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Landing control method of a lightweight four-legged landing and walking robot

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0707-1

摘要： The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface. The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places. A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study. It can take off and land repeatedly between any two sites wherever on deep craters, mountains or other challenging landforms that are difficult to reach by direct ground movement. The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking. A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing. Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed. Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg, the torque safety margin is 10.3% and 16.7%, and the height safety margin is 36.4% and 50.1% for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s, respectively. The study provides a novel insight into the next-generation lunar exploration equipment.

关键词： landing and walking robot     lunar exploration     buffer landing     compliance control    

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Factors related to compliance with oral analgesic treatment of inpatients with chronic pain

null

《医学前沿（英文）》 2015年 第9卷 第3期   页码 374-379 doi: 10.1007/s11684-015-0411-1

摘要：

This study aimed to determine the relationship between the different factors of analgesic therapy and the compliance of chronic pain inpatients. We prospectively investigated 100 consecutive inpatients with non-cancer chronic pain who were hospitalized to receive oral analgesic treatment in the Pain Department of West China Hospital from May 2013 to October 2013. Patients who completed the treatment plan were recorded as good compliance, whereas patients who partly completed or even refused the treatment were recorded as moderate or non-compliance, respectively. A total of 73 (73.7%), 17 (17.1%), and 9 (9.2%) patients showed good, moderate, and non-compliance, respectively. Univariate analyses showed significantly better compliance among farmers, patients educated in college or above, with family income of<3000 CNY, and with severe or moderate pain than those employed and unemployed (P=0.02), patients educated below college (P=0.013), with family income of≥3000 CNY (P=0.025), and with mild pain (P<0.001), respectively. Logistic regression analysis showed that the family income of≥3000 CNY (OR: 2.50, 95%CI: 1.65–4.51, P=0.021) and mild pain (OR: 1.27, 95%CI: 1.03–3.31, P=0.016) were associated with moderate or non-compliance with oral analgesic treatment. In conclusion, the low compliance with oral treatment of analgesics was found in Chinese inpatients with chronic pain and compliance was negatively associated with family income and degree of pain of patients.

关键词： chronic pain     inpatient     oral paregoric drugs     compliance    

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Association of metabolic syndrome with arterial compliance in children and adolescents

ZHANG Li, MI Jie, LI Ming, JIANG Benyu

《医学前沿（英文）》 2007年 第1卷 第1期   页码 68-73 doi: 10.1007/s11684-007-0014-6

摘要： The association of metabolic syndrome (MS) with arterial compliance in children and adolescents was explored. 337 subjects (188 men and 149 women) aged 6 18 (10.95?3.01) years, out of Beijing Child Metabolic Syndrome Study , were divided into three case groups (one component, two components, three & more components of MS) and one control group based on the Cook s MS definition in children and adolescents. Measurements including anthropometry, blood pressure, fasting plasma glucose and insulin, serum lipid profile were done. Homeostasis model assessment for insulin resistance (HOMA-IR) index was calculated for estimating individual insulin resistance. Arterial compliance was measured using digital pulse wave analyzing method from the pulse trace machine (Micro medical, London), and then the stiffness index (SI) was determined. The mean value of SI in MS group was significant higher than that in control group [(7.69?1.63) vs (6.25?0.86) m/s, <0.01]. With the increase of the clustering of MS components, SI and HOMA-IR were gradually increased. After taking account of gender, age and pubertal development, the partial correlation analysis showed that the amount of components of MS and HOMA-IR were positively correlated with SI (both values were less than 0.05). The arterial compliance of MS group was significantly lowered in children and adolescents, and with the increase of the clustering of MS components, arterial compliance was gradually decreased. It was suggested that arterial compliance assessment in children and adolescents was important for early prevention of cardiovascular diseases.

