The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized...The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.展开更多
The fundamental mechanism of the cracking formation was investigated for the as-cast GH4151 superalloy.By analyzing the characteristics of cracking,the cracking mechanism was determined to be the cold crack formed dur...The fundamental mechanism of the cracking formation was investigated for the as-cast GH4151 superalloy.By analyzing the characteristics of cracking,the cracking mechanism was determined to be the cold crack formed during the cooling process.And cold cracking is closely related to severe segregation,complex precipitates and uneven γ'phase distribution.During cooling process,cracks were generated around the precipitates due to their different linear shrinkage coefficients.The annealing treatment process controlling the residual stress,the size and morphology of γ'phase was proposed.The annealing treatment plays a role in reducing residual stress through decreasing the thermal gradient and controlling the size distribution of γ'phase to reduce the strain concentration around the precipitate phases.展开更多
This research is based on previous theory research of corporate governance from the internal mechanisms, ownership structure and board structure, and researched how these three aspects affect earnings management.
Based on deformation and failure characteristics of the second belt conveyor roadway at level II of Zhuxianzhuang coal mine, laboratory experiments, numerical calculation and field test were adopted to analyze the com...Based on deformation and failure characteristics of the second belt conveyor roadway at level II of Zhuxianzhuang coal mine, laboratory experiments, numerical calculation and field test were adopted to analyze the composition and microstructure of mudstone, the law of mudstone hydration and its strength weakening induced by water, the characteristics of surrounding rock deformation and failure under the action of confined water. Results showed that montmorillonite clay minerals accounted for as much as 76% of mudstone, with a large number of pores existing in the microstructure. Besides, as the molecular structure of montmorillonite changed, mudstone microstructure damage occurred with the macroscopic manifestation of its theological instability. Weakening degree of confined water on residual strength of mudstone was almost 50%. The instability mechanism of soft rock roadway caused by high confined water is that surrounding rock circulates the process of "fracture-seepage-mud ding-closed" twice, which weakens its strength and leads to roadway instability. A combined support technology, namely the, "high-toughness sealing layer + hollow grouting cables + full-length anchoring bolts with deep borehole" was proposed. Based on field observation, the soft rock roadway was controlled effectively, which also verified the effectiveness of new control technology for surrounding rock.展开更多
By calculating the azimuth, phase angle and change rate of tidal force, and contrasting their rupture types, we find that in 6 of 11 reverse faulting earthquakes, the angles between the direction of the horizontal tid...By calculating the azimuth, phase angle and change rate of tidal force, and contrasting their rupture types, we find that in 6 of 11 reverse faulting earthquakes, the angles between the direction of the horizontal tidal force and compressive principal stress are within 33°, the vertical phase angles of all 8 strike-slip earthquakes are in the upward peak section and the vertical phase angles of two extensional normal faulting earthquakes are in the downward peak section. According to the above statistics, the mechanism of tidal force triggering of the Wenchnan Ms8. 0 Earthquake and its strong aftershocks is discussed.展开更多
The parameters, stress field background, geological tectonics and seismic sequence of the March 21, 2008, Ms7.4 Yutian, Xinjiang earthquake are discussed in this paper. The characteristics of seismic activity in the e...The parameters, stress field background, geological tectonics and seismic sequence of the March 21, 2008, Ms7.4 Yutian, Xinjiang earthquake are discussed in this paper. The characteristics of seismic activity in the epicenter and its adjacent region before the earthquake are analyzed; and a comparison is made between the Ms7.4 Yutian earthquake sequence, the Wenchuan Ms8.0 earthquake sequence and the Wuqia Ms6.9 earthquake sequence. The results show the Ms7.4 Yutian earthquake occurred in the junction between the Aityn Tagh fault and the western Kunlun fault, resulting perhaps from the tensile fracture of the branch fault located southwest of the Ashikule basin due to left-lateral dislocation of the Aityn Tagh fault; the seismic sequence is of main shock-aftershock type, the strongest aftershock being Ms5.8. The aftershocks attenuated quickly, and occurred in groups; the focal mechanism solutions and epicenter distribution have revealed a unilateral rupture source of this earthquake. Seismic activity shows that there was medium and medium-short term abnormity before the earthquake, but there was not short-imminent abnormity. Seismic activity of this earthquake sequence enhanced before the Ms8. 0 Wenchuan and the Ms6. 9 Wuqia earthquakes, showing the window effect to some extent.展开更多
