Development and Control of a Three DOF Spherical Induction Motor

VITAJOHN H. FLAVELLBirthdate: August 9, 1928 Marital Status: Married, 2 children Birthplace: Rockland, MassachusettsEDUCATION:Northeastern University, A.B., 1951 (Psychology)Clark University, M.A., 1952 (Psychology)Clark University, Ph.D., 1955 (Psychology)EMPLOYMENT HISTORY:Professor, Department of Psychology, Stanford University, 1976-Present. Professor, Institute of Child Development, University of Minnesota, 1965-76. Associate Professor, Department of Psychology, University of Rochester, 1960-65. Assistant Professor, Department of Psychology, University of Rochester, 1956-60. Clinical Associate in Psychology, University of Rochester, 1955-56.Staff Psychologist, Veterans Administration Hospital, Fort Lyon, Colorado, 1954-55. SCIENTIFIC and PROFESSIONAL ORGANIZATIONS:American Psychological SocietySociety for Research in Child DevelopmentInternational Society for the Study of Behavioral DevelopmentPROFESSIONAL ACTIVITIES:Member of Governing Council 1975-83, and President 1979-81, Society for Researchin Child Development.President, Division 7 (Developmental), American Psychological Association, 1969-70. HONORS:Recipient of the American Psychological Association's Distinguished Scientific Contribution Award, 1984, and G. Stanley Hall Award (Division of Development Psychology), 1986.Docteur Honoris Causa, University Rene Descartes, Paris 1990Elected to the American Academy of Arts and Sciences, 1990Honorary Degree, University of Rochester, 1991Appointed as Anne T. and Robert M. Bass Professor in the School of Humanities and Sciences, 1992Elected to the National Academy of Sciences, 1994Honorary Degree, Aristotle University of Thessaloniki, Greece 1994BIBLIOGRAPHYFlavell, J. H. (1955). Repression and the return of the repressed. Journal of Consulting Psychology, 19, 441-443.Flavell, J. H. (1956). Abstract thinking and social behavior in schizophrenia.Journal of Abnormal and Social Psychology, 52, 208-211.Flavell, J. H. (1957). Some observations on schizophrenic thinking: Etiology andonset. Canadian Journal of Psychology, 11, 128-132.Flavell, J. H., & Draguns, J. (1957). A microgenetic approach to perception and thought. Psychological Bulletin, 54, 197-217.Flavell, J. H. (1958). A test of Whorfian theory. Psychological Reports, 4, 455-462.Flavell, J. H., Draguns, J., Feinberg, L. D., & Budin, W. (1958). A microgeneticapproach to word association. Journal of Abnormal Social Psychology, 57, 1-7.Flavell, J. H., Cooper, A., & Loiselle, R. H. (1958). Effect of the number of preutilization functions on functional fixedness in problem solving. Psychological Reports, 4, 343- 350.Flavell, J. H., & Flavell, E. R. (1959). One determinant of judged semantic and associative connection between words. Journal of Experimental Psychology, 58, 159-165.Flavell, J. H.,& Stedman, D. J. (1961). A developmental study of judgments ofsemantic similarity. Journal of Genetic Psychology, 98, 279-293.Flavell, J. H. (1961). Meaning and meaning similarity: I. A theoreticalreassessment. Journal of General Psychology, 64, 307-319.Flavell, J. H. (1961). Meaning and meaning similarity: II. The semantic differential and co-occurrence as predictors of judged similarity in meaning. Journal of General Psychology, 64, 321-335.Flavell, J. H. (1961). Meaning and meaning similarity: III. Latency and number of similarities as predictors of judged similarity in meaning. Journal of General Psychology, 64, 321-335.Flavell, J. H. (1962). Historical and bibliographic note. In W. Kessen, & C. Kuhlman (Eds.), Thought in the young child: Report of a conference on intellective development with particular attention to the work of Jean Piaget. Monographs of the Society for Research on Child Development, 27, No.2, 5-18.Flavell, J. H. (1963). The developmental psychology of Jean Piaget. Princeton, NJ: D. Van