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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年第7卷第1期页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam two robots coordinated welding motion planning

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Is there an inverted U-shaped curve?Empirical analysis of the Environmental Kuznets Curve in agrochemicals

Fei LI,Suocheng DONG,Fujia LI,Libiao YANG

《环境科学与工程前沿（英文）》 2016年第10卷第2期页码 276-287 doi: 10.1007/s11783-014-0700-y

摘要： As the largest contributor to water impairment, agriculture-related pollution has attracted the attention of scientists as well as policy makers, and quantitative information is being sought to focus and advance the policy debate. This study applies the panel unit root, heterogeneous panel cointegration, and panel-based dynamic ordinary least squares to investigate the Environmental Kuznets Curve on environmental issues resulting from use of agricultural synthetic fertilizer, pesticide, and film for 31 provincial economies in mainland China from 1989 to 2009. The empirical results indicate a positive long-run co-integrated relationship between the environmental index and real GDP per capita. This relationship takes on the inverted U-shaped Environmental Kuznets Curve, and the value of the turning point is approximately 10,000–13,000, 85,000–89,000 and over 160,000 CNY, for synthetic fertilizer nitrogen indicator, fertilizer phosphorus indicator and pesticide indicator, respectively. At present, China is subject to tremendous environmental pressure and should assign more importance to special agriculture-related environmental issues.

关键词： Environmental Kuznets Curve agrochemical China

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年第10卷第1期页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking welding robotic manipulator adaptive control sliding mode control

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A review on transport of coal seam gas and its impact on coalbed methane recovery

Geoff G.X. WANG, Xiaodong ZHANG, Xiaorong WEI, Xuehai FU, Bo JIANG, Yong QIN

《化学科学与工程前沿（英文）》 2011年第5卷第2期页码 139-161 doi: 10.1007/s11705-010-0527-4

摘要： This paper presents a summary review on mass transport of coal seam gas (CSG) in coal associated with the coalbed methane (CBM) and CO geo-sequestration enhanced CBM (CO -ECBM) recovery and current research advances in order to provide general knowledge and fundamental understanding of the CBM/ECBM processes for improved CBM recovery. It will discuss the major aspects of theory and technology for evaluation and development of CBM resources, including the gas storage and flow mechanism in CBM reservoirs in terms of their differences with conventional natural gas reservoirs, and their impact on CBM production behavior. The paper summarizes the evaluation procedure and methodologies used for CBM exploration and exploitation with some recommendations.

关键词： mass transport coal seam gas (CSG) coalbed methane (CBM) coal CBM recovery carbon dioxide storage

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Learning curve of totally thoracoscopic pulmonary segmentectomy

Weibing Wu, Jing Xu, Wei Wen, Yue Yu, Xinfeng Xu, Quan Zhu, Liang Chen

《医学前沿（英文）》 2018年第12卷第5期页码 586-592 doi: 10.1007/s11684-017-0566-z

摘要：

Totally thoracoscopic pulmonary segmentectomy (TTPS) is a feasible and safe technique that requires advanced thoracoscopic skills and knowledge of pulmonary anatomy. However, data describing the learning curve of TTPS have yet to be obtained. In this study, 128 patients who underwent TTPS between September 2010 and December 2013 were retrospectively analyzed to evaluate the learning curve and were divided chronologically into three phases, namely, ascending phase (A), plateau phase (B), and descending phase (C), through cumulative summation (CUSUM) for operative time (OT). Phases A, B, and C comprised 39, 33, and 56 cases, respectively. OT and blood loss decreased significantly from phases A to C (P <0.01), and the frequency of intraoperative bronchoscopy for target bronchus identification decreased gradually (A, 8/39; B, 4/33; C, 3/56; P = 0.06). No significant differences were observed in demographic factors, conversion, complications, hospital stay, and retrieved lymph nodes among the three phases. Surgical outcomes and techniques improved with experience and volume. CUSUM_OT indicated that the learning curve of TTPS should be more than 72 cases.