The focal mechanism solutions of the Wenchuan earthquake (Ms8.0) of May 12, 2008 and some of its aftershocks occurring up to December I0, 2008 are determined with lower semisphere of equal-projection and first motio...The focal mechanism solutions of the Wenchuan earthquake (Ms8.0) of May 12, 2008 and some of its aftershocks occurring up to December I0, 2008 are determined with lower semisphere of equal-projection and first motion sign data of P waves from regional and distant stations. The focal mechanism solutions of the Ms8.0 Wenchuan earthquake are: Nodal plane I:strike 5°, dip angle 48°, slip angle 39°; Nodal plane II: strike 247°, dip angle 62°, slip angle 131°; P axis azimuth 309°, plunge 8°, T axis azimuth 208°, plunge 54°, B axis azimuth 44°, plunge 35% Combining geological tectonics and spatial distribution of aftershocks, nodal plane II can be identified as a seismogenic fault. According to focal mechanism solutions, the fault activity that triggered the huge earthquake is reverse thrusting. The main rupture surface is S67°W, basically identical to the fault strike on which the earthquake occurred. The main compression stress P axis is N51°W, which is basically the same as the direction of the regional tectonic stress field. According to the results of focal mechanism solutions of aftershocks, the aftershocks occurring in the southern and northern sections of the Longmenshan fault zone have predominant orientations and are obviously different. For the main shock and the early aftershocks occurring on the southern section of the Longmenshan fault, the rupturing is mainly characterized by reverse-dip slip with some strike-slip, and over time, the aftershocks migrated towards the northern section. The rupturing in the source is mainly characterized by strike-slip with some reverse-dip slips. The stress field is controlled by the main shock stress field in the southern section of the Longmenshan tectonic zone, while it is controlled by the main shock stress field and regional stress field in the northern section of the Longmenshan tectonic zone.展开更多
This paper investigates the incentives of invest in improving quality (as opposed to investments in new activities) in the telecommunications industry, based on the example of wireless markets. What is the impact of...This paper investigates the incentives of invest in improving quality (as opposed to investments in new activities) in the telecommunications industry, based on the example of wireless markets. What is the impact of competition on incentives to invest, and on capacities to invest? What is the role of the rate of penetration and technical progress? This paper highlights the fact that investment incentives are positively related to potential for technical progress. Investment incentives also depend on market structure, competition intensity, and penetration rate, but not monotonically. This paper consists of a theoretical part which, under assumptions of full market coverage and market share symmetry, shows that for each national market, there is a target level of investment which companies strive to achieve but had not exceeded, and an empirical part that confirms the findings of the theoretical part and explains the differences with the theoretical part by relaxing the assumptions of full coverage and market share symmetry. This target level on the one hand depends on the potential for technical progress and on the other hand, depends on the rate of penetration. From a social perspective, this target level is the best amount that companies are encouraged to invest. Non-achievement of the target level entails underinvestment and a decrease in consumer surplus and welfare and may slow down technical progress. A data set covering 30 countries over a period of eight years is used to empirically prove the existence of a change in investment behavior depending on whether or not the target level is achieved. A low margin per user may hamper achievement of the target level. As a result, maximum consumer surplus and welfare occur under imperfect competition but not under perfect competition.展开更多
Five mobile digital seismic stations were set up by the Earthquake Administration of Yunnan Province near the epicenter of the main shock after the Ning'er M6. 4 earthquake on June 3, 2007. In this paper, the aftersh...Five mobile digital seismic stations were set up by the Earthquake Administration of Yunnan Province near the epicenter of the main shock after the Ning'er M6. 4 earthquake on June 3, 2007. In this paper, the aftershock sequence of the Ning'er M6. 4 earthquake is relocated by using the double difference earthquake location method. The data is from the 5 mobile digital seismic stations and the permanent Simao seismic station. The results show that the length of the aftershock sequence is 40kin and the width is 30km, concentrated obviously at the lateral displacement area between the Pu'er fault and the NNE-trending faults, with the majority occurring on the Pu'er fault around the main shock. The depths of aftershocks are from 2kin to 12km, and the predominant distribution is in the depth of 8 ~ 10km. The mean depth is 7. 9kin. The seismic fault dips to the northwest revealed from the profile parallel to this aftershock sequence, which is identical to the dip of the secondary fault of the NE-trending Menglian-Mojiang fault in the earthquake area. There are more earthquakes concentrated in the northwest segment than in the southeast segment, which is perhaps related to the underground medium and faults. The depth profile of the earthquake sequence shows that the relocated earthquakes are mainly located near the Pu'er fault and the seismic faults dip to the southwest, consistent with the dip of the west branch of the Pu'er fault. In all, the fault strike revealed by earthquake relocations matches well with the strike in the focal mechanism solutions. The main shock is in the top of the aftershock sequence and the aftershocks are symmetrically distributed, showing that faulting was complete in both the NE and SW directions.展开更多
