Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising ...Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.展开更多
A diverse range of light and waves,spanning from near-infrared to ultraviolet,alongside ultrasound,have proven effective in propelling nanomotors.This review encapsulates the advancements in nanomotor research propell...A diverse range of light and waves,spanning from near-infrared to ultraviolet,alongside ultrasound,have proven effective in propelling nanomotors.This review encapsulates the advancements in nanomotor research propelled by waves of varying frequencies.It delves into the driving mechanisms and control methodologies of different nanomotor types,emphasizing the role of frequency.Nanomotors can be classified based on the frequency of the driving wave,encompassing ultraviolet light-driven,visible light-driven,near-infrared-driven,and ultrasounddriven variants.Each category corresponds to distinct propulsion mechanisms,including momentum transfer,photothermal effects,self-electrophoresis,and acoustic radiation force.Notably,visible light and near-infrared radiation predominantly propel momentum transfer nanomotors,while photothermal nanomotors are chiefly active within the infrared spectrum.Ultraviolet light drives most self-electrophoretic nanomotors,while ultrasound-driven nanomotors respond to acoustic radiation force.Furthermore,precise control over nanomotor speed and direction is achievable by adjusting the frequency of incident waves within a narrow range,modulating wave absorption rates.Lastly,this paper explores microwave nanomotors,an area yet to be reported,shedding light on potential driving mechanisms.展开更多
In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ...In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ellipse fitting method are used to modify the tooth thickness of the flexspline and analyze the performance indexes such as the assembly stress,transmission error,and fatigue life.Firstly,the conjugate tooth profile is solved based on the quadruple-circular-arc tooth profile and modified kinematic method.Then,based on the finite element radial deformation of the flexspline,the principle and characteristics of three modification methods are analyzed,and the modification amount of each section of the flexspline tooth is calculated.Finally,the influence of the three modification methods on the performance of the harmonic drive is compared.The results show that the radial deformation difference method can initially determine the modification amount.The minimum static assembly stress is 406.22 MPa by the major and minor axis fitting method.The ellipse fitting method has the best dynamic performance,small transmission error fluctuation,a peak-to-peak value of 3.060",and a maximum fatigue life of 10^(7.558)cycles.展开更多
As a critical ecological barrier in China,the Qinling Mountains see their ecological functions significantly impaired by frequent shallow landslides.However,existing research on the distribution characteristics and dr...As a critical ecological barrier in China,the Qinling Mountains see their ecological functions significantly impaired by frequent shallow landslides.However,existing research on the distribution characteristics and driving mechanisms of such landslides remains relatively limited.To address this knowledge gap,the present study integrated data analysis,field investigations,and remote sensing interpretation to construct a landslide database for the core area of the Qinling Mountains,and systematically analyzed the spatial patterns,development characteristics,and environmental driving factors of shallow landslides.The results reveal that shallow landslides are predominantly small-to-medium in scale,concentrated in regions with an altitude of 800–1000 m and a slope gradient of approximately 30°,with a distinct tendency to develop on sunny(southfacing)slopes.The occurrence frequency of these landslides exhibits a significant positive correlation with the soil moisture content of the weathered layer and the degree of groundwater enrichment in the study area.Specifically,these landslides are mainly developed in bedrock fissure water zones and karst fissure water zones with favorable water-bearing capacity,indicating that rainfall and surface hydrological processes are the key triggering factors for shallow landslides.Notably,vegetation exerts a mediating role in the"vegetation-hydrology-landslide"system:shallow landslides occur most frequently in areas with artificial or shrub-grass vegetation,peaking at a moderate coverage of 50%–60%.This peak suggests that vegetation within this range is ineffective at regulating soil moisture,while the interaction between specific vegetation types and hydrological enrichment further exacerbates landslide risk.By prioritizing the weights of vegetation and hydrological factors,we enhanced the information quantity model,which significantly improved its performance and increased the AUC value to 0.83.These findings confirm the pivotal roles of vegetation and hydrological factors,thereby providing a robust scientific basis for targeted landslide prevention and control in this region.展开更多