关键词： thoracoscopic segmentectomy learning curve CUSUM

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急倾斜煤层开采对地表构筑物影响的预计

高明中,王列平

《中国工程科学》 2007年第9卷第11期页码 142-146

摘要：

针对淮南某矿急倾斜煤层开采复杂的采矿地质条件，运用概率积分法对优化后的开采方案所引起的地表沉陷进行研究，总结出急倾斜煤层开采重复采动所引起的厚冲积层地表沉陷的相关参数。所得结果对现场开采及地表沉陷治理具有一定的指导作用，对于同类地质和开采条件的矿区具有重要参考价值。

关键词：急倾斜煤层地表移动与变形概率积分法预计

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煤层注水参数的数量化理论正交设计优化法的研究

秦书玉,秦伟瀚

《中国工程科学》 2003年第5卷第10期页码 52-55

摘要：

应用正交设计优化煤层注水工艺参数的组合，对地质条件稳定的煤层是实现最佳注水效果的一种较好的方法。但是，对于地质条件不断变化的煤层，采用该方法，其效果不一定能满足注水工程要求。为此，针对地质因素为不稳定状态下的煤层及影响煤层注水的地质因素既有定性变量又有定量变量的特征，提出利用数量化理论与正交设计2种方法确定注水工艺参数的最优组合，并进行了工程试验优化研究。试验结果表明，此法节省注水试验工程量，接近实际工程要求。

关键词：数量化理论工艺参数正交设计煤层注水试验研究

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Numerical investigation of circle defining curve for two-dimensional problem with general boundaries

Chung Nguyen VAN

《结构与土木工程前沿（英文）》 2019年第13卷第1期页码 92-102 doi: 10.1007/s11709-018-0472-8

摘要： The scaled boundary finite element method (SBFEM) is applied to the static analysis of two dimensional elasticity problem, boundary value problems domain with the domain completely described by a circular defining curve. The scaled boundary finite element equations is formulated within a general framework integrating the influence of the distributed body force, general boundary conditions, and bounded and unbounded domain. This paper investigates the possibility of using exact geometry to form the exact description of the circular defining curve and the standard finite element shape function to approximate the defining curve. Three linear elasticity problems are presented to verify the proposed method with the analytical solution. Numerical examples show the accuracy and efficiency of the proposed method, and the performance is found to be better than using standard linear element for the approximation defining curve on the scaled boundary method.

关键词： exact geometry circular defining curve general boundaries SBFEM

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GID complex regulates the differentiation of neural stem cells by destabilizing TET2

《医学前沿（英文）》 doi: 10.1007/s11684-023-1007-9

摘要： Brain development requires a delicate balance between self-renewal and differentiation in neural stem cells (NSC), which rely on the precise regulation of gene expression. Ten-eleven translocation 2 (TET2) modulates gene expression by the hydroxymethylation of 5-methylcytosine in DNA as an important epigenetic factor and participates in the neuronal differentiation. Yet, the regulation of TET2 in the process of neuronal differentiation remains unknown. Here, the protein level of TET2 was reduced by the ubiquitin-proteasome pathway during NSC differentiation, in contrast to mRNA level. We identified that TET2 physically interacts with the core subunits of the glucose-induced degradation-deficient (GID) ubiquitin ligase complex, an evolutionarily conserved ubiquitin ligase complex and is ubiquitinated by itself. The protein levels of GID complex subunits increased reciprocally with TET2 level upon NSC differentiation. The silencing of the core subunits of the GID complex, including WDR26 and ARMC8, attenuated the ubiquitination and degradation of TET2, increased the global 5-hydroxymethylcytosine levels, and promoted the differentiation of the NSC. TET2 level increased in the brain of the Wdr26^+/− mice. Our results illustrated that the GID complex negatively regulates TET2 protein stability, further modulates NSC differentiation, and represents a novel regulatory mechanism involved in brain development.

