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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Xingjian Wang Chenguang Yang Junpei Zhong Rongxin Cui Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology Zienkiewicz Centre for Computational Engineering Swansea University National Institute of Advanced Industrial Science and Technology School of Marine Science and Technology Northwestern Polytechnical University

In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction including the internal forces applied on the object must be taken into *** the dynamics models for master device,slave robot and the object are first *** the presence of the uncertainties in the dynamics model of the remote robot,a neural network method is used for compensation in the slave *** order to guarantee the stability of the teleoperation system,the wave variable approach is employed in the communication *** the controllers in both the master and the slave part are designed based on their dynamics *** the tracking convergence and system stability are proven by the Lyapunov *** simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.

关键词： Bimanual Robot Teleoperation control Wave Variable RBF NN

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On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 394-397页

作者： Fei-Yue Wang Yanqing Gao IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Department of Manufacturing & Mechanical Engineering & Technology Oregon Institute of Technology

This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation. © 2014 Chinese Association of Automation.

关键词： Dielectric waveguides Flexible manipulators Manipulators Orthogonal functions Vibration analysis

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Flow-directed assembly of non-spherical titania nanoparticles into superhydrophilic thin films

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Frontiers of Materials Science 2016年第1期10卷 1-7页

作者： Abhijeet OJHA Manish THAKKER Dinesh O. SHAH Prachi THAREJA Department of Biological Engineering Indian Institute of Technology Gandhinagar Ahmedabad 382424 Gujarat India Department of Instrumentation and Control Engineering Dharmsinh Desai University Nadiad 387001 Gujarat India Shah-Schulman Center for Surface Science and Nanotechnology Dharmsinh Desai University Nadiad 387001 Gujarat India Department of Chemical Engineering and Department of Anesthesiology University of Florida Gainesville FL 32608 USA Department of Chemical Engineering Indian Institute of Technology Gandhinagar Ahmedabad 382424 Gujarat India

Superhydrophilic thin films of 21 nm sized non-spherical titania nanoparticles are fabricated from a colloidal suspension by fixed blade flow coating without UV illumination. At a blade angle of a= 36° and a gap of d= 300 μm, hierarchically structured films with increasing surface roughness along with microscopic voids are formed depending on the substrate velocity and the titania volume fraction. Increasing the roughness is shown to be concomitant to an increase in the hydrophilicity, eventually leading to superhydrophilicity or water contact angle less than 5°.

关键词： superhydrophilicity titania flow coating thin films

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Author Correction: Near-real-time monitoring of global CO2 emissions reveals the effects of the COVID-19 pandemic

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Nature communications 2020年第1期11卷 6292页

作者： Zhu Liu Philippe Ciais Zhu Deng Ruixue Lei Steven J Davis Sha Feng Bo Zheng Duo Cui Xinyu Dou Biqing Zhu Rui Guo Piyu Ke Taochun Sun Chenxi Lu Pan He Yuan Wang Xu Yue Yilong Wang Yadong Lei Hao Zhou Zhaonan Cai Yuhui Wu Runtao Guo Tingxuan Han Jinjun Xue Olivier Boucher Eulalie Boucher Frédéric Chevallier Katsumasa Tanaka Yiming Wei Haiwang Zhong Chongqing Kang Ning Zhang Bin Chen Fengming Xi Miaomiao Liu François-Marie Bréon Yonglong Lu Qiang Zhang Dabo Guan Peng Gong Daniel M Kammen Kebin He Hans Joachim Schellnhuber Department of Earth System Science Tsinghua University Beijing China. zhuliu@***. Laboratoire des Sciences du Climat et de l'Environnement LSCE CEA CNRS UVSQ Centre d'Etudes Orme de Merisiers Gif-sur-Yvette France. Department of Earth System Science Tsinghua University Beijing China. Department of Meteorology and Atmospheric Science The Pennsylvania State University University Park PA USA. Department of Earth System Science University of California Irvine 3232Croul Hall Irvine CA USA. Division of Geological and Planetary Sciences California Institute of Technology Pasadena CA USA. Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA. Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment Technology School of Environmental Science and Engineering Nanjing University of Information Science and Technology Nanjing China. Key Laboratory of Land Surface Pattern and Simulation Institute of Geographical Sciences and Natural Resources Research Chinese Academy of Sciences Beijing China. Climate Change Research Center Institute of Atmospheric Physics Chinese Academy of Sciences Beijing China. Key Laboratory of Middle Atmosphere and Global Environment Observation Institute of Atmospheric Physics Chinese Academy of Sciences Beijing China. School of Environment Tsinghua University Beijing China. School of Mathematical School Tsinghua University Beijing China. Department of Mathematical Sciences Tsinghua University Beijing China. Center of Hubei Cooperative Innovation for Emissions Trading System Wuhan China. Faculty of Management and Economics Kunming University of Science and Technology 13 Kunming China. Economic Research Centre of Nagoya University Furo-cho Chikusa-ku Nagoya Japan. Institut Pierre-Simon Laplace Sorbonne Université/CNRS Paris France. Université Paris Dauphine Place du Maréchal de Lattre de Tassigny 75016 Paris France.

