The effects of active control on the vehicle roll were studied. Based on the theory that distributing the greater roll stiffness to the rear axle can improve tracking trajectory capacity and increase maneuver stabilit...The effects of active control on the vehicle roll were studied. Based on the theory that distributing the greater roll stiffness to the rear axle can improve tracking trajectory capacity and increase maneuver stability, an eight degrees of freedom vehicle model was established and feedforward feedback control strategy was devised to control distribution of lateral load transfer on the front axle and the rear one. Simulation results showed that the proposed control strategy can improve comfort, maneuver stability and safety effectively.展开更多
In this paper,we find a subclass of starlike functions on the unit disk,which are mapped by a operator,given by F（z）=1＋u/zu∫z0 f（t）tu-1dt（Re u≥0）,onto convex functions.The main results extend some known results.
Objective The aim of the study was to probe into the impacts of the times of preventive transcatheter arterial chemoembolization (TACE) after operation treatment for patients with primary liver cancer on their survival.
Objective To determine the extent to which differences in generic quality of life （QOL） between transcatheter aortic valve implanta- tion （TAVI） and surgical aortic valve replacement （AVR） patients explained by ...Objective To determine the extent to which differences in generic quality of life （QOL） between transcatheter aortic valve implanta- tion （TAVI） and surgical aortic valve replacement （AVR） patients explained by EuroSCORE and heart-team operability assessment. Methods A total of 146 high-risk patients with EuroSCORE 〉 6 and aged 〉 75 years underwent TAVI （n = 80） or aortic valve replacement （n = 66） between February 2010 and July 2013. A total of 75 patients also completed preoperative and six month SF-12 QOL measures. Analyses examined incident major morbidity, compared six month QOL between groups adjusted for EUroSCORE and operability, and quantified rates of clinically significant QOL improvement and deterioration. Results The AVR group required longer ventilation （〉 24 h） （TAVI 5.0% vs. AVR 20.6%, P = 0.004） and more units of red blood cells [TAVI 0 （0-1） vs. AVR 2 （0-3）, P = 0.01]. New renal failure was higher in TAVI （TAVI 5.0% vs. AVR 0%, P = 0.06）. TAVI patients reported significantly lower vitality （P = 0.01） by comparison to AVR patients, however these findings were no longer significant after adjustment for operability. In both procedures, clinically significant QOL improvement was common [range 25.0% （general health） - 62.9% （physical role）] whereas deterioration in QOL occurred less frequently [range 9.3% （physical role） - 33.3% （mental health）]. Conclusions Clinically significant improvement and deterioration in QOL was evident at six months in high risk elderly aortic valve replacement patients. Overall QOL did not differ between TAVI and AVR once operability was taken into consideration.展开更多
By applying the Fourier slice theorem, Sθ（λ） =∫^∞-∞Pθ（t）e^-iλt=F（λcosθ,λsinθ）,where Pθ（t） is a projection of f（x,p）=^∞∫∫-∞F（u,v）e^i（uz＋up） dudv along lines of constant, to the Wigner ...By applying the Fourier slice theorem, Sθ（λ） =∫^∞-∞Pθ（t）e^-iλt=F（λcosθ,λsinθ）,where Pθ（t） is a projection of f（x,p）=^∞∫∫-∞F（u,v）e^i（uz＋up） dudv along lines of constant, to the Wigner operator we are naturally led to a projection operator （pure state）, which results in a new complete representation. The Weyl orderimg formalism of the Wigner operator is used in the derivation.展开更多
What is the true sense of freedom？ Man is free and lacks freedom. The author considers the example of Louis XIV. It seemed that he held the sovereignty as the king of the absolute monarchy and the greatest freedom. B...What is the true sense of freedom？ Man is free and lacks freedom. The author considers the example of Louis XIV. It seemed that he held the sovereignty as the king of the absolute monarchy and the greatest freedom. But all his teeth were pulled out to protect him from illness and in his exercise as the king, he had many official obligations. Though he was king, he was free and lacked freedom. According to J. J. Rousseau （1762） who discussed the principle of freedom and oppression （deprivation）, if man realizes freedom, it needs to express his duty and subordination to the state. Therefore man is free and lacks freedom. What is the situation of contemporary citizens？ Instead of the oppression by the state, the citizen is controlled by the mass media. The best example is the drama observed about the prime ministers of Japan. There were many manipulations by the mass media. For our benefit we need to educate the persons who have good sense. We should remember that our freedom is not absolute. We are free and lack freedom, too. Often man searches freedom and comfort but often, on the contrary, he faces the lack of freedom. Electricity that is produced by a nuclear plant is useful, but the explosion of the nuclear plant creates a huge damage and tragedy, In a sense, deprivation is larger than freedom, because it could teach us self- awareness, moderation and let us know that we have enough.展开更多
The subject and the object are a pair of concepts within the philosophical category. Dialectical materialism takes practice as the medium, and holds that subject is the existence of an active objective world, and that...The subject and the object are a pair of concepts within the philosophical category. Dialectical materialism takes practice as the medium, and holds that subject is the existence of an active objective world, and that the object is the object of practical activity. Under certain conditions, the subject and object can In terms of social security, the main body of responsibility is the government that allows the transfer of citizens＇ rights. Thereforethe government is the main body of production and providers of public goods, and the object is the main body＇s guaranteed rights and obligations. Commonly pointed objects or things generally refer to specific material information in practical operations, abstract information economy, legal norms, and the entire practice process.展开更多
