Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Evaluating Emergency Response Capacity of Chemical Industrial Park Using an Hybrid Fuzzy AHP Method

This paper presents an expert-based fuzzy analytic hierarchy process( AHP) model for evaluating emergency response capacity of Chemical Industrial Park( ERCCIP) by jointly using an improved fuzzy preference programming( FPP) and 2-tuple fuzzy linguistic approach. An evaluation index system for ERCCIP is proposed. The weight of sub-criteria and criteria of the evaluation index system for ERCCIP are determined using the improved FPP. And the ratings of sub-criteria are assessed in linguistic values according to the experts' subjective opinions. Finally,the aggregated ratings of criteria and the overall ERCCIP are calculated.

Effect of vitamin C combined with vitamin E on antioxidant capacity and inflammatory response in patients with hemodialysis

Objective: To study the effect of vitamin C combined with vitamin E on antioxidant capacity and inflammatory response in patients with hemodialysis. Methods: A total of 116 patients with uremia who received hemodialysis in the hospital between December 2014 and January 2017 were collected and divided into control group and observation group by random number table, each with 58 cases. Control group received vitamin C intervention, and observation group received vitamin C combined with vitamin E intervention. The differences in serum levels of antioxidant indexes, pro-inflammatory mediators and anti-inflammatory mediators were compared between the two groups before intervention and 6 weeks after intervention. Results: Before intervention, serum levels of antioxidant indexes, pro-inflammatory mediators and anti-inflammatory mediators were not significantly different between the two groups. After intervention, serum SOD, GSH-PX and T-AOC levels of both groups of patients were higher than those before treatment while IL-1, IL-2, IL-6, IL-8, IL-4, IL-10 and IL-13 levels were lower than those before treatment, and serum SOD, GSH-PX and T-AOC levels of observation group were higher than those of control group while IL-1, IL-2, IL-6, IL-8, IL-4, IL-10 and IL-13 levels were lower than those of control group. Conclusion: Vitamin C combined with vitamin E intervention can effectively enhance the antioxidant capacity and suppress the systemic inflammatory state in patients with hemodialysis.

Screening of Rice Cultivars for Morpho-Physiological Responses to Early-Season Soil Moisture Stress

The majority of rice(Oryza sativa L.) produced in the southern USA is drill-seeded and grown under upland-like conditions because permanent flooding is established after the four-leaf stage. Therefore, rice during the seedling growth stage will be subjected to variable soil moisture content. A greenhouse experiment was conducted to evaluate the performance of 15 rice cultivars commonly grown in Mississippi of USA under early-season soil moisture stress. Twenty morpho-physiological parameters of rice seedlings subjected to three different levels(100%, 66% and 33% field capacity) of soil moisture, from 10 to 30 d after sowing, were measured. Significant moisture stress × treatment interaction(P < 0.001) was observed for most of the parameters. Further, the total drought response index(TDRI) was developed to score the cultivars for drought tolerance with the variation from 26.88 to 36.21. Accordingly, the cultivars were classified into different groups of tolerance. The cultivars CL152 and CL142-AR were classified as the least and the most tolerant to drought based on TDRI and standard deviation, respectively. Even though both total root(R^2 = 0.98) or shoot(R^2 = 0.76) drought responses indices were positively correlated with TDRI, root traits were important in deriving the indices. Therefore, TDRI could be used to select cultivars for drought tolerance in a given environment and develop rice varieties with early-season drought tolerance. However, further research is needed to identify and characterize tolerance at other stages to assist breeding programs in rice.

Probabilistic analysis of ultimate seismic bearing capacity of strip foundations

This paper presents a reliability analysis of the pseudo-static seismic bearing capacity of a strip foundation using the limit equilibrium theory. The first-order reliability method(FORM) is employed to calculate the reliability index. The response surface methodology(RSM) is used to assess the Hasofer e Lind reliability index and then it is optimized using a genetic algorithm(GA). The random variables used are the soil shear strength parameters and the seismic coefficients(khand kv). Two assumptions(normal and non-normal distribution) are used for the random variables. The assumption of uncorrelated variables was found to be conservative in comparison to that of negatively correlated soil shear strength parameters. The assumption of non-normal distribution for the random variables can induce a negative effect on the reliability index of the practical range of the seismic bearing capacity.

