Optimization of Center of Gravity Position and Anti-Wave Plate Angle of Amphibious Unmanned Vehicle Based on Orthogonal Experimental Method

When the amphibious vehicle navigates in water,the angle of the anti-wave plate and the position of the center of gravity greatly influence the navigation characteristics.In the relevant research on reducing the navigation resistance of amphibious vehicles by adjusting the angle of the anti-wave plate,there is a lack of scientific selection of parameters and reasonable research of simulation results by using mathematical methods,and the influence of the center of gravity position on navigation characteristics is not considered at the same time.To study the influence of the combinations of the angle of the anti-wave plate and the position of the center of gravity on the resistance reduction characteristics,a numerical calculation model of the amphibious unmanned vehicle was established by using the theory of computational fluid dynamics,and the experimental data verified the correctness of the numerical model.Based on this numerical model,the navigation characteristics of the amphibious unmanned vehicle were studied when the center of gravity was located at different positions,and the orthogonal experimental design method was used to optimize the parameters of the angle of the anti-wave plate and the position of the center of gravity.The results show that through the parameter optimization analysis based on the orthogonal experimental method,the combination of the optimal angle of the anti-wave plate and the position of the center of gravity is obtained.And the numerical simulation result of resistance is consistent with the predicted optimal solution.Compared with the maximum navigational resistance,the parameter optimization reduces the navigational resistance of the amphibious unmanned vehicle by 24%.

Evolvement Characteristics of Population and Economic Gravity Centers in Tarim River Basin,Uygur Autonomous Region of Xinjiang,China

Using the data at the county levcl and the regional gravity center model, we calculated six key socio-economic gravity centers, namely population, GDP, output values of primary, secondary and tertiary industries, and arable land area in the Tarim River Basin for each year from 1980 to 2009. We inspected the spatial dynamics of these centers and found that the gravity centers of population and economy evolved simultaneously. The disproportional growth between the population and the economy is also analyzed. The results show that： 1） The gravity centers of the GDR the output values of the main three industries and arable land area show migration trending from southwest to northeast, while the population gravity center shows an excessive growth in the southwest during the same time period. The migration amplitude of the GDP and output values of primary industry, secondary industry, tertiary industry are measurably higher than that of the population. 2） The population gravity center has a negative correlation with the gravity centers of secondary and tertiary industries output values in both longitudinal and latitudinal directions, and a positive correlation with that of primary industry output value in the longitudinal direction. Based on the analysis of correlation coefficient and offset distance, the imbalance between the population and the economy has increased since the 1980s, with regional economic differences now exceeding the international cordon.

Algorithm for 2D irregular-shaped nesting problem based on the NFP algorithm and lowest-gravity-center principle

The nesting problem involves arranging pieces on a plate to maximize use of material. A new scheme for 2D ir- regular-shaped nesting problem is proposed. The new scheme is based on the NFP (No Fit Polygon) algorithm and a new placement principle for pieces. The novel placement principle is to place a piece to the position with lowest gravity center based on NFP. In addition, genetic algorithm (GA) is adopted to find an efficient nesting sequence. The proposed scheme can deal with pieces with arbitrary rotation and containing region with holes, and achieves competitive results in experiment on benchmark datasets.

Analysis of Urbanization Based on Center-of-gravity Movement and Characteristics in Songhua River Basin of China and its Southern Source Sub-basin between 1990 and 2010

Urbanization in modern times led to a series of development strategies that brought new opportunities in China. Rapid urbanization caused severe stress to the ecosystems and the environment. Using the center-of-gravity(COG) method and parameters such as population, economy, and land, we studied the urbanization pattern in Songhua River Basin and its southern source sub-basin from 1990 to 2010. Urbanization was analyzed based on the COG position, eccentric distance, movement direction of COG, and distance of COG movement. Various characteristics of urbanization in the southern source sub-basin of the Songhua River were explained in relation to the whole Songhua River Basin. Urbanization in the southern source sub-basin of the Songhua River is balanced, relatively advanced, and stable compared to the whole Songhua River Basin. The average eccentric distance between the urbanization COGs in the Songhua River′s south source basin indicated rapid expansion of land urbanization during the span of this study. A basic pattern of urbanization COG in the whole Songhua Basin was observed, but there existed differences among the three aspects of urbanization process. Land urbanization is still in its active stage, so future studies should focus on analysis of such urbanization trends.

