A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well...A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.展开更多
As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for...As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for people to spread and share information.Nevertheless,SIoT is characterized by high openness and autonomy,multiple kinds of information can spread rapidly,freely and cooperatively in SIoT,which makes it challenging to accurately reveal the characteristics of the information diffusion process and effectively control its diffusion.To this end,with the aim of exploring multi-information cooperative diffusion processes in SIoT,we first develop a dynamics model for multi-information cooperative diffusion based on the system dynamics theory in this paper.Subsequently,the characteristics and laws of the dynamical evolution process of multi-information cooperative diffusion are theoretically investigated,and the diffusion trend is predicted.On this basis,to further control the multi-information cooperative diffusion process efficiently,we propose two control strategies for information diffusion with control objectives,develop an optimal control system for the multi-information cooperative diffusion process,and propose the corresponding optimal control method.The optimal solution distribution of the control strategy satisfying the control system constraints and the control budget constraints is solved using the optimal control theory.Finally,extensive simulation experiments based on real dataset from Twitter validate the correctness and effectiveness of the proposed model,strategy and method.展开更多
Recent industrial explosions globally have intensified the focus in mechanical engineering on designing infras-tructure systems and networks capable of withstanding blast loading.Initially centered on high-profile fac...Recent industrial explosions globally have intensified the focus in mechanical engineering on designing infras-tructure systems and networks capable of withstanding blast loading.Initially centered on high-profile facilities such as embassies and petrochemical plants,this concern now extends to a wider array of infrastructures and facilities.Engineers and scholars increasingly prioritize structural safety against explosions,particularly to prevent disproportionate collapse and damage to nearby structures.Urbanization has further amplified the reliance on oil and gas pipelines,making them vital for urban life and prime targets for terrorist activities.Consequently,there is a growing imperative for computational engineering solutions to tackle blast loading on pipelines and mitigate associated risks to avert disasters.In this study,an empty pipe model was successfully validated under contact blast conditions using Abaqus software,a powerful tool in mechanical engineering for simulating blast effects on buried pipelines.Employing a Eulerian-Lagrangian computational fluid dynamics approach,the investigation extended to above-surface and below-surface blasts at standoff distances of 25 and 50 mm.Material descriptions in the numerical model relied on Abaqus’default mechanical models.Comparative analysis revealed varying pipe performance,with deformation decreasing as explosion-to-pipe distance increased.The explosion’s location relative to the pipe surface notably influenced deformation levels,a key finding highlighted in the study.Moreover,quantitative findings indicated varying ratios of plastic dissipation energy(PDE)for different blast scenarios compared to the contact blast(P0).Specifically,P1(25 mm subsurface blast)and P2(50 mm subsurface blast)showed approximately 24.07%and 14.77%of P0’s PDE,respectively,while P3(25 mm above-surface blast)and P4(50 mm above-surface blast)exhibited lower PDE values,accounting for about 18.08%and 9.67%of P0’s PDE,respectively.Utilising energy-absorbing materials such as thin coatings of ultra-high-strength concrete,metallic foams,carbon fiber-reinforced polymer wraps,and others on the pipeline to effectively mitigate blast damage is recommended.This research contributes to the advancement of mechanical engineering by providing insights and solutions crucial for enhancing the resilience and safety of underground pipelines in the face of blast events.展开更多
Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonablenes...Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.展开更多
This study developed a numerical model to efficiently treat solid waste magnesium nitrate hydrate through multi-step chemical reactions.The model simulates two-phase flow,heat,and mass transfer processes in a pyrolysi...This study developed a numerical model to efficiently treat solid waste magnesium nitrate hydrate through multi-step chemical reactions.The model simulates two-phase flow,heat,and mass transfer processes in a pyrolysis furnace to improve the decomposition rate of magnesium nitrate.The performance of multi-nozzle and single-nozzle injection methods was evaluated,and the effects of primary and secondary nozzle flow ratios,velocity ratios,and secondary nozzle inclination angles on the decomposition rate were investigated.Results indicate that multi-nozzle injection has a higher conversion efficiency and decomposition rate than single-nozzle injection,with a 10.3%higher conversion rate under the design parameters.The decomposition rate is primarily dependent on the average residence time of particles,which can be increased by decreasing flow rate and velocity ratios and increasing the inclination angle of secondary nozzles.The optimal parameters are injection flow ratio of 40%,injection velocity ratio of 0.6,and secondary nozzle inclination of 30°,corresponding to a maximum decomposition rate of 99.33%.展开更多
We used field experimental data to evaluate the ability of the agricultural production system model (APSIM) to simulate soil P availability,maize biomass and grain yield in response to P fertilizer applications on a f...We used field experimental data to evaluate the ability of the agricultural production system model (APSIM) to simulate soil P availability,maize biomass and grain yield in response to P fertilizer applications on a fluvo-aquic soil in the North China Plain.Crop and soil data from a 2-year experiment with three P fertilizer application rates(0,75 and 300 kg P_(2)O_(5) ha^(–1)) were used to calibrate the model.Sensitivity analysis was carried out to investigate the influence of APSIM SoilP parameters on the simulated P availability in soil and maize growth.Crop and soil P parameters were then derived by matching or relating the simulation results to observed crop biomass,yield,P uptake and Olsen-P in soil.The re-parameterized model was further validated against 2 years of independent data at the same sites.The re-parameterized model enabled good simulation of the maize leaf area