A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It h...A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.展开更多
Induction motor is used in many applications to drive an electromechanical system. Transients of the motor torque and speed are outlined by the inertia of rotating rotor. The paper deals with influence of rotor inerti...Induction motor is used in many applications to drive an electromechanical system. Transients of the motor torque and speed are outlined by the inertia of rotating rotor. The paper deals with influence of rotor inertia to transients of motor speed. The method of speed control measurement and experimental equipment is discussed. Simulation and experimental results are compared.展开更多
Quantitative evaluation and driving mechanism analysis of vegetation dynamics are essential for promoting regional sustainable development.In the past 20 years,the ecological environment in Altay Prefecture has change...Quantitative evaluation and driving mechanism analysis of vegetation dynamics are essential for promoting regional sustainable development.In the past 20 years,the ecological environment in Altay Prefecture has changed significantly due to global warming.Meanwhile,with increasing human activities,the spatiotemporal pattern and driving forces of vegetation variation in the area are uncertain and difficult to accurately assess.Hence,we quantified the vegetation growth by using the Normalized Difference Vegetation Index(NDVI)on the Google Earth Engine(GEE).Then,the spatiotemporal patterns of vegetation from 2000 to 2019 were analyzed at the pixel scale.Finally,significance threshold segmentation was performed using meteorological data based on the correlation analysis results,and the contributions of climate change and human activities to vegetation variation were quantified.The results demonstrated that the vegetation coverage in Altay Prefecture is mainly concentrated in the north.The vegetation areas representing significant restoration and degradation from 2000 to 2019 accounted for 24.08% and 1.24% of Altay Prefecture,respectively.Moreover,spatial correlation analysis showed that the areas with significant correlations between NDVI and temperature,precipitation and sunlight hours accounted for 3.3%,6.9% and 20.3% of Altay Prefecture,respectively.In the significant restoration area,18.94% was dominated by multiple factors,while 3.4% was dominated by human activities,and 1.74% was dominated by climate change.Within the significant degradation area,abnormal degradation and climate change controlled 1.07% and 0.17%,respectively.This study revealed the dynamic changes of vegetation and their driving mechanisms in Altay Prefecture,and can provide scientific support for further research on life community mechanism theory and key remediation technology of mountain-water-forest-farmland-lake-grass in Altay Prefecture.展开更多
A jet acceleration model for extracting energy from disk-corona surrounding a rotating black hole(BH) is proposed.In the diskcorona scenario,we obtain the ratio of the power dissipated in the corona to the total for s...A jet acceleration model for extracting energy from disk-corona surrounding a rotating black hole(BH) is proposed.In the diskcorona scenario,we obtain the ratio of the power dissipated in the corona to the total for such disk-corona system by solving the disk dynamics equations.The analytical expression of the jet power is derived based on the electronic circuit theory of the magnetosphere.It is shown that jet power increases with the increasing BH spin,and concentrates in the inner region of the disk-corona.In addition,we use a sample consisting of 37 radio loud quasars to explore their jet production mechanism,and show that our jet formation mechanism can simulate almost all sources with high power jet,which fails to be explained by the Blandford-Znajek(BZ) process.展开更多
基金Project (50575206) supported by the National Natural Science Foundation of ChinaProject (BX102716) supported by Xinmiao Program of Zhejiang Province, China
文摘A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.
文摘Induction motor is used in many applications to drive an electromechanical system. Transients of the motor torque and speed are outlined by the inertia of rotating rotor. The paper deals with influence of rotor inertia to transients of motor speed. The method of speed control measurement and experimental equipment is discussed. Simulation and experimental results are compared.
基金The Science and Technology Project of Xizang Autonomous Region(XZ201901-GA-07)The Key Research and Development Project of Sichuan Science and Technology Department(2021YFQ0042)The Science and Technology Bureau of Altay Region in Yili Kazak Autonomous Prefecture(Y99M4600AL)。
文摘Quantitative evaluation and driving mechanism analysis of vegetation dynamics are essential for promoting regional sustainable development.In the past 20 years,the ecological environment in Altay Prefecture has changed significantly due to global warming.Meanwhile,with increasing human activities,the spatiotemporal pattern and driving forces of vegetation variation in the area are uncertain and difficult to accurately assess.Hence,we quantified the vegetation growth by using the Normalized Difference Vegetation Index(NDVI)on the Google Earth Engine(GEE).Then,the spatiotemporal patterns of vegetation from 2000 to 2019 were analyzed at the pixel scale.Finally,significance threshold segmentation was performed using meteorological data based on the correlation analysis results,and the contributions of climate change and human activities to vegetation variation were quantified.The results demonstrated that the vegetation coverage in Altay Prefecture is mainly concentrated in the north.The vegetation areas representing significant restoration and degradation from 2000 to 2019 accounted for 24.08% and 1.24% of Altay Prefecture,respectively.Moreover,spatial correlation analysis showed that the areas with significant correlations between NDVI and temperature,precipitation and sunlight hours accounted for 3.3%,6.9% and 20.3% of Altay Prefecture,respectively.In the significant restoration area,18.94% was dominated by multiple factors,while 3.4% was dominated by human activities,and 1.74% was dominated by climate change.Within the significant degradation area,abnormal degradation and climate change controlled 1.07% and 0.17%,respectively.This study revealed the dynamic changes of vegetation and their driving mechanisms in Altay Prefecture,and can provide scientific support for further research on life community mechanism theory and key remediation technology of mountain-water-forest-farmland-lake-grass in Altay Prefecture.
基金supported by the National Basic Research Program of China(Grant Nos.2009CB24901 and 2012CB821804)the National Natural Science Foundation of China (Grant No.10973003)the Project for Excellent Young and Middle-Aged Talent of Education Bureau of Hubei Province(Grant No.Q2007120001)
文摘A jet acceleration model for extracting energy from disk-corona surrounding a rotating black hole(BH) is proposed.In the diskcorona scenario,we obtain the ratio of the power dissipated in the corona to the total for such disk-corona system by solving the disk dynamics equations.The analytical expression of the jet power is derived based on the electronic circuit theory of the magnetosphere.It is shown that jet power increases with the increasing BH spin,and concentrates in the inner region of the disk-corona.In addition,we use a sample consisting of 37 radio loud quasars to explore their jet production mechanism,and show that our jet formation mechanism can simulate almost all sources with high power jet,which fails to be explained by the Blandford-Znajek(BZ) process.