Uncertainty analysis of ship model vertical center of gravity and transverse moment of inertia test

The usability of test results of ship model vertical center of gravity and transverse moment of inertia is generally depends on its uncertainty. Referring to the guidelines for uncertainty analysis in examination of liquid dynamic recommended by International Towing Tank Conference （ ITTC）, the results were analyzed, bias limits and precision limits were calculated and total uncertainty was estimated. The total uncertainty of six tests on ship model vertical center of gravity is is 0. 16% of the mean value, and the total uncertainty of six tests on ship model transverse moment of inertia is 5.66% of the mean value. The test results show that the total uncertainty of both the multiple tests and the single test is from the precision limits of ship model vertical center of gravity and transverse moment of inertia tests. Thus, the improved measurement system stability can enormously decrease the total uncertainty of multiple tests and the single test.

Analysis and Study on Spatial Gravity Center of PM_(2.5) and Population Scale

With the rapid development of urbanization construction in China,population and industries are rapidly gathering in cities,bringing about economic development and also causing a large number of environmental problems,among which PM_(2.5) is the most concerned.In this paper,a spatial gravity center model was used to systematically analyze the spatiotemporal distribution characteristics of PM_(2.5) and population scale in China from 1999 to 2016.Conclusions were as below:(1)there were significant regional differences in PM_(2.5) pollution from 1999 to 2016,characterized by a spatial distribution of"high in the north and low in the south,and high in the inland and low in the coastal areas".(2)Nationwide,there was a significant spatial mismatch between the gravity center of PM_(2.5) pollution and the gravity center of population scale,with the two centers showing a trend of reverse dislocation development.

Dynamics of vehicles with high gravity centre

The vehicles with high gravity centre are more prone to roll over. The paper deals with a method of dynamics analysis of fire engines which is an example of these types of vehicle. Algorithms for generating the equations of motion have been formulated by homogenous transformations and Lagrange＇s equation. The model presented in this article consists of a system of rigid bodies connected one with another forming an open kinematic chain. Road maneuvers such as a lane change and negotiating a circular track have been presented as the main simulations when a car loses its stability. The method has been verified by comparing numerical results with results obtained by experimental measurements performed during road tests.

Study on Location of Wuhan Steel Logistics Distribution Center

This paper studies the location of Wuhan steel logistics distribution center. First of all, according to Wuhan Iron and Steel Plant sales in Hunan Province and the relative position of the city, the transport costs are calculated from Wuhan Iron and Steel Plant to the demand point. We further analyze the necessity of establishing steel logistics distribution center, using the precise center of gravity to determine the actual location of the distribution center. After the establishment of distribution center, the total freight is reduced by 15.46 million yuan from Wuhan Iron and Steel Plant to each city in Hunan province via distribution center each year. The results of this paper can provide theoretical basis for the logistics node planning of related enterprises.

Prospects for an Eastward Shift of the Global Economic Center

The rapid growth of Asian economies and their rising share of the global economy give rise to a prevailing view that the global economic center is moving eastward. At least over the next decade, however, Asia is unlikely to become the global economic center. There are multiple reasons .for this. First, insufficient demands from end consumers will make it difficult to reduce Asian economies＇ reliance on other markets for exports. Second, Asian economies＇ continued growth will be constrained both by insufficient innovation and by future global climate change regulations. Because of international labor division, moreover, it will be increasingly difficult to achieve leapfrog development. Third, there are several obstacles to building an integrated Asian market： these will prevent Asian economies .from shaping a common ground regarding international affairs. If Asian countries are unable to make breakthroughs in these three areas, the global economic system may exhibit asymmetrical ＂dual centers＂, i.e, a global manufacturing center in Asia and a global financial center in Europe and America.