Station-and-network–coordinated planning of integrated energy system considering integrated demand response

The integrated energy system(IES)is an important energy supply method for mitigating the energy crisis.A station-and-network–coordinated planning method for the IES,which considers the integrated demand responses(IDRs)of flexible loads,electric vehicles,and energy storage is proposed in this work.First,based on load substitution at the user side,an energy-station model considering the IDR is established.Then,based on the characteristics of the energy network,a collaborative planning model is established for the energy station and energy network of the IES,considering the comprehensive system investment,operation and maintenance,and clean energy shortage penalty costs,to minimize the total cost.This can help optimize the locations of the power lines and natural gas pipelines and the capacities of the equipment in an energy station.Finally,simulations are performed to demonstrate that the proposed planning method can help delay or reduce the construction of new lines and energy-station equipment,thereby reducing the investment required and improving the planning economics of the IES.

Axial response and material efficiency of tapered helical piles

Different techniques have been proposed to increase the bearing capacity of open-ended piles.Welding helices to the shaft and tapering the pile shaft could be used simultaneously to enhance the static and dynamic behaviors of these piles.This paper subjects the bearing capacity,stiffness,frictional behavior,and material efficiency of the tapered helical piles to scrutiny.Tapered helical piles are introduced herein as an alternative option to improve the material efficiency of hollow piles.Based on the Taguchi method,a series of experiments was designed and conducted.The axial responses of tapered helical piles are also investigated using finite element analyses.The results derived from loadedisplacement curves and strain gages are used to characterize the axial compression responses of tapered helical piles.The effects of tapered angle,helices diameter and helices distance are examined using dimensionless parameters,and the degree of contribution of these factors is calculated on each of the enumerated variables individually.Experimental results show that the shaft friction resistance of tapered helical piles increases continuously with the pile head settlement.Furthermore,the effect of tapered wall on the shaft friction resistance is more tangible at low stress levels.The results showed that the relative material efficiency factor of the optimum pile could be 2.5 times that of unoptimized pile with a similar quantity of material.

Evaluation of the Residual Capacity of a Submarine for Different Limit States with Various Initial Imperfection Models

The current design philosophy for submarine hulls,in the preliminary design stage,generally considers as governing limit states material yielding along with various buckling modes.It is common belief that,beyond the design pressure,material yielding of the shell plating should occur first,eventually followed by local buckling,while global buckling currently retains the highest safety factor.On the other hand,in the aeronautical field,in some cases structural components are designed in such a way that local instability may occur within the design loads,being the phenomena inside the material elastic range and not leading to a significant drop in term of stiffness.This paper is aimed at investigating the structural response beyond a set of selected limit states,using nonlinear FE method adopting different initial imperfection models,to provide the designers with new information useful for calibrating safety factors.It was found that both local and global buckling can be considered as ultimate limit states,with a significant sensitivity towards initial imperfection,while material yielding and tripping buckling of frames show a residual structural capacity.In conclusion,it was found that the occurrence of local buckling leads to similar sudden catastrophic consequences as global buckling,with the ultimate strength capacity highly affected by the initial imperfection shape and amplitude.

Pushover analysis procedure for systems considering SSI effects based on capacity spectrum method

This paper presents a new procedure to transform an SSI system into an equivalent SDOF system using twice equivalence. A pushover analysis procedure based on the capacity spectrum method for buildings with SSI effects （PASSI） is then established based on the equivalent SDOF system, and the modified response spectrum and equivalent capacity spectrum are obtained. Furthermore, the approximate formulas to obtain the dynamic stiffness of foundations are suggested. Three steel buildings with different story heights （3, 9 and 20） including SSI effects are analyzed under two far-field and two near-field historical records and an artificial seismic time history using the two PASSI procedures and the nonlinear response history analysis （NLhRHA） method. The results are compared and discussed. Finally, combined with seismic design response spectrum, the nonlinear seismic response of a 9-story building with SSI effects is analyzed using the PASSI procedures, and its seismic performance is evaluated according to the Chinese ＇Code for Seismic Design of Buildings. The feasibility of the proposed procedure is verified.