A Correction to this paper has been published: https://***/10.1038/s41467-020-20254-5.

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Non-cascading structure based Flyback-Forward converter with large duty ratio 5

Non-cascading structure based Flyback-Forward converter with...

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5th International Conference on Eco-Friendly Computing and Communication Systems, ICECCS 2016

作者： Kumar, Sunil Scholar, Research Kataria, Rajesh Rana, K.P.S. Kumar, Vineet Department of Electronics and Communication Engineering Bhagwant University Ajmer Rajasthan305004 India Division of Instrumentation and Control Engineering Netaji Subhas Institute of Technology Dwarka New Delhi110078 India

ISBN: (纸本)9781509043590

In this paper, a Flyback-Forward converter employing a non-cascading scheme is presented in discontinuous conduction mode. The converter is designed to enhance the duty ratio of over 50%. As a result, the flyback sub-converter acts in boost mode and generates stepped-up output voltage. Since the switch utilization is required to be as high as possible in a forward converter, in present case, this objective is also simultaneously achieved. The simulation results obtained for a 24 V, 24W converter show the duty ratio greater than 50%. © 2016 IEEE.

关键词： Power electronics

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SRC_Num_TDOA: Multiple speech sources’ number and their TDOA Estimation from a stereo recorded mixture

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SoftwareX 2016年 5卷 234-242页

作者： Bouafif, Mariem Lachiri, Zied LSTS-SIFI Laboratory National Engineering School of Tunis BP53 Campus Universitaire 1002 le Belvedere Tunis Tunisia Department of Physic and Instrumentation National Institute of Applied Sciences and Technology BP 676 Centre Urbain 1080 Cedex Tunis Tunisia

We consider the problem of sources counting and Time Delays of Arrival (TDOAs) estimation from a two-channel reverberant mixture in the underdetermined case. Most existing estimating TDOA implementations are based on a prior knowledge about the number of involved sources in the mixture. Whereas, we develop a new function that only takes the observed mixtures as input. In this paper, we describe the basic of the proposed function, its development and its evaluation on real recorded mixtures with reference to widely used methods. Through simulations and real environment experiments, we indicate that our method outperforms other state-of-the-art TDOA methods in terms of accuracy, while being significantly more efficient in terms of computational complexity. © 2016 The Author(s)

关键词： Mixtures

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Tool-specific performance of vibration-reducing gloves for attenuating fingers-transmitted vibration

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Occupational Ergonomics 2016年第1期13卷 23-44页

作者： Welcome, Daniel E. Dong, Ren G. Xu, Xueyan S. Warren, Christopher McDowell, Thomas W. Engineering and Control Technology Branch National Institute for Occupational Safety and Health 1095 Willowdale Road Morgantown 26505 WV United States

BACKGROUND: Fingers-transmitted vibration can cause vibration-induced white finger. The effectiveness of vibrationreducing (VR) gloves for reducing hand transmitted vibration to the fingers has not been sufficiently examined. OBJECTIVE: The objective of this study is to examine tool-specific performance of VR gloves for reducing finger-transmitted vibrations in three orthogonal directions (3D) from powered hand tools. METHODS: A transfer function method was used to estimate the tool-specific effectiveness of four typical VR gloves. The transfer functions of the VR glove fingers in three directions were either measured in this study or during a previous study using a 3D laser vibrometer. More than seventy vibration spectra of various tools or machines were used in the estimations. RESULTS: When assessed based on frequency-weighted acceleration, the gloves provided little vibration reduction. In some cases, the gloves amplified the vibration by more than 10%, especially the neoprene glove. However, the neoprene glove did the best when the assessment was based on unweighted acceleration. The neoprene glove was able to reduce the vibration by 10% or more of the unweighted vibration for 27 out of the 79 tools. If the dominant vibration of a tool handle or workpiece was in the shear direction relative to the fingers, as observed in the operation of needle scalers, hammer chisels, and bucking bars, the gloves did not reduce the vibration but increased it. CONCLUSIONS: This study confirmed that the effectiveness for reducing vibration varied with the gloves and the vibration reduction of each glove depended on tool, vibration direction to the fingers, and finger location. VR gloves, including certified anti-vibration gloves do not provide much vibration reduction when judged based on frequency-weighted acceleration. However, some of the VR gloves can provide more than 10% reduction of the unweighted vibration for some tools or workpieces. Tools and gloves can be matched for