In the 21st century, the South Korean government is to develop its own cultural industries, and it has achieved great results. Since the administration of President Chun Doo-hwan, it started the Korean government for ...In the 21st century, the South Korean government is to develop its own cultural industries, and it has achieved great results. Since the administration of President Chun Doo-hwan, it started the Korean government for the development of cultural industry that has formulated a series of policies, laws and regulations, which is the development of Korean culture industry that has played a positive role in promoting. By analyzing the current development of cultural industries in Korea, Korean culture industry can be seen with the following characteristics in the development process, ie government-led industrial policy and cultural economic and non-economic nature of double and capital, talent and technology for the development of cultural industries powered. Successful experience in development and operation of Korean culture of industry development has an important enlightenment on China＇ s cultural industry.展开更多
As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable....As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable. To achieve such a function, we developed a master-slave manipulator system in which the slave manipulator surface is covered with many proximity sensors. Additionally, we developed a haptic device that feeds back proximity sense information to the operator using small vibration motors. We attached the haptic device to the arm of the operator and vibrated the vibration motor corresponding to the sensor. Thereby, the operator was able to ascertain the position of an object near the manipulator, and to make the robot maneuver to avoid it before collision. To confirm the system usefulness, we equipped subjects with the developed proximity sense presentation device and performed a detection-position-specific experiment and an obstacle avoidance experiment in a narrow space. As results of the detection position specific experiment on five subjects, four subjects reported the detection position correctly. The remaining one person failed because of his particular arm shape. Operation experiments conducted in a narrow space showed that all subjects＇ work was successful when given feedback of proximity sense information. Nobody was successful without proximity sense information. Results of these two experiments demonstrate that this proposed system is useful for obstacle avoidance of a master-slave manipulator system.展开更多
This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control...This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control is considered,where the master distributed generation(DG) unit operates in different control schemes in different microgrid operation modes,while other slave DG units operate with power/current control all the time.The proposed control strategy focuses on the master DG unit,and contains the control state/reference compensation algorithm and separation switch control logic.The proposed method can effectively reduce the impact on the critical loads and DG units caused by microgrid operation mode transitions.展开更多
The development of molecular donor/polymer acceptor blend(MD/PA)-type organic solar cells(OSCs) lags far behind other type OSCs. It is due to the large-size phase separation morphology of MD/PAblend, which results fro...The development of molecular donor/polymer acceptor blend(MD/PA)-type organic solar cells(OSCs) lags far behind other type OSCs. It is due to the large-size phase separation morphology of MD/PAblend, which results from the high crystallinity of molecular donors. In this article, to suppress the crystallinity of molecular donors, we use ternary blends to develop OSCs based on one polymer acceptor(P-BNBP-f BT) and two molecular donors(DR3 TBDTT and BTR) with similar chemical structures.The ternary OSC exhibits a power conversion efficiency(PCE) of 4.85%, which is higher than those of the binary OSCs(PCE=3.60% or 3.86%). To our best knowledge, it is the first report of ternary MD/PA-type OSCs and this PCE is among the highest for MD/PA-type OSCs reported so far. Compared with the binary blends, the ternary blend exhibits decreased crystalline size and improved face-on orientation of the donors. As a result, the ternary blend exhibits improved and balanced charge mobilities, suppressed charge recombination and increased donor/acceptor interfacial areas, which leads to the higher shortcircuit current density. These results suggest that using ternary blend is an effective strategy to manipulate active layer morphology and enhance photovoltaic performance of MD/PA-type OSCs.展开更多
Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steer...Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.展开更多
Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleopera...Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.展开更多
文摘The effects of active control on the vehicle roll were studied. Based on the theory that distributing the greater roll stiffness to the rear axle can improve tracking trajectory capacity and increase maneuver stability, an eight degrees of freedom vehicle model was established and feedforward feedback control strategy was devised to control distribution of lateral load transfer on the front axle and the rear one. Simulation results showed that the proposed control strategy can improve comfort, maneuver stability and safety effectively.