Feedback plays an important role in various biological signal transmission systems. In this paper, a signaling cascade system(including three layers: input(S), intermediate(V), output(X) components) is employed to stu...Feedback plays an important role in various biological signal transmission systems. In this paper, a signaling cascade system(including three layers: input(S), intermediate(V), output(X) components) is employed to study the fluctuations and net synergy in information transmission, in which the V component is regulated by itself or the X component, and each feedback on V is either positive or negative. The Fano factor, the net synergy, and the signalto-noise ratio(SNR) of signaling cascade with the four possible feedback types are theoretically derived by using linear noise approximation of the master equation, and the ability of information transmission through the signaling cascade is characterized by using the partial information decomposition of information theory. It is found that the signaling cascade exhibits different responses to the four feedback mechanisms, which depend on the relationships between degradation rates of components. Our results not only clarify the dependence of the Fano factor, net synergy, and SNR on the feedback regulations with the varying of degradation rates of components, but also imply that living cells could utilize different feedback mechanisms to adapt to the external fluctuating environments.展开更多
文摘The control method of highly redundant robot manipulators is introduced. A decentralized autonomous control scheme is used to guide the movement of robot manipulators so that the work done by manipulators is minimized. The method of computing pseudoinverse which needs too many complicated calculation can be avoided. Then the calculation and control of robots are simplified. At the same time system robustness/fault tolerance is achieved.
基金Project(50974016)supported by the National Natural Science Foundation of China。
文摘The fundamental mechanism of the cracking formation was investigated for the as-cast GH4151 superalloy.By analyzing the characteristics of cracking,the cracking mechanism was determined to be the cold crack formed during the cooling process.And cold cracking is closely related to severe segregation,complex precipitates and uneven γ'phase distribution.During cooling process,cracks were generated around the precipitates due to their different linear shrinkage coefficients.The annealing treatment process controlling the residual stress,the size and morphology of γ'phase was proposed.The annealing treatment plays a role in reducing residual stress through decreasing the thermal gradient and controlling the size distribution of γ'phase to reduce the strain concentration around the precipitate phases.
文摘This research is based on previous theory research of corporate governance from the internal mechanisms, ownership structure and board structure, and researched how these three aspects affect earnings management.
基金the Natural Science Foundation of Jiangsu Province(No.BK20141130)the Fundamental Research Funds for the Central Universities(No.2014QNB27)
文摘Based on deformation and failure characteristics of the second belt conveyor roadway at level II of Zhuxianzhuang coal mine, laboratory experiments, numerical calculation and field test were adopted to analyze the composition and microstructure of mudstone, the law of mudstone hydration and its strength weakening induced by water, the characteristics of surrounding rock deformation and failure under the action of confined water. Results showed that montmorillonite clay minerals accounted for as much as 76% of mudstone, with a large number of pores existing in the microstructure. Besides, as the molecular structure of montmorillonite changed, mudstone microstructure damage occurred with the macroscopic manifestation of its theological instability. Weakening degree of confined water on residual strength of mudstone was almost 50%. The instability mechanism of soft rock roadway caused by high confined water is that surrounding rock circulates the process of "fracture-seepage-mud ding-closed" twice, which weakens its strength and leads to roadway instability. A combined support technology, namely the, "high-toughness sealing layer + hollow grouting cables + full-length anchoring bolts with deep borehole" was proposed. Based on field observation, the soft rock roadway was controlled effectively, which also verified the effectiveness of new control technology for surrounding rock.
