Effects of Joint Controller on Analytical Modal Analysis of Rotational Flexible Manipulator

Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.

MODELING AND CONTROLLING OF PARALLEL MANIPULATOR JOINT DRIVEN BY PNEUMATIC MUSCLES

A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.

Distinct element modelling of fracture plan control in continuum and jointed rock mass in presplitting method of surface mining

Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.

A novel adaptive joint power control algorithm with channel estimation in a CDMA cellular system

Joint power control has advantages of multi-user detection and power control; and it can combat the multi-access interference and the near-far problem. A novel adaptive joint power control algorithm with channel estimation in a CDMA cellular system was designed. Simulation results show that the algorithm can control the power not only quickly but also precisely with a time change. The method is useful for increasing system capacity.

An Innovative Mechanism of Blockchain Technology on Joint Governance Model

Joint prevention and control is a social organization model dealing with the governance of public health and security incidents.The governance models should have the features of multiple subjects co-governing and distributed cooperating.Their purposes are to solve and improve the governance efficiency of dealing with public health and security incidents at the executive level.However,there are still many deficiencies in the current data governance and collaborative governance of joint prevention and control systems,which are mainly reflected in incomplete data collection,unimpeded data sharing,inflexible collaborative cooperation,and inadequate collaborative supervision.Therefore,a new innovative governance model is urgently needed.Blockchain technology is suitable for implementing multiparty data sharing and cooperation,and at the same time,it supports penetrating supervision and management.This paper studies the blockchain model for joint governance of public health and security incidents.It focuses on the multiagent collaborative prevention and control governance model,which provides a new opportunity for model innovation in data governance and in cooperative governance.

Research on Precision Assembly Robot's Joint Torque Control Based on Current Measurement

A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.

Joint space compliance control for a hydraulic quadruped robot based on force feedback

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.

Regional Coordinated Development and Joint Prevention and Control for Environmental Protection in China in the New Era

The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies have also gone through the"enlightenment stage","development stage"and"mature stage".On this basis,the problems of the coordination of China s regional coordinated development and joint prevention and control for environmental protection in the new era,as well as suggestions for the next step were further analyzed.

Anti-Windup Control Strategy of Drive System for Humanoid Robot Arm Joint

To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.

上海市新型冠状病毒肺炎防控策略探讨

根据政府公开发布的数据和相关的媒体报道,分析归纳上海市新型冠状病毒肺炎疫情防控方略,探讨超大城市应对突发传染病的防控经验和策略。上海市通过居家隔离、联防联控、群防群治、信息公开和分级复工等防控措施,成功将新型冠状病毒肺炎患者人数控制在1641人(截至2021年1月24日),占全国累计确诊病例数的1.64%,防控效果显著。上海市有效地控制了疫情蔓延,为超大城市应对突发急性传染病等公共卫生事件提供了极有价值的经验和策略。

Can coordination variability identify performance factors and skill level in competitive sport? The case of race walking

Background:Marginal changes in the execution of competitive sports movements can represent a significant change for performance success.However,such differences may emerge only at certain execution intensities and are not easily detectable through conventional biomechanical techniques.This study aimed to investigate if and how competition standard and progression speed affect race walking kinematics from both a conventional and a coordination variability perspective.Methods:Fifteen experienced athletes divided into three groups(elite,international,and national) were studied while race walking on a treadmill at two different speeds(12.0 and 15.5 km/h).Basic gait parameters,the angular displacement of the pelvis and lower limbs,and the variability in continuous relative phase between six different joint couplings were analyzed.Results:Most of the spatio-temporal,kinematic,and coordination variability measures proved sensitive to the change in speed.Conversely,non-linear dynamics measures highlighted differences between athletes of different competition standard when conventional analytical tools were not able to discriminate between different skill levels.Continuous relative phase variability was higher for national level athletes than international and elite in two couplings(pelvis obliquity—hip flex/extension and pelvis rotation—ankle dorsi/plantarflexion) and gait phases(early stance for the first coupling,propulsive phase for the second) that are deemed fundamental for correct technique and performance.Conclusion:Measures of coordination variability showed to be a more sensitive tool for the fine detection of skill-dependent factors in competitive race walking,and showed good potential for being integrated in the assessment and monitoring of sports motor abilities.

