A diverse range of light and waves,spanning from near-infrared to ultraviolet,alongside ultrasound,have proven effective in propelling nanomotors.This review encapsulates the advancements in nanomotor research propell...A diverse range of light and waves,spanning from near-infrared to ultraviolet,alongside ultrasound,have proven effective in propelling nanomotors.This review encapsulates the advancements in nanomotor research propelled by waves of varying frequencies.It delves into the driving mechanisms and control methodologies of different nanomotor types,emphasizing the role of frequency.Nanomotors can be classified based on the frequency of the driving wave,encompassing ultraviolet light-driven,visible light-driven,near-infrared-driven,and ultrasounddriven variants.Each category corresponds to distinct propulsion mechanisms,including momentum transfer,photothermal effects,self-electrophoresis,and acoustic radiation force.Notably,visible light and near-infrared radiation predominantly propel momentum transfer nanomotors,while photothermal nanomotors are chiefly active within the infrared spectrum.Ultraviolet light drives most self-electrophoretic nanomotors,while ultrasound-driven nanomotors respond to acoustic radiation force.Furthermore,precise control over nanomotor speed and direction is achievable by adjusting the frequency of incident waves within a narrow range,modulating wave absorption rates.Lastly,this paper explores microwave nanomotors,an area yet to be reported,shedding light on potential driving mechanisms.展开更多
In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ...In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ellipse fitting method are used to modify the tooth thickness of the flexspline and analyze the performance indexes such as the assembly stress,transmission error,and fatigue life.Firstly,the conjugate tooth profile is solved based on the quadruple-circular-arc tooth profile and modified kinematic method.Then,based on the finite element radial deformation of the flexspline,the principle and characteristics of three modification methods are analyzed,and the modification amount of each section of the flexspline tooth is calculated.Finally,the influence of the three modification methods on the performance of the harmonic drive is compared.The results show that the radial deformation difference method can initially determine the modification amount.The minimum static assembly stress is 406.22 MPa by the major and minor axis fitting method.The ellipse fitting method has the best dynamic performance,small transmission error fluctuation,a peak-to-peak value of 3.060",and a maximum fatigue life of 10^(7.558)cycles.展开更多
As a critical ecological barrier in China,the Qinling Mountains see their ecological functions significantly impaired by frequent shallow landslides.However,existing research on the distribution characteristics and dr...As a critical ecological barrier in China,the Qinling Mountains see their ecological functions significantly impaired by frequent shallow landslides.However,existing research on the distribution characteristics and driving mechanisms of such landslides remains relatively limited.To address this knowledge gap,the present study integrated data analysis,field investigations,and remote sensing interpretation to construct a landslide database for the core area of the Qinling Mountains,and systematically analyzed the spatial patterns,development characteristics,and environmental driving factors of shallow landslides.The results reveal that shallow landslides are predominantly small-to-medium in scale,concentrated in regions with an altitude of 800–1000 m and a slope gradient of approximately 30°,with a distinct tendency to develop on sunny(southfacing)slopes.The occurrence frequency of these landslides exhibits a significant positive correlation with the soil moisture content of the weathered layer and the degree of groundwater enrichment in the study area.Specifically,these landslides are mainly developed in bedrock fissure water zones and karst fissure water zones with favorable water-bearing capacity,indicating that rainfall and surface hydrological processes are the key triggering factors for shallow landslides.Notably,vegetation exerts a mediating role in the"vegetation-hydrology-landslide"system:shallow landslides occur most frequently in areas with artificial or shrub-grass vegetation,peaking at a moderate coverage of 50%–60%.This peak suggests that vegetation within this range is ineffective at regulating soil moisture,while the interaction between specific vegetation types and hydrological enrichment further exacerbates landslide risk.By prioritizing the weights of vegetation and hydrological factors,we enhanced the information quantity model,which significantly improved its performance and increased the AUC value to 0.83.These findings confirm the pivotal roles of vegetation and hydrological factors,thereby providing a robust scientific basis for targeted landslide prevention and control in this region.展开更多