index (LAI),biomass,grain yield,P uptake,and grain P content in response to different levels of P additions against both the calibration and validation datasets.Our results showed that APSIM needs to be re-parameterized for simulation of maize LAI dynamics through modification of leaf size curve and a reduction in the rate of leaf senescence for modern staygreen maize cultivars in China.The P concentration limits (maximum and minimum P concentrations in organs)at different stages also need to be adjusted.Our results further showed a curvilinear relationship between the measured Olsen-P concentration and simulated labile P content,which could facilitate the initialization of APSIM P pools in the NCP with Olsen-P measurements in future studies.It remains difficult to parameterize the APSIM SoilP module due to the conceptual nature of the pools and simplified conceptualization of key P transformation processes.A fundamental understanding still needs to be developed for modelling and predicting the fate of applied P fertilizers in soils with contrasting physical and chemical characteristics.展开更多
Spatio-temporal variability and dynamics in Sahelian agro-pastoral zones make each local situation a special case. These specificities must be considered to guide the dissemination of agricultural options with a view ...Spatio-temporal variability and dynamics in Sahelian agro-pastoral zones make each local situation a special case. These specificities must be considered to guide the dissemination of agricultural options with a view to sustainable development. The territorial scale of municipalities is not sufficient for this necessary contextualization;the scale of the “village terroir” seems to be a better option. This is the hypothesis we put forward in the framework of the Global Collaboration for Resilient Food Systems program (CRFS), i.e. local context is spatially defined by village terroir. The study is based on data collected through participatory mapping and surveys in “village terroirs” in three regions of Niger (Maradi, Dosso and Tillabéri). Then the links between farm managers and their cultivated land, as well as the spatio-temporal dynamics of local context are analyzed. This study provides evidence of the existence and functional usefulness of the village terroir for farmers, their land management and their activities. It demonstrates the usefulness of contextualizing agricultural options at this scale. Their analysis elucidates the links between “terroirs village” and the specific functioning of the agrosocio-ecosystems acting on each of them, thus laying the systemic and geographical foundations for a model of the spatio- temporal dynamics of “village terroirs”. This initial work has opened up new perspectives in modeling and sustainable development.展开更多
A non-linear HIV-TB co-infection has been formulated and analyzed. The positivity and invariant region has been established. The disease free equilibrium and its stability has been determined. The local stability was ...A non-linear HIV-TB co-infection has been formulated and analyzed. The positivity and invariant region has been established. The disease free equilibrium and its stability has been determined. The local stability was determined and found to be stable under given conditions. The basic reproduction number was obtained and according to findings, co-infection diminishes when this number is less than unity, and persists when the number is greater than unity. The global stability of the endemic equilibrium was calculated. The impact of HIV on TB was established as well as the impact of TB on HIV. Numerical solution was also done and the findings indicate that when the rate of HIV treatment increases the latent TB increases while the co-infected population decreases. When the rate of HIV treatment decreases the latent TB population decreases and the co-infected population increases. Encouraging communities to prioritize the consistent treatment of HIV infected individuals must be emphasized in order to reduce the scourge of HIV-TB co-infection.展开更多
Land use/land cover represents the interactive and comprehensive influences between human activities and natural conditions,leading to potential conflicts among natural and human-related issues as well as among stakeh...Land use/land cover represents the interactive and comprehensive influences between human activities and natural conditions,leading to potential conflicts among natural and human-related issues as well as among stakeholders.This study introduced economic standards for farmers.A hybrid approach(CA-ABM)of cellular automaton(CA)and an agent-based model(ABM)was developed to effectively deal with social and land-use synergic issues to examine human–environment interactions and projections of land-use conversions for a humid basin in south China.Natural attributes and socioeconomic data were used to analyze land use/land cover and its drivers of change.The major modules of the CA-ABM are initialization,migration,assets,land suitability,and land-use change decisions.Empirical estimates of the factors influencing the urban land-use conversion probability were captured using parameters based on a spatial logistic regression(SLR)model.Simultaneously,multicriteria evaluation(MCE)and Markov models were introduced to obtain empirical estimates of the factors affecting the probability of ecological land conversion.An agent-based CA-SLR-MCE-Markov(ABCSMM)land-use conversion model was proposed to explore the impacts of policies on land-use conversion.This model can reproduce observed land-use patterns and provide links for forest transition and urban expansion to land-use decisions and ecosystem services.The results demonstrated land-use simulations under multi-policy scenarios,revealing the usefulness of the model for normative research on land-use management.展开更多
Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat t...Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat transfer,climate,and fluid mixing in industrial processes.This work aims to use the Updated Lagrangian Particle Hydrodynamics(ULPH)theory to address natural convection problems.The Navier-Stokes equation is discretized using second-order nonlocal differential operators,allowing a direct solution of the Laplace operator for temperature in the energy equation.Various numerical simulations,including cases such as natural convection in square cavities and two concentric cylinders,were conducted to validate the reliability of the model.The results demonstrate that the proposed model exhibits excellent accuracy and performance,providing a promising and effective numerical approach for natural convection problems.展开更多
