Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism.In this paper,the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy(3-DOF PM-KR)and the influence of redundant parts on the PM-KR are analyzed.Firstly,the kinematics model of the PM-KR is established.The inverse solutions,the Jacobian matrix,and the workspace of the PM-KR are solved.Secondly,the influence of redundancy on the PM-KR is analyzed.Since there exists kinematic redundancy,the PM-KR possesses fault-tolerant performance.By locking one actuating joint or two actuating joints simultaneously,the fault-tolerant workspace is obtained.When the position of the redundant part is changed,the workspace and singularity will be changed.The results show that kinematic redundancy can be used to avoid singularity.Finally,the simulations are performed to prove the theoretical analysis.

Reliability Analysis of a Mixed Redundant Model in C 3I System

Aim To define a mixed redundant model(MRM), improving the reliability of C 3I system. Methods The model combined the technology characters of two? unit system with one warm stand by unit and function substitute system. The reliability and availability equations of MRM were deduced. Results and Conclusion Compared with several other reliability models, it has obvious effect upon improving the system reliability. The effect? cost rate is very high among these models. The model can be used in reliability design, evaluation and check of C 3I system. Only a little attached cost is needed to improve C 3I system reliability effectively.

Performance Degradation and Reliability Analysis for Redundant Actuation System

Redundant actuator is the key component of Fly-By-Wire （FBW） system in which exists the inherent force fighting among different redundant channels at colligation point, This paper establishes the mathematical model of quad redundant actuator （QRA）, investigates the force equalization algorithm and carries out the performance degradation simulation and reliability analysis under the first failure and the second failure. The results indicate that the optimal equalization algorithm can solve the force fighting effectively, and the QRA can operate at degradation performance continuously under the first failure and the second failure. With the dynamic fault tree analysis, this paper calculates the reliability based on the performance of QRA and proves that the redundant actuator has very high reliability and safety.

System Reliability Analysis of Redundant Condition Monitoring Systems

The development and application of new reliability models and methods are presented to analyze the system relia- bility of complex condition monitoring systems.The methods include a method analyzing failure modes of a type of redundant con- dition monitoring systems (RCMS) by invoking failure tree model,Markov modeling techniques for analyzing system reliability of RCMS,and methods for estimating Markov model parameters.Furthermore,a computing case is investigated and many conclu- sions upon this case are summarized.Results show that the method proposed here is practical and valuable for designing condition monitoring systems and their maintenance.

GOMA:functional enrichment analysis tool based on GO modules

Analyzing the function of gene sets is a critical step in interpreting the results of high-throughput experiments in systems biology. A variety of enrichment analysis tools have been developed in recent years, but most output a long list of significantly enriched terms that are often redundant, making it difficult to extract the most meaningful functions. In this paper, we present GOMA, a novel enrichment analysis method based on the new concept of enriched functional Gene Ontology (GO) modules. With this method, we systematically revealed functional GO modules, i.e., groups of functionally similar GO terms, via an optimization model and then ranked them by enrichment scores. Our new method simplifies enrichment analysis results by reducing redundancy, thereby preventing inconsistent enrichment results among functionally similar terms and providing more biologically meaningful results.

Comparative Study on Structural Redundancy of Cable-Stayed and Extradosed Bridges Through Safety Assessment of Their Stay Cables

This study provides new insights into the comparison of cable-stayed and extradosed bridges based on the safety assessment of their stay cables.These bridges are often regarded as identical structures owing to the use of inclined cables;however,the international standards for bridge design stipulate different safety factors for stay cables of both types of bridges.To address this misconception,a comparative study was carried out on the safety factors of stay cables under fatigue and ultimate limit states by considering the effects of various untoward and damaging factors,such as overloading,cable loss,and corrosion.The primary goal of this study is to describe the structural disparities between both types of bridges and evaluate their structural redundancies by employing deterministic and nondeterministic methods.To achieve this goal,three-dimensional finite-element models of both bridges were developed based on the current design guidelines for stay cables in Japan.After the balanced states of the bridge models were achieved,static analyses were performed for different safety factors of stay cables in a parametric manner.Finally,the first-order reliability method and Monte Carlo method were applied to determine the reliability index of stay cables.The analysis results show that cable-stayed and extradosed bridges exhibit different structural redundancies for different safety factors under the same loading conditions.Moreover,a significant increase in structural redundancy occurs with an incremental increase in the safety factors of stay cables.

