单自由度八杆仿生机构构型与尺度同步设计方法

单自由度八杆仿生机构杆长参数较多，是仿生机器人领域研究的难点之一。为提高设计效率，提出一种构型与尺度同步设计方法。在选定的运动链和机架的基础上，以不等式形式分步给出运动可行性及外形约束条件，使得上一步的杆长可作为下一步求解的已知值。通过该过程，在得到八杆仿生机构构型的同时，快速得到所有杆长的初步可行域。循环上述过程，逐步缩小约束条件的范围，可使得八杆机构的杆长快速接近目标值。在此基础上，分类讨论了连杆搭接顺序、约束条件及基本运动链的差异对求解难度及构型结果的影响。利用所提出的单自由度八杆仿生机构的设计方法，在对初始条件进行合理选取的前提下，可在初步得到构型的同时将杆长限定在较小范围内，实现了构型与尺度的同步设计。该方法还可应用于其他单自由度机构的设计当中，具有较好的借鉴意义。     

A cash-constrained stochastic inventory model with consumer loans and supplier credits: the case of nanostores in emerging markets

We consider a small traditional retailer that is managing its inventory under strict cash constraints, mainly because typically informal loans are offered to customers. These stores are widely present in emerging markets, and we refer to them as nanostores (also called ‘mom-and-pop stores’). As the suppliers require immediate payments for goods delivered, a nanostore can only replenish products to the level for which it has on-hand cash available. To improve delivery efficiency, a supplier might offer a nanostore credit for its replenishments. However, currently, suppliers are often reluctant to do so as these nanostores quickly go bankrupt or disappear, hence defaulting on all outstanding credits. The objective of this paper is to determine when it is beneficial to offer supplier credits. We propose a multi-period, stochastic inventory model, and numerically compare scenarios with and without supplier credits. Our study shows that even in the presence of this risk, suppliers often have good incentives to provide these credits, even if interest is not incurred. For this to hold, the operations of the retailer should be (a little) profitable in the first place, for which we provide analytical conditions.     

全自动集装箱码头装卸系统质量管理

全自动集装箱码头装卸系统集成了当今世界各项先进技术,在研发、制造、调试过程中,都要坚持质量第一、安全第一的原则,确保各项技术参数可靠,设备运行稳定。在总结国内几个全自动码头装卸系统的质量管理方法与经验的基础上,结合自动化码头自身特点,给出全自动集装箱码头装卸系统主要质量管理方法,进一步丰富发展自动化码头装卸系统建造过程中的“不欠债离岸”质量管理理念。     

Adaptive robust control-based energy management of hybrid PV-Battery systems with improved transient performance

Energy management of hybrid photovoltaic (PV)-battery systems still serve as a challenging task owing to their complex and nonlinear characteristics, multicomponent structures, and the extensive range of environmental factors disturbing their nominal performance. The hybrid energy system developed in this study encompasses PV arrays, a battery component, one boost converter, and one bidirectional boost converter. In this paper, we propose a novel adaptive robust control framework for the optimal energy management of the PV-battery systems under many operating conditions and subject to unmodelled dynamics. An improved exponential-like adaptive integral sliding mode (EISM) control coupled to neural network approximator is introduced using a multi-rate convergence tweaking mechanism for the sliding surface to improve the transient performance of the closed-loop system. Furthermore, the entire dynamics of the hybrid energy system is considered unknown, unlike the previous studies that only assumed the parametric uncertainties. The global asymptotic stability of the system is guaranteed, and the effectiveness of this novel framework is compared to benchmark studies.     