Understanding the scale-dependent dynamics of ecosystem services(ESs)and their socio-ecological drivers is essential for sustainable development.While many studies rely on static or single-scale approaches,this resear...Understanding the scale-dependent dynamics of ecosystem services(ESs)and their socio-ecological drivers is essential for sustainable development.While many studies rely on static or single-scale approaches,this research employs an integrated multi-temporal(2000–2020)and multi-scale(grid,county,and landscape levels)framework to investigate China’s Central Asian frontier,a representative dryland region.We quantified six ESs:habitat quality(HQ),net primary productivity(NPP),carbon sequestration(CS),water yield(WY),soil conservation(SC),and grain production(GP).Furthermore,we explored their interrelationships and identified the drivers influencing these services across different spatial scales.Our results revealed divergent ES trajectories:the declining HQ(−0.03 a^(−1)),NPP(−0.43 t km^(−2)a^(−1)),and SC(−3.41 t ha a^(−1))contrasted with rising WY(+2.33 mm a^(−1)),GP(+0.06 t km^(−2)a^(−1)),and CS(+0.02 t km^(−2)a^(−1)).The ES relationships were predominantly synergistic,while HQ–WY exhibited a trade-off(grid:−0.03;county:−0.02;landscape:−0.03)at temporal dimension but a synergistic relationship(grid:0.45;county:0.92;landscape:0.92)at spatial dimension.As spatial scale increased,SC–CS shifted from synergy(grid:0.001)to trade-off(county:−0.01;landscape:−0.005)in the temporal dimension,while all trade-off relationships in the spatial dimension were transformed into synergies.Key drivers of ES relationships varied with spatial scale:fraction vegetation coverage(FVC)and leaf area index(LAI)at the grid scale,annual precipitation(MAP)and soil moisture(SMA)at the county scale,and population density(POP),gross domestic product(GDP),and silt content(Silt)at the landscape scale.Based on the multi-scale findings,the study divides northern Xinjiang into Grain Priority Region,Ecological Priority Region,and Desert Containment Region,and proposes tailored management recommendations,offering a flexible framework for balancing ecological and socioeconomic needs.展开更多
This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematic...This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematical models of the tooth flanks for the face gear drives are established based on the gear skiving processes.Then,load tooth contact analysis(LTCA)model is established to calculate the contact performance data.Next,a two-stage optimization model is employed to determine the optimal parameters of the cutting edge with improved contact performances.The effectiveness of this method is validated through simulations and rolling tests.Compared with the traditional method,the proposed method can machine both the face gear and its mating pinion with a single cutter.Simulation results show that the proposed method avoids tooth surface edge contact,with the maximum tooth surface contact stress reduced by 31.7%,the contact ratio decreases by 21.5%,and the transmission error increases by 22.3%.Rolling tests verify the consistency of tooth surface contact patterns between simulations and experiments.The proposed method provides a reference for the cutting edge design of skiving cutters for face gear pairs.展开更多
To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative t...To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.展开更多
Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the s...Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
Reducing greenhouse gas(GHG)emissions to address climate change is a global consensus,and municipal wastewater treatment plants(MWWTPs)should lead the way in low-carbon sustainable development.However,achieving efflue...Reducing greenhouse gas(GHG)emissions to address climate change is a global consensus,and municipal wastewater treatment plants(MWWTPs)should lead the way in low-carbon sustainable development.However,achieving effluent discharge standards often requires considerable energy and chemical consumption during operation,resulting in significant carbon footprints.In this study,GHG emissions are systematically accounted for,and the driving factors of carbon footprint growth in China’s MWWTPs are explored.In 2020,a total of 41.9 million tonnes(Mt)of carbon dioxide equivalent(CO_(2)-eq)were released by the sector,with nearly two-thirds being indirect emissions resulting from energy and material usage.The intensity of electricity,carbon source,and phosphorus removing agent consumption increasingly influence carbon footprint growth over time.Through statistical inference,benchmarks for electricity and chemical consumption intensity are established across all MWWTPs under various operational conditions,and the potential for mitigation through more efficient energy and material utilization is calculated.The results suggest that many MWWTPs offer significant opportunities for emission reduction.Consequently,empirical decarbonization measures,including intelligent device control,optimization of aeration equipment,energy recovery initiatives,and other enhancements to improve operational and carbon efficiency,are recommended.展开更多
The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The n...The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The normal vector used to calculate the first-type limit function is determined in the natural frame without the aid of the curvature parameter of worm helicoid.The first-type limit line is ascertained via solving the nonlinear equations iteratively.It is discovered that one first-type limit line exists on the tooth surface of worm wheel by numerical simulation,and such a line is normally located out of the meshing zone.Only one intersection point exists between the first and second-types of limit lines,and this point is a lubrication weak point.The undercutting mechanism is essentially that a part of the meshing zone near the conjugated line of worm tooth crest will come into the undercutting area and will be cut off during machining the worm wheel.The machining simulation verifies the correctness of undercutting mechanism.Moreover,a convenient and practical characteristic quantity is proposed to judge whether the undercutting exists in the whole meshing zone via computing the first-type limit function values on the worm tooth crest.展开更多
Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
Sine-wave drive and square-wave drive are two common motor control strategies.This study constructs a mathematical model capable of predicting the distribution of electromagnetic force waves in synchronous reluctance ...Sine-wave drive and square-wave drive are two common motor control strategies.This study constructs a mathematical model capable of predicting the distribution of electromagnetic force waves in synchronous reluctance motors(SynRMs)under these two drive methods,and comparatively analyzes the vibration phenomena induced by electromagnetic forces under different drive methods.It aims to provide an effective tool for predicting the distribution of electromagnetic force waves in SynRMs,while exploring the influence of drive modes on their vibration characteristics.The study focuses on a 4-pole,36-slot 5.5 kW SynRM.Based on the magnetomotive force(MMF)-permeance method,incorporating the special rotor structure and the characteristics of current harmonics under square-wave drive,an air-gap flux distribution function is established.Meanwhile,Maxwell’s stress tensor method is adopted to analyze how the air-gap flux density relates to electromagnetic excitation force waves.Subsequently,this analysis is applied to forecast the spatiotemporal distribution features of radial electromagnetic force waves.Finite element simulations are conducted to compute the modal and vibration responses of the SynRM,followed by a comparative analysis of the vibration characteristics under the two drive methods.Additionally,a 6-pole,36-slot SynRM is used for additional comparative verification.Ultimately,the effectiveness of the simulation results is verified through experiments.展开更多
Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of tra...Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of traffic conflicts.Traditional methods of detecting abnormal driving behavior include using wearable devices to monitor blood pressure,pulse,heart rate,blood oxygen,and other vital signs,and using eye trackers to monitor eye activity(such as eye closure,blinking frequency,etc.)to estimate whether the driver is excited,anxious,or distracted.Traditional monitoring methods can detect abnormal driving behavior to a certain extent,but they will affect the driver’s normal driving state,thereby introducing additional driving risks.This research uses the combined method of support vector machine and dlib algorithm to extract 68 facial feature points from the human face,and uses an SVM model as a strong classifier to classify different abnormal driving statuses.The combined method reaches high accuracy in detecting road anger and fatigue status and can be used in an intelligent vehicle cabin to improve the driving safety level.展开更多
Stimulated Raman scattering(SRS)under a new ignition path that combines the advantages of direct-drive(DD)and indirect-drive(ID)schemes is investigated experimentally at the Shenguang-100 kJ facility.The results show ...Stimulated Raman scattering(SRS)under a new ignition path that combines the advantages of direct-drive(DD)and indirect-drive(ID)schemes is investigated experimentally at the Shenguang-100 kJ facility.The results show that collective SRS in the plasma produced by ablating a polyimide film is detected for the ID beams,but is suppressed by adding a toe before the main pulse of the ID beams.The toe also strongly influences SRS of both the ID and DD beams excited in the plasma generated in the hohlraum.When a toe is used,the SRS spectra of the DD beams show that SRS tends to be excited in lower plasma density,which will result in a lower risk of super-hot electrons.Measurements of hot electrons support this conclusion.This research will help us produce a better pulse design for this new ignition path.展开更多
Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security ...Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security of the Loess Plateau(LP) by integrating ecosystem health and ecosystem services, explores the varying impacts of ecosystem structure, quality, and services on ecological security index(ESI), and identifies the key driving factors of ESI using the Geodetector model. The results show that:(1) the average ESI indicates a relatively safe ecological status in LP with a significant increase in ESI observed in 50.21% of the region, largely due to the ecological restoration programs.(2) Natural factors predominantly influence ESI, although human factors play a significant role in the earthy-rocky mountain region and plateau wind-sand region.(3) The interactions between driving factors have a much greater impact on ESI than any single factor, with the interactions between precipitation and human factors being the most influential combination. This study provides a novel perspective on assessing ecological security in LP. We recommend that future ecological restoration efforts should consider the varying roles of ecosystem structure, quality, and services in ESI while tailoring strategies to the primary driving factors based on local conditions.展开更多