Markov modeling of HIV/AIDS progression was done under the assumption that the state holding time (waiting time) had a constant hazard. This paper discusses the properties of the hazard function of the Exponential dis...Markov modeling of HIV/AIDS progression was done under the assumption that the state holding time (waiting time) had a constant hazard. This paper discusses the properties of the hazard function of the Exponential distributions and its modifications namely;Parameter proportion hazard (PH) and Accelerated failure time models (AFT) and their effectiveness in modeling the state holding time in Markov modeling of HIV/AIDS progression with and without risk factors. Patients were categorized by gender and age with female gender being the baseline. Data simulated using R software was fitted to each model, and the model parameters were estimated. The estimated P and Z values were then used to test the null hypothesis that the state waiting time data followed an Exponential distribution. Model identification criteria;Akaike information criteria (AIC), Bayesian information criteria (BIC), log-likelihood (LL), and R2 were used to evaluate the performance of the models. For the Survival Regression model, P and Z values supported the non-rejection of the null hypothesis for mixed gender without interaction and supported the rejection of the same for mixed gender with interaction term and males aged 50 - 60 years. Both Parameters supported the non-rejection of the null hypothesis in the rest of the age groups. For Gender male with interaction both P and Z values supported rejection in all the age groups except the age group 20 - 30 years. For Cox Proportional hazard and AFT models, both P and Z values supported the non-rejection of the null hypothesis across all age groups. The P-values for the three models supported different decisions for and against the Null hypothesis with AFT and Cox values supporting similar decisions in most of the age groups. Among the models considered, the regression assumption provided a superior fit based on (AIC), (BIC), (LL), and R2 Model identification criteria. This was particularly evident in age and gender subgroups where the data exhibited non-proportional hazards and violated the assumptions required for the Cox Proportional Hazard model. Moreover, the simplicity of the regression model, along with its ability to capture essential state transitions without over fitting, made it a more appropriate choice.展开更多
Several mathematical models have been developed to investigate the dynamics of tuberculosis(TB) and hepatitis B virus(HBV).Numerous current models for TB,HBV,and their co-dynamics fall short in capturing the important...Several mathematical models have been developed to investigate the dynamics of tuberculosis(TB) and hepatitis B virus(HBV).Numerous current models for TB,HBV,and their co-dynamics fall short in capturing the important and practical aspect of unpredictability.It is crucial to take into account a stochastic co-infection HBV-TB epidemic model since different random elements have a substantial impact on the overall dynamics of these diseases.We provide a novel stochastic co-model for TB and HBV in this study,and we establish criteria on the uniqueness and existence of a nonnegative global solution.We also looked at the persistence of the infections as long its dynamics are governable by the proposed model.To verify the theoretical conclusions,numerical simulations are presented keeping in view the associated analytical results.The infections are found to finally die out and go extinct with certainty when Lévy intensities surpass the specified thresholds and the related stochastic thresholds fall below unity.The findings also demonstrate the impact of noise on the decline in the co-circulation of HBV and TB in a given population.Our results provide insights into effective intervention strategies,ultimately aiming to improve the management and control of TB and HBV co-infections.展开更多
Gas quenching and vacuum quenching process are widely applied to accelerate solvent volatilization to induce nucleation of perovskites in blade-coating method.In this work,we found these two pre-crystallization proces...Gas quenching and vacuum quenching process are widely applied to accelerate solvent volatilization to induce nucleation of perovskites in blade-coating method.In this work,we found these two pre-crystallization processes lead to different order of crystallization dynamics within the perovskite thin film,resulting in the differences of additive distribution.We then tailor-designed an additive molecule named 1,3-bis(4-methoxyphenyl)thiourea to obtain films with fewer defects and holes at the buried interface,and prepared perovskite solar cells with a certified efficiency of 23.75%.Furthermore,this work also demonstrates an efficiency of 20.18%for the large-area perovskite solar module(PSM)with an aperture area of 60.84 cm^(2).The PSM possesses remarkable continuous operation stability for maximum power point tracking of T_(90)>1000 h in ambient air.展开更多
This study investigates the application of the two-parameter Weibull distribution in modeling state holding times within HIV/AIDS progression dynamics. By comparing the performance of the Weibull-based Accelerated Fai...This study investigates the application of the two-parameter Weibull distribution in modeling state holding times within HIV/AIDS progression dynamics. By comparing the performance of the Weibull-based Accelerated Failure Time (AFT) model, Cox Proportional Hazards model, and Survival model, we assess the effectiveness of these models in capturing survival rates across varying gender, age groups, and treatment categories. Simulated data was used to fit the models, with model identification criteria (AIC, BIC, and R2) applied for evaluation. Results indicate that the AFT model is particularly sensitive to interaction terms, showing significant effects for older age groups (50 - 60 years) and treatment interaction, while the Cox model provides a more stable fit across all age groups. The Survival model displayed variability, with its performance diminishing when interaction terms were introduced, particularly in older age groups. Overall, while the AFT model captures the complexities of interactions in the data, the Cox model’s stability suggests it may be better suited for general analyses without strong interaction effects. The findings highlight the importance of model selection in survival analysis, especially in complex disease progression scenarios like HIV/AIDS.展开更多