Effect of Aldicarb Exposure on Cellular Immunity and Antioxidant Capacity in Kun-ming Mice

Immune function and antioxidant defense play an important role in protecting animals against pathogens and in controlling oxidative stress, respectively. Aldicarb is of great concern for human health due to its toxic nature, its extensive usage and consequent pollution. The hypothesis that aldicarb exposure would suppress immune function and antioxidant capacity in Kunming mice was to be tested in the present study. Twenty-three adult male mice were randomly divided into the control (n = 11) and the aldicarb treated (n = 12) groups. Food and water were provided ad libtum for both groups, while the aldicarb treated mice drank aldicarb solution (0.097 mg/L) for 22 days. Cellular immunity assessed by phytohaemagglutinin (PHA) response did not differ between the control and the aldicarb treated groups. Similarly, white blood cells were not influenced by aldicarb treatment. Moreover, aldicarb exposure had not significant effect on body mass, all organ masses detected. However, aldicarb treatment suppressed total antioxidant capacity in liver but not in kidneys. In summary, aldicarb treatment did not affect immune function, but suppressed liver antioxidant capacity in Kunming mice.

Living in a Bottomless Pit: Households’ Responses to Land Subsidence, an Example from Indonesia

Land subsidence has severe physical and economic implications for both areas and people. Numerous scholars have shown that land subsidence has had massive impacts at global, national and regional levels, and that the impacts were usually responded to by the government. However, little attention has been paid to what land subsidence means to people’s daily lives and how much it costs them. To fill that gap, this article draws on empirical research carried out in three areas in Indonesia to provide a better understanding of what land subsidence means to households, and how they respond to the consequences and how much it costs them to do so. An analysis of a survey of 330 households shows that they have been suffering from various severities of impacts of land subsidence for an extended period. Whereas some of the households respond to the impacts by making small preparations or adapting to the damages, others can do nothing due to a lack of money and their continuously declining earning capacity. Thus, the affected households are effectively throwing money into a bottomless pit. We argue that these households must escape the vicious circle caused by land subsidence by increasing their income capacity or even abandoning the affected areas.

The Study on Immuno-response and Antisera Properties of Recombinant β-subunit of Human Chorionic Gonadotropin in C57 Black Mouse

In this study, the immuno-response of recombinant hCG-β and natural hCGβ was comparatively investigated by using Freund's adjuvant. The results showed that, the properties and merits of the antibodies elicited by both kinds of hCG-β were similar. The antisera had high affinity for binding with hCG (Kαγβ≈5.86×108/mol/L, Kαβ≈8.18×108/mol/L), and were found to be effective in inhibiting the binding of 125I-hCG to receptors in rat testes. Results also indicated that, similar to the antisera induced by natural hCG-β, the recombinant hCG-β induced antisera had capacity of neutralizing the biological activities of hCG. Recombinant hCG-β could be used as an immunogen for contraceptive vaccine.

计及成本和价值的长周期负荷侧调节能力投入策略

随着新型电力系统的发展,负荷侧调节能力建设日益受到关注,对于负荷侧调节能力成本、价值及其投入策略的研究,具有重要意义。基于近10 a来中国电力工业发展的基础数据,结合新型电力系统发展态势,分析了负荷侧调节能力需求的背景,通过对发用电两侧调节能力特点的比较,从电力系统整体角度梳理了负荷侧调节能力的投入所带来的增量价值,分析了负荷侧调节能力的应用价值盈余,进一步结合具体需求提出了3种长周期下负荷侧调节能力投入的优化策略模型,并进行了算例分析。结果显示:负荷侧调节能力的投入有利于降低电力系统的总成本、增加系统调节能力,但是由于其成本曲线的变化以及“非持久特性”等因素,其投入策略需要综合长周期市场发展需求和发用电两侧成本因素进行权衡,所提出的3种优化模型各有其适用场景。

