Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger

The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector pose (position and orientation) error of a space robot, and so weakens its operability. With this in consideration, a new geometric parameter identification method is presented based on a laser-ranger attached to the end-effector. Then, independence of the geometric parameters is analyzed, and their identification equations are derived. With the derived identification Jacobian matrix, the optimal identification configurations are chosen according to the observability index O3. Subsequently, through simulation the geometric parameter identification of a 6-DOF space robot is implemented for these identification configurations, and the identified parameters are verified in a set of independent reference configurations. The result shows that in spite of distance measurement alone, pose accuracy of the space robot still has a greater improvement, so the identification method is practical and valid

Kinetic Cell-Based Morphological Screening: Prediction of Mechanism of Compound Action and Off-Target Effects

SummaryWe describe a cell-based kinetic profiling approach using impedance readout for monitoring the effect of small molecule compounds. This noninvasive readout allows continuous sampling of cellular responses to biologically active compounds and the ensuing kinetic profile provides information regarding the temporal interaction of compounds with cells. The utility of this approach was tested by screening a library containing FDA approved drugs, experimental compounds, and nature compounds. Compounds with similar activity produced similar impedance-based time-dependent cell response profiles (TCRPs). The compounds were clustered based on TCRP similarity. We identified novel mechanisms for existing drugs, confirmed previously reported calcium modulating activity for COX-2 inhibitor celecoxib, and identified an additional mechanism for the experimental compound monastrol. We also identified and characterized a new antimitotic agent. Our findings indicate that the TCRP approach provides predictive mechanistic information for small molecule compounds

Long-term influence of maize stover and its derived biochar on soil structure and organo-mineral complexes in Northeast China

The influence of biochar on the soil structure and aggregate stability has been debated in previous studies. To probe the action of biochar on soil aggregates, a 5-year field experiment was implemented in the brown earth soil of northeastern China. We determined the aggregate distribution (> 2000 μm, 250–2000 μm, 53–250 μm, and < 53 μm) and organic carbon (OC) and organo-mineral complex contents both in the topsoil (0–20 cm) and within the soil aggregates. Three treatments were studied as follows: control (basal application of mineral NPK fertilizer), biochar (biochar applied at a rate of 2.625 t ha−1), and stover (maize stover applied at a rate of 7.5 t ha−1), and all treatments received the same fertilization. The biochar and stover applications decreased the soil bulk and particle densities significantly (p < 0.05) and enhanced the soil total porosity. Both amendments significantly (p < 0.05) enhanced the total OC, heavy OC fractions, and organo-mineral complex quantities in the bulk soil as well as in all the studied aggregate fractions. Biochar and stover applications promoted the formation of small macroaggregates. A greater amount of organic matter was contained in the macroaggregates, which led to the formation of more organo-mineral complexes, thereby improving soil aggregate stability. However, the different mechanisms underlying the effect of biochar and stover on organo-mineral complexes need further research. Biochar and stover applications are both effective methods of improving the soil structure in Northeast China

Power Modeling and Experiment Study of Large Flapping-Wing Flying Robot during Forward Flight

A power estimation approach for calculating the power of a flapping-wing air vehicle (FWAV) in forward flight is proposed in this paper. One of the challenges and essential points of FWAVs is endurance. In order to optimize FWAVs, it is necessary to analyze power required for flight in addition to kinematic and aerodynamic analyses of the prototype. Previously, calculating the power of birds was limited to calculating their average power, which assumed the lift was usually the same as the gravitational force. However, the lift varies with the flapping angle during flight. As a result, the power required for forward flight of FWAVs is determined in this work by using a kinematic model of the drive element and wing flapping, along with the aerodynamic model, which varies with the flapping angle during the flapping cycle. Experiments were performed with two prototypes with wingspans of 1.6 and 1.8 m, utilizing a wind tunnel platform. The correlations between power and angle of attack, flapping frequency, and incoming flow velocity were discovered, and recommendations for FWAVs and flying mode design were provided. However, several challenges are highlighted in the application of the model to practical design efforts

LCOE Analysis of Tower Concentrating Solar Power Plants Using Different Molten-Salts for Thermal Energy Storage in China

In recent years, the Chinese government has vigorously promoted the development of concentrating solar power (CSP) technology. For the commercialization of CSP technology, economically competitive costs of electricity generation is one of the major obstacles. However, studies of electricity generation cost analysis for CSP systems in China, particularly for the tower systems, are quite limited. This paper conducts an economic analysis by applying a levelized cost of electricity (LCOE) model for 100 MW tower CSP plants in five locations in China with four different molten-salts for thermal energy storage (TES). The results show that it is inappropriate to build a tower CSP plant nearby Shenzhen and Shanghai. The solar salt (NaNO3-KNO3, 60-40 wt.%) has lower LCOE than the other three new molten-salts. In order to calculate the time when the grid parity would be reached, four scenarios for CSP development roadmap proposed by International Energy Agency (IEA) were considered in this study. It was found that the LCOE of tower CSP would reach the grid parity in the years of 2038&#8211;2041 in the case of no future penalties for the CO2 emissions. This study can provide support information for the Chinese government to formulate incentive policies for the CSP industry

Flying State Sensing and Estimation Method of Large-Scale Bionic Flapping Wing Flying Robot

A large bionic flapping wing robot has unique advantages in flight efficiency. However, the fluctuation of fuselage centroid during flight makes it difficult for traditional state sensing and estimation methods to provide stable and accurate data. In order to provide stable and accurate positioning and attitude information for a flapping wing robot, this paper proposes a flight state sensing and estimation method integrating multiple sensors. Combined with the motion characteristics of a large flapping wing robot, the autonomous flight, including the whole process of takeoff, cruise and landing, is realized. An explicit complementary filtering algorithm is designed to fuse the data of inertial sensor and magnetometer, which solves the problem of attitude divergence. The Kalman filter algorithm is designed to estimate the spatial position and speed of a flapping wing robot by integrating inertial navigation with GPS (global positioning system) and barometer measurement data. The state sensing and estimation accuracy of the flapping wing robot are improved. Finally, the flying state sensing and estimation method is integrated with the flapping wing robot, and the flight experiments are carried out. The results verify the effectiveness of the proposed method, which can provide a guarantee for the flapping wing robot to achieve autonomous flight beyond the visual range