To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（...To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.展开更多
Factors, which induced positive nurse-client interac-tions and barriers to positive nurse-client interactions from the perspective of nurses at Holy Family Hos-pital, were explored. In all, twelve State Registered Nur...Factors, which induced positive nurse-client interac-tions and barriers to positive nurse-client interactions from the perspective of nurses at Holy Family Hos-pital, were explored. In all, twelve State Registered Nurses participated in semi-structured interviews. Factors which induced positive nurse-client interac-tion included availability of adequate time, showing empathy, giving prompt care, considering nursing as a call (spiritual interpretation) and rendering holistic care. Factors which induced negative nurse-client interaction included differences in beliefs between the nurse and the client, perceptions of unfair treatment, payment requirement and processes, issues with clients’ relatives, client issues, miscommunications and misunderstandings about treatment needs, coer-cion, forced dependence, human resource issues, professional nursing issues, issues with work envi-ronment, nurse issues, lack of communication and good interaction, and dropping of professional ethics. Suggestions for nursing education, practice and ad-ministration have been outlined. Among them is the need to use role-play as a major teaching method for nursing students to develop empathic behaviours so that they can put themselves in clients’ situations. This understanding will allow them to practise quality nursing after completing their educational programs. There is also the need for policy makers in nursing to institute measures to hold nurses accountable if they abuse clients or clients’ relatives. Lastly, as an important tool, nurses and other health care workers can make use of reflective practice to evaluate their professional interactions with clients and their relatives. This will foster positive nurse-client interaction in future.展开更多
A comprehensive understanding of the spatial interaction between the industrial undertaking capability and the position of the global value chain of the 12 East Asian countries is conducive to strengthening regional c...A comprehensive understanding of the spatial interaction between the industrial undertaking capability and the position of the global value chain of the 12 East Asian countries is conducive to strengthening regional cooperation, gaining a say in foreign trade and becoming the dominant player in the global division of labor system. The article reveals the operating rules of the interaction between the industrial undertaking capacity and the global value chain position of East Asian countries by calculating the Global Moran Index(Moran’s I), coupling coordination degree and other indicators. The results show that: in time, the values of industrial undertaking capacity and the positions of global value chain in East Asian countries showed a sustained and stable growth trend, and have a consistent trend of change. Spatially, both of the two indexes had significant positive spatial correlation, with Moran’s I showing an ‘inverted U’pattern, and the spatial aggregation distribution of global value chain position lagged behind the spatial aggregation distribution of industrial undertaking capacity by one year. In terms of spatial coupling coordination, the coupling coordination values of the two indicators show a steady upward trend. Combined with the comparative advantage of each country, this paper provides suggestions for promoting the positions of Chinese and other East Asian industries in the global value chain from the perspectives of enhancing independent innovation capability and upgrading industrial structure.展开更多
To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） ,...To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） , the paper presents an adaptive filter algorithm that combines interacting multiple model （IMM） and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system （OPS）/inertial navigation system （INS）/dead reckoning （DR） integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.展开更多
For more than a century, ecologists have concentrated on competition as a crucial process for community organization. However, more recent experimental investigations have uncovered the striking Influence of positive ...For more than a century, ecologists have concentrated on competition as a crucial process for community organization. However, more recent experimental investigations have uncovered the striking Influence of positive Interactions on the organization of plant communities. Complex combinations of competition and positive interactions operating simultaneously among plant species seem to be widespread In nature. In the present paper, we reviewed the mechanism and ecological importance of positive Interactions In plant communities, emphasizing the certainties and uncertainties that have made It an attractive area of research. Positive Interactions, or facilitation, occur when one species enhances the survival, growth, or richness of another. The Importance of facilitation in plant organization increases with ablotlc stress and the relative Importance of competition decreases. Only by combining plant interactions and the many fields of biology can we fully understand how and when the positive Interactions occur.展开更多