Self-alignment of full skewed RSINS: observability analysis and full-observable Kalman filter

Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.

Fault Detection and Isolation for Low Hardware Redundancy Flight Control System

The problems of current highly redundant flight control system are analyzed in this paper. Our study gives methods of utilizing other information to reduce physical components on the condition of meeting the reliability requirements for flight control system. The strategies presented in this paper mainly include information redundancy, multi-thread, time redundancy, geometry space redundancy, etc.. Analysis and simulation show these non-hardware based methods can reduce the requirement of system hardware level and thus reduce the system complexity, weight, space, costs and R＆D （research and development） time.

Canonical correlation analysis to land-use structure and its driving forces——Taking Yulin Prefecture as an example

In this paper, one of the most classical statistical methods, Canonical Correlation Analysis (CCA) is applied to identify quantitatively the driving forces of landuse structure in Yulin Prefecture. The main analysis is carried out through the software SPSS with the data on the level of towns and townships in 1992. The results indicate that landuse structure is determined by comprehensive action of different factors. Landuse structure with rural characteristics is mainly determined by geographical factors such as the elevation, temperature and precipitation, while the landuse structure with urban characteristics is mainly determined by demographic and socioeconomic conditions. At the same time, tests were carried out through the canonical correlation coefficient and redundancy analysis.

Extending and analysis of X-Code

X-Code is one of the most important redundant array of independent disk （RAID）-6 codes which are capable of tolerating double disk failures. However, the code length of X-Code is restricted to be a prime number, and such code length restriction of X-Code limits its usage in the real storage systems. Moreover, as a vertical RAID-6 code, X-Code can not be extended easily to an arbitrary code length like horizontal RAID-6 codes. In this paper, a novel and efficient code shortening algorithm for X-Code is proposed to extend X-Code to an arbitrary length. It can be further proved that the code shortening algorithm maintains the maximum-distance-separable （MDS） property of X-Code, and namely, the shortened X-Code is still MDS code with the optimal space efficiency. In the context of the shortening algorithm for X-Code, an in-depth performance analysis on X-Code at consecutive code lengths is conducted, and the impacts of the code shortening algorithm on the performance of X-Code in various performance metrics are revealed.

Evaluation and Optimization of the Mixed Redundancy Strategy in Cloud-Based Systems

Mixed redundancy strategies are generally used in cloud-based systems,with different node switch mechanisms from traditional fault-tolerant strategies.Existing studies often concentrate on optimizing a single strategy in cloud computing environment and ignore the impact of mixed redundancy strategies.Therefore,a model is proposed to evaluate and optimize the reliability and performance of cloud-based degraded systems subject to a mixed active and cold standby redundancy strategy.In this strategy,node switching is triggered by a continual monitoring and detection mechanism when active nodes fail.To evaluate the transient availability and the expected job completion rate of systems with such kind of strategy,a continuous-time Markov chain model is built on the state transition process and a numerical method is used to solve the model.To choose the optimal redundancy for the mixed strategy under system constraints,a greedy search algorithm is proposed after sensitivity analysis.Illustrative examples were presented to explain the process of calculating the transient probability of each system state and in turn,the availability and performance of the whole system.It was shown that the near-optimal redundancy solution could be obtained using the optimizationmethod.The comparison with optimization of the traditional mixed redundancy strategy proved that the system behavior was different using different kinds of mixed strategies and less redundancy was assigned for the new type of mixed strategy under the same system constraint.

Probabilistic Indicators of Structural Redundancy in Mechanics

The paper in the introductory part reviews various definitions and interpretations of structural redundancy in mechanics. The study focuses on the general structural redundancy of systems after sequences of component failures followed by possible load redistributions. The second section briefly summarizes the Event Oriented System Analysis and structural redundancy in terms of the conditional probabilistic entropy. Mechanical responses to adverse loads in this approach are represented by random operational and failure events in the lifetime. The general redundancy measure in the third section of the paper employs the information entropy and goes beyond existing formulations since it includes all functional modes in service. The paper continues with a summary of traditional redundancy indices. In addition, it proposes an alternative redundancy index that accounts for the transition to secondary functional level in case of failures of primary components. The example of a ship structure illustrates the usage of the conditional entropy of subsystems of operational events and compares it to the traditional and newly proposed redundancy indices. The study at the end investigates how to enhance the safety of structures by using the redundancy based design.