关键词： compliance assessment     correlation analysis     cardiovascular     clustering     HOMA-IR    

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Disinfection byproducts in drinking water and regulatory compliance: A critical review

Xiaomao WANG,Yuqin MAO,Shun TANG,Hongwei YANG,Yuefeng F. XIE

《环境科学与工程前沿（英文）》 2015年 第9卷 第1期   页码 3-15 doi: 10.1007/s11783-014-0734-1

摘要： Disinfection by-products (DBPs) are regulated in drinking water in a number of countries. This critical review focuses on the issues associated with DBP regulatory compliance, including methods for DBP analysis, occurrence levels, the regulation comparison among various countries, DBP compliance strategies, and emerging DBPs. The regulation comparison between China and the United States (US) indicated that the DBP regulations in China are more stringent based on the number of regulated compounds and maximum levels. The comparison assessment using the Information Collection Rule (ICR) database indicated that the compliance rate of 500 large US water plants under the China regulations is much lower than that under the US regulations (e.g. 62.2% versus 89.6% for total trihalomethanes). Precursor removal and alternative disinfectants are common practices for DBP regulatory compliance. DBP removal after formation, including air stripping for trihalomethane removal and biodegradation for haloacetic acid removal, have gained more acceptance in DBP control. Formation of emerging DBPs, including iodinated DBPs and nitrogenous DBPs, is one of unintended consequences of precursor removal and alternative disinfection. At much lower levels than carbonaceous DBPs, however, emerging DBPs have posed higher health risks.

关键词： Disinfection byproducts (DBPs)     drinking water standards     regulatory compliance     alternative disinfection     information collection rule (ICR)     emerging DBPs    

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中国建筑企业海外经营合规管理研究

罗敏,李启明

《中国工程科学》 2021年 第23卷 第4期   页码 87-96 doi: 10.15302/J-SSCAE-2021.04.010

摘要：

中国建筑企业“走出去”、海外经营可持续发展，离不开有效的合规管理。本文系统梳理了世界银行对于资助建设项目的制裁体系，总结了发达国家、国际组织针对大型企业跨国业务运营所采取的管制措施，相关内容是中国建筑企业掌握国际通行规则、合规开展国际业务的技术性参考。重点针对 2009—2020 财年中国建筑企业海外经营发生的“不合规”事件开展分析，总结了“不合规”事件的基本特征及面临后果，指出了国际监管力度逐步加强、项目东道国的业务经营环境不佳、母国对建筑企业海外经营的规制薄弱等突出问题。研究建议，我国应加强正式和非正式的国际合作，加快刑法激励机制、行政监管激励机制等法律制度建设，融合先进技术对建筑企业进行合规指导与合规监管，注重培养涉外业务合规管理人才，着力提升中国建筑企业海外经营水平和合规管理能力。

关键词： 建筑企业     海外经营     合规管理     世界银行     国际合作    

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Why does environmental compliance cost more than penalty?

DONG Hongwei

《环境科学与工程前沿（英文）》 2007年 第1卷 第4期   页码 434-442 doi: 10.1007/s11783-007-0069-2

摘要： In the environmental protection field of China, due to lower law-breaking cost but higher law-abiding cost , it is a common case that the enterprise chooses to break through the law on purpose. The punishment to the unlawful pr

关键词： law-abiding     punishment     environmental protection     law-breaking     enterprise    

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Twenty years of achievements in China’s implementation of the Stockholm Convention

《环境科学与工程前沿（英文）》 2022年 第16卷 第12期 doi: 10.1007/s11783-022-1587-7

摘要：

● China’s implementation of the SC was systematically studied.

关键词： Stockholm Convention     Persistent organic pollutants     Compliance     Effectiveness    

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Hyperledger fabric-based consortium blockchain for construction quality information management

Botao ZHONG, Haitao WU, Lieyun DING, Hanbin LUO, Ying LUO, Xing PAN

《工程管理前沿（英文）》 2020年 第7卷 第4期   页码 512-527 doi: 10.1007/s42524-020-0128-y

摘要： Lack of trust has been an ongoing issue for decades in construction quality management, hindering the improvement of quality performance. The development of mutual trust depends on immutable, traceable, and transparent construction quality information records. However, current information technologies cannot meet the requirements. To address the challenge, this study explores a blockchain-based framework for construction quality information management, which extends applications of blockchain in the domain of construction quality management. A consortium blockchain system is designed to support construction quality management in which participants’ information permissions and lifecycle are discussed. Additionally, this study presents in detail the consensus process that aims to address the problem of information fraud. The automated compliance checking based on smart contracts is presented as well, aiming to assure that construction products meet regulation requirements. Finally, an example of the consortium blockchain network is visualized to validate the feasibility of blockchain-based construction quality information management. The research shows that blockchain can facilitate mutual trust in construction quality management by providing distributed, encrypted, and secure information records and supporting automated compliance checking of construction quality.

