There have been few in-depth quantitative studies on soil erosion control and the ecological effects of land use changes. Soil erosion is the first eco-environmental problem particularly in mountainous areas. A major ...There have been few in-depth quantitative studies on soil erosion control and the ecological effects of land use changes. Soil erosion is the first eco-environmental problem particularly in mountainous areas. A major problem in the conversion of farmland to forest is to control soil erosion and improve ecological environment and thus to improve land use sustainability. We report results of calculation and analysis on soil erosion from converted farmland parcels in city of Mangshi （near the SW frontier of China） and the surrounding areas before and after the nine-year （2000-2009） project of converting farmland to forest. There was increased water conservation effect, as a result of decreased soil erosion. The average erosion modulus of the farmland returning to eco-friendly uses decreased by 5,535.59 t/km2·a and the control degree of soil erosion modulus reached 71.00%. The increased soil erosion after the returning in the typical sample area ＂did not drop, but increased＂ as the terraced fields decreased but sloping farmland inereased and yet woodland decreased.展开更多
The controllability and observability analysis of thin plate system with parameter uncertainty is presented using the degree of controllability/observability and the robustness index. It provides a guidance to the des...The controllability and observability analysis of thin plate system with parameter uncertainty is presented using the degree of controllability/observability and the robustness index. It provides a guidance to the design of robust active vibration control for thin plate system.展开更多
The apparent activation energy,Eapp,is a common measure in thermal catalysis to discuss the activity and limiting steps of catalytic processes on solid-state materials.Recently,the electrocatalysis community adopted t...The apparent activation energy,Eapp,is a common measure in thermal catalysis to discuss the activity and limiting steps of catalytic processes on solid-state materials.Recently,the electrocatalysis community adopted the concept of Eappand combined it with the Butler-Volmer theory.Certain observations though,such as potential-dependent fluctuations of Eapp,are yet surprising because they conflict with the proposed linear decrease in Eappwith increasing overpotential.The most common explanation for this finding refers to coverage changes upon alterations in the temperature or the applied electrode potential.In the present contribution,it is demonstrated that the modulation of surface coverages cannot entirely explain potential-dependent oscillations of Eapp,and rather the impact of entropic contributions of the transition states has been overlooked so far.In the case of a nearly constant surface coverage,these entropic contributions can be extracted by a dedicated combination of Tafel plots and temperature-dependent experiments.展开更多
A new quantitative concept is introduced in this paper, which may be used to facilitate the measurement of the controllability of a subspace similar to subspace controllability degree. Then the concrete form of the su...A new quantitative concept is introduced in this paper, which may be used to facilitate the measurement of the controllability of a subspace similar to subspace controllability degree. Then the concrete form of the subspace controllability degree of a flexible structure is derived, and the errors of subspace controllability degree and dynamical response caused by the substitution of a repeated mode subspace for a closely spaced mode subspace are discussed. All the results show that this substitution is rational under some conditions.展开更多
An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated ...An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controlla- bility-measurement(LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.展开更多
Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and fur...Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.展开更多
Based on the fundamental principles of total amount control of water use, the harmony theory was used in this study to develop a concept of the degree of harmony of total amount control of water use. Based on this con...Based on the fundamental principles of total amount control of water use, the harmony theory was used in this study to develop a concept of the degree of harmony of total amount control of water use. Based on this concept, the harmoniousness of total amount control of water use was analyzed in terms of the supply and demand of water resources, water resources management, water use benefits, and water-saving level. An evaluation index system of the degree of harmony of total amount control of water use was established, and a method for calculation of the degree of harmony of total amount control of water use was developed based on the analytic hierarchy process （AHP） and fuzzy comprehensive analysis （FCA） methods. The new evaluation index system was applied to a certain area in Jiangsu Province, China. The degree of harmony of total amount control of water use over this area was calculated for different years. Results indicate that the evaluation index system and calculation method proposed in this study are feasible, and such a harmoniousness analysis can provide scientific references for the strict water resources management system that will be implemented in China in the near future.展开更多
