Investigation of the Effect of the Force Arm on the Bending Capability of Prestressed Glulam Beam

Prestress enables the Glulam beam could make full use of the compression strength,and then increase the span,but it still could not reduce all drawbacks,such as cross-section weakening and small force arm.To avoid slotting and ensure suitable tension and compression couple,one kind of novel anchor has been proposed,which could meet the bearing capacity requirement.And then the bending test of prestressed Glulam beams with a geometric scale ratio of 1:2 was simulated,to investigate the effect of the force arm on bending capacities,failure modes,and deformation performance.Results show that increasing the force arm could improve the ultimate bending per-formance of the beam significantly,and the anchor arm length has a certain effect on the performance,but it is not obvious.Finally,based on Finite element method analysis,the practice design suggestions have been offered.

Rationale and design of the cardiorespiratory fitness and hospitalization events in armed forces study in Eastern Taiwan

AIM To investigate the association between cardiorespiratory fitness and hospitalization events in a cohort of large voluntary arm forces in Taiwan. METHODS The cardiorespiratory fitness and hospitalization events in armed forces(CHIEF) is a retrospective cohort consisting of more than 4000 professional military members aged 18-50 years in Eastern Taiwan. All participants received history taking, physical examination, chest radiography, 12-lead electrocardiography, blood tests for cell counts and fasting glucose, lipid profiles, uric acid, renal function and liver function in the Hualien Armed Forces General Hospital during 2014. In addition, participants were required to undergo two indoor resistant exercise tests including 2-min push-up and 2-min sit-up, both scored by infrared sensing, and one outdoor endurance 3000-m none weight-bearing running test, the main indicator of cardiorespiratory fitness in the Military Physical Training and Testing Center in Eastern Taiwan in 2014. RESULTS Hospitalization events for cardiovascular disease, acute kidney injury, rhabdomyolysis, severe infectious disease, acute psychiatric illness, diabetes, orthopedic surgery and mortality will be identified in the National Insurance Research Database for 10 years. CONCLUSION CHIEF will be among the largest Eastern Asian armed forces cohort, in which physical status was strictly evaluated to follow up the hospitalization events for severe illness.

Stigma and its impact on the families of former soldiers of the German Armed Forces: An exploratory study

Background: Military families who have a family member with a mental illness see themselves confronted with many demands. Stigmatization is one of these challenges. Stigmatization affects not only the individual who suffers from a mental illness but also other family members via stigma by association and vicarious stigma. Stigma by association occurs when mental illness stigma spills over to individuals associated with an individual with a mental illness. Vicarious stigma describes the suffering of family members when they note the impact of stigma on their relative with mental illness. As a societal phenomenon, stigma plays out in social interactions and might therefore influence the social networks of families. It is also associated with healthcare utilization.Methods: Narrative interviews were conducted with 15 family members(partners, spouses, parents and children) of former soldiers of the German Armed Forces with a service-induced mental illness. The transcribed interview data were analyzed using a thematic analysis approach, in which codes were formed and emerging themes were systemized. Relationships between stigma, the families’ reactions to it, its effects on their social relationships and its interference with their healthcare utilization were analyzed.Results: This study provides a detailed description of how relatives of former German soldiers with mental health problems experience stigma by association and vicarious stigma. Their perceptions are shown in a model that describes stigma-related attitudes, reactions to them and their effects on the social relationships of former soldiers’ families. These families felt stigmatized because of the former soldiers’ mental illness(mental illness stigma) and the military context in which it occurred(former soldier stigma). They reacted with nondisclosure, anger, acceptance and self-blame. Stigma was associated with smaller and weaker social networks that were characterized by social exclusion, self-segregation and conflicts with extended family, friends and colleagues. Stigma also affected the families’ healthcare utilization.Conclusions: Urgently needed anti-stigma campaigns, particularly in the civilian context, should address the stigmatization of both mental illness and the military participation of the families affected. They should consider the needs of both former soldiers with a mental illness and their families.

