Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Case study on the mechanics of NPR anchor cable compensation for large deformation tunnel in soft rock in the Transverse Mountain area,China

A study was conducted to analyze the deformation mechanism of strongly weathered quartz schist in the Daliangshan Tunnel,located in the western Transverse Mountain area.A large deformation problem was experienced during the tunnel construction.To mitigate this problem,a support system was designed incorporating negative Poisson ratio(NPR)anchor cables with negative Poisson ratio effect.Physical model experiments,field experiments,and numerical simulation experiments were conducted to investigate the compensation mechanical behavior of NPR anchor cables.The large deformations of soft rocks in the Daliangshan Tunnel are caused by a high ground stress,a high degree of joint fracture development,and a high degree of surrounding rock fragmentation.A compensation mechanics support system combining long and short NPR anchor cables was suggested to provide sufficient counter-support force(approximately 350 kN)for the surrounding rock inside the tunnel.Comparing the NPR anchor cable support system with the original support system used in the Daliangshan tunnel showed that an NPR anchor cable support system,combining cables of 6.3 m and 10.3 m in length,effectively prevented convergence of surrounding rock deformation,and the integrated settlement convergence value remained below 300 mm.This study provides an effective scientific basis for resolving large deformation problems in deeply buried soft rocks in western transverse mountain areas.

Study on thermal decomposition kinetics of azobenzene-4,4′-dicarboxylic acid by using compensation parameter method and nonlinear fitting evaluation

Recently,azobenzene-4,4'-dicarboxylic acid(ADCA)has been produced gradually for use as an organic synthesis or pharmaceutical intermediate due to its eminent performance.With large quantities put into application in the future,the thermal stability of this substance during storage,transportation,and use will become quite important.Thus,in this work,the thermal decomposition behavior,thermal decomposition kinetics,and thermal hazard of ADCA were investigated.Experiments were conducted by using a SENSYS evo DSC device.A combination of differential iso-conversion method,compensation parameter method,and nonlinear fitting evaluation were also used to analyze thermal kinetics and mechanism of ADCA decomposition.The results show that when conversion rate α increases,the activation energies of ADCA's first and main decomposition peaks fall.The amount of heat released during decomposition varies between 182.46 and 231.16 J·g^(-1).The proposed kinetic equation is based on the Avrami-Erofeev model,which is consistent with the decomposition progress.Applying the Frank-Kamenetskii model,a calculated self-accelerating decomposition temperature of 287.0℃is obtained.

The Rights to Claim for Industrial Injury Compensation and Tort Compensation are Applicable to the Law:Taking Fu and Li v.a Passenger Transport Company as an Example

In the case of third-party tort,due to the lack of clear and detailed provisions on the treatment of employee’s industrial injury insurance payment and tort damage compensation,the judicial theory and practice have brought many disputes.Through combing the current relevant laws and regulations,it can be found that the application of the two systems will lead to the overlapping of industrial injury compensation.This paper analyzes the problems arising from the concurrence of industrial injury compensation and tort compensation using the case of Fu and Li v.a passenger transport company,and puts forward some ideas and suggestions on how to improve the settlement measures of such cases.

The Translation of Chinese Literature under the Theory of Translation Compensation

In order to promote the exchange of Chinese culture with foreign countries,translators bear an important mission in the process of cross-cultural communication.Although there are cultural differences,we can achieve cultural dissemination and exchange through continuous cultural dialogue.As an important way for foreign scholars to understand the history of the Shang and Zhou Dynasties in China,the translation of historical texts is crucial.Multiple typical cases are selected under the guidance of the translation theory of compensation to use relevant methods or techniques from the three levels of language,culture,and aesthetics to compensate for the loss of Li Xueqin’s The Origin of Ancient Chinese Civilization in English translation proofreading.