An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） s...An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.展开更多
With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper...With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching con- trol method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switch- ing control method includes two modes, the position control mode using a proportion-integral （PI） algorithm, and the torque control mode using sliding mode control （SMC） algorithm for eliminating swing. Under the normal condition, the robot works in position con- trol mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to po- sition control mode automatically. Moreover, for a better performance, the joint torque is detected fl＇om direct-current （DC） motor＇s cur- rent rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.展开更多
The Pyrenean chamois Rupicapra pyrenaica pyrenaica is a mountain-dwelling ungulate with an extensive presence in open areas. Optimal group size results from the trade off between advantages （a reduction in the risk o...The Pyrenean chamois Rupicapra pyrenaica pyrenaica is a mountain-dwelling ungulate with an extensive presence in open areas. Optimal group size results from the trade off between advantages （a reduction in the risk of predation） and disadvantages （competition between members of the herd） of group living. In addition, advantages and disadvantages of group living may vary depending on the position of each individual within the herd. Our objective was to study the effect of central vs. peripheral position in the herd on feeding and vigilance behavior in male and female Pyrenean chamois and to ascertain if a group size effect existed. We used focal animal sampling and recorded social interactions when a focal animal was involved. With males, vigilance rate was higher in the central part of the group than at the periphery, probably due to a higher density of animals in the central part of the herd and a higher probability of being disturbed by conspecifics. With females, vigilance rate did not differ according to position in the herd. Females spent more time feeding than males, and males showed a higher frequency of the vigilance behavior than females. We did not observe a clear relationship between group size and vigilance behavior. The differences in vigilance behavior might be due to social interactions展开更多
This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion defects.Firstly,a three-dimensional(3D)finite element model of pipelines containing adjace...This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion defects.Firstly,a three-dimensional(3D)finite element model of pipelines containing adjacent defects(involving longitudinally aligned,circumferentially aligned,and diagonally aligned defects)was developed and validated by full-scale burst tests.Then,the synergistic stress interaction between adjacent defects was analyzed,and the relationship between the burst position of the pipeline and defect spacing was determined.At last,the applicability of several commonly used critical spacing rules for identifying the interaction between adjacent defects was compared and discussed in detail.The results show that the failure position of the pipeline containing adjacent defects is related to the relative position of defects.For longitudinally aligned corrosion defects,the stronger the interaction between defects(i.e.,the shorter the distance between two defects),the closer the failure position of the pipeline to the center of the defect spacing.For circumferentially aligned corrosion defects,the failure position of the pipe tends to move from the defect edge to the geometric center of the defect with increasing defect spacing.For diagonally aligned defects,the failure position is generally located on the path connecting the defect and the spacing.The currently available evaluation criteria for identifying circumferentially interacting defects display the most accuracy,and the identification effect of diagonally aligned defects is the poorest.In addition,the critical spacing rule proposed by Li presents the highest precision in identifying the interacting defects.The results are expected to provide a stress synergistic failure assessment method for pipelines containing cluster corrosion defects in engineering.展开更多
AIM: To investigate the interaction between castanospermine and cyclosporin A(Cs A) and to provide an explanation for it.METHODS: The alkaloid castanospermine was prepared from the seeds of Castanospermum austral cons...AIM: To investigate the interaction between castanospermine and cyclosporin A(Cs A) and to provide an explanation for it.METHODS: The alkaloid castanospermine was prepared from the seeds of Castanospermum austral consistently achieving purity. Rat heterotopic cardiac transplantation and mixed lymphocyte reactivity were done using genetically inbred strains of PVG(donor) and DA(recipient). For the mixed lymphocyte reaction stimulator cells were irradiated with 3000 rads using a linear accelerator. Cyclosporin A was administered by gavage and venous blood collected 2 h later(C_2). The blood levels of Cs A(Neoral) were measured by immunoassay which consisted of a homogeneous enzyme assay(EMIT) on Cobas Mira. Statistical analyses of interactions were done by an acceleratedfailure time model with Weibull distribution for allograft survival and logistic regression for the mixed lymphocyte