The Swiss Public Opinion Towards the Tasks of the Swiss Armed Forces and the Constitutional Role

After the Cold War, all European armed forces have transformed to be prepared for the new geopolitical environment and have taken new tasks. Since then, the European armed forces are more active in international conflict management. Whereas most of the European states have suspended the conscription, the Swiss Armed Forces still hold on conscription. However, the Swiss Armed Forces have changed also. The reform ＂Armee 95＂ in 1995 and the reform ＂Armee XXI＂ in 2004 have transformed the Swiss Armed Forces and extended their range of tasks. Which of these tasks are legitimated by the Swiss population？ To answer this question, the Swiss population had been interviewed about the tasks of the Swiss Armed Forces as part of the study ＂Sicherheit 2016＂. The tasks which the Swiss population mentioned are displayed in this paper with regard to the transformation process classified and discussed. The evaluation shows that 93% of the interviewees have named one of Switzerland＇s constitutional duties （defense, support of the civilian authorities, and promotion of peace within an international context） as the most important task of the Swiss Armed Forces. Mainly the national defense order and the subsidiary support of the civilian authorities are approved by the Swiss population.

NOVEL 6-DOF WEARABLE EXOSKELETON ARM WITH PNEUMATIC FORCE-FEEDBACK FOR BILATERAL TELEOPERATION

A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical （3RPS） parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller units as the units of the distributed control system on ZJUESA. With the results of several experiments for master-slave control with force feedback, the feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified.

End Point Force Control of a Flexible Timoshenko Arm

This paper discusses a force control problem for a flexible Timoshenko arm. The effect of shear deformation and the effect of rotary inertia are considered in Timoshenko beam theory. Most of the research about force control of the flexible arm is based on Euler Bernoulli beam theory. There are a few researches about force control of the flexible arm using Timoshenko beam theory. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple controller using Timoshenko beam theory. Finally, we describe simulation results using a numerical inversion of Laplace transform carried out to investigate the validity of the proposed controller for the force control problem. The results of the time response show the transverse displacement, the angle of deflection, the slider position, the rotational angle and the contact force toward the desired their values.

双悬臂截割机器人相对动力学建模与力位混合控制研究

双悬臂截割机器人可解决传统单臂掘进机在截割大尺寸断面时效率低下的难题,但其与煤岩的动态交互影响控制性能。现有研究以双臂接触同一对象形成运动闭链为前提,无法满足双悬臂截割机器人双臂运动及末端截割头输出力的控制要求。针对该问题,设计了一种基于机器人相对动力学模型的力位混合控制系统。建立双悬臂截割机器人运动学和动力学模型,基于机器人的相对雅可比矩阵及虚位移与虚功原理推导出机器人的相对动力学模型,通过单一变量同时描述机器人双臂的运动状态,将机器人双臂独立的动力学模型整合为一个整体。基于机器人的相对动力学模型,设计了机器人双臂力位混合控制系统,通过李雅普诺夫函数验证了系统的稳定性和可行性。仿真结果表明:双悬臂截割工艺较单悬臂截割拥有更大的工作空间,具有一次性实现大断面截割的能力;双悬臂截割机器人力位混合控制系统能够完成对期望相对位置和期望相对力的同步跟踪,对截割头期望位置跟踪的绝对误差在0.3132 m以内,均方根误差为0.1447 m。

基于改进粒子群算法的机械手抓取力自整定模糊PID控制

为提高欠驱动机械手在易碎零件分拣过程中的稳定性,通过改进粒子群算法,给出一种优化其抓取性能的模糊PID控制算法。首先,分析欠驱动机械手抓取力控制系统的特性,提出粒子群算法与模糊PID抓取力控制系统相结合的具体策略。其次,将动态惯性权重等方法引入粒子群算法中,以提高其迭代速度并防止其陷入局部最优。在此基础上,利用改进后的粒子群算法优化模糊PID控制器的相关参数,实现了对模糊规则权重及量化因子的在线自整定,解决了PID参数无法动态调整的问题。最后,对其进行仿真分析。结果表明:该控制算法可以在0.8 s内达到稳定抓取力,稳态误差小于0.2%,扰动整定时间为0.262 s,系统的瞬态响应速度、控制精度以及稳定性均有明显提高。