基金sponsored under the Seismic Situation Tracing Directional Work Project in Contract System in 2009 (20090203012009010107),China
文摘By calculating the azimuth, phase angle and change rate of tidal force, and contrasting their rupture types, we find that in 6 of 11 reverse faulting earthquakes, the angles between the direction of the horizontal tidal force and compressive principal stress are within 33°, the vertical phase angles of all 8 strike-slip earthquakes are in the upward peak section and the vertical phase angles of two extensional normal faulting earthquakes are in the downward peak section. According to the above statistics, the mechanism of tidal force triggering of the Wenchnan Ms8. 0 Earthquake and its strong aftershocks is discussed.
基金funded by the 2009 Directed Task Contract for Earthquake Situation Tracking (2009010101)the Xinjiang Earthquake Science Foundation, China (200701)
文摘The parameters, stress field background, geological tectonics and seismic sequence of the March 21, 2008, Ms7.4 Yutian, Xinjiang earthquake are discussed in this paper. The characteristics of seismic activity in the epicenter and its adjacent region before the earthquake are analyzed; and a comparison is made between the Ms7.4 Yutian earthquake sequence, the Wenchuan Ms8.0 earthquake sequence and the Wuqia Ms6.9 earthquake sequence. The results show the Ms7.4 Yutian earthquake occurred in the junction between the Aityn Tagh fault and the western Kunlun fault, resulting perhaps from the tensile fracture of the branch fault located southwest of the Ashikule basin due to left-lateral dislocation of the Aityn Tagh fault; the seismic sequence is of main shock-aftershock type, the strongest aftershock being Ms5.8. The aftershocks attenuated quickly, and occurred in groups; the focal mechanism solutions and epicenter distribution have revealed a unilateral rupture source of this earthquake. Seismic activity shows that there was medium and medium-short term abnormity before the earthquake, but there was not short-imminent abnormity. Seismic activity of this earthquake sequence enhanced before the Ms8. 0 Wenchuan and the Ms6. 9 Wuqia earthquakes, showing the window effect to some extent.
基金sponsored by the Basic Scientific Research Business Special,Institute of Geophysics,China Earthquake Administration (DQJB08B17)
文摘The focal mechanism solutions of the Wenchuan earthquake (Ms8.0) of May 12, 2008 and some of its aftershocks occurring up to December I0, 2008 are determined with lower semisphere of equal-projection and first motion sign data of P waves from regional and distant stations. The focal mechanism solutions of the Ms8.0 Wenchuan earthquake are: Nodal plane I:strike 5°, dip angle 48°, slip angle 39°; Nodal plane II: strike 247°, dip angle 62°, slip angle 131°; P axis azimuth 309°, plunge 8°, T axis azimuth 208°, plunge 54°, B axis azimuth 44°, plunge 35% Combining geological tectonics and spatial distribution of aftershocks, nodal plane II can be identified as a seismogenic fault. According to focal mechanism solutions, the fault activity that triggered the huge earthquake is reverse thrusting. The main rupture surface is S67°W, basically identical to the fault strike on which the earthquake occurred. The main compression stress P axis is N51°W, which is basically the same as the direction of the regional tectonic stress field. According to the results of focal mechanism solutions of aftershocks, the aftershocks occurring in the southern and northern sections of the Longmenshan fault zone have predominant orientations and are obviously different. For the main shock and the early aftershocks occurring on the southern section of the Longmenshan fault, the rupturing is mainly characterized by reverse-dip slip with some strike-slip, and over time, the aftershocks migrated towards the northern section. The rupturing in the source is mainly characterized by strike-slip with some reverse-dip slips. The stress field is controlled by the main shock stress field in the southern section of the Longmenshan tectonic zone, while it is controlled by the main shock stress field and regional stress field in the northern section of the Longmenshan tectonic zone.
