Active Force with Fuzzy Logic Control of a Two-Link Arm Driven by Pneumatic Artificial Muscles

In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.

An Active Force

The Chinese People’s Liberation Army plays an important role in disaster relief at home and abroad Wang Jiaxu, a 22-year-old soldier with the Engineering Regiment of Beijing

A Comparison of New General System Theory Philosophy With Einstein and Bohr

The New General System theory was developed to be a theory of everything for complex systems within the world we can observe.This theory was constructed by supplementing a new mind-ether ontology into Bertalanffy’s general system theory framework.This theory is basically a generalization of classical mechanics rather than a revolution to it taken both by Einstein and Bohr in developing their relativity theory and quantum mechanics.The purpose of this paper is to reveal the reasons why Einstein and many others fail to unify relativity theory with quantum mechanics through comparing the main differences in philosophical opinions among NGST,Einstein,and Bohr.It is the hope of the authors that this clarification could speed up the unification process.

Effect of the Earth Movement on the Measured Moon Trajectory

All lunar theories within the framework of classical mechanics are based on the assumption of an inertial frame of reference,which is physically non-existent and has scarcely been examined in previous studies.This paper aims to examine the consequence of giving up the assumption of the existence of an inertial frame and the relevant influence on the measured moon trajectories.The general formulation of the lunar orbit is built from the perspective of the new general system theory(NGST),where the moon is modelled as a 6-DOF living body and active forces are introduced.This formulation can be retrograded to the framework of classical mechanics.Firstly,we calculate the active forces on the moon when a fixed earth movement and a fixed moon movement are assumed in the god-coordinate system.Then we investigate what will happen to the measured moon trajectory in the human-coordinate system when the earth movement and other parameters are perturbed in several cases.It is found that the results are sometimes inconsistent with the explanations using inertia forces in classical mechanics but can be well explained by NGST.We also discovered that the active forces on the moon should be adjusted constantly to maintain the stable measured moon trajectory.

Simplified performance indices and active control force of vibration isolation systems with elastic base

Influence of the elasticity of the base on vibration isolation performances of single layer, double layer and floating raft vibration isolation systems is investigated systematically. Characteristics of vibration coupling between different vibration isolation systems and different elastic bases are analyzed. Moreover the characteristics of vibration acceleration level difference and force transmissibility of different vibration isolation systems are discussed and their simpli- fled expressions are given. In addition the required control forces of active vibration isolation under different installations of actuators for different vibration isolation systems are compared. The results show that for all vibration isolation systems, the addition of the stiffness and damping of the base can enhance their vibration acceleration level difference and force transmissibility. Moreover for floating raft vibration isolation system, the addition of the stiffness and damping of the raft can enhance its vibration isolation performance and reduce the control force required bv active vibration isolation.

Centennial-scale monsoon collapses during Marine Isotope Stage(MIS)7e detected in a northern Chinese stalagmite record

Occurrence or absence of centennial-scale climatic variability during Marine Isotope Stage(MIS)7e,the first peak interval of the Penultimate Interglacial,remains ambiguous due to the limited available high-resolved records.Here,we present a decadal-resolved stalagmiteδ^(18)O record from northern China spanning from 242.3 to 236.8 ka BP,covering MIS7e.The composite KLSδ^(18)O record,integrating this study with the previous record in the same cave,shows a descending trend from TerminationⅢto MIS7e,which follows the increasing Northern Hemisphere summer insolation(NHSI).This observation further emphasizes the important influence of NHSI on the glacial/interglacial transition.There are more large-amplitude,millennial-to centennial-scale variability occurring during TerminationⅢcompared with MIS7e,implying that ice-sheet decay potentially plays an important role in climatic excursions.Four centennial-scale summer monsoon collapses,peaking at~242.1,~240.8,~239.3 and~238.2 ka BP,are detected in our new record,indicating the pervasiveness of the intra-interglacial climatic instability.Given the lack of solar activity and freshwater outbursts data during MIS7e,it is not possible to conclude about the drivers of the identified abrupt climatic anomalous.Following the dynamic mechanisms of sub-millennial climatic anomalous during early Holocene,we tentatively propose that slowdown of the meridional overturning circulation caused by freshwater fluxes into North Atlantic and/or attenuated solar irradiance is the potential forcing for the abrupt climate events within MIS7e.Additionally,attenuated solar irradiance could also result in climatic anomalies through low-latitude processes.