关键词： Anti-vibration glove finger vibration hand-arm vibration hand-arm vibration syndrome hand-transmitted vibration

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Author Correction: A multi-country test of brief reappraisal interventions on emotions during the COVID-19 pandemic

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Nature human behaviour 2022年第9期6卷 1318-1319页

作者： Ke Wang Amit Goldenberg Charles A Dorison Jeremy K Miller Andero Uusberg Jennifer S Lerner James J Gross Bamikole Bamikole Agesin Márcia Bernardo Olatz Campos Luis Eudave Karolina Grzech Daphna Hausman Ozery Emily A Jackson Elkin Oswaldo Luis Garcia Shira Meir Drexler Anita Penić Jurković Kafeel Rana John Paul Wilson Maria Antoniadi Kermeka Desai Zoi Gialitaki Elizaveta Kushnir Khaoula Nadif Olalla Niño Bravo Rafia Nauman Marlies Oosterlinck Myrto Pantazi Natalia Pilecka Anna Szabelska I M M van Steenkiste Katarzyna Filip Andreea Ioana Bozdoc Gabriela Mariana Marcu Elena Agadullina Matúš Adamkovič Marta Roczniewska Cecilia Reyna Angelos P Kassianos Minja Westerlund Lina Ahlgren Sara Pöntinen Gabriel Agboola Adetula Pinar Dursun Azuka Ikechukwu Arinze Nwadiogo Chisom Arinze Chisom Esther Ogbonnaya Izuchukwu L G Ndukaihe Ilker Dalgar Handan Akkas Paulo Manuel Macapagal Savannah Lewis Irem Metin-Orta Francesco Foroni Megan Willis Anabela Caetano Santos Aviv Mokady Niv Reggev Merve A Kurfali Martin R Vasilev Nora L Nock Michal Parzuchowski Mauricio F Espinoza Barría Marek Vranka Markéta Braun Kohlová Ivan Ropovik Mikayel Harutyunyan Chunhui Wang Elvin Yao Maja Becker Efisio Manunta Gwenael Kaminski Jordane Boudesseul Dafne Marko Kortnee Evans David M G Lewis Andrej Findor Anais Thibault Landry John Jamir Benzon Aruta Manuel S Ortiz Zahir Vally Ekaterina Pronizius Martin Voracek Claus Lamm Maurice Grinberg Ranran Li Jaroslava Varella Valentova Giovanna Mioni Nicola Cellini Sau-Chin Chen Janis Zickfeld Karis Moon Habiba Azab Neil Levy Alper Karababa Jennifer L Beaudry Leanne Boucher W Matthew Collins Anna Louise Todsen Kevin van Schie Jáchym Vintr Jozef Bavolar Lada Kaliska Valerija Križanić Lara Samojlenko Razieh Pourafshari Sandra J Geiger Julia Beitner Lara Warmelink Robert M Ross Ian D Stephen Thomas J Hostler Soufian Azouaghe Randy McCarthy Anna Szala Caterina Grano Claudio Singh Solorzano Gulnaz Anjum William Jimenez-Leal Maria Bradford Laura Calderón Pérez Julio E Cruz Vásquez Oscar J Galindo-Caballero Juan Cami Harvard Kennedy School Harvard University Cambridge MA USA. Harvard Business School Harvard University Cambridge MA USA. Kellogg School of Management Northwestern University Evanston IL USA. Department of Psychology Willamette University Salem OR USA. millerj@willamette.edu. Institute of Psychology University of Tartu Tartu Estonia. Harvard Kennedy School and Department of Psychology Harvard University Cambridge MA USA. Department of Psychology Stanford University Stanford CA USA. Adekunle Ajasin University Akungba Akoko Nigeria. Faculdade de Psicologia e Ciências da Educação Universidade do Porto Porto Portugal. University of Deusto Barakaldo Spain. University of Navarra Pamplona Spain. University of Valencia Valencia Spain. Stockholm University Stockholm Sweden. California State University Northridge Los Angeles CA USA. Indiana University of Pennsylvania Indiana PA USA. Universidad de Navarra Pamplona Spain. Department of Cognitive Psychology Institute of Cognitive Neuroscience Ruhr University Bochum Bochum Germany. Kindergarten Kustošija Zagreb Croatia. GC University Lahore Lahore Pakistan. Montclair State University Jersey City NJ USA. European University of Cyprus Nicosia Cyprus. Indiana University of Pennsylvania Akron PA USA. Leiden University Culemborg The Netherlands. Stockholm Sweden. Poggio Imperiale Italy. Barakaldo Spain. Islamabad Pakistan. Gent Belgium. Oxford Internet Institute University of Oxford Oxford UK. Warsaw Poland. Queen's University Belfast Belfast Ireland. Universiteit Leiden Leiden The Netherlands. Institute of Psychology Jagiellonian University Krakow Poland. Department of Psychology Lucian Blaga University of Sibiu Sibiu Romania. Carol Davila University of Medicine and Pharmacy Bucharest Romania. National Research University Higher School of Economics Moscow Russia. Institute of Psychology Faculty of Arts University of Presov Presov Slovakia. Institute of Social Sciences CSPS Sl

