Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations

The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction techniques.To begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and joints.This approach helps circumvent the numerical instability typically encountered with traditional constraint equations.The IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate frame.Subsequently,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic model.The proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional equations.An example utilizing an over constrained subclosed loops demonstrate the application of the proposed method.In conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.

Impact of an official accountability audit on industrial structure adjustment:a case study of environmental regulation in China

As a unique environmental regulation in China,the official accountability audit was piloted in 2014.With a focus on prioritizing the ecological environment,officials in pilot districts have implemented economic construction,adjusted industrial structures,and promoted coordinated development between the economy and environment.The effects of implementation have garnered widespread attention from society.However,there is limited research on the impact of an accountability audit on industrial structure adjustments.Using the“Accountability Audit of Officials for Natural Resource Assets(Trial)”released in 2015 as a quasi-natural experiment,this study collected panel data from 279 cities between 2013 and 2017.It then empirically analyzed the impact mechanism and effects of the accountability audit on industrial structure adjustment using the Propensity Score Matching and Difference-in-Differences model.The research findings indicate that the accountability audit directly impacted industrial structure adjustment,promoting the upgrading of the primary industry to the secondary industry and restricting the development of the tertiary industry.In addition,the audit is beneficial for enterprise entry,but not conducive to technological innovation,and has no significant impact on foreign direct investment.This conclusion fills a gap in the existing research and provides valuable insights for policymakers.

Event-triggered robust cooperative output regulation for a class of linear multi-agent systems with an unknown exosystem

This paper investigates the robust cooperative output regulation problem for a class of heterogeneousuncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizingthe internal model approach and the adaptive control technique, a distributed adaptive internal model isconstructed for each agent. Then, based on this internal model, a fully distributed ETC strategy composed ofa distributed event-triggered adaptive output feedback control law and a distributed dynamic event-triggeringmechanism is proposed, in which each agent updates its control input at its own triggering time instants. It isshown that under the proposed ETC strategy, the robust cooperative output regulation problem can be solvedwithout requiring either the global information associated with the communication topology or the bounds ofthe uncertain or unknown parameters in each agent and the exosystem. A numerical example is provided toillustrate the effectiveness of the proposed control strategy.

Interaction and coordinated development between desertification control and social economy in Xizang,China

Based on the general requirements of the coordinated development of"ecological livable"and"affluent life"in the rural revitalization strategy,the evaluation index system of desertification control was constructed,the interaction between desertification control and regional social economy and the internal space-time coordination mechanism were explored,and the quality of desertification control and its coordination degree with regional economic development were quantitatively analyzed.The decoupling mechanism of desertification governance society economy system were analyzed,and the high level for the government to promote desertification governance,constructing ecological economy coordinated development pattern to provide decision basis to Xizang desertification governance-social economic system interaction and coupling coordination development as the research object,introducing the coupling decoupling model to measure the coupling coordination model and system coordination and decoupling decoupling.Desertification control in Xizang shows a trend of gradual improvement,but the overall level is still not high and there is a lot of room for optimization.The coupling coordination degree of desertification control-social and economic system is in a steady fluctuation trend,rising from D value less than 0.55 in 2004 to 0.87 in 2018,in a state of coordinated development(good),and grey prediction analysis shows that D value is in a continuous rise.The coupling coordination degree of the six prefecture-level cities in Xizang and Ngari region is different in time and space,but the overall development trend is coordinated.The development index of desertification control and the socio-economic development index show the interaction of strong decoupling,strong negative decoupling and weak decoupling,and there are interaction effects of desertification control,economic development and social development at different scales.

Research on the Coupled and Coordinated Development of Tourism and Transport in Chengdu City

Based on a total of 16 indicators selected from the tourism and transport industries,an evaluation index system of the coupling and coordination development level of tourism and transport is constructed.The entropy value method and the coupling coordination degree model are used to conduct an empirical study on the development level and coupling coordination level of the transport and tourism industries in Chengdu City from 2011 to 2020.The results show that,on the whole,the coupling coordination degree of transport and tourism in Chengdu is poor and has been in a state of mild to moderate dysfunction.The development level of tourism lagged behind the development of transport from 2011 to 2012,and the two were in a state of mild dysfunction.However,from 2013 onwards,the development level of tourism was prioritized over the development level of transport.This shift caused the coupling coordination degree of the two industries to decline sharply to 0.23305 in 2013.The development level of the tourism industry increased again,reaching 0.34206 in 2019,which marked an improvement.Consequently,the coordination degree of the transport and tourism industries evolved from moderate dislocation to mild dislocation.Finally,the results of the empirical research are analyzed,and corresponding suggestions are put forward to promote the sustainable growth of the transport and tourism industries in Chengdu City.These suggestions aim to improve the coupled and coordinated development level of the two industries.

