This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot mo...This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.展开更多
Disturbance specific force caused by the lever arm ef-fects in integration navigation system is investigated,Navigation errors eaused by the lever arm effects have been demonstrated under three flinght scenarios of th...Disturbance specific force caused by the lever arm ef-fects in integration navigation system is investigated,Navigation errors eaused by the lever arm effects have been demonstrated under three flinght scenarios of the air-craft.Analytical under three flight scenarios of the ari-craft.Analytical results show that disturbance specific force resulted from lever arm effects may become one of the major error sources while an aircraft undertakes the maneuvers,and mavigation errors caused by the lever arm effects accumulate rapidly with time.Therefore,a com-pensation method must be taken into account to eliminate the disturbance specific force caused by the lever arm ef-fects in integration navigation system.展开更多
A force-aided lever with a preload spring is not only force-saving but also energy-saving. Therefore, it has great potential to be applied to dry clutch actuations. However, the negative stiffness of the clutch diaphr...A force-aided lever with a preload spring is not only force-saving but also energy-saving. Therefore, it has great potential to be applied to dry clutch actuations. However, the negative stiffness of the clutch diaphragm spring introduces unstable dynamics which becomes more intensive due to the preload spring. In order to explore the intensified unstability, this paper builds dynamic models for the rotating lever coupling a negative stiffness diaphragm spring and a preload spring. The stability analysis using the Routh-Huiwitz criterion shows that the open-loop system can never be stable due to the negative stiffness. Even if the diaphragm spring stiffness is positive, the system is still unstable when the preload of the spring exceeds an upper limit. A proportionalintegral-derivative(PID) closed-loop scheme addressing this problem is designed to stabilize the system. The stability analysis for the closed-loop system shows that stable region emerges in spite of the negative stiffness; the more the negative stiffness is, the less the allowed preload is. Further, the influences of the dimensions and PID parameters on the stability condition are investigated. Finally, the transient dynamic responses of the system subjected to disturbance are compared between the unstable open-loop and stabilized closed-loop systems.展开更多
In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm eff...In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS's antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter's prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter's update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.展开更多
In order to meet the requirements of nondestructive testing of true 3D topography of micro-nano structures,a novel three-dimensional atomic force microscope(3D-AFM)based on flared tip is developed.A high-precision sca...In order to meet the requirements of nondestructive testing of true 3D topography of micro-nano structures,a novel three-dimensional atomic force microscope(3D-AFM)based on flared tip is developed.A high-precision scanning platform is designed to achieve fast servo through moving probe and sample simultaneously,and several combined nanopositioning stages are used to guarantee linearity and orthogonality of displacement.To eliminate the signal deviation caused by AFM-head movement,a traceable optical lever system is designed for cantilever deformation detection.In addition,a method of tailoring the cantilever of commercial probe with flared tip is proposed to reduce the lateral force applied on the tip in measurement.The tailored probe is mounted on the 3D-AFM,and 3D imaging experiments are conducted on different samples by use of adaptive-angle scanning strategy.The results show the roob-mean-square value of the vertical displacement noise(RMS)of the prototype is less than 0.1 nm and the high/width measurement repeatability(peak-to-peak)is less than 2.5 nm.展开更多
To overcome defects caused by the complex structure and unstable damping performance of the wedge- type damper, a new lever-type friction damper has been developed for use in freight bogies; the design allows the adva...To overcome defects caused by the complex structure and unstable damping performance of the wedge- type damper, a new lever-type friction damper has been developed for use in freight bogies; the design allows the advantages of traditional three-piece bogies to be retained. A detailed description of the structure and mechanism of the lever-type damper is provided, followed by a stress analysis using the finite element method. Dynamic per- formance characteristics of the lever-type damper and the wedge-type damper are compared in terms of the nonlinear critical speed, riding index, and curve negotiation. The results indicate that the maximum stress of the lever remains below its yield limit. The lever-type car has higher running performance reliability, and achieves similar nonlinear critical speed, riding index, and curve negotiation when compared with the wedge-type car.展开更多
The relationship between options and agency costs in levered firms is studied by modeling the effect of executive stock options on the manager's investment strategy in levered firms. Stock options do not necessari...The relationship between options and agency costs in levered firms is studied by modeling the effect of executive stock options on the manager's investment strategy in levered firms. Stock options do not necessarily aggravate agency costs in levered firms. The corporate governance affects agency costs greatly. If debt-holders were entitled to design executive stock options together with stockholders, by allocating power properly between stockholders and debt-holders, firm value could be enhanced greatly. The following way of allocating power between the two parties is proposed: the exercise price should be the weighted average of the stockholders' and debt-holders' suggested exercise prices. The weight allocated to debt-holders is positively related to the amount of debts that debt-holders lend to stockholders.展开更多
