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%.

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.

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.

Characteristics of gravity anomalies and tectonic analysis of Enderby Land in East Antarctica and its adjacent areas

Enderby Land in East Antarctica and its adjacent areas,which are closely related to the Indian Plate in their geological evolution,have become one of the key zones for studies on how the Antarctic continent evolves.Based on the isostasy and flexure theories of the lithosphere and using the CRUST1.0 model as the depth constraint,this paper uses the gravity field model EIGEN-6C4 and topographic data to calculate the isostatic gravity anomalies of Enderby Land and its adjacent areas.Then,the crustal thickness of the study area is calculated,and three comprehensive geophysical interpretation profiles that vertically span the study area are plotted.The results show that the flexural isostatic gravity anomalies in Enderby Land and its adjacent areas are closely related to the regional tectonic setting,and the anomalies in different regions differ substantially,ranging from−50×10^(−5)m/s^(2)to 85×10^(−5)m/s^(2).A zone of high isostatic gravity anomalies(30×10^(−5)−80×10^(−5)m/s^(2))is distributed outside the Cooperation Sea and Queen Maud Land,which may be plate remnants generated by early rifting.Except for the Kerguelen Plateau,which was formed by a hotspot and has a crustal thickness of 15 km,the thickness of the oceanic crust in other parts of the study area changes slightly by approximately 4–9 km,with the thinnest part being in Enderby Basin.The thickness of the inland crust along the coastline increases with the elevation,with the maximum thickness reaching 34 km.The isostatic gravity anomalies corresponding to the zone of high magnetic anomalies along the continental margin of Queen Maud Land are negative and small,with an isostatic adjustment trend indicating Moho surface uplift,and those on the edge of central Enderby Land are near zero,approaching the isostatic state,which may be caused by the magmatism at the early stage of rifting.The continental-oceanic boundary should be close to the contour line of the crustal thickness 10–12 km on the outer edge of the coastline.

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.

A new and high-precision gravity base network in the south of the Tibetan Plateau

A new gravity base network in the south of the Tibetan Plateau was established with a FG5X absolute gravimeter and three CG-6 gravimeters.The gravity base network consists of 10 absolute gravity points and 17 relative gravity points.Processing of the absolute data,pre-processing of the relative data and gravity network adjustment model are briefly described.Based a constrained weighted least squares,the combined adjustment of absolute and relative gravity measurements results in the gravity values with a precision of about±4.1μGal.

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.

Adjustment of Gravity Observations towards a Microgal Precision

Gravity observations adjustment is studied having in view to take full advantage of the modern technology of gravity measurement. We present here results of a test performed with the mathematical model proposed by our group, on the adjustment of gravity observations carried out on network design. Additionally, considering the recent improvement on instrumental technology in gravimetry, that model was modified to take into account possible nonlinear local datum scale factors, in a 1900 mGal range network, and to check its significance for microgal precision measurements. The data set of the Brazilian Fundamental Gravity Network was used as case study. With about 1900 mGal gravity range and 11 control stations the Brazilian Fundamental Gravity Network (BFGN) was used as case study. It was established mainly with the use of LaCoste & Romberg, model G, gravimeters and new additional observations with Scintrex CG-5 gravimeters. The observables involved in the model are instrumental reading, calibration functions of the gravimeters used and the absolute gravity values at the control stations. Gravity values at the gravity stations and local datum scale factors for each gravimeter were determined by least square method. The results indicate good adaptation of the tested model to network adjustments. The gravity value in the IFE-172 control station, located in Santa Maria, had the largest estimated correction of ?10.4 μGal (1 μGal = 10 nm/s2), and the largest residual for an observed reading was estimated in 0.043 reading unit. The largest correction to the calibration functions was estimated in 6.9 × 10-6mGal/reading unit.

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 Survey of Unbalanced Flow Diagnostics and Their Application

This paper presents an extensive survey of the most commonly used tools for diagnosing unbalanced flow in the atmosphere, namely the Lagrangian Rossby number, Psi vector, divergence equation, nonlinear balance equation, generalized omega-equation, and departure from fields obtained by potential vorticity (PV) inversion. The basic thoery, assumptions as well as implementation and limitations for each of the tools are all discussed. These tools are applied to high—resolution mesoscale model data to assess the role of unbalanced dynamics in the generation of a mesoscale gravity wave event over the East Coast of the United States. Comparison of these tools in this case study shows that these various methods agree to a large extent with each other though they differ in details. Key words Unbalanced flow - Geostrophic adjustment - Gravity waves - Nonlinear balance equation - Potential vorticity inversion - Omega equations - Rossby number This research was conducted under support from NSF grant ATM-9700626 of the United States. The numerical computations described herein were performed on the Cray T90 at the North Carolina Supercomputing Center and the Cray supercomputer at the NCAR Scientific Computing Division, which also provided the initialization fields for the MM5. Thanks are extended to Mark Stoelinga at University of Washington for the RIP post-processing package.