Design of Cold-Junction Compensation and Disconnection Detection Circuits of Various Thermocouples and Implementation of Multi-Channel Interfaces Using Them-A Secondary Publication

Cold-junction compensation(CJC)and disconnection detection circuit design of various thermocouples(TC)and multi-channel TC interface circuits were designed.The CJC and disconnection detection circuit consists of a CJC semiconductor device,an instrumentation amplifier(IA),two resistors,and a diode for disconnection detection.Based on the basic circuit,a multi-channel interface circuit was also implemented.The CJC was implemented using compensation semiconductor and IA,and disconnection detection was detected by using two resistors and a diode so that IA input voltage became-0.42 V.As a result of the experiment using R-type TC,the error of the designed circuit was reduced from 0.14 mV to 3μV after CJC in the temperature range of 0°C to 1400°C.In addition,it was confirmed that the output voltage of IA was saturated from 88 mV to-14.2 V when TC was disconnected from normal.The output voltage of the designed circuit was 0 V to 10 V in the temperature range of 0°C to 1400°C.The results of the 4-channel interface experiment using R-type TC were almost identical to the CJC and disconnection detection results for each channel.The implemented multi-channel interface has a feature that can be applied equally to E,J,K,T,R,and S-type TCs by changing the terminals of CJC semiconductor devices and adjusting the IA gain.

Validation of the albumin-bilirubin score for identifying decompensation risk in patients with compensated cirrhosis

BACKGROUND The albumin-bilirubin(ALBI)score is an index of liver function recently developed to assess prognosis in patients with hepatocellular carcinoma(HCC).It can detect small changes in liver dysfunction and has been successfully applied to the prediction of survival in patients with non-malignant liver diseases of various etiologies.AIM To investigate the ALBI score for identifying decompensation risk at the 3-year follow-up in patients with compensated cirrhosis.METHODS One-hundred and twenty-three patients with compensated cirrhosis without HCC in King Chulalongkorn Memorial Hospital diagnosed by imaging were retrospectively enrolled from January 2016 to December 2020.A total of 113 patients(91.9%)had Child A cirrhosis with a median model for end-stage liver disease(MELD)score of less than 9.Baseline clinical and laboratory variables and decompensation events were collected.The ALBI score was calculated and validated to classify decompensation risk into low-,middle-,and high-risk groups using three ALBI grade ranges(ALBI grade 1:≤-2.60;grade 2:>-2.60 but≤-1.39;grade 3:>-1.39).Decompensation events were defined as ascites development,variceal bleeding,or grade 3 or 4 hepatic encephalopathy.RESULTS Among 123 cirrhotic patients enrolled,13.8%(n=17)developed decompensating events at a median time of 25[95%confidence interval(CI):17-31]mo.Median baseline ALBI score in compensated cirrhosis was significantly lower than that of patients who developed decompensation events[-2.768(-2.956 to-2.453)vs-2.007(-2.533 to-1.537);P=0.01].Analysis of decompensation risk at 3 years showed that ALBI score had a time-dependent area under the curve(tAUC)of 0.86(95%CI:0.78-0.92),which was significantly better than that of ALBI-Fibrosis-4(ALBI-FIB4)score(tAUC=0.77),MELD score(tAUC=0.66),Child-Pugh score(tAUC=0.65),and FIB-4 score(tAUC=0.48)(P<0.05 for all).The 3-year cumulative incidence of decompensation was 3.1%,22.6%,and 50%in the low-,middle-,and high-risk groups,respectively(P<0.001).The odds ratio for decompensation in patients of the high-risk group was 23.33(95%CI:3.88-140.12,P=0.001).CONCLUSION The ALBI score accurately identifies decompensation risk at the 3-year follow-up in patients with compensated cirrhosis.Those cirrhotic patients with a high-risk grade of ALBI score showed a 23 times greater odds of decompensation.

Excavation compensation theory and supplementary technology system for large deformation disasters

Given the challenges in managing large deformation disasters in energy engineering,traffic tunnel engineering,and slope engineering,the excavation compensation theory has been proposed for large deformation disasters and the supplementary technology system is developed accordingly.This theory is based on the concept that“all destructive behaviors in tunnel engineering originate from excavation.”This paper summarizes the development of the excavation compensation theory in five aspects:the“theory,”“equipment,”“technology,”the design method with large deformation mechanics,and engineering applications.First,the calculation method for compensation force has been developed based on this theory,and a comprehensive large deformation disaster control theory system is formed.Second,a negative Poisson's ratio anchor cable with high preload,large deformation,and super energy absorption characteristics has been independently developed and applied to large deformation disaster control.An intelligent tunnel monitoring and early warning cloud platform system are established for remote monitoring and early warning system of Newton force in landslide geological hazards.Third,the double gradient advance grouting technology,the two-dimensional blasting technology,and the integrated Newton force monitoring--early warning--control technology are developed for different engineering environments.Finally,some applications of this theory in China's energy,traffic tunnels,landslide,and other field projects have been analyzed,which successfully demonstrates the capability of this theory in large deformation disaster control.

