The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this prob...The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.展开更多
Purpose： The aims of this study were to assess differences of limb symmetry index （LSI） in strength- and coordination-related tasks between high-level, competitive, noninjured ski racers of different age-related pe...Purpose： The aims of this study were to assess differences of limb symmetry index （LSI） in strength- and coordination-related tasks between high-level, competitive, noninjured ski racers of different age-related performance levels and to prospectively assess limb differences as a possible risk factor for traumatic and overuse injury in youth ski racers. Methods： The study （Study 1） included 285 high-level competitive ski racers （125 females, 160 males） of 3 age-related performance levels and based on the school system： 95 youth （10-14 years, secondary modem school）, 107 adolescent （15-19 years, grammar school）, and 83 elite athletes （20-34 years）. To investigate the second aim （Study 2）, 67 of the 95 youth athletes were included and any traumatic or overuse injuries were prospectively recorded over 2 seasons. All athletes performed 4 unilateral tests （strength related： one-leg counter movement jump （OL-CMJ） and one-leg isometric/isokinetic press strength test （OL-ILS）; coordination related： one-leg stability test （OL-ST） and one-leg speedy jump test （OL-SJ））. The LSI was calculated by dividing the dominant leg by the nondominant leg and multiplying by 100. Kruskal-Wallis H tests and binary logistic regression analyses were conducted. Results： There were significant differences between the LSI of the 3 age-related performance-level groups only in the strength-related tests： the OL-CMJ （X^2（2, 285） = 9.09; p = 0.01） and the OL-ILS （X^2（2,285） = 14.79; p 〈 0.01）. The LSI for OL-ILS was found to be a significant risk factor for traumatic injury in youth ski racers （Wald = 7.08; p 〈 0.01）. No significant risk factors were found for overuse injuries. Conclusion： Younger athletes display slightly greater LSI values only in the strength-related tests. The cut-off value of limb differences of 〈 10% for return to sport decisions seems to be appropriate for elite athletes, but for youth and adolescent athletes it has to be critically discussed. It seems to be necessary to define thresholds based on specific performance tasks （strength vs. coordination related） rather than on generalizations, and age-related performance levels must be considered. Limb differences in unilateral leg extension strength represent a significant injury risk factor in youth ski racers.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. （http：//creativecommons.org/licenses/by-nc-nd/4.0/）.展开更多
A class of plateaued functions has been got by using the Maiorana-McFarland construction. A variety of desirable criteria for functions with cryptographic application eouht be satisfied： balancedness, high nonlineari...A class of plateaued functions has been got by using the Maiorana-McFarland construction. A variety of desirable criteria for functions with cryptographic application eouht be satisfied： balancedness, high nonlinearity, correlation immunity of reasonably high order, strict avalanche criterion, non-existence of non-zero linear struetures, good glnbal avalanche characteristics, etc.展开更多
The autocorrelation of a Boolean function possesses the capability to reflect such characteristics as linear structure, Strict Avalanche Criterion(SAC) and Propagation Criterion(PC)of degree k. But it can do nothing i...The autocorrelation of a Boolean function possesses the capability to reflect such characteristics as linear structure, Strict Avalanche Criterion(SAC) and Propagation Criterion(PC)of degree k. But it can do nothing in determining the order of SAC or PC. A calculating table for the autocorrelation is constructed in this paper so as to show what is beyond the autocorrelation and how the three cryptographic characteristics are exhibited. A deeper study on the calculating table in a similar way has helped us to develop a new concept, named as the general autocorrelation, to address efficiently the problem how to determine the orders of SAC and PC. The application on the Advanced Encryption Standard(AES) shows the SAC and PC characteristics of Boolean functions of AES S-box.展开更多
How snow cover changes in response to climate change at different elevations within a mountainous basin is a less investigated question. In this study we focused on the vertical distribution of snow cover and its rela...How snow cover changes in response to climate change at different elevations within a mountainous basin is a less investigated question. In this study we focused on the vertical distribution of snow cover and its relation to elevation and temperature within different elevation zones of distinct climatology, taking the mountainous Manasi River Basin of Xinjiang, Northwest China as a case study. Data sources include MODIS 8-day snow product, MODIS land surface temperature(LST) data from 2001 to 2014, and in situ temperature data observed at three hydrological stations from 2001 to 2012. The results show that:(1) the vertical distribution of snow areal extent(SAE) is sensitive to elevation in low(<2100 m) and high altitude(>3200 m) regions and shows four different seasonal patterns, each pattern is well correspondent to the variation of temperature.(2) The correlation between vertical changes of the SAE and temperature is significant in all seasons except for winter.(3) The correlation between annual changes of the SAE and temperature decreases with increasing elevation, the negative correlation is significant in area below 4000 m.(4) The snow cover days(SCDs) and its long-term change show visible differences in different altitude range.(5) The long-term increasing trend of SCDs and decreasing trend of winter temperature have a strong vertical relation with elevation below 3600 m. The decreasing trend of SCDs is attributed to the increasing trend of summer temperature in the area above 3600 m.展开更多
基金supported by the National Natural Science Foundation of China(Nos.51875287, 52075250)the Special Fund for Transformation of Scientific,and Technological Achievements of Jiangsu Province(No.BA2018053)
文摘The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.