A stochastic epidemic model with two age groups is established in this study,in which the susceptible(S),the exposed(E),the infected(I),the hospitalized(H)and the recovered(R)are involved within the total population,t...A stochastic epidemic model with two age groups is established in this study,in which the susceptible(S),the exposed(E),the infected(I),the hospitalized(H)and the recovered(R)are involved within the total population,the aging rates between two age groups are set to be constant.The existence-and-uniqueness of global positive solution is firstly showed.Then,by constructing several appropriate Lyapunov functions and using the high-dimensional Itô’s formula,the sufficient conditions for the stochastic extinction and stochastic persistence of the exposed individuals and the infected individuals are obtained.The stochastic extinction indicator and the stochastic persistence indicator are less-valued expressions compared with the basic reproduction number.Meanwhile,the main results of this study are modified into multi-age groups.Furthermore,by using the surveillance data for Fujian Provincial Center for Disease Control and Prevention,Fuzhou COVID-19 epidemic is chosen to carry out the numerical simulations,which show that the age group of the population plays the vital role when studying infectious diseases.展开更多
Decades of research asserted that the oligodendroglial lineage comprises two cell types:oligodendrocyte precursor cells and oligodendrocytes.However,recent studies employing single-cell RNA sequencing techniques have ...Decades of research asserted that the oligodendroglial lineage comprises two cell types:oligodendrocyte precursor cells and oligodendrocytes.However,recent studies employing single-cell RNA sequencing techniques have uncovered novel cell states,prompting a revision of the existing terminology.Going forward,the oligodendroglial lineage should be delineated into five distinct cell states:oligodendrocyte precursor cells,committed oligodendrocyte precursor cells,newly formed oligodendrocytes,myelin-forming oligodendrocytes,and mature oligodendrocytes.This new classification system enables a deeper understanding of the oligodendroglia in both physiological and pathological contexts.Adopting this uniform terminology will facilitate comparison and integration of data across studies.This,including the consolidation of findings from various demyelinating models,is essential to better understand the pathogenesis of demyelinating diseases.Additionally,comparing injury models across species with varying regenerative capacities can provide insights that may lead to new therapeutic strategies to overcome remyelination failure.Thus,by standardizing terminology and synthesizing data from diverse studies across different animal models,we can enhance our understanding of myelin pathology in central nervous system disorders such as multiple sclerosis,Alzheimer's disease,and amyotrophic lateral sclerosis,all of which involve oligodendroglial and myelin dysfunction.展开更多
To investigate the mechanisms underlying the onset and progression of ischemic stroke,some methods have been proposed that can simultaneously monitor and create embolisms in the animal cerebral cortex.However,these me...To investigate the mechanisms underlying the onset and progression of ischemic stroke,some methods have been proposed that can simultaneously monitor and create embolisms in the animal cerebral cortex.However,these methods often require complex systems and the effect of age on cerebral embolism has not been adequately studied,although ischemic stroke is strongly age-related.In this study,we propose an optical-resolution photoacoustic microscopy-based visualized photothrombosis methodology to create and monitor ischemic stroke in mice simultaneously using a 532 nm pulsed laser.We observed the molding process in mice of different ages and presented age-dependent vascular embolism differentiation.Moreover,we integrated optical coherence tomography angiography to investigate age-associated trends in cerebrovascular variability following a stroke.Our imaging data and quantitative analyses underscore the differential cerebrovascular responses to stroke in mice of different ages,thereby highlighting the technique's potential for evaluating cerebrovascular health and unraveling age-related mechanisms involved in ischemic strokes.展开更多
In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from mo...In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network(NN)-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function(RBF) NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.展开更多
Continent subduction is one of the hot research problems in geoscience. New models presented here have been set up and two-dimensional numerical modeling research on the possibility of continental subduction has been ...Continent subduction is one of the hot research problems in geoscience. New models presented here have been set up and two-dimensional numerical modeling research on the possibility of continental subduction has been made with the finite element software, ANSYS, based on documentary evidence and reasonable assumptions that the subduction of oceanic crust has occurred, the subduction of continental crust can take place and the process can be simplified to a discontinuous plane strain theory model. The modeling results show that it is completely possible for continental crust to be subducted to a depth of 120 km under certain circumstances and conditions. At the same time, the simulations of continental subduction under a single dynamical factor have also been made, including the pull force of the subducted oceanic lithosphere, the drag force connected with mantle convection and the push force of the mid-ocean ridge. These experiments show that the drag force connected with mantle convection is critical for continent subduction.展开更多
The existence of clearance in the joints of mechanisms system is inevitable.The movements of the real mechanism are deflection from the ideal mechanism due to the clearances and the motion accuracy is decreased.The ef...The existence of clearance in the joints of mechanisms system is inevitable.The movements of the real mechanism are deflection from the ideal mechanism due to the clearances and the motion accuracy is decreased.The effects of the hinge clearance on the crank and rocker mechanism system are studied.The system dynamics equation with clearance is presented.The contact dynamics model is established using the nonlinear equivalent spring-damp model and the friction effect is considered by using Coulomb friction model.Then the models are incorporated into ADAMS,and based on the model,large numbers numeric simulations are made.The regularity of contact forces in clearance are studied in detail.And the effects of clearance size,clearance friction on the mechanism dynamics characteristic are analyzed.The simulation results can predict the effects of clearance on the mechanism dynamics characteristic preferably.展开更多
基金Supported by Shanghai Municipal Science and Technology Program (Grant No.21511101701)National Key Research and Development Program of China (Grant No.2021YFC0122704)。
文摘A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.