关键词： blockchain     construction quality     smart contracts     compliance checking     information management    

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低压断路器和漏电保护电器的可靠性研究

陆俭国

《中国工程科学》 2005年 第7卷 第6期   页码 36-40

摘要：

阐述了低压断路器和漏电保护电器等低压保护类电器可靠性研究的重要性、科学意义及其社会效益，介绍了国际上权威学术机构IEEE在该方面所做工作的概况，指出了开展该方面研究工作的难度与创新意义；重点分析了低压断路器和漏电保护电器的故障模式，在此基础上，在国内外首次提出了其可靠性指标与可靠性验证试验方案，为我国电器行业开展低压保护类电器的可靠性工作提出了理论依据与具体方法。

关键词： 故障模式     可靠性指标     可靠性验证试验方案    

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WHEAT STRIPE RUST AND INTEGRATION OF SUSTAINABLE CONTROL STRATEGIES IN CHINA

《农业科学与工程前沿（英文）》 2022年 第9卷 第1期   页码 37-51 doi: 10.15302/J-FASE-2021405

摘要：

Stripe (yellow) rust caused by Puccinia striiformis f. sp. tritici occurs in almost all wheat-producing regions of the world. Severe countrywide epidemics in China have caused substantial yield losses. Growing resistant cultivars is the best strategy to control this disease but the pathogen can overcome resistance in wheat cultivars. The high variation in the virulence of the pathogen combined with the large areas of susceptible wheat cultivars enables the pathogen population to increase rapidly and disperse over long distances under favorable environmental conditions, resulting in severe pandemics within cropping seasons. Current stripe rust control measures are based on many years of research including the underlying epidemiology regarding year-to-year survival of the pathogen, pathways of pathogen dispersal within seasons and years, the role of P. striiformis sexual hybridization, the use of resistance sources in breeding programs, and year-round surveillance of national wheat crops that are present in different parts of the country throughout the year. All these strategies depend on accurate prediction of epidemics, more precise use of fungicides to meet national requirements and better deployment of resistance genes. New ideas with potential application in sustainable protection of stripe rust include negative regulatory gene editing, resistance gene overexpression and biological control based on microbiomes.

 

关键词： sustainable disease control / integrated control Puccinia striiformis / Triticum aestivum    

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A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

《机械工程前沿（英文）》 2015年 第10卷 第2期   页码 198-210 doi: 10.1007/s11465-015-0335-0

摘要：

Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cutting-edge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a first-hand reference for researchers, engineers and industrial-interns to realize the control laws for multi-degree of freedom (DOF) manipulators.

关键词： robot control     robust and nonlinear control     adaptive control     intelligent control     industrial manipulators     robotic arm    

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Emerging contaminant control: From science to action

《环境科学与工程前沿（英文）》 2022年 第16卷 第6期 doi: 10.1007/s11783-022-1559-y

摘要： Since the concept of emerging contaminants (ECs) was first proposed in 2001, the global scientific research of ECs has developed rapidly. In the past decades, great progress has been achieved in the scientific research of ECs in China, including the establishment of EC analysis method system, the evaluation of the pollution status, pollution characteristics and environmental risk of ECs in typical regions of China, and establishment of EC control technology system. Continuous progress in scientific research of ECs promoted China’s action on EC control. It is planned that the environmental risk of ECs will be generally controlled by 2035 in China. Priority ECs should be screened for environmental management. Although great efforts have been made, the EC control in China still faces tremendous challenges. It is necessary to bridge the gap between scientific research and decision-making management. Based on the science and technology study, various measures such as engineering, policy management and public participation should be combinedly adopted for EC control.

关键词： Emerging contaminants     Priority pollutants     PPCPs     POPs     Control policy    

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An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

《化学科学与工程前沿（英文）》 2022年 第16卷 第2期   页码 237-250 doi: 10.1007/s11705-021-2058-6

摘要： Advanced model-based control strategies, e.g., model predictive control, can offer superior control of key process variables for multiple-input multiple-output systems. The quality of the system model is critical to controller performance and should adequately describe the process dynamics across its operating range while remaining amenable to fast optimization. This work articulates an integrated system identification procedure for deriving black-box nonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive control. To showcase this approach, five candidate models for polynomial and interaction features of both output and manipulated variables were trained on simulated data and integrated into a nonlinear model predictive controller for a highly nonlinear continuous stirred tank reactor system. This procedure successfully identified system models that enabled effective control in both servo and regulator problems across wider operating ranges. These controllers also had reasonable per-iteration times of ca. 0.1 s. This demonstration of how such system models could be identified for nonlinear model predictive control without prior knowledge of system dynamics opens further possibilities for direct data-driven methodologies for model-based control which, in the face of process uncertainties or modelling limitations, allow rapid and stable control over wider operating ranges.