Ecological and Environmental Protection Requirements in China s Regional Coordinated Development Strategy in the New Era

Starting from the historical evolution of China s regional coordinated development policy and practice,three stages of"enlightenment stage","development stage"and"maturity stage",as well as the connotation,characteristics and content of implementing regional coordinated development strategy were analyzed.On this basis,from different aspects of industrial distribution,pollutant characteristics and regional environmental protection policy,the existing ecological and environmental protection problems in China s regional coordinated development in the new era were analyzed,and some suggestions for the next step were put forward.It is necessary to follow the"four ones"concept from the overall point of view,implement"three lines and one list"from the perspective of the width of the access red line,strengthen"joint prevention and control"from the perspective of the depth of regional regulation,deepen the"planning environmental impact assessment"from the perspective of the breadth of industrial distribution,and promote the"green-way model"from the perspective of ecological low carbon.

Research on Decision Model of Control over Technology Standard Alliance

Technology standard alliance, as vectors of research, development and circulation for technology standard, has already become an important transformation form from laboratory standard to fact standard for all countries. However, during the process of forming the technology standard alliance, it is a focus for members in the alliance to take control over others. How to construct a scientific and reasonable decision model of control over technology standard alliance is closely related to each enterprise member＇s interest. Under the condition that the risk is neutral, the paper explored necessary and sufficient conditions of knowledge sharing and the most endeavor among enterprise members through constructing a decision model of control over technology standard alliance, and put forward that the joint control model was the best decision model for constructing the technology standard alliance.

Robotics and mechatronics for planetary surface exploration

The paper briefly addresses DLR' s ( German Aerospace Center) expertise in space robotics by handof corresponding milestone projects including systems on the International Space Station ISS. It then discussesthe key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-light weight arms and multifingered hands. The third arm generation is nearly finished now, approaching thelimits of what is technologically achievable today with respect to light-weight and power losses. In a similar wayDLR' s second generation of artificial 4-fingered hands was a big step towards higher reliability, manipulabilityand overall performance.

An assessment of China's joint prevention and control policy on sulfur dioxide emissions reduction:A spatial econometric analysis

Sulfur dioxide(SO_(2))is a typical pollutant that affects human health,climate,and environmental and ecological conditions.China has been experiencing high concentrations of SO_(2),particularly in urban areas,since the 1990s.In 2010,a"joint prevention and control"(JPC)policy was issued to address air pollution problems and strengthen the regulation of SO_(2)emissions.This study aimed to describe the mitigation effects of this policy on SO_(2)emissions in 116 Chinese cities from 2003 to 2017.We applied global and local Moran's I indices to confirm the presence of significant spatial autocorrelation in SO_(2)emissions and constructed four spatial models to assess the effect of the JPC policy in reducing SO_(2)emissions and its transmission mechanism.We found that the policy decreased SO_(2)emissions by 1.89×10^(4)tons,S0_(2)intensity by 1.70 tons per km^(2),and S0_(2)per capita of 158.49 tons per 10,000 people in each city,on average,all of which are significant changes.The empirical results also show that population growth,economic structure,and environmental protection significantly decrease SO_(2)emissions.Finally,we recommended policies to encourage regional cooperation under the JPC policy,with the aim of promoting furtherreductions in SO_(2)emissions.

Energy modeling and optimization of building condenser water systems with all-variable speed pumps and tower fans:A case study

The emergence of building condenser water systems with all-variable speed pumps and tower fans allows for increased efficiency and flexibility of chiller plants in partial load operation but also increases the control complexity of condenser water systems.This study aims to develop an integrated modeling technique for evaluating and optimizing the energy performance of such a condenser water system.The proposed system model is based on the semi-physical semi-empirical chiller,pump,and cooling tower models,with capabilities of fully considering the hydraulic and thermal interactions in the condenser water loop,being solved analytically and much faster than iterative solvers and supporting the explicit optimization of the pump and tower fan frequency.A mathematical approach,based on the system model and constrained optimization technique,is subsequently established to evaluate the energy performance of a typical dual setpoint-based variable speed strategy and find its energy-saving potential and most efficient operation by jointly optimizing pumps and tower fans.An all-variable speed chiller plant from Wuhan,China,is used for a case study to validate the system model’s accuracy and explore its applicability.The results showed that the system model can accurately simulate the condenser water system’s performance under various operating conditions.By optimizing the frequencies of pumps and tower fans,the total system energy consumption can be reduced by 12%–13%compared to the fixed dual setpoint-based strategy with range and approach setpoints of 4℃and 2℃.In contrast,the energy-saving potential of optimizing the cooling tower sequencing is insignificant.A simple joint speed control method for optimizing the pumps and tower fans emerged,i.e.,the optimal pump and fan frequency are linearly correlated(if both are non-extremes)and depend on the chiller part load ratio only,irrespective of the ambient wet-bulb temperature and chilled water supply temperature.It was also found that the oversizing issue has further limited the energy-saving space of the studied system and results in the range and approach setpoints being inaccessible.The study’s findings can serve as references to the operation optimization of all-variable speed condenser water systems in the future.

