A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Base...A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.展开更多
In view of the fact that climate-related disasters are already taking a heavy toll, causing massive damage to crops and infrastructure and forcing some people to flee their homes, however, the potential impacts of cli...In view of the fact that climate-related disasters are already taking a heavy toll, causing massive damage to crops and infrastructure and forcing some people to flee their homes, however, the potential impacts of climate change are likely to trigger adaptive responses that influence environmental and socio-economic drivers of food system performance in positive as well as negative ways. This paper was conducted through the collection of some research materials with the projected balance of these various climate impacts on food system performance and food security outcomes at the local and global levels. More so that, food security is likely to be affected by climate change in several ways： food security depends not only on the direct impact of climate change on food production but also on its indirect impact on human nutrition and health, economic growth, trade flows and food aid policy. The paper further examined the effectiveness of managing new risks and uncertainty, improving the quality of information and its use, monitoring weather and improving scientific understanding of climate change, promoting insurance schemes, maintaining biodiversity and access to fund as some of the crucial measures for adaptation. The large amount of resources that would be necessary to avoid the worst case scenario suggests the necessity of continued support from the international community to improve food security at the local and global levels as a whole.展开更多
Discussing the matter of organizational data management implies, almost automatically, the concept of data warehousing as one of the most important parts of decision support system （DSS）, as it supports the integrat...Discussing the matter of organizational data management implies, almost automatically, the concept of data warehousing as one of the most important parts of decision support system （DSS）, as it supports the integration of information management by aggregating all data formats and provisioning external systems with consistent data content and flows, together with the metadata concept, as one of the easiest ways of integration for software and database systems. Since organizational data management uses the metadata channel for creating a bi-directional flow, when correctly managed, metadata can save both time and resources for organizations. This paperI will focus on providing theoretical aspects of the two concepts, together with a short brief over a proposed model of design for an organizational management tool.展开更多
This paper deals with a method for building a mobile robot in order to transform the material into a practical guide for beginners in the study of mobile robotics. The project is divided into layers that can define th...This paper deals with a method for building a mobile robot in order to transform the material into a practical guide for beginners in the study of mobile robotics. The project is divided into layers that can define the topics related to the areas of knowledge that will be used in carrying out the project. These areas are the mechanics, electronics and computing system. The mobile robot named Fable was developed accordingly to this method. It is composed by two active wheels, each one driven by DC motor with a high torque and a transmission system containing two spur gears. It has three sonars for detection of the opponent and two infrared sensors to detect a line and an Arduino Uno board is used to control all the actions of the robot.展开更多
The single-shaft parallel hybrid powertrain with the automatic mechanical transmission(AMT)is an efficient hybrid driving system in the hybrid electric bus(HEB),while the electromechanical coupling driving control bec...The single-shaft parallel hybrid powertrain with the automatic mechanical transmission(AMT)is an efficient hybrid driving system in the hybrid electric bus(HEB),while the electromechanical coupling driving control becomes a complicated question to find a transient optimal control method to distribute the power between the engine and the electric machine(EM).This paper proposes an innovative control method to deal with the complicated transient coupling driving process of the electromechanical coupling driving system,considering the accelerating condition and the cruising condition mostly in the city driving cycle of HEB.The EM might be operated at driving mode or generating mode to assist the diesel engine to work in its high-efficiency area.Therefore,the adaptive torque tracking controller has been brought forward to ensure that the EM implements the demand torque as well as compensate the torque fluctuation of diesel engine.The d?q axis mathematical model and back stepping method are employed to deduce the adaptive controller and its adaptive laws.Simulation results demonstrate that the proposed control scheme can make the output torque of two power sources respond rapidly to the demand torque from the powertrain in the given driving condition.The proposed method could be adopted in the real control of HEB to improve the efficiency of the hybrid driving system.展开更多
An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated ...An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controlla- bility-measurement(LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.展开更多
基金Preject 50225519 supported by the National Outstanding Youth Science Foundation of China
文摘A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.
文摘In view of the fact that climate-related disasters are already taking a heavy toll, causing massive damage to crops and infrastructure and forcing some people to flee their homes, however, the potential impacts of climate change are likely to trigger adaptive responses that influence environmental and socio-economic drivers of food system performance in positive as well as negative ways. This paper was conducted through the collection of some research materials with the projected balance of these various climate impacts on food system performance and food security outcomes at the local and global levels. More so that, food security is likely to be affected by climate change in several ways： food security depends not only on the direct impact of climate change on food production but also on its indirect impact on human nutrition and health, economic growth, trade flows and food aid policy. The paper further examined the effectiveness of managing new risks and uncertainty, improving the quality of information and its use, monitoring weather and improving scientific understanding of climate change, promoting insurance schemes, maintaining biodiversity and access to fund as some of the crucial measures for adaptation. The large amount of resources that would be necessary to avoid the worst case scenario suggests the necessity of continued support from the international community to improve food security at the local and global levels as a whole.
文摘Discussing the matter of organizational data management implies, almost automatically, the concept of data warehousing as one of the most important parts of decision support system （DSS）, as it supports the integration of information management by aggregating all data formats and provisioning external systems with consistent data content and flows, together with the metadata concept, as one of the easiest ways of integration for software and database systems. Since organizational data management uses the metadata channel for creating a bi-directional flow, when correctly managed, metadata can save both time and resources for organizations. This paperI will focus on providing theoretical aspects of the two concepts, together with a short brief over a proposed model of design for an organizational management tool.
文摘This paper deals with a method for building a mobile robot in order to transform the material into a practical guide for beginners in the study of mobile robotics. The project is divided into layers that can define the topics related to the areas of knowledge that will be used in carrying out the project. These areas are the mechanics, electronics and computing system. The mobile robot named Fable was developed accordingly to this method. It is composed by two active wheels, each one driven by DC motor with a high torque and a transmission system containing two spur gears. It has three sonars for detection of the opponent and two infrared sensors to detect a line and an Arduino Uno board is used to control all the actions of the robot.
基金supported by the National Natural Science Foundation of China(Grant No.51275557)the National Science-technology Support Plan Projects of China(Grant No.2013BAG14B01)
文摘The single-shaft parallel hybrid powertrain with the automatic mechanical transmission(AMT)is an efficient hybrid driving system in the hybrid electric bus(HEB),while the electromechanical coupling driving control becomes a complicated question to find a transient optimal control method to distribute the power between the engine and the electric machine(EM).This paper proposes an innovative control method to deal with the complicated transient coupling driving process of the electromechanical coupling driving system,considering the accelerating condition and the cruising condition mostly in the city driving cycle of HEB.The EM might be operated at driving mode or generating mode to assist the diesel engine to work in its high-efficiency area.Therefore,the adaptive torque tracking controller has been brought forward to ensure that the EM implements the demand torque as well as compensate the torque fluctuation of diesel engine.The d?q axis mathematical model and back stepping method are employed to deduce the adaptive controller and its adaptive laws.Simulation results demonstrate that the proposed control scheme can make the output torque of two power sources respond rapidly to the demand torque from the powertrain in the given driving condition.The proposed method could be adopted in the real control of HEB to improve the efficiency of the hybrid driving system.
基金supported by the National Natural Science Foundation of China(Grant No.11272027)
文摘An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controlla- bility-measurement(LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.
