Based on the statistical analysis of emission inventory and ISCST3 model simulation, the emission and ambient concentration contributions of energy-use related sources to the major pollutants of SO2, NOx and PM10 in u...Based on the statistical analysis of emission inventory and ISCST3 model simulation, the emission and ambient concentration contributions of energy-use related sources to the major pollutants of SO2, NOx and PM10 in urban areas of Beijing were analyzed. The SO2 emission contributions of coal burning in power plants, industrial and heating sectors were 49%, 26% and 24% respectively. The vehicle exhaust contributed 74% of the NOx concentration. As to PM10, the industrial sector was the largest emission (28%) and concentration (21%) contributor despite of the fugitive sources. The source emission contributions of VOC and NH3, which greatly influence the generation of secondary pollutants, were discussed as well. This paper also analyzed the control strategies of energy consumption and vehicle sources, based on which the control scenario in 2008 was established and the change of emission and concentration contribution were estimated. The results show that the cleaner energy use, industrial structure improvement, transportation mode modification and single vehicle emission control will greatly improve air quality. The industrial sector will change to the largest contributor of SO2 and as to NOx, vehicle emission control is still important.展开更多
Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associat...Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.展开更多
文摘Based on the statistical analysis of emission inventory and ISCST3 model simulation, the emission and ambient concentration contributions of energy-use related sources to the major pollutants of SO2, NOx and PM10 in urban areas of Beijing were analyzed. The SO2 emission contributions of coal burning in power plants, industrial and heating sectors were 49%, 26% and 24% respectively. The vehicle exhaust contributed 74% of the NOx concentration. As to PM10, the industrial sector was the largest emission (28%) and concentration (21%) contributor despite of the fugitive sources. The source emission contributions of VOC and NH3, which greatly influence the generation of secondary pollutants, were discussed as well. This paper also analyzed the control strategies of energy consumption and vehicle sources, based on which the control scenario in 2008 was established and the change of emission and concentration contribution were estimated. The results show that the cleaner energy use, industrial structure improvement, transportation mode modification and single vehicle emission control will greatly improve air quality. The industrial sector will change to the largest contributor of SO2 and as to NOx, vehicle emission control is still important.
基金supported by the National Basic Research Program of China("973" Program)(Grant No.2013CB035502)the International Sci-ence and Technology Cooperation Project with Russia(Grant No.2010DFR70270)+2 种基金the National Natural Science Foundation of China(Grant No.51275106)the"111" Project(Grant No.B07018)the Key Laboratory Opening Funding of Aerospace Mechanism and Control(Grant No.HIT.KLOF.2010057)
文摘Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and multitasking.The problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,etc.Overall,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ratios.Thus,various heavy-duty legged robots and their performances are reviewed here.This review presents the current developments with regard to heavy-duty legged robots.Also,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are drawn.Furthermore,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is described.To assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are proposed.Finally,problems that need further research are addressed.