基金supported by the National Natural Science Foundation of China(Grant Nos.62102240,62071283)the China Postdoctoral Science Foundation(Grant No.2020M683421)the Key R&D Program of Shaanxi Province(Grant No.2020ZDLGY10-05).
文摘As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for people to spread and share information.Nevertheless,SIoT is characterized by high openness and autonomy,multiple kinds of information can spread rapidly,freely and cooperatively in SIoT,which makes it challenging to accurately reveal the characteristics of the information diffusion process and effectively control its diffusion.To this end,with the aim of exploring multi-information cooperative diffusion processes in SIoT,we first develop a dynamics model for multi-information cooperative diffusion based on the system dynamics theory in this paper.Subsequently,the characteristics and laws of the dynamical evolution process of multi-information cooperative diffusion are theoretically investigated,and the diffusion trend is predicted.On this basis,to further control the multi-information cooperative diffusion process efficiently,we propose two control strategies for information diffusion with control objectives,develop an optimal control system for the multi-information cooperative diffusion process,and propose the corresponding optimal control method.The optimal solution distribution of the control strategy satisfying the control system constraints and the control budget constraints is solved using the optimal control theory.Finally,extensive simulation experiments based on real dataset from Twitter validate the correctness and effectiveness of the proposed model,strategy and method.
文摘Recent industrial explosions globally have intensified the focus in mechanical engineering on designing infras-tructure systems and networks capable of withstanding blast loading.Initially centered on high-profile facilities such as embassies and petrochemical plants,this concern now extends to a wider array of infrastructures and facilities.Engineers and scholars increasingly prioritize structural safety against explosions,particularly to prevent disproportionate collapse and damage to nearby structures.Urbanization has further amplified the reliance on oil and gas pipelines,making them vital for urban life and prime targets for terrorist activities.Consequently,there is a growing imperative for computational engineering solutions to tackle blast loading on pipelines and mitigate associated risks to avert disasters.In this study,an empty pipe model was successfully validated under contact blast conditions using Abaqus software,a powerful tool in mechanical engineering for simulating blast effects on buried pipelines.Employing a Eulerian-Lagrangian computational fluid dynamics approach,the investigation extended to above-surface and below-surface blasts at standoff distances of 25 and 50 mm.Material descriptions in the numerical model relied on Abaqus’default mechanical models.Comparative analysis revealed varying pipe performance,with deformation decreasing as explosion-to-pipe distance increased.The explosion’s location relative to the pipe surface notably influenced deformation levels,a key finding highlighted in the study.Moreover,quantitative findings indicated varying ratios of plastic dissipation energy(PDE)for different blast scenarios compared to the contact blast(P0).Specifically,P1(25 mm subsurface blast)and P2(50 mm subsurface blast)showed approximately 24.07%and 14.77%of P0’s PDE,respectively,while P3(25 mm above-surface blast)and P4(50 mm above-surface blast)exhibited lower PDE values,accounting for about 18.08%and 9.67%of P0’s PDE,respectively.Utilising energy-absorbing materials such as thin coatings of ultra-high-strength concrete,metallic foams,carbon fiber-reinforced polymer wraps,and others on the pipeline to effectively mitigate blast damage is recommended.This research contributes to the advancement of mechanical engineering by providing insights and solutions crucial for enhancing the resilience and safety of underground pipelines in the face of blast events.
文摘Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.
基金the financial support for this work provided by the National Key R&D Program of China‘Technologies and Integrated Application of Magnesite Waste Utilization for High-Valued Chemicals and Materials’(2020YFC1909303)。
文摘This study developed a numerical model to efficiently treat solid waste magnesium nitrate hydrate through multi-step chemical reactions.The model simulates two-phase flow,heat,and mass transfer processes in a pyrolysis furnace to improve the decomposition rate of magnesium nitrate.The performance of multi-nozzle and single-nozzle injection methods was evaluated,and the effects of primary and secondary nozzle flow ratios,velocity ratios,and secondary nozzle inclination angles on the decomposition rate were investigated.Results indicate that multi-nozzle injection has a higher conversion efficiency and decomposition rate than single-nozzle injection,with a 10.3%higher conversion rate under the design parameters.The decomposition rate is primarily dependent on the average residence time of particles,which can be increased by decreasing flow rate and velocity ratios and increasing the inclination angle of secondary nozzles.The optimal parameters are injection flow ratio of 40%,injection velocity ratio of 0.6,and secondary nozzle inclination of 30°,corresponding to a maximum decomposition rate of 99.33%.
