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Variable Impedance Control of Cable Actuated Continuum Manipulators
Guangping He,Yanan Fan,Tingting Su,Lei Zhao,Quanliang Zhao 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7
Continuum manipulators are a class of special compliant robots that have important potential applications in the field of human-machine interactive operations, or work in cluttered and constrained environments. In these application scenarios, the most popular operation tasks are those with coupling force-position constraints. To simultaneously stabilize the desired operation force and the position of the manipulator, variable impedance control issues of the cable driven continuum manipulators are investigated in this paper. On the basis of constructing a novelLyapunov function, a variable impedance control law is presented and the stability of the closed-loop system has also been analyzed. Then the operation space variable impedance control for a single segment cable driven continuum manipulator is realized by the aid of a pseudo-rigid-body model. Some numerical simulations also demonstrate the stability of the variable impedance control system.
Guangping Li,Steven David Blostein,Guangchi Zhang,Jiuchao Feng 한국전자통신연구원 2012 ETRI Journal Vol.34 No.2
This letter analyzes the performance of a two-hop MIMO multiuser relay network with a fixed gain amplify-and-forward protocol and antenna selection at the transmitter and receiver. A new expression for the cumulative distribution function of the highest instantaneous end-to-end signal-to-noise ratio is derived. Based on the above result, closed-form expressions for outage probability and bit error rate are presented. Also, the diversity order of the system is determined. Finally, computer simulations are compared to the analytical results, and insights and observations are provided.
Composition and structure of a composite spinel made from magnesia and hercynite
Guangping Liu 한양대학교 세라믹연구소 2012 Journal of Ceramic Processing Research Vol.13 No.4
The mineral composition, crystal structure and microstructure of a composite spinel made from magnesia and hercynite at elevated temperature were studied by X-ray diffraction (XRD), scanning electron microscopy (SEM) and energy dispersive Xray analysis (EDAX). A composite spinel MgFexAl2-xO4 and MgFe2O4 were formed in the reaction between magnesia and hercynite, but MgO·Al2O3 was not found. The mechanism may be described as follows: hercynite is oxidized to form γ-Al2O3 and γ-Fe2O3. MgO reacts with γ-Al2O3 and γ-Fe2O3 to form MgO·Al2O3 and MgO·Fe2O3, respectively. The γ-Fe2O3 dissolves into MgO·Al2O3 or γ-Al2O3 dissolves into MgO·Fe2O3 to form the composite spinel. The composition and crystal structure of the composite spinel depend on the sintering temperature and hercynite content in the powder mixture of magnesia and hercynite. With an increase of the sintering temperature, the solubility of Fe2O3 in the composite spinel decreases, resulting in an increase in 2θ, and a decrease in the lattice parameter, plane interplanar spacing and lattice distortion of the composite spinel. When the hercynite content in the mixture of magnesia and hercynite powder increases from 5 wt% to 10 wt%, the solubility of Fe2O3 in the composite spinel increases, resulting in a decrease in 2θ, and an increase in the lattice parameter, plane interplanar spacing and lattice distortion of the composite spinel.
Performance Monitoring of Project Earned Value Considering Scope and Quality
Guangping Liu,Han Jiang 대한토목학회 2020 KSCE JOURNAL OF CIVIL ENGINEERING Vol.24 No.1
By analyzing the principles of the project earned value management method, we find that the performance monitoring of project earned value encounters the problem of neglecting the impacts of the project’s scope and quality on the cost and schedule deviations, which will affect the project earned value performance monitoring. This paper designed a process and method of project earned value performance monitoring considering the scope and quality, and its application is analyzed using a specific case. The results show that the scientific project schedule and cost performance results can be obtained by integrating the scope and quality into the project earned value performance monitoring system while also considering the project’s baseline changes based on the activity and critical path perspectives. Finally, the conclusions of this research are summarized and future research directions are given.
Yang, GuangPing 서울시립대학교 서울시립대학교 법학연구소 2011 서울법학 Vol.19 No.2
In China, following the enactment of the “Partnership Enterprise Law” in 1997, especially after the large-scale reformation of partnership enterprise law in 2005, there has been an appreciable increase in economic activities using the form of partnership enterprises as an investment vehicle. However, according to current Chinese partnership tax legislation, the usual way to determine whether an economic organization is an entity or not is based on private law form, and is not based on its economic substance in accordance with tax law criterion. It is for this reason that the concept of “transparent entity” is not defined clearly in the Chinese tax system. Therefore, it is required to create some special rules for “transparent entity” and should be designed into the tax code for small business enterprises with its economic substance and economic nature.