A Compensation Algorithm for Large Element Characterizing the Damage Evolution Process and Its Application to Structure Collisions

When simulating the process from elastic–plastic deformation,damage to failure in a metal structure collision,it is necessary to use the large shell element due to the calculation efficiency,but this would affect the accuracy of damage evolution simulation.The compensation algorithm adjusting failure strain according to element size is usually used in the damage model to deal with the problem.In this paper,a new nonlinear compensation algorithm between failure strain and element size was proposed,which was incorporated in the damage model GISSMO(Generalized incremental stress state dependent damage model)to characterize ductile fracture.And associated material parameters were calibrated based on tensile experiments of aluminum alloy specimens with notches.Simulation and experimental results show that the new compensation algorithm significantly reduces the dependence of element size compared with the constant failure strain model and the damage model with the linear compensation algorithm.During the axial splitting process of a circular tubular structure,the new compensation algorithm keeps the failure prediction errors low over the stress states ranging from shear to biaxial tension,and achieves the objective prediction of the damage evolution process.This study demonstrates how the compensation algorithm resolves the contradiction between large element size and fracture prediction accuracy,and this facilitates the use of the damage model in ductile fracture prediction for engineering structures.

Optimal design of culling compensation policy under the African swine fever——Based on simulations of typical pig farms in China

This paper aims to optimize the culling compensation policy from a micro perspective through scenario simulation.Based on an investigation of 273 pig farms in eight regions,four typical pig farms were constructed according to farm size and breeding mode,representing the swine producers in China.Besides,a decision objective function of pig farms facing suspected African swine fever(ASF)outbreaks was constructed.This study used a mathematical programming model to design and simulate scenarios based on compensation standards and local implementation levels,aiming to incentivize pig farms to report epidemics.The results show that the optimal decisions on epidemic reports differed among typical farms and by herd daily age.The results suggest the following adjustments for optimizing culling compensation policies:(1)to set culling compensation standards based on the market value and(2)to maintain a high level of epidemic surveillance capability in the animal husbandry and veterinary sector.

Wave Azimuth Cutoff Compensation Method and the Multisatellite Networking Mode of SAR

Synthetic aperture radars(SARs)encounter the azimuth cutoff problem when observing sea waves.Consequently,SARs can only capture the waves with wavelengths larger than the cutoff wavelength and lose the information of waves with smaller wavelengths.To increase the accuracy of SAR wave observations,this paper investigates an azimuth cutoff compensation method based on the simulated multiview SAR wave synchronization data obtained by the collaborative observation via networked satellites.Based on the simulated data and the equivalent multiview measured data from Sentinel-1 virtual networking,the method is verified and the cutoff wavelengths decrease by 16.40%and 14.00%.The biases of the inversion significant wave height with true values decrease by 0.04 m and 0.14 m,and the biases of the mean wave period decrease by 0.17 s and 0.22 s,respectively.These results demonstrate the effectiveness of the azimuth cutoff compensation method.Based on the azimuth cutoff compensation method,the multisatellite SAR networking mode for wave observations are discussed.The highest compensation effect is obtained when the combination of azimuth angle is(95°,115°,135°),the orbital intersection angle is(50°,50°),and three or four satellites are used.The study of the multisatellite networking mode in this paper can provide valuable references for the compensation of azimuth cutoff and the observation of waves by a multisatellite network.

Suppression and compensation effect of oxygen on the behavior of heavily boron-doped diamond films

This work investigates the suppression and compensation effect of oxygen on the behaviors and characteristics of heavily boron-doped microwave plasma chemical vapor deposition(MPCVD)diamond films.The suppression effect of oxygen on boron incorporation is observed by an improvement in crystal quality when oxygen is added during the diamond doping process.A relatively low hole concentration is expected and verified by Hall effect measurements due to the compensation effect of oxygen as a deep donor in diamond.A low acceptor concentration,high compensation donor concentration and relatively larger acceptor ionization energy are then induced by the incorporation of oxygen;however,a heavily boron-doped diamond film with high crystal quality can also be expected.The formation of an oxygen–boron complex structure instead of oxygen substitution,as indicated by the results of x-ray photoelectron spectroscopy,is suggested to be more responsible for the observed enhanced compensation effect due to its predicted low formation energy.Meanwhile,density functional theory calculations show that the boron–oxygen complex structure is easily formed in diamond with a formation energy of-0.83 eV.This work provides a comprehensive understanding of oxygen compensation in heavily boron-doped diamond.