基金funded by the National Natural Science Program of China(2022YFD1900300)the China Scholarship Council(CSC)through the CSC-CSIRO(Commonwealth Scientific and Industrial Research Organisation)Joint Ph D Program,the Zhumadian Major Scientific and Technological Innovation Project,China(170109564016)the Huanghuai University Scientific Research Foundation,China(502310020017)。
文摘We used field experimental data to evaluate the ability of the agricultural production system model (APSIM) to simulate soil P availability,maize biomass and grain yield in response to P fertilizer applications on a fluvo-aquic soil in the North China Plain.Crop and soil data from a 2-year experiment with three P fertilizer application rates(0,75 and 300 kg P_(2)O_(5) ha^(–1)) were used to calibrate the model.Sensitivity analysis was carried out to investigate the influence of APSIM SoilP parameters on the simulated P availability in soil and maize growth.Crop and soil P parameters were then derived by matching or relating the simulation results to observed crop biomass,yield,P uptake and Olsen-P in soil.The re-parameterized model was further validated against 2 years of independent data at the same sites.The re-parameterized model enabled good simulation of the maize leaf area index (LAI),biomass,grain yield,P uptake,and grain P content in response to different levels of P additions against both the calibration and validation datasets.Our results showed that APSIM needs to be re-parameterized for simulation of maize LAI dynamics through modification of leaf size curve and a reduction in the rate of leaf senescence for modern staygreen maize cultivars in China.The P concentration limits (maximum and minimum P concentrations in organs)at different stages also need to be adjusted.Our results further showed a curvilinear relationship between the measured Olsen-P concentration and simulated labile P content,which could facilitate the initialization of APSIM P pools in the NCP with Olsen-P measurements in future studies.It remains difficult to parameterize the APSIM SoilP module due to the conceptual nature of the pools and simplified conceptualization of key P transformation processes.A fundamental understanding still needs to be developed for modelling and predicting the fate of applied P fertilizers in soils with contrasting physical and chemical characteristics.
文摘Spatio-temporal variability and dynamics in Sahelian agro-pastoral zones make each local situation a special case. These specificities must be considered to guide the dissemination of agricultural options with a view to sustainable development. The territorial scale of municipalities is not sufficient for this necessary contextualization;the scale of the “village terroir” seems to be a better option. This is the hypothesis we put forward in the framework of the Global Collaboration for Resilient Food Systems program (CRFS), i.e. local context is spatially defined by village terroir. The study is based on data collected through participatory mapping and surveys in “village terroirs” in three regions of Niger (Maradi, Dosso and Tillabéri). Then the links between farm managers and their cultivated land, as well as the spatio-temporal dynamics of local context are analyzed. This study provides evidence of the existence and functional usefulness of the village terroir for farmers, their land management and their activities. It demonstrates the usefulness of contextualizing agricultural options at this scale. Their analysis elucidates the links between “terroirs village” and the specific functioning of the agrosocio-ecosystems acting on each of them, thus laying the systemic and geographical foundations for a model of the spatio- temporal dynamics of “village terroirs”. This initial work has opened up new perspectives in modeling and sustainable development.
文摘A non-linear HIV-TB co-infection has been formulated and analyzed. The positivity and invariant region has been established. The disease free equilibrium and its stability has been determined. The local stability was determined and found to be stable under given conditions. The basic reproduction number was obtained and according to findings, co-infection diminishes when this number is less than unity, and persists when the number is greater than unity. The global stability of the endemic equilibrium was calculated. The impact of HIV on TB was established as well as the impact of TB on HIV. Numerical solution was also done and the findings indicate that when the rate of HIV treatment increases the latent TB increases while the co-infected population decreases. When the rate of HIV treatment decreases the latent TB population decreases and the co-infected population increases. Encouraging communities to prioritize the consistent treatment of HIV infected individuals must be emphasized in order to reduce the scourge of HIV-TB co-infection.
基金supported by the Program for Guangdong Introducing Innovative and Entrepreneurial Teams(2021ZT090543)the National Natural Science Foundation of China(U20A20117)the Key-Area Research and Development Program of Guangdong Province(2020B1111380003).
文摘Land use/land cover represents the interactive and comprehensive influences between human activities and natural conditions,leading to potential conflicts among natural and human-related issues as well as among stakeholders.This study introduced economic standards for farmers.A hybrid approach(CA-ABM)of cellular automaton(CA)and an agent-based model(ABM)was developed to effectively deal with social and land-use synergic issues to examine human–environment interactions and projections of land-use conversions for a humid basin in south China.Natural attributes and socioeconomic data were used to analyze land use/land cover and its drivers of change.The major modules of the CA-ABM are initialization,migration,assets,land suitability,and land-use change decisions.Empirical estimates of the factors influencing the urban land-use conversion probability were captured using parameters based on a spatial logistic regression(SLR)model.Simultaneously,multicriteria evaluation(MCE)and Markov models were introduced to obtain empirical estimates of the factors affecting the probability of ecological land conversion.An agent-based CA-SLR-MCE-Markov(ABCSMM)land-use conversion model was proposed to explore the impacts of policies on land-use conversion.This model can reproduce observed land-use patterns and provide links for forest transition and urban expansion to land-use decisions and ecosystem services.The results demonstrated land-use simulations under multi-policy scenarios,revealing the usefulness of the model for normative research on land-use management.
基金support from the National Natural Science Foundations of China(Nos.11972267 and 11802214)the Open Foundation of the Hubei Key Laboratory of Theory and Application of Advanced Materials Mechanics and the Open Foundation of Hubei Key Laboratory of Engineering Structural Analysis and Safety Assessment.
文摘Natural convection is a heat transfer mechanism driven by temperature or density differences,leading to fluid motion without external influence.It occurs in various natural and engineering phenomena,influencing heat transfer,climate,and fluid mixing in industrial processes.This work aims to use the Updated Lagrangian Particle Hydrodynamics(ULPH)theory to address natural convection problems.The Navier-Stokes equation is discretized using second-order nonlocal differential operators,allowing a direct solution of the Laplace operator for temperature in the energy equation.Various numerical simulations,including cases such as natural convection in square cavities and two concentric cylinders,were conducted to validate the reliability of the model.The results demonstrate that the proposed model exhibits excellent accuracy and performance,providing a promising and effective numerical approach for natural convection problems.