Nostrand Co.Flavell, J. H. (1963). Piaget's contributions to the study of cognitive development. Merrill-PalmerQuarterly, 9, 245-252.Flavell, J. H. (1966). The development of two related forms of social cognition: Role taking and communication. In A. H. Kidd & J. L. Rivoire (Eds.), Perceptual development in children. New York: International Universities Press.Flavell, J. H. (1966). Heinz Werner on the nature of development. In S. Wapner & B. Kaplan (Eds.), Heinz-Werner: 1890-1964. Worchester, MA: Clark University Press.Flavell, J. H. (1966). Le langage priv'. Bulletin Psychologique, 19, 8-12.Flavell, J. H., Beach, D. R., & Chinsky, J. M. (1966). Spontaneous verbal rehearsal in a memory task as a function of age. Child Development, 37, 283-299.Flavell, J. H. (1966). Role-taking and communication skills in children. Young Children, 21, 164-177.Keeney, T. J., Cannizzo, S. R., & Flavell, J. H. (1967). Spontaneous and inducedverbal rehearsal in a recall task. Child Development, 38, 953-966.Corsini, D. A., Pick, A. D., & Flavell, J. H. (1968). Production deficiency ofnonverbal mediators in young children. Child Development, 39, 53-58.Flavell, J. H., Botkin, P. T., Fry, C. L., Wright, J. W., & Jarvis, P. E. (1968). The development of role-taking and communication skills in children. New York: Wiley.Flavell, J. H., & Wohlwill, J. F. (1969). Formal and functional aspects of cognitive development. In D. Elkind and J. Flavell (Eds.), Studies in cognitive development: Essays in honor of Jean Piaget. (pp.67-120). New York: Oxford University Press.Flavell, J. H., & Hill, J. P. (1969). Developmental psychology. Annual Review of Psychology, 20, 1-56. Palo Alto Annual Reviews, Inc.Moely, B. E., Olson, F. A., Halwes, T. G., & Flavell, J. H. (1969). Productiondeficiency in young children's clustered recall. Developmental Psychology, 1, 26-34.Flavell, J. H. (1970). Concept development. In P. H. Mussen (Ed.), Carmichael'smanual of child psychology (Vol. 1) (pp. 983-1059). New York: Wiley.Flavell, J. H. (1970). Cognitive changes in adulthood. In L. R. Goulet & P. Baltes (Eds.), Life-span developmental psychology: Research and theory (pp. 247-253). New York: Academic Press.Flavell, J. H. (1970). Developmental studies of mediated memory. In H. W. Reese & L. P. Lipsitt (Eds.), Advances in child development and behavior. (Vol. 5) (pp. 182-211). New York: Academic Press.Flavell, J. H. (1970). Comments on Beilin's paper. Ibid. Pp. 189-191.Flavell, J. H., Friedrichs, A. G., & Hoyt, J. D. (1970). Developmental changes in memorizationprocesses. Cognitive Psychology, 1, 324-340.Larsen, G. Y., & Flavell, J. H. (1970). Verbal factors in compensation performance and the relationship between conservation and compensation. Child Development, 41, 965- 977.Miller, P. H., Kessel, F. S., & Flavell, J. H. (1970). Thinking about people thinking about people thinking about...: A study of social cognitive development. Child Development, 41, 613- 623.Miller, S. A., Shelton, J., & Flavell, J. H. (1970). A test of Luria's hypotheses concerning the development of verbal self- regulation. Child Development, 41, 651-665.Ryan, S. M., Hegion, A. G., & Flavell, J. H. (1970). Nonverbal mnemonic mediation in preschool children. Child Development, 41, 539-550.Flavell, J. H. (1971). The uses of verbal behavior in assessing children's cognitive abilities. In D. R. Green, M. P. Ford & G. B. Flamer (Eds.), Measurement and Piaget (pp. 198-204). New York: McGraw-Hill.Flavell, J. H. (1971). Discussant's comments for the SRCD Symposium: What ismemory development the development of? Human Development, 14, 272-278.Flavell, J. H. (1971). Comments on Beilin's The development of physical concepts. In T. Mischell (Ed.), Cognitive development and epistemology. New York: Academic Press.Flavell, J. H. (1971). Stage-related properties of cognitive development. Cognitive Psychology, 2, 