This study presents a novel enhanced monostable lever-type electromagnetic energy harvester(L-EEH).According to the positions of the coil and the lever pivot,four configurations are discussed to realize a better harve...This study presents a novel enhanced monostable lever-type electromagnetic energy harvester(L-EEH).According to the positions of the coil and the lever pivot,four configurations are discussed to realize a better harvesting performance of the L-EEHs.On the basis of establishing the theoretical model of the L-EEH,the corresponding analytical solutions can be obtained by applying the harmonic balance method.The effects of the nonlinear coefficient,the lever ratio,the mass ratio,and the circuit parameters on the energy harvesting performance of L-EEHs are analyzed and discussed.The numerical and experimental efforts are carried out to verify the theoretical model and the energy harvesting performance.The results demonstrate that the maximum output voltage can be achieved with an appropriate lever ratio.Furthermore,the L-EEH possesses a considerable energy harvesting performance under a smaller lever ratio compared with the other three configurations.The output power can also be improved by adjusting the tip mass of the lever.The proposed L-EEH has a considerable operating bandwidth and an output power,which can reach 146.6 mW under the excitation amplitude of 0.3 g.展开更多
Reintroduction is an important strategy to restore or re-establish wild populations of endangered species.Pre-release training is a necessary step to ensure postreintroduction survival.However,studies reported contrad...Reintroduction is an important strategy to restore or re-establish wild populations of endangered species.Pre-release training is a necessary step to ensure postreintroduction survival.However,studies reported contradicting outcomes after pre-release training of juveniles and adults.This study used farmed and feral American mink(Neovison vison)to analyze the influence of captive breeding on the morphology,structure and efficiency of the two major hindlimb levers,the femur and tibia pivoted by hip and knee joints that are essential for locomotion.Results showed that captive breeding did not alter the sexual dimorphism of the two levers that are related to survival in the wild.Captive-bred mink showed slightly altered morphology of the femur and fundamental structure of the hindlimb levers that improved efficiency,but this resulted in reduction of performance related to foraging in both terrestrial and aquatic environments,especially for females.These findings suggest that reintroduction of mustelid as exampled by the mink here should focus on juveniles because the skeletal alterations associated with captive rearing were recorded only among adults and are irreversible in adulthood.In contrast,captive-reared juveniles showed no skeletal alterations and would be expected to recovery from any atrophy of the muscular system caused by captive rearing for shorter durations.Our results support the application of pre-release training of juveniles in enriched environments as a method for alleviating structural alteration of appendages and enhancing locomotion to increase survival probability in complex habitats.展开更多
In order to prove the rationality of structural design and carrying capacity, reasonable design of lever-loading system to apply loadings to some loading-points was needed in spacecraft structural mechanics static tes...In order to prove the rationality of structural design and carrying capacity, reasonable design of lever-loading system to apply loadings to some loading-points was needed in spacecraft structural mechanics static test. Lever-loading system design affects the carrying capacity of test piece. This paper describes the application of different section loading beams. Optimizing and analysis the different models of loading beams, and verification the feasibility of combination beams.展开更多
The levered-dual response(LEDAR)Coulomb-damped system attains near resonant vibration isolation by differential preloads/offsets in linear springs.It takes the advantages of both the preloads/offsets in linear springs...The levered-dual response(LEDAR)Coulomb-damped system attains near resonant vibration isolation by differential preloads/offsets in linear springs.It takes the advantages of both the preloads/offsets in linear springs and the guiderail friction for realizing different levels of vibration isolation.The isolation capacities are investigated on the strategies with both the horizontal and vertical guiderails,with the horizontal rail only,and without guiderails.The compressive preloads generally result in the consumption of most of the initial excitation energy so as to overcome the potential threshold.The isolation onsets at the frequency ratio of 1∓0.095 on the left-hand side(LHS)and the right-hand side(RHS)of the lever are relative to the load plate connector.The observed near resonant isolation thus makes the LEDAR system a candidate for the isolation of the mechanical systems about resonance while opening a path for simultaneous harvesterisolation functions and passive functions at extreme frequencies.展开更多