关键词： nonlinear model predictive control     black-box modeling     continuous-time system identification     machine learning     industrial applications of process control    

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

《机械工程前沿（英文）》 2008年 第3卷 第4期   页码 421-425 doi: 10.1007/s11465-008-0063-9

摘要： Using an appropriate control method, linear ultrasonic motors can be used in applications requiring high position accuracy. In this paper, a closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOF stage driven by linear ultrasonic motors. Two ultrasonic motors are mounted on the stage to generate motion in two orthogonal directions. The PI control algorithm is used to increase the stability and accuracy of position control. The -axis mover covers 30 mm forward and backward in less than 0.3 s settling time and the -axis mover in less than 0.4 s. Experimental results denote that the control strategy proposed in this paper appears to have high efficiency, quick response, and high accuracy.

关键词： settling     position accuracy     PI control     control algorithm     orthogonal    

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A hybrid LQR-PID control design for seismic control of buildings equipped with ATMD

Amir Hossein HEIDARI, Sadegh ETEDALI, Mohamad Reza JAVAHERI-TAFTI

《结构与土木工程前沿（英文）》 2018年 第12卷 第1期   页码 44-57 doi: 10.1007/s11709-016-0382-6

摘要： This paper presents an efficient hybrid control approach through combining the idea of proportional-integral-derivative (PID) controller and linear quadratic regulator (LQR) control algorithm. The proposed LQR-PID controller, while having the advantage of the classical PID controller, is easy to implement in seismic-excited structures. Using an optimization procedure based on a cuckoo search (CS) algorithm, the LQR-PID controller is designed for a seismic- excited structure equipped with an active tuned mass damper (ATMD). Considering four earthquakes, the performance of the proposed LQR-PID controller is evaluated. Then, the results are compared with those given by a LQR controller. The simulation results indicate that the LQR-PID performs better than the LQR controller in reduction of seismic responses of the structure in the terms of displacement and acceleration of stories of the structure.

关键词： seismic control     tuned mass dampers     cuckoo search     PID controller     LQR controller    

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标题 作者 时间 类型 操作

Landing control method of a lightweight four-legged landing and walking robot

期刊论文

Factors related to compliance with oral analgesic treatment of inpatients with chronic pain

null

期刊论文

Association of metabolic syndrome with arterial compliance in children and adolescents

ZHANG Li, MI Jie, LI Ming, JIANG Benyu

期刊论文

Disinfection byproducts in drinking water and regulatory compliance: A critical review

Xiaomao WANG,Yuqin MAO,Shun TANG,Hongwei YANG,Yuefeng F. XIE

期刊论文

中国建筑企业海外经营合规管理研究

罗敏,李启明

期刊论文

Why does environmental compliance cost more than penalty?

DONG Hongwei

期刊论文

Twenty years of achievements in China’s implementation of the Stockholm Convention

期刊论文

Hyperledger fabric-based consortium blockchain for construction quality information management

Botao ZHONG, Haitao WU, Lieyun DING, Hanbin LUO, Ying LUO, Xing PAN

期刊论文

低压断路器和漏电保护电器的可靠性研究

陆俭国

期刊论文

WHEAT STRIPE RUST AND INTEGRATION OF SUSTAINABLE CONTROL STRATEGIES IN CHINA

期刊论文

A systematic review of current and emergent manipulator control approaches

Syed Ali AJWAD,Jamshed IQBAL,Muhammad Imran ULLAH,Adeel MEHMOOD

期刊论文

Emerging contaminant control: From science to action

期刊论文

An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

期刊论文

Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

期刊论文

A hybrid LQR-PID control design for seismic control of buildings equipped with ATMD

Amir Hossein HEIDARI, Sadegh ETEDALI, Mohamad Reza JAVAHERI-TAFTI

期刊论文