A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, bo...A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, both front and rear driving wheels are distributed on the same parallelogram mechanis m. The driving motor drives the three sets of driving wheels by worm couple, the regulating motor makes the three sets of driving wheels push against the pipe inwall with stable and adequate pressing force by the ball screw pair and p ressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and sm all in size and work reliably . It is particularly suitable to the pipe with diameter 400～650 mm.展开更多
The paper proposed a terminal sliding mode control method for the delayed input system with uncertainties. Firstly, through the state transformation, the original system was transformed into the non-delayed controllab...The paper proposed a terminal sliding mode control method for the delayed input system with uncertainties. Firstly, through the state transformation, the original system was transformed into the non-delayed controllabte canonical form system. Then the paper designed a terminal sliding mode and terminal sliding control law with Lyapunov method for the transformed system. Through the method, the reaching time of the any initial state and the convergencing time to the equilibrium points are constrained in finite time. The simulation results show the validation of the method.展开更多
A multi-homed VPN architecture based on extended SOCKSv5 and TLS was proposed. The architecture employs a dynamic connection mechanism for multiple proxies in the end system,i n which the security-demanded transmissio...A multi-homed VPN architecture based on extended SOCKSv5 and TLS was proposed. The architecture employs a dynamic connection mechanism for multiple proxies in the end system,i n which the security-demanded transmission connections can switch smoothly among the multiple proxies by maint aining a coherent connection context.The mechanism is transparent to application programs and can support th e building of VPN.With the cooperation of some other security components,the mechanism guarantees the reso urce availability and reliability of the end system against some attacks to the specific ports or hosts.展开更多
A simplified bi-variable human error probability calculation method is developed by incorporating two common performance condition( CPC) factors, which are modified from factors employed in cognitive reliability and e...A simplified bi-variable human error probability calculation method is developed by incorporating two common performance condition( CPC) factors, which are modified from factors employed in cognitive reliability and error analysis method(CREAM) to take into account the characteristics of shipping operations. After the influencing factors are identified, Markov method is used to calculate the values of human reliability. The proposed method does not rely on the involvement of experts in the field of human factor nor depend on historical accidents or human error statistics. It is applied to the case of the crew on board of an ocean going dry bulk carrier. The caculated results agree with the actual case, which verifies the validity of the model.展开更多
A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on ...A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.展开更多
The purpose of this research is to explore the principle of the man-object relationship to identify the issues shown when handling packaging and emphasizing the usability aspect. For that, the theoretical reference of...The purpose of this research is to explore the principle of the man-object relationship to identify the issues shown when handling packaging and emphasizing the usability aspect. For that, the theoretical reference of the research involves the analysis of the parameters according to the aspects that involve the use interactions of packaging in agreement with the definition and scientific concepts of ergonomics, allied to the development of product projects, discussing forms, handling, load transportation and the support of the product. Therefore, improperly handling of the packaging may cause damages to the products and even potential accidents. Coding and decoding are significant to facilitate the use recognition within the individual＇s repertoire. The packaging, within the macro-ergonomics universe, may be the object of ergonomics, whose contribution to solve problems is related to labor activities, by dealing with packaging, transportation and load resulting from the man-object interaction. The incorrect identification of information may lead to problems of interpretation and misuse, from the handling to the disposal of packaging. For this reason, this research suggests the adjustment of the man-object interface which may lead users to make mistakes regarding use and important choices, through adequate handling actions.展开更多
The content of cytochrome oxidase (CCO), succinate dehydrogenase (SDH) and neutrophil alkaline phosphatase (NAP) in bone marrow cells in 68 cases of aplastic anemia before and after treatment was determined by com... The content of cytochrome oxidase (CCO), succinate dehydrogenase (SDH) and neutrophil alkaline phosphatase (NAP) in bone marrow cells in 68 cases of aplastic anemia before and after treatment was determined by computerized graphical analysis and compared with that of normal volunteers (control group). The significantly lowered CCO and SDH levels and the markedly increased NAP content before treatment (P<0.01) became approximately normal after that of supplementing the kidney and removing blood stasis (P >0.05).展开更多