Exploring the Mechanical Properties,Shrinkage and Compensation Mechanism of Cement Stabilized Macadam-Steel Slag from Multiple Perspectives

Steel slag is characterized by high strength,good wear resistance and micro-expansion.This study aims at exploring the potential of steel slag in cement stabilized aggregates,mainly including mechanical properties,shrinkage and compensation mechanisms.For this purpose,the compressive strength and compressive resilient modulus of cement stabilized aggregates with different steel slag contents(CSMS)were initially investigated.Subsequently,the effects of steel slag and cement on dry shrinkage,temperature shrinkage,and total shrinkage were analyzed through a series of shrinkage test designs.Additionally,in combination with X-ray diffraction(XRD)and Scanning electron microscope(SEM),the characteristic peaks and microscopic images of cement,steel slag and cement-steel slag at different hydration ages were analyzed to identify the chemical substances causing the expansion volume of steel slag and reveal the compensation mechanism of CSMS.The results show that the introduction of 20%steel slag improved the mechanical properties of CSMS by 16.7%,reduced dry shrinkage by 21%,increased temperature shrinkage by 5.8%and reduced its total shrinkage by 19.2%.Compared with the hydration reaction of cement alone,the composite hydration reaction of steel slag with cement does not produce new hydrates.Furthermore,it is noteworthy that the volume expansion of the f-CaO hydration reaction in steel slag can compensate for the volume shrinkage of cement-stabilized macadam.This research can provide a solid theoretical basis for the application and promotion of steel slag in cement-stabilized macadam and reduce the possibility of shrinkage cracking.

An Analysis of the Static and Dynamic Behavior of the Hydraulic Compensation System of a Multichannel Valve

Electro-hydraulic proportional valve is the core control valve in many hydraulic systems used in agricultural and engineering machinery.To address the problem related to the large throttling losses and poor stability typically associated with these valves,here,the beneficial effects of a triangular groove structure on the related hydraulic response are studied.A mathematical model of the pressure compensation system based on the power-bond graph method is introduced,and the AMESim software is used to simulate its response.The results show that the triangular groove structure increases the jet angle and effectively compensates for the hydrodynamic force.The steady-state differential pressure at the valve port of the new pressure compensation structure was 0.65 MPa.Furthermore,experimental results show that the pressure difference at the main valve port is 0.73 MPa,and that the response time is less than 0.2 s.It is concluded that the new compensation structure has good pressure compensation response characteristics.

The Full Load Voltage Compensation Strategy in Capacity Configuration of UPQC Integrated PV-BESS

Unified power quality conditioner(UPQC)with energy storage is commonly based on conventional capacity configuration strategy with power angle control.It has problems such as phase jumping before and after compensation.DC-link cannot continuously emit active power externally.Therefore,this paper presents the compensation strategy of full load voltage magnitude and phase in capacity configuration of UPQC.The topology of UPQC is integrated a series active power filter(SAPF),a shunt active power filter(PAPF)and a photovoltaic-battery energy storage system(PV-BESS).The principle of full load voltage compensation is analyzed based on the PV-BESS-UPQC topology.Themagnitude constant of load voltage ismaintained by controlling the appropriate shunt compensation current.Then the UPQC capacity configuration is carried out using the full load voltage compensation strategy.The compensation capacity of UPQC series and shunt units are reduced.Finally,the simulation results show that the proposed compensation strategy reduces the capacity configuration by 5.11 kVA(36.4%)compared to the conventional compensation strategy.The proposed strategy can achieve full compensation of the load voltage,which can effectively reduce the capacity allocation and improve the economy of UPQC.It also has the PV-BESS units’ability of providing active power and can stabilize the DC-link voltage.

Improving Land Governance in Nigeria:The Case of Compulsory Acquisition and Compensation Practice

This paper examines land policies on acquisition and compensation practice in Nigeria with the aim of minimizing conflicts in land acquisition and compensation.It further explains the implications of uncoordinated land allocations arising from informal transactions.The paper used self-administered questionnaires on all the fifteen(15)registered estate firms in the 2009 NIESV Directory in Benin City,Edo state to obtain information that helped to determine the fairness of compensation practice and causes of conflict in some communities in the state.The paper revealed that the compensation on acquired landed properties in Nigeria violated the principles of good governance as against what is obtainable in advanced countries.It also observed that inadequacy of compensation paid and delay in payment are the causes of conflict between the acquiring authorities and the affected community/people.The paper concluded that a review of land policies on acquisition and compensation will be a panacea for achieving the principles of good governance.

