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%.

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.

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.

Analysis of Land Use Change and Driving Factors in Mojiang County Based on PLUS Model

[Objectives]To explore the characteristics of land use change and its main influencing factors in Mojiang County from 2000 to 2020,and try to provide a scientific reference for alleviating the contradiction between man and land in Mojiang County and realizing the sustainable development of regional land resources.[Methods]Based on the land cover data and socio-economic data of Mojiang County from 2000 to 2020,the dynamic degree of land use,land use transfer matrix and center-of-gravity transfer model were calculated,and the temporal and spatial change characteristics and driving factors of various types of land use were calculated by PLUS model.[Results]From 2000 to 2020,the area and proportion of grassland,waters and construction land in Mojiang County showed an upward trend,while the area and proportion of cultivated land and forest land showed a downward trend.Among them,cultivated land was mainly converted into forest land and grassland,and some were converted into waters and construction land;forest land was mainly converted into cultivated land and grassland,and part of it was converted into waters and construction land.From 2000 to 2020,the center-of-gravity of cultivated land,forest land and construction land in Mojiang County moved to the southeast of the county,and the moving rates were 0.66,1.97 and 10.58 km/yr,respectively;the center-of-gravity of grassland and waters moved to the southwest of the county,and the moving rates were 1.30 and 20.20 km/yr,respectively.Distance from road,distance from government and distance from waters are the main driving forces affecting land use change in Mojiang County;the forecast shows that in 2040,the area of grassland and forest land in Mojiang County will continue to decrease,the area of cultivated land will turn to rise,and the area of waters and construction land will continue to rise.[Conclusions]Reasonable planning and optimizing the allocation of cultivated land and forest land structure and strict control of the expansion scale of construction land are necessary measures to ensure the coordinated development of regional land rational use and economic construction.

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.

Novel Design Method of COG Measurement System Via Supporting Reaction Method

Center of gravity(COG)is an important parameter of projectiles and rockets,for which supporting reaction method(or support reaction method)is an important COG measurement method.Based on this supporting reaction method a novel design method is proposed to determine the key design parameters of the COG measurement system.The method can quantitatively analyze the influence of the design parameters on the COG accuracy,in the measurement system designed with supporting reaction method.Using the principle of static balance,the error propagation theory,and the system accuracy analysis method,the equal-range required sensor precision(RSP)surface and non-equal-range required sensor pair precision(RSPP)adapted surface are adopted.The influence of random errors(like sensor accuracy and distance calibration accuracy)is analyzed.The selection strategy of equal-range and non-equal-range sensors is chosen,and then the recommended calibration accuracy values are obtained.For the quality detection accuracy of±0.6 kg and the axial COG detection accuracy of±1.5 mm,the RSP surface is drawn by the proposed method,and the force sensor with±0.23 kg detection accuracy is selected.The experimental verification meets the accuracy requirements and verifies the effectiveness of the proposed design method for the system parameters of the COG measurement equipment.

A Study on Detection Method of Falling Symptoms

The purpose of this study is to prevent the occurrence of falls by defining the symptoms of falls and detecting them in advance. The focus of the study is on the specific definition of “Falling Symptoms”. In this regard, we conducted a questionnaire survey on people of different ages to obtain the state of themselves and their surroundings when they fell down. In addition, we used the elderly simulated experience kit to achieve the purpose of using young people to replace the elderly. Young people were asked to walk on different roads in different shoes with and without elderly simulated experience kit and photographed them with a high-speed camera to observe the changes of their muscles and joints. We also simulated the movement of center of gravity of the people with and without elderly simulated experience kit by a pressure distribution sensor mat.

Economic differences and coordinated development in Northwest China

Northwest China is one of the seven major geographical regions in China,including Shaanxi,Gansu,Qinghai,Ningxia and Xinjiang.Since the implementation of a series of national policies such as the western development,the economy of the provinces and autonomous regions in Northwest China has been greatly developed.But the imbalance in the development process is also very prominent.Through the analysis of the factors that affect the transfer of the center of gravity and the impact of the shift on the region,we can explore a better path of regional coordinated development.This paper selects five northwest provinces,according to the center of gravity transfer model,studies the changes of the economic center of gravity from 2000 to 2018,and uses the Theil index method to calculate the difference degree of regional economy.The results show that:the development of Northwest China is not balanced,the economic gap between provinces is large.The economic center of gravity moves to the southeast and deviates from the geographical center of Northwest China.There is a positive relationship between the change of gravity center and the size of economic difference.

On-Chip Sub-Picometer Continuous Wavelength Fiber-Bragg-Grating Interrogator

Miniaturized fiber-Bragg-grating(FBG)interrogators are of interest for applications in the areas where weight and size controlling is important,e.g.,airplanes and aerospace or in-situ monitoring.An ultra-compact high-precision on-chip interrogator is proposed based on a tailored arrayed waveguide grating(AWG)on a silicon-on-insulator(SOI)platform.The on-chip interrogator enables continuous wavelength interrogation from 1544 nm to 1568 nm with the wavelength accuracy of less than 1 pm[the root-mean-square error(RMSE)is 0.73 pm]over the whole wavelength range.The chip loss is less than 5 dB.The 1×16 AWG is optimized to achieve a large bandwidth and a low noise level at each channel,and the FBG reflection peaks can be detected by multiple output channels of the AWG.The fabricated AWG is utilized to interrogate FBG sensors through the center of gravity(CoG)algorithm.The validation of an on-chip FBG interrogator that works with sub-picometer wavelength accuracy in a broad wavelength range shows large potential for applications in miniaturized fiber optic sensing systems.

