Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Connotation and principles of ecological compensation in water source reserve areas based on the theory of externality

Understanding the connotation and principles of ecological compensation in water source reserve areas is the basis and guarantee for establishing and improving the ecological compensation mechanism of water source reserve areas.First,this paper reviews the three stages of ecological compensation research progress.Based on the review,using the theory of externality,the ecological environment system of water source reserve areas is then analyzed.This paper argues that the connotation of ecological compensation in water source reserve areas is a kind of institutional arrangement,which is designed to internalize externalities.Finally,based on the understanding of the connotation of ecological compensation in water source reserve areas,five principles for establishing and improving the ecological compensation mechanism are proposed,including the principle of fairness and justice,the principle of equivalence of equality and responsibility,the principle of flexibility and effectiveness,the principle of "earmark funds,and implementation by law," and the principle of government compensation supplemented with market compensation.

First-principles study of the effects of selected interstitial atoms on the generalized stacking fault energies, strength, and ductility of Ni

We analyze the influences of interstitial atoms on the generalized stacking fault energy （GSFE）, strength, and ductility of Ni by first-principles calculations. Surface energies and GSFE curves are calculated for the （112） （111） and / 101） （ 1 1 1） systems. Because of the anisotropy of the single crystal, the addition of interstitials tends to promote the strength of Ni by slipping along the （10T） direction while facilitating plastic deformation by slipping along the （115） direction. There is a different impact on the mechanical behavior of Ni when the interstitials are located in the slip plane. The evaluation of the Rice criterion reveals that the addition of the interstitials H and O increases the brittleness in Ni and promotes the probability of cleavage fracture, while the addition of S and N tends to increase the ductility. Besides, P, H, and S have a negligible effect on the deformation tendency in Ni, while the tendency of partial dislocation is more prominent with the addition of N and O. The addition of interstitial atoms tends to increase the high-energy barrier γmax, thereby the second partial resulting from the dislocation tends to reside and move on to the next layer.

Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.

Vertical migration through faults and hydrocarbon accumulation patterns in deepwater areas of the Qiongdongnan Basin

In the Qiongdongnan Basin, faults are well developed.Based on the drilling results, the traps controlled two or more faults are oil-rich. However, when only one fault cut through the sand body, there is no sign for hy-drocarbon accumulation in the sandstone. In terms of this phenomenon, the principle of reservoir-forming controlled by fault terrace is proposed, i.e., when the single fault activates, because of the incompressibility of pore water, the resistance of pore and the direction of buoyancy, it is impossible for hydrocarbon to ac-cumulate in sandstone. But when there are two or more faults, one of the faults acts as the spillway so the hydrocarbon could fill in the pore of sandstone through other faults. In total five gas bearing structures and four failure traps are considered, as examples to demonstrate our findings. According to this theory, it is well-advised that south steep slope zone of Baodao-Changchang Depression, south gentle slope zone of Lingshui Depression, north steep slope zone of Lingshui Depression, and north steep slope zone of Baodao Depression are the most favorable step-fault zones, which are the main exploration direction in next stage.

Basal stacking fault induced twin boundary gliding,twinning disconnection and twin growth in hcp Ti from the first-principles

First-principles calculations were performed to investigate the structures and energetics of {101n} coherent twin boundaries(CTBs) and glide twin boundaries(GTBs) in hexagonal close-packed(hcp) Ti. The formation mechanism of GTBs and their correlation with twin growth were fundamentally explored. Results suggested that GTBs can form from the gliding of CTBs, through their interaction with basal stacking fault. The gliding eventually restored the CTB structures by forming a pair of single-layer twinning disconnections. The pile-up of twinning disconnections should be responsible for the wide steps at twin boundaries as observed in high-resolution transmission electron microscopy, which can further promote twin growth. Possible effects of various alloying elements on pinning twin boundaries were also evaluated, to guide the strengthening design of Ti alloys.

Fault Diagnosis Based on Graph Theory and Linear Discriminant Principle in Electric Power Network

In this paper, we adopt a novel topological approach to fault diagnosis. In our researches, global information will be introduced into electric power network, we are using mainly BFS of graph theory algorithms and linear discriminant principle to resolve fast and exact analysis of faulty components and faulty sections, and finally accomplish fault diagnosis. The results of BFS and linear discriminant are identical. The main technical contributions and innovations in this paper include, introducing global information into electric power network, developing a novel topological analysis to fault diagnosis. Graph theory algorithms can be used to model many different physical and abstract systems such as transportation and communication networks, models for business administration, political science, and psychology and so on. And the linear discriminant is a procedure used to classify an object into one of several a priori groupings dependent on the individual characteristics of the object. In the study of fault diagnosis in electric power network, graph theory algorithms and linear discriminant technology must also have a good prospect of application.