组织韧性:城市社区风险治理的机制优化

面对复杂多变、日益严峻的风险挑战,组织韧性是城市社区提升风险防治能力与实现可持续发展的重要方面。如何整合城市社区组织关系、制度规范、社会资源和集群文化以有效提升组织韧性,在应对各种风险挑战和冲击时快速适应、恢复以至在新的基础上实现跃升,成为我国城市高质量发展和社会治理现代化的重要命题。基于组织韧性视角,应以城市社区风险的有效防范与治理为出发点,从组织架构、组织制度、组织技术和组织文化等多元维度系统地探索组织韧性赋能城市社区风险治理的具体路径,并通过采取具有针对性的措施提升城市社区自组织结构、过程、能力和治理模式方面的韧性,从而夯实城市应急治理的制度根基。

概念图在护理实习生应急能力培训中的应用

目的运用概念图开展护理实习生应急能力培训,为临床实践教学及相关研究提供参考。方法根据需求对某三甲医院护理实习生进行应急能力培训,培训采用传统教学和概念图教学两种方式,对培训前后两届学生的应急能力进行调查和比较。结果护理实习生应急能力处于中低水平。培训后,护理实习生的应急能力均有所提升(P<0.05),但与传统教学模式相比,概念图教学培训后护理实习生的应急能力提升更明显(P<0.05)。结论应用概念图教学可有效提升护理实习生的应急能力的培训效果。教学医院可以采用多种方式教学,优化教学形式,提高护理实习生应急能力。

基于德尔菲法构建医疗机构突发公共卫生事件应急能力评价体系及应用

目的 探索构建适用于北京市通州区医疗机构突发公共卫生事件应急能力评价体系,了解应急能力现状,为促进应急能力提升提供参考。方法 采用德尔菲专家咨询法建立应急能力评价体系,采用主成分分析法确定指标权重,采用Excel软件建立数据库,SPSS 21.0对资料进行描述性统计分析。结果 专家积极系数为100%,专家权威程度系数为(0.89±0.05)。两轮次专家评分均值为4.42~4.79,变异系数<11%,专家意见较为一致。主成分分析指标权重显示,社区卫生服务中心有5个一级指标和18个二级评价指标(KMO=0.453,Bartlett χ2=27.764,P<0.01)。二级及以上医疗机构有6个一级指标和20个二级评价指标(KMO=0.698,Bartlett χ2=86.324,P<0.01),各维度相关性较强。二级及以上医疗机构应急能力评定为强、中、弱各有2、3和2家,社区卫生服务中心评定为强、中、弱各有6、10和6家。结论 本研究建立的应急能力评价指标体系,经调查应用符合辖区医疗机构应急能力现状,为医疗机构提升卫生应急能力提供参考,在今后工作中可进一步验证和优化。

云南省州(市)级疾控中心卫生应急能力现况调查及评估

[目的]了解云南省州(市)级疾控中心卫生应急能力现状,为下一步疾控中心卫生应急能力建设提供参考。[方法]采用自制问卷对云南省16个州(市)级疾控中心开展横断面调查,调查内容包括卫生应急工作组织建设、应急队伍建设和管理、突发事件现场处置情况等。使用Excel建立数据库,使用SPSS 25.0进行主成分分析计算卫生应急综合能力得分。[结果]云南省16个州(市)级疾控中心均组建了应急队伍,9个单位(56.3%)设立了独立应急办。应急队伍专业处置、后勤保障、综合管理岗位队员比例平均为17∶2∶1,现场流调箱、个人携行装备等主要装备全覆盖配置率为75.0%。应急队伍后勤保障装备主要依托云南省“双提升”工程配备。2020-2022年,各单位均组织过应急培训和演练,演练队员参与率76.3%、装备使用率50.2%;16个单位共派出5130人次对611起突发事件开展现场处置;抽查的173起突发公共卫生事件采样检测率86.6%、实验室判明率80.2%。各单位卫生应急综合能力得分区间为-1.4305分~5.6047分。[结论]云南省州(市)级疾控中心卫生应急能力正逐步发展,但地区间发展不平衡。云南省“双提升”工程很大程度提升了各单位应急装备水平,但州(市)级卫生应急队伍现有人员、装备和技术能力尚不满足实际工作需求。