Understanding the scale-dependent dynamics of ecosystem services(ESs)and their socio-ecological drivers is essential for sustainable development.While many studies rely on static or single-scale approaches,this resear...Understanding the scale-dependent dynamics of ecosystem services(ESs)and their socio-ecological drivers is essential for sustainable development.While many studies rely on static or single-scale approaches,this research employs an integrated multi-temporal(2000–2020)and multi-scale(grid,county,and landscape levels)framework to investigate China’s Central Asian frontier,a representative dryland region.We quantified six ESs:habitat quality(HQ),net primary productivity(NPP),carbon sequestration(CS),water yield(WY),soil conservation(SC),and grain production(GP).Furthermore,we explored their interrelationships and identified the drivers influencing these services across different spatial scales.Our results revealed divergent ES trajectories:the declining HQ(−0.03 a^(−1)),NPP(−0.43 t km^(−2)a^(−1)),and SC(−3.41 t ha a^(−1))contrasted with rising WY(+2.33 mm a^(−1)),GP(+0.06 t km^(−2)a^(−1)),and CS(+0.02 t km^(−2)a^(−1)).The ES relationships were predominantly synergistic,while HQ–WY exhibited a trade-off(grid:−0.03;county:−0.02;landscape:−0.03)at temporal dimension but a synergistic relationship(grid:0.45;county:0.92;landscape:0.92)at spatial dimension.As spatial scale increased,SC–CS shifted from synergy(grid:0.001)to trade-off(county:−0.01;landscape:−0.005)in the temporal dimension,while all trade-off relationships in the spatial dimension were transformed into synergies.Key drivers of ES relationships varied with spatial scale:fraction vegetation coverage(FVC)and leaf area index(LAI)at the grid scale,annual precipitation(MAP)and soil moisture(SMA)at the county scale,and population density(POP),gross domestic product(GDP),and silt content(Silt)at the landscape scale.Based on the multi-scale findings,the study divides northern Xinjiang into Grain Priority Region,Ecological Priority Region,and Desert Containment Region,and proposes tailored management recommendations,offering a flexible framework for balancing ecological and socioeconomic needs.展开更多
This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematic...This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematical models of the tooth flanks for the face gear drives are established based on the gear skiving processes.Then,load tooth contact analysis(LTCA)model is established to calculate the contact performance data.Next,a two-stage optimization model is employed to determine the optimal parameters of the cutting edge with improved contact performances.The effectiveness of this method is validated through simulations and rolling tests.Compared with the traditional method,the proposed method can machine both the face gear and its mating pinion with a single cutter.Simulation results show that the proposed method avoids tooth surface edge contact,with the maximum tooth surface contact stress reduced by 31.7%,the contact ratio decreases by 21.5%,and the transmission error increases by 22.3%.Rolling tests verify the consistency of tooth surface contact patterns between simulations and experiments.The proposed method provides a reference for the cutting edge design of skiving cutters for face gear pairs.展开更多
To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative t...To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.展开更多
Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an ...Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an improved ELS control scheme. This controller can eliminate the negative effects on synchronization precision resulting from the friction at low speed present in the pre-registration step of a shaftless driven printing machine. Moreover, it can eliminate the synchronization error of the printing process resulting from nonlinearities and load disturbances. Based on observer techniques, the unknown components of load torque and system parameter variations are estimated. On this basis, a novel ELS control method using equivalent load-torque observers is proposed. Experimental results demonstrate the effectiveness of the proposed control system for four-axis position control.展开更多
The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential syn...The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement展开更多
Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the c...Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUTwith different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of threeto five-axis machine tools as a general form.展开更多
The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In...The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In motion optimization, the stiffness characteristics of the whole machining system, including machine tool and cutter, are not considered. The paper presents a new method to establish a general stiffness model of multi-axis machining system. An analytical stiffness model is established by Jacobi and point transformation matrix method. Based on the stiffness model, feed-direction stiffness index is calculated by the intersection of force ellipsoid and the cutting feed direction at the cutter tip. The stiffness index can help analyze the stiffness performance of the whole machining system in the available workspace. Based on the analysis of the stiffness performance, multi-axis motion optimization along tool paths is accomplished by mixed programming using Matlab and Visual C＋＋. The effectiveness of the motion optimization method is verified by the experimental research about the machining performance of a 7-axis 5-linkage machine tool. The proposed research showed that machining stability and production efficiency can be improved by multi-axis motion optimization based on the anisotropic force ellipsoid of the whole machining system.展开更多
