化工科研实验室因学科特性,科研人员在开展研发工作时面临一定安全风险。如何保障实验室科研环境安全、消除潜在安全隐患,是值得深入探讨的问题。Lab Take Two是一种行为安全管理模式,即利用较短时间思考即将开展工作的计划、安全风险...化工科研实验室因学科特性,科研人员在开展研发工作时面临一定安全风险。如何保障实验室科研环境安全、消除潜在安全隐患,是值得深入探讨的问题。Lab Take Two是一种行为安全管理模式,即利用较短时间思考即将开展工作的计划、安全风险及潜在问题,并针对发现的安全风险和潜在问题采取相应控制手段,以消除实验室潜在安全隐患,属于实验室行为安全理论。通过实施Lab Take Two行为安全管理,可引导员工主动发现实验室潜在安全隐患,有效降低实验室风险,减少科研实验室未遂事件和事故,为化工科研工作提供有力保障。展开更多
Amphibian aircraft have seen a rise in popularity in the recreational and utility sectors due to their ability to take off and land on both land and water, thus serving a myriad of purposes, such as aerobatics, survei...Amphibian aircraft have seen a rise in popularity in the recreational and utility sectors due to their ability to take off and land on both land and water, thus serving a myriad of purposes, such as aerobatics, surveillance, and firefighting. Such seaplanes must be aerodynamically and hydrodynamically efficient, particularly during the takeoff phase. Naval architects have long employed innovative techniques to optimize the performance of marine vessels, including incorporating spray rails on hulls. This research paper is dedicated to a comprehensive investigation into the potential utilization of spray rails to enhance the takeoff performance of amphibian aircraft. Several spray rail configurations obtained from naval research were simulated on a bare Seamax M22 amphibian hull to observe an approximate 10% - 25% decrease in water resistance at high speeds alongside a 3% reduction in the takeoff time. This study serves as a motivation to improve the design of the reference airplane hull and a platform for detailed investigations in the future to improve modern amphibian design.展开更多
Climate change (CC) and variability have been world widely reported to pose number of risks in aviation industry including accidents, astray, and other operational difficulties. The impact of weather on landing and ta...Climate change (CC) and variability have been world widely reported to pose number of risks in aviation industry including accidents, astray, and other operational difficulties. The impact of weather on landing and take-off performances has been several times experienced at Abeid Amani Karume International Airport (AAKIA);however, the influence of climate change and variability to the aircraft performance needs to be assessed. Thus, this study investigated the influence of climate change and variability on aircrafts take-off and landing performances. Specifically, the study investigated;i) the influence of climate change on Take-off Distance Required (TODR) and Maximum Take-off Mass (MTOM) for different types of aircraft;ii) the influence of climate variability to the aircraft landing performance on light, medium and heavy aircraft and lastly, iii) the study investigated the seasonal and annual variability on aircraft landing performance due to climate variability. The datasets used in this study include the eight years (2014-2021), aircraft operational records (diversion and missed approach events) and Aviation Routine Weather Reports (METAR) records which were utilized as the indicators for landing performance, the long-term (1990-2020) annual maximum temperatures (Tmax) which was used to determine the TODR and MTOM. Statistical tools including mean, percentage changes, correlations, regression, and the chi-square test were used for analysis and hypotheses testing. The results revealed that light and medium aircraft categories were significantly most affected on diversion events as compared to the heavy categories;however, for the missed approach events the impact was vice versa. Moreover, the seasonal and annual variability on diversion and missed approach events were significantly different (at p ≤ 0.001). As for the take-off performance, results show that the TODR and MTOM were significantly increasing and decreasing (at p ≤ 0.001), based on increasing air temperatures. Therefore, the study concludes that the changing climate has significantly affected aircraft by increasing the TODR and decreasing the MTOM, while the climate variability has significantly affected landing performance by influencing the diversion and missed approach events. Thus, the study recommends (i) further research works including the feasibility study on runway extension for the safety of future aircraft operations at the AAKIA and (ii) proper maintenance and improvement of the Instrumental Landing Systems (ILS) as an adaptation measures to the landing aircraft during bad weather events.展开更多
