Design of Passive Constant‑Force End‑Effector for Robotic Polishing of Optical Reflective Mirrors

Polishing plays an indispensable role in optical processing,especially for large-aperture optical reflective mirrors with freeform surfaces.Robotic polishing requires effective control of the contact force between the robot and the mirror during processing.In order to maintain a constant contact force during polishing,traditional polishing robots rely on closed-loop control of air cylinders,whose performances heavily rely on high-fidelity force sensing and real-time control.This paper proposes to employ a compliant constant-force mechanism in the end-effector of a polishing robot to passively maintain a constant force between the robot and the mirror,thus eliminating the requirement for force sensing and closed-loop control.The compliant constant force mechanism utilizing the second bending mode of fixed-guided compliant beams is adopted and elaborated for the passive end-effector.An end-effector providing a constant contact force of 40 N is designed and prototyped.The polishing experiment shows that the passive constant-force end-effector provides stable contact force between the robot and the mirror with fluctuation within 3.43 N,and achieves RMS(Root Mean Square)lower thanλ/10(λ=632.8 nm)of the polished surface of the largeaperture optical reflective mirror.It is concluded that the constant-force compliant mechanism provides a low-cost and reliable solution for force control in robotic polishing.

Study on the Optimization for Design of Indoor Natural Ventilation and Lighting Based on Passive Design Measurements

Based on the current indoor natural ventilation and lighting in the space of traditional residential buildings,this paper starts from the passive-design optimization of the spatial natural ventilation and lighting,and makes quantitative evaluation on the quality of current interior natural ventilation and lighting for two typical residential buildings by three indexes,including wind speed,static wind area ratio and satisfaction ratio about minimum lighting coefficient. Based on that, this paper conducts the passive design optimization, and establishes the quantitative association and reevaluation among the passive reformation design, natural ventilation,and lighting environmental quality,proposing the general strategy for the existing residential buildings to respond to the passive reformation design of the natural ventilation and lighting. The special reconstruction of core functionary space of integration of "the living room + dining room + partial space"is researched,and the redesign for the optimization and replacement of both indoor and outdoor enclosure parts is explored,which is expected to provide practical exploration on the strategies for passive construction of spatial natural environmental quality within a large number of highly-energy-consumed residential buildings in China,as well as the green design of residential buildings.

The Practical Significance of Marx's Theory of Natural Force Resources

Marx's theory of natural force resources is an indispensable part of Marx's economic theory.Natural force resources,as a kind of natural elements that do not cost a penny,are added to the production process free of charge,and play a special role in the production process.Grasping and understanding the scientific connotation of Marx's theory of natural force resources is of great theoretical value and practical significance for promoting the harmonious unity of man and nature and adhering to the strategy of sustainable economic development.

Analysis of Marx's Theory of Natural Forces

Marx’s theory of natural forces is an indispensable part of Marx’s economic theory.As a natural element that does not need to spend a penny,natural forces are added to the production process free of charge,and play a special restrictive role in the production process.Mastering and applying the scientific connotation of Marx’s theory has very important theoretical value and practical significance for adhering to the sustainable development of nature,economy and society.

New Method of Natural Reserve Readjustment and Zoning Based on Land Use/Cover Change and Driving Forces—A Case Study of Tianjin Palaeocoast and Wetland National Natural Reserve

Natural reserve can provide ecology system with natural background for human being and has important significance for sustaining ecosystem service.The continuous damage and deterioration of ecosystem in natural reserve caused by human activities have become one of the most serious environmental problems.The conflict between local

Research of Application of Passive Natural Ventilated Strategies of High-Density Urban Area

High-density development is becoming an inevitable tendency in Chinese urbanization. In this study,the application of natural ventilation in high-density urban development is discussed. Based on the domestic and foreign study on natural ventilation,indoor and outdoor natural ventilated strategies,and the application on natural ventilation in underground space development are analyzed. From the study,the relationship between passive and active ventilated technologies is interpreted into what is described to be synergistic,complementary and additive.

NANOMECHANICAL MAPPING OF CARBON BLACK REINFORCED NATURAL RUBBER BY ATOMIC FORCE MICROSCOPY

Atomic force microscopy （AFM） has the advantage of obtaining mechanical properties as well as topographic information at the same time. By analyzing force-distance curves measured over two-dimensional area using Hertzian contact mechanics, Young＇s modulus mapping was obtained with nanometer-scale resolution. Furthermore, the sample deformation by the force exerted was also estimated from the force-distance curve analyses. We could thus reconstruct a real topographic image by incorporating apparent topographic image with deformation image. We applied this method to carbon black reinforced natural rubber to obtain Young＇s modulus distribution image together with reconstructed real topographic image. Then we were able to recognize three regions; rubber matrix, carbon black （or bound rubber） and intermediate regions. Though the existence of these regions had been investigated by pulsed nuclear magnetic resonance, this paper would be the first to report on the quantitative evaluation of the interfacial region in real space.