文摘This paper investigates the incentives of invest in improving quality (as opposed to investments in new activities) in the telecommunications industry, based on the example of wireless markets. What is the impact of competition on incentives to invest, and on capacities to invest? What is the role of the rate of penetration and technical progress? This paper highlights the fact that investment incentives are positively related to potential for technical progress. Investment incentives also depend on market structure, competition intensity, and penetration rate, but not monotonically. This paper consists of a theoretical part which, under assumptions of full market coverage and market share symmetry, shows that for each national market, there is a target level of investment which companies strive to achieve but had not exceeded, and an empirical part that confirms the findings of the theoretical part and explains the differences with the theoretical part by relaxing the assumptions of full coverage and market share symmetry. This target level on the one hand depends on the potential for technical progress and on the other hand, depends on the rate of penetration. From a social perspective, this target level is the best amount that companies are encouraged to invest. Non-achievement of the target level entails underinvestment and a decrease in consumer surplus and welfare and may slow down technical progress. A data set covering 30 countries over a period of eight years is used to empirically prove the existence of a change in investment behavior depending on whether or not the target level is achieved. A low margin per user may hamper achievement of the target level. As a result, maximum consumer surplus and welfare occur under imperfect competition but not under perfect competition.
基金sponsored by the Joint Earthquake Science Foundation,China (200804)
文摘Five mobile digital seismic stations were set up by the Earthquake Administration of Yunnan Province near the epicenter of the main shock after the Ning'er M6. 4 earthquake on June 3, 2007. In this paper, the aftershock sequence of the Ning'er M6. 4 earthquake is relocated by using the double difference earthquake location method. The data is from the 5 mobile digital seismic stations and the permanent Simao seismic station. The results show that the length of the aftershock sequence is 40kin and the width is 30km, concentrated obviously at the lateral displacement area between the Pu'er fault and the NNE-trending faults, with the majority occurring on the Pu'er fault around the main shock. The depths of aftershocks are from 2kin to 12km, and the predominant distribution is in the depth of 8 ~ 10km. The mean depth is 7. 9kin. The seismic fault dips to the northwest revealed from the profile parallel to this aftershock sequence, which is identical to the dip of the secondary fault of the NE-trending Menglian-Mojiang fault in the earthquake area. There are more earthquakes concentrated in the northwest segment than in the southeast segment, which is perhaps related to the underground medium and faults. The depth profile of the earthquake sequence shows that the relocated earthquakes are mainly located near the Pu'er fault and the seismic faults dip to the southwest, consistent with the dip of the west branch of the Pu'er fault. In all, the fault strike revealed by earthquake relocations matches well with the strike in the focal mechanism solutions. The main shock is in the top of the aftershock sequence and the aftershocks are symmetrically distributed, showing that faulting was complete in both the NE and SW directions.
基金Supported by the National Natural Science Foundation of China under Grant Nos.11775091 and 11474117
文摘Feedback plays an important role in various biological signal transmission systems. In this paper, a signaling cascade system(including three layers: input(S), intermediate(V), output(X) components) is employed to study the fluctuations and net synergy in information transmission, in which the V component is regulated by itself or the X component, and each feedback on V is either positive or negative. The Fano factor, the net synergy, and the signalto-noise ratio(SNR) of signaling cascade with the four possible feedback types are theoretically derived by using linear noise approximation of the master equation, and the ability of information transmission through the signaling cascade is characterized by using the partial information decomposition of information theory. It is found that the signaling cascade exhibits different responses to the four feedback mechanisms, which depend on the relationships between degradation rates of components. Our results not only clarify the dependence of the Fano factor, net synergy, and SNR on the feedback regulations with the varying of degradation rates of components, but also imply that living cells could utilize different feedback mechanisms to adapt to the external fluctuating environments.