421-453.Flavell, J. H. (1972). An analysis of cognitive-developmental sequences. GeneticPsychology Monographs, 86, 279-350.Appel, L. F., Cooper, R. G., McCarrell, N., Sims-Knight, J., Yussen, S., & Flavell, J. H. (1972). The developmental acquisition of the distinction between perceiving and memorizing. Child Development, 43, 1365-1381.Peterson, C. L., Danner, F. W., & Flavell, J. H. (1972). Developmental changes in children's response to three indications of communicative failure. Child Development, 43, 1463-1468.Masur, E. F., McIntyre, C. W., & Flavell, J. H. (1973). Developmental changes in apportionment of study time among items in a multitrial free recall task. Journal of Experimental Child Psychology, 15, 237-246.Ritter, K., Kaprove, B. H., Fitch, J. P., & Flavell, J. H. (1973). The development of retrieval strategies in young children. Cognitive Psychology, 5, 310-321.Flavell, J. H. (1974). The development of inferences about others. In T. Mischell(Ed.), Understanding other persons. Oxford, England: Blackwell Basil & Mott.Masangkay, Z. S., McCluskey, K.A., McIntyre, C. W., Sims-Knight, J., Vaughn, B. E., & Flavell, J. H. (1974). The early development of inferences about the visual percepts of others. ChildDevelopment, 45, 357-366.Drozdal, J. G., & Flavell, J. H. (1975). A developmental study of logical searchbehavior. Child Development, 46, 389-393.Wellman, H. M., Ritter, K., & Flavell, J. H. (1975). Deliberate memory behaviorin the delayed reactions of very young children. Developmental Psychology, 11, 780-787.Kreutzer, M. A., Leonard, C., & Flavell, J. H. (1975). An interview study of children's knowledge about memory. Monographs of the Society for Research in Child Development, 41, (1, Serial No. 159).Flavell, J. H. (1976). Metacognitive aspects of problem solving. In L. B. Resnick (Ed.), The nature of intelligence. Hillsdale, NJ: Lawrence Erlbaum Associates.Salatas, H., & Flavell, J. H. (1976). Behavioral and metamnemonic indicators of strategic behavior under remember instructions in first grade. Child Development, 47, 81-89.Salatas, H., & Flavell, J. H. (1976). Retrieval of recently learned information:Development of strategies and control skills. Child Development, 47, 941-948.Salatas, H., & Flavell, J. H. (1976). Perspective taking: The development of twocomponents of knowledge. Child Development, 47, 103-109.Flavell, J. H. (1977). Cognitive development. Englewood Cliffs, NJ: Prentice Hall.Wellman, H. M., & Flavell, J. H. (1977). Metamemory. In R. V. Kail & J. W. Hagen (Eds.), Perspectives on the development of memory and cognition. Hillsdale, NJ: Lawrence Erlbaum Associates.Gordon, F. R., & Flavell, J. H. (1977). The development of intuitions about cognitive cueing. Child Development, 48, 1027-1033.Lempers, J. D., Flavell, E. R., & Flavell, J. H. (1977). The development in very young children of tacit knowledge concerning visual perception. Genetic Psychology Monographs, 95, 3-53.Flavell, J. H. (1978). The development of knowledge about visual perception.Nebraska Symposium on Motivation, 25, 43-76.Flavell, J. H. (1978). Metacognitive development. In J. M. Scandura & C. J. Brainerd (Eds.), Structural-process theories of complex human behavior. Alphen a.d. Rijn, The Netherlands: Sijthoff & Noordhoff.Flavell, J. H. (1978). Comments. In R. S. Siegler (Ed.), Children's thinking: What develops. Hillsdale, NJ: Lawrence Erlbaum Associates.Flavell, J. H., Omanson, R. C., & Latham, C. (1978). Solving spatial perspectivetaking problems by rule versus computation: A developmental study. Developmental Psychology, 14, 462-473.Flavell, J. H., Shipstead, S. G., & Croft, K. (1978). Young children's knowledge about visualperception: Hiding objects from others. Child Development, 49, 1208-1211.Flavell, J. H. (1978). Developmental stage: Explanans or explanadum? The Behavioral and Brain Sciences, 2, 187.Speer, J. R, & Flavell, J. H. (1979). Young