Between-herd variation in resilience and relations to herd performance

Resilient cows are minimally affected in their functioning by infections and other disturbances, and recover quickly. Herd management is expected to have an effect on disturbances and the resilience of cows, and this effect was investigated in this study. Two resilience indicators were first recorded on individual cows. The effect of herd-year on these resilience indicators was then estimated and corrected for genetic and year-season effects. The 2 resilience indicators were the variance and the lag-1 autocorrelation of daily milk yield deviations from an expected lactation curve. Low variance and autocorrelation indicate that a cow does not fluctuate much around her expected milk yield and is, thus, subject to few disturbances, or little affected by disturbances (resilient). The herd-year estimates of the resilience indicators were estimated for 9,917 herd-year classes based on records of 227,655 primiparous cows from 2,644 herds. The herd-year estimates of the resilience indicators were then related to herd performance variables. Large differences in the herd-year estimates of the 2 resilience indicators (variance and autocorrelation) were observed between herd-years, indicating an effect of management on these traits. Furthermore, herd-year classes with a high variance tended to have a high proportion of cows with a rumen acidosis indication (r = 0.31), high SCS (r = 0.19), low fat content (r = ?0.18), long calving interval (r = 0.14), low survival to second lactation (r = ?0.13), large herd size (r = 0.12), low lactose content (r = ?0.12), and high production (r = 0.10). These correlations support that herds with high variance are not resilient. The correlation between the variance and the proportion of cows with a rumen acidosis indication suggests that feed management may have an important effect on the variance. Herd-year classes with a high autocorrelation tended to have a high proportion of cows with a ketosis indication (r = 0.14) and a high production (r = 0.13), but a low somatic cell score (r = ?0.17) and a low proportion of cows with a rumen acidosis indication (r = ?0.12). These correlations suggest that high autocorrelation at herd level indicates either good or poor resilience, and is thus a poor resilience indicator. However, the combination of a high variance and a high autocorrelation is expected to indicate many fluctuations with slow recovery. In conclusion, herd management, in particular feed management, seems to affect herd resilience.     

Thermal analysis and management of proton exchange membrane fuel cell stacks for automotive vehicle

The thermal management of a proton exchange membrane fuel cell (PEMFC) is crucial for fuel cell vehicles. This paper presents a new simulation model for the water-cooled PEMFC stacks for automotive vehicles and cooling systems. The cooling system model considers both the cooling of the stack and cooling of the compressed air through the intercooler. Theoretical analysis was carried out to calculate the heat dissipation requirements for the cooling system. The case study results show that more than 99.0% of heat dissipation requirement is for thermal management of the PEMFC stack; more than 98.5% of cooling water will be distributed to the stack cooling loop. It is also demonstrated that controlling cooling water flow rate and stack inlet cooling water temperature could effectively satisfy thermal management constraints. These thermal management constraints are differences in stack inlet and outlet cooling water temperature, stack temperature, fan power consumption, and pump power consumption.     

Impact of the anode operating conditions on the liquid water distribution in the cathode gas diffusion layer

Previous experimental results indicate that the humidification conditions at the anode have an impact on the liquid water distribution in the cathode gas diffusion layer. Numerical simulations are developed to reproduce and analyze this effect. Results consistent with the experimental results are first obtained by playing with the partition coefficients of an advanced pore network model computing the liquid water formation and transfer in the cathode gas diffusion layer (GDL) for a large range of operating conditions. Then, a model for the full anode – cathode assembly is developed by combining the pore network model of the cathode GDL and a 1D model describing the heat and water transfer in the various components of the anode-cathode assembly. This enables one to generalize the dry – wet regime diagram introduced in a previous work by incorporating the effect of the humidity condition at the anode.     

Do metal grain silos benefit women in Kenya,Malawi, Zambia and Zimbabwe?