The performance degradation of vehicle engine cylinder heads is a complex phenomenon,and the accurate prediction of their remaining useful life is essential for maintenance planning.To address the problem of low predi...The performance degradation of vehicle engine cylinder heads is a complex phenomenon,and the accurate prediction of their remaining useful life is essential for maintenance planning.To address the problem of low prediction accuracy caused by insufficient data mining depth in current prediction models for the remaining service life of engine cylinder heads,a prediction method of dualchannel model is proposed.Firstly,the driving status data of multiple vehicles is summarized and analyzed,and the on-board network common variables related to cylinder head life are screened.Secondly,driving segments are defined,the driving state features of each driving segment are extracted,and feature correlation analysis and principal component analysis are performed.All driving state profiles of the vehicle are divided using the clustering algorithm,and the cumulative degradation factors for driving state profiles are defined and calculated.Furthermore,the mileage of each driving segment is classified into intervals by applying fuzzy set theory,and the state transfer probability matrices of driving state profiles and driving segment mileage are calculated.A new engine head life prediction model based on dual channel Markov chain(DCMC)is established.Finally,the proposed method is applied to the residual life prediction of cylinder head of seven actual vehicles,and the comparison with actual life statistics results proved the validity of the proposed method.展开更多
Achieving a reduction in global greenhouse gas(GHG)emissions requires collaborative efforts from the international community;however,a comprehensive understanding of the spatiotemporal characteristics(i.e.,complex emi...Achieving a reduction in global greenhouse gas(GHG)emissions requires collaborative efforts from the international community;however,a comprehensive understanding of the spatiotemporal characteristics(i.e.,complex emission networks and driver patterns)and the mutual influence of gross domestic product(GDP)and GHG emissions remains limited at a global level in the 21st century,which is not conducive to forming a consensus in global climate change negotiations and formulating relevant policies.To fill these gaps,this study comprehensively analyzes the complex network and driver pattern of GHG emissions,as well as the corresponding mutual influence with GDP for 185 countries during 2000-2021,based on social network analysis,the logarithmic Divisia decomposition approach,and panel vector autoregression model at global and regional levels.The results indicate that significant heterogeneity and inequality exist in terms of GHG emissions among regions and countries in different geographical areas and economic income levels.Additionally,GDP per capita and GHG emission intensity are the largest positive and negative drivers,respectively,affecting the increase in global GHG emissions.Furthermore,key countries,such as Germany and Canada,that could serve as coordinating bridges to strengthen collaboration in the global emission network are identified.This study highlights the need to encourage key participants in the emission network and foster international cooperation in governance,energy technology,and economic investment to address climate change.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52325501,U24B2047).
文摘Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.
基金supported by the National Key Research and Development Program of China(2021YFA1401103)the National Natural Science Foundation of China(52473109,52073071)+3 种基金China Scholarship Council(CSC)(202306790056)Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX22_2301)111 Project(B23008)the Innovative Leading Talent Team supported by 2022Wuxi Taihu Talent Program(1096010241230120)。
文摘A diverse range of light and waves,spanning from near-infrared to ultraviolet,alongside ultrasound,have proven effective in propelling nanomotors.This review encapsulates the advancements in nanomotor research propelled by waves of varying frequencies.It delves into the driving mechanisms and control methodologies of different nanomotor types,emphasizing the role of frequency.Nanomotors can be classified based on the frequency of the driving wave,encompassing ultraviolet light-driven,visible light-driven,near-infrared-driven,and ultrasounddriven variants.Each category corresponds to distinct propulsion mechanisms,including momentum transfer,photothermal effects,self-electrophoresis,and acoustic radiation force.Notably,visible light and near-infrared radiation predominantly propel momentum transfer nanomotors,while photothermal nanomotors are chiefly active within the infrared spectrum.Ultraviolet light drives most self-electrophoretic nanomotors,while ultrasound-driven nanomotors respond to acoustic radiation force.Furthermore,precise control over nanomotor speed and direction is achievable by adjusting the frequency of incident waves within a narrow range,modulating wave absorption rates.Lastly,this paper explores microwave nanomotors,an area yet to be reported,shedding light on potential driving mechanisms.