基金Supported by the National Natural Science Foundation of Mathematics Tianyuan Fund（A0524629）
文摘In this paper,we find a subclass of starlike functions on the unit disk,which are mapped by a operator,given by F（z）=1＋u/zu∫z0 f（t）tu-1dt（Re u≥0）,onto convex functions.The main results extend some known results.
文摘Objective The aim of the study was to probe into the impacts of the times of preventive transcatheter arterial chemoembolization (TACE) after operation treatment for patients with primary liver cancer on their survival.
文摘Objective To determine the extent to which differences in generic quality of life （QOL） between transcatheter aortic valve implanta- tion （TAVI） and surgical aortic valve replacement （AVR） patients explained by EuroSCORE and heart-team operability assessment. Methods A total of 146 high-risk patients with EuroSCORE 〉 6 and aged 〉 75 years underwent TAVI （n = 80） or aortic valve replacement （n = 66） between February 2010 and July 2013. A total of 75 patients also completed preoperative and six month SF-12 QOL measures. Analyses examined incident major morbidity, compared six month QOL between groups adjusted for EUroSCORE and operability, and quantified rates of clinically significant QOL improvement and deterioration. Results The AVR group required longer ventilation （〉 24 h） （TAVI 5.0% vs. AVR 20.6%, P = 0.004） and more units of red blood cells [TAVI 0 （0-1） vs. AVR 2 （0-3）, P = 0.01]. New renal failure was higher in TAVI （TAVI 5.0% vs. AVR 0%, P = 0.06）. TAVI patients reported significantly lower vitality （P = 0.01） by comparison to AVR patients, however these findings were no longer significant after adjustment for operability. In both procedures, clinically significant QOL improvement was common [range 25.0% （general health） - 62.9% （physical role）] whereas deterioration in QOL occurred less frequently [range 9.3% （physical role） - 33.3% （mental health）]. Conclusions Clinically significant improvement and deterioration in QOL was evident at six months in high risk elderly aortic valve replacement patients. Overall QOL did not differ between TAVI and AVR once operability was taken into consideration.
基金Supported by National Natural Science Foundation of China under Grant No.10874174
文摘By applying the Fourier slice theorem, Sθ（λ） =∫^∞-∞Pθ（t）e^-iλt=F（λcosθ,λsinθ）,where Pθ（t） is a projection of f（x,p）=^∞∫∫-∞F（u,v）e^i（uz＋up） dudv along lines of constant, to the Wigner operator we are naturally led to a projection operator （pure state）, which results in a new complete representation. The Weyl orderimg formalism of the Wigner operator is used in the derivation.
文摘What is the true sense of freedom？ Man is free and lacks freedom. The author considers the example of Louis XIV. It seemed that he held the sovereignty as the king of the absolute monarchy and the greatest freedom. But all his teeth were pulled out to protect him from illness and in his exercise as the king, he had many official obligations. Though he was king, he was free and lacked freedom. According to J. J. Rousseau （1762） who discussed the principle of freedom and oppression （deprivation）, if man realizes freedom, it needs to express his duty and subordination to the state. Therefore man is free and lacks freedom. What is the situation of contemporary citizens？ Instead of the oppression by the state, the citizen is controlled by the mass media. The best example is the drama observed about the prime ministers of Japan. There were many manipulations by the mass media. For our benefit we need to educate the persons who have good sense. We should remember that our freedom is not absolute. We are free and lack freedom, too. Often man searches freedom and comfort but often, on the contrary, he faces the lack of freedom. Electricity that is produced by a nuclear plant is useful, but the explosion of the nuclear plant creates a huge damage and tragedy, In a sense, deprivation is larger than freedom, because it could teach us self- awareness, moderation and let us know that we have enough.