文摘Markov modeling of HIV/AIDS progression was done under the assumption that the state holding time (waiting time) had a constant hazard. This paper discusses the properties of the hazard function of the Exponential distributions and its modifications namely;Parameter proportion hazard (PH) and Accelerated failure time models (AFT) and their effectiveness in modeling the state holding time in Markov modeling of HIV/AIDS progression with and without risk factors. Patients were categorized by gender and age with female gender being the baseline. Data simulated using R software was fitted to each model, and the model parameters were estimated. The estimated P and Z values were then used to test the null hypothesis that the state waiting time data followed an Exponential distribution. Model identification criteria;Akaike information criteria (AIC), Bayesian information criteria (BIC), log-likelihood (LL), and R2 were used to evaluate the performance of the models. For the Survival Regression model, P and Z values supported the non-rejection of the null hypothesis for mixed gender without interaction and supported the rejection of the same for mixed gender with interaction term and males aged 50 - 60 years. Both Parameters supported the non-rejection of the null hypothesis in the rest of the age groups. For Gender male with interaction both P and Z values supported rejection in all the age groups except the age group 20 - 30 years. For Cox Proportional hazard and AFT models, both P and Z values supported the non-rejection of the null hypothesis across all age groups. The P-values for the three models supported different decisions for and against the Null hypothesis with AFT and Cox values supporting similar decisions in most of the age groups. Among the models considered, the regression assumption provided a superior fit based on (AIC), (BIC), (LL), and R2 Model identification criteria. This was particularly evident in age and gender subgroups where the data exhibited non-proportional hazards and violated the assumptions required for the Cox Proportional Hazard model. Moreover, the simplicity of the regression model, along with its ability to capture essential state transitions without over fitting, made it a more appropriate choice.
文摘Several mathematical models have been developed to investigate the dynamics of tuberculosis(TB) and hepatitis B virus(HBV).Numerous current models for TB,HBV,and their co-dynamics fall short in capturing the important and practical aspect of unpredictability.It is crucial to take into account a stochastic co-infection HBV-TB epidemic model since different random elements have a substantial impact on the overall dynamics of these diseases.We provide a novel stochastic co-model for TB and HBV in this study,and we establish criteria on the uniqueness and existence of a nonnegative global solution.We also looked at the persistence of the infections as long its dynamics are governable by the proposed model.To verify the theoretical conclusions,numerical simulations are presented keeping in view the associated analytical results.The infections are found to finally die out and go extinct with certainty when Lévy intensities surpass the specified thresholds and the related stochastic thresholds fall below unity.The findings also demonstrate the impact of noise on the decline in the co-circulation of HBV and TB in a given population.Our results provide insights into effective intervention strategies,ultimately aiming to improve the management and control of TB and HBV co-infections.
基金supported by National Natural Science Foundation of China(62104082)Guangdong Basic and Applied Basic Research Foundation(2022A1515010746,2022A1515011228,and 2022B1515120006)the Science and Technology Program of Guangzhou(202201010458).
文摘Gas quenching and vacuum quenching process are widely applied to accelerate solvent volatilization to induce nucleation of perovskites in blade-coating method.In this work,we found these two pre-crystallization processes lead to different order of crystallization dynamics within the perovskite thin film,resulting in the differences of additive distribution.We then tailor-designed an additive molecule named 1,3-bis(4-methoxyphenyl)thiourea to obtain films with fewer defects and holes at the buried interface,and prepared perovskite solar cells with a certified efficiency of 23.75%.Furthermore,this work also demonstrates an efficiency of 20.18%for the large-area perovskite solar module(PSM)with an aperture area of 60.84 cm^(2).The PSM possesses remarkable continuous operation stability for maximum power point tracking of T_(90)>1000 h in ambient air.
文摘This study investigates the application of the two-parameter Weibull distribution in modeling state holding times within HIV/AIDS progression dynamics. By comparing the performance of the Weibull-based Accelerated Failure Time (AFT) model, Cox Proportional Hazards model, and Survival model, we assess the effectiveness of these models in capturing survival rates across varying gender, age groups, and treatment categories. Simulated data was used to fit the models, with model identification criteria (AIC, BIC, and R2) applied for evaluation. Results indicate that the AFT model is particularly sensitive to interaction terms, showing significant effects for older age groups (50 - 60 years) and treatment interaction, while the Cox model provides a more stable fit across all age groups. The Survival model displayed variability, with its performance diminishing when interaction terms were introduced, particularly in older age groups. Overall, while the AFT model captures the complexities of interactions in the data, the Cox model’s stability suggests it may be better suited for general analyses without strong interaction effects. The findings highlight the importance of model selection in survival analysis, especially in complex disease progression scenarios like HIV/AIDS.
基金Supported by National Natural Science Foundation of China(61911530398,12231012)Consultancy Project by the Chinese Academy of Engineering(2022-JB-06,2023-JB-12)+3 种基金the Natural Science Foundation of Fujian Province of China(2021J01621)Special Projects of the Central Government Guiding Local Science and Technology Development(2021L3018)Royal Society of Edinburgh(RSE1832)Engineering and Physical Sciences Research Council(EP/W522521/1).
