This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface ...This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.展开更多
The buoyancy of groundwater can reduce the foundation bearing capa-city and cause the metro tunnels to float as a whole,which threatens the safety of structures seriously.Therefore,uplift piles are set up to improve t...The buoyancy of groundwater can reduce the foundation bearing capa-city and cause the metro tunnels to float as a whole,which threatens the safety of structures seriously.Therefore,uplift piles are set up to improve the structural sta-bility.In this paper,FLAC3D software is used to establish the calculation models of pile foundation.The bearing failure process of uplift piles was simulated to study the influencing factors on single pile load bearing capacity as well as the cooperative work laws of pile groups.The load-displacement curves of pile top under different length-diameter ratios,pile soil interface characteristics and pile types are obtained,respectively.The results showed that,increasing the length-diameter ratio and the pile-soil interface roughness properdly can improve the bear-ing capacity of uplift piles.Besides,changing the shapes of constant pile section can also improve it,which has the most significant effect concerning of saving material cost.In the loading process of pile groups,the ultimate bearing capacity of corner pile is the biggest,the side pile is the next,and the center pile is the smallest.The de formation characteristics of pile top are as follows:the center pile is the biggest,the side pile is the next,and comer pile is the smallest.Combined with the results,the uplift resistance of group piles can be enhanced pertinently,and the conclusions provide guidance for the design and construction of up lift piles in the actual engineer.展开更多
To study the occurrence mechanism of rock burst during mining the irregular working face,the study took irregular panel 7447 near fault tectonic as an engineering background.The spatial fracture characteristic of over...To study the occurrence mechanism of rock burst during mining the irregular working face,the study took irregular panel 7447 near fault tectonic as an engineering background.The spatial fracture characteristic of overlying strata was analyzed by Winkler elastic foundation beam theory.Furthermore,the influence law of panel width to suspended width and limit breaking span of key strata were also analyzed by thin plate theory.Through micro-seismic monitoring,theoretical analysis,numerical simulation and working resistance of support of field measurement,this study investigated the fracture characteristic of overlying strata and mechanism of rock burst in irregular working face.The results show that the fracture characteristic of overlying strata shows a spatial trapezoid structure,with the main roof being as an undersurface.The fracture form changes from vertical‘‘O-X"type to transverse‘‘O-X"type with the increase of trapezoidal height.From the narrow mining face to the wide mining face,the suspended width of key strata is greater than its limit breaking width,and a strong dynamic load is produced by the fracture of key strata.The numerical simulation and micro-seismic monitoring results show that the initial fracture position of key strata is close to tailgate 7447.Also there is a high static load caused by fault tectonic.The dynamic and static combined load induce rock burst.Accordingly,a cooperative control technology was proposed,which can weaken dynamic load by hard roof directional hydraulic fracture and enhance surrounding rock by supporting system.展开更多
The research work presented in this paper is based on the concrete background ofthe Cooperative Graphics Editor (CGE), allowing two or more persons to remotely edit a graphicdocument simultaneously. A new concurrency ...The research work presented in this paper is based on the concrete background ofthe Cooperative Graphics Editor (CGE), allowing two or more persons to remotely edit a graphicdocument simultaneously. A new concurrency control algorithm based on partial order set ispresented, which has fast response and less undo-redo operations as there are no lock mechanisms.It is used to solve inconsistency caused by operation on intersecting graphics concurrently. CGEalso possesses a mask strategy to solve inconsistency caused by operation on the same graphicconcurrently.展开更多
In this paper, combining the technologies of Computer Supported Cooperative Work （CSCW）, Workflow and Network, the authors aim to organize virtual distributed cooperative work environment （VDCWE） and expound the r...In this paper, combining the technologies of Computer Supported Cooperative Work （CSCW）, Workflow and Network, the authors aim to organize virtual distributed cooperative work environment （VDCWE） and expound the running mechanism of cooperative workflow and design its algorithm for monitoring of urban subway construction. And then a prototype system was built based on the above,capable of supporting user analyzing, dealing with and managing data of monitoring, and real-timely releasing corresponding information, providing interactive virtual and distributed coordination meet-environment, dynami-cally and transparently, in favor of clients＇ interoperaiility and solving practicing problems, and so on.展开更多
The Lancang-Mekong Cooperation(LMC)mechanism was inspired by water and prioritizes water conservation.The two LMC summits both proposed enhancing cooperation in sustainable management and utilization of water resource...The Lancang-Mekong Cooperation(LMC)mechanism was inspired by water and prioritizes water conservation.The two LMC summits both proposed enhancing cooperation in sustainable management and utilization of water resources in the Lancang-Mekong region.To help the general public around the world gain a better understanding of Lancang-Mekong water resources cooperation and pool strength to support such cooperation,China Report ASEAN interviewed Yu Xingjun,senior counsel at the Department of International Cooperation,Science and Technology of China’s Ministry of Water Resources and Chinese leader of the Joint Working Group for Lancang-Mekong Water Resources Cooperation about the developments and achievements of Lancang-Mekong water resources cooperation.展开更多
