Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback

The sliding mode control of the cable-driven redundancy parallel robot with six degrees of freedom is studied based on the cable-length sensor feedback. Under the control scheme of task space coordinates, the cable length obtained by the cable-length sensor is used to solve the forward kinematics of the cable-driven redundancy parallel robot in real-time, which is treated as the feedback for the control system. First, the method of forward kinematics of the cable-driven redundancy parallel robot is proposed based on the tetrahedron method and Levenberg-Marquardt method. Then, an iterative initial value estimation method for the Levenberg-Marquardt method is proposed. Second, the sliding mode control method based on the exponential approach law is used to control the effector of the robot, and the influence of the sliding mode parameters on control performance is simulated. Finally, a six-degree-of-freedom position tracking experiment is carried out on the principle prototype of the cable-driven redundancy parallel robot. The experimental results show that the robot can accurately track the desired position in six directions, which indicates that the control method based on the cable-length sensor feedback for the cable-driven redundancy parallel robot is effective and feasible

Adaptive semi-supervised affinity propagation clustering algorithm based on structural similarity

Uzimajući u obzir nezadovoljavajuće djelovanje grupiranja srodnog širenja algoritma grupiranja, kada se radi o nizovima podataka složenih struktura, u ovom se radu predlaže prilagodljivi nadzirani algoritam grupiranja srodnog širenja utemeljen na strukturnoj sličnosti (SAAP-SS). Najprije se predlaže nova strukturna sličnost rješavanjem nelinearnog problema zastupljenosti niskoga ranga. Zatim slijedi srodno širenje na temelju podešavanja matrice sličnosti primjenom poznatih udvojenih ograničenja. Na kraju se u postupak algoritma uvodi ideja eksplozija kod vatrometa. Prilagodljivo pretražujući preferencijalni prostor u dva smjera, uravnotežuju se globalne i lokalne pretraživačke sposobnosti algoritma u cilju pronalaženja optimalne strukture grupiranja. Rezultati eksperimenata i sa sintetičkim i s realnim nizovima podataka pokazuju poboljšanja u radu predloženog algoritma u usporedbi s AP, FEO-SAP i K-means metodama.In view of the unsatisfying clustering effect of affinity propagation (AP) clustering algorithm when dealing with data sets of complex structures, an adaptive semi-supervised affinity propagation clustering algorithm based on structural similarity (SAAP-SS) is proposed in this paper. First, a novel structural similarity is proposed by solving a non-linear, low-rank representation problem. Then we perform affinity propagation on the basis of adjusting the similarity matrix by utilizing the known pairwise constraints. Finally, the idea of fireworks explosion is introduced into the process of the algorithm. By adaptively searching the preference space bi-directionally, the algorithm’s global and local searching abilities are balanced in order to find the optimal clustering structure. The results of the experiments with both synthetic and real data sets show performance improvements of the proposed algorithm compared with AP, FEO-SAP and K-means methods

Effect of Height on Pedestrian Route Choice between Stairs and Escalator

In order to overcome the subjectivity of existing pedestrian route choice models, an alternative choice model is presented based on the utility equation. It is composed of several indirectly objective characteristic variables, including the height, length, and width of interlayer facilities; speed of automated facilities; and carry-on luggage. Considering the scene that pedestrians choose between the stairs or escalators, an extended binary logit model is developed. Calibration and validation of the model are accomplished by using the data collected in four typical passenger transfer stations in Beijing, China. The results show that the proposed model has an average accuracy of 86.56% in bidirection for predicting pedestrians’ behavior. An interesting phenomenon can be found that the length of facility has poorer impact than height on pedestrians’ route choice behavior. Some quantitative and irradiative conclusions have been illustrated on the relationship between the selection probability and the variables, which is expected to be valuable for extracting the implicit theoretical mechanism of passenger choice behavior

Experimental investigation of a super performance dew point air cooler

This paper presents an experimental investigation of a super performance dew point air cooler which, by employing a super performance wet material layer, innovative heat and mass exchanger and intermittent water supply scheme, has achieved a significantly higher energy efficiency (i.e. Coefficient of Performance, COP) and a much lower electrical energy use compared to the existing air coolers of the same type. This involves the dedicated system design & construction, fully planned experimental testing under various simulated climatic conditions representing the climate of hot & dry, warm & dry, moderate, warm & humid and standard lab testing condition, testing results analysis and discussion, as well as the parallel comparison against the commercial dew point air cooler. Under the standard test condition, i.e. dry bulb temperature of 37.8 °C and coincident wet bulb temperature of 21.1 °C, the prototype cooler achieved the wet-bulb cooling effectiveness of 114% and dew-point cooling effectiveness of 75%, yielding a significantly high COP value of 52.5 at the optimal working air ratio of 0.364. The testing also indicated that the lower inlet air relative humidity led to a higher cooling efficiency, while the lower cooling output helped increase COP and cooling effectiveness (including the wet-bulb effectiveness and dew-point effectiveness) of the cooler

