This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion.The design of the robot leg is inspired by legge...This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion.The design of the robot leg is inspired by legged insects and animals, and the biomimetic concept is implemented in the robot in a simplified form,such that each leg of the robot has only one degree of freedom.The lack of degree of freedom is compensated by a slope of the robot frame relative to the horizontal plane.For the implementation of the self-contained mobile robot,a small power supply circuit is designed and installed on the robot.Experimental results show that the robot can locomote at about 50 mm·s^(-1)with the circuit on board,which can be considered as a significant step toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.展开更多
Firefighters’low back disorders(LBDs)are closely related to excessive spine loading when using the self-contained breathing apparatus(SCBA)continuously.The purpose of this study was to quantify firefighters’spine lo...Firefighters’low back disorders(LBDs)are closely related to excessive spine loading when using the self-contained breathing apparatus(SCBA)continuously.The purpose of this study was to quantify firefighters’spine loading and evaluate the effects of strap lengths of SCBA on altering spine loading.Computer-based musculoskeletal models of three varying-strapped SCBA conditions and a control condition(CC)with no SCBA equipped were developed.The model was driven using three-dimensional(3 D)inertial motion capture data from twelve male subjects performing a walking task and the predicted ground reaction force(GRF).Electromyography(EMG)activities were also recorded to validate the results from the model.The 4 th-5 th lumbar vertebra(L4/L5)joint reaction forces,as well as erector spinae and rectus abdominis forces,were finally obtained.Results demonstrated that carrying SCBA significantly increased the compressive force and anteroposterior shear force at the spine.The risk of potential LBDs increased by about 17.77%.Dynamic balance of erector spinae and rectus abdominis contraction was also disturbed when carrying SCBA,indicating a higher risk of spine muscle strain.Adjustment of SCBA strap length was an efficient method to influence spine loading.The medium-fitting strap(MS)with a length of around 101 cm generated minimum joint reaction forces and achieved the optimum dynamic balance of spine muscle contraction,which was recommended for firefighters.展开更多
This paper expounds the basic principles and structures of the whole petroleum system to reveal the pattern of conventional oil/gas-tight oil/gas-shale oil/gas sequential accumulation and the hydrocarbon accumulation ...This paper expounds the basic principles and structures of the whole petroleum system to reveal the pattern of conventional oil/gas-tight oil/gas-shale oil/gas sequential accumulation and the hydrocarbon accumulation models and mechanisms of the whole petroleum system.It delineates the geological model,flow model,and production mechanism of shale and tight reservoirs,and proposes future research orientations.The main structure of the whole petroleum system includes three fluid dynamic fields,three types of oil and gas reservoirs/resources,and two types of reservoir-forming processes.Conventional oil/gas,tight oil/gas,and shale oil/gas are orderly in generation time and spatial distribution,and sequentially rational in genetic mechanism,showing the pattern of sequential accumulation.The whole petroleum system involves two categories of hydrocarbon accumulation models:hydrocarbon accumulation in the detrital basin and hydrocarbon accumulation in the carbonate basin/formation.The accumulation of unconventional oil/gas is self-containment,which is microscopically driven by the intermolecular force(van der Waals force).The unconventional oil/gas production has proved that the geological model,flow model,and production mechanism of shale and tight reservoirs represent a new and complex field that needs further study.Shale oil/gas must be the most important resource replacement for oil and gas resources of China.Future research efforts include:(1)the characteristics of the whole petroleum system in carbonate basins and the source-reservoir coupling patterns in the evolution of composite basins;(2)flow mechanisms in migration,accumulation,and production of shale oil/gas and tight oil/gas;(3)geological characteristics and enrichment of deep and ultra-deep shale oil/gas,tight oil/gas and coalbed methane;(4)resource evaluation and new generation of basin simulation technology of the whole petroleum system;(5)research on earth system-earth organic rock and fossil fuel system-whole petroleum system.展开更多
基金supported by Korea Research Foundation grant(KRF-2006-005-J03303)and Seoul R&BD Program
文摘This paper presents the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion.The design of the robot leg is inspired by legged insects and animals, and the biomimetic concept is implemented in the robot in a simplified form,such that each leg of the robot has only one degree of freedom.The lack of degree of freedom is compensated by a slope of the robot frame relative to the horizontal plane.For the implementation of the self-contained mobile robot,a small power supply circuit is designed and installed on the robot.Experimental results show that the robot can locomote at about 50 mm·s^(-1)with the circuit on board,which can be considered as a significant step toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.
基金Fundamental Research Funds for the Central Universities,China(No.2232022G-08)。
文摘Firefighters’low back disorders(LBDs)are closely related to excessive spine loading when using the self-contained breathing apparatus(SCBA)continuously.The purpose of this study was to quantify firefighters’spine loading and evaluate the effects of strap lengths of SCBA on altering spine loading.Computer-based musculoskeletal models of three varying-strapped SCBA conditions and a control condition(CC)with no SCBA equipped were developed.The model was driven using three-dimensional(3 D)inertial motion capture data from twelve male subjects performing a walking task and the predicted ground reaction force(GRF).Electromyography(EMG)activities were also recorded to validate the results from the model.The 4 th-5 th lumbar vertebra(L4/L5)joint reaction forces,as well as erector spinae and rectus abdominis forces,were finally obtained.Results demonstrated that carrying SCBA significantly increased the compressive force and anteroposterior shear force at the spine.The risk of potential LBDs increased by about 17.77%.Dynamic balance of erector spinae and rectus abdominis contraction was also disturbed when carrying SCBA,indicating a higher risk of spine muscle strain.Adjustment of SCBA strap length was an efficient method to influence spine loading.The medium-fitting strap(MS)with a length of around 101 cm generated minimum joint reaction forces and achieved the optimum dynamic balance of spine muscle contraction,which was recommended for firefighters.
基金Supported by the National Natural Science Foundation of China(U22B6002)PetroChina Science Research and Technology Development Project(2021DJ0101)。
文摘This paper expounds the basic principles and structures of the whole petroleum system to reveal the pattern of conventional oil/gas-tight oil/gas-shale oil/gas sequential accumulation and the hydrocarbon accumulation models and mechanisms of the whole petroleum system.It delineates the geological model,flow model,and production mechanism of shale and tight reservoirs,and proposes future research orientations.The main structure of the whole petroleum system includes three fluid dynamic fields,three types of oil and gas reservoirs/resources,and two types of reservoir-forming processes.Conventional oil/gas,tight oil/gas,and shale oil/gas are orderly in generation time and spatial distribution,and sequentially rational in genetic mechanism,showing the pattern of sequential accumulation.The whole petroleum system involves two categories of hydrocarbon accumulation models:hydrocarbon accumulation in the detrital basin and hydrocarbon accumulation in the carbonate basin/formation.The accumulation of unconventional oil/gas is self-containment,which is microscopically driven by the intermolecular force(van der Waals force).The unconventional oil/gas production has proved that the geological model,flow model,and production mechanism of shale and tight reservoirs represent a new and complex field that needs further study.Shale oil/gas must be the most important resource replacement for oil and gas resources of China.Future research efforts include:(1)the characteristics of the whole petroleum system in carbonate basins and the source-reservoir coupling patterns in the evolution of composite basins;(2)flow mechanisms in migration,accumulation,and production of shale oil/gas and tight oil/gas;(3)geological characteristics and enrichment of deep and ultra-deep shale oil/gas,tight oil/gas and coalbed methane;(4)resource evaluation and new generation of basin simulation technology of the whole petroleum system;(5)research on earth system-earth organic rock and fossil fuel system-whole petroleum system.