How to reflect the innovation in students'works depends on the introduction of the theme,the creation of which is the soul of the course work.The innovative thinking of themes is the key point of the course design...How to reflect the innovation in students'works depends on the introduction of the theme,the creation of which is the soul of the course work.The innovative thinking of themes is the key point of the course design.Innovation will be directly reflected in the results of students'course works.The presentation form of student works is also the key point of innovation.Students can cooperate to complete a certain scale of combined painting works,which can not only highlight the innovative form of course works,but also improve their cooperation and innovation spirit.As far as the innovation is concerned,continuity is essential.The creation of course work needs to be continued and expanded.Students of each grade continuously create various themes in their course works,which are related to each other.After years of accumulation,the architectural painting course works will be presented as a series of large collections of theme works.展开更多
Since entering the 19th century, cooperative learning theory has been gradually formed and popularized. It has played a very important role in the field of education and has become the most important way of learning i...Since entering the 19th century, cooperative learning theory has been gradually formed and popularized. It has played a very important role in the field of education and has become the most important way of learning in the field of education. In the process of college English teaching, reading teaching, as an important component, enables students to learn English knowledge better through reading, thus improving students' reading comprehension and arousing students to think and analyze deeply. However, in the process of college English reading teaching, there are still many problems, especially the students' poor English reading ability and the inefficient classroom teaching, which seriously hinder the healthy development of college English reading teaching. Therefore, the cooperative learning theory is integrated into the teaching process, and the teaching model and methods of college English reading are continuously innovated, thus effectively improving the efficiency and quality of college English reading teaching.展开更多
The 12th Sino-German Human Rights Symposium opened today in Beijing. On behalf of the State Council Information Office, I would like to express my warmest con- gratulations on the opening of the forum, extend my welco...The 12th Sino-German Human Rights Symposium opened today in Beijing. On behalf of the State Council Information Office, I would like to express my warmest con- gratulations on the opening of the forum, extend my welcome to Ms. Herta Daeubler-Gmelin and other German friends and my gratitude to symposium organizers and all participants for your long-term contribution to communication and exchange in human rights between China and Germany.展开更多
Mr Chairman, I would like to start by congratulating you, on behalf of the Chinese Govern- ment, on your assumption of the Chair of the inaugural session of the Human Rights Council. I have every confidence that unde...Mr Chairman, I would like to start by congratulating you, on behalf of the Chinese Govern- ment, on your assumption of the Chair of the inaugural session of the Human Rights Council. I have every confidence that under your able leadership this session will be successful.展开更多
文摘This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.
基金This work was supported by National Key Research,Development Project of China(2016YFC0802206)Disaster Prevention and Mitigation Collaborative Innovation Center for Large Infrastructure of Hebei Province(2017),and Postgraduate Innovative Funding Projects of Hebei Province(CXZZSS2018060).
文摘The buoyancy of groundwater can reduce the foundation bearing capa-city and cause the metro tunnels to float as a whole,which threatens the safety of structures seriously.Therefore,uplift piles are set up to improve the structural sta-bility.In this paper,FLAC3D software is used to establish the calculation models of pile foundation.The bearing failure process of uplift piles was simulated to study the influencing factors on single pile load bearing capacity as well as the cooperative work laws of pile groups.The load-displacement curves of pile top under different length-diameter ratios,pile soil interface characteristics and pile types are obtained,respectively.The results showed that,increasing the length-diameter ratio and the pile-soil interface roughness properdly can improve the bear-ing capacity of uplift piles.Besides,changing the shapes of constant pile section can also improve it,which has the most significant effect concerning of saving material cost.In the loading process of pile groups,the ultimate bearing capacity of corner pile is the biggest,the side pile is the next,and the center pile is the smallest.The de formation characteristics of pile top are as follows:the center pile is the biggest,the side pile is the next,and comer pile is the smallest.Combined with the results,the uplift resistance of group piles can be enhanced pertinently,and the conclusions provide guidance for the design and construction of up lift piles in the actual engineer.