Valve Dynamic and Thermal Cycle Model in Stepless Capacity Regulation for Reciprocating Compressor

The existing researches of stepless capacity regulation system by depressing the suction valve for reciprocation compressor always adopt hypothesis that the compressor valves are open or close instantaneously, the valve dynamic has not been taken account into thermal cycle computation, the influence of capacity regulation system on suction valves dynamic performance and cylinder thermal cycle operation has not been considered. This paper focuses on theoretical and experimental analysis of the valve dynamic and thermal cycle for reciprocating compressor in the situation of stepless capacity regulation. The valve dynamics equation, gas forces for normal and back flow, and the cylinder pressure varying with suction valve unloader moment during compression thermal cycle are discussed. A new valve dynamic model based on L-K real gas state equation for reciprocating compressor is first deduced to reduce the calculation errors induced by the ideal gas state equation. The variations of valve dynamic and cylinder pressure during part of compression stroke are calculated numerically. The calculation results reveal the non-normal thermal cycle and operation condition of compressor in stepless capacity regulation situation. The numerical simulation results of the valve dynamic and thermal cycle parameters are also verified by the stepless capacity regulation experiments in the type of 3L-10/8 reciprocating compressor. The experimental results agree with the numerical simulation results, which show that the theoretical models proposed are effective and high-precision. The proposed theoretical models build the theoretical foundation to design the real stepless capacity regulation system.

POSITIVE PERIODIC SOLUTION FOR A NONAUTONOMOUS LOGISTIC MODEL WITH LINEAR FEEDBACK REGULATION

A nonautonomous delayed logistic model with linear feedback regulation is proposed in this paper. Sufficient conditions are derived for the existence, uniqueness and global asymptotic stability of positive periodic solution of the model

Fuzzy robust path tracking strategy of an active pelagic trawl system with coordinated ship and winch regulation

A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed.First,nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design.Then,an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom.By means of the active tracking control,the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation.In addition,considering the system nonlinearities,modeling uncertainties and the unknown exogenous disturbance of the trawl system model,a nonlinear robust H2 /H∞ controller based on Takagi-Sugeno(T-S) fuzzy model was presented,and the simulation comparison with linear robust H2 /H∞ controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller.The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2 /H∞ control and 125.8 m for the vertical and horizontal displacement,respectively,which is much smaller than linear H2 /H∞ controller and the PID controller.The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.

Thyroid hormone regulation of apoptotic tissue remodeling during anuran metamorphosis

Anuran metamorphosis involves systematic transformations of individual organs in a thyroid hormone (TH)-dependent manner. Morphological and cellular studies have shown that the removal of larval or- gans/tissues such the tail and the tadpole intestinal epithelium is through programmed cell death or apop- tosis. Recent molecular investigations suggest that TH regulates metamorphosis by regulating target gene expression through thyroid hormone receptors (TRs), which are DNA-binding transcription factors. Cloning and characterization of TH response genes show that diverse groups of early response genes are induced by TH. The products of these TH response genes are believed to directly or indirectly affect the expression and/or functions of cell death genes, which are conserved at both sequence and function levels in different animal species. A major challenge for future research lies at determining the signaling pathways leading to the activation of apoptotic processes and whether different death genes are involved in the regulation of apoptosis in different tissues/organs to effect tissue-specific transformations.

Modeling Gross Primary Production by Integrating Satellite Data and Coordinated Flux Measurements in Arid and Semi-Arid China

Assessing large-scale patterns of gross primary production (GPP) in arid and semi-arid (ASA) areas is important for both scientific and practical purposes.Remote sensing-based models,which integrate satellite data with input from ground-based meteorological measurements and vegetation characteristics,improve spatially extended estimates of vegetation productivity with high accuracy.In this study,the authors simulated GPP in ASA areas by integrating moderate resolution imaging spectral radiometer (MODIS) data with eddy covariance and meteorological measurements at the flux tower sites using the Vegetation Photosynthesis Model (VPM),which is a remote sensing-based model for analyzing the spatial pattern of GPP in different land cover types.The field data were collected by coordinating observations at nine stations in 2008.The results indicate that in the region during the growing season GPP was highest in cropland sites,second highest in woodland sites,and lowest in grassland sites.VPM captured the temporal and spatial characteristics of GPP for different land covers in ASA areas.Further,Enhanced Vegetation Index (EVI) had a strong liner relationship with GPP in densely vegetated areas,while the Normalized Difference Vegetation Index (NDVI) had a strong liner relationship with GPP over less dense vegetation.This study demonstrates the potential of satellite-driven models for scaling-up GPP,which is a key component for studying the carbon cycle at regional and global scales.