Background: An interrupted family history, as is the case after taking someone into care, can complicate collecting family anamnesis data. In addition, the interrupted family history itself could be considered part of...Background: An interrupted family history, as is the case after taking someone into care, can complicate collecting family anamnesis data. In addition, the interrupted family history itself could be considered part of a person’s risk profile. Aim and methods: Literature analysis was conducted to examine whether there are scientific studies on health development after placement in out-of-home-care in order to recognise any existing medical characteristics that may be relevant for internal medical care. Results: There are few scientific publications on the health development of people after being placed in out-of-home-care. Direct reactions to the stress of being taken into custody include nausea and fever. However, effects that go beyond the acute situation and last into adulthood have also been described, such as AD(H)D, asthma, diabetes, cancer, hypertension and cardiovascular diseases (myocardial infarction, stroke), epilepsy and increased overall mortality in adulthood. Studies show that not only previous experience but also the stress of being taken into care is triggers for this. Conclusion: Information about a previous institutionalisation can hence be important for internal medical practice. The available scientific literature shows heterogeneous study methodology and no group of people with experience of out-of-home-placement has yet been scientifically accompanied for a long time period. Further studies on this could help to better weigh up the consequences of omitting and conducting an intervention for child/youth protection as well as to improve the medical care for this group of people.展开更多
This thesis makes an analysis of the heroine's mental growth from the initial phase of the heroine's mental trauma to the struggling phase and to the mature phase. It analyzes the reasons and manifestations fo...This thesis makes an analysis of the heroine's mental growth from the initial phase of the heroine's mental trauma to the struggling phase and to the mature phase. It analyzes the reasons and manifestations for her mental solitariness,expounds her confusion and struggling during her growth from the perspective of psychoanalysis and reveals her mental maturity in the end after a series of setbacks and conflicts during pursuit of affection,friendship and kinship. In some senses,the heroine's mental growth displayed in this thesis is the psychological portrayal of some contemporary college students,which has certain educational significance to the student readers especially those who possess the similar life experience and accesses them to have an incisive understanding of real life.展开更多
A general mathematical model of carrier-based aircraft ski jump take-off is derived based on tensor. The carrier, the aircraft body and the movable parts of the landing gears are treated as independent entities. These...A general mathematical model of carrier-based aircraft ski jump take-off is derived based on tensor. The carrier, the aircraft body and the movable parts of the landing gears are treated as independent entities. These entities are assembled into a multi-rigid-body system with flexible links. Dynamical equations of each entity are derived on the basis of the Newton law and the Euler transformation. Using the invariance property of the tensor, the dynamical and kinematical equations are converted to tensor forms which are invariant under time-dependent coordinate transformations. Then the tensor-formed equations are expressed by the matrix operation. Differential equation group of the matrix form is formulated for the programming. The closure of the model is discussed, and the simulation results are given.展开更多
This paper describes a dual-stroke acting hydraulic power take-off （PTO） system employed in the wave energy converter （WEC） with an inverse pendulum. The hydraulic PTO converts slow irregular reciprocating wave mo...This paper describes a dual-stroke acting hydraulic power take-off （PTO） system employed in the wave energy converter （WEC） with an inverse pendulum. The hydraulic PTO converts slow irregular reciprocating wave motions to relatively smooth, fast rotation of an electrical generator. The design of the hydraulic PTO system and its control are critical to maximize the generated power. A time domain simulation study and the laboratory experiment of the full-scale beach test are presented. The results of the simulation and laboratory experiments including their comparison at full-scale are also presented, which have validated the rationality of the design and the reliability of some key components of the prototype of the WEC with an inverse pendulum with the dual-stroke acting hydraulic PTO system.展开更多