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Gravitational Test beyond the First Post-Newtonian Order with the Shadow of the M87 Black Hole

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Physical Review Letters 2020年第14期125卷 141104-141104页

作者： Dimitrios Psaltis Lia Medeiros Pierre Christian Feryal Özel Kazunori Akiyama Antxon Alberdi Walter Alef Keiichi Asada Rebecca Azulay David Ball Mislav Baloković John Barrett Dan Bintley Lindy Blackburn Wilfred Boland Geoffrey C. Bower Michael Bremer Christiaan D. Brinkerink Roger Brissenden Silke Britzen Dominique Broguiere Thomas Bronzwaer Do-Young Byun John E. Carlstrom Andrew Chael Chi-kwan Chan Shami Chatterjee Koushik Chatterjee Ming-Tang Chen Yongjun Chen Ilje Cho John E. Conway James M. Cordes Geoffrey B. Crew Yuzhu Cui Jordy Davelaar Mariafelicia De Laurentis Roger Deane Jessica Dempsey Gregory Desvignes Jason Dexter Ralph P. Eatough Heino Falcke Vincent L. Fish Ed Fomalont Raquel Fraga-Encinas Per Friberg Christian M. Fromm Charles F. Gammie Roberto García Olivier Gentaz Ciriaco Goddi José L. Gómez Minfeng Gu Mark Gurwell Kazuhiro Hada Ronald Hesper Luis C. Ho Paul Ho Mareki Honma Chih-Wei L. Huang Lei Huang David H. Hughes Makoto Inoue Sara Issaoun David J. James Buell T. Jannuzi Michael Janssen Wu Jiang Alejandra Jimenez-Rosales Michael D. Johnson Svetlana Jorstad Taehyun Jung Mansour Karami Ramesh Karuppusamy Tomohisa Kawashima Garrett K. Keating Mark Kettenis Jae-Young Kim Junhan Kim Jongsoo Kim Motoki Kino Jun Yi Koay Patrick M. Koch Shoko Koyama Michael Kramer Carsten Kramer Thomas P. Krichbaum Cheng-Yu Kuo Tod R. Lauer Sang-Sung Lee Yan-Rong Li Zhiyuan Li Michael Lindqvist Rocco Lico Jun Liu Kuo Liu Elisabetta Liuzzo Wen-Ping Lo Andrei P. Lobanov Colin Lonsdale Ru-Sen Lu Jirong Mao Sera Markoff Daniel P. Marrone Alan P. Marscher Iván Martí-Vidal Satoki Matsushita Yosuke Mizuno Izumi Mizuno James M. Moran Kotaro Moriyama Monika Moscibrodzka Cornelia Müller Gibwa Musoke Alejandro Mus Mejías Hiroshi Nagai Neil M. Nagar Ramesh Narayan Gopal Narayanan Iniyan Natarajan Roberto Neri Aristeidis Noutsos Hiroki Okino Héctor Olivares Tomoaki Oyama Daniel C. M. Palumbo Jongho Park Nimesh Patel Ue-Li Pen Vincent Piétu Richard Plambeck Aleksandar PopStefanija Ben Prather Jorge A. Preciado-López Venkatessh Ramak Steward Observatory and Department of Astronomy University of Arizona 933 North Cherry Avenue Tucson Arizona 85721 USA School of Natural Sciences Institute for Advanced Study 1 Einstein Drive Princeton New Jersey 08540 USA National Radio Astronomy Observatory 520 Edgemont Road Charlottesville Virginia 22903 USA Massachusetts Institute of Technology Haystack Observatory 99 Millstone Road Westford Massachusetts 01886 USA National Astronomical Observatory of Japan 2-21-1 Osawa Mitaka Tokyo 181-8588 Japan Black Hole Initiative at Harvard University 20 Garden Street Cambridge Massachusetts 02138 USA Instituto de Astrofísica de Andalucía-CSIC Glorieta de la Astronomía s/n E-18008 Granada Spain Max-Planck-Institut für Radioastronomie Auf dem Hügel 69 D-53121 Bonn Germany Institute of Astronomy and Astrophysics Academia Sinica 11F of Astronomy-Mathematics Building AS/NTU No. 1 Sec. IV Roosevelt Road Taipei 10617 Taiwan Republic of China Departament d’Astronomia i Astrofísica Universitat de València C. Dr. Moliner 50 E-46100 Burjassot València Spain Observatori Astronmic Universitat de València C. Catedrático José Beltrán 2 E-46980 Paterna València Spain Center for Astrophysics–Harvard & Smithsonian 60 Garden Street Cambridge Massachusetts 02138 USA East Asian Observatory 660 North A’ohoku Place Hilo Hawaii 96720 USA Nederlandse Onderzoekschool voor Astronomie (NOVA) P.O. Box 9513 2300 RA Leiden Netherlands Institute of Astronomy and Astrophysics Academia Sinica 645 North A’ohoku Place Hilo Hawaii 96720 USA Institut de Radioastronomie Millimétrique 300 rue de la Piscine F-38406 Saint Martin d’Hères France Department of Astrophysics Institute for Mathematics Astrophysics and Particle Physics (IMAPP) Radboud University P.O. Box 9010 6500 GL Nijmegen Netherlands Korea Astronomy and Space Science Institute Daedeok-daero 776 Yuseong-gu Daejeon 34055 Republic of Korea University of Science and Technology Gajeong-ro 217 Yuseong-gu Daejeon 34113 Re