At present,the verification system of wind speed in national 3MS provincial automatic weather station has been automated,but the wind speed verification of the DEM6 portable three-cup anemometer by the straight road w...At present,the verification system of wind speed in national 3MS provincial automatic weather station has been automated,but the wind speed verification of the DEM6 portable three-cup anemometer by the straight road wind tunnel cannot be automated.In order to record the reading of this verification,it is necessary to manually move the starting lever at the wind speed field during each verification.For this problem,a set of verification device for the DEM6 portable three-cup anemometer is developed based on automatic verification system of wind speed in the 3MS provincial automatic weather station.This device uses the the driving board of starting anemometer to connect with the pressing starting lever by a bar-shaped gap,so as to realize the remote control of the starting lever.It is convenient to use,and measure multiple sets of data at the same place.The measuring results are more accurate,thereby realizing automatic pressing of wind speed starting lever.展开更多
With the socio-economic change that has taken place over the last years,in addition to an increase in sustainability regulation,stakeholders have gained importance and organizations are more active in relation to gene...With the socio-economic change that has taken place over the last years,in addition to an increase in sustainability regulation,stakeholders have gained importance and organizations are more active in relation to generating social impact,but society demands more and better social impact from organizations.The objectives of this paper are to clarify the concepts of impact and social impact optimization,and to detect levers and barriers to help organizations optimize the social impact that they generate.A qualitative approach based on interviews with social impact leaders from organizations with different forms(big companies,small and medium-sized enterprises,corporate foundations,b-corps,community foundations,public and private foundations,associations and investing firms)is applied,together with focus groups with stakeholders from those organizations that are best practices.展开更多
Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology ...Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology of the lever workpiece,and the workpiece is accurately positioned and tightened under the action of the special fixture.Efficient machining of the workpiece can be achieved by using a drill template.The fixture not only has the advantages of high production efficiency,low cost and high life,but also effectively improves the processing technology of the workpiece,and has certain reference value for the subsequent fixture improvement design.展开更多
Driven by a steady increase in both food and non-food prices, the expected growth of consumer price index （CPI） for September was 2.5 percent year on year. This is a gain on the August level of 2.3 percent year on y...Driven by a steady increase in both food and non-food prices, the expected growth of consumer price index （CPI） for September was 2.5 percent year on year. This is a gain on the August level of 2.3 percent year on year. Upward pressures on price leading up to the Chinese National Day holiday in early October and rising crude oil prices globally also contributed to an upward adjustment in prices.展开更多
基金Project supported by the Grant from Zhejiang Lab,China(No.2019KE0AD01)。
文摘This study introduces a wheeled robot platform with jumping ability.To realize jump movement,a twisted string lever mechanism is used,which is characterized by its compactness and variable gear ratio.Based on robot modeling and parameter calculation,the twisted string actuator shows its advantage when applied to situations such as jumping of robots,where explosiveness of output force matters.In this study,a wheeled bipedal robot equipped with the twisted string actuator is designed and fabricated.It weighs 16.0 kg and can perform jumps when it encounters obstacles.The prototype can jump up to a stage with a maximum height of 1.0 m using electric power,which is approximately 1.5 times the height of its stretched legs.
文摘Disturbance specific force caused by the lever arm ef-fects in integration navigation system is investigated,Navigation errors eaused by the lever arm effects have been demonstrated under three flinght scenarios of the air-craft.Analytical under three flight scenarios of the ari-craft.Analytical results show that disturbance specific force resulted from lever arm effects may become one of the major error sources while an aircraft undertakes the maneuvers,and mavigation errors caused by the lever arm effects accumulate rapidly with time.Therefore,a com-pensation method must be taken into account to eliminate the disturbance specific force caused by the lever arm ef-fects in integration navigation system.
基金the National Natural Science Foundation of China(No.51475284)
文摘A force-aided lever with a preload spring is not only force-saving but also energy-saving. Therefore, it has great potential to be applied to dry clutch actuations. However, the negative stiffness of the clutch diaphragm spring introduces unstable dynamics which becomes more intensive due to the preload spring. In order to explore the intensified unstability, this paper builds dynamic models for the rotating lever coupling a negative stiffness diaphragm spring and a preload spring. The stability analysis using the Routh-Huiwitz criterion shows that the open-loop system can never be stable due to the negative stiffness. Even if the diaphragm spring stiffness is positive, the system is still unstable when the preload of the spring exceeds an upper limit. A proportionalintegral-derivative(PID) closed-loop scheme addressing this problem is designed to stabilize the system. The stability analysis for the closed-loop system shows that stable region emerges in spite of the negative stiffness; the more the negative stiffness is, the less the allowed preload is. Further, the influences of the dimensions and PID parameters on the stability condition are investigated. Finally, the transient dynamic responses of the system subjected to disturbance are compared between the unstable open-loop and stabilized closed-loop systems.