We firstly described a simulation model to investigate the influence of grain boundary(GB)on the vortex transport properties in YBCO film.It is found that the size of inhomogeneous area caused by GB as well as the ave...We firstly described a simulation model to investigate the influence of grain boundary(GB)on the vortex transport properties in YBCO film.It is found that the size of inhomogeneous area caused by GB as well as the average velocity in transverse and longitudinal directions shows an angular dependence when the angle between the GB and the sample edge varies.We have also studied the impact of magnetic field intensity on dynamic behavior of vortex lattice and found that a lower vortex density makes it difficult for the vortex lattice to transfer from pinning state to flow state.As the magnetic field is decreased beyond a critical value,sharp jumps and strong fluctuations were observed in the I-V curve.Finally,we conducted measurements on a thin film YBa2Cu3O7 with an individual artificial grain boundary to support the simulation process.展开更多
The ongoing discoveries and studies of novel topological quantum materials have become an emergent and important field of condensed matter physics. Recently, Hfres ignited renewed interest as a candidate of a novel to...The ongoing discoveries and studies of novel topological quantum materials have become an emergent and important field of condensed matter physics. Recently, Hfres ignited renewed interest as a candidate of a novel topological material. The single-layer Hffes is predicted to be a tWOldimensional large band gap topological insulator and can be stacked into a bulk that may host a temperatureldriven topological phase transition. Historically, Hfres attracted considerable interest for its anomalous transport properties characterized by a peculiar resistivity peak accompanied by a sign reversal carrier type. The origin of the transport anomaly remains under a hot debate. Here we report the first high-resolution laserlbased anglelresolved photoemission measurements on the temperature-dependent electronic structure in Hffes. Our results indicated that a temperature-induced Lifshitz transition occurs in Hffes, which provides a natural understanding on the origin of the transport anomaly in Hffe~. In addition, our observa- tions suggest that Hffes is a weak topological insulator that is located at the phase boundary between weak and strong topological insulators at very low temperature.展开更多
基金High Technology Research and Development( 863 ) Programe of China ( No.2002AA442110) The Cooperative Fund ofYunnan Province and Shanghai JiaotongUniv.(No.2001KABAA00A025)
文摘A new type of in-pipe mobile robot was designed and developed on the basis of w heel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, both front and rear driving wheels are distributed on the same parallelogram mechanis m. The driving motor drives the three sets of driving wheels by worm couple, the regulating motor makes the three sets of driving wheels push against the pipe inwall with stable and adequate pressing force by the ball screw pair and p ressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and sm all in size and work reliably . It is particularly suitable to the pipe with diameter 400～650 mm.
基金the National Natural Science Foundation of China (Grant No. 60474016)the Foundation of Harbin Institute of Technology(Grant No. HIT.2003.14).
文摘The paper proposed a terminal sliding mode control method for the delayed input system with uncertainties. Firstly, through the state transformation, the original system was transformed into the non-delayed controllabte canonical form system. Then the paper designed a terminal sliding mode and terminal sliding control law with Lyapunov method for the transformed system. Through the method, the reaching time of the any initial state and the convergencing time to the equilibrium points are constrained in finite time. The simulation results show the validation of the method.
基金National Natural Science Foundation ofChina (No.90104029)
文摘A multi-homed VPN architecture based on extended SOCKSv5 and TLS was proposed. The architecture employs a dynamic connection mechanism for multiple proxies in the end system,i n which the security-demanded transmission connections can switch smoothly among the multiple proxies by maint aining a coherent connection context.The mechanism is transparent to application programs and can support th e building of VPN.With the cooperation of some other security components,the mechanism guarantees the reso urce availability and reliability of the end system against some attacks to the specific ports or hosts.
基金Supported by the National Basic Research Program of China("973"Program,No.2014CB046804)National Natural Science Foundation of China(No.51239008)+1 种基金Foundation of State Key Laboratory of Marine Engineering of Shanghai Jiaotong UniversityFoundation for Innovative Research Groups of National Natural Science Foundation of China(No.51021004)
文摘A simplified bi-variable human error probability calculation method is developed by incorporating two common performance condition( CPC) factors, which are modified from factors employed in cognitive reliability and error analysis method(CREAM) to take into account the characteristics of shipping operations. After the influencing factors are identified, Markov method is used to calculate the values of human reliability. The proposed method does not rely on the involvement of experts in the field of human factor nor depend on historical accidents or human error statistics. It is applied to the case of the crew on board of an ocean going dry bulk carrier. The caculated results agree with the actual case, which verifies the validity of the model.