Existence of Two Periodic Solutions of a Delayed Single Species Model with Feedback Regulation and Harvest Term

By means of the continuation theorem of the coincidence degree theory,the existence of two periodic solutions of a delayed single species model with feedback regulation and harvest term is obtained.

Output regulation of nonlinear singularly perturbed systems based on T-S fuzzy model

Based on the T-S model, the output regulation of nonlinear singularly perturbed systems via state feedback is discussed. It is shown that, under standard assumptions, this problean is solvable if and only if certain linear matrix equations are solvable. Once these equations are solvable, the state feedback regulator can easily be constructed.

Evaluation of the coordinated development of China’s forest resources-economy-environment system

Forests provide enormous ecological, economic, and social benefits, as such forest development should be ori‐ented toward resource-economy-environment harmonization. This paper constructs a comprehensive evalua‐tion index system and uses the coupled coordination degree model to measure the coordinated development level of China’ s forest resources-economy-environment system. The results show that, across 2006‒2020, the level of coupled coordinated development of China’ s forest resources-economy-environment composite system fluctuates in an upward trend, thus gradually developing from an initial imbalance to a high degree of coordi‐nation;the level of coordinated development of each subsystem of the forest resources, economy, and environ‐ment also shows an upward trend. The factors influencing the coordinated development of the forest resource economy-environment system are, in order, the government’ s financial capacity, market environment, scien‐tific and technological innovation capacity, level of economic development, and strength of policy implemen‐tation. Therefore, this paper proposes some measures to improve the coordinated development.

Coordinate-Parametric Matrix Model Inspired Square-Conjoint Pattern in Cross Woven for Conventional Bamboo Mat

In the study,it is proposed that a coordinate-parametric matrix model is performed to a square-conjoint pattern of cross woven(SCPCW)in the bamboo mat.The patterns of SCPCW are firstly detected according to the perspective of configuration,which is divided into the basic-monomer shape and the basic combination shape.Secondly,the compositions of design patterns in SCPCW are analyzed to attain the trend of curve shape.Based on the coordinate-parametric matrix model,the specimens of SCPCW are subsequently accomplished to elaborate the woven logic of bamboo mats.The digital innovation of SCPCW,defined by a mathematical resolution,is implemented by the software of Grasshopper(GH),which plays a crucial role in capturing image information by the Image Sampler component.Successively,the weaving logic of coordinated matrix is referred to apply in the computing component of Grasshopper software.Finally,the computer simulation could demonstrate that the coordinate-parametric matrix model of SCPCWwould be realized to analyze the micro-weaving structure and overall weaving effect in the bamboo mat.

The influence of heterogeneous environmental regulation on the green development of the mining industry: empirical analysis based on the system GMM and dynamic panel data model

The intensity of environmental regulation (ERI) affects the short-term effect of the level of green mining (GML),and which structure determines the long-term mechanism.Based on the panel data from 2001 to 2015,with the dynamic panel model and system GMM estimation method were employed to test the influence of heterogeneous environmental regulation on green mining and its transmission mechanism.The results show that,there is a 'U' type nonlinear relationship between the ERI and GML.The direct effect of command-control-based (CAC) and the market incentive-based (MBI) environmental regulation on green development of mining shows the characteristics of inhibition and promotion.There is a 'U' type of indirectly moderating effect between technological innovation and the energy consumption structure on the GML.The technological innovation promotes the green development of the mining industry only after pass the inflection point of MBI,while the CAC plays a significant guiding role in upgrading of the energy consumption structure.There is an inhibition and promotion effect of MBI on the GML in the southeast coastal area,and the CAC is not significantly.Meanwhile,both of the ERI shows no positive effects in the central and western inland region.

China＇s Electricity Industry at the Crossroads： New Challenges for Developing the Right Model of Regulation

China is facing important challenges stemming from increasing rates of urbanization and aging population. To pursue its ＂harmonious society＂ objective without disrupting its path to development major overhauls are necessary in education, health, social security and above all in public services, particularly in electricity. China＇s electricity industry is at the crossroads. To meet the challenges, new models of regulation should be developed and applied. This paper examines the current state of the Chinese electricity industry and the burden it imposes on its public finances. It also reviews and critically examines the existing FIT （Europe） and RPS （USA） models of regulation and of promotion of renewable energies and advances on whether they are advantageous for China. It is argued that the electricity industry has already undergone important reforms but cross subsidies still exist, equivalent to 1.5% of China＇s GDP. Drastic rate rebalancing policies will create sustainability problems and a deterioration of China＇s public finances. To avoid such negative results, China has to further reform its electricity industry gradually and use wisely FIT-type programs to bring renewables into the grid and fulfill the Kyoto Protocol