As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace,automotive and mold,etc.Simultaneously,it is common that wheel and spin...As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace,automotive and mold,etc.Simultaneously,it is common that wheel and spindle axis do not coincide with each other due to wheel settings,machining errors and so on.This could result in the generation of wheel runout,which may reduce the machining surface's quality.In this paper,combining this phenomenon,an analytic algorithm method for the multi-axis grinding process is introduced according to the envelope theory.After that,the accuracy of this method is verified.Two experiments are carried out on a 5-axis machining center.The artificial runout is set up and calculated utilizing the least square method.Finally,using the presented method,two examples with and without runout are introduced to illustrate the validation of the proposed model.The error due to the runout effect is also analyzed.展开更多
An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,a...An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.展开更多
This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motio...This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.展开更多
Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely af...Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.展开更多
Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumu...Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumulative roll bonding (ARB) techmpues. This paper will introduce a moftiaxis deformation technique which can achieve essentially unlimited strain with constant deformation volume. The mul- tiaxis deformation can be fully restrained or unrestrained.The bulk volume of a multiaxis restraint compression specimen can be easily machined into mechanical testing specimens for mechanical property measurement and other studies.展开更多
An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining t...An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining the measurements in nadir and zenith directions and analyzing the UV and visible spectral region using the DOAS method, information about tropospheric NO2 vertical columns was obtained. Strong tropospheric NO2 signals were detected when flying over heavilly polluted regions and point sources like plants. The AMAX-DOAS results were compared with ground-based MAX-DOAS observations in the southwest of Zhuhai city using the same parameters for radiative transport calculations. The difference in vertical column data between the two instruments is about 8%. Our data were also compared with those from OMI and fair agreement was obtained with a correlation coefficient R of 0.61. The difference between the two instruments can be attributed to the different spatial resolution and the temporal mismatch during the measurements.展开更多
Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the s...Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.展开更多
The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion co...The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
基金supported by the National Key Research and Development Program of China(2021YFA1401103)the National Natural Science Foundation of China(52473109,52073071)+3 种基金China Scholarship Council(CSC)(202306790056)Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX22_2301)111 Project(B23008)the Innovative Leading Talent Team supported by 2022Wuxi Taihu Talent Program(1096010241230120)。
文摘A diverse range of light and waves,spanning from near-infrared to ultraviolet,alongside ultrasound,have proven effective in propelling nanomotors.This review encapsulates the advancements in nanomotor research propelled by waves of varying frequencies.It delves into the driving mechanisms and control methodologies of different nanomotor types,emphasizing the role of frequency.Nanomotors can be classified based on the frequency of the driving wave,encompassing ultraviolet light-driven,visible light-driven,near-infrared-driven,and ultrasounddriven variants.Each category corresponds to distinct propulsion mechanisms,including momentum transfer,photothermal effects,self-electrophoresis,and acoustic radiation force.Notably,visible light and near-infrared radiation predominantly propel momentum transfer nanomotors,while photothermal nanomotors are chiefly active within the infrared spectrum.Ultraviolet light drives most self-electrophoretic nanomotors,while ultrasound-driven nanomotors respond to acoustic radiation force.Furthermore,precise control over nanomotor speed and direction is achievable by adjusting the frequency of incident waves within a narrow range,modulating wave absorption rates.Lastly,this paper explores microwave nanomotors,an area yet to be reported,shedding light on potential driving mechanisms.
文摘In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ellipse fitting method are used to modify the tooth thickness of the flexspline and analyze the performance indexes such as the assembly stress,transmission error,and fatigue life.Firstly,the conjugate tooth profile is solved based on the quadruple-circular-arc tooth profile and modified kinematic method.Then,based on the finite element radial deformation of the flexspline,the principle and characteristics of three modification methods are analyzed,and the modification amount of each section of the flexspline tooth is calculated.Finally,the influence of the three modification methods on the performance of the harmonic drive is compared.The results show that the radial deformation difference method can initially determine the modification amount.The minimum static assembly stress is 406.22 MPa by the major and minor axis fitting method.The ellipse fitting method has the best dynamic performance,small transmission error fluctuation,a peak-to-peak value of 3.060",and a maximum fatigue life of 10^(7.558)cycles.