基于鲜切苹果保鲜的可食性复合保鲜膜配方优化

以海藻酸钠、羧甲基纤维素钠、壳聚糖为主要原料制备可食性复合保鲜膜。由单因素实验制得复合膜,根据复合膜的性能及其对鲜切苹果的保鲜效果获得最优的单因素。在此基础上,应用响应面法优化复合膜的工艺组合并验证其保鲜效果。结果表明,经响应面法优化后的复合膜主要原料配方为:壳聚糖添加量0.98 g,海藻酸钠添加量1.55 g,羧甲基纤维素钠添加量1.31 g。应用该复合保鲜膜进行鲜切苹果保鲜,得到处理样品的色差a值5.95、DPPH自由基清除率35.27%、ABTS自由基清除率34.43%,而对照样品的a值9.10、DPPH自由基清除率21.31%、ABTS自由基清除率27.62%。该可食性复合保鲜膜具有良好的保鲜效果,为生态复合保鲜膜的研发与果蔬保鲜提供参考。

数字治理中技术依赖的伦理风险与规制

数字治理是数字技术与社会治理深度融合以创造更大公共价值的一种新型治理形态,是推进国家治理体系和治理能力现代化的应然要求。在数字治理进程中,政府与数字技术的关系由技术辅助逐渐演化为技术主导,这在社会治理决策、行为和系统建设中产生了技术依赖现象,即智能决策替代治理主体决策、技术行为替代治理主体行为和平台建设替代结构流程优化。技术依赖带来的伦理风险包括政府公权力系统被侵蚀、治理过程的伦理原则与程序的失效以及治理结果责任归属不清等问题。这些伦理风险既阻碍了数字治理对公共价值的创造,也不利于国家治理体系和治理能力现代化的推进。实践中,应从数据信息、治理决策、治理系统等数字治理流程中的3个关键变量着手,厘清数字技术嵌入社会治理的边界,探索优化数字治理的实施路径,具体包括控制社会治理数据信息的准入和流出以推进治理公平、优化人类决策与算法决策的合理分工以彰显公共价值、推动数字权力与政府权力的共建以明确治理责任归属等。通过规制技术依赖带来的伦理风险,推动数字治理创造更多公共价值,促进社会的公平正义和人民的幸福生活,实现国家治理体系和治理能力现代化的战略目标。

“培育论”视角下ChatGPT等生成式人工智能刑事主体资格审思

科学技术是把双刃剑,ChatGPT等生成式人工智能在为人类社会提供便利的同时亦引发了一系列刑事风险。当前学界对ChatGPT等生成式人工智能刑事主体资格的研究有待深入,对开发者培育大模型自主实施危害行为的归责困境缺乏探讨,而“培育论”则提供了思考方向与探讨路径。“培育论”视角下,生成式人工智能得以与人类主体的培育进程贯通。依赖“培育论”视角,应区分日常生活语境与刑法语境下的行为概念,并以“刑法意义行为”与“犯罪行为”进行类型划分,合理界定ChatGPT等生成式人工智能的行为主体资格,借鉴“培育型教唆”的犯罪评价思路,以共同犯罪与单独犯罪分离定罪与量刑评价逻辑,纾解培育生成式人工智能自主实施危害行为的归责困境。“培育论”的理论视角,不仅回应了ChatGPT等生成式人工智能刑事主体资格的发展性特征,而且能够较好解决刑事风险下的归责难题。