reactivity.RESULTS: Castanospermine prolonged transplant survival times as a function of dose even at relatively low doses. Cyclosporin A also prolonged transplant survival times as a function of dose particularly at doses above 2 mg/kg. There were synergistic interactions between castanospermine and Cs A in the prolongation of cardiac allograft survival for dose ranges of Cs A by castanospermine of(0 to 2) mg/kg by(0 to 200) mg/kg(HR = 0.986; 95%CI: 0.981-0.992; P < 0.001) and(0 to 3) mg/kg by(0 to 100) mg/kg(HR = 0.986; 95%CI: 0.981-0.992; P < 0.001) respectively. The addition of castanospermine did not significantly increase the levels of cyclosporin A on day 3 or day 6 for all doses of Cs A. On the contrary, cessation of castanospermine in the presence of Cs A at 2 mg/kg significantly increased the Cs A level(P = 0.002). Castanospermine inhibited mixed lymphocyte reactivity in a dose dependent manner but without synergistic interaction. CONCLUSION: There is synergistic interaction between castanospermine and Cs A in rat cardiac transplantation. Neither the mixed lymphocyte reaction nor the metabolism of Cs A provides an explanation.展开更多
Aims The process of facilitation,where a species increases the survival,growth,and fitness of another species,is becoming increasingly recognized as a critical factor in shaping the structure of plant communities.This...Aims The process of facilitation,where a species increases the survival,growth,and fitness of another species,is becoming increasingly recognized as a critical factor in shaping the structure of plant communities.This process is particularly important in stressful environments.Yet few studies have attempted to incorporate positive interactions into community ecological theories such as the neutral theory of biodiversity.Here,we use an equalizing trade-off model as a foundation to study the potential impact of facilitation on species richness and community temporal turnover.Methods Based on a spatially explicit birth–death trade-off model,we assume that the occurrence of facilitation is dependent on the presence of interspecific neighbours.We further propose that the realized birth rate for a given individual subject to facilitation is proportional to the number of interspecific neighbours within its neighbourhood.Thus,in our model,the individuals of rare species will benefit more from the existence of heterospecific individuals than common species.Important Findings As the facilitative coefficient increased,the species richness for simulated communities at the dynamically stochastic equilibrium was also increasing.Simulations also demonstrated that facilitation could increase the replacement of species through time:communities with facilitation become more dissimilar(i.e.have smaller Bray–Curtis similarity values)than communities without or with a lower degree of facilitation after the same time interval.Facilitation from interspecific neighbours on rare species increased their population sizes and consequently made them less prone to extinction,thus enhancing species richness.Meanwhile,in a saturated community,with the increase of species richness,mean population size of entire communities decreased,making species more prone to extinction on average,and thus increased the community temporal turnover.Our results suggest that future experimental work on the effect of facilitation on community-level properties should focus not just on species richness but also on other descriptors of community dynamics such as the temporal species turnover.展开更多
Positive interactions are defined as non-trophic interactions where at least one of the interacting species is benefited in terms of fitness and the other remains unaffected.Nevertheless,the bidirectional feedbacks be...Positive interactions are defined as non-trophic interactions where at least one of the interacting species is benefited in terms of fitness and the other remains unaffected.Nevertheless,the bidirectional feedbacks between species may be positive,neutral or negative.Thus,if facilitated species induce negative effects on their‘nurses’,the assumed definition of positive interactions could be reconsidered.Methods We assessed if ecological interactions between cushions of Azorella madreporica and their facilitated species are positive.Specifically,we tested if cover of facilitated species has any costs for cushion plants from an ecophysiological perspective,and if these costs increase with the amount of cover of facilitated species.In addition,through pathway analysis and correlations,we assessed if cover and richness of facilitated species have a direct and/or indirect effect on the fitness of cushion plants.Important Findings We found that facilitated plant species induced a significant cost for their nurses(cushion plants),and this cost increases with cover of the facilitated species.Additionally,the facilitated species exert a strong direct negative effect on the cushion’s fitness and a moderate indirect negative cost evident through the nutrient status and physiological performance of cushion plants.We thus contribute evidence that positive interactions between high mountain cushion plants of central Chile and their‘facilitated’species may be an artifact more than a fact,especially when bidirectional effects are considered;contrasting with the majority of studies that document only one side of the interaction.展开更多