A new monitoring index for ecological vulnerability and its application in the Yellow River Basin,China from 2000 to 2022

The ecological environment of the Yellow River Basin has become more fragile under the combined action of natural and manmade activities.However,the change mechanisms of ecological vulnerability in different sub-regions and periods vary,and the reasons for this variability are yet to be explained.Thus,in this study,we proposed a new remote sensing ecological vulnerability index by considering moisture,heat,greenness,dryness,land degradation,and social economy indicators and then analyzed and disclosed the spatial and temporal change patterns of ecological vulnerability of the Yellow River Basin,China from 2000 to 2022 and its driving mechanisms.The results showed that the newly proposed remote sensing ecological vulnerability index had a high accuracy,at 86.36%,which indicated a higher applicability in the Yellow River Basin.From 2000 to 2022,the average remote sensing ecological vulnerability index of the Yellow River Basin was 1.03,denoting moderate vulnerability level.The intensive vulnerability area was the most widely distributed,which was mostly located in the northern part of Shaanxi Province and the eastern part of Shanxi Province.From 2000 to 2022,the ecological vulnerability in the Yellow showed an overall stable trend,while that of the central and eastern regions showed an obvious trend of improvement.The gravity center of ecological vulnerability migrated southwest,indicating that the aggravation of ecological vulnerability in the southwestern regions was more severe than in the northeastern regions of the basin.The dominant single factor of changes in ecological vulnerability shifted from normalized difference vegetation index(NDVI)to temperature from 2000 to 2022,and the interaction factors shifted from temperature∩NDVI to temperature∩precipitation,which indicated that the global climate change exerted a more significant impact on regional ecosystems.The above results could provide decision support for the ecological protection and restoration of the Yellow River Basin.

Urban expansion patterns and their driving forces based on the center of gravity-GTWR model:A case study of the Beijing-Tianjin-Hebei urban agglomeration

Research into urban expansion patterns and their driving forces is of great significance for urban agglomeration development planning and decision-making.In this paper,we reveal the multi-dimensional characteristics of urban expansion patterns,based on the intensity index of the urban expansion,the differentiation index of the urban expansion,the fractal dimension index,the land urbanization rate,and the center of gravity model,by taking the Beijing-Tianjin-Hebei(Jing-Jin-Ji)urban agglomeration as an example.We then build the center of gravity-geographically and temporally weighted regression(GTWR)model by coupling the center of gravity model with the GTWR model.Through the analysis of the temporal and spatial patterns and by using the center of gravity-GTWR model,we analyze the driving forces of the urban land expansion and summarize the dominant development modes and core driving forces of the Jing-Jin-Ji urban agglomeration.The results show that:1)Between 1990 and 2015,the expansion intensity of the Jing-Jin-Ji urban agglomeration showed a down-up-down trend,and the peak period was in 2005-2010.Before 2005,high-speed development took place in Beijing,Tianjin,Baoding,and Langfang;after 2005,rapid development was seen in Xingtai and Handan.2)Although the barycenter of cities in the Jing-Jin-Ji urban agglomeration has shown a divergent trend,the local interaction between cities has been enhanced,and the driving forces of urban land expansion have shown a characteristic of spatial spillover.3)The spatial development mode of the Jing-Jin-Ji urban agglomeration has changed from a dual-core development mode to a multi-core development mode,which is made up of three functional cores:the transportation core in the northern part,the economic development core in the central part,and the investment core in the southern part.The synergistic development between each functional core has led to the multi-core development mode.4)The center of gravity-GTWR model combines the analysis of spatial and temporal nonstationarity with urban spatial interaction,and analyzes the urban land expansion as a space-time dynamic system.The results of this study show that the model is a feasible approach in the analysis of the driving forces of urban land expansion.

Spatial and temporal change patterns of net primary productivity and its response to climate change in the Qinghai–Tibet Plateau of China from 2000 to 2015