Catalytic upgrading of chitin: Advances, mechanistic insights, and prospect
Hao Huang,Guangping Zhou,Shaojuan Luo,Shaoqu Xie 한국공업화학회 2023 Journal of Industrial and Engineering Chemistry Vol.128 No.-
The most plentiful renewable nitrogenous material on earth is chitin, which may be obtained from theshell waste of crustaceans. This waste is not fully utilized, resulting in resource waste and disposal problems. Due to the enormous potential of chitin pricing, a novel idea for shell biorefining has recently beenput forth. Several valuable chemicals have been produced from chitin biomass, including small-moleculecompounds, prodrugs, and monomers of polymers. This paper reviews the recent progress in the catalyticconversion of chitin, chitosan, and their derivatives to various chemicals and biomaterials. The selectionand properties of catalysts and catalytic systems were introduced. The mechanism of transformation ormodification is emphasized. The challenges and prospects of chitin transformation and modification arepresented.
Efficiently visible and 2 μm infrared emission in K2YbF5: Ce3+/Ho3+ microcrystals
Hao Dong,Guangping Zhu,Min Zhang,Kai Dai,Qiang Li,Chaopeng Cui 한국물리학회 2020 Current Applied Physics Vol.20 No.6
Ho3+/Ce3+ co-doped K2YbF5 microcrystals were synthesized by solvent-thermal method. Under excitation of 980 nm laser diode, effectively visible and 2 μm-infrared luminescence of Ho3+ ion were obtained in the microcrystals. By changing Ce3+-ion doping concentration, the luminescence properties of visible and 2 μm emission were effectively regulated. At low Ce3+-ion doping level, the red and green upconversion emission obviously increases and decreases respectively with the increase of Ce3+-ion amount in the samples, meanwhile the intensity of 2 μm fluorescence changes very little. At high Ce3+-ion doping level, the intensities of the red and green emission both decrease with the increase of Ce3+-ion concentration, while the 2 μm emission intensity increases obviously. In the sample doped with 16% Ce3+ ion, the intensity of 2 μm emission is about 4.5 times that of the sample without Ce3+ ion, and the corresponding quantum efficiency is about 78.3%. The result is attributed to the influence of the different cross relaxation between Ho3+ and Ce3+ ion in luminescence process at low and high Ce3+-ion doping concentration. The corresponding luminescence mechanism and energy transfer process were discussed in detail.
Experimental and theoretical analysis of element mercury adsorption on Fe3O4/Ag composites
Lu Dong,Jiangkun Xie,Guangping Fan,Yaji Huang,Jun Zhou,Qingke Sun,LiangWang,Zhengwen Guan,Di Jiang,Ye Wang 한국화학공학회 2017 Korean Journal of Chemical Engineering Vol.34 No.11
A novel magnetic nano-sorbent Fe3O4/Ag was synthesized and applied to capture the elemental mercury from the simulated flue gas. The morphology, components and crystal phase of the sorbents were characterized by transmission electron microscope (TEM), energy dispersive spectrometry (EDS) and X-ray diffraction (XRD), respectively. The mercury removal performance of the sorbents was investigated through the fixed-bed tests. The results indicated that silver was successfully loaded on the surface of Fe3O4 particles, which could significantly enhance the Hg0 removal performance of the sorbents. Flue gas components, including CO2, SO2, and NO, have little impact on the Hg0 removal performance of Fe3O4/Ag sorbents, while O2 has a slightly positive effect. The Hg0 removal efficiency decreased with the increasing of temperature, Hg0 inlet concentration and gas hourly space velocity. Only one broad mercury desorption peak at approximately 210 oC could be observed during the temperature-programmed desorption (TPD) process, which indicated that mercury species existing on the surface of Fe3O4/Ag sorbents might be elemental mercury instead of oxidized mercury. Furthermore, the reusability tests showed that the Fe3O4/Ag sorbents could be efficiently regenerated and reused. Finally, the theoretical analysis based on the DFT method showed that a weak chemisorption of Hg0 on Fe3O4 sorbents changed to a strong chemisorption when silver was loaded. The results of theoretical analysis conformed to the experiments results well.