文摘In order to eliminate the meshing interference between the flexspline and circular spline after the taper deformation of the flexspline,the radial deformation difference method,major and minor axis fitting method,and ellipse fitting method are used to modify the tooth thickness of the flexspline and analyze the performance indexes such as the assembly stress,transmission error,and fatigue life.Firstly,the conjugate tooth profile is solved based on the quadruple-circular-arc tooth profile and modified kinematic method.Then,based on the finite element radial deformation of the flexspline,the principle and characteristics of three modification methods are analyzed,and the modification amount of each section of the flexspline tooth is calculated.Finally,the influence of the three modification methods on the performance of the harmonic drive is compared.The results show that the radial deformation difference method can initially determine the modification amount.The minimum static assembly stress is 406.22 MPa by the major and minor axis fitting method.The ellipse fitting method has the best dynamic performance,small transmission error fluctuation,a peak-to-peak value of 3.060",and a maximum fatigue life of 10^(7.558)cycles.
基金supported by the National Key R&D Program of China(No.2024YFF1306502)three Special Programs of the National Natural Science Foundation of China(Nos.42341101,42442045,42307220)the Basic Scientific Research Business Funds of Central Universities(Nos.300102263401,300102265501,300102264103)。
文摘As a critical ecological barrier in China,the Qinling Mountains see their ecological functions significantly impaired by frequent shallow landslides.However,existing research on the distribution characteristics and driving mechanisms of such landslides remains relatively limited.To address this knowledge gap,the present study integrated data analysis,field investigations,and remote sensing interpretation to construct a landslide database for the core area of the Qinling Mountains,and systematically analyzed the spatial patterns,development characteristics,and environmental driving factors of shallow landslides.The results reveal that shallow landslides are predominantly small-to-medium in scale,concentrated in regions with an altitude of 800–1000 m and a slope gradient of approximately 30°,with a distinct tendency to develop on sunny(southfacing)slopes.The occurrence frequency of these landslides exhibits a significant positive correlation with the soil moisture content of the weathered layer and the degree of groundwater enrichment in the study area.Specifically,these landslides are mainly developed in bedrock fissure water zones and karst fissure water zones with favorable water-bearing capacity,indicating that rainfall and surface hydrological processes are the key triggering factors for shallow landslides.Notably,vegetation exerts a mediating role in the"vegetation-hydrology-landslide"system:shallow landslides occur most frequently in areas with artificial or shrub-grass vegetation,peaking at a moderate coverage of 50%–60%.This peak suggests that vegetation within this range is ineffective at regulating soil moisture,while the interaction between specific vegetation types and hydrological enrichment further exacerbates landslide risk.By prioritizing the weights of vegetation and hydrological factors,we enhanced the information quantity model,which significantly improved its performance and increased the AUC value to 0.83.These findings confirm the pivotal roles of vegetation and hydrological factors,thereby providing a robust scientific basis for targeted landslide prevention and control in this region.
基金National Natural Science Foundation of China,No.42377302Ministry of Science and Technology of the People’s Republic of China,No.2022XJKK0904State Key Laboratory of Soil and Sustainable Agriculture,No.SKLSSA25K03。
文摘Understanding the scale-dependent dynamics of ecosystem services(ESs)and their socio-ecological drivers is essential for sustainable development.While many studies rely on static or single-scale approaches,this research employs an integrated multi-temporal(2000–2020)and multi-scale(grid,county,and landscape levels)framework to investigate China’s Central Asian frontier,a representative dryland region.We quantified six ESs:habitat quality(HQ),net primary productivity(NPP),carbon sequestration(CS),water yield(WY),soil conservation(SC),and grain production(GP).Furthermore,we explored their interrelationships and identified the drivers influencing these services across different spatial scales.Our results revealed divergent ES trajectories:the declining HQ(−0.03 a^(−1)),NPP(−0.43 t km^(−2)a^(−1)),and SC(−3.41 t ha a^(−1))contrasted with rising WY(+2.33 mm a^(−1)),GP(+0.06 t km^(−2)a^(−1)),and CS(+0.02 t km^(−2)a^(−1)).The ES relationships were predominantly synergistic,while HQ–WY exhibited a trade-off(grid:−0.03;county:−0.02;landscape:−0.03)at temporal dimension but a synergistic relationship(grid:0.45;county:0.92;landscape:0.92)at spatial dimension.As spatial scale increased,SC–CS shifted from synergy(grid:0.001)to trade-off(county:−0.01;landscape:−0.005)in the temporal dimension,while all trade-off relationships in the spatial dimension were transformed into synergies.Key drivers of ES relationships varied with spatial scale:fraction vegetation coverage(FVC)and leaf area index(LAI)at the grid scale,annual precipitation(MAP)and soil moisture(SMA)at the county scale,and population density(POP),gross domestic product(GDP),and silt content(Silt)at the landscape scale.Based on the multi-scale findings,the study divides northern Xinjiang into Grain Priority Region,Ecological Priority Region,and Desert Containment Region,and proposes tailored management recommendations,offering a flexible framework for balancing ecological and socioeconomic needs.
