Force Compensation Control for Electro-Hydraulic Servo System with Pump-Valve Compound Drive via QFT-DTOC

Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit(HDU),which features a high power-weight ratio.However,most HDUs are throttling-valve-controlled cylinder systems,which exhibit high energy losses.By contrast,pump control systems offer a high efficiency.Nevertheless,their response ability is unsatisfactory.To fully utilize the advantages of pump and valve control systems,in this study,a new type of pump-valve compound drive system(PCDS)is designed,which can not only effectively reduce the energy loss,but can also ensure the response speed and response accuracy of the HDUs in robot joints to satisfy the performance requirements of robots.Herein,considering the force control requirements of energy conservation,high precision,and fast response of the robot joint HDU,a nonlinear mathematical model of the PCDS force control system is first introduced.In addition,pressure-flow nonlinearity,friction nonlinearity,load complexity and variability,and other factors affecting the system are considered,and a novel force control method based on quantitative feedback theory(QFT)and a disturbance torque observer(DTO)is designed,which is denoted as QFT-DTOC herein.This method improves the control accuracy and robustness of the force control system,reduces the effect of the disturbance torque on the control performance of the servo motor,and improves the overall force control performance of the system.Finally,experimental verification is performed using the PCDS performance test platform.The experimental results and quantitative data show that the QFT-DTOC proposed herein can significantly improve the force control performance of the PCDS.The relevant force control method can be used as a bottom-control method for the hydraulic servo system to provide a foundation for implementing the top-level trajectory planning of the robot.

Self-assembly of perovskite nanocrystals:From driving forces to applications

Self-assembly of metal halide perovskite nanocrystals(NCs)into superlattices can exhibit unique collective properties,which have significant application values in the display,detector,and solar cell field.This review discusses the driving forces behind the self-assembly process of perovskite NCs,and the commonly used self-assembly methods and different self-assembly structures are detailed.Subsequently,we summarize the collective optoelectronic properties and application areas of perovskite superlattice structures.Finally,we conclude with an outlook on the potential issues and future challenges in developing perovskite NCs.

FORCE ANALYSIS CONSIDERING MANUFACTURE ERROR OF PIN-HOLE-OUTPUT MECHANISM IN CYCLOID DRIVE

Based on the analysis of the pin-hole-output mechanism in the cycloid drive,a more accurate force analysis method is provided, in which the manufacture error is considered, bywhich the contact force between pin and pin-hole can be calculated more accurately in the wholedriving process.

The Integration of Modern Electronic Technology and E-Commerce:the Driving Force of Innovation Development

In the 21st century,which is known as the age of information,the integration of electronic technology and e-commerce has become an irreversible trend in the field of business.This trend not only promotes the innovative development of e-commerce,but also brings unprecedented opportunities and challenges for enterprises.With the continuous development and popularization of Internet technology,more and more people choose to carry out shopping,payment and other consumption activities through e-commerce platforms,which also provides merchants with a broader market space and more sales channels.At the same time,e-commerce also brings more convenience and choice to consumers,making it easier for consumers to obtain the goods and services they need.However,the development of e-commerce has also brought some new challenges,such as how to ensure the quality of goods,how to protect consumer privacy and so on.Therefore,enterprises and government departments need to strengthen the supervision and management of e-commerce to ensure its healthy and orderly development.In general,the integration of electronic technology and e-commerce has become an important trend in today’s business field,which brings both opportunities and challenges to enterprises.

Research on the Spatio-Temporal Evolution and Driving Forces of Green Spaces in the Central Urban Area of Zunyi City

Green space,as a medium for carrying out urban functions and guiding urban development,is becoming a scarce resource along with the urbanization process and the intensification of environmental problems.In the face of the spatial mismatch between high demand and low supply,it is of great significance to clarify the evolution mechanism of green space to undertake national spatial planning,protect the natural strategic resources in the urban fringe area,and promote the sustainable development of the“three living spaces.”The study focuses on the Zunyi City Center,selecting the 20 years of rapid development following its establishment as a city as the study period.It explores the dynamic evolution of green space and the main driving forces during different periods using remote-sensing image data.The study shows that from 2003 to 2023,the total scale of green space has an obvious decreasing trend along with the expansion of the urban built-up area.A large amount of arable land is being converted to construction land,resulting in a sudden decrease in arable land area.In the past 10 years,the comprehensive land use dynamics have accelerated.Still,the spatial difference has gradually narrowed,indicating that the overall development intensity of Zunyi City’s central urban area has increased.There is a gradual spread of the trend to the hilly areas.The limiting effect of the mountainous natural environment on the city’s development has gradually diminished under the superposition of external factors,such as economic development,industrial technological upgrading,and policy orientation so the importance of the effective protection and rational utilization of urban green space has become more prominent.