基金Project(41374018)supported by the National Natural Science Foundation of ChinaProject(J13LN74)supported by the Shandong Province Higher Educational Science and Technology Program,China
文摘In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS's antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter's prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter's update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.
基金National Key Research and Development Pragram of China(No.2016YFF0200602)National Natural Science Foundation of China(No.61973233)。
文摘In order to meet the requirements of nondestructive testing of true 3D topography of micro-nano structures,a novel three-dimensional atomic force microscope(3D-AFM)based on flared tip is developed.A high-precision scanning platform is designed to achieve fast servo through moving probe and sample simultaneously,and several combined nanopositioning stages are used to guarantee linearity and orthogonality of displacement.To eliminate the signal deviation caused by AFM-head movement,a traceable optical lever system is designed for cantilever deformation detection.In addition,a method of tailoring the cantilever of commercial probe with flared tip is proposed to reduce the lateral force applied on the tip in measurement.The tailored probe is mounted on the 3D-AFM,and 3D imaging experiments are conducted on different samples by use of adaptive-angle scanning strategy.The results show the roob-mean-square value of the vertical displacement noise(RMS)of the prototype is less than 0.1 nm and the high/width measurement repeatability(peak-to-peak)is less than 2.5 nm.
文摘To overcome defects caused by the complex structure and unstable damping performance of the wedge- type damper, a new lever-type friction damper has been developed for use in freight bogies; the design allows the advantages of traditional three-piece bogies to be retained. A detailed description of the structure and mechanism of the lever-type damper is provided, followed by a stress analysis using the finite element method. Dynamic per- formance characteristics of the lever-type damper and the wedge-type damper are compared in terms of the nonlinear critical speed, riding index, and curve negotiation. The results indicate that the maximum stress of the lever remains below its yield limit. The lever-type car has higher running performance reliability, and achieves similar nonlinear critical speed, riding index, and curve negotiation when compared with the wedge-type car.
文摘The relationship between options and agency costs in levered firms is studied by modeling the effect of executive stock options on the manager's investment strategy in levered firms. Stock options do not necessarily aggravate agency costs in levered firms. The corporate governance affects agency costs greatly. If debt-holders were entitled to design executive stock options together with stockholders, by allocating power properly between stockholders and debt-holders, firm value could be enhanced greatly. The following way of allocating power between the two parties is proposed: the exercise price should be the weighted average of the stockholders' and debt-holders' suggested exercise prices. The weight allocated to debt-holders is positively related to the amount of debts that debt-holders lend to stockholders.
基金Project supported by the National Natural Science Foundation of China(No.52175125)。
文摘This study presents a novel enhanced monostable lever-type electromagnetic energy harvester(L-EEH).According to the positions of the coil and the lever pivot,four configurations are discussed to realize a better harvesting performance of the L-EEHs.On the basis of establishing the theoretical model of the L-EEH,the corresponding analytical solutions can be obtained by applying the harmonic balance method.The effects of the nonlinear coefficient,the lever ratio,the mass ratio,and the circuit parameters on the energy harvesting performance of L-EEHs are analyzed and discussed.The numerical and experimental efforts are carried out to verify the theoretical model and the energy harvesting performance.The results demonstrate that the maximum output voltage can be achieved with an appropriate lever ratio.Furthermore,the L-EEH possesses a considerable energy harvesting performance under a smaller lever ratio compared with the other three configurations.The output power can also be improved by adjusting the tip mass of the lever.The proposed L-EEH has a considerable operating bandwidth and an output power,which can reach 146.6 mW under the excitation amplitude of 0.3 g.
基金funded by China State Forestry and Grassland Administration Project for Rescue and Captive Breeding of Endangered and Rare Wildlife(2018).
