entropy, made use of a number of counterintuitive or logically at fault notions. A joint revision of Clausius’ and post-Clausius’ work on the second law, carried on retaining some of Clausius original notions, and disregarding others introduced by post-Clausius thermodynamics, led this author to results in direct contradiction to the law of increasing entropy. Among the key results coming out of this work we find the one stating that the total-entropy change for spontaneous thermodynamic processes is the result of the summation of the opposite-sign contributions coming from the entropic (energy degrading) and negentropic (energy upgrading) changes subsumed by any such process. These results also show, via the total-entropy change for a non-reversible heat engine, that negentropic thermodynamics subsumes post-Clausius thermodynamics as a special case.

A readily monitored and controllable hydrothermal system for the facile,cost-effective transformation of FGD gypsum to calcium sulfate hemihydrate whiskers

The controllable transformation of flue gas desulfurization(FGD)gypsum to calcium sulfate hemihydrate(HH)whiskers under facile,readily monitored,and cost-effective hydrothermal conditions could play a vital role in the preparation of high quality HH whiskers and improve our understanding of the transformation process.This work assessed the conversion of FGD gypsum to HH whiskers in 5×10^(-4)mol/L H_(2)SO_(4)and 1.5 wt%CuCl_(2)at 120℃while determining the effects of temperature as well as H_(2)SO_(4)and CuCl_(2)concentrations on transformation kinetics.The preparation of HH whiskers was found to involve a solution-mediated transformation from the dihydrate(DH)to theα-HH.This transition was determined to proceed via a dissolution crystallization mechanism,the rate of which was controlled by nucleation and growth of the HH whiskers.An autocatalytic kinetic model was established based on variations in the HH whiskers mole fraction over time,and this model accurately fit the experimental data with R2=0.990.Increasing the temperature or H_(2)SO_(4)concentration accelerated the transformation by modifying the super-saturation and water activity in the reaction solution,while increasing the CuCl_(2)concentration had the opposite effect.The hydrothermal conditions had an important effect on the transformation from FGD gypsum to HH whiskers.

Processing of Calamine with Modern Analytical Techniques:Processed with Huanglian Decoction(黄连汤)and Sanhuang Decoction(三黄汤)

Objective： To determine the pyrolysis characteristics of calcined and processed calamine, qualitatively and quantitatively compare the contents of related elements, morphology and functional groups of the pyrolysis products dried at different heating temperatures and explore the critical temperature and the optimal drying temperature for the process of calamine with Huanglian Decoction（HLD, 黄连汤） and San Huang Decoction（SHD, 三黄汤）. Methods： Pyrolysis products were prepared by programmable and constantly heating the calcined and processed calamine to or at different heating temperatures. Thermogravimetry（TG） was used to test their pyrolysis characteristics. Fourier transform infrared spectroscopy and scanning electron microscopeenergy dispersive spectrometer were used to determine their morphology, functional groups and element contents. Page model was used to investigate the constant drying kinetics of processed calamine. Results： The adding of HLD or SHD to calcined calamine（CC） can slow its weight loss in drying pyrolysis process. The temperature ranges where HLD and SHD can affect its weight loss were 65–150 ℃ and 74–180 ℃, respectively. The drying temperature was optimized as 90 ℃. The drying kinetic for the processed calamine fits Page model shows good linearity. Conclusions： The critical temperature and the optimal drying temperature where HLD and SHD can affect the weight loss rate in the process of calamine were explored using the theories and methods of both biophysical chemistry and processing of Chinese materia medica. This work provides a good example for the study of the process of other Chinese medicines using modern analytical techniques.

Visual Person Identification Using a Distance-dependent Appearance Model for a Person Following Robot

This paper describes a person identifcation method for a mobile robot which performs specifc person following under dynamic complicated environments like a school canteen where many persons exist.We propose a distance-dependent appearance model which is based on scale-invariant feature transform（SIFT） feature.SIFT is a powerful image feature that is invariant to scale and rotation in the image plane and also robust to changes of lighting condition.However,the feature is weak against afne transformations and the identifcation power will thus be degraded when the pose of a person changes largely.We therefore use a set of images taken from various directions to cope with pose changes.Moreover,the number of SIFT feature matches between the model and an input image will decrease as the person becomes farther away from the camera.Therefore,we also use a distance-dependent threshold.The person following experiment was conducted using an actual mobile robot,and the quality assessment of person identifcation was performed.