Practical Significance of Marxist Natural Force Resources Theory

Marxist natural force resources theory is an indispensable part of Marx's economic theory. In view of actual situation of China,Grasping the scientific connotation of Marxist natural force resources theory is of great theoretical value and practical significance to sticking to the strategy of sustainable development and promoting the harmonious development of men and nature.

Scientific Value of the Fenlong Tillage Erupting Super "Natural Forces" and Its Global Application

The concept of " natural forces" is proposed in farming field for the first time,and the core theory of Fenlong tillage is illustrated. This tillage method provides " super plough layer" and " super groundwater reservoir" by the machine,including six vertical spiral drills,can smash the soil vertically,without disorganizing soil layer. And this tillage method releases five " natural forces" with infinite space and time,including natural soil activation forces,natural fertility forces,natural water control forces,natural environment improvement forces,and natural river driving forces by activating various land resources. Fenlong tillage can significantly increase the source of high-quality food for human,and solve the problem of natural disasters by natural forces curing itself. It is proposed that the implementation of the " six key projects" by the " natural forces" of Fenlong tillage can solve the deep problems in China. The researchers suggest establishing Fenlong tillage great science engineering which could solve the problem of harmonious symbiosis between man and nature. The present results indicate that Fenlong tillage erupts super natural forces with infinite space and time,which can be used as a deep tillage practice to maintain the natural and environmental beauty of the earth forever.

Tunable Bending Stiffness, Buckling Force, and Natural Frequency of Nanowires and Nanoplates

This paper aims to obtain the simple closed-form results for the combined effects of surface elasticity, initial stress/ strain, and material Poisson ratio on the bending stiffness, natural frequency and buckling force of nanowires and nano-plates. The results demonstrate that all these properties of nanowires or nanoplates can be designed either very sensitive or not sensitive at all to the amplitude of an applied electric potential;show how much of those properties can be controlled to vary;and thus provide a reliable guide to the measurement of the Young’s modulus of nanowires/nanoplates and to the design of nano-devices, such as nano-sensors or the cantilever of an AFM.

Effects of the Form Factor and the Force of the Gravity on the Thermal Exchanges by Natural Convection in a Rectangular Cavity Filled with Nanofluid

Effects of the form factor on natural convection heat transfer and fluid flow in a two-dimensional cavity filled with Al2O3-nanofluid has been analyzed numerically. A model was developed to explain the behavior of nanofluids taking account of the volume fraction φ. The Navier-Stokes equations are solved numerically by alternating an implicit method (Method ADI) for various Rayleigh numbers varies as 103, 104 and 105. The nanofluid used is aluminum oxide with water Pr = 6.2;solid volume fraction φ is varied as 0%, 5% and 10%. Inclination angle Φ varies from 0° to 90° with a step the 15° and the form report varies as R = 0.25, 0.5, 1 and 4. The problem considered is a two-dimensional heat transfer enclosure. The vertical walls are differentially heated;the right is cold when the left is hot. The horizontal walls are assumed to be insulated. The nanofluid in the cavity is considered as incompressible, Newtonian and laminar flow. The nanoparticles are assumed to have a shape and a uniform size. However, it is supposed that the two fluid phases and nanoparticles are in a state of thermal equilibrium and they sink at the same speed. The thermophysical properties of nanofluids are assumed to be constant at the exception of the variation of density in the force of buoyancy, which is based on the approximation of Boussinesq values.

Helplessness-like escape deficits of NIH-HS rats predict passive behavior in the forced swimming test:Relevance for the concurrent validity of rat models of depression

The genetically heterogeneous NIH-HS rat stock has been characterized by its response to anxiety- and fear-inducing situations, thus leading to the conclusion that they are a rather anxious and passive coping type of rats. Taking advantage of these profiles, and knowing that they show very poor performance in the two-way active (shuttle box) escape/avoidance task, we have tested NIH-HS rats (n = 80) in the forced swimming test (FST) as well as we have studied escape response deficits (i.e. response failures) of the same animals in the two-way shuttle box task. They were also tested for anxiety in the elevated zero-maze. The goal of such a study was that of investigating whether there are associations or relationships among helplessness-like or passive coping responses between both models of depression, i.e. the FST and the helplessness-like escape deficits in the shuttle box task. The results for the first time show associations among responses from both depression models and that selecting rats for displaying extreme (active or passive) responses in one of the models predict in a coherent manner (according to the hypothesis) their behaviour in the other model. These findings are discussed in the context of the concurrent validity of both models of depression as well as concerning the possible relevance of NIH-HS rats as a tool for future studies on this field.

