This paper proposes a super-twisting terminal sliding mode-based robust impedance controller to improve the compliance and robustness in robot-environment interaction. Based on the desired impedance dynamics, an impedance reference trajectory is constructed. Then, based on a super-twisting terminal sliding-mode, the robust impedance controller is designed to guarantee the achievement of the desired impedance dynamics in finite-time through the finite-time convergence of an impedance error. The main contribution of this paper is that the proposed control improves impedance control robustness by using (...) the super-twisting nonsingular terminal sliding-mode without causing the chattering problem. The finite-time stability of the closed-loop control system is validated by theoretical analysis based on the Lyapunov theory, and the control effectiveness is illustrated by simulations on a two-link robot manipulator. (shrink)

A modest dc electric field markedly reduced the tensile flow stress at high temperatures in three polycrystalline oxides, i.e. MgO, Al2O3 and yttria-stabilized tetragonal ZrO2 (Y-TZP). The reduction in flow stress ΔσE in Y-TZP consisted of three components: (i) ΔσT due to Joule heating, (ii) a rapid, reversible component obtained in on-off and electric field step tests and (iii) the cumulative effect of the field on microstructure. Only ΔσT and occurred in MgO and Al2O3. It is concluded that results from (...) a reduction in the electrochemical potential for the formation of vacancies corresponding to the diffusion of the rate-controlling ion in the space-charge at the grain boundary. The calculated magnitude of the space-charge zone width and its temperature and solute composition dependence are in accord with theory and experiment; is attributed mainly to the retardation of grain growth by the field. The retardation could be due to one or more of the following effects of the field on the space-charge zone: (i) an increase in the segregated solute ions, (ii) a decrease in grain boundary energy and (iii) a decrease in solute ion mobility. (shrink)

The obesity epidemic is not only impairing the health of millions of Americans but also giving rise to billions of added dollars in health care spending. Climbing rates of obesity over the past decades are one of the predominant determinants behind the surging progression of health care expenses in the United States. Moreover, the less fit and less productive U.S. workforce has gradually eroded the nation’s industrial competitiveness. Since the early 1970s, adult obesity rates have doubled and childhood obesity rates (...) have more than tripled, while health expenditures have risen two percentage points faster than the Gross Domestic Product, burgeoning from 8.8 percent in 1980 to a projected 17.9 percent in 2011. Studies analyze that greater than a quarter of America’s health care expenses are attributed to obesity. The stunning growth in obesity has been imputed for 20 to 30 percent of the increase in health care costs since the late 1970s. If the proportion of obese population had stayed unchanged, then health care expenditures in America would be approximately 10 percent less on a per capita average than they are today. (shrink)

Particle Swarm Optimization is an excellent population-based optimization algorithm. Meanwhile, because of its inspiration source and the velocity update feature, it is also widely used in the collaborative searching tasks for swarm robotics. One of the PSO-based models for robotic swarm searching tasks is Robotic PSO. It adds additional items for obstacle avoidance into standard PSO and has been applied to many single-target search tasks. However, due to PSO’s global optimization characteristics, it is easy to converge to a specific position (...) in the search space and lose the ability to explore further. When faced with the problem of multitarget searching, it may become inefficient or even invalid. This paper proposes an Exploration Enhanced Robotic PSO method for multitarget searching problems for robotic swarms. The proposed method modifies the third item in the RPSO as an additional attraction term. This item not only enables the robot to avoid collisions but also guides the swarm to search unexplored regions as much as possible. This operation increases the swarm’s task-specific diversity, making the system cover a broader search area and avoid falling into local optimums. Besides, the aggregation degree and evolution speed factors are also included in determining the inertia weight of the proposed method, which adjusts the swarm’s internal diversity dynamically. The comparison results show that this method can balance the relationship between exploration and exploitation well, which has the potential to be applied to multitarget searching scenarios. (shrink)

This volume examines the role and relevance of exemplars and the practice of imitation in character development and formation. While the role of exemplars and imitation in spiritual and moral formation has been an integral part of many religious and philosophical traditions, in recent times there has been limited theological and philosophical investigation into it and a dearth of interdisciplinary discussion. The book brings together relevant research and insights from leading experts within philosophy, psychology, and theology, with a slight emphasis (...) on Christian approaches to exemplars and imitation given the reflection on these themes throughout the history of the Christian intellectual and mystical tradition. Many of the contributions display an interdisciplinary approach into these issues; hence, this volume will be of interest to philosophers, psychologists, theologians, and others who work in moral psychology and character development. (shrink)