We chose a series of isoindigo-based conjugated polymer（ⅡDDT,ⅡDDT-C3 and ⅡDDT-C4） with different length of side chains and bifurcation positions to investigate the relationship between the degree of alignment and...We chose a series of isoindigo-based conjugated polymer（ⅡDDT,ⅡDDT-C3 and ⅡDDT-C4） with different length of side chains and bifurcation positions to investigate the relationship between the degree of alignment and the length of side chains and bifurcation positions.We found that the dichroic ratio was increased from 2.37 to 5.23 when the side chain was longer and the bifurcation position was away from the backbone.The π-π stacking distance was decreased from 3.67 A to 3.61 A when the bifurcation position was away from the backbone because of its smaller hindrance and the d-spacing of the（100）was increased from 20.06 A to 25.21 A when the side chain was longer.All the polymers were adopted an edge-on orientation with the backbone paralleled with the long axis of fibers.The weak interaction of side-chain in ⅡDDT-C4 was beneficial for the molecules being rearranged in parallel during the contact line receding and the strong n-n interaction could accelerate the interchain assembly of the parallel molecules through π-π interaction to form aligned fibers.展开更多
The positioning combined with multi-functioning and interactive mechanics in dynamic testing of slender bridges are treated in present paper. The approach takes into account multiple functions in dynamic testing of sl...The positioning combined with multi-functioning and interactive mechanics in dynamic testing of slender bridges are treated in present paper. The approach takes into account multiple functions in dynamic testing of slender bridges constructed of thin-walled structural members with their hierarchical configuration. Theoretical, numerical and experimental in situ assessments of the problem are presented. Some results of the application in situ are submitted.展开更多
基金The National Natural Science Foundation of China(No.61273236)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1637),China Scholarship Council
文摘To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.
文摘Factors, which induced positive nurse-client interac-tions and barriers to positive nurse-client interactions from the perspective of nurses at Holy Family Hos-pital, were explored. In all, twelve State Registered Nurses participated in semi-structured interviews. Factors which induced positive nurse-client interac-tion included availability of adequate time, showing empathy, giving prompt care, considering nursing as a call (spiritual interpretation) and rendering holistic care. Factors which induced negative nurse-client interaction included differences in beliefs between the nurse and the client, perceptions of unfair treatment, payment requirement and processes, issues with clients’ relatives, client issues, miscommunications and misunderstandings about treatment needs, coer-cion, forced dependence, human resource issues, professional nursing issues, issues with work envi-ronment, nurse issues, lack of communication and good interaction, and dropping of professional ethics. Suggestions for nursing education, practice and ad-ministration have been outlined. Among them is the need to use role-play as a major teaching method for nursing students to develop empathic behaviours so that they can put themselves in clients’ situations. This understanding will allow them to practise quality nursing after completing their educational programs. There is also the need for policy makers in nursing to institute measures to hold nurses accountable if they abuse clients or clients’ relatives. Lastly, as an important tool, nurses and other health care workers can make use of reflective practice to evaluate their professional interactions with clients and their relatives. This will foster positive nurse-client interaction in future.
基金Under the auspices of China’s National Social Science Research Grant(No.16BTJ025)。
文摘A comprehensive understanding of the spatial interaction between the industrial undertaking capability and the position of the global value chain of the 12 East Asian countries is conducive to strengthening regional cooperation, gaining a say in foreign trade and becoming the dominant player in the global division of labor system. The article reveals the operating rules of the interaction between the industrial undertaking capacity and the global value chain position of East Asian countries by calculating the Global Moran Index(Moran’s I), coupling coordination degree and other indicators. The results show that: in time, the values of industrial undertaking capacity and the positions of global value chain in East Asian countries showed a sustained and stable growth trend, and have a consistent trend of change. Spatially, both of the two indexes had significant positive spatial correlation, with Moran’s I showing an ‘inverted U’pattern, and the spatial aggregation distribution of global value chain position lagged behind the spatial aggregation distribution of industrial undertaking capacity by one year. In terms of spatial coupling coordination, the coupling coordination values of the two indicators show a steady upward trend. Combined with the comparative advantage of each country, this paper provides suggestions for promoting the positions of Chinese and other East Asian industries in the global value chain from the perspectives of enhancing independent innovation capability and upgrading industrial structure.