基金supported by the National Key R&D Program of China(No.2024YFF1306502)three Special Programs of the National Natural Science Foundation of China(Nos.42341101,42442045,42307220)the Basic Scientific Research Business Funds of Central Universities(Nos.300102263401,300102265501,300102264103)。
文摘As a critical ecological barrier in China,the Qinling Mountains see their ecological functions significantly impaired by frequent shallow landslides.However,existing research on the distribution characteristics and driving mechanisms of such landslides remains relatively limited.To address this knowledge gap,the present study integrated data analysis,field investigations,and remote sensing interpretation to construct a landslide database for the core area of the Qinling Mountains,and systematically analyzed the spatial patterns,development characteristics,and environmental driving factors of shallow landslides.The results reveal that shallow landslides are predominantly small-to-medium in scale,concentrated in regions with an altitude of 800–1000 m and a slope gradient of approximately 30°,with a distinct tendency to develop on sunny(southfacing)slopes.The occurrence frequency of these landslides exhibits a significant positive correlation with the soil moisture content of the weathered layer and the degree of groundwater enrichment in the study area.Specifically,these landslides are mainly developed in bedrock fissure water zones and karst fissure water zones with favorable water-bearing capacity,indicating that rainfall and surface hydrological processes are the key triggering factors for shallow landslides.Notably,vegetation exerts a mediating role in the"vegetation-hydrology-landslide"system:shallow landslides occur most frequently in areas with artificial or shrub-grass vegetation,peaking at a moderate coverage of 50%–60%.This peak suggests that vegetation within this range is ineffective at regulating soil moisture,while the interaction between specific vegetation types and hydrological enrichment further exacerbates landslide risk.By prioritizing the weights of vegetation and hydrological factors,we enhanced the information quantity model,which significantly improved its performance and increased the AUC value to 0.83.These findings confirm the pivotal roles of vegetation and hydrological factors,thereby providing a robust scientific basis for targeted landslide prevention and control in this region.
基金National Natural Science Foundation of China,No.42377302Ministry of Science and Technology of the People’s Republic of China,No.2022XJKK0904State Key Laboratory of Soil and Sustainable Agriculture,No.SKLSSA25K03。
文摘Understanding the scale-dependent dynamics of ecosystem services(ESs)and their socio-ecological drivers is essential for sustainable development.While many studies rely on static or single-scale approaches,this research employs an integrated multi-temporal(2000–2020)and multi-scale(grid,county,and landscape levels)framework to investigate China’s Central Asian frontier,a representative dryland region.We quantified six ESs:habitat quality(HQ),net primary productivity(NPP),carbon sequestration(CS),water yield(WY),soil conservation(SC),and grain production(GP).Furthermore,we explored their interrelationships and identified the drivers influencing these services across different spatial scales.Our results revealed divergent ES trajectories:the declining HQ(−0.03 a^(−1)),NPP(−0.43 t km^(−2)a^(−1)),and SC(−3.41 t ha a^(−1))contrasted with rising WY(+2.33 mm a^(−1)),GP(+0.06 t km^(−2)a^(−1)),and CS(+0.02 t km^(−2)a^(−1)).The ES relationships were predominantly synergistic,while HQ–WY exhibited a trade-off(grid:−0.03;county:−0.02;landscape:−0.03)at temporal dimension but a synergistic relationship(grid:0.45;county:0.92;landscape:0.92)at spatial dimension.As spatial scale increased,SC–CS shifted from synergy(grid:0.001)to trade-off(county:−0.01;landscape:−0.005)in the temporal dimension,while all trade-off relationships in the spatial dimension were transformed into synergies.Key drivers of ES relationships varied with spatial scale:fraction vegetation coverage(FVC)and leaf area index(LAI)at the grid scale,annual precipitation(MAP)and soil moisture(SMA)at the county scale,and population density(POP),gross domestic product(GDP),and silt content(Silt)at the landscape scale.Based on the multi-scale findings,the study divides northern Xinjiang into Grain Priority Region,Ecological Priority Region,and Desert Containment Region,and proposes tailored management recommendations,offering a flexible framework for balancing ecological and socioeconomic needs.