高校知识产权转移与转化的制度与机制研究——以武警部队院校的管理范式创新为切入

区别于普通高校高度市场化参与的知识产权开源、运作与保护模式,武警部队院校在开展知识产权转移与转化管理的过程中面临着因自身特殊性带来的资源供给、运作驱动、成果转化等界域壁垒。在高校知识产权管理陷入创新同质化的今天,推进武警部队院校知识产权转移的整合管理,应关注管理要素与资源整合的特殊性,明确机构混乱、人员缺乏、事务交杂等建设推进难点,推动知识产权管理制度与机制建设的范式转型。保障技术产出与信息传递环境中各项管理要素的安全、高效运作,建设和优化同受众需求与开发支持相契合的、内部自研与技术转移相结合的管理体系,并通过全视角的资源整合与合规优化等,完成对现有管理平台的硬性改革与软性治理。

预测抓握力和振动传递的手-臂系统生物动力学模型

针对手-臂的振动问题,提出了一种手-臂混合模型来计算不同抓握力下叉车方向盘传递给手-臂的振动。该模型由肩膀、上臂、前臂和手组成,通过具有刚度和阻尼的关节连接。手部模型包含手掌和五个手指,每个手指的远端、近端和掌指端通过旋转关节相互连接,在手指关节上施加力矩来模拟抓握手柄时的主动肌肉力。通过调整模型材料参数以匹配手和手臂在抓握手柄时的接触压力和振动。将标定后的模型应用于某叉车方向盘对手臂系统振动传递率进行预测,结果表明所建立的考虑抓握力和手与手柄接触条件的模型能够预测车辆驾驶员手臂系统的振动传递。

基于力引导的空间舱外双臂机器人遥操作同步过程优化

为提高空间舱外双臂机器人遥操作同步过程中操作效率,提出了一种基于力引导的遥操作同步过程优化方法。通过改进的蒙特卡洛法对双臂机器人协作的工作空间进行分析,提出了一种最优协作位置预测方法,并通过力引导方式,辅助引导遥操作双臂到达最优协作位置。实验结果表明:相比于只有视觉反馈的遥操作过程,同步过程优化后到达同步工作状态的时间减少了84.26%,同步过程通过的路径长度缩短了35.43%;对比运动学引导方法,各项指标方差更小,稳定性更强。

统战工作与中共东江抗日武装的发展(1938—1940)

华南抗战初期,中共东江抗日武装能在远离中共中央、缺乏武装基础的条件下迅速崛起,与中共在此期间对国民党当局所开展的统战工作密不可分。统战工作一方面推动了东江部队的发展,另一方面也使一些中共干部独立自主领导武装的意识受到削弱。反共高潮蔓延至广东后,国共之间原有的合作关系逐渐被打破。中共东江抗日武装曾努力维护与国民党方面的统战关系,但最终在国民党军的围攻下被迫东移海陆丰。中共在东移中虽遭受严重损失,但也推动着部队对此前的统战工作进行反思,并最终放弃与国民党军的原有关系,确定了在东江敌后开展独立自主的抗日游击战争路线。

概率预测强化学习下非结构环境机械臂变阻抗力跟踪控制

针对非结构环境下末端实时移动机械臂阻抗控制力跟踪问题,通过动态调节阻尼系数以应对接触环境的不确定性。为确保阻抗策略的高效搜索,利用机械臂与接触环境交互产生状态-动作序列构建概率预测模型(PPM)。学习过程中,机械臂仅需与非结构接触环境进行少量交互即可获得最优变阻抗策略,这使得该过程在真实机械臂上直接训练成为可能。仿真实验表明,在几种非结构环境下,所提出的方法使力跟踪动态和稳态性能均明显优于传统阻抗控制和自适应变阻抗控制。

基于自抗扰控制的机械臂末端力/位置控制

针对机械臂末端力/位置控制问题,提出一种基于自抗扰控制(ADRC)的间接力/位置混合阻抗控制方案,将间接力/位置混合控制与阻抗控制相结合,在机械臂未与环境接触时采用位置控制,在与环境接触后切换为间接力控制,并体现出阻抗特性。该方案将混合阻抗控制与ADRC相结合,根据机械臂与环境接触时的阻抗模型建立ADRC控制器,并将阻抗参数视为系统总扰动的一部分,利用扩张状态观测器进行估计补偿,实现在无需计算阻抗参数的情况下使间接力/位置混合阻抗控制器在面对扰动时有较好的稳定性和鲁棒性。完成二自由度机械臂模型的仿真,并与传统阻抗控制器进行了比较,结果验证了所提出的基于ADRC的间接力/位置混合阻抗控制方案的有效性。