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.

Classification of densities and characteristics of curve of population centers in China by GIS

In this paper, with the spatial analysis functions in ArcGIS and the county-level census data of 2000 in China, the population density map was divided and shown by classes, meanwhile, the map system of population distribution and a curve of population centers were formed; in accordance with the geographical proximity principle, the classes of population densities were reclassified and a population density map was obtained which had the spatial clustering characteristic. The multi-layer superposition based on the population density classification shows that the population densities become denser from the Northwest to the Southeast; the multi-layer clustering phenomenon of the Chinese population distribution is obvious, the populations have a water-based characteristic gathering towards the rivers and coastlines. The curve of population centers shows the population densities transit from the high density region to the low one on the whole, while in low-density areas there are relatively dense areas, and in high-density areas there are relatively sparse areas. The reclassification research on the population density map based on the curve of population centers shows that the Chinese population densities can be divided into 9 classes, hereby, the geographical distribution of Chinese population can be divided into 9 type regions： the concentration core zone, high concentration zone, moderate concentration zone, low concentration zone, general transitional zone, relatively sparse area, absolute sparse area, extreme sparse area, and basic no-man＇s land. More than 3/4 of the population of China is concentrated in less than 1/5 of the land area, and more than half of the land area is inhabited by less than 2% of the population, the result reveals a better space law of China＇s population distribution.

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.

An adjustment method for active reflector of large high-frequency antennas considering gain and boresight

The design of the Qitai 110 m Radio Telescope（QTT） with large aperture and very high working frequency（115 GHz） was investigated in Xinjiang, China. The results lead to a main reflector with high surface precision and high pointing precision. In this paper, the properties of active surface adjustment in a deformed parabolic reflector antenna are analyzed. To assure the performance of large reflector antennas such as gain and boresight, which can be obtained by utilizing an electromechanical coupling model, and satisfy them simultaneously, research on active surface adjustment applied to a new parabolic reflector as target surface has been done. Based on the initial position of actuators and the relationship between adjustment points and target points, a novel mathematical model and a program thatdirectly calculates the movements of actuators have been developed for guiding the active surface adjustment of large reflector antennas. This adjustment method is applied to an 8 m reflector antenna,in which we only consider gravity deformation. The results show that this method is more efficient in adjusting the surface and improving the working performance.

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.

Countermeasures and Suggestions for Consolidation of Human Settlements in the Construction of New Countryside

With the acceleration of urbanization and industrialization,the conflict between human and land is getting more serious,so it brooks no delay to protect farmland,economize and utilize construction land.In view of present layout problems existed in rural human settlements,this paper deeply discussed the necessity of human settlements consolidation in the construction of new countryside,implementation models,management rules and measures,and 6 guarantee measures for the concentration and union of villages were proposed as follows:① Carefully make projects planning and rationally plan all types of lands;② Make rural planning scientifically and rationally;③ Clarify management procedure and strengthen management methods;④ Guarantee the rational utilization of land after villagers moving out;⑤ Strictly carry out the management rules of land use and the planning of project areas;⑥ Ensure production and life of residents in relocation areas.

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.

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.

Balance control during gait initiation: State-of-the-art and research perspectives

It is well known that balance control is affected by aging, neurological and orthopedic conditions. Poor balance control during gait and postural maintenance are associated with disability, falls and increased mortality. Gait initiation-the transient period between the quiet standing posture and steady state walking-is a functional task that is classically used in the literature to investigate how the central nervous system(CNS) controls balance during a whole-body movement involving change in the base of support dimensions and center of mass progression. Understanding how the CNS in able-bodied subjects exerts this control during such a challenging task is a prerequisite to identifying motor disorders in populations with specific impairments of the postural system. It may also provide clinicians with objective measures to assess the efficiency of rehabilitation programs and better target interventions according to individual impairments. The present review thus proposes a state-of-the-art analysis on:(1) the balance control mechanisms in play during gait initiation in able bodied subjects and in the case of some frail populations; and(2) the biomechanical parameters used in the literature to quantify dynamic stability during gait initiation. Balance control mechanisms reviewed in this article included anticipatory postural adjustments, stance leg stiffness, foot placement, lateral ankle strategy, swing foot strike pattern and vertical center of mass braking. Based on this review, the following viewpoints were put forward:(1) dynamic stability during gait initiation may share a principle of homeostatic regulation similar to most physiological variables, where separate mechanisms need to be coordinated to ensure stabilization of vital variables, and consequently; and(2) rehabilitation interventions which focus on separate or isolated components of posture, balance, or gait may limit the effectiveness of current clinical practices.