Arid and semi-arid areas are the most vulnerable regions to climate change. Clear understanding of the effects of climate change on ecosystems in arid and semi-arid regions and the ecosystem vulnerability is important...Arid and semi-arid areas are the most vulnerable regions to climate change. Clear understanding of the effects of climate change on ecosystems in arid and semi-arid regions and the ecosystem vulnerability is important for ecosystem management under the background of climate change. In this study, we conducted a vulnerability assessment on various ecosystems from 1982 to 2013 in western China with large areas of arid and semi-arid lands based on the Time-Integrated Normalized Difference Vegetation Index （TINDVI） data and climate data. The results indicated that grasslands were the most vulnerable ecosystem to climate change in western China, especially for those in Tibetan Plateau. Croplands in oases were not vulnerable to climate change compared to rain-fed croplands in semi-arid regions （e.g. Gansu and Inner Mongolia）, which was attributed to the well-developed drip irrigation technology in oases. Desert and Gobi ecosystems were slightly vulnerable to climate change during the past several decades. The assessment results, as revealed in this study, can provide a reference for taking appropriate actions to protect the ecosystems in western China.展开更多
To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （I...To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.展开更多
Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system s...Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.展开更多
基金supported by the National Basic Research Program of China(2012CB956204)the National Natural Science Foundation of China(41101249)
文摘Arid and semi-arid areas are the most vulnerable regions to climate change. Clear understanding of the effects of climate change on ecosystems in arid and semi-arid regions and the ecosystem vulnerability is important for ecosystem management under the background of climate change. In this study, we conducted a vulnerability assessment on various ecosystems from 1982 to 2013 in western China with large areas of arid and semi-arid lands based on the Time-Integrated Normalized Difference Vegetation Index （TINDVI） data and climate data. The results indicated that grasslands were the most vulnerable ecosystem to climate change in western China, especially for those in Tibetan Plateau. Croplands in oases were not vulnerable to climate change compared to rain-fed croplands in semi-arid regions （e.g. Gansu and Inner Mongolia）, which was attributed to the well-developed drip irrigation technology in oases. Desert and Gobi ecosystems were slightly vulnerable to climate change during the past several decades. The assessment results, as revealed in this study, can provide a reference for taking appropriate actions to protect the ecosystems in western China.
基金Project(2007011049) supported by the Natural Science Foundation of Shanxi Province,China
文摘To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.
基金Supported by National Natural Science Foundation of China(Grant No.51605417)Key Project of Hebei Provincial Natural Science Foundation,China(Grant No.E2016203264)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)
文摘Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.