Global modeling and simulation of vehicle to analyze the inertial parameters effects

This paper mainly studies the comparison of the global vehicle models and the effects of the inertial parameters due to the center of gravity(CG)positions when we consider that the vehicle has only one CG.This paper proposes a new nonlinear model vehicle model which considers both unsprung mass and sprung mass CG.The CG positions and inertial parameters effects are analyzed in terms of the published vehicle dynamics models.To this end,two 14 degree-of-freedom(DOF)vehicle models are developed and compared to investigate the vehicle dynamics responses due to the different CG height and inertial parameters concepts.The proposed models describe simultaneously the vehicle motion in longitudinal,lateral and vertical directions as well as roll,pitch and yaw of the vehicle about corresponding axis.The passive and active moments and the forces acting on the vehicle are also described and they are considered as a direct consequence of acceleration,braking and steering maneuvers.The proposed model M1 takes both the CG of sprung mass,unsprung mass and total vehicle mass into account.The second model M2 assumes that the vehicle is one solid body which has a single CG as reported in majority of literature.The two vehicle models are compared and analyzed to evaluate vehicle ride and handling dynamic responses under braking/acceleration and cornering maneuvers.Simulation results show that the proposed model M1 could offer analytically some abilities and driving performances,as well as improved roll and pitch in a very flexible manner compared to the second model M2.

Evaluation of a position-sensitive prototype detector unit for fast neutron imaging and spectroscopy

Purpose A novel fast neutron scatter camera with capabilities of neutron imaging and spectroscopy is under development.The detection principle is based on multiple neutron–proton(n–p)elastic scattering interactions in organic scintillator.In order to improve position measurement accuracy of recoil protons,a position-sensitive prototype detector unit has been designed and characterized experimentally.Methods The presented detector unit consisted of a plastic scintillator sheet of 10 cm×10 cm×1 cm dimensions and two groups(6×2)of wavelength-shifting fibers with orthogonal directions embedded into grooves on two opposite scintillator surfaces.Scintillation signals were read out by silicon photomultipliers(SiPMs).A collimated Sr-90 radioactive source was utilized for system calibration and position resolution measurement.Results Light output of the unidimensional six fiber channels from one side of the detector unit was calibrated to be 14.45 photoelectrons per MeVee.Position resolution of the detector unit was measured to be 0.35–0.44 times fiber pitch,corresponding to 5.48 mm for proton recoil energy interval of 1.63–2.60 MeV,and 4.60 mm for proton recoil energy interval of 4.82–5.50 MeV.Energy threshold for recoil proton localization was estimated to be 1.18 MeV.Conclusion The results shown satisfy basic requirements of the scatter camera,while space exists for further improvements.The positioning performance optimization consists of three aspects.The first one is to increase the fiber diameter so as to reduce signal loss.The second one is to depress dark rate of the SiPMs.The last one is to decrease the number of channels involved in position reconstruction by narrowing the scintillation signal distribution function of the detector unit.

Slip-draft embedded control system by adaptively adjusting the battery position for electric tractor

A slip-draft embedded control system was designed and developed for an independent developed 2WD(two-wheel drive)electric tractor,to improve the traction efficiency,operation performance and ploughing depth stability of the electric tractor.In this system,the battery of electric tractor was innovatively equivalent to the original counterweight of the fuel tractor.And through dynamic analysis of electric tractor during ploughing,the mathematical model of adjusting the center of gravity about draft force and slip rate was established.Then the automatic adjustment of the center of gravity for electric tractor was realized through the adaptive adjustment of battery position.Finally,the system was carried on electric tractor for performance evaluation under different ploughing conditions,the traction efficiency,slip rate and front wheel load of electric tractor were measured and controlled synchronously to make it close to the set range.And the comparative experiments of ploughing operation were carried out under the two modes of adaptive adjustment of center of gravity and fixed center of gravity.The test results showed that,based on the developed control system,the center of gravity of electric tractor can be adjusted in real time according to the complex changes of working conditions.During ploughing operation with adjusting adaptively battery position,the average values of traction efficiency,slip rate,front wheel load and relative error of tillage depth of electric tractor were 64.5%,22.2%,2045.0 N and 2.0%respectively.Which were optimized by 15.0%,29.5%,19.6%and 80.0%respectively,compared with electric tractor with fixed battery position.The slip-draft embedded control system can not only realize the adaptive adjustment of the center of gravity position in the ploughing process of electric tractor,but also improve the traction efficiency and the stability of ploughing depth,which can provide reference for the actual production operation of electric tractor.

基于重心-GTWR模型的京津冀城市群研究

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.

Pitching Moment Generation in an Insect-Mimicking Flapping-Wing System

Unlike birds, insects lack control surfaces at the tail and hence most insects modify their wing kinematics to produce control forces or moments while flapping their wings. Change of the flapping angle range is one of the ways to modify wing kinematics, resulting in relocation of the mean Aerodynamic force Center （mean AC） and finally creating control moments. In an attempt to mimic this feature, we developed a flapping-wing system that generates a desired pitching moment during flap- ping-wing motion. The system comprises a flapping mechanism that creates a large and symmetric flapping motion in a pair of wings, a flapping angle change mechanism that modifies the flapping angle range, artificial wings, and a power source. From the measured wing kinematics, we have found that the flapping-wing system can properly modify the flapping angle ranges. The measured pitching moments show that the flapping-wing system generates a pitching moment in a desired direction by shifting the flapping angle range. We also demonstrated that the system can in practice change the longitudinal attitude by generating a nonzero pitching moment.