Metal silos can reduce maize losses during storage in smallholder farm systems, contributing towards international goals of reducing food waste and moving towards Sustainable Development Goal 2, Zero Hunger. However, technologies are introduced into farming systems with complex sets of relationships. These may differentially affect the ability of women and men to secure the expected benefits of metal silos. This, in turn, may affect adoption rates and expected outcomes. To better understand these relationships, a mixed methods study was conducted in Kenya, Malawi, Zimbabwe and Zambia where metal silos were introduced through the Effective Grain Storage Project (EGSP). EGSP distributed 1717 metal silos across the four countries.Quantitative surveys using random sampling were conducted in Kenya (124 respondents) and Malawi (100 respondents) with metal silo owners. Qualitative surveys, using purposive sampling, were conducted in all four countries covering 14 ethnic groups using focus group discussions (360 respondents), key informant interviews (62 respondents), and household case studies (62 respondents). The aim was to understand gendered post-harvest management and storage strategies in traditional systems and to map changes when metal silos were introduced.The findings suggest roles and responsibilities regarding the ownership and management of storage structures are strongly gendered with some differences between ethnic groups and countries. Men benefit more than women from the introduction of metal silos. Ownership of the grain storage facility, and the benefits attached to ownership, can switch from women to men with women having less scope for bargaining over their rights to use the stored grain for their own needs and the benefit of all household members. Women and men fail to fully follow guidelines for effective use of metal silos. They differ in their preferred attributes for their ideal storage system. Whilst some attributes are shared, women’s preferences were sharply differentiated from men in others.     

A survey of dairy goat kid-rearing practices on Canadian farms and their associations with self-reported farm performance

Although future production of dairy goats is influenced by kid-rearing practices, little is known regarding which practices maximize kid growth, welfare, and future production success. The objectives of this survey study were to (1) identify common rearing practices of Canadian commercial dairy goat farms and evaluate their associations with 6 farm performance indicators and (2) determine if farms could be grouped by management style on the basis of the 6 performance indicators and compare rearing practices common across the different groups. A survey was sent by post or electronic media to reach dairy goat producers across Canada. The questionnaire contained 70 questions on the following areas of kid rearing: kidding management, care of newborn, colostrum management, milk and solid feeding in the preweaning period, health management, disbudding, housing conditions, weaning strategies, record keeping and growth monitoring, and farm performance data. Performance indicators, calculated on self-reported data, were 305-d milk production, preweaning mortality rate, diarrhea and respiratory disease prevalence, average daily gain from birth to weaning, herd milk production, and replacement rate. A total of 175 questionnaires were returned. After applying inclusion criteria, including herd size (≥40 goats) and completeness of surveys, 104 respondents from Ontario (n = 72, 69%), Québec (n = 23, 22%), and the Western provinces (n = 9, 9%) were retained for analysis, representing 29% of all Canadian producers. Farm sizes ranged from 42 to 2,500 (median = 190) goats. A large amount of variation in rearing practices and farm performance was found between farms. Colostrum and milk feeding management were found to be associated with all performance indicators except for kid respiratory disease prevalence, with timing of colostrum delivery and feeding method accounting for most the associations within each of the 2 areas. Replacement rate was mostly affected by whether or not kids were reared with their dam. Herds surveyed in the study could successfully be divided into 3 distinct groups (production-focused, longevity-focused, and low performance), representing different management styles on the basis of farm self-reported performance levels. Rearing practices found to be associated with higher farm performance could be targeted by advisory services to help improve management practices on Canadian dairy goat farms.     

A fuel cell powered autonomous surface vehicle: The Eco-SWAMP project

Autonomous surface vehicles are becoming consolidated robotic tools for marine, coastal and inland surveys. Autonomous surface vehicles are usually equipped with electronic instruments to perform remotely controlled or autonomous geo-morphological, biological, chemical, physical analyses and data collection. Actually, well-established solutions provide battery power but the research focuses on introducing a fuel cell to decrease the environmental impact meanwhile increasing the cruising range. In this paper, the design of the Eco-SWAMP, a fuel cell powered autonomous surface vehicle, is presented starting from its battery-powered version, the SWAMP prototype. The experimental power consumption profile of the SWAMP during four missions is analysed to define the primary energy sources ratings of the Eco-SWAMP. After a commercial choice of primary sources, power management algorithms are designed and compared in MATLAB/Simulink environment by simulation results. The proposed procedure can be easily applied to any autonomous marine vehicle.