Symmetry guaranteed Dirac-line semimetals in two-dimensions against strong spin-orbit coupling

Several intriguing electronic phenomena and electric properties were discovered in three-dimensional Dirac nodal line semimetals (3D-DNLSM), which are, however, easy to be perturbed under strong spin-orbit coupling (SOC). While two-dimensional (2D) layers are an emerging material category with many advantages, 2D-DNLSM against SOC is yet to be uncovered. Here, we report a 2D-DNLSM in odd-atomic-layer Bi (the brick phase, another Bi allotrope), whose robustness against SOC is protected by the little co-group C_2v \times Z^T_2, the unique protecting symmetry we found in 2D.Specially, (4n+2) valence electrons fill the electronic bands in the brick phase, so that the Dirac nodal line with fourfold degeneracy locates across the Fermi level. There are almost no other low energy states close to the Fermi level; this allows to feasibly observe the neat DNLSM-induced phenomena in transport measurements without being affected by other bands. In contrast, Other VA-group elements also form the brick phases, but their DNL states are mixed with the extra states around the Fermi level. This unprecedented category of layered materials allows for exploring nearly isolated 2DDNL states in 2D.Comment: Totally 25 pages including main text, methods and supporting information, 4 figures, 8 SI figure

Non-Stationarity Characterization and Geometry-Cluster-Based Stochastic Model for High-Speed Train Radio Channels

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI linkIn time-variant high-speed train (HST) radio channels, the scattering environment changes rapidly with the movement of terminals, leading to a serious deterioration in communication quality. In the system- and link-level simulation of HST channels, this non-stationarity should be characterized and modeled properly. In this paper, the sizes of the quasi-stationary regions are quantified to measure the significant changes in channel statistics, namely, the average power delay profile (APDP) and correlation matrix distance (CMD), based on a measurement campaign conducted at 2.4 GHz. Furthermore, parameters of the multi-path components (MPCs) are estimated and a novel clustering-tracking-identifying algorithm is designed to separate MPCs into line-of-sight (LOS), periodic reflecting clusters (PRCs) from power supply pillars along the railway, and random scattering clusters (RSCs). Then, a non-stationary geometry-cluster-based stochastic model is proposed for viaduct and hilly terrain scenarios. Furthermore, the proposed model is verified by measured channel statistics such as the Rician K factor and the root mean square delay spread. The temporal autocorrelation function and the spatial cross-correlation function are presented. Quasi-stationary regions of the model are analyzed and compared with the measured data, the standardized IMT-Advanced (IMT-A) channel model, and a published nonstationary IMT-A channel model. The good agreement between the proposed model and the measured data demonstrates the ability of the model to characterize the non-stationary features of propagation environments in HST scenarios

Ambient volatile organic compounds in a suburban site between Beijing and Tianjin : Concentration levels, source apportionment and health risk assessment

Volatile organic compounds (VOCs) have vital implications for secondary pollutants, atmospheric oxidation and human health. Ambient VOCs were investigated using an online system, gas chromatography-mass spectrometry/flame ionization detector (GC-MS/FID), at a suburban site in Xianghe in the North China Plain from 6 November 2017 to 29 January 2018. Positive matrix factorization (PMF) receptor model was applied to identify the major VOC contributing sources. Four-step health risk assessment method was used to estimate risks of all risk-posing VOC species. A total of 101 VOCs were quantified, and the mean concentration of total VOCs was 61.04 +/- 65.18 ppbv. The VOCs were dominated by alkanes (38.76%), followed by alkenes, aromatics, halocarbons, OVOCs, acetylene and acetonitrile. The results of PMF revealed that vehicle exhaust, industrial emissions, liquefied petroleum gas & natural gas, solvent utilization and secondary and long-lived species contributed 31.0%, 26.4%, 18.6%, 13.6% and 10.4%, respectively, to the total VOCs. Pollutant-specific and source-specific non-carcinogenic and carcinogenic risk estimates were conducted, which showed that acrolein and vehicle exhaust had evident noncarcinogenic risks of 4.9 and 0.9, respectively. The carcinogenic risks of specific species (1,3-butadiene, acetaldehyde, benzene, chloroformand 1,2-dichloroethane) and identified sources were above the United States Environmental Protection Agency (USEPA) acceptable level (1.0 x 10(-6)) but below the tolerable risk level (1.0 x 10(-4)). Vehicle exhaust was the largest contributor (56.2%) to noncarcinogenic risk, but solvent utilization (32.6%) to carcinogenic risk. Moreover, with the evolution of pollution levels, almost all VOC species, contributions of alkenes, aromatics, solvent utilization and vehicle exhaust, and pollutant-specific and source-specific risks increased continuously and noticeably. Collectively, our findings unraveled the importance of alkenes, aromatics, solvent utilization and vehicle exhaust in the evolution of pollution levels. Future studies should consider targeting these VOC groups and sources when focusing on effective reduction strategies and assessing public health risks. (c) 2019 Elsevier B.V. All rights reserved.Peer reviewe