基金Supported by the National Natural Science Foundation under Grant No50879012
文摘A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.
文摘The purpose of this research is to explore the principle of the man-object relationship to identify the issues shown when handling packaging and emphasizing the usability aspect. For that, the theoretical reference of the research involves the analysis of the parameters according to the aspects that involve the use interactions of packaging in agreement with the definition and scientific concepts of ergonomics, allied to the development of product projects, discussing forms, handling, load transportation and the support of the product. Therefore, improperly handling of the packaging may cause damages to the products and even potential accidents. Coding and decoding are significant to facilitate the use recognition within the individual＇s repertoire. The packaging, within the macro-ergonomics universe, may be the object of ergonomics, whose contribution to solve problems is related to labor activities, by dealing with packaging, transportation and load resulting from the man-object interaction. The incorrect identification of information may lead to problems of interpretation and misuse, from the handling to the disposal of packaging. For this reason, this research suggests the adjustment of the man-object interface which may lead users to make mistakes regarding use and important choices, through adequate handling actions.
文摘 The content of cytochrome oxidase (CCO), succinate dehydrogenase (SDH) and neutrophil alkaline phosphatase (NAP) in bone marrow cells in 68 cases of aplastic anemia before and after treatment was determined by computerized graphical analysis and compared with that of normal volunteers (control group). The significantly lowered CCO and SDH levels and the markedly increased NAP content before treatment (P<0.01) became approximately normal after that of supplementing the kidney and removing blood stasis (P >0.05).
基金supported by the National Basic Research Program of China("973"Project)(Grant Nos.2011CBA00107 and 2014CB339804)the National Natural Science Foundation of China(Grant Nos.61371036,11234006 and 11227904)+1 种基金the Natural Science Foundation of Jiangsu(Grant No.BK2012013)the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘We firstly described a simulation model to investigate the influence of grain boundary(GB)on the vortex transport properties in YBCO film.It is found that the size of inhomogeneous area caused by GB as well as the average velocity in transverse and longitudinal directions shows an angular dependence when the angle between the GB and the sample edge varies.We have also studied the impact of magnetic field intensity on dynamic behavior of vortex lattice and found that a lower vortex density makes it difficult for the vortex lattice to transfer from pinning state to flow state.As the magnetic field is decreased beyond a critical value,sharp jumps and strong fluctuations were observed in the I-V curve.Finally,we conducted measurements on a thin film YBa2Cu3O7 with an individual artificial grain boundary to support the simulation process.
基金supported by the National Key Research and Development Program of China (2016YFA0300600)the National Natural Science Foundation of China(11574367)+1 种基金the National Basic Research Program of China (2013CB921700,2013CB921904 and 2015CB921300)the Strategic Priority Research Program(B) of the Chinese Academy of Sciences(XDB07020300)
文摘The ongoing discoveries and studies of novel topological quantum materials have become an emergent and important field of condensed matter physics. Recently, Hfres ignited renewed interest as a candidate of a novel topological material. The single-layer Hffes is predicted to be a tWOldimensional large band gap topological insulator and can be stacked into a bulk that may host a temperatureldriven topological phase transition. Historically, Hfres attracted considerable interest for its anomalous transport properties characterized by a peculiar resistivity peak accompanied by a sign reversal carrier type. The origin of the transport anomaly remains under a hot debate. Here we report the first high-resolution laserlbased anglelresolved photoemission measurements on the temperature-dependent electronic structure in Hffes. Our results indicated that a temperature-induced Lifshitz transition occurs in Hffes, which provides a natural understanding on the origin of the transport anomaly in Hffe~. In addition, our observa- tions suggest that Hffes is a weak topological insulator that is located at the phase boundary between weak and strong topological insulators at very low temperature.