基金National Natural Science Foundation of China(No.61663020)Project of Education Department of Gansu Province(No.2016B-036)
文摘To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） , the paper presents an adaptive filter algorithm that combines interacting multiple model （IMM） and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system （OPS）/inertial navigation system （INS）/dead reckoning （DR） integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.
基金Supported by the National Natural Science Foundation of China （90102015, 30170161） and Cooperation Project of International in China and Greece （2003DFB0034）
文摘For more than a century, ecologists have concentrated on competition as a crucial process for community organization. However, more recent experimental investigations have uncovered the striking Influence of positive Interactions on the organization of plant communities. Complex combinations of competition and positive interactions operating simultaneously among plant species seem to be widespread In nature. In the present paper, we reviewed the mechanism and ecological importance of positive Interactions In plant communities, emphasizing the certainties and uncertainties that have made It an attractive area of research. Positive Interactions, or facilitation, occur when one species enhances the survival, growth, or richness of another. The Importance of facilitation in plant organization increases with ablotlc stress and the relative Importance of competition decreases. Only by combining plant interactions and the many fields of biology can we fully understand how and when the positive Interactions occur.
基金co-supported by the National Key Research and Development Program of China(No.2016YFC0803103)Beijing Advanced Innovation Center for Future Urban Design(No.UDC2016050100)Beijing Postdoctoral Research Foundation
文摘An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the performance.In this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential mode.The results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.
基金supported by National Natural Science Foundation of China(Nos.51175084,51575111 and 51605093)Fujian Province Natural Science Foundation(No.2015J05121)Fuzhou University-Enterprise Cooperation Project(No.2015H6012)
文摘With the increasing number of human-robot interaction applications, robot control characteristics and their effects on safety as well as performance should be taken account into the robot control system. In this paper, a position and torque switching con- trol method was proposed to improve the robot safety and performance, when robots and humans work in the same space. The switch- ing control method includes two modes, the position control mode using a proportion-integral （PI） algorithm, and the torque control mode using sliding mode control （SMC） algorithm for eliminating swing. Under the normal condition, the robot works in position con- trol mode for trajectory tracking with quick response. Once the robot and human collide, the robot will switch to torque control mode immediately, and the impact force will be restricted within a safe range. When the robot and human detach, the robot will resume to po- sition control mode automatically. Moreover, for a better performance, the joint torque is detected fl＇om direct-current （DC） motor＇s cur- rent rather than the torque sensor. The experiment results show that the proposed approach is effective and feasible.
基金part of a "Comision Interministerial de Ciencia y Tecnologia" project (AGF99-0763-C02-02)funded by a grant (2001FI-00449)
文摘The Pyrenean chamois Rupicapra pyrenaica pyrenaica is a mountain-dwelling ungulate with an extensive presence in open areas. Optimal group size results from the trade off between advantages （a reduction in the risk of predation） and disadvantages （competition between members of the herd） of group living. In addition, advantages and disadvantages of group living may vary depending on the position of each individual within the herd. Our objective was to study the effect of central vs. peripheral position in the herd on feeding and vigilance behavior in male and female Pyrenean chamois and to ascertain if a group size effect existed. We used focal animal sampling and recorded social interactions when a focal animal was involved. With males, vigilance rate was higher in the central part of the group than at the periphery, probably due to a higher density of animals in the central part of the herd and a higher probability of being disturbed by conspecifics. With females, vigilance rate did not differ according to position in the herd. Females spent more time feeding than males, and males showed a higher frequency of the vigilance behavior than females. We did not observe a clear relationship between group size and vigilance behavior. The differences in vigilance behavior might be due to social interactions
基金This work was supported by the National Key R&D Program of China(Grant.No 2022YFC3004802-4)the Foundation of Sinopec(grant numbers 320034)+2 种基金the Strategic Cooperation Technology Projects of CNPC and CUPB(ZLZX2020-05)the Science Foundation of China University of Petroleum,Beijing(2462022YXZZ002)the Science Foundation of China University of Petroleum,Beijing(2462021YXZZ001).