基金Project(2024YFB3410402)supported by the National Key R&D Program of ChinaProject(52075558)supported by the National Natural Science Foundation of China+2 种基金Project(2021RC3012)supported by the Science and Technology Innovation Program of Hunan Province,ChinaProject(2023CXQD050)supported by the Central South University Innovation-Driven Research Program,ChinaProject(CX20230255)supported by the Fundamental Research Funds for the Central Universities,China。
文摘This study develops a contact performance-driven method for skiving face gear drives using a single cutter,eliminating the traditional need for separate cutters to reduce production costs and time.First,the mathematical models of the tooth flanks for the face gear drives are established based on the gear skiving processes.Then,load tooth contact analysis(LTCA)model is established to calculate the contact performance data.Next,a two-stage optimization model is employed to determine the optimal parameters of the cutting edge with improved contact performances.The effectiveness of this method is validated through simulations and rolling tests.Compared with the traditional method,the proposed method can machine both the face gear and its mating pinion with a single cutter.Simulation results show that the proposed method avoids tooth surface edge contact,with the maximum tooth surface contact stress reduced by 31.7%,the contact ratio decreases by 21.5%,and the transmission error increases by 22.3%.Rolling tests verify the consistency of tooth surface contact patterns between simulations and experiments.The proposed method provides a reference for the cutting edge design of skiving cutters for face gear pairs.
文摘To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.
基金supported in part by the National Natural Science Foundation of China under Grant 52077002。
文摘Model predictive control(MPC)has been deemed as an attractive control method in motor drives by virtue of its simple structure,convenient multi-objective optimization,and satisfactory dynamic performance.However,the strong reliance on mathematical models seriously restrains its practical application.Therefore,improving the robustness of MPC has attained significant attentions in the last two decades,followed by which,model-free predictive control(MFPC)comes into existence.This article aims to reveal the current state of MFPC strategies for motor drives and give the categorization from the perspective of implementation.Based on this review,the principles of the reported MFPC strategies are introduced in detail,as well as the challenges encountered in technology realization.In addition,some of typical and important concepts are experimentally validated via case studies to evaluate the performance and highlight their features.Finally,the future trends of MFPC are discussed based on the current state and reported developments.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
基金supported by the National Natural Science Foundation of China(52200228 and 72022004)the National Key Research and Development Program of China(2021YFC3200205 and 2022YFC3203704).
文摘Reducing greenhouse gas(GHG)emissions to address climate change is a global consensus,and municipal wastewater treatment plants(MWWTPs)should lead the way in low-carbon sustainable development.However,achieving effluent discharge standards often requires considerable energy and chemical consumption during operation,resulting in significant carbon footprints.In this study,GHG emissions are systematically accounted for,and the driving factors of carbon footprint growth in China’s MWWTPs are explored.In 2020,a total of 41.9 million tonnes(Mt)of carbon dioxide equivalent(CO_(2)-eq)were released by the sector,with nearly two-thirds being indirect emissions resulting from energy and material usage.The intensity of electricity,carbon source,and phosphorus removing agent consumption increasingly influence carbon footprint growth over time.Through statistical inference,benchmarks for electricity and chemical consumption intensity are established across all MWWTPs under various operational conditions,and the potential for mitigation through more efficient energy and material utilization is calculated.The results suggest that many MWWTPs offer significant opportunities for emission reduction.Consequently,empirical decarbonization measures,including intelligent device control,optimization of aeration equipment,energy recovery initiatives,and other enhancements to improve operational and carbon efficiency,are recommended.