Analysis to the Driving Force Model and Drives Factor on the Utilized Changes of Cultivated Land in Qinghai Lake Area

Using path analysis, correlation analysis, partial correlation analysis and system dynamics method to study the driving force of cultivated land in Qinghai Lake Area, and using gradually regression analysis to establish the driving force model of utilized change of cultivated land. Driving factors, action mechanism and process of utilized change of cultivated land were analyzed, and the differences during all factors were compared. The study provides some decision basis for sustainable utilization and management of land resources in Qinghai Lake Area.

Spatial-temporal Evolution and Driving Force of Cultivated Land Quality in Henan Province

The purpose of this study was to find out the spatial-temporal rules and driving force of cultivated land quality in Henan Province in the last ten years. Agricultural land grading factor evaluation was used to evaluate the cultivated land quality of 2002 and 2012 in Henan Province, and to research the change laws. Method of correlation coefficient was employed to select the driving forces affecting cultivated land quality evolution. The results indicated that the cultivated land quality in Henan Province increased slightly in the last ten years in general, and in spatial there were unchanged regions, increased regions and decreased regions. The cultivated land quality in spatial presented the trend of good becoming better, bad becoming worse, which should be highly valued in cultivated land quality protection and management. Land development and consolidation projects had significant contributions to increasing the cultivated land quality. Driving forces between the sudden change regions and gradual change regions were significantly different. The paper concluded that the research on the spatial-temporal evolution and driving force of cultivated land quality based on cultivated land quality evolution had important academic significance and practical value.

Spatial-temporal Dynamics and Driving Forces of Land Development Intensity in the Western China from 2000 to 2015

The change in land development intensity is an important perspective to reflect the variation in regional social and economic development and spatial differentiation.In this paper,spatial statistical analysis,Ordinary Least Squares(OLS),and Geographically weighted regression(GWR)methods are used to systematically analyse the spatial-temporal characteristics and driving forces of land development intensity for 131 spatial units in the western China from 2000 to 2015.The findings of the study are as follows:1)The land development intensity in the western China has been increasing rapidly.From 2000 to 2015,land development intensity increased by 3.4 times on average.2)The hotspot areas have shifted from central Inner Mongolia,northern Shaanxi and the Beibu Gulf of Guangxi to the Guanzhong Plain and the Chengdu-Chongqing urban agglomeration.The areas of cold spots were mainly concentrated in the Qinghai-Tibet Plateau,Yunnan,and Xinjiang.3)Investment intensity and the natural environment have always been the main drivers of land development intensity in the western China.Investment played a powerful role in promoting land development intensity,while the natural and ecological environment distinctly constrained such development.The effect of the economic factors on land development intensity in the western China has changed,which is reflected in the driving factor of construction land development shifting from economic growth in 2000 to economic structure,especially industrial structure,in 2015.

Spatial-Temporal Pattern and Driving Forces of Land Use Changes in Xiamen

Using Landsat TM data of 1988, 1998 and 2001, the dynamic process of the spatial-temporal characteristics of land use changes during 13 years from 1988 to 2001 in the special economic zone of Xiamen, China was analyzed to improve understanding and to find the driving forces of land use change so that sustainable land utilization could be practiced. During the 13 years cropland decreased remarkably by nearly 11304.95 ha. The areas of rural-urban construction and water body increased by 10 152.24 ha and 848.94 ha, respectively. From 1988 to 2001, 52.5% of the lost cropland was converted into rural-urban industrial land. Rapid urbanization contributed to a great change in the rate of cropland land use during these years. Land-reclamation also contributed to a decrease in water body area as well as marine ecological and environmental destruction. In the study area 1) urbanization and industrialization, 2) infrastructure and agricultural intensification, 3) increased affluence of the farming community, and 4) policy factors have driven the land use changes. Possible sustainable land use measures included construction of a land management system, land planning, development of potential land resources, new technology applications, and marine ecological and environmental protection.

Understanding cultivated land dynamics and its driving forces in northern China during 1983-2001

Based on the long-term serial NOAA/NDVI dataset during 1983-1999 and SPOT/VGT dataset in 2001, the land use/cover change information in the 13 provinces of northern China was extracted based on the analysis of the cultivated landscape characteristics at first, then the effects of human activities on cultivated land process were explored by GIS and the driving forces of cultivated land change were investigated. The conclusions can be drawn as follows： （1） The constant increase of weak ecological function land as desert and cultivated land and the decrease of the ecological function land of forest and shrub were the main characteristics of the land use/cover change in the 13 provinces from 1983 to 1999, which showed the effects on the ecological adjustment fimction. However, such situations were changed to some extent in the 2000s because of the eco-construction policy of the government. （2） From 1983 to 2001, the Barycenter of cultivated land tended to move from northeast to southwest with the topography and transportation situations being the main influences on the cultivated land distribution. It is found that the cultivated land use intensity decreased noticably with the increase of distance from the main communication arteries. （3） The improvement of the people＇s living standard is closely related with the cultivated land change. The structural adjustment in the agricultural land caused by economic development and the improvement of the people＇s living standard ig an important factor affecting the cultivated land change in northern China from 1983 to 2001