文摘This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion defects.Firstly,a three-dimensional(3D)finite element model of pipelines containing adjacent defects(involving longitudinally aligned,circumferentially aligned,and diagonally aligned defects)was developed and validated by full-scale burst tests.Then,the synergistic stress interaction between adjacent defects was analyzed,and the relationship between the burst position of the pipeline and defect spacing was determined.At last,the applicability of several commonly used critical spacing rules for identifying the interaction between adjacent defects was compared and discussed in detail.The results show that the failure position of the pipeline containing adjacent defects is related to the relative position of defects.For longitudinally aligned corrosion defects,the stronger the interaction between defects(i.e.,the shorter the distance between two defects),the closer the failure position of the pipeline to the center of the defect spacing.For circumferentially aligned corrosion defects,the failure position of the pipe tends to move from the defect edge to the geometric center of the defect with increasing defect spacing.For diagonally aligned defects,the failure position is generally located on the path connecting the defect and the spacing.The currently available evaluation criteria for identifying circumferentially interacting defects display the most accuracy,and the identification effect of diagonally aligned defects is the poorest.In addition,the critical spacing rule proposed by Li presents the highest precision in identifying the interacting defects.The results are expected to provide a stress synergistic failure assessment method for pipelines containing cluster corrosion defects in engineering.
基金Supported by Kiriwina Investments Limited of Australia
文摘AIM: To investigate the interaction between castanospermine and cyclosporin A(Cs A) and to provide an explanation for it.METHODS: The alkaloid castanospermine was prepared from the seeds of Castanospermum austral consistently achieving purity. Rat heterotopic cardiac transplantation and mixed lymphocyte reactivity were done using genetically inbred strains of PVG(donor) and DA(recipient). For the mixed lymphocyte reaction stimulator cells were irradiated with 3000 rads using a linear accelerator. Cyclosporin A was administered by gavage and venous blood collected 2 h later(C_2). The blood levels of Cs A(Neoral) were measured by immunoassay which consisted of a homogeneous enzyme assay(EMIT) on Cobas Mira. Statistical analyses of interactions were done by an acceleratedfailure time model with Weibull distribution for allograft survival and logistic regression for the mixed lymphocyte reactivity.RESULTS: Castanospermine prolonged transplant survival times as a function of dose even at relatively low doses. Cyclosporin A also prolonged transplant survival times as a function of dose particularly at doses above 2 mg/kg. There were synergistic interactions between castanospermine and Cs A in the prolongation of cardiac allograft survival for dose ranges of Cs A by castanospermine of(0 to 2) mg/kg by(0 to 200) mg/kg(HR = 0.986; 95%CI: 0.981-0.992; P < 0.001) and(0 to 3) mg/kg by(0 to 100) mg/kg(HR = 0.986; 95%CI: 0.981-0.992; P < 0.001) respectively. The addition of castanospermine did not significantly increase the levels of cyclosporin A on day 3 or day 6 for all doses of Cs A. On the contrary, cessation of castanospermine in the presence of Cs A at 2 mg/kg significantly increased the Cs A level(P = 0.002). Castanospermine inhibited mixed lymphocyte reactivity in a dose dependent manner but without synergistic interaction. CONCLUSION: There is synergistic interaction between castanospermine and Cs A in rat cardiac transplantation. Neither the mixed lymphocyte reaction nor the metabolism of Cs A provides an explanation.
基金National Natural Science Foundation of China(31000199,30970543,30770360,41021091)the Fundamental Research Funds for the Central Universities(lzujbky-2012-133,lzujbky-2009-88,lzujbky-2010-49)+2 种基金the Youth Innovation Research Fund for Interdisciplince of Lanzhou University(LZUJC200915)the Department of Zoology,University of Cambridge(to M.D.F.E.)the European Research Council(the European Community’s Seventh Framework Programme FP7/2007-2013 to F.T.M./ERC grant agreement no.242658[BIOCOM]).