At an early stage of its foundation, new China became clear about the nature of public welfare and quickly developed medical and health services, which was well received by the World Health Organization. The marketization and the reduction of input into medical and health services from the 1980s created severe adverse consequences. After the SARS' outbreak in 2003, China started to give serious consideration to its medical and health system, and to work at developing medical and health services. The new (...) healthcare reform launched in 2009 re-emphasizes fairness and public welfare, and China's achievements have been remarkable. Of course, there are still many problems to be solved in the reform, which also paves the way for increasing the reform in future. (shrink)

In this article, we present a new approach of modelling epistemic uncertainties in degradation processes. This approach is established in the framework of finite degradation structures, whic...

本书从法律与人之间的有机互动关系出发,对法律发展的深层历史底蕴及其对人的主体性的终极关怀进行了深入、系统地分析和阐释,指出经济因素是法价值产生的内在根据,而人类理性因素则是法价值产生的必要条件。.

Volume 1. Kan xian lun -- volume 2. San xi lun -- volume 3. Cun you lun -- volume 4. Yuan shan lun -- volume 5. He yi lun.

Let K be affine, that is, \\in {\mathbb {R}}^{n+m}: y_{1}=\cdots =y_{m}=0\}\). We compute the sharp constant of Hardy inequality related to the distance d for polyharmonic operator. Moreover, we show that there exists a constant \ such that for each \\), there holds $$\begin{aligned} \int _{{\mathbb {R}}^{n+m}}|\nabla ^{k} u|^{2}\mathrm{d}x\mathrm{d}y-c_{m,k}\int _{{\mathbb {R}}^{n+m}}\frac{u^{2}}{|y|^{2k}}\mathrm{d}x\mathrm{d}y\ge C\left ^{\frac{n+m-2k}{n+m}}, \end{aligned}$$where \, \}{n+m-2k}\), \p}{2}-n-m\) and \ is the sharp Hardy constant. These inequalities generalize the result of Maz’ya ) and Lu and the second author for polyharmonic operators). (...) In order to prove the main result, we establish some Poincaré–Sobolev inequalities on hyperbolic space which is of independent interest. (shrink)

Different home textile patterns have different emotional expressions. Emotion evaluation of home textile patterns can effectively improve the retrieval performance of home textile patterns based on semantics. It can not only help designers make full use of existing designs and stimulate creative inspiration but also help users select designs and products that are more in line with their needs. In this study, we develop a three-stage framework for home textile pattern emotion labeling based on artificial intelligence. To be specific, first (...) of all, three kinds of aesthetic features, i.e., shape, texture, and salient region, are extracted from the original home textile patterns. Then, a CNN -based deep feature extractor is constructed to extract deep features from the aesthetic features acquired in the previous stage. Finally, a novel multi-view classifier is designed to label home textile patterns that can automatically learn the weight of each view. The three-stage framework is evaluated by our data and the experimental results show its promising performance in home textile patterns labeling. (shrink)

In this paper, I examine whether Hume's view on personal identity is skeptical or not. the controversy stems from the question of whether, according to Hume, we can find a condition for a kind of real identity which a changing object satisfies. I argue that Hume holds a skeptical view on personal identity and his skepticism rests on his two principles: 1) all our perceptions are distinct; 2) we never perceive any real connection among objects.

The network-based cooperative information spreading is a widely existing phenomenon in the real world. For instance, the spreading of disease outbreak news and disease prevention information often coexist and interact with each other on the Internet. Promoting the cooperative spreading of information in network-based systems is a subject of great importance in both theoretical and practical perspectives. However, very limited attention has been paid to this specific research area so far. In this study, we propose an effective approach for identifying (...) the influential latent edges which, if added to the original network, can promote the cooperative susceptible-infected-recovered dynamics. To be specific, we first obtain the probabilities of each nodes being in different node states by the message-passing approach. Then, based on the state probabilities of nodes obtained, we come up with an indicator, which incorporates both the information of network topology and the co-SIR dynamics, to measure the influence of each latent edge in promoting the co-SIR dynamics. Thus, the most influential latent edges can be located after ranking all the latent edges according to their quantified influence. We verify the rationality and superiority of the proposed indicator in identifying the influential latent edges of both synthetic and real-world networks by extensive numerical simulations. This study provides an effective approach to identify the influential latent edges for promoting the network-based co-SIR information spreading model and offers inspirations for further research on intervening the cooperative spreading dynamics from the perspective of performing network structural perturbations. (shrink)