文摘Reintroduction is an important strategy to restore or re-establish wild populations of endangered species.Pre-release training is a necessary step to ensure postreintroduction survival.However,studies reported contradicting outcomes after pre-release training of juveniles and adults.This study used farmed and feral American mink(Neovison vison)to analyze the influence of captive breeding on the morphology,structure and efficiency of the two major hindlimb levers,the femur and tibia pivoted by hip and knee joints that are essential for locomotion.Results showed that captive breeding did not alter the sexual dimorphism of the two levers that are related to survival in the wild.Captive-bred mink showed slightly altered morphology of the femur and fundamental structure of the hindlimb levers that improved efficiency,but this resulted in reduction of performance related to foraging in both terrestrial and aquatic environments,especially for females.These findings suggest that reintroduction of mustelid as exampled by the mink here should focus on juveniles because the skeletal alterations associated with captive rearing were recorded only among adults and are irreversible in adulthood.In contrast,captive-reared juveniles showed no skeletal alterations and would be expected to recovery from any atrophy of the muscular system caused by captive rearing for shorter durations.Our results support the application of pre-release training of juveniles in enriched environments as a method for alleviating structural alteration of appendages and enhancing locomotion to increase survival probability in complex habitats.
文摘In order to prove the rationality of structural design and carrying capacity, reasonable design of lever-loading system to apply loadings to some loading-points was needed in spacecraft structural mechanics static test. Lever-loading system design affects the carrying capacity of test piece. This paper describes the application of different section loading beams. Optimizing and analysis the different models of loading beams, and verification the feasibility of combination beams.
基金partially supported by the Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute (No. I01211200001)LDS 2023 Educational Foundation of The University of Nottingham Ningbo China (No. E06221200002)
文摘The levered-dual response(LEDAR)Coulomb-damped system attains near resonant vibration isolation by differential preloads/offsets in linear springs.It takes the advantages of both the preloads/offsets in linear springs and the guiderail friction for realizing different levels of vibration isolation.The isolation capacities are investigated on the strategies with both the horizontal and vertical guiderails,with the horizontal rail only,and without guiderails.The compressive preloads generally result in the consumption of most of the initial excitation energy so as to overcome the potential threshold.The isolation onsets at the frequency ratio of 1∓0.095 on the left-hand side(LHS)and the right-hand side(RHS)of the lever are relative to the load plate connector.The observed near resonant isolation thus makes the LEDAR system a candidate for the isolation of the mechanical systems about resonance while opening a path for simultaneous harvesterisolation functions and passive functions at extreme frequencies.
文摘At present,the verification system of wind speed in national 3MS provincial automatic weather station has been automated,but the wind speed verification of the DEM6 portable three-cup anemometer by the straight road wind tunnel cannot be automated.In order to record the reading of this verification,it is necessary to manually move the starting lever at the wind speed field during each verification.For this problem,a set of verification device for the DEM6 portable three-cup anemometer is developed based on automatic verification system of wind speed in the 3MS provincial automatic weather station.This device uses the the driving board of starting anemometer to connect with the pressing starting lever by a bar-shaped gap,so as to realize the remote control of the starting lever.It is convenient to use,and measure multiple sets of data at the same place.The measuring results are more accurate,thereby realizing automatic pressing of wind speed starting lever.
文摘With the socio-economic change that has taken place over the last years,in addition to an increase in sustainability regulation,stakeholders have gained importance and organizations are more active in relation to generating social impact,but society demands more and better social impact from organizations.The objectives of this paper are to clarify the concepts of impact and social impact optimization,and to detect levers and barriers to help organizations optimize the social impact that they generate.A qualitative approach based on interviews with social impact leaders from organizations with different forms(big companies,small and medium-sized enterprises,corporate foundations,b-corps,community foundations,public and private foundations,associations and investing firms)is applied,together with focus groups with stakeholders from those organizations that are best practices.
基金supported by the Henan Natural Science Foundation (No.222300420168)the Natural Science Foundation of Henan Polytechnic University (B2021-31)Fundamental Research Funds for the Universities of Henan Province (No.NSFRF220415).
文摘Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology of the lever workpiece,and the workpiece is accurately positioned and tightened under the action of the special fixture.Efficient machining of the workpiece can be achieved by using a drill template.The fixture not only has the advantages of high production efficiency,low cost and high life,but also effectively improves the processing technology of the workpiece,and has certain reference value for the subsequent fixture improvement design.
文摘Driven by a steady increase in both food and non-food prices, the expected growth of consumer price index （CPI） for September was 2.5 percent year on year. This is a gain on the August level of 2.3 percent year on year. Upward pressures on price leading up to the Chinese National Day holiday in early October and rising crude oil prices globally also contributed to an upward adjustment in prices.