文摘Aims The process of facilitation,where a species increases the survival,growth,and fitness of another species,is becoming increasingly recognized as a critical factor in shaping the structure of plant communities.This process is particularly important in stressful environments.Yet few studies have attempted to incorporate positive interactions into community ecological theories such as the neutral theory of biodiversity.Here,we use an equalizing trade-off model as a foundation to study the potential impact of facilitation on species richness and community temporal turnover.Methods Based on a spatially explicit birth–death trade-off model,we assume that the occurrence of facilitation is dependent on the presence of interspecific neighbours.We further propose that the realized birth rate for a given individual subject to facilitation is proportional to the number of interspecific neighbours within its neighbourhood.Thus,in our model,the individuals of rare species will benefit more from the existence of heterospecific individuals than common species.Important Findings As the facilitative coefficient increased,the species richness for simulated communities at the dynamically stochastic equilibrium was also increasing.Simulations also demonstrated that facilitation could increase the replacement of species through time:communities with facilitation become more dissimilar(i.e.have smaller Bray–Curtis similarity values)than communities without or with a lower degree of facilitation after the same time interval.Facilitation from interspecific neighbours on rare species increased their population sizes and consequently made them less prone to extinction,thus enhancing species richness.Meanwhile,in a saturated community,with the increase of species richness,mean population size of entire communities decreased,making species more prone to extinction on average,and thus increased the community temporal turnover.Our results suggest that future experimental work on the effect of facilitation on community-level properties should focus not just on species richness but also on other descriptors of community dynamics such as the temporal species turnover.
文摘Positive interactions are defined as non-trophic interactions where at least one of the interacting species is benefited in terms of fitness and the other remains unaffected.Nevertheless,the bidirectional feedbacks between species may be positive,neutral or negative.Thus,if facilitated species induce negative effects on their‘nurses’,the assumed definition of positive interactions could be reconsidered.Methods We assessed if ecological interactions between cushions of Azorella madreporica and their facilitated species are positive.Specifically,we tested if cover of facilitated species has any costs for cushion plants from an ecophysiological perspective,and if these costs increase with the amount of cover of facilitated species.In addition,through pathway analysis and correlations,we assessed if cover and richness of facilitated species have a direct and/or indirect effect on the fitness of cushion plants.Important Findings We found that facilitated plant species induced a significant cost for their nurses(cushion plants),and this cost increases with cover of the facilitated species.Additionally,the facilitated species exert a strong direct negative effect on the cushion’s fitness and a moderate indirect negative cost evident through the nutrient status and physiological performance of cushion plants.We thus contribute evidence that positive interactions between high mountain cushion plants of central Chile and their‘facilitated’species may be an artifact more than a fact,especially when bidirectional effects are considered;contrasting with the majority of studies that document only one side of the interaction.
基金supported by the National Natural Science Foundation of China (Nos. 21334006, 51577138, 21474113)the Strategic Priority Research Program of the Chinese Academy of Sciences (No. XDB12020300)
文摘We chose a series of isoindigo-based conjugated polymer（ⅡDDT,ⅡDDT-C3 and ⅡDDT-C4） with different length of side chains and bifurcation positions to investigate the relationship between the degree of alignment and the length of side chains and bifurcation positions.We found that the dichroic ratio was increased from 2.37 to 5.23 when the side chain was longer and the bifurcation position was away from the backbone.The π-π stacking distance was decreased from 3.67 A to 3.61 A when the bifurcation position was away from the backbone because of its smaller hindrance and the d-spacing of the（100）was increased from 20.06 A to 25.21 A when the side chain was longer.All the polymers were adopted an edge-on orientation with the backbone paralleled with the long axis of fibers.The weak interaction of side-chain in ⅡDDT-C4 was beneficial for the molecules being rearranged in parallel during the contact line receding and the strong n-n interaction could accelerate the interchain assembly of the parallel molecules through π-π interaction to form aligned fibers.
文摘The positioning combined with multi-functioning and interactive mechanics in dynamic testing of slender bridges are treated in present paper. The approach takes into account multiple functions in dynamic testing of slender bridges constructed of thin-walled structural members with their hierarchical configuration. Theoretical, numerical and experimental in situ assessments of the problem are presented. Some results of the application in situ are submitted.