Cross-section distortion and springback characteristics of double-cavity aluminum profile in force controlled stretch-bending

3D elastic-plastic FE model for simulating the force controlled stretch-bending process of double-cavity aluminum profile was established using hybrid explicit−implicit solvent method.Considering the computational accuracy and efficiency,the optimal choices of numerical parameters and algorithms in FE modelling were determined.The formation mechanisms of cross-section distortion and springback were revealed.The effects of pre-stretching,post-stretching,friction,and the addition of internal fillers on forming quality were investigated.The results show that the stress state of profile in stretch-bending is uniaxial with only a circumferential stress.The stress distribution along the length direction of profile is non-uniform and the maximum tensile stress is located at a certain distance away from the center of profile.As aluminum profile is gradually attached to bending die,the distribution characteristic of cross-section distortion along the length direction of profile changes from V-shape to W-shape.After unloading the forming tools,cross-section distortion decreases obviously due to the stress relaxation,with a maximum distortion difference of 13%before and after unloading.As pre-stretching and post-stretching forces increase,cross-section distortion increases gradually,while springback first decreases and then remains unchanged.With increasing friction between bending die and profile,cross-section distortion slightly decreases,while springback increases.Cross-section distortion decreases by 83%with adding PVC fillers into the cavities of profile,while springback increases by 192.2%.

A Coherent Interpretation of Economic Compensation for Divorce:Taking Gender Equality as the Basis

Article 1088 of China's Civil Code grants the right to seek economic compensation in divorce cases.However,significant confusion persists regarding the values,interpretations of doctrine,and legal techniques related to this compensation.Various viewpoints have emerged on the nature of compensation,including notions of household wages,human capital investment,moral obligation,and damages recovery.Concerning compensation standards,there are proposals such as the“humanitarian assistance”theory,“household wages”theory,“expected interest”theory,or“loss of interest”theory.By examining the evolution,legal principles,and practical applications of economic compensation for divorce from a human rights perspective,we aim to establish the legal foundation for this compensation,grounded in principles of gender equality.It clarifies that the compensation essentially confirms and restores individual development opportunities and the right to development in the context of gender inequality.This approach aims to provide a more coherent interpretation of clauses of economic compensation for divorce in terms of legal purposes,legal doctrines,and legal techniques,thus offering a more reasonable perspective to reconcile theoretical and practical discrepancies in economic compensation for divorce.

基于PI闭环反馈的EtherCAT分布式时钟漂移补偿优化

接入工业总线的设备的增加会导致高延迟等同步性问题。基于EtherCAT对分布式时钟同步算法进行研究与分析,针对其在漂移补偿过程中存在补偿精度低的问题,提出了一种基于闭环反馈控制思想的动态漂移补偿算法。算法先利用定点数改进本地时钟,再利用PI控制调节漂移补偿值。最后搭建了测试平台,包括基于SOEM实现的主站与基于STM32+FPGA架构实现的从站,优化前后的算法分别在FPGA中实现。测试结果表明:定点数改进的本地时钟分辨率可以达到2^(-20) ns, PI闭环反馈优化后的漂移补偿算法可以将同步误差降低到25 ns之内,明显提高从站之间的同步性能。

Cryogenic springback of 2219-W aluminum alloy sheet through V-shaped bending

A V-shaped bending device was established to evaluate the effects of temperature and bending fillet radius on springback behavior of 2219-W aluminum alloy at cryogenic temperatures.The cryogenic springback mechanism was elucidated through mechanical analyses and numerical simulations.The results indicated that the springback angle at cryogenic temperatures was greater than that at room temperature.The springback angle increased further as the temperature returned to ambient conditions,attributed to the combined effects of the “dual enhancement effect” and thermal expansion.Notably,a critical fillet radius made the springback angle zero for 90° V-shaped bending.The critical fillet radius at cryogenic temperatures was smaller than that at room temperature,owing to the influence of temperature variations on the bending moment ratio between the forward bending section at the fillet and the reverse bending section of the straight arm.