Based on the life history theory and broadening construction theory, the study aimed to investigate the influence of Machiavellianism on the learning-related subjective well-being and the underlying mechanism, 582 Chinese senior high school students including 289 girls and 310 boys were recruited to participate in this study, and they anonymously filled out questionnaires regarding Machiavellianism, learning-related subjective well-being, gratitude, and subjective family economic level. The results showed that: a higher level of Machiavellianism was associated with a lower level of learning-related (...) subjective well-being; gratitude partially mediated the relationship between Machiavellianism and learning-related subjective well-being; subjective family economic level moderated the links between Machiavellianism and learning-related subjective well-being, and between gratitude and learning-related subjective well-being. This study explained how and when Machiavellianism affected Chinese senior high school students’ learning-related subjective well-being and provided a deeper understanding of the relationship between Machiavellianism and learning-related subjective well-being. (shrink)

Increasingly complex and volatile work environments challenge long-term employment and job security. Managers are not exempt from this, because they also often perceive their own jobs to be precarious. Drawing upon conservation of resources theory, we offer a fresh perspective to understand how and when abusive supervision is induced by manager job insecurity on a daily basis. We draw upon manager need for power as a within-person novel explanatory mechanism to explain why job insecurity triggers managers to display abusive supervision (...) on a daily basis. To test our model, we conducted a study over a period of 10 consecutive days, using an experience sampling methodology, in which 126 managers in Chinese banks completed 1,058 daily surveys. In agreement with our hypotheses, we found that manager need for power, triggered by job insecurity, is a proximal cause of abusive supervision on a daily basis, after controlling for several other variables that have been found to lead to abusive supervision. The detrimental effects of daily manager job insecurity are alleviated when managers are equipped with higher levels of trait resilience and daily state mindfulness. Thus, our findings provide a more comprehensive picture of how managers’ stable and dynamic resources operate as beneficial buffers, alleviating the harm resulting from a daily workplace stressor—in this case, job insecurity. Overall, our study traces the fluctuation of a specific resource, and reveals the consequences of manager job insecurity from a leader-centric perspective. (shrink)

本书是对关于墨辩的先秦墨子后学著作《墨经》六篇的研究,总结墨家逻辑原典和义理研究成果,对墨家逻辑的产生背景、学说体系等进行讨论。.

本书是一部专门写给社会大众特别是青年朋友的书。本书打破惯例,将孟子思想结晶为国家应该如何治理、 人们应该如何生活、道德应该如何完善三个问题,深入浅出地介绍了孟学的菁华及其对中国文化的深刻影响。.

In this paper I aim to make a comparative study of Chang Yi-mou’s films and the novels of a Taiwanese regionalist novelist— Wang Chen-ho, for both of the two artists reveal great impulse of postcolonialist view in representing history and gender/class, though with different emphasis. Chang. is now one of the most successful movie directors in the Asia-Pacific region, just like Ang Lee, and enjoys high prestige and international fame—a great example of “globalization” and “multiculturalism,” whereas Wang has always been (...) recognized as one of the most successful Taiwanese nativist novelists because of his experimental representation of the hybridized Taiwanese languages by skillfully blending “Chinglish,” Japanese, and other Taiwanese dialects within his story-telling. In other words, in this paper, I intend to make a comparative study of the micropolitics of how Chang’s and Wang ’s works reveal a postcolonial discourse/condition in representing history/gender/class. Critical approaches that will be employed in this project are mainly the micropolitics in the postcolonialist poetics of Homi Bhabha, Said, and Deleuze and Guattari. (shrink)

The Southern Garden Poetry Society: Literary Culture and Social Memory in Guangdong. By David B. Honey. Hong Kong: the Chinese University Press, 2013. Pp. xiv + 258. $45.