基于高通量测序技术分析不同窖龄窖泥真菌群落多样性与空间异质性

利用Illumina NovaSeq高通量测序、冗余分析和FUNGuild等方法对甘肃金徽酒10a和50a窖龄窖池及其不同空间位置窖泥的真菌群落结构、真菌菌群与理化因子之间的关系以及真菌功能预测等进行研究。结果表明,随着窖池深度的增加,10 a窖池窖泥的多样性和丰富度呈现降低趋势,50 a窖池窖泥的多样性整体呈现升高趋势,而丰富度则呈现先降低后升高趋势,其中10a窖池窖壁上层的多样性和丰富度均显著高于其他位置(P<0.05),而50a窖池窖底层的多样性和丰富度均显著高于其他位置(P<0.05)。10a窖池窖壁层的多样性和丰富度显著高于50a窖池(P<0.05),而50a窖底层的多样性和丰富度明显高于10a窖池(P<0.05)。所有窖泥样品共检测到21个真菌门和520个真菌属,其中子囊菌门(Ascomycota)、担子菌门(Basidiomycota)、被孢霉门(Mortierellomycota)和罗兹菌门(Rozellomycota)4个优势真菌门以及曲霉属(Aspergillus)和哈萨克斯坦酵母属(Kazachstania)等多数优势真菌属的相对丰度随窖池窖龄和空间位置的变化差异显著(P<0.05)。镰刀霉属(Fusarium)、Aspergillus、Kazachstania和红曲霉属(Monascus)与水分、腐殖质、K^(+)和Ca^(2+)含量呈正相关,枝孢菌属(Cladosporium)、维希尼克氏酵母属(Vishniacozyma)与pH值呈正相关。窖泥真菌营养类型主要有腐生营养型和病理-腐生-共生营养型等7种,功能类群包括4个单一功能群和7个混合功能群。通过系统分析不同窖龄窖池和空间位置的窖泥真菌群落多样性,为明确甘肃金徽酒窖泥的真菌群落结构及空间分布规律奠定了理论基础。

变电站系统抗震冗余性量化方法

为定量评价冗余性对变电站系统抗震性能的影响,提出了基于状态树方法的系统抗震冗余性分析方法.首先,在功能单元层面提出了冗余度、冗余效果指标、冗余系数的定义;其次,给出了系统冗余度的线性加权组合和非线性加权组合计算方法,将功能单元的冗余度和冗余系数进行集成;最后,建立了系统冗余度和冗余效果指标之间的关联模型.结果表明,变电站系统的抗震性能与其冗余度呈正相关性,系统冗余度-冗余效果指标模型可采用过原点直线表达,斜率为系统性能指标最大增量与系统最大冗余度的比值.母线单元具有汇集、分配电能的作用,对进线单元、变压器单元的冗余作用具有提升效果.采用线性加权和非线性加权组合计算方法时,变电站系统的最大冗余度分别为0.870和0.980,系统冗余度-冗余效果指标模型的斜率分别为0.698 9和0.618 1.

宁夏干旱风沙区荒漠草原不同退化阶段植被土壤变化特征及其相关性

为深入了解荒漠草原不同退化阶段植被与土壤变化,探究荒漠草原不同退化阶段土壤性质与植被特征的关系,本研究以宁夏干旱风沙区荒漠草原为对象,比较了未退化、轻度退化、中度退化和重度退化4个退化阶段下草地植被和土壤性状,分析了草地退化过程中植被与土壤的关系。结果表明:随草地退化程度增加,草地优势种由多年生豆科、禾本科逐渐转变为一年生杂类草;不同草地植物功能群盖度、高度和地上生物量随着退化加剧变化并不相同(P<0.05);Shannon-Wiener多样性指数、Simpson优势度指数和Pielou均匀度指数呈下降趋势;土壤有机质、全碳、全氮、速效氮、速效磷和黏粒含量显著降低,但容重显著增加。冗余分析发现,荒漠草原植被特征与土壤因子密切相关,不同退化阶段影响草地植被特征的土壤性质不同。未退化阶段,草地的植被特征受全碳含量极显著影响,中度退化阶段,草地的植被特征受容重含量极显著影响,重度退化阶段,草地的植被特征受速效氮含量极显著影响(P<0.01)。通过改善植被进而影响土壤或者补充土壤养分可能是一个有效的草地恢复策略。