文摘Purpose： The aims of this study were to assess differences of limb symmetry index （LSI） in strength- and coordination-related tasks between high-level, competitive, noninjured ski racers of different age-related performance levels and to prospectively assess limb differences as a possible risk factor for traumatic and overuse injury in youth ski racers. Methods： The study （Study 1） included 285 high-level competitive ski racers （125 females, 160 males） of 3 age-related performance levels and based on the school system： 95 youth （10-14 years, secondary modem school）, 107 adolescent （15-19 years, grammar school）, and 83 elite athletes （20-34 years）. To investigate the second aim （Study 2）, 67 of the 95 youth athletes were included and any traumatic or overuse injuries were prospectively recorded over 2 seasons. All athletes performed 4 unilateral tests （strength related： one-leg counter movement jump （OL-CMJ） and one-leg isometric/isokinetic press strength test （OL-ILS）; coordination related： one-leg stability test （OL-ST） and one-leg speedy jump test （OL-SJ））. The LSI was calculated by dividing the dominant leg by the nondominant leg and multiplying by 100. Kruskal-Wallis H tests and binary logistic regression analyses were conducted. Results： There were significant differences between the LSI of the 3 age-related performance-level groups only in the strength-related tests： the OL-CMJ （X^2（2, 285） = 9.09; p = 0.01） and the OL-ILS （X^2（2,285） = 14.79; p 〈 0.01）. The LSI for OL-ILS was found to be a significant risk factor for traumatic injury in youth ski racers （Wald = 7.08; p 〈 0.01）. No significant risk factors were found for overuse injuries. Conclusion： Younger athletes display slightly greater LSI values only in the strength-related tests. The cut-off value of limb differences of 〈 10% for return to sport decisions seems to be appropriate for elite athletes, but for youth and adolescent athletes it has to be critically discussed. It seems to be necessary to define thresholds based on specific performance tasks （strength vs. coordination related） rather than on generalizations, and age-related performance levels must be considered. Limb differences in unilateral leg extension strength represent a significant injury risk factor in youth ski racers.2018 Published by Elsevier B.V. on behalf of Shanghai University of Sport. This is an open access article under the CC BY-NC-ND license. （http：//creativecommons.org/licenses/by-nc-nd/4.0/）.
基金the National Natural Science Foundation of China，Foundation of National Laboratory for Modern Communications
文摘A class of plateaued functions has been got by using the Maiorana-McFarland construction. A variety of desirable criteria for functions with cryptographic application eouht be satisfied： balancedness, high nonlinearity, correlation immunity of reasonably high order, strict avalanche criterion, non-existence of non-zero linear struetures, good glnbal avalanche characteristics, etc.
基金Partially supported by the National 973 Project(G1999035803)National 863 Project (2002AA143021)the National Cryptography Development Funds for the Tenth Fiveyear Project
文摘The autocorrelation of a Boolean function possesses the capability to reflect such characteristics as linear structure, Strict Avalanche Criterion(SAC) and Propagation Criterion(PC)of degree k. But it can do nothing in determining the order of SAC or PC. A calculating table for the autocorrelation is constructed in this paper so as to show what is beyond the autocorrelation and how the three cryptographic characteristics are exhibited. A deeper study on the calculating table in a similar way has helped us to develop a new concept, named as the general autocorrelation, to address efficiently the problem how to determine the orders of SAC and PC. The application on the Advanced Encryption Standard(AES) shows the SAC and PC characteristics of Boolean functions of AES S-box.
基金National Natural Science Foundation of China,No.41271353
文摘How snow cover changes in response to climate change at different elevations within a mountainous basin is a less investigated question. In this study we focused on the vertical distribution of snow cover and its relation to elevation and temperature within different elevation zones of distinct climatology, taking the mountainous Manasi River Basin of Xinjiang, Northwest China as a case study. Data sources include MODIS 8-day snow product, MODIS land surface temperature(LST) data from 2001 to 2014, and in situ temperature data observed at three hydrological stations from 2001 to 2012. The results show that:(1) the vertical distribution of snow areal extent(SAE) is sensitive to elevation in low(<2100 m) and high altitude(>3200 m) regions and shows four different seasonal patterns, each pattern is well correspondent to the variation of temperature.(2) The correlation between vertical changes of the SAE and temperature is significant in all seasons except for winter.(3) The correlation between annual changes of the SAE and temperature decreases with increasing elevation, the negative correlation is significant in area below 4000 m.(4) The snow cover days(SCDs) and its long-term change show visible differences in different altitude range.(5) The long-term increasing trend of SCDs and decreasing trend of winter temperature have a strong vertical relation with elevation below 3600 m. The decreasing trend of SCDs is attributed to the increasing trend of summer temperature in the area above 3600 m.