基金supported by the Key Project of National Natural Science Foundation of China (No. 51634001)the National Natural Science Foundation of China (Nos. 51404269 and 51674253)+1 种基金the State Key Research Development Program of China (No. 2016YFC0801403)the Key Research Development Program of Jiangsu Province, China (No. BE2015040)
文摘To study the occurrence mechanism of rock burst during mining the irregular working face,the study took irregular panel 7447 near fault tectonic as an engineering background.The spatial fracture characteristic of overlying strata was analyzed by Winkler elastic foundation beam theory.Furthermore,the influence law of panel width to suspended width and limit breaking span of key strata were also analyzed by thin plate theory.Through micro-seismic monitoring,theoretical analysis,numerical simulation and working resistance of support of field measurement,this study investigated the fracture characteristic of overlying strata and mechanism of rock burst in irregular working face.The results show that the fracture characteristic of overlying strata shows a spatial trapezoid structure,with the main roof being as an undersurface.The fracture form changes from vertical‘‘O-X"type to transverse‘‘O-X"type with the increase of trapezoidal height.From the narrow mining face to the wide mining face,the suspended width of key strata is greater than its limit breaking width,and a strong dynamic load is produced by the fracture of key strata.The numerical simulation and micro-seismic monitoring results show that the initial fracture position of key strata is close to tailgate 7447.Also there is a high static load caused by fault tectonic.The dynamic and static combined load induce rock burst.Accordingly,a cooperative control technology was proposed,which can weaken dynamic load by hard roof directional hydraulic fracture and enhance surrounding rock by supporting system.
文摘The research work presented in this paper is based on the concrete background ofthe Cooperative Graphics Editor (CGE), allowing two or more persons to remotely edit a graphicdocument simultaneously. A new concurrency control algorithm based on partial order set ispresented, which has fast response and less undo-redo operations as there are no lock mechanisms.It is used to solve inconsistency caused by operation on intersecting graphics concurrently. CGEalso possesses a mask strategy to solve inconsistency caused by operation on the same graphicconcurrently.
基金Supported by the Innovative Project Foundation of Beijing Urban Construction Group Co.Ltd (No.2001129)the Award of Beijing Investigation & Design Institute for Urban Construction (No.2004207)
文摘In this paper, combining the technologies of Computer Supported Cooperative Work （CSCW）, Workflow and Network, the authors aim to organize virtual distributed cooperative work environment （VDCWE） and expound the running mechanism of cooperative workflow and design its algorithm for monitoring of urban subway construction. And then a prototype system was built based on the above,capable of supporting user analyzing, dealing with and managing data of monitoring, and real-timely releasing corresponding information, providing interactive virtual and distributed coordination meet-environment, dynami-cally and transparently, in favor of clients＇ interoperaiility and solving practicing problems, and so on.
文摘The Lancang-Mekong Cooperation(LMC)mechanism was inspired by water and prioritizes water conservation.The two LMC summits both proposed enhancing cooperation in sustainable management and utilization of water resources in the Lancang-Mekong region.To help the general public around the world gain a better understanding of Lancang-Mekong water resources cooperation and pool strength to support such cooperation,China Report ASEAN interviewed Yu Xingjun,senior counsel at the Department of International Cooperation,Science and Technology of China’s Ministry of Water Resources and Chinese leader of the Joint Working Group for Lancang-Mekong Water Resources Cooperation about the developments and achievements of Lancang-Mekong water resources cooperation.
文摘How to reflect the innovation in students'works depends on the introduction of the theme,the creation of which is the soul of the course work.The innovative thinking of themes is the key point of the course design.Innovation will be directly reflected in the results of students'course works.The presentation form of student works is also the key point of innovation.Students can cooperate to complete a certain scale of combined painting works,which can not only highlight the innovative form of course works,but also improve their cooperation and innovation spirit.As far as the innovation is concerned,continuity is essential.The creation of course work needs to be continued and expanded.Students of each grade continuously create various themes in their course works,which are related to each other.After years of accumulation,the architectural painting course works will be presented as a series of large collections of theme works.
文摘Since entering the 19th century, cooperative learning theory has been gradually formed and popularized. It has played a very important role in the field of education and has become the most important way of learning in the field of education. In the process of college English teaching, reading teaching, as an important component, enables students to learn English knowledge better through reading, thus improving students' reading comprehension and arousing students to think and analyze deeply. However, in the process of college English reading teaching, there are still many problems, especially the students' poor English reading ability and the inefficient classroom teaching, which seriously hinder the healthy development of college English reading teaching. Therefore, the cooperative learning theory is integrated into the teaching process, and the teaching model and methods of college English reading are continuously innovated, thus effectively improving the efficiency and quality of college English reading teaching.
文摘The 12th Sino-German Human Rights Symposium opened today in Beijing. On behalf of the State Council Information Office, I would like to express my warmest con- gratulations on the opening of the forum, extend my welcome to Ms. Herta Daeubler-Gmelin and other German friends and my gratitude to symposium organizers and all participants for your long-term contribution to communication and exchange in human rights between China and Germany.
文摘Mr Chairman, I would like to start by congratulating you, on behalf of the Chinese Govern- ment, on your assumption of the Chair of the inaugural session of the Human Rights Council. I have every confidence that under your able leadership this session will be successful.