基金Projects(52205069,52075083,52304049)supported by the National Natural Science Foundation of ChinaProject(2021-BS-164)supported by the Liaoning Province Doctoral Research Startup Fund,China+2 种基金Project(LJKZ0264)supported by the Science and Technology Research Projects of Education Department of Liaoning Province,ChinaProject(G2022003010L)supported by the High-end Foreign Experts Recruitment Plan of ChinaProject(E2021203095)supported by the Natural Science Foundation for Young Scholars of Hebei Province,China。
文摘The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The normal vector used to calculate the first-type limit function is determined in the natural frame without the aid of the curvature parameter of worm helicoid.The first-type limit line is ascertained via solving the nonlinear equations iteratively.It is discovered that one first-type limit line exists on the tooth surface of worm wheel by numerical simulation,and such a line is normally located out of the meshing zone.Only one intersection point exists between the first and second-types of limit lines,and this point is a lubrication weak point.The undercutting mechanism is essentially that a part of the meshing zone near the conjugated line of worm tooth crest will come into the undercutting area and will be cut off during machining the worm wheel.The machining simulation verifies the correctness of undercutting mechanism.Moreover,a convenient and practical characteristic quantity is proposed to judge whether the undercutting exists in the whole meshing zone via computing the first-type limit function values on the worm tooth crest.
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
基金supported by the Science and Technology Project of State Grid Corporation of China Headquarters under Grant 5500-202416156A-1-1-ZN.
文摘Sine-wave drive and square-wave drive are two common motor control strategies.This study constructs a mathematical model capable of predicting the distribution of electromagnetic force waves in synchronous reluctance motors(SynRMs)under these two drive methods,and comparatively analyzes the vibration phenomena induced by electromagnetic forces under different drive methods.It aims to provide an effective tool for predicting the distribution of electromagnetic force waves in SynRMs,while exploring the influence of drive modes on their vibration characteristics.The study focuses on a 4-pole,36-slot 5.5 kW SynRM.Based on the magnetomotive force(MMF)-permeance method,incorporating the special rotor structure and the characteristics of current harmonics under square-wave drive,an air-gap flux distribution function is established.Meanwhile,Maxwell’s stress tensor method is adopted to analyze how the air-gap flux density relates to electromagnetic excitation force waves.Subsequently,this analysis is applied to forecast the spatiotemporal distribution features of radial electromagnetic force waves.Finite element simulations are conducted to compute the modal and vibration responses of the SynRM,followed by a comparative analysis of the vibration characteristics under the two drive methods.Additionally,a 6-pole,36-slot SynRM is used for additional comparative verification.Ultimately,the effectiveness of the simulation results is verified through experiments.
文摘Abnormal driving behavior includes driving distraction,fatigue,road anger,phone use,and an exceptionally happy mood.Detecting abnormal driving behavior in advance can avoid traffic accidents and reduce the risk of traffic conflicts.Traditional methods of detecting abnormal driving behavior include using wearable devices to monitor blood pressure,pulse,heart rate,blood oxygen,and other vital signs,and using eye trackers to monitor eye activity(such as eye closure,blinking frequency,etc.)to estimate whether the driver is excited,anxious,or distracted.Traditional monitoring methods can detect abnormal driving behavior to a certain extent,but they will affect the driver’s normal driving state,thereby introducing additional driving risks.This research uses the combined method of support vector machine and dlib algorithm to extract 68 facial feature points from the human face,and uses an SVM model as a strong classifier to classify different abnormal driving statuses.The combined method reaches high accuracy in detecting road anger and fatigue status and can be used in an intelligent vehicle cabin to improve the driving safety level.
基金supported by the National Natural Science Foundation of China(Grant Nos.12205274,12275251,12105270,12205272,12305262,and 12035002)the National Key Laboratory of Plasma Physics(Grant No.JCKYS2024212803)+2 种基金the Fund of the National Key Laboratory of Plasma Physics(Grant No.6142A04230103)the National Key R&D Program of China(Grant No.2023YFA1608400)the National Security Academic Fund(Grant No.U2430207).