STUDY ON THE SPATIAL PATTERNS OF LAND-USE CHANGE AND ANALYSES OF DRIVING FORCES IN NORTHEASTERN CHINA DURING 1990-2000

Land-use change is an important aspect of global environment change. It is,in a sense, the direct result of human activities influencing our physical environment. Supported bythe dynamic serving system of national resources, including both the environment database and GIStechnology, this paper analyzed the land-use change in northeastern China in the past ten years(1990 ― 2000). It divides northeastern China into five land-use zones based on the dynamic degree(DD) of land-use: woodland/grassland ― arable land conversion zone, dry land ― paddy fieldconversion zone, urban expansion zone, interlocked zone of farming and pasturing, and reclamationand abandoned zone. In the past ten years, land-use change of northeastern China can be generalizedas follows: increase of cropland area was obvious, paddy field and dry land increased by 74. 9 and276. 0 thousand ha respectively; urban area expanded rapidly, area of town and rural residenceincreased by 76. 8 thousand ha; area of forest and grassland decreased sharply with the amount of1399. 0 and 1521. 3 thousand ha respectively; area of water body and unused land increased by 148. 4and 513. 9 thousand ha respectively. Besides a comprehensive analysis of the spatial patterns ofland use, this paper also discusses the driving forces in each land-use dynamic zones. The studyshows that some key biophysical factors affect conspicuously the conversion of different land-usetypes. In this paper, the relationships between land-use conversion and DEM, accumulated temperature(≥10℃) and precipitation were analysed and represented. We conclude that the land-use changes innortheast China resulted from the change of macro social and economic factors and local physicalelements. Rapid population growth and management changes, in some sense, can explain the shaping ofwoodland/grassland ― cropland conversion zone. The conversion from dry land to paddy field in thedry land ― paddy field conversion zone, apart from the physical elements change promoting theexpansion of paddy field, results from two reasons: one is that the implementation of market-economyin China has given fanners the right to decide what they plant and how they plant their crops, theother factor is originated partially from the change of dietary habit with the social and economicdevelopment. The conversion from paddy field to dry land is caused primarily by the shortfall ofirrigation water, which in turn is caused by poor water allocation managed by local governments. Theshaping of the reclamation and abandoned zone is partially due to the lack of environmentprotection consciousness among pioneer settlers. The reason for the conversion from grassland tocropland is the relatively higher profits of farming than that of pasturing in the interlocked zoneof farming and pasturing. In northeastern China, the rapid expansion of built-up areas results fromtwo factors: the first is its small number of towns; the second comes from the huge potential forexpansion of existing towns and cities. It is noticeable that urban expansion in the northeasternChina is characterized by gentle topographic relief and low population density. Physiognomy,transportation and economy exert great influences on the urban expansion.

Land-use Change and Socio-economic Driving Forces of Rural Settlement in China from 1996 to 2005

While urbanization has accelerated, the rural population in China has started decreasing in recent years. However, the expansion of rural settlement has not been sufficiently curbed. The questions of why this has happened and who has driven the land-use change(LUC) of rural settlement in China have aroused great interests among researchers. In this paper, it is suggested that population is not always a positive driving force for the LUC of rural settlement in China. Furthermore, socio-economic driving forces other than urbanization, population and industrialization are analyzed. On a national scale, the major driving forces are the per-capita rural housing area and the cultivated land area. On a regional scale, the main driving forces in the eastern China are the house-building capacity of rural households and the per-capita rural housing area; while in the central China, the main driving forces are rural housing investment, the proportion of primary industry employees in the rural working population, and the cultivated land area. For the western China, the main driving forces are rural register population and cultivated land area.

Driving Force Model for Non-pneumatic Elastic Wheel

In order to obtain good driving performance,a driving force model is presented for non-pneumatic elastic wheel.Brush model of pneumatic tyres is introduced and the deformations of elastic supports and tread are also taken into account.The longitudinal slip rate is redefined.The grounding pressure distribution of elastic wheels is analyzed and corrected according to speed,temperature and stiffness.Then rolling resistance equation is developed.Finally,simulation is conducted by software CarSim,and the results show that the estimated values are consistent with simulation values,especially at low longitudinal slip rate.The research can help to optimize design of non-pneumatic elastic wheel.