The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force anal...The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.展开更多
Floating oscillating bodies constitute a large class of wave energy converters, especially for offshore deployment. Usually the Power-Take-Off（PTO） system is a directly linear electric generator or a hydraulic motor...Floating oscillating bodies constitute a large class of wave energy converters, especially for offshore deployment. Usually the Power-Take-Off（PTO） system is a directly linear electric generator or a hydraulic motor that drives an electric generator. The PTO system is simplified as a linear spring and a linear damper. However the conversion is less powerful with wave periods off resonance. Thus, a nonlinear snap-through mechanism with two symmetrically oblique springs and a linear damper is applied in the PTO system. The nonlinear snap-through mechanism is characteristics of negative stiffness and double-well potential. An important nonlinear parameter γ is defined as the ratio of half of the horizontal distance between the two springs to the original length of both springs. Time domain method is applied to the dynamics of wave energy converter in regular waves. And the state space model is used to replace the convolution terms in the time domain equation. The results show that the energy harvested by the nonlinear PTO system is larger than that by linear system for low frequency input. While the power captured by nonlinear converters is slightly smaller than that by linear converters for high frequency input. The wave amplitude, damping coefficient of PTO systems and the nonlinear parameter γ affect power capture performance of nonlinear converters. The oscillation of nonlinear wave energy converters may be local or periodically inter well for certain values of the incident wave frequency and the nonlinear parameter γ, which is different from linear converters characteristics of sinusoidal response in regular waves.展开更多
在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器...在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器人控球过程的路径规划,没有考虑到多机器人竞争的过程,导致足球机器人整个运动过程中的一些关键步骤的缺失,丧失了完整性,忽略了实时的对抗性。拟采用新的策略解决上述问题:第一步是将采用WTA(Winner Take All)竞争模型去有效的解决多机器人竞争问题;第二步将采用一种改进的APF(Artificial Potential Field)路径规划法来进行避障。解决了传统APF算法的弊端,提高了效率。通过仿真实验,验证了理论的正确性,也验证了所提理论的科学性和实用性,为以后在其他科学领域的实践奠定了基础。展开更多
Among the wave energy converters (WECs), oscillating buoy is a promising type for wave energy development in offshore area. Conventional single-freedom oscillating buoy WECs with linear power take-off (PTO) system are...Among the wave energy converters (WECs), oscillating buoy is a promising type for wave energy development in offshore area. Conventional single-freedom oscillating buoy WECs with linear power take-off (PTO) system are less efficient under off-resonance conditions and have a narrow power capture bandwidth. Thus, a multi-freedom WEC with a nonlinear PTO system is proposed. This study examines a multi-freedom WEC with 3 degrees of freedom: surge, heave and pitch. Three different PTO systems (velocity-square, snap through, and constant PTO systems) and a traditional linear PTO system are applied to the WEC. A time-domain model is established using linear potential theory and Cummins equation. The kinematic equation is numerically calculated with the fourth-order Runge–Kutta method. The optimal average output power of the PTO systems in all degrees of freedom are obtained and compared. Other parameters of snap through PTO are also discussed in detail. Results show that according to the power capture performance, the order of the PTO systems from the best to worst is snap through PTO, constant PTO, linear PTO and velocity-square PTO. The resonant frequency of the WEC can be adjusted to the incident wave frequency by choosing specific parameters of the snap through PTO. Adding more DOFs can make the WEC get a better power performance in more wave frequencies. Both the above two methods can raise the WEC’s power capture performance significantly.展开更多