文摘A stochastic epidemic model with two age groups is established in this study,in which the susceptible(S),the exposed(E),the infected(I),the hospitalized(H)and the recovered(R)are involved within the total population,the aging rates between two age groups are set to be constant.The existence-and-uniqueness of global positive solution is firstly showed.Then,by constructing several appropriate Lyapunov functions and using the high-dimensional Itô’s formula,the sufficient conditions for the stochastic extinction and stochastic persistence of the exposed individuals and the infected individuals are obtained.The stochastic extinction indicator and the stochastic persistence indicator are less-valued expressions compared with the basic reproduction number.Meanwhile,the main results of this study are modified into multi-age groups.Furthermore,by using the surveillance data for Fujian Provincial Center for Disease Control and Prevention,Fuzhou COVID-19 epidemic is chosen to carry out the numerical simulations,which show that the age group of the population plays the vital role when studying infectious diseases.
基金supported by KU Leuven Internal Funding(C3/21/012)the Research Foundation Flanders(FWO G092222N)(to LM)。
文摘Decades of research asserted that the oligodendroglial lineage comprises two cell types:oligodendrocyte precursor cells and oligodendrocytes.However,recent studies employing single-cell RNA sequencing techniques have uncovered novel cell states,prompting a revision of the existing terminology.Going forward,the oligodendroglial lineage should be delineated into five distinct cell states:oligodendrocyte precursor cells,committed oligodendrocyte precursor cells,newly formed oligodendrocytes,myelin-forming oligodendrocytes,and mature oligodendrocytes.This new classification system enables a deeper understanding of the oligodendroglia in both physiological and pathological contexts.Adopting this uniform terminology will facilitate comparison and integration of data across studies.This,including the consolidation of findings from various demyelinating models,is essential to better understand the pathogenesis of demyelinating diseases.Additionally,comparing injury models across species with varying regenerative capacities can provide insights that may lead to new therapeutic strategies to overcome remyelination failure.Thus,by standardizing terminology and synthesizing data from diverse studies across different animal models,we can enhance our understanding of myelin pathology in central nervous system disorders such as multiple sclerosis,Alzheimer's disease,and amyotrophic lateral sclerosis,all of which involve oligodendroglial and myelin dysfunction.
基金supported by University of Macao,China,Nos.MYRG2022-00054-FHS and MYRG-GRG2023-00038-FHS-UMDF(to ZY)the Macao Science and Technology Development Fund,China,Nos.FDCT0048/2021/AGJ and FDCT0020/2019/AMJ and FDCT 0011/2018/A1(to ZY)Natural Science Foundation of Guangdong Province of China,No.EF017/FHS-YZ/2021/GDSTC(to ZY)。
文摘To investigate the mechanisms underlying the onset and progression of ischemic stroke,some methods have been proposed that can simultaneously monitor and create embolisms in the animal cerebral cortex.However,these methods often require complex systems and the effect of age on cerebral embolism has not been adequately studied,although ischemic stroke is strongly age-related.In this study,we propose an optical-resolution photoacoustic microscopy-based visualized photothrombosis methodology to create and monitor ischemic stroke in mice simultaneously using a 532 nm pulsed laser.We observed the molding process in mice of different ages and presented age-dependent vascular embolism differentiation.Moreover,we integrated optical coherence tomography angiography to investigate age-associated trends in cerebrovascular variability following a stroke.Our imaging data and quantitative analyses underscore the differential cerebrovascular responses to stroke in mice of different ages,thereby highlighting the technique's potential for evaluating cerebrovascular health and unraveling age-related mechanisms involved in ischemic strokes.
基金supported by National Basic Research and Development Program of China (973 Program, Grant No. 2006CB705402)
文摘In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network(NN)-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function(RBF) NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.
文摘Continent subduction is one of the hot research problems in geoscience. New models presented here have been set up and two-dimensional numerical modeling research on the possibility of continental subduction has been made with the finite element software, ANSYS, based on documentary evidence and reasonable assumptions that the subduction of oceanic crust has occurred, the subduction of continental crust can take place and the process can be simplified to a discontinuous plane strain theory model. The modeling results show that it is completely possible for continental crust to be subducted to a depth of 120 km under certain circumstances and conditions. At the same time, the simulations of continental subduction under a single dynamical factor have also been made, including the pull force of the subducted oceanic lithosphere, the drag force connected with mantle convection and the push force of the mid-ocean ridge. These experiments show that the drag force connected with mantle convection is critical for continent subduction.
基金Sponsored by Program for Changjiang Scholars and Innovative Research Team in University(Grant No.IRT0520)
文摘The existence of clearance in the joints of mechanisms system is inevitable.The movements of the real mechanism are deflection from the ideal mechanism due to the clearances and the motion accuracy is decreased.The effects of the hinge clearance on the crank and rocker mechanism system are studied.The system dynamics equation with clearance is presented.The contact dynamics model is established using the nonlinear equivalent spring-damp model and the friction effect is considered by using Coulomb friction model.Then the models are incorporated into ADAMS,and based on the model,large numbers numeric simulations are made.The regularity of contact forces in clearance are studied in detail.And the effects of clearance size,clearance friction on the mechanism dynamics characteristic are analyzed.The simulation results can predict the effects of clearance on the mechanism dynamics characteristic preferably.