The capacity of soil and water conservation measures, defined as the maximum quantity of suitable soil and water conservation measures contained in a region, were determined for the Loess Plateau based on zones suitab...The capacity of soil and water conservation measures, defined as the maximum quantity of suitable soil and water conservation measures contained in a region, were determined for the Loess Plateau based on zones suitable for establishing terraced fields, forestland and grassland with the support of geographic information system(GIS) software. The minimum possible soil erosion modulus and actual soil erosion modulus in 2010 were calculated using the revised universal soil loss equation(RUSLE), and the ratio of the minimum possible soil erosion modulus under the capacity of soil and water conservation measures to the actual soil erosion modulus was defined as the soil erosion control degree. The control potential of soil erosion and water loss in the Loess Plateau was studied using this concept. Results showed that the actual soil erosion modulus was 3355 t·km^(–2)·a^(–1), the minimum possible soil erosion modulus was 1921 t·km^(–2)·a^(–1), and the soil erosion control degree was 0.57(medium level) in the Loess Plateau in 2010. In terms of zoning, the control degree was relatively high in the river valley-plain area, soil-rocky mountainous area, and windy-sandy area, but relatively low in the soil-rocky hilly-forested area, hilly-gully area and plateau-gully area. The rate of erosion areas with a soil erosion modulus of less than 1000 t·km^(–2)·a^(–1) increased from 50.48% to 57.71%, forest and grass coverage rose from 56.74% to 69.15%, rate of terraced fields increased from 4.36% to 19.03%, and per capita grain available rose from 418 kg·a^(–1) to 459 kg·a^(–1) under the capacity of soil and water conservation measures compared with actual conditions. These research results are of some guiding significance for soil and water loss control in the Loess Plateau.展开更多
This study focuses on a graphical approach to determine the robust stabilizing regions of fractional-order PIλ（proportional integration） controllers for fractional-order systems with time-delays. By D-decomposition...This study focuses on a graphical approach to determine the robust stabilizing regions of fractional-order PIλ（proportional integration） controllers for fractional-order systems with time-delays. By D-decomposition technique, the existence conditions and calculating method of the real root boundary（RRB） curves, complex root boundary（CRB） curves and infinite root boundary（IRB）lines are investigated for a given stability degree. The robust stabilizing regions in terms of the RRB curves, CRB curves and IRB lines are identified by the proposed criteria in this paper. Finally, two illustrative examples are given to verify the effectiveness of this graphical approach for different stability degrees.展开更多
基金funded by the National Natural Science Foundation of China (No.40861014)
文摘There have been few in-depth quantitative studies on soil erosion control and the ecological effects of land use changes. Soil erosion is the first eco-environmental problem particularly in mountainous areas. A major problem in the conversion of farmland to forest is to control soil erosion and improve ecological environment and thus to improve land use sustainability. We report results of calculation and analysis on soil erosion from converted farmland parcels in city of Mangshi （near the SW frontier of China） and the surrounding areas before and after the nine-year （2000-2009） project of converting farmland to forest. There was increased water conservation effect, as a result of decreased soil erosion. The average erosion modulus of the farmland returning to eco-friendly uses decreased by 5,535.59 t/km2·a and the control degree of soil erosion modulus reached 71.00%. The increased soil erosion after the returning in the typical sample area ＂did not drop, but increased＂ as the terraced fields decreased but sloping farmland inereased and yet woodland decreased.
文摘The controllability and observability analysis of thin plate system with parameter uncertainty is presented using the degree of controllability/observability and the robustness index. It provides a guidance to the design of robust active vibration control for thin plate system.
基金funding by the Ministry of Culture and Science of the Federal State of North Rhine-Westphalia (NRW Return Grant)CRC/TRR247:"Heterogeneous Oxidation Catalysis in the Liquid Phase"(388390466-TRR247),the RESOLV Cluster of Excellence,funded by the Deutsche Forschungsgemeinschaft under Germany’s Excellence StrategyEXC 2033-390677874-RESOLV+1 种基金the Center for Nanointegration (CENIDE)supported by COST (European Cooperation in Science and Technology)。
文摘The apparent activation energy,Eapp,is a common measure in thermal catalysis to discuss the activity and limiting steps of catalytic processes on solid-state materials.Recently,the electrocatalysis community adopted the concept of Eappand combined it with the Butler-Volmer theory.Certain observations though,such as potential-dependent fluctuations of Eapp,are yet surprising because they conflict with the proposed linear decrease in Eappwith increasing overpotential.The most common explanation for this finding refers to coverage changes upon alterations in the temperature or the applied electrode potential.In the present contribution,it is demonstrated that the modulation of surface coverages cannot entirely explain potential-dependent oscillations of Eapp,and rather the impact of entropic contributions of the transition states has been overlooked so far.In the case of a nearly constant surface coverage,these entropic contributions can be extracted by a dedicated combination of Tafel plots and temperature-dependent experiments.
基金The project supported by the National Natural Science Foundation of Chinathe Doctoral Research Foundation of Chinese Ministry of Education.
文摘A new quantitative concept is introduced in this paper, which may be used to facilitate the measurement of the controllability of a subspace similar to subspace controllability degree. Then the concrete form of the subspace controllability degree of a flexible structure is derived, and the errors of subspace controllability degree and dynamical response caused by the substitution of a repeated mode subspace for a closely spaced mode subspace are discussed. All the results show that this substitution is rational under some conditions.