Experimental study on f-ω regulation model under abnormal methane emission

In view of the difficulty of automatic adjustment, the recovery lag and the major accident potential of the mine ventilation system, an experimental model of the pipe net was established according to the typical one mine and one working face ventilation system of Daliuta coal mine. Using the best uniform approximation method of Chebyshev interpolation to fit the fan performance curve, we experimentally determined fan characteristics with different frequencies and establish the data base for the curves. Based on ventilation network monitoring theory, we designed a monitoring system for ventilation network parameter monitoring and fan operating frequency automatic control. Using the absolute methane emission quantity to predict the air quantity requirement of branch and fan frequency, we established a f-ω regulation model based on fan frequency and absolute methane emission quantity. After analysing methane emission and distribution characteristics, using CO_2 to simulate the methane emission characteristics from a working face, we verified the correctness and rationality of the f-ω regulation model. The fan operation frequency is adjusted by the method of air adjustment change with methane emission quantity and the curve searching method after determining air quantity requirements. The results show that the air quantity in a branch strictly changes according to the f-ω regulation model, in the airincreasing dilution by fan frequency regulation, the CO_2 concentration is limited to the set threshold value. The paper verifies the practicability of a frequency regulation system and the feasibility of the frequency adjustment scheme and provides guidance for the construction of automatic frequency conversion control system in coal mine ventilation networks.

The impact of political connections on firm pollution: New evidence based on heterogeneous environmental regulation

Increasing attention has been focused on the extent to which corporate political connections influence the growing pollution due to the rapid growth in the popularity of firm pollution in developing countries.We adopt a static threshold regression model to investigate the effects of heterogeneous environmental regulation on political connections and firm pollution based on the panel data from China’s A-share listed companies from 2012 to 2019.The empirical results show a non-linear relationship between the degree of political connection of listed company executives and the level of firm pollution.And the relationship between the two roughly presents a U-shaped relationship under the action of the marketincentive environmental regulation threshold.However,it roughly presents an inverted N-shaped relationship under the action of the command-control environmental regulation threshold.Additionally,the group test results show that the existence of regional and ownership heterogeneity causes certain differences in the environmental behaviour of politically connected enterprises.These findings indicate that diverse environmental regulations are needed to promote sustainable green development and to further expand the theoretical and practical exploration of political connections on firm pollution.

Three-Dimensional Analytical Modeling of Axial-Flux Permanent Magnet Drivers

In this paper, the axial-flux permanent magnet driver is modeledand analyzed in a simple and novel way under three-dimensional cylindricalcoordinates. The inherent three-dimensional characteristics of the deviceare comprehensively considered, and the governing equations are solved bysimplifying the boundary conditions. The axial magnetization of the sectorshapedpermanent magnets is accurately described in an algebraic form bythe parameters, which makes the physical meaning more explicit than thepurely mathematical expression in general series forms. The parameters of theBessel function are determined simply and the magnetic field distribution ofpermanent magnets and the air-gap is solved. Furthermore, the field solutionsare completely analytical, which provides convenience and satisfactoryaccuracy for modeling a series of electromagnetic performance parameters,such as the axial electromagnetic force density, axial electromagnetic force,and electromagnetic torque. The correctness and accuracy of the analyticalmodels are fully verified by three-dimensional finite element simulations and a15 kW prototype and the results of calculations, simulations, and experimentsunder three methods are highly consistent. The influence of several designparameters on magnetic field distribution and performance is studied and discussed.The results indicate that the modeling method proposed in this papercan calculate the magnetic field distribution and performance accurately andrapidly, which affords an important reference for the design and optimizationof axial-flux permanent magnet drivers.

碳减排“时-空-效-益”统筹理论:Ⅲ.效率统筹

碳减排效率表现为在达成碳减排目标同时尽可能降低社会成本,实现碳减排效率最优的关键在于统筹政府管制与市场机制。作为碳减排“时-空-效-益”统筹理论系列论文的组成部分,构建了效率统筹方法框架,首先阐释了碳减排效率的概念内涵,提出了效率统筹的理论框架;进而采用新制度经济学的理论视角,系统分析了市场机制与政府干预在碳减排过程中的互动机制与互补路径;并结合相对斜率决策准则,应用C3IAM/EcOp模型和CEEPA-CETA-FM模型深入探索了如何在不同减排机制下实现减排资源的优化配置,科学回答了碳减排混合机制的设计问题,为统筹政府管制与市场机制提供方法基础。