children's knowledge of the relative difficulty of recognition and recall memory tasks. Developmental Psychology, 15, 214-217.Keniston, A., & Flavell, J. H. (1979). A developmental study of intelligent retrieval. Child Development, 50, 1144-1152.Flavell, J. H. (1979). Metacognition and cognitive monitoring: A new area of cognitive-developmental inquiry. American Psychologist, 34, 906-911.Flavell, J. H., Shipstead, S. G., & Croft,K. (1980). What young children think you see when their eyes are closed. Cognition, 8, 369-387.Flavell, J. H., Flavell, E. R, Green, F. L., & Wilcox, S. A. (1980). Young children's knowledge about visual perception. Effect of observer's distance from target on perceptual clarity of target. Developmental Psychology, 16, 10-12.Flavell, J. H., Everett, B. A., Croft, K, & Flavell, E. R (1981). Young children's knowledge about visual perception: Further evidence for the Level 1-Level 2 distinction. Development Psychology, 17, 99-103.Flavell, J. H., Flavell, E. R., Green, F. L., & Wilcox, S. A. (1981). Thedevelopment of three spatial perspective-taking rules. Child Development, 52, 356-358.Flavell, J. H., & Ross, L. (Eds.). (1981). Social cognitive development: Frontiersand possible futures. New York: Cambridge University Press.Flavell, J. H. (1981). Cognitive monitoring. In W. P. Dickson (Ed.). Children's oral communication skills. New York: Academic Press.Flavell, J. H. (1981). Monitoring social cognitive enterprises: Something else thatmay develop in the area of social cognition. In J. H. Flavell & L. D. Ross (Eds.), Socialcognitive development Frontiers and possible futures. New York: Cambridge UniversityPress.Flavell, J. H., Speer, J. R, Green, F. L., & August, D. L. (1981). The development of comprehension monitoring and knowledge about communication. Monographs of the Society for the Research in Child Development, 46 (5, Serial No. 192).Singer, J. B., & Flavell, J. H. (1981). Development of knowledge about communication: Children's evaluation of explicitly ambiguous messages. Child Development, 52, 1211-1215.Beal, C. R., & Flavell, J. H. (1982). The effect of increasing the salience of message ambiguities on kindergartner's evaluations of communicative success and message adequacy. Developmental Psychology, 18, 43-48.Flavell, J. H. (1982). Structures, stages and sequences in cognitive development. Minnesota Symposium on Child Psychology, 15, 1-28.Flavell, J. H. (1982). On cognitive development. Child Development, 53, 1-10.Flavell, J. H., Flavell, E. R, & Green, F. L. (1983). Development of the appearance-reality distinction. Cognitive Psychology, 15, 95-120.Beal, C. R., & Flavell, J. H. (1983). Young speaker's evaluations of their listeners' comprehension in a referential communication task. Child Development, 54, 148-153.Flavell, J. H., & Markman, E. M. (Eds.). (1983). Handbook of child psychology: Cognitive development (Vol. 3). New York: John Wiley and Sons.Flavell, J. H., Zhang, X-D., Zhou, H., Qi, S., & Dong, Q. (1983). A comparison between the development of the appearance-reality distinction in the People's Republic of China and the United States. Cognitive Psychology, 15, 459-466.Beal, C. R., & Flavell, J. H. (1984). Development of the ability to distinguish communicative intention and literal message meaning. Child Development, 55, 920-928.Flavell, J. H. (1984). Speculations about the nature and development of metacognition. In F. E. Weinert and R. H. Kluwe(Eds.), Metakognition, motivation und lemen. Stuttgart: Kohlharnmer.August, D. L., Flavell, J. H., & Clift, R. (1984). A comparison of comprehension monitoring in skilled and less skilled readers. Reading Research Quarterly, 20, 39-53.Taylor, M., & Flavell, J. H. (1984). Seeing and believing: Children's understanding of the distinction between appearance and reality. Child Development, 55, 