嘉陵江源鱼类群落结构特征与环境因子的关系

为进一步了解和掌握嘉陵江源头水域鱼类群落变化特征,本研究于2019年在嘉陵江源头水域开展了春夏两季的鱼类调查工作。结果显示:两次调查共采集到鱼类19种,分属2目6科,其中鲤科10种,鳅科5种,平鳍鳅科、鳍科、鲇科和鲿科各1种;嘉陵江源干流和支流小峪河鱼类群落优势度指数较高,各河段优势种以鲤科鱼类为主。物种多样性分析结果显示,调查河流鱼类多样性指数(H′)、均匀度指数(J)和丰富度指数(D)的变化范围分别为1.36~2.06、0.59~0.73和1.52~2.63,嘉陵江源干流河段和小峪河鱼类多样性指数和均匀度指数高于其他河流,而安河鱼类丰富度指数最高;与嘉陵江源历史记载相比,鱼类群落结构为中等相似。鱼类群落稳定性分析结果表明,除小峪河鱼类群落较为稳定外,其余河段鱼类群落均受到了不同程度的扰动。冗余分析(RDA)结果显示,河道曲折系数是影响调查区域内优势鳍种分布的主要环境因子。

苏北高邮湖菹草(Potamogeton crispus)生长衰亡过程对水质与浮游植物群落的影响

为探究菹草(Potamogeton crispus)生长、衰亡期对生态环境的效应,本文以南水北调东线源头调蓄湖泊——高邮湖为研究区域,通过分析湖泊水质及浮游植物群落随菹草生长衰亡过程的变化情况,揭示高邮湖菹草暴发下水环境状况变化。结果表明:在菹草生长期水体透明度明显提高,且总氮浓度有较大程度的下降;而在菹草衰亡期,菹草生物量越高的区域水质越差。菹草在生长期对水环境起到一定的净化效果,而菹草衰亡降解会造成水质恶化。菹草生长期浮游植物密度和生物量显著低于衰亡期,生长期菹草高、中生物量区的浮游植物密度和生物量低于低生物量区,而在菹草衰亡期高、中生物量区的浮游植物密度和生物量高于低生物量区。冗余分析结果表明,pH、溶解氧、氨氮、硝态氮、总磷、高锰酸盐指数是菹草生长衰亡过程影响浮游植物群落结构的主要环境因子。分段结构方程模型模拟结果表明,菹草生物量可对浮游植物生物量产生直接效应,也可以通过改变环境因子对浮游植物生物量产生间接效应。

基于冗余分析的成都市府河缓冲带土地利用对水质的影响

土地利用是影响河流水环境质量的重要因素之一。然而,大型城市河流缓冲区的土地利用类型及组成对河流水质的影响方式仍不清晰。选取成都市中心城区的府河及其支流作为研究对象,设置17个水质监测断面,于2018年1月—2019年12月对COD_(Mn)、NH_(4)^(+)-N和TP 3个水质指标开展连续监测。同时,还获得了相同时段内的降水数据和基于高分卫星(GF-1)影像解译的土地利用数据。在此基础上,利用空间分析以及冗余分析方法,探讨河岸缓冲区内土地利用结构、组成对府河及支流水质的影响。研究结果表明:选取河段从上游到下游的COD_(Mn)、NH_(4)^(+)-N和TP浓度均呈增加趋势,这3类污染物在上游第一个监测断面浓度依次为1.73、0.26、0.06 mg/L,到下游最后一个监测断面浓度为2.59、0.97、0.15 mg/L。相对于干流,府河支流污染物浓度无明显空间分布特征。从时间上看,6—9月水体中各污染物浓度相对较高。基于冗余分析的结果发现,在河段2 000 m缓冲区范围内的土地利用类型对水质的影响最明显,校正后的解释度达57%,表明河段内污染物质主要源于此区域。该范围内,建设用地与其他生产用地可能是COD_(Mn)与NH_(4)^(+)-N的主要源区,农业用地是TP的主要来源,生态用地对于COD_(Mn)与NH_(4)^(+)-N具有一定的吸收分解作用。但是,研究区生态用地以园林绿化用地为主,需要施用磷肥,可能成为水体TP的重要贡献源。因此,合理规划河流2 000 m缓冲范围内的建设用地与生态用地比例,控制园林绿化用地的施肥用量,是保障成都市城市河流水环境安全的重要途径。