基金supported by the National Natural Science Foundation of China(Grant No.11272027)
文摘An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controlla- bility-measurement(LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.
基金supported by the National Natural Science Foundation of China(61403215)the National Natural Science Foundation of Tianjin(13JCYBJC36600)the Fundamental Research Funds for the Central Universities
文摘Human-robot interaction(HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator(SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control difficulties. In this paper, we address the stiffness rendering problem for a cable-driven SEA system, to achieve either low stiffness for good transparency or high stiffness bigger than the physical spring constant, and to assess the rendering accuracy with quantified metrics. By taking a velocity-sourced model of the motor, a cascaded velocity-torque-impedance control structure is established. To achieve high fidelity torque control, the 2-DOF(degree of freedom) stabilizing control method together with a compensator has been used to handle the competing requirements on tracking performance, noise and disturbance rejection,and energy optimization in the cable-driven SEA system. The conventional passivity requirement for HRI usually leads to a conservative design of the impedance controller, and the rendered stiffness cannot go higher than the physical spring constant. By adding a phase-lead compensator into the impedance controller,the stiffness rendering capability was augmented with guaranteed relaxed passivity. Extensive simulations and experiments have been performed, and the virtual stiffness has been rendered in the extended range of 0.1 to 2.0 times of the physical spring constant with guaranteed relaxed passivity for physical humanrobot interaction below 5 Hz. Quantified metrics also verified good rendering accuracy.
文摘Based on the fundamental principles of total amount control of water use, the harmony theory was used in this study to develop a concept of the degree of harmony of total amount control of water use. Based on this concept, the harmoniousness of total amount control of water use was analyzed in terms of the supply and demand of water resources, water resources management, water use benefits, and water-saving level. An evaluation index system of the degree of harmony of total amount control of water use was established, and a method for calculation of the degree of harmony of total amount control of water use was developed based on the analytic hierarchy process （AHP） and fuzzy comprehensive analysis （FCA） methods. The new evaluation index system was applied to a certain area in Jiangsu Province, China. The degree of harmony of total amount control of water use over this area was calculated for different years. Results indicate that the evaluation index system and calculation method proposed in this study are feasible, and such a harmoniousness analysis can provide scientific references for the strict water resources management system that will be implemented in China in the near future.
基金National Natural Science Foundation of China,No.41401305,No.41330858The Open Foundation of State Key Laboratory of Soil Erosion and Dryland Farming on the Loess Plateau,No.K318009902-14
文摘The capacity of soil and water conservation measures, defined as the maximum quantity of suitable soil and water conservation measures contained in a region, were determined for the Loess Plateau based on zones suitable for establishing terraced fields, forestland and grassland with the support of geographic information system(GIS) software. The minimum possible soil erosion modulus and actual soil erosion modulus in 2010 were calculated using the revised universal soil loss equation(RUSLE), and the ratio of the minimum possible soil erosion modulus under the capacity of soil and water conservation measures to the actual soil erosion modulus was defined as the soil erosion control degree. The control potential of soil erosion and water loss in the Loess Plateau was studied using this concept. Results showed that the actual soil erosion modulus was 3355 t·km^(–2)·a^(–1), the minimum possible soil erosion modulus was 1921 t·km^(–2)·a^(–1), and the soil erosion control degree was 0.57(medium level) in the Loess Plateau in 2010. In terms of zoning, the control degree was relatively high in the river valley-plain area, soil-rocky mountainous area, and windy-sandy area, but relatively low in the soil-rocky hilly-forested area, hilly-gully area and plateau-gully area. The rate of erosion areas with a soil erosion modulus of less than 1000 t·km^(–2)·a^(–1) increased from 50.48% to 57.71%, forest and grass coverage rose from 56.74% to 69.15%, rate of terraced fields increased from 4.36% to 19.03%, and per capita grain available rose from 418 kg·a^(–1) to 459 kg·a^(–1) under the capacity of soil and water conservation measures compared with actual conditions. These research results are of some guiding significance for soil and water loss control in the Loess Plateau.
基金supported by National Natural Science Foundation of China(No.61304094)
文摘This study focuses on a graphical approach to determine the robust stabilizing regions of fractional-order PIλ（proportional integration） controllers for fractional-order systems with time-delays. By D-decomposition technique, the existence conditions and calculating method of the real root boundary（RRB） curves, complex root boundary（CRB） curves and infinite root boundary（IRB）lines are investigated for a given stability degree. The robust stabilizing regions in terms of the RRB curves, CRB curves and IRB lines are identified by the proposed criteria in this paper. Finally, two illustrative examples are given to verify the effectiveness of this graphical approach for different stability degrees.