文摘The subject and the object are a pair of concepts within the philosophical category. Dialectical materialism takes practice as the medium, and holds that subject is the existence of an active objective world, and that the object is the object of practical activity. Under certain conditions, the subject and object can In terms of social security, the main body of responsibility is the government that allows the transfer of citizens＇ rights. Thereforethe government is the main body of production and providers of public goods, and the object is the main body＇s guaranteed rights and obligations. Commonly pointed objects or things generally refer to specific material information in practical operations, abstract information economy, legal norms, and the entire practice process.
文摘In the 21st century, the South Korean government is to develop its own cultural industries, and it has achieved great results. Since the administration of President Chun Doo-hwan, it started the Korean government for the development of cultural industry that has formulated a series of policies, laws and regulations, which is the development of Korean culture industry that has played a positive role in promoting. By analyzing the current development of cultural industries in Korea, Korean culture industry can be seen with the following characteristics in the development process, ie government-led industrial policy and cultural economic and non-economic nature of double and capital, talent and technology for the development of cultural industries powered. Successful experience in development and operation of Korean culture of industry development has an important enlightenment on China＇ s cultural industry.
文摘As described in this paper, we propose a new haptic interface for a service robot. For safety with service robots working in a space where people live, some notification before collision with an obstacle is desirable. To achieve such a function, we developed a master-slave manipulator system in which the slave manipulator surface is covered with many proximity sensors. Additionally, we developed a haptic device that feeds back proximity sense information to the operator using small vibration motors. We attached the haptic device to the arm of the operator and vibrated the vibration motor corresponding to the sensor. Thereby, the operator was able to ascertain the position of an object near the manipulator, and to make the robot maneuver to avoid it before collision. To confirm the system usefulness, we equipped subjects with the developed proximity sense presentation device and performed a detection-position-specific experiment and an obstacle avoidance experiment in a narrow space. As results of the detection position specific experiment on five subjects, four subjects reported the detection position correctly. The remaining one person failed because of his particular arm shape. Operation experiments conducted in a narrow space showed that all subjects＇ work was successful when given feedback of proximity sense information. Nobody was successful without proximity sense information. Results of these two experiments demonstrate that this proposed system is useful for obstacle avoidance of a master-slave manipulator system.
基金supported by the National Basic Research Program of China ("973" Project) (Grant No. 2009CB219700)the National Natural Science Foundation of China (Grant No. 50837001)
文摘This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control is considered,where the master distributed generation(DG) unit operates in different control schemes in different microgrid operation modes,while other slave DG units operate with power/current control all the time.The proposed control strategy focuses on the master DG unit,and contains the control state/reference compensation algorithm and separation switch control logic.The proposed method can effectively reduce the impact on the critical loads and DG units caused by microgrid operation mode transitions.
基金supported by the National Key Basic Research and Development Program of China (2014CB643504)the National Natural Science Foundation of China (21625403, 51403200, 21504066, 21534003)+5 种基金the Strategic Priority Research Program of the Chinese Academy of Sciences (XDB12010200)Jilin Scientific and Technological Development Program (20170519003JH)Ministry of Science and Technology (2016YFA0200700)the Director, Office of Science, Office of Basic Energy Sciences, of the US Department of Energy (DE-AC0205CH11231)ARC Future Fellowship (FT130100500)the ARC Centre of Excellence in Exciton Science (CE170100026)
文摘The development of molecular donor/polymer acceptor blend(MD/PA)-type organic solar cells(OSCs) lags far behind other type OSCs. It is due to the large-size phase separation morphology of MD/PAblend, which results from the high crystallinity of molecular donors. In this article, to suppress the crystallinity of molecular donors, we use ternary blends to develop OSCs based on one polymer acceptor(P-BNBP-f BT) and two molecular donors(DR3 TBDTT and BTR) with similar chemical structures.The ternary OSC exhibits a power conversion efficiency(PCE) of 4.85%, which is higher than those of the binary OSCs(PCE=3.60% or 3.86%). To our best knowledge, it is the first report of ternary MD/PA-type OSCs and this PCE is among the highest for MD/PA-type OSCs reported so far. Compared with the binary blends, the ternary blend exhibits decreased crystalline size and improved face-on orientation of the donors. As a result, the ternary blend exhibits improved and balanced charge mobilities, suppressed charge recombination and increased donor/acceptor interfacial areas, which leads to the higher shortcircuit current density. These results suggest that using ternary blend is an effective strategy to manipulate active layer morphology and enhance photovoltaic performance of MD/PA-type OSCs.
基金supported by the National Natural Science Foundation of China(Grant Nos.51375007 and 51205191)NUAA Research Funding(Grant No.NS2013015)
文摘Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.
文摘Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.