Cure behaviors and water up-take evaluation of a low cost, ecofriendly and water soluble epoxy resin prepared by reaction between epichlorohydrin and PEG400, PEG600 and PEG1000, respectively, were investigated using n...Cure behaviors and water up-take evaluation of a low cost, ecofriendly and water soluble epoxy resin prepared by reaction between epichlorohydrin and PEG400, PEG600 and PEG1000, respectively, were investigated using non-isothermal differential scanning calorimetry （DSC） and gravimetrical method, respectively. Factors affecting the cure behaviors as well as water up-take of waterborne epoxy resins, such as amount of triethylenetetramine （TETA） and triethylene diamine （TEDA）, PEG molecular weight, curing temperature, were systematically investigated. The prepared water soluble epoxy resins can be cured under room temperature with the shape of the curing curves similar to that expected for an autocatalytic reaction.展开更多
A synchronous electronic let-off and take-up device isdesigned.The device is controlled by a single-chipcomputer and driven by two step motors.It has somefunctions such as keeping the warp tension constant dur-ing the...A synchronous electronic let-off and take-up device isdesigned.The device is controlled by a single-chipcomputer and driven by two step motors.It has somefunctions such as keeping the warp tension constant dur-ing the weaving instant,releasing the warp tension whenloom is stopping and straining warp when loom is start-ing.By means of these functions,the stop mark of thewoven fabrics is eliminated.In addition,this device canapply to weaving variant-pick-density fabrics.展开更多
The " Sharp Eagle” device is a wave energy converter of a hinged double floating body. The wave-absorbing floating body hinges on the semi-submerged floating body structure. Under the action of wave, the wave-ab...The " Sharp Eagle” device is a wave energy converter of a hinged double floating body. The wave-absorbing floating body hinges on the semi-submerged floating body structure. Under the action of wave, the wave-absorbing floating body rotates around the hinge point, and the wave energy can be converted into kinetic energy. In this paper, the power take-off system of " Sharp Eagle Ⅱ” wave energy converter (the second generation of " Sharp Eagle”) was studied, which adopts the hydraulic type power take-off system. The 0-1 power generation mode was applied in this system to make the " Sharp Eagle Ⅱ” operate under various wave conditions. The principle of power generation was introduced in detail, and the power take-off system was simulated. Three groups of different movement period inputs were used to simulate three kinds of wave conditions, and the simulation results were obtained under three different working conditions. In addition, the prototype of " Sharp Eagle Ⅱ” wave energy converter was tested on land and in real sea conditions. The experimental data have been collected, and the experimental data and simulation results were compared and validated. This work has laid a foundation for the design and application of the following " Sharp Eagle” series of devices.展开更多
Since the 1990s,there has been a strong interest across the environmental science community in characterizing the threats to human health posed by emerging contaminants.Much of this research has focused on pharmaceuti...Since the 1990s,there has been a strong interest across the environmental science community in characterizing the threats to human health posed by emerging contaminants.Much of this research has focused on pharmaceuticals and personal care products in Europe and North America.However,the range of chemicals evaluated has expanded dramatically over the past three decades.展开更多
文摘化工科研实验室因学科特性,科研人员在开展研发工作时面临一定安全风险。如何保障实验室科研环境安全、消除潜在安全隐患,是值得深入探讨的问题。Lab Take Two是一种行为安全管理模式,即利用较短时间思考即将开展工作的计划、安全风险及潜在问题,并针对发现的安全风险和潜在问题采取相应控制手段,以消除实验室潜在安全隐患,属于实验室行为安全理论。通过实施Lab Take Two行为安全管理,可引导员工主动发现实验室潜在安全隐患,有效降低实验室风险,减少科研实验室未遂事件和事故,为化工科研工作提供有力保障。
文摘Amphibian aircraft have seen a rise in popularity in the recreational and utility sectors due to their ability to take off and land on both land and water, thus serving a myriad of purposes, such as aerobatics, surveillance, and firefighting. Such seaplanes must be aerodynamically and hydrodynamically efficient, particularly during the takeoff phase. Naval architects have long employed innovative techniques to optimize the performance of marine vessels, including incorporating spray rails on hulls. This research paper is dedicated to a comprehensive investigation into the potential utilization of spray rails to enhance the takeoff performance of amphibian aircraft. Several spray rail configurations obtained from naval research were simulated on a bare Seamax M22 amphibian hull to observe an approximate 10% - 25% decrease in water resistance at high speeds alongside a 3% reduction in the takeoff time. This study serves as a motivation to improve the design of the reference airplane hull and a platform for detailed investigations in the future to improve modern amphibian design.