基于机器视觉与力控的发动机弯管焊缝自动化打磨系统研究

某系列尺寸不一的弯管由2部分在中间对焊而成,目前多采用人工方式进行弯管内壁焊缝的打磨,存在打磨质量与标准不一、效率低和劳动强度大等问题。为此,设计并实现了一种基于机器视觉技术和力控的发动机弯管焊缝自动化打磨系统。利用工业相机模组正对弯管两侧端面并拍摄图像,经图像处理算法处理计算得到弯管两侧端面焊缝起始位置坐标。机械臂根据该坐标调整打磨轨迹并搭载浮动主轴,保持打磨力的恒定并对焊缝不规则区域进行补偿,实现基于位置控制和力控的打磨自适应调整。试验结果表明,系统整体打磨合格率为96.03%,相比人工打磨效率提升95.90%。系统可以在较少人工的参与和干预下完成弯管焊缝的自动化打磨,具有良好的稳定性和使用柔性,并且允许弯管存在一定的变形。

全面抗战时期中共东江游击队武器来源渠道研究

1938年10月广州沦陷后,中共广东党组织即在敌后战场筹建抗日武装,开展武装斗争,并在与日伪顽军的较量中不断发展壮大。全面抗战时期,东江游击队为获得部队发展所需武器装备,付出了巨大努力。从与日伪军、国民党军及与民众互动等角度梳理相关史实,能较为明晰完整地呈现这一艰难的过程。而来自香港地区的有力支援,则表明地缘环境是考察中共华南革命不容忽视的因素。

FZ18-C型翻车机重调机牵车臂优化设计改型

本文对FZ18-C型翻车机重调机牵车臂受力情况进行了分析,并通过计算受力情况,优化牵车臂设计,减轻牵车臂重量,降低牵车臂驱动液压系统压力,减少重调机故障,提高重调机运转率。

面向青藏高原东北缘地震灾害的武警救援装备建设研究

青藏高原东北缘地区,有着数量众多的活动断裂,是形成我国地震最为活跃的区域之一。武警部队作为抢险救援的精锐力量,在遂行地震灾害救援任务中肩负着神圣使命。目前,武警地震救援装备尚存在装备可靠性相对较弱、多样化保障相对不足、装备协同相对较差等问题,为更好完成地震救援任务,从提升装备科技效能、强化装备环境适应、完善装备保障体系等方面提出发展对策,为提升救援装备能力建设提供了借鉴。

发展权与“修昔底德陷阱”之辩——以中国海洋权益保障为视角

在“修昔底德陷阱”的语境下,快速发展崛起的中国给现在的霸主国美国带来恐惧和不安,因而招致其防范和针对。按照美国的叙事逻辑,中国的和平崛起被认为是世界不稳定的根源。但从发展权的视角来分析,中国的快速发展遵循国际法规范,武装力量的建设和使用始终以保护本国主权和发展权益为基准。中国海洋武装力量建设及运用模式同样完全遵循国际法规范,并无称霸之意。所谓的“修昔底德陷阱”,只是美西方不乐见中国发展壮大而寻求进行攻讦、打压的借口。为应对此种情况,中国始终坚持和平发展之路,同时有针对性地发展能够捍卫自身权益的武装力量,还需打破西方话术圈套,以中国叙事方式讲述珍爱和平、反对霸权的中国故事。

基于RBF神经网络的双臂手术机器人自适应导纳控制

针对双臂机器人在辅助头颈部手术拉开软组织过程中环境刚度变化而导致的力跟踪误差较大问题,提出一种基于径向基函数(RBF)神经网络的自适应导纳控制策略,减小力跟踪误差,提升系统的响应速度。通过在手术过程中利用RBF神经网络在线调整导纳参数,提高机械臂对不同接触条件和操作要求的适应性,实现快速精确的力跟踪。仿真实验将基于RBF神经网络的自适应导纳控制策略引入双臂力同步导纳控制系统并与传统定参数导纳控制对比,证明其在接触环境参数变化情况下的接触力控制效果。结果表明,基于RBF神经网络的自适应导纳控制策略可以有效提升双臂手术机器人力跟踪精度、响应速度以及抗干扰能力。