1710-1720.Flavell, J. H. (1985). Cognitive development (2nd Ed.). Englewood Cliffs, NJ: Prentice-Hall.Bonitatibus, G. J., & Flavell, J. H. (1985). Effect of presenting a message in written form on young children's ability to evaluate its communication adequacy. Developmental Psychology, 21, 455-461.Flavell, J. H., Green, F. L., & Flavell, E. R. (1985). The road not taken: Understanding the implications of initial uncertainty in evaluating spatial directions. Developmental Psychology, 21, 207-216.Pillow, B. H., & Flavell, J. H. (1985). Intellectual realism: The role of children's interpretations of pictures and perceptual verbs. Child Development, 56, 664-670.Flavell, J. H. (1985). Developpement metacognitif. In M. Richelle (Ed.), Psychologie developpementale: Problemes et realities. Hommage a P. Olerson. Bruxelles: Editions Mardaga.Flavell, J. H., Green, F. L., & Flavell, E. R. (1986). Development of knowledge about the appearance-reality distinction. Monographs of the Society for Research in Child Development, 51 (1, Serial No. 212).Flavell, J. H. (1986). The development of children's knowledge about the appearance-reality distinction. American Psychologist, 41, 418-425.Flavell, J. H. (1986). Really and truly. Psychology Today.Pillow, B. H., & Flavell, J. H. (1986). Young children's knowledge about visualperception: Projective size and shape. Child Development, 57, 125-135.Flavell, J. H. (1987). Speculations about the nature and development of metacognition. In F. E. Weinert & R. H. Kluwe (Eds.), Metacognition, motivation and understanding. Hillsdale, NJ: Erlbaum.Flavell, J. H., Green, F. L., Wahl, K. E., & Flavell, E. R. (1987). The effects of question classification and memory aids on young children's performance on appearance-reality tasks. Cognitive Development, 2, 127-144.Flavell, J. H., Flavell, E. R., & Green, F. L. (1987). Young children's knowledge about the apparent-real and pretend-real distinctions. Developmental Psychology, 23, 816-822.Flavell, J. H. (1988). The development of children's knowledge about the mind: From cognitive connections to mental representations. In J. W. Astington, P. L. Harris, & D. R. Olson (Eds.), Developing theories of mind. New York: Cambridge University Press.Flavell, J. H., Green, F. L., & Flavell, E. R. (1989). Young children's ability to differentiate appearance-reality and Level 2 perspectives in the tactile modality. Child Development, 60, 201-213.Flavell, J. H., Flavell, E. R., & Green, F. L. (1989). A transitional period in the development of the appearance- reality distinction. International Journal of Behavioral Development, 12, 509-526.Lillard, A. S., & Flavell, J. H. (1990). Young children's preference for mental stateversus behavioral descriptions of human action. Child Development, 61, 731-741.Lovett, S. B., & Flavell, J. H. (1990). Understanding and remembering: Children's knowledge about the differences between comprehension and memory. Child Development, 61, 1842-1858.Moses, L. J., & Flavell, J. H. (1990). Inferring false beliefs from actions and reactions. Child Development, 61, 929-945.Flavell, J. H., Green, F. L., & Flavell, E. R. (1990). Developmental changes inchildren's knowledge about the mind. Cognitive Development, 5, 1-27.Flavell, J. H., Flavell, E. R., Green, F. L., & Korfmacher, J. E. (1990). Do young children think of television images as pictures or real objects? Journal of Broadcasting and Electronic Media, 34, 399-417.Flavell, J. H., Flavell, E. R., Green, F. L., & Moses, L. J. (1990). Young children's understanding of fact beliefs versus value beliefs. Child Development, 61 915-928.Flavell, J. H., Green, F. L., Herrera, C. & Flavell, E. R. (1991). Young children's knowledgeabout visual perception: Lines of sight are always straight. British Journal of Developmental Psychology, 9, 73-88.Flavell, J. H. (1991). What young children know about the mind. Contemporary Psychology, 36, 741-742.Flavell, J. H. (1992). Perspectives on perspective-taking. In H. Beilin & P. B. Pufall (Eds.)