文摘Climate change (CC) and variability have been world widely reported to pose number of risks in aviation industry including accidents, astray, and other operational difficulties. The impact of weather on landing and take-off performances has been several times experienced at Abeid Amani Karume International Airport (AAKIA);however, the influence of climate change and variability to the aircraft performance needs to be assessed. Thus, this study investigated the influence of climate change and variability on aircrafts take-off and landing performances. Specifically, the study investigated;i) the influence of climate change on Take-off Distance Required (TODR) and Maximum Take-off Mass (MTOM) for different types of aircraft;ii) the influence of climate variability to the aircraft landing performance on light, medium and heavy aircraft and lastly, iii) the study investigated the seasonal and annual variability on aircraft landing performance due to climate variability. The datasets used in this study include the eight years (2014-2021), aircraft operational records (diversion and missed approach events) and Aviation Routine Weather Reports (METAR) records which were utilized as the indicators for landing performance, the long-term (1990-2020) annual maximum temperatures (Tmax) which was used to determine the TODR and MTOM. Statistical tools including mean, percentage changes, correlations, regression, and the chi-square test were used for analysis and hypotheses testing. The results revealed that light and medium aircraft categories were significantly most affected on diversion events as compared to the heavy categories;however, for the missed approach events the impact was vice versa. Moreover, the seasonal and annual variability on diversion and missed approach events were significantly different (at p ≤ 0.001). As for the take-off performance, results show that the TODR and MTOM were significantly increasing and decreasing (at p ≤ 0.001), based on increasing air temperatures. Therefore, the study concludes that the changing climate has significantly affected aircraft by increasing the TODR and decreasing the MTOM, while the climate variability has significantly affected landing performance by influencing the diversion and missed approach events. Thus, the study recommends (i) further research works including the feasibility study on runway extension for the safety of future aircraft operations at the AAKIA and (ii) proper maintenance and improvement of the Instrumental Landing Systems (ILS) as an adaptation measures to the landing aircraft during bad weather events.
文摘Background: An interrupted family history, as is the case after taking someone into care, can complicate collecting family anamnesis data. In addition, the interrupted family history itself could be considered part of a person’s risk profile. Aim and methods: Literature analysis was conducted to examine whether there are scientific studies on health development after placement in out-of-home-care in order to recognise any existing medical characteristics that may be relevant for internal medical care. Results: There are few scientific publications on the health development of people after being placed in out-of-home-care. Direct reactions to the stress of being taken into custody include nausea and fever. However, effects that go beyond the acute situation and last into adulthood have also been described, such as AD(H)D, asthma, diabetes, cancer, hypertension and cardiovascular diseases (myocardial infarction, stroke), epilepsy and increased overall mortality in adulthood. Studies show that not only previous experience but also the stress of being taken into care is triggers for this. Conclusion: Information about a previous institutionalisation can hence be important for internal medical practice. The available scientific literature shows heterogeneous study methodology and no group of people with experience of out-of-home-placement has yet been scientifically accompanied for a long time period. Further studies on this could help to better weigh up the consequences of omitting and conducting an intervention for child/youth protection as well as to improve the medical care for this group of people.
文摘This thesis makes an analysis of the heroine's mental growth from the initial phase of the heroine's mental trauma to the struggling phase and to the mature phase. It analyzes the reasons and manifestations for her mental solitariness,expounds her confusion and struggling during her growth from the perspective of psychoanalysis and reveals her mental maturity in the end after a series of setbacks and conflicts during pursuit of affection,friendship and kinship. In some senses,the heroine's mental growth displayed in this thesis is the psychological portrayal of some contemporary college students,which has certain educational significance to the student readers especially those who possess the similar life experience and accesses them to have an incisive understanding of real life.