The vegetation ecosystem of the Qinghai–Tibet Plateau in China,considered to be the′′natural laboratory′′of climate change in the world,has undergone profound changes under the stress of global change.Herein,we analyzed and discussed the spatial-temporal change patterns and the driving mechanisms of net primary productivity(NPP)in the Qinghai–Tibet Plateau from 2000 to 2015 based on the gravity center and correlation coefficient models.Subsequently,we quantitatively distinguished the relative effects of climate change(such as precipitation,temperature and evapotranspiration)and human activities(such as grazing and ecological construction)on the NPP changes using scenario analysis and Miami model based on the MOD17A3 and meteorological data.The average annual NPP in the Qinghai–Tibet Plateau showed a decreasing trend from the southeast to the northwest during 2000–2015.With respect to the inter-annual changes,the average annual NPP exhibited a fluctuating upward trend from 2000 to 2015,with a steep increase observed in 2005 and a high fluctuation observed from 2005 to 2015.In the Qinghai–Tibet Plateau,the regions with the increase in NPP(change rate higher than 10%)were mainly concentrated in the Three-River Source Region,the northern Hengduan Mountains,the middle and lower reaches of the Yarlung Zangbo River,and the eastern parts of the North Tibet Plateau,whereas the regions with the decrease in NPP(change rate lower than–10%)were mainly concentrated in the upper reaches of the Yarlung Zangbo River and the Ali Plateau.The gravity center of NPP in the Qinghai–Tibet Plateau has moved southwestward during 2000–2015,indicating that the increment and growth rate of NPP in the southwestern part is greater than those of NPP in the northeastern part.Further,a significant correlation was observed between NPP and climate factors in the Qinghai–Tibet Plateau.The regions exhibiting a significant correlation between NPP and precipitation were mainly located in the central and eastern Qinghai–Tibet Plateau,and the regions exhibiting a significant correlation between NPP and temperature were mainly located in the southern and eastern Qinghai–Tibet Plateau.Furthermore,the relative effects of climate change and human activities on the NPP changes in the Qinghai–Tibet Plateau exhibited significant spatial differences in three types of zones,i.e.,the climate change-dominant zone,the human activity-dominant zone,and the climate change and human activity interaction zone.These research results can provide theoretical and methodological supports to reveal the driving mechanisms of the regional ecosystems to the global change in the Qinghai–Tibet Plateau.

The Relationship between Normalized Difference Vegetation Index(NDVI) and Climate Factors in the Semiarid Region:A Case Study in Yalu Tsangpo River Basin of Qinghai-Tibet Plateau

The Yalu Tsangpo River basin is a typical semi-arid and cold region in the Qinghai-Tibet Plateau, where significant climate change has been detected in the past decades. The objective of this paper is to demonstrate how the regional vegetation, especially the typical plant types, responds to the climate changes. In this study, the model of gravity center has been firstly introduced to analyze the spatial-temporal relationship between NDVI and climate factors considering the time-lag effect. The results show that the vegetation grown has been positively influenced by the rainfall and precipitation both in moving tracks of gravity center and time-lag effect especially for the growing season during the past thirteen years. The herbs and shrubs are inclined to be influenced by the change of rainfall and temperature, which is indicated by larger positive correlation coefficients at the 0.05 confidence level and shorter lagging time. For the soil moisture, the significantly negative relationship of NDV-PDI indicates that the growth and productivity of the vegetation are closely related to the short-term soil water, with the correlation coefficients reaching the maximum value of o.81 at Lag 0-1. Among the typicalvegetation types of plateau, the shrubs of low mountain, steppe and meadow are more sensitive to the change of soil moisture with coefficients of -0.95, -0.93, -0.92, respectively. These findings reveal that the spatial and temporal heterogeneity between NDVI and climatic factors are of great ecological significance and practical value for the protection of eco-environment in Qinghai-Tibet Plateau.

Spatial-Temporal Changes in Grain Production, Consumption and Driving Mechanism in China

The spatial-temporal patterns of grain production and consumption have an important influence on the effective national grain supply on condition of tight balance in the total grain amount in China. In this paper, we analyze the spatial-temporal pattems of grain production, consumption and the driving mechanism for their evolution processes in China. The results indicate that both gravity centers of grain production and consumption in China moved toward the northern and eastern regions, almost in the same direction. The coordination of grain production and consumption increased slightly from 1995 to 2007 but decreased from 2000 to 2007. There is a spatial difference between the major districts of output increase and the strong growth potential in grain consumption, which indicates an increasing difficulty in improving the regional coordination of grain production and consumption. The movement of the gravity center of grain production is significantly correlated with regional differences in grain production policy, different economic development models, and spatial disparity of land and water resource use. For grain consumption, the main driving factors include rapid urbanization, the upgrade of food consumption structure, and distribution of food industries.

Coordinated control strategy for robotic-assisted gait training with partial body weight support

Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.

Kinematics analysis for obstacle-surmounting capability of a joint double-tracked robot

A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity（ CG） kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.