基金Project(2024YFB3410402)supported by the National Key R&D Program of ChinaProject(52075558)supported by the National Natural Science Foundation of China+2 种基金Project(2021RC3012)supported by the Science and Technology Innovation Program of Hunan Province,ChinaProject(2023CXQD050)supported by the Central South University Innovation-Driven Research Program,ChinaProject(CX20230255)supported by the Fundamental Research Funds for the Central Universities,China。
文摘This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematical models of the tooth flanks for the face gear drives are established based on the gear skiving processes.Then,load tooth contact analysis(LTCA)model is established to calculate the contact performance data.Next,a two-stage optimization model is employed to determine the optimal parameters of the cutting edge with improved contact performances.The effectiveness of this method is validated through simulations and rolling tests.Compared with the traditional method,the proposed method can machine both the face gear and its mating pinion with a single cutter.Simulation results show that the proposed method avoids tooth surface edge contact,with the maximum tooth surface contact stress reduced by 31.7%,the contact ratio decreases by 21.5%,and the transmission error increases by 22.3%.Rolling tests verify the consistency of tooth surface contact patterns between simulations and experiments.The proposed method provides a reference for the cutting edge design of skiving cutters for face gear pairs.
文摘To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.
基金supported by Natural Science Foundation of China(Nos.61773159 and 61473117)Hunan Provincial Natural Science Foundation of China(No.13JJ8020and 14JJ5024)Hunan Province Education Department(No.12A040)
文摘Electronic line-shafting （ELS） is the most popular control strategy for printing machines with shaftless drives. A sliding-mode controller for tracking control is designed in this study as the first step towards an improved ELS control scheme. This controller can eliminate the negative effects on synchronization precision resulting from the friction at low speed present in the pre-registration step of a shaftless driven printing machine. Moreover, it can eliminate the synchronization error of the printing process resulting from nonlinearities and load disturbances. Based on observer techniques, the unknown components of load torque and system parameter variations are estimated. On this basis, a novel ELS control method using equivalent load-torque observers is proposed. Experimental results demonstrate the effectiveness of the proposed control system for four-axis position control.
基金Supported by National Key Technology R&D Program(No.2011BAG03B03)
文摘The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement
基金supported by National Major S&T Program of China(Grant No. 2010zx04008-041)National Hi-tech Research and Development Program of China (863 Program, Grant No.2011AA04A104)
文摘Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUTwith different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of threeto five-axis machine tools as a general form.
基金supported by National Natural Science Foundation of China (Grant No. 51075168)National Basic Research Program of China (973 Program, Grant No. 2011CB706803)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2009AA04Z149)
文摘The existing research of the motion optimization of multi-axis machine tools is mainly based on geometric and kinematic constraints, which aim at obtaining minimum-time trajectories and finding obstacle-free paths. In motion optimization, the stiffness characteristics of the whole machining system, including machine tool and cutter, are not considered. The paper presents a new method to establish a general stiffness model of multi-axis machining system. An analytical stiffness model is established by Jacobi and point transformation matrix method. Based on the stiffness model, feed-direction stiffness index is calculated by the intersection of force ellipsoid and the cutting feed direction at the cutter tip. The stiffness index can help analyze the stiffness performance of the whole machining system in the available workspace. Based on the analysis of the stiffness performance, multi-axis motion optimization along tool paths is accomplished by mixed programming using Matlab and Visual C＋＋. The effectiveness of the motion optimization method is verified by the experimental research about the machining performance of a 7-axis 5-linkage machine tool. The proposed research showed that machining stability and production efficiency can be improved by multi-axis motion optimization based on the anisotropic force ellipsoid of the whole machining system.
基金supported by the National Natural Science Foundation of China(No.51605147)National Science Fund for Distinguished Young Scholars of Henan Polytechnic University(J2019-2)Young Backbone Project of Henan Polytechnic University(No.2018XQG-05)。
文摘As one of the most important methods for machining process with high accuracy,ultra-precision grinding is widely used in fields such as aerospace,automotive and mold,etc.Simultaneously,it is common that wheel and spindle axis do not coincide with each other due to wheel settings,machining errors and so on.This could result in the generation of wheel runout,which may reduce the machining surface's quality.In this paper,combining this phenomenon,an analytic algorithm method for the multi-axis grinding process is introduced according to the envelope theory.After that,the accuracy of this method is verified.Two experiments are carried out on a 5-axis machining center.The artificial runout is set up and calculated utilizing the least square method.Finally,using the presented method,two examples with and without runout are introduced to illustrate the validation of the proposed model.The error due to the runout effect is also analyzed.