Environmental options of local governments for regional air pollution joint control:application of evolutionary game theory

Apanage management is currently the main method used to control air pollution in China,but it has proved to be inefficient for controlling transboundary air pollution.As a result,China’s central government is demanding joint control of regional air pollution.From the perspective of cooperation benefits,we adopt the evolutionary game theory(EGT)to analyse evolutionary trends of regional authorities’behaviours and their stable strategy in the campaign for joint control of regional air pollution.A case study,the intergovernmental cooperation management for‘APEC Blue’,is taken to illustrate the intergovernmental game.The result shows that an evolutionarily stable strategy(ESS)of‘joint control’for local governments depends on individual region’s benefits and collaboration revenues.Local governments should be encouraged in collaborating with their neighbouring governments,because a certain amount of transaction costs will not undermine their cooperation.With regards to the case study,joint control through executive orders is unpractical in the Beijing–Tianjin–Hebei region.‘APEC Blue’can only be temporary and the failure of such collaboration for long-term regional air pollution control is inevitable because of its high control costs,economic loss,transaction costs and low common profits.

Optimal Control Policy of M/G/1 Queueing System with Delayed Randomized Multiple Vacations Under the Modified Min(N,D)-Policy Control

Based on the number of customers and the server’s workload,this paper proposes a modified Min(N,D)-policy and discusses an M/G/1 queueing model with delayed randomized multiple vacations under such a policy.Applying the well-known stochastic decomposition property of the steady-state queue size,the probability generating function of the steady-state queue length distribution is obtained.Moreover,the explicit expressions of the expected queue length and the additional queue length distribution are derived by some algebraic manipulations.Finally,employing the renewal reward theorem,the explicit expression of the long-run expected cost per unit time is given.Furthermore,we analyze the optimal policy for economizing the expected cost and compare the optimal Min(N,D)-policy with the optimal N-policy and the optimal D-policy by using numerical examples.

Pricing and Inventory Control Strategy for a Periodic-Review Energy Buy-Back System

Along with the rapid development of economics and enhancement of industrialization, the power demand keeps rising and frequently creates mismatch between demand and supply in electricity.This provides miscellaneous energy buy-back programs with great opportunities. Such programs, when activated, offer certain amount of financial compensations to participants for reducing their energy consumption during peak time. They aim at encouraging participants to shift their electricity usage from peak to non-peak time, and thereby release the demand pressure during peak time. This paper considers a periodic-review joint pricing and inventory decision model under an energy buy-back program over finite planning horizons, in which the compensation levels, setup cost and additive random demand function are incorporated. The objective is to maximize a manufacturer's expected total profit.By using Veinott's conditions, it is shown that the manufacturer's optimal decision is a state dependent(s, S, P) policy under a peak market condition, or partly an(s, S, A, P) policy under the normal market condition.

Prevention and control of zoonoses at their source:from the Chinese perspective

Zoonoses are a significant public health concern and cause considerable socioeconomic problems globally.The emergence of severe acute respiratory syndrome(SARS),highly pathogenic avian influenza(HPAI),and Ebola virus disease(EVD)has had a significant effect on the national economy and public health in China,and other countries.This review analyzed zoonotic disease issues faced by China,and the main factors contributing to the risk of zoonotic disease.The Chinese government has devised new strategies and has taken measures to deal with the challenges of these diseases,and the prevention and control of zoonoses at their source.A strategy that is suited to China’s national conditions,is proposed.