冰封期不同类型湖泊细菌与蓝藻群落组成及共现网络分析

季节性冰封使得寒区湖泊微生物群落结构及生物间的相互反馈具有特殊性。黄河流域内蒙古段湖泊作为典型的寒区湖泊,其漫长的冰封期为研究细菌与蓝藻在冰封条件下的相互关系提供了天然平台。解析不同类型湖泊生态系统中细菌与蓝藻群落间的相互关系差异,有助于深入理解湖泊冰封条件下水生态系统的功能与动态。为探明湖泊功能对菌藻关系的影响,本文以大型淡水湖泊乌梁素海、城市湖泊南海湖、咸水湖泊岱海冰封期冰下水体为研究对象,利用宏基因测序分子生物学技术、冗余分析、Mantel检验分析及Network网络分析模型等方法,对冰封期间细菌和蓝藻群落结构及相互关系进行研究。结果表明:3个湖泊冰下水体中优势菌门组成一致,属水平上的群落组成具有较为明显的差异;湖泊间菌藻群落组成差异与环境因子的协同作用高度相关,总磷、氨氮和总氮是影响冰封期菌藻群落结构的主要环境因子;细菌-蓝藻的微生物网络复杂性呈现南海湖>岱海>乌梁素海。岱海网络中菌藻关系多以负相关为主,负权重边占比达到31.70%,且模块化程度较高。本文旨在对湖泊冰下水体中的细菌、蓝藻群落结构及共现网络进行深入分析,以更好地理解不同水生态系统下微生物错综复杂的关系,为相关领域的生态保护和研究提供重要的理论依据。

田间老化生物质炭对茶园土壤氮素形态和细菌群落的影响

【目的】研究田间老化生物质炭对酸性茶园土壤氮素形态和细菌群落结构的影响,探讨土壤氮素形态与微生物群落结构及多样性之间的关系,从而为评估生物质炭在茶园生态系统的长期效应提供科学数据。【方法】2010年在福建省农业科学院茶叶研究所试验基地,试验设置5个生物质炭施用量:0、8、16、32和64 t·hm^(-2),依次记为CK、B1、B2、B3和B4处理。2022年(第12 a)春茶采收后,采集0~20 cm土层土壤,探究不同生物质炭用量对土壤氮素形态及细菌群落结构的影响,并分析其影响因素。【结果】与CK相比,施用生物质炭处理12a后土壤有机碳、全氮、硝态氮、铵态氮、有效钾、pH、砂粒含量分别增加了7.95%~21.40%、11.69%~25.54%、53.45%~115.84%、1.13%~38.86%、28.49%~114.13%、5.51%~12.46%和21.11%~67.88%;碱解氮、有效磷、黏粒和粉粒含量分别下降了11.97%~17.25%(B1处理除外)、15.18%~50.36%、15.64%~38.21%和8.57%~30.63%。生物质炭处理可提高土壤细菌Alpha多样性,增加了变形菌门(Proteobacteria)、放线菌门(Actinobacteria)、芽单胞菌门(Gemmatimonadota)和粘球菌门(Myxococcota)的丰度,减少绿弯菌门(Chloroflexi)、酸杆菌门(Acidobacteria)和浮霉菌门(Planctomycetes)的丰度。非度量多维尺度和线性判别分析结果显示,B0和B4之间有比较明显的分离,B4处理下产生了19种显著差异的微生物类群。相关分析和冗余分析结果表明,土壤有效磷、速效钾、硝态氮、黏粒是驱动土壤细菌群落结构变化的关键环境因子。【结论】生物质炭施用12a后,仍然能够增加土壤碳氮和速效养分养分含量,改善土壤质地结构,从而提高了土壤细菌群落多样性,64 t·hm~(-2)生物质炭用量可长期提高土壤供氮能力。