The Discussion of the Compensation Ability Terms on Traffic Accident Crime

In 2000, the interpretation of the specific application of law on the trial of traffic accident criminal cases was issued by the Supreme People＇ s court. The second article and the fourth article in the judicial interpretation take the ＂no ability of the amount of compensation＂ as conviction and aggravated punishment standard after the traffic accident, causing the academic community fierce controversy. This article briefly states the publishing background, applicable conditions, defects and its positive significance of the two provisions. This paper nresents the immature modification suggestions for the two nrovisions.

The Pioneer Effect: A New Physics with a New Principle

Radiometric data from the Pioneer 10/11, Galileo and Ulysses spacecraft indicated an anomalous constant acceleration acting on them, directed toward the Sun, and a gradual growth of the radio signal frequency emitted by the receding transmitter. The reported odd acceleration of Pioneer 10 with a magnitude?∼8.5 × 10−10 m/s2 can be explained by an induced gravitational interaction on the S-band signals traveling between the probe and the Earth, arising from the electromagnetic properties of the outer Solar System vacuum zero-point radiation interacting with matter. Their nature is of quantum vacuum origin, and these induced forces act in addition to ordinary gravitational forces, violating the principle of Equivalence. We suggest a new physical theory based on a new principle called “Compensation” as a thinkable explanation for the non-conventional Pioneer effect. The theory of Relation, which is an alternative to the inflationist model, postulates that our universe is made of two antagonistic but complementary structures. The principle of Compensation contradicts Relativity theory, predicts such acceleration and is for the electromagnetic spacetime metric what the principle of Equivalence is for the gravific spacetime metric.

Scenario for the Origin of Matter (According to the Theory of Relation)

Where did matter in the universe come from? Where does the mass of matter come from? Particle physicists have used the knowledge acquired in matter and space to imagine a standard scenario to provide satisfactory answers to these major questions. The dominant thought to explain the absence of antimatter in nature is that we had an initially symmetrical universe made of matter and antimatter and that a dissymmetry would have sufficed for more matter having constituted our world than antimatter. This dissymmetry would arise from an anomaly in the number of neutrinos resulting from nuclear reactions which suggest the existence of a new type of titanic neutrino who would exceed the possibilities of the standard model and would justify the absence of antimatter in the macrocosm. We believe that another scenario could better explain why we observe only matter. It involves the validation of the negative energy solution of the Dirac equation, itself derived from the Einstein energy equation. The theory of Relation describes a negative energy ocean with the creation of real particle/antiparticle pairs. The origin of the masses of the particles would come from this ocean. A physical mechanism would allow their separation in the opposite direction and, therefore, the matter would be enriched at the expense of the ocean. The matter would be favored without resorting to negation or annihilation of negative energy, without the need for a CP (the behavioral difference between particle and antiparticle) violation that would be responsible for matter/antimatter asymmetry in the universe. And without the savior contribution of an undetectable obese neutrino: his search appears to us more a desperate act towards an “ultra-massive catastrophe” than a real effort to try to discover what really happened.

Super-resolution amplification of bitmap images based on 3D modeling theory

As a general format of the image,bitmap(BMP)image has wide applications,and consequently it is an important part of image processing.By segmenting the bitmap and combining the three-dimesional(3D)model of the discrete algorithm with the scanning line compensation algorithm,a mathematical model is built.According to the topological relations between several control points on the model surface,the surface of the model is discretized,and a planar triangle sequence is used to describe 3D objects.Finally,the bitmap is enlarged by combining the borrowing compensation based on 3D modeling principle of discrete algorithm with the scanning line compensation algorithm of binary lattice image,thus getting a relatively clear enlarged BMP image.

A Complete Analytic Model for Fault Diagnosis of Power Systems

现代大规模互联电网提高了电力系统运行的稳定性和经济性,同时也给电网的故障诊断增加了难度。对电网保护配置和断路器动作规则进行深入分析,提出一种新的电网故障诊断模型——完全解析模型,并为基于此模型的故障诊断提出一种实用有效的求解方法。在完全解析模型中,故障假说（即可疑故障设备的故障情况）与保护、断路器的动作情况及拒动和误动情况一同表示成逻辑变量,而保护配置和断路器动作规则以逻辑方程组形式进行充分表达,逻辑方程组的每个解析解对应一个故障模式（设备故障状态和保护动作、断路器跳闸状态及拒动/误动情况）,是对故障情形的完整解释。本模型对故障诊断规则和保护、断路器的动作逻辑进行完全解析,并完整保留了故障设备、保护动作和断路器跳闸之间的耦合关系,克服了已有解析模型的缺陷。算例表明,保留完整耦合关系的完全解析模型可有效提高故障诊断的准确性和容错能力。

Modulation of magnetic and electrical properties of bilayer graphene quantum dots using rotational stacking faults

Bilayer graphene quantum dots with rotational stacking faults(RSFs) having different rotational angles were studied.Using the first-principles calculation, we determined that these stacking faults could quantitatively modulate the magnetism and the distribution of spin and energy levels in the electronic structures of the dots.In addition, by examining the spatial distribution of unpaired spins and Bader charge analysis, we found that the main source of magnetic moment originated from the edge atoms of the quantum dots.Our research results can potentially provide a new path for producing all-carbon nanodevices with different electrical and magnetic properties.