A Parallel Actuated Pantograph Leg for High-speed Locomotion

High-speed running is one of the most important topics in the field of legged robots which requires strict constraints on structural design and control. To solve the problems of high acceleration, high energy consumption, high pace frequency and ground impact during high-speed movement, this paper presents a parallel actuated pantograph leg with an approximately decoupled configuration. The articulated leg features in light weight, high load capacity, high mechanical efficiency and structural stability. The similarity features of force and position between the control point and the foot are analyzed. The key design parameters, K1 and K2, which concern the dynamic performances, are carefully optimized by comprehensive evaluation of the leg inertia and mass within the maximum foot trajectory, A control strategy that incorporates virtual Spring Loaded Inverted Pendulum （SLIP） model and active force is also proposed to test the design. The strategy can implement highly flexible impedance without mechanical springs, which substantially simplifies the design and satisfies the variable stiffness requirements during high-speed running. The rationality of the structure and the effectiveness of the control law are validated by simulation and experiments.

Adsorption and desorption of SO_2, NO and chlorobenzene on activated carbon

Activated carbon（AC） is very effective for multi-pollutant removal; however, the complicated components in flue gas can influence each other＇s adsorption. A series of adsorption experiments for multicomponents, including SO_2, NO, chlorobenzene and H2 O,on AC were performed in a fixed-bed reactor. For single-component adsorption, the adsorption amount for chlorobenzene was larger than for SO_2 and NO on the AC. In the multi-component atmosphere, the adsorption amount decreased by 27.6% for chlorobenzene and decreased by 95.6% for NO, whereas it increased by a factor of two for SO_2,demonstrating that a complex atmosphere is unfavorable for chlorobenzene adsorption and inhibits NO adsorption. In contrast, it is very beneficial for SO_2 adsorption. The temperature-programmed desorption（TPD） results indicated that the binding strength between the gas adsorbates and the AC follows the order of SO_2〉 chlorobenzene 〉 NO. The adsorption amount is independent of the binding strength. The presence of H2 O enhanced the component effects, while it weakened the binding force between the gas adsorbates and the AC. AC oxygen functional groups were analyzed using TPD and X-ray photoelectron spectroscopy（XPS） measurements. The results reveal the reason why the chlorobenzene adsorption is less affected by the presence of other components. Lactone groups partly transform into carbonyl and quinone groups after chlorobenzene desorption. The chlorobenzene adsorption increases the number of C = O groups, which explains the positive effect of chlorobenzene on SO_2 adsorption and the strong NO adsorption.

Experimental and Numerical Study of Cervical Muscle Contraction in Frontal Impact

In a crash situation,drivers typically make evasive maneuvers before an upcoming impact,which can affect the kinematics and injury during impact.The purpose of the current study was to investigate the response and effect of drivers’cervical muscles in a frontal impact.A crash scenario was developed using a vehicle driving simulator,and 10 volunteers were employed to drive the simulator at 20 km/h,50 km/h,80 km/h and 100 km/h.Electromyography(EMG)was recorded from the sternocleidomastoideus(SCM),splenius cervicis(SPL)and trapezium(TRP)muscles using a data acquisition system,and the level of muscle activation was calculated.A numerical study was conducted using data collected in the experiment.The results revealed that the cervical muscles were activated during drivers’protective action.EMG activity of cervical muscles before impact was greater than that during normal driving.EMG activity increased with driving speed,with the SCM and TRP exhibiting larger increases than the SPL.The kinematics and load of the driver were influenced by muscle activation.Before the collision,the head of an active model stretched backward,while the passive model kept the head upright.In low-speed impact,the torque and shear of the cervical muscle in the active model were much lower than those in the passive model,while the tension of the cervical muscle was higher in the active model compared with the passive model.The results indicated that the incidence of cervical injury in high-speed impact is complex.