基金supported by Foundation of key Laboratory of AI and Information Processing of Education Department of Guangxi(No.2022GXZDSY002)(Hechi University),Foundation of Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Nos.2022GKLACVTKF04,2023GKLACVTZZ06)。
文摘An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.
文摘This paper presents a fuzzy control algorithm applied to the position control of a multi-axis motion platform to achieve high precision motion control of the multi-axis motion platform.A LabVIEW-based multi-axis motion control system is designed.This system controls stepper motors using trapezoidal acceleration/deceleration pulse types and fuzzy control algorithms,which effectively avoids mechanical jitter and loss of step in the process of multi-angle motion of the stepper motor,and achieves accurate control of the stepper motor.The TCP/IP(transmission control protocol/internet protocol)communication protocol is used,so that data are output stably and not lost in the process of transmission and communication,achieving the purpose of interconnection of different systems and remote control of equipment.This control system has been tested to maintain a high level of stability and repeatability during actual operation.
文摘Accuracy is one of the most important key indices to evaluate multi-axis systems’ (MAS’s) characteristics and performances. The accuracy of MAS’s such as machine tools, measuring machines and robots is adversely affected by various error sources, including geometric imperfections, thermal deformations, load effects, and dynamic disturbances. The increasing demand for higher dimensional accuracy in various industrial applications has created the need to develop cost-effective methods for enhancing the overall performance of these mechanisms. Improving the accuracy of a MAS by upgrading the physical structure would lead to an exponential increase in manufacturing costs without totally eliminating geometrical deviations and thermal deformations of MAS components. Hence, the idea of reducing MAS’s error by a software-based alternative approach to provide real-time prediction and correction of geometric and thermally induced errors is considered a strategic step toward achieving the full potential of the MAS. This paper presents a structured approach designed to improve the accuracy of Cartesian MAS’s through software error compensation. Four steps are required to develop and implement this approach: (i) measurement of error components using a multidimensional laser interferometer system, (ii) tridimensional volumetric error mapping using rigid body kinematics, (iii) volumetric error prediction via an artificial neural network model, and finally (iv) implementation of the on-line error compensation. An illustrative example using a bridge type coordinate measuring machine is presented.
文摘Ultrafine grain size is often achieved by severe plastic deformation. A few techniques have been devel- oped to achieve severe plastic deformation,such as equal channel angular (ECA ) processing, torsion, and accumulative roll bonding (ARB) techmpues. This paper will introduce a moftiaxis deformation technique which can achieve essentially unlimited strain with constant deformation volume. The mul- tiaxis deformation can be fully restrained or unrestrained.The bulk volume of a multiaxis restraint compression specimen can be easily machined into mechanical testing specimens for mechanical property measurement and other studies.
基金supported by the National Natural Science Foundation of China(Grant Nos.41275037,41275038,and 41275027)
文摘An airborne multi-axis differential optical absorption spectroscopic （AMAX-DOAS） instrument was developed and applied to measure tropospheric NO2 in the Pearl River Delta region in the south of China. By combining the measurements in nadir and zenith directions and analyzing the UV and visible spectral region using the DOAS method, information about tropospheric NO2 vertical columns was obtained. Strong tropospheric NO2 signals were detected when flying over heavilly polluted regions and point sources like plants. The AMAX-DOAS results were compared with ground-based MAX-DOAS observations in the southwest of Zhuhai city using the same parameters for radiative transport calculations. The difference in vertical column data between the two instruments is about 8%. Our data were also compared with those from OMI and fair agreement was obtained with a correlation coefficient R of 0.61. The difference between the two instruments can be attributed to the different spatial resolution and the temporal mismatch during the measurements.
基金supported in part by the National Natural Science Foundation of China under Grant 52077002。
文摘Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.
基金supported by the Science Foundation of the Education Office of Gansu Province of Chinaunder Grant No.0914-01
文摘The contour error was analyzed based on CNC multi-axis motion control, the contour error model was obtained focused on beeline and different radius of curvature and common contour of curve, for a CNC biaxial motion control system and the mechanism of producing contour error and the relationship between tracking error and contour error were presented. The theoretical and practical significance of modeling error and controlling error in motion control systems was carried out.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