Stable Transition of Quadruped Rhythmic Motion Using the Tracking Differentiator

Since the quadruped robot possesses predominant environmental adaptability,it is expected to be employed in nature environments. In some situations,such as ice surface and tight space,the quadruped robot is required to lower the height of center of gravity( COG) to enhance the stability and maneuverability. To properly handle these situations,a quadruped controller based on the central pattern generator( CPG) model,the discrete tracking differentiator( TD) and proportional-derivative( PD) sub-controllers is presented. The CPG is used to generate basic rhythmic motion for the quadruped robot. The discrete TD is not only creatively employed to implement the transition between two different rhythmic medium values of the CPG which results in the adjustment of the height of COG of the quadruped robot,but also modified to control the transition duration which enables the quadruped robot to achieve the stable transition. Additionally,two specific PD sub-controllers are constructed to adjust the oscillation amplitude of the CPG,so as to avoid the severe deviation in the transverse direction during transition locomotion. Finally,the controller is validated on a quadruped model. A tunnel with variable height is built for the quadruped model to travel through. The simulation demonstrates the severe deviation without the PD sub-controllers,and the reduced deviation with the PD sub-controllers.

Effects of land use/cover change(LUCC) on the spatiotemporal variability of precipitation and temperature in the Songnen Plain,China

Understanding the effects of land use/cover change(LUCC) on regional climate is critical for achieving land use system sustainability and global climate change mitigation. However, the quantitative analysis of the contribution of LUCC to the changes of climatic factors, such as precipitation & temperature(P&T), is lacking. In this study, we combined statistical methods and the gravity center model simulation to quantify the effects of long-term LUCC on P&T in the Songnen Plain(SNP) of Northeast China from 1980–2018. The results showed the spatiotemporal variability of LUCC. For example, paddy field had the largest increase(15 166.43 km2) in the SNP, followed by dry land, while wetland had the largest decrease(19 977.13 km;) due to the excessive agricultural utilization and development. Annual average precipitation decreased at a rate of –9.89 mm per decade, and the warming trends were statistically significant with an increasing rate of 0.256°C per decade in this region since 1980. The model simulation revealed that paddy field, forestland, and wetland had positive effects on precipitation, which caused their gravity centers to migrate towards the same direction accompanied by the center of precipitation gravity, while different responses were seen for building land, dry land and unused land. These results indicated that forestland had the largest influence on the increase of precipitation compared with the other land use types.The responses in promoting the temperature increase differed significantly, being the highest in building land, and the lowest in forestland. In general, the analysis of regional-scale LUCC showed a significant reduction of wetland, and the increases in building land and cropland contributed to a continuous drying and rapid warming in the SNP.

Spatial-temporal characteristics of the coupling coordination of social security and economic development in China during 2002–2018

Clarifying the relationship between social security and economic development is helpful to realize the sustainable social security system and the stable function of sustainable economic development.In this paper,the entropy method,coupling coordination degree,standard deviation ellipse model,and spatial autocorrelation were used to study the spatial-temporal characteristics of coupling coordination of social security and economic development in China from 2002 to 2018.The results indicate that the relationship between social security and economic development in China has been gradually strengthened in the process of mutual adaptation and common development.The benign interaction between the two was unstable,though the coupling coordination degree gradually transitioned to the primary coupling coordination type.Besides,from a spatial perspective,first,the coupling coordination degree of social security and economic development in China contracted in the east-west and north-south directions,and the coupling coordination clustered in the central region in this period;second,the coupling coordination degree generally presented a positive spatial autocorrelation,and regions with similar coupling coordination degrees were in a state of agglomeration;finally,the hot spots clumped together to form a continuous area in the eastern coastal area while the cold spots expanded toward the northwest and northeast.Furthermore,the random distribution areas exhibited a trend of contraction.

Center of Gravity Estimation Using a Reaction Board Instrumented With Fiber Bragg Gratings

The purpose of the present work is to construct a reaction board based on fiber Bragg gratings （FBGs） that could be used for estimation of the 2D coordinates of the projection of center of gravity （CG） of an object. The apparatus is consisted of a rigid equilateral triangular board mounted on three supports at the vertices, two of which have cantilevers instrumented with FBGs. When an object of known weight is placed on the board, the bending strain of the cantilevers is measured by a proportional wavelength shift of the FBGs. Applying the equilibrium conditions of a rigid body and proper calibration procedures, the wavelength shift is used to estimate the vertical reaction forces and moments of force at the supports and the coordinates of the object＇s CG projection on the board. This method can be used on a regular basis to estimate the CG of the human body or objects with complex geometry and density distribution. An example is provided for the estimation of the CG projection coordinates of two orthopaedic femur bone models, one intact, and the other with a hip stem implant encased. The clinical implications of changing the normal CG location by means of a prosthesis have been discussed.