A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each lim...A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving ann and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same plane. Compared with similar manipulators with uniform parameters, the novel and unique topology as well as the addition of two strings of Delta-S manipulator can remove the clearance of the spherical joints, reduce the inertial load of components further, improve the positioning accuracy and dynamic performance, and so on. In order to formulate the kineto-static model of Delta-S manipulator, the kineto-static analyses and models of the driving arm, the generalized follower and the moving platform can be carried out by the D＇ALEMBERT principle. For the sake of obtaining the force analytic results of strings, the deformation compatibility condition of strings and the middle rod are determined. Furthermore, in virtue of the assumption of small deformation and the linear superposition principle, the minimal pre-tightening force of the strings is calculated. The main results include that the loads of the strings and the middle rod must be larger than ＂zero＂ and the pre-tightening force over the workspace must be larger than the minimal pre-tightening force at any time within the workspace, which lay the foundation for the dynamic analysis and the prototype manufacture of the Delta-S manipulator.展开更多
The conservation behavior framework is useful to identify key linkages between behavior and conservation practice. We apply this framework to a novel host-parasite system on the Galapagos Islands and ask if there have...The conservation behavior framework is useful to identify key linkages between behavior and conservation practice. We apply this framework to a novel host-parasite system on the Galapagos Islands and ask if there have been changes in parasite oviposition behavior and host mortality patterns across the first decade （2004-2013） of its known association. The Dipteran parasite Philornis downsi was first discovered in Darwin＇s finch nests in 1997 and is the biggest threat to the survival of Galapagos land birds. Host mortality has increased over the past decade. In Dipterans, pupation and pupae size are determined by access to host resources. Here, we test the hypothesis that P downsi flies are laying eggs in finch nests earlier in the nestling phase to maximize larval feeding time and therefore chance of pupation success before host death. The results show fewer 1st instar larvae later in the host nesting cycle in support of earlier egg laying behavior by female flies. Between 2004 and 2013, parasite intensity increased from -28 to -48 parasites per nest, host mortality increased from -50% to -90%, and host age at death decreased from -11 to -5 days. The earlier age at host death was correlated with fewer pupae （from -50% to -20%） and smaller pupae size （-10% decrease）. Changes in parasite behavior reveal new fitness costs to both the parasite and Darwin＇s finches. These findings un- derscore the need for urgent conservation action to save Darwin＇s finches from extinction due to a novel, lethal and introduced parasite [Current Zoology 60 （4）： 542-550, 2014].展开更多
基金Projects(50175295,50675151) supported by the National Natural Science Foundation of ChinaProject(11JCZDJC22700) supported by Tianjin Science and Technology Program,ChinaProject(2007AA042001) supported by the National High Technology Research and Development Program of China
文摘A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving ann and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same plane. Compared with similar manipulators with uniform parameters, the novel and unique topology as well as the addition of two strings of Delta-S manipulator can remove the clearance of the spherical joints, reduce the inertial load of components further, improve the positioning accuracy and dynamic performance, and so on. In order to formulate the kineto-static model of Delta-S manipulator, the kineto-static analyses and models of the driving arm, the generalized follower and the moving platform can be carried out by the D＇ALEMBERT principle. For the sake of obtaining the force analytic results of strings, the deformation compatibility condition of strings and the middle rod are determined. Furthermore, in virtue of the assumption of small deformation and the linear superposition principle, the minimal pre-tightening force of the strings is calculated. The main results include that the loads of the strings and the middle rod must be larger than ＂zero＂ and the pre-tightening force over the workspace must be larger than the minimal pre-tightening force at any time within the workspace, which lay the foundation for the dynamic analysis and the prototype manufacture of the Delta-S manipulator.
文摘The conservation behavior framework is useful to identify key linkages between behavior and conservation practice. We apply this framework to a novel host-parasite system on the Galapagos Islands and ask if there have been changes in parasite oviposition behavior and host mortality patterns across the first decade （2004-2013） of its known association. The Dipteran parasite Philornis downsi was first discovered in Darwin＇s finch nests in 1997 and is the biggest threat to the survival of Galapagos land birds. Host mortality has increased over the past decade. In Dipterans, pupation and pupae size are determined by access to host resources. Here, we test the hypothesis that P downsi flies are laying eggs in finch nests earlier in the nestling phase to maximize larval feeding time and therefore chance of pupation success before host death. The results show fewer 1st instar larvae later in the host nesting cycle in support of earlier egg laying behavior by female flies. Between 2004 and 2013, parasite intensity increased from -28 to -48 parasites per nest, host mortality increased from -50% to -90%, and host age at death decreased from -11 to -5 days. The earlier age at host death was correlated with fewer pupae （from -50% to -20%） and smaller pupae size （-10% decrease）. Changes in parasite behavior reveal new fitness costs to both the parasite and Darwin＇s finches. These findings un- derscore the need for urgent conservation action to save Darwin＇s finches from extinction due to a novel, lethal and introduced parasite [Current Zoology 60 （4）： 542-550, 2014].