文摘Stimulated Raman scattering(SRS)under a new ignition path that combines the advantages of direct-drive(DD)and indirect-drive(ID)schemes is investigated experimentally at the Shenguang-100 kJ facility.The results show that collective SRS in the plasma produced by ablating a polyimide film is detected for the ID beams,but is suppressed by adding a toe before the main pulse of the ID beams.The toe also strongly influences SRS of both the ID and DD beams excited in the plasma generated in the hohlraum.When a toe is used,the SRS spectra of the DD beams show that SRS tends to be excited in lower plasma density,which will result in a lower risk of super-hot electrons.Measurements of hot electrons support this conclusion.This research will help us produce a better pulse design for this new ignition path.
基金National Natural Science Foundation of China,No.42371103Natural Science Basic Research Plan in Shaanxi Province of China,No.2023-JC-YB-229。
文摘Understanding the local ecological security status and its underlying drivers can be used as an effective reference for balancing ecosystem development with societal needs. This study assesses the ecological security of the Loess Plateau(LP) by integrating ecosystem health and ecosystem services, explores the varying impacts of ecosystem structure, quality, and services on ecological security index(ESI), and identifies the key driving factors of ESI using the Geodetector model. The results show that:(1) the average ESI indicates a relatively safe ecological status in LP with a significant increase in ESI observed in 50.21% of the region, largely due to the ecological restoration programs.(2) Natural factors predominantly influence ESI, although human factors play a significant role in the earthy-rocky mountain region and plateau wind-sand region.(3) The interactions between driving factors have a much greater impact on ESI than any single factor, with the interactions between precipitation and human factors being the most influential combination. This study provides a novel perspective on assessing ecological security in LP. We recommend that future ecological restoration efforts should consider the varying roles of ecosystem structure, quality, and services in ESI while tailoring strategies to the primary driving factors based on local conditions.
基金Supported by the Open Project Fund of the National Key Laboratory of Internal Combustion Engine and Power System(No.skler-202102).
文摘The performance degradation of vehicle engine cylinder heads is a complex phenomenon,and the accurate prediction of their remaining useful life is essential for maintenance planning.To address the problem of low prediction accuracy caused by insufficient data mining depth in current prediction models for the remaining service life of engine cylinder heads,a prediction method of dualchannel model is proposed.Firstly,the driving status data of multiple vehicles is summarized and analyzed,and the on-board network common variables related to cylinder head life are screened.Secondly,driving segments are defined,the driving state features of each driving segment are extracted,and feature correlation analysis and principal component analysis are performed.All driving state profiles of the vehicle are divided using the clustering algorithm,and the cumulative degradation factors for driving state profiles are defined and calculated.Furthermore,the mileage of each driving segment is classified into intervals by applying fuzzy set theory,and the state transfer probability matrices of driving state profiles and driving segment mileage are calculated.A new engine head life prediction model based on dual channel Markov chain(DCMC)is established.Finally,the proposed method is applied to the residual life prediction of cylinder head of seven actual vehicles,and the comparison with actual life statistics results proved the validity of the proposed method.
基金supported by the Humanities and Social Sciences Youth Foundation,Ministry of Education of China[Grant No.24YJC630248]Sichuan Office of Philosophy and Social Science,China[Grant No.SCJJ24ND299].
文摘Achieving a reduction in global greenhouse gas(GHG)emissions requires collaborative efforts from the international community;however,a comprehensive understanding of the spatiotemporal characteristics(i.e.,complex emission networks and driver patterns)and the mutual influence of gross domestic product(GDP)and GHG emissions remains limited at a global level in the 21st century,which is not conducive to forming a consensus in global climate change negotiations and formulating relevant policies.To fill these gaps,this study comprehensively analyzes the complex network and driver pattern of GHG emissions,as well as the corresponding mutual influence with GDP for 185 countries during 2000-2021,based on social network analysis,the logarithmic Divisia decomposition approach,and panel vector autoregression model at global and regional levels.The results indicate that significant heterogeneity and inequality exist in terms of GHG emissions among regions and countries in different geographical areas and economic income levels.Additionally,GDP per capita and GHG emission intensity are the largest positive and negative drivers,respectively,affecting the increase in global GHG emissions.Furthermore,key countries,such as Germany and Canada,that could serve as coordinating bridges to strengthen collaboration in the global emission network are identified.This study highlights the need to encourage key participants in the emission network and foster international cooperation in governance,energy technology,and economic investment to address climate change.
