This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In thi...This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In this system, the operator manipulates an object in a virtual environment by using the 5-DOF master arm. When contacting with the virtual object, the contact force can be calculated and shown in the graphic interface. The contact response and deformation of the virtual object, which are usually called haptic rendering, also can be performed. The study supplies an approach to improve the operator’s immersion and can be used in many tele-robot control fields.展开更多
在高等教育全球化、我国“双一流”建设以及培养能够积极参与国际事务的高层次复合型人才的目标的驱动下,英文媒介教学(EMI,English Medium Instruction)在我国迅速发展。文章首先阐述了在中国开展全英文授课的重要性,从而引入EMI教育。...在高等教育全球化、我国“双一流”建设以及培养能够积极参与国际事务的高层次复合型人才的目标的驱动下,英文媒介教学(EMI,English Medium Instruction)在我国迅速发展。文章首先阐述了在中国开展全英文授课的重要性,从而引入EMI教育。由EMI教育在国际社会特别是亚太地区的发展和现状,可知中国的EMI教育势在必行,这对实施EMI的教师提出了诸多要求。文章从微观的教学的角度,对EMI教育对教师的要求进行了阐述,然后重点就微观EMI教学的实施策略进行了较为详细的分析,为实施EMI教学的教师提供参考。展开更多
An four wheel steering (4WS) feedback control system that simultaneously achieves both body sideslip angle and yaw rate responses always desirable regardless of changes in vehicle dynamics. Quantitative feedback theor...An four wheel steering (4WS) feedback control system that simultaneously achieves both body sideslip angle and yaw rate responses always desirable regardless of changes in vehicle dynamics. Quantitative feedback theory (QFT) is offered as the main tool for designing the control law. Inverted decoupling is also employed to make multivariable quantitative feedback design easier. Various nonlinear analyses are carried out and show that the proposed control system is a robust decoupling controller which not only makes body sideslip angle and yaw rate of the vehicle track the desired reference input signals respectively, but also satisfies the requirement of robustness for the control system. The results also indicate that the control system can make it available to realize ideal lateral steering dynamics tracking for vehicles.展开更多
Driven by the increase in CO_(2)concentration,climate models reach a consensus that the large-scale circulation of the South Asian summer monsoon(SASM) becomes weakened but with different magnitudes.This study investi...Driven by the increase in CO_(2)concentration,climate models reach a consensus that the large-scale circulation of the South Asian summer monsoon(SASM) becomes weakened but with different magnitudes.This study investigates the major uncertainty sources of the SASM response to an abrupt quadrupling of CO_(2)(abrupt-4×CO_(2))in 18 models of phase 6 of the Coupled Model Intercomparison Project.The projected weakening of the SASM indicated by both zonal and meridional monsoon circulation indices is closely linked to decreases in the meridional gradient of upper-tropospheric temperature between Eurasia and the Indian Ocean(EUTT-IUTT).A climate feedback-response analysis method is applied to linearly decompose the uncertainty of changes in EUTT-IUTT into the partial changes due to external forcing and internal processes of the earth-atmosphere column.Results show that the uncertainty of changes in EUTT-IUTT is contributed positively by the dominant atmospheric dynamic process,followed by the cloud shortwave radiative effect,and negatively by the surface latent heat flux and cloud longwave radiative effect.Contributions from CO_(2)forcing and other internal processes including albedo and water vapor feedbacks,oceanic heat storage,and sensible heat flux are found to be minor.展开更多
文摘This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In this system, the operator manipulates an object in a virtual environment by using the 5-DOF master arm. When contacting with the virtual object, the contact force can be calculated and shown in the graphic interface. The contact response and deformation of the virtual object, which are usually called haptic rendering, also can be performed. The study supplies an approach to improve the operator’s immersion and can be used in many tele-robot control fields.
文摘在高等教育全球化、我国“双一流”建设以及培养能够积极参与国际事务的高层次复合型人才的目标的驱动下,英文媒介教学(EMI,English Medium Instruction)在我国迅速发展。文章首先阐述了在中国开展全英文授课的重要性,从而引入EMI教育。由EMI教育在国际社会特别是亚太地区的发展和现状,可知中国的EMI教育势在必行,这对实施EMI的教师提出了诸多要求。文章从微观的教学的角度,对EMI教育对教师的要求进行了阐述,然后重点就微观EMI教学的实施策略进行了较为详细的分析,为实施EMI教学的教师提供参考。
文摘An four wheel steering (4WS) feedback control system that simultaneously achieves both body sideslip angle and yaw rate responses always desirable regardless of changes in vehicle dynamics. Quantitative feedback theory (QFT) is offered as the main tool for designing the control law. Inverted decoupling is also employed to make multivariable quantitative feedback design easier. Various nonlinear analyses are carried out and show that the proposed control system is a robust decoupling controller which not only makes body sideslip angle and yaw rate of the vehicle track the desired reference input signals respectively, but also satisfies the requirement of robustness for the control system. The results also indicate that the control system can make it available to realize ideal lateral steering dynamics tracking for vehicles.
基金jointly supported by the National Natural Science Foundation of China [grant numbers 4208810141911540470+3 种基金42075028]the Guangdong Major Project of Basic and Applied Basic Research [grant number 2020B0301030004]the Natural Science Foundation of Guangdong Province of China [grant number 2018A0303130268]the Guangdong Province Key Laboratory for Climate Change and Natural Disaster Studies [grant number2020B1212060025]。
文摘Driven by the increase in CO_(2)concentration,climate models reach a consensus that the large-scale circulation of the South Asian summer monsoon(SASM) becomes weakened but with different magnitudes.This study investigates the major uncertainty sources of the SASM response to an abrupt quadrupling of CO_(2)(abrupt-4×CO_(2))in 18 models of phase 6 of the Coupled Model Intercomparison Project.The projected weakening of the SASM indicated by both zonal and meridional monsoon circulation indices is closely linked to decreases in the meridional gradient of upper-tropospheric temperature between Eurasia and the Indian Ocean(EUTT-IUTT).A climate feedback-response analysis method is applied to linearly decompose the uncertainty of changes in EUTT-IUTT into the partial changes due to external forcing and internal processes of the earth-atmosphere column.Results show that the uncertainty of changes in EUTT-IUTT is contributed positively by the dominant atmospheric dynamic process,followed by the cloud shortwave radiative effect,and negatively by the surface latent heat flux and cloud longwave radiative effect.Contributions from CO_(2)forcing and other internal processes including albedo and water vapor feedbacks,oceanic heat storage,and sensible heat flux are found to be minor.
