Piezoelectrically Actuated Biomimetic Self-Contained Quadruped Bounding Robot

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.

Computer-Based Estimation of Spine Loading during Self-Contained Breathing Apparatus Carriage

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.

Effect of Respirator Resistance on Tolerant Capacity during Graded Load Exercise

Respirator breathing resistance impacts performance of wearers during constant work load. However, it is less clear as to how breathing resistance affects the tolerant capacity of users during graded work load. The present study investigated the tolerant capacity of 8 individuals during incremental work load. The 8 subjects were required to wear two matched respirators （respirators Ⅰ and Ⅱ which were designed to have different breathing resistances and the same dead space） respectively on separate days and then work to end points. Minute ventilation （VE）, breathing frequency （BF）, oxygen consumption （VO2） and heart rate （HR） were recorded during exercise, while tolerant time, response time and breathing discomfort were measured at the end of each test trial. The test variables were com-pared between the two respirators by using matched-pairs t-test. The results showed that the tolerant time was significantly reduced for the respiratorⅠwith higher level of breathing resistance when compared with its counterpart with lower breathing resistance （respirator Ⅱ） （P〈0.05）. The same changes occurred for response time. Results also showed a significant increase in VE and BF for respirator Ⅰwearers when the work load was above 125 W. The O2 consumption was similar under the two breathing resistance conditions. These findings suggested that the respiratory resistance caused by self-contained breathing apparatus （SCBA） has an impact on the tolerant capacity of users.

Basic principles of the whole petroleum system

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.

Online Power System Voltage Stability Index for LCC HVDC Using Local Measurements

This paper proposes an online power system voltage stability index(PVSI Online)that quantifies power system voltage stability in real time between an AC network and LCC HVDC using only local measurements.Previous methods relied on using telecommunications to inform a change in a predetermined AC network model.The proposed method uses local measurements of voltage and current from the HVDC using a newly developed,numerically robust technique called Moving Window Covariance to detect a change in the AC network in real time.These network parameters are fed to a newly devised index that accurately models and captures the dynamics of the interaction between an LCC HVDC and AC network.The index is used to quantify stability,but also to advise network operation.In an onset of instability due to network degradation,the proposed index can provide a power order value for the HVDC to restore stability.All as a self-contained module that can be implemented within a HVDC scheme.