Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

To eliminate the load weight limit of carrier rockets and reduce the burden on support struc-tures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules, which requires smooth operation of assembly robots, and flexible force con-trol technology is necessary.A ground demonstration system is presented for in-orbit assembly focu-sing on flexible force control.A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity.For translation and rotation, an algorithm for flexible control is proposed.A ground transportation demonstration verifies accuracy and smoothness of flexible force control, and the transportation and assembly task is completed automatically.The proposed system is suitable for the development of in-orbit assembly robots.     

基于数值积分与功率损耗测试的冷轧电机功率模型

为提高冷轧电机功率的计算精度,提出了一种新型的电机功率在线计算模型,模型中将电机功率分为轧制功率和机械功率损耗.其中,轧制功率采用基于简易有限元的数值积分方法计算获得,而电机机械功率损耗采用实验测试回归方法获得.基于本文设计的测试方案和模型结构,通过对某1 450 mm五机架冷连轧机组的现场测试,回归得到了功率损耗模型中的系数,并将其应用到了该机组中.现场实际应用表明该电机功率模型的计算偏差可控制在±5%以内,证明该模型具有较高的计算精度,符合现场控制要求,具有广泛的应用前景.     

霍林河水库渗漏探测试验研究

高密度电法是常用的物探方法,在水库大坝探测方面也经常用到.文中介绍了高密度电法的原理和反演分析方法,采用高密度电法对霍林河水库大坝渗漏情况进行了探测试验,采用"单极-单极"阵列方式分别对大坝的4个断面进行了渗漏探测试验,并结合实测资料分析大坝渗漏原因.试验结果表明:高密度电法有效地探测了霍林河水库大坝渗漏情况,检验了防渗处理的效果,为大坝防渗加固提供了依据,也进一步验证了高密度电法在水库渗漏探测中具有较好的效果.     

基于突变理论的员工主动离职行为定性模拟——以中国经济转型期的“离职潮”为例

刘易斯拐点的到来导致中国劳动力成本大幅上升,这使得如何避免员工主动离职成为保证企业人力资源稳定的核心问题。针对离职行为这一复杂系统,从实证研究与突变理论相结合的全新视角,构建了员工主动离职的突变概念模型。在此基础上引入定性模拟算法,提出了突变函数在离职行为研究中的参数估计方法,并通过长三角地区某企业的实际案例验证了该方法的合理性及鲁棒性。最后,根据经济转型期的"离职潮",对员工主动离职的定性-定量混合突变模型进行虚拟实验分析。实验结果从精确测定员工离职的预警区、临界区和突变区及复杂经济环境与员工离职的关系,以及企业微观层面和政府宏观层面的控制策略等方面,为员工主动离职问题提供了决策支持。     

High-performance flexural fatigue of carbon nanotube yarns

Carbon nanotube yarns （CNTY） possess good specific strength and specific conductivity. As such, their potential for commercial applications is significant. Fatigue performance is a significant consideration in yarn/wire applications. In this study, the flexural fatigue performance of CNTY spun from super-aligned carbon nanotube arrays was investigated using a reversed bending test. The results showed that CNTY exhibited excellent resistance to pure flexural fatigue, significantly outperforming stainless steel wire; CNTY failed where a combination of flexural fatigue and tension-tension fatigue had special hollow fracture morphology, and CNTY resistance remained fundamentally unchanged in the combination fatigue process.     

西藏农村人力资本投资困境分析

农村人口综合素质整体不高,日益成为西藏农村反贫困和可持续发展的重要制约因素之一,加大人力资本投资日益迫切.文章提出没有基于本地化的农村办学思路,师资队伍整体落后与教育质量不高长期并存,教育投资观念偏差根深蒂固,基层卫生服务能力薄弱及健康知识普及严重不足等是当前西藏农村人力资本投资存在的诸多困境,并指出尽快优化教育发展结构、突出师资队伍建设、加强成人培训力度、关注妇女儿童健康是提高农村人口发展能力的重要途径.     

The influence of home environmental factors and life style on children＇s respiratory health in Xi＇an

To assess associations between home indoor air environments and asthma,allergies and pneumonia,children aged 1–8 years were surveyed from 12 kindergartens in the city of Xi’an.2,020 questionnaires were responded with a response rate of 83.5%.The prevalences of doctor diagnosed asthma,hay fever,and pneumonia were 2.9%,3.6%,and 28.3%,respectively.Living close to a highway was a risk factor for current rhinitis(AOR 1.5,95%CI 1.2–1.8),eczema(AOR 1.7,95%CI 1.2–2.5),and diagnosed pneumonia(AOR 1.3,95%CI 1.0–1.6).Dampness problems in the home were associated with 50%–130%increases in the prevalences of asthma and allergy.Airing bed linen under sun-shine was protective,especially against rhinitis.Pet avoidance was consistently and significantly associated with asthma and allergy(AOR 1.3–2.4).Decoration of the home during children’s early life is a risk factor for current rhinitis(AOR 1.9,95%CI 1.3–2.9)and eczema(AOR 1.9,95%CI1.1–3.6).Risk factors for pneumonia were living in an apartment(AOR 1.4,95%CI 1.1–1.8),latex wall paint(AOR 1.3,95%CI 1.0–1.7),dampness(AOR 1.4–1.5),breast feeding\3 months(AOR 1.3,95%CI 1.0–1.7),never airing bed linen in sunshine(AOR 1.3,95%CI1.3–1.6),and cleaning children’s room less frequently than once per day(AOR 1.4,95%CI 1.1–1.7).This study demonstrates that home indoor environmental and life style factors may influence the health of children in Xi’an.     

Polynomial-rooting based fourth-order MUSIC for direction-of-arrival estimation of noncircular signals

A polynomial-rooting based fourth-order cumulant algorithm is presented for direction-of-arrival（DOA） estimation of second-order fully noncircular source signals, using a uniform linear array（ULA）. This algorithm inherits all merits of its spectralsearching counterpart except for the applicability to arbitrary array geometry, while reducing considerably the computation cost.Simulation results show that the proposed algorithm outperforms the previously developed closed-form second-order noncircular ESPRIT method, in terms of processing capacity and DOA estimation accuracy, especially in the presence of spatially colored noise.     

Bounding the inefficiency of the C-logit stochastic user equilibrium assignment

Compared with standard logit-based stochastic user equilibrium assignment model, the C-logit model describes route choice behavior in a more realistic way by considering the overlapping effect between routes. This paper investigates the inefficiency upper bounds of this model against the deterministic system optimum and the C-logit stochastic system optimum in terms of the total network travel time. It is found that the commonality factor of overlapping routes significantly affects the inefficiency bound, besides link congestion degree, total demand and the number of feasible routes. If the commonality factor is not considered, the efficiency loss resulting from selfishly stochastic travel behavior will be to large extent underestimated.