The 2017 Event Horizon Telescope (EHT) observations of the central source in M87 have led to the first measurement of the size of a black-hole shadow. This observation offers a new and clean gravitational test of the black-hole metric in the strong-field regime. We show analytically that spacetimes that deviate from the Kerr metric but satisfy weak-field tests can lead to large deviations in the predicted black-hole shadows that are inconsistent with even the current EHT measurements. We use numerical calculations of regular, parametric, non-Kerr metrics to identify the common characteristic among these different parametrizations that control the predicted shadow size. We show that the shadow-size measurements place significant constraints on deviation parameters that control the second post-Newtonian and higher orders of each metric and are, therefore, inaccessible to weak-field tests. The new constraints are complementary to those imposed by observations of gravitational waves from stellar-mass sources.

关键词： Astrophysical studies of gravity Classical black holes Experimental studies of gravity Astronomical black holes

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Fuzzy Aggregation Based Multiple Models Explicit Multi Parametric MPC Design for a Quadruple Tank Process

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IFAC-PapersOnLine 2016年第1期49卷 555-560页

作者： V. Kirubakaran T.K. Radhakrishnan N. Sivakumaran Remote Monitoring and Diagnostics Lennox India Technology Centre Chennai 600113 INDIA Department of Chemical Engineering National Institute of Technology Tiruchirappalli 620015 INDIA Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli 620015 INDIA

In this study, design of fuzzy aggregated multi parametric model predictive controller (mpMPC) for multivariable systems is proposed. Using first principles model (FPM) of the process, a steady state map (SSM) of input output is generated. A minimum number of linearized models are obtained from the FPM in different nominal operating regions to satisfy prediction error criterion. From gap metric measure, these models are clustered by k-means algorithm, followed by cluster representatives (CR) selection and fuzzy weights (to represent each model using aggregated CR's) calculation. For a given operating point, fuzzy weights are determined by a supervisory structure. Using these weights, the estimation model and control output (from mpMPC's designed for each CR) are aggregated. A real time quadruple tank (QT) is controlled using the proposed strategy, which is implemented on an embedded platform. Performance metrics indicate a 20% improvement in prediction and 20% improvement in control under closed loop using proposed strategy.

关键词： multi parametric MPC fuzzy aggregation k-means clustering hardware in loop three tanks quadruple tank

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