., Piaget's theory: Prospects and possibilities. Hillsdale, NJ: Erlbaum.O'Neill, D. K., Astington, J. W., & Flavell, J. H. (1992). Young children's understanding of the role that sensory experiences play in knowledge acquisition. Child Development, 63, 474-490.Flavell, J. H., Mumme, D., Green, F. L., & Flavell, E. R (1992). Young children's understanding of different types of beliefs. Child Development, 63, 960-977.Flavell, J. H., Lindberg, N. A., Green, F. L., & Flavell, E. R. (1992). The development of children's understanding of the appearance-reality distinction between how people look and what they are really like. Merrill-Palmer Quarterly, 4, 513- 524.Flavell, J. H. (1992). Cognitive development: Past, present, and future. Developmental Psychology, 28, 998-1005.Lillard, A. S., & Flavell, J. H. (1992). Young children's understanding of differentmental states. Developmental Psychology, 28, 626-634.Flavell, J.H., Green, F.L., & Flavell, E.R (1993). Children's understanding of the stream of consciousness. Child Development, 64, 387-398.Flavell, J. H. (1993). Young children's understanding of thinking and consciousness. Current Directions in Psychological Science, 2(2), 40-43.Lyon, T.D., & Flavell, J.H. (1993). Young children's understanding of forgetting over time. Child Development, 64, 789-800.Flavell, J.H., Miller, P.R., & Miller, S.A. (1993). Cognitive development (3rd ed.). Englewood Cliffs, N.J.: Prentice-Hall.Flavell, J.H. (1993). The development of children's understanding of false belief and the appearance-reality distinction. International Journal of Psychology, 28 (5), 595-604.Lyon, T.D., & Flavell, J.H. (1994). Young children's understanding of "remember" and "forget". Child Development, 65, 1357-1371.Flavell, J.H., Green, F.L., & Flavell, E.R (1995). Young children's knowledge about thinking. Monographs of the Society for Research in Child Development, 60 (1. Serial No. 243).Flavell, J.H., Green, FL., & Flavell, E.R (1995). The development of children's knowledge about attentional focus. Developmental Psychology, 31, 706-712.Flavell, J.H., Green, F.L., Flavell, E.R, & Grossman, J.B. (in press) Thedevelopment of children's knowledge about inner speech. Child Development.Flavell, J.H. (1996). Piaget's legacy. Psychological Science, 7, 200-203.Flavell, J.H., & Miller, P.H. (1998). Social cognition. In D. Kuhn & RS. Siegler (Eds.). Handbook of child psychology (Fifth Ed.) Vol 2. Cognition, perception, and language development (W. Damon, Editor-in-chief). New York: Wiley.Flavell, J.H., Green, F.L., Flavell, E.R., & Lin, N.T. (submitted). Development of children's knowledge about unconsciousness.Abbott, K., Lee, P.P., & Flavell, J.H. (submitted). Young children's understanding of intention.。

6.1 ConclusionsAutonomous control for small UAVs imposes severe restrictions on the control algorithmdevelopment, stemming from the limitations imposed by the on-board hardwareand the requirement for on-line implementation. In this thesis we have proposed anew hierarchical control scheme for the navigation and guidance of a small UAV forobstacle avoidance. The multi-stage control hierarchy for a complete path control algorithmis comprised of several control steps: Top-level path planning,mid-level pathsmoothing, and bottom-level path following controls. In each stage of the control hierarchy,the limitation of the on-board computational resources has been taken intoaccount to come up with a practically feasible control solution. We have validatedthese developments in realistic non-trivial scenarios.In Chapter 2 we proposed a multiresolution path planning algorithm. The algorithmcomputes at each step a multiresolution representation of the environment usingthe fast lifting wavelet transform. The main idea