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains overconstraints.Considering the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is proposed.The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations.The relationship between the constraint wrench magnitudes and the external force,limb stiffness is established.The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations.Here,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is investigated.Combining with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is explored.Finally,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed.The research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

Subsurface Airflow Induced by Natural Forcings

Subsurface air flow can be induced by natural processes, such as atmospheric or barometric pressure changes, water table fluctuations, topographic effects, and rainfall infiltration. Barometric pressure fluctuations are the most common cause of subsurface air flow, which can be significant under favourable geological conditions. This process has been studied most extensively because of its application to passive soil vapor extraction. Soil air flow induced by water table fluctuations can be significant, particularly where the fluctuations are of high frequency, for example, in tidal-influenced coastal areas. Topographic effects can lead to strong subsoil air flow in areas with great elevation differences. Rainfall infiltration usually produces only weak airflow. Air flow induced by these natural processes has important environmental and engineering implications. Among the different processes, air flow induced by tidal fluctuations has been studied the least, although it has exciting applications to coastal engineering projects and environmental remediation.

Forest Landscape Change and Driving Forces in Nanling National Nature Reserve,Guangdong

Landscape change and its driving forces are always one of the major issues in landscape ecology. In this paper,we investigated the landscape pattern of Nanling National Nature Reserve using TM data and forest stand map. The paper aims at exploring how and why the landscape changed form 1988 to 2009. The results indicated that: the major landscape types are evergreen broad-leaved forest and coniferous forests,the area ratio of both total more than 80%; area ratio of other landscape types is less than 10%,including mainly mixed coniferous and broad-leaved forest,deciduous forest,shrub,other woodland,cultivated land,other land,construction land and water. During the 20 years,evergreen broad-leaved forest landscape has become a large-scale substrate,coniferous forests are interspersed,a small area of mixed coniferous and broad-leaved mixed forest patches expands; forest area in the study area changes slightly,the number of blocks increases,the degree of landscape fragmentation increases; forest landscapes change,and are less affected by human activities,which is closely related to the establishment,management and protection of protected areas.

Natural Passivity of Amorphous Fe_(40)Ni_(40)P_(14)B_6 and Fe_(54.6)Ni_(38)Si_(4.1)B_(2.3)V_1 Alloys

The natural passive films forrned on Fe_(40)Ni_(40)P_(14)B_6 and Fe_(54.6)Ni_(38)Si_(4.1)B_(2.3)V_1 amorphous alloys long-term exposed in air have been studied by X-ray photoelectron spectroscopy (XPS) and Auger electron (including Ar+ ion depth profiling) spectroscopy (AES). The following aspects have been investigated: (1) chemical states of the elements in the films. binding energies and the chemical shifts measured by XPSf (2) structure and composition of the films fand (3) thickness of the passive films determined by AES depth profiling and XPS analysis.

On the Natures of English Passive Construction Based on Theta Theory

The study of English passive construction has always been one of the hot topics in the literature of Generative Grammar. Although many attempts have been made, the study of this structure is still not systematic enough especially in terms of its essential natures. The present study is designed to give a full explanation of natures of English passive construction from the perspective of theta theory, which can provide English learners with a deeper understanding of passive structure.

Modal and Fatigue Life Analysis on Beam with Multiple Cracks Subjected to Axial Force

Based on the transfer matrix method and Forman equation,a new method is proposed to conduct the modal and fatigue life analysis of a beam with multiple transverse cracks.In the modal analysis,the damping loss factor is introduced by the complex elastic modulus,bending springs without mass are used to replace the transverse cracks,and the characteristic transfer matrix of the whole cracked beam can be derived.In the fatigue life analysis,considering the interaction of the beam vibration and fatigue cracks growth,the fatigue life of the cracked beam is predicted by the timing analysis method.Numerical calculation shows that cracks have a significant influence on the modal and fatigue life of the beam.

The Phenomenon of a Natural Thermonuclear Reactor

The study contains the justification of J.M. Herndon’s thesis about the existence of a thermonuclear reactor in the Earth’s core. A scenario of the formation of a spontaneous nuclear reactor is presented, referring to the universal law of gravity, to the relationship between matter and energy, and to the properties of plasma. The theoretical attitudes of the discussed phenomena and the relations between them can be called the Theory of the Primordial Forces of Nature. It includes the interactions of the gravitational field, the forces of the electromagnetic field, which determine the properties of matter, and the strong interactions resulting from the release of nuclear energy. Arguments for the thesis about the commonness of the phenomenon of thermonuclear reactors in space are presented. The second part of the article presents examples of geological phenomena that confirm the activity of a thermonuclear reactor in the center of the Earth.

Fundamental Characteristics of Reduction System for Seismic Response using Friction Force

A new device of reduction for seismic response using friction force was developed. In this paper, fundamental characteristics of reduction system for seismic response using this device were investigated by excitation experiment using artificial seismic waves. The peak acceleration amplitude on this system has decreased to about 50-90% over the input waves. Although a spectral peak around the frequency of 0.5Hz that is the natural period of this system was identified, the value of a spectral peak was decreased using bearings with the high friction force. This device is useful for reduction of seismic response.