关键词： TET2 GID complex neural stem cells differentiation of neurons

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学习曲线及在工业生产运作研究中的应用综述

陈志祥

《中国工程科学》 2007年第9卷第7期页码 82-88

摘要：

学习曲线是一种通过生产者行为学习与经验积累而得到改进的生产产出的特征函数，利用学习曲线可以科学地制定成本计划，改善作业计划、劳动定额与劳力规划，质量改善等。对国际上的研究文献、学习曲线的表现形式及其特点进行分析，探讨了几个新的应用动向。

关键词：学习曲线运作管理行为研究

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Research on physical shape preserving curve reconstruction

TANG Kelun, ZHANG Xiangwei, CHENG Siyuan, XIONG Hanwei, ZHANG Hong

《机械工程前沿（英文）》 2007年第2卷第3期页码 305-309 doi: 10.1007/s11465-007-0054-2

摘要： Fusion of various data is an effective way to improve the precision and efficiency of acquiring information in reverse engineering. A method of physical shape preserving curve reconstruction is proposed to better realize the data fusion of coordinate measuring machine (CMM) and visual information. From the principle of materials mechanics, the strain energy of the curve corresponding to the distortion is advanced as the internal energy, and the elastic potential energy of the curve is established, using a few precise measured data points as the equilibrium position, to be the external energy. On the basis of the principle of variation calculus, the basic spline finite element method (B-spline FEM) is used to determine the equilibrium position of curve deformation. Numerical simulation indicates that there is an extremely good agreement between the new fitted curve and the actual curve.

关键词： information CMM Numerical simulation effective coordinate measuring

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开采煤层顶板环形裂隙圈内走向长钻孔法抽放瓦斯研究

刘泽功,袁亮,戴广龙,石必明,卢平,涂敏

《中国工程科学》 2004年第6卷第5期页码 32-38

摘要：

开采煤层工作面的瓦斯主要来源于该煤层、采空区和邻近层的卸压解吸瓦斯。由于煤层松软，顺层钻孔施工难，不便钻孔抽放瓦斯。若对采空区实施大面积抽放，工程难度大，而且抽不出高浓度瓦斯。因此，寻找瓦斯运移的裂隙通道和瓦斯富集区，实施有效的瓦斯抽放工程是实现高效瓦斯抽放的技术关键。采用实验室相似材料试验、数值模拟计算和工业性试验研究方法，研究寻找采场上覆岩层中环形裂隙圈形成机理和位置，把抽放钻孔布置在环形裂隙圈内，进行“环形裂隙圈内走向长钻孔法”瓦斯抽放。这种瓦斯抽放技术使低透气性高瓦斯煤层的开采和瓦斯抽放分层区进行，在开采层工作面采煤，在顶板层裂隙区抽放卸压瓦斯，对流向工作面上隅角的瓦斯起到了截流作用，解决了松软低透气性高瓦斯煤层群开采瓦斯抽放困难的关键技术难题。该瓦斯抽放技术在淮南矿区高瓦斯工作面的应用结果表明，采煤工作面瓦斯抽放率达到60%以上，实现煤层群首采煤层安全、高效、集约化开采。

关键词：煤层顶板相似材料试验数值计算环形裂隙圈瓦斯抽放

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Interpolation of a spline developable surface between a curve and two rulings

Alicia CANTÓN,Leonardo FERNÁNDEZ-JAMBRINA

《信息与电子工程前沿（英文）》 2015年第16卷第3期页码 173-190 doi: 10.1631/FITEE.14a0210

摘要： In this paper we address the problem of interpolating a spline developable patch bounded by a given spline curve and the first and the last rulings of the developable surface. To complete the boundary of the patch, a second spline curve is to be given. Up to now this interpolation problem could be solved, but without the possibility of choosing both endpoints for the rulings. We circumvent such difficulty by resorting to degree elevation of the developable surface. This is useful for solving not only this problem, but also other problems dealing with triangular developable patches.

关键词： Developable surfaces Spline surfaces Blossoms

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Principle and curve of planetary indexing cam mechanisms

LIU Ming-tao, ZHANG Ce, YANG Yu-hu

《机械工程前沿（英文）》 2006年第1卷第4期页码 475-478 doi: 10.1007/s11465-006-0063-6

摘要： A new type of planetary indexing cam mechanism called type !c is presented. The transmission principle of type !c is discussed. Based on the principle of formation of conjugate tooth contour, the equations of the cam s pitch curve are derived. The continuity and symmetry of the cam s pitch curve are also analyzed. It can be concluded that: 1) This type has no output institution so the output precision can be improved; 2) The asymmetrical two-ring structure is used to overcome dead point and its phase angle is equal to (π - 2π/n); 3) The continuous condition of the cam s pitch curve is that the average transmission ratio is -n in an intermittent motion period.

关键词： continuity planetary average transmission symmetry intermittent