Effect of gravity gradient in weak equivalence principle test

A high accuracy test of the weak equivalence principle（WEP） is of great scientific significance no matter whether its result is positive. We analyze the gravity gradient effect which is a main systematic error source in the test of WEP.The result shows that the uncompensated gravity gradient effect from the coupling term of the dominated gravity gradient multipole moment component q_（21） and the relative multipole field component Q_（21） contributes to an uncertainty of 1×10^（-11） on the E otv os parameter. We make a Q_（21） compensation to reduce the effect by about 20 times, and the limit of the test precision due to this coupling is improved to a level of a part in 10^（13）.

Research on a Fast-Closing Switch Based Fault Current Limiter with Series Compensation

A new type of fault current limiter (FCL) with series compensation based fast-closing switch is proposed. It is composed of a capacitor bank and a reactor in series. The main control component is a fast-closing switch connected in parallel with the capacitors, which is driven by the electromagnetic repulsion force. When fault occurs, the switch closes and bypasses the capacitors, and the fault is limited by the reactor then. Simulated analysis and experiments show that it is feasible to develop the FCL with low cost and high reliability. The effectiveness of transient stability for power system is evaluated by digital simulation.

Minimum eigenvalue based adaptive fault compensation for hypersonic vehicles

The attitude tracking control problem is addressed for hypersonic vehicles under actuator faults that may cause an uncertain time-varying control gain matrix.An adaptive compensation scheme is developed to ensure system stability and asymptotic tracking properties,including a kinematic control signal and a dynamic control signal.To deal with the uncertainties of the control gain matrix,a new positive definite one is constructed.The minimum eigenvalue of such a new control gain matrix is estimated.Simulation results of application to an X-33 vehicle model verify the effectiveness of the proposed minimum eigenvalue based adaptive fault compensation scheme.

An Inverse Compensation Formulation Principle of Long Effective Fidelity Scheme of the Evolution Problems

Following the instant square conservative scheme, implicit, explicit and semiimplicit schemes have also been formulated. Based on the theory of perfect square conservative scheme, which has assimilated the reasonable part of the idea of formulating the explicit scheme by adjustable dissipation, and the idea of actualizing the implicit scheme via 'instant linearization', a general compensation formulation

零序互感对距离保护的影响与自适应补偿方法

针对一起同塔双回线发生跨线接地故障时欠范围纵联距离保护拒动事件,本文分析同塔双回线单相接地故障与跨线接地故障的特征,以及零序互感对接地距离保护的影响,得出零序互感带来的附加阻抗是引起接地距离保护范围缩小并导致欠范围纵联距离保护拒动的根本原因。为避免零序互感对同塔双回线接地距离保护范围的影响,须对零序互感进行补偿,因此本文提出一种自适应补偿方法,通过引入邻线零序电流,结合本线零序电流方向和相电流方向,实现对零序互感的自适应补偿。最后,利用实时数字仿真系统对本文所提补偿方法进行评估,仿真结果证明了所提方法的有效性。

网络服务提供者在信息网络犯罪中的过错推定责任

信息网络犯罪是典型的技术型犯罪。网络服务提供者在信息网络犯罪中虽然能够起到技术性帮助作用,但其也是防控信息网络犯罪中不可或缺的重要力量。不同类别的网络服务提供者在信息网络犯罪中所起的作用迥然相异,故其在信息网络犯罪中刑事责任承担方式也大相径庭。既然如此,刑法针对不同类别的网络服务提供者在信息网络犯罪中所采取的归责方式也应有所区别。现有刑事法规范对网络服务提供者中的网络链接提供者及网络平台提供者规定了明确的安全管理义务,进而对网络链接提供者及网络平台提供者所实施的信息网络犯罪采用过错推定的归责方式。在风险社会语境中,这种过错推定责任体现出刑法治理模式由“责任主义”向“负责主义”的范式转换。“负责主义”治理模式不仅对信息网络犯罪之防控有显著效用,也为如何有效惩治其他类别的风险犯罪提供了可资借鉴的理论依据。

Online Supervision of Penicillin Cultivations Based on Rolling MPCA

To reduce the variations of the production process in penicillin cultivations, a rolling multivariate statis-tical approach based on multiway principle component analysis (MPCA) is developed and used for fault diagnosis of penicillin cultivations. Using the moving data windows technique, the static MPCA is extended for use in dy-namic process performance monitoring. The control chart is set up using the historical data collected from the past successful batches, thereby resulting in simplification of monitoring charts, easy tracking of the progress in each batch run, and monitoring the occurrence of the observable upsets. Data from the commercial-scale penicillin fer-mentation process are used to develop the rolling model. Using this method, faults are detected in real time and the corresponding measurements of these faults are directly made through inspection of a few simple plots (t-chart, SPE-chart, and T2-chart). Thus, the present methodology allows the process operator to actively monitor the data from several cultivations simultaneously.