文摘A general mathematical model of carrier-based aircraft ski jump take-off is derived based on tensor. The carrier, the aircraft body and the movable parts of the landing gears are treated as independent entities. These entities are assembled into a multi-rigid-body system with flexible links. Dynamical equations of each entity are derived on the basis of the Newton law and the Euler transformation. Using the invariance property of the tensor, the dynamical and kinematical equations are converted to tensor forms which are invariant under time-dependent coordinate transformations. Then the tensor-formed equations are expressed by the matrix operation. Differential equation group of the matrix form is formulated for the programming. The closure of the model is discussed, and the simulation results are given.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51205346 and 41206074)the National High Technology Research and Development Program of China(863 Program+3 种基金Grant No.2011AA050201)Science Fund for Creative Research Groups of National Natural Science Foundation of China(Grant No.51221004)Zhejiang Provincial Natural Science Foundation of China(Grant No.LY12E05017)Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control(Grant No.GZKF-201311)
文摘This paper describes a dual-stroke acting hydraulic power take-off （PTO） system employed in the wave energy converter （WEC） with an inverse pendulum. The hydraulic PTO converts slow irregular reciprocating wave motions to relatively smooth, fast rotation of an electrical generator. The design of the hydraulic PTO system and its control are critical to maximize the generated power. A time domain simulation study and the laboratory experiment of the full-scale beach test are presented. The results of the simulation and laboratory experiments including their comparison at full-scale are also presented, which have validated the rationality of the design and the reliability of some key components of the prototype of the WEC with an inverse pendulum with the dual-stroke acting hydraulic PTO system.
基金supported by the National Natural Science Foundation of China(51375035 and 51075014)the Research Fund for the Doctoral Program of Higher Education of China(20121102110021)
文摘The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.
基金financially supported by the National Natural Science Foundation of China(Grant No.51239007)the Independent Research Project of State Key Laboratory of Ocean Engineering in Shanghai Jiao Tong University(Grant No.GKZD010023)
文摘Floating oscillating bodies constitute a large class of wave energy converters, especially for offshore deployment. Usually the Power-Take-Off（PTO） system is a directly linear electric generator or a hydraulic motor that drives an electric generator. The PTO system is simplified as a linear spring and a linear damper. However the conversion is less powerful with wave periods off resonance. Thus, a nonlinear snap-through mechanism with two symmetrically oblique springs and a linear damper is applied in the PTO system. The nonlinear snap-through mechanism is characteristics of negative stiffness and double-well potential. An important nonlinear parameter γ is defined as the ratio of half of the horizontal distance between the two springs to the original length of both springs. Time domain method is applied to the dynamics of wave energy converter in regular waves. And the state space model is used to replace the convolution terms in the time domain equation. The results show that the energy harvested by the nonlinear PTO system is larger than that by linear system for low frequency input. While the power captured by nonlinear converters is slightly smaller than that by linear converters for high frequency input. The wave amplitude, damping coefficient of PTO systems and the nonlinear parameter γ affect power capture performance of nonlinear converters. The oscillation of nonlinear wave energy converters may be local or periodically inter well for certain values of the incident wave frequency and the nonlinear parameter γ, which is different from linear converters characteristics of sinusoidal response in regular waves.
文摘在足球机器人运动过程中,足球机器人处于一个实时对抗的复杂环境中,这就需要机器人有较高的实时运动过程应对能力。需要对每个关键时刻,例如:多机器人抢球过程、单机器人控球过程等,做出合理的应对措施。许多策略的研究都只注重单机器人控球过程的路径规划,没有考虑到多机器人竞争的过程,导致足球机器人整个运动过程中的一些关键步骤的缺失,丧失了完整性,忽略了实时的对抗性。拟采用新的策略解决上述问题:第一步是将采用WTA(Winner Take All)竞争模型去有效的解决多机器人竞争问题;第二步将采用一种改进的APF(Artificial Potential Field)路径规划法来进行避障。解决了传统APF算法的弊端,提高了效率。通过仿真实验,验证了理论的正确性,也验证了所提理论的科学性和实用性,为以后在其他科学领域的实践奠定了基础。
基金financially supported by the Shandong Provincial Natural Science Key Basic Program(Grant No.ZR2017ZA0202)the Qingdao Municipal Science&Technology Program(Grant No.15-8-3-7-jch)Special Project for Marine Renewable Energy(Grant No.GHME2016YY02)
文摘Among the wave energy converters (WECs), oscillating buoy is a promising type for wave energy development in offshore area. Conventional single-freedom oscillating buoy WECs with linear power take-off (PTO) system are less efficient under off-resonance conditions and have a narrow power capture bandwidth. Thus, a multi-freedom WEC with a nonlinear PTO system is proposed. This study examines a multi-freedom WEC with 3 degrees of freedom: surge, heave and pitch. Three different PTO systems (velocity-square, snap through, and constant PTO systems) and a traditional linear PTO system are applied to the WEC. A time-domain model is established using linear potential theory and Cummins equation. The kinematic equation is numerically calculated with the fourth-order Runge–Kutta method. The optimal average output power of the PTO systems in all degrees of freedom are obtained and compared. Other parameters of snap through PTO are also discussed in detail. Results show that according to the power capture performance, the order of the PTO systems from the best to worst is snap through PTO, constant PTO, linear PTO and velocity-square PTO. The resonant frequency of the WEC can be adjusted to the incident wave frequency by choosing specific parameters of the snap through PTO. Adding more DOFs can make the WEC get a better power performance in more wave frequencies. Both the above two methods can raise the WEC’s power capture performance significantly.
基金Funded by State Key Lab of Geohazard Prevention and Geoenvironment Protection,China(No.GZ2007-08)
文摘Cure behaviors and water up-take evaluation of a low cost, ecofriendly and water soluble epoxy resin prepared by reaction between epichlorohydrin and PEG400, PEG600 and PEG1000, respectively, were investigated using non-isothermal differential scanning calorimetry （DSC） and gravimetrical method, respectively. Factors affecting the cure behaviors as well as water up-take of waterborne epoxy resins, such as amount of triethylenetetramine （TETA） and triethylene diamine （TEDA）, PEG molecular weight, curing temperature, were systematically investigated. The prepared water soluble epoxy resins can be cured under room temperature with the shape of the curing curves similar to that expected for an autocatalytic reaction.
文摘A synchronous electronic let-off and take-up device isdesigned.The device is controlled by a single-chipcomputer and driven by two step motors.It has somefunctions such as keeping the warp tension constant dur-ing the weaving instant,releasing the warp tension whenloom is stopping and straining warp when loom is start-ing.By means of these functions,the stop mark of thewoven fabrics is eliminated.In addition,this device canapply to weaving variant-pick-density fabrics.
基金financially supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDA13040202)the Special Funding Program for Marine Renewable Energy of the State Oceanic Administration(Grant No.GHME2017SF01)
文摘The " Sharp Eagle” device is a wave energy converter of a hinged double floating body. The wave-absorbing floating body hinges on the semi-submerged floating body structure. Under the action of wave, the wave-absorbing floating body rotates around the hinge point, and the wave energy can be converted into kinetic energy. In this paper, the power take-off system of " Sharp Eagle Ⅱ” wave energy converter (the second generation of " Sharp Eagle”) was studied, which adopts the hydraulic type power take-off system. The 0-1 power generation mode was applied in this system to make the " Sharp Eagle Ⅱ” operate under various wave conditions. The principle of power generation was introduced in detail, and the power take-off system was simulated. Three groups of different movement period inputs were used to simulate three kinds of wave conditions, and the simulation results were obtained under three different working conditions. In addition, the prototype of " Sharp Eagle Ⅱ” wave energy converter was tested on land and in real sea conditions. The experimental data have been collected, and the experimental data and simulation results were compared and validated. This work has laid a foundation for the design and application of the following " Sharp Eagle” series of devices.
文摘Since the 1990s,there has been a strong interest across the environmental science community in characterizing the threats to human health posed by emerging contaminants.Much of this research has focused on pharmaceuticals and personal care products in Europe and North America.However,the range of chemicals evaluated has expanded dramatically over the past three decades.