Measuring Spatio-temporal Characteristics of City Expansion and Its Driving Forces in Shanghai from 1990 to 2015

Urbanization has both direct and indirect impacts on land use change, and analyzing spatio-temporal characteristics of land use change is essential for understanding these impacts. By comparing Landsat TM images, this paper examines the changes of land use structure and landscape patterns in Shanghai from 1990 to 2015. It finds that the city doubled in size, with the growth of isolated construction land being most significant among eight land use types. A land use change matrix was established and landscape indices were selected to evaluate the change of spatial structure in Shanghai. In order to identify the main driving forces of city expansion in Shanghai, this research ran partial least square regression models to assess the impact of 10 social-economic factors on land use change of Shanghai from 1990 to 2015. It then conducted bivariate correlation analysis to explore the drivers of change of various land use types: urban settlement, rural settlement and isolated construction land. Besides quantitative analysis, this paper analyzes the influence of policy-dimensional factors in land use change. It concludes with future potential research topics on land use change in a rapidly urbanizing context.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Tooth Position and Deformation of Flexspline Assembled with Cam in Harmonic Drive Based on Force Analysis

Deformation of the flexspline is the basis of analyzing tooth trajectory and designing tooth profile.Considering the tooth influence on the position of equivalent neutral layer,a piecewise method for calculating the deformation of flexspline assembled with a cam wave generator is presented in this paper.Firstly,a mechanic model of a ring of uniform thickness in contact with a rigid cam is established.The displacements of the ring inside and outside an unknown wrapping angle are determined by the geometric constraints of the cam profile and the equilibrium rela-tionship,respectively.Meanwhile,the wrapping angle is solved according to the boundary conditions.The assembly forces are derived to investigate the circumferential elongation and strain.Then,considering the tooth effects on the neutral layer of flexspline,the tooth is positioned on the equivalent neutral layer,which is the non-elongation layer within one gear pitch but offset from the geometric mid-layer.The equivalent neutral layer is positioned by the empirical formula of the offset ratio,which is summarized by the orthogonal simulation on finite element models of racks.Finally,finite element models of a ring-shaped and a cup-shaped flexspline assembled with elliptical cam are established to verify the effectiveness and accuracy of the piecewise method.The results show that,compared with the geometric method,the tooth positioning deviation calculated by the piecewise method can be reduced by about 70%with a more accurate deformation description from the geometric condition and mechanic condition inside and outside the wrapping angle.

Long-term Dynamics of Cultivated Land Resources and Their Driving Forces of Guyuan City in Upper Reaches of Jinghe River

The land use patterns in Guyuan City,Ningxia Hui Autonomous Region of China,have changed greatly over the years,due to population growth and farming and stock raising development.This study,using 50-year statis-tical data of cultivated land and 14-year spatial data of land use pattern,analyzed the developmental stages,the char-acter,and the spatial variance of farmland in the city,and discussed the driving forces of cultivated land changes based on empirical and conceptual statistical models.First,the change of cultivated land area went through different stages of rapid increase,fluctuating change,decrease and rapid decrease from 1949 to 2004,additionally,social and economic policies in different stages had an important impact on farmland variance.Second,from 1986 to 2000,the quantity of cultivated land increased,but its quality decreased.Third,social and economic factors are determinant factors in culti-vated land transition.Five constructed paths explain cultivated land transition.Factors that have direct or indirect ef-fects on farmland include the economy(Xeco),the population(Xpop),agricultural output(Xagr),and scientific input(Xsci).The sequence of impact was Xeco>Xpop>Xsci>Xagr.Among all these impacts,Xeco was the major positive one,and Xpop was the major negative one.It is urgent to take measures or adopt a policy to stop the vicious cycle in eco-environment and agriculture production.Otherwise,negative patterns of farmland use will increase,and high-quality cultivated land will continue to decline.

A Study of the Driving Force for Inclusion Complexation of α- and β- Cyclodextrin with Substituted Benzene

The driving force for inclusion complexation of α and β CD with substituted benzene(PhX) was studied by means of step wise regression analysis. A set of multiple regression equations was established with correlation coefficients 0 96 and 0 94 for the individual complexation of α CD and β CD with PhX. The ln K a(calc.) values calculated with the aid of the regression equations were close to those determined experimentally. The inclusion complexation is dominantly driven by van der Waals force and hydrophobic interactions.

Pressure Gradient Force,Saffman Lift,and Magnus Lift on the Fiber-like Particle in Fluid

Flher-like particle suspensions are common in both na-ture and industry, but there is little work reported on it.The forces acting on the fiber - like particle in fluid arestudied in this paper, and the Magnus lift, Saffman lift,pressure gradient force, and then the dynamics modelhave been received. The numerical study of the simpleshear flow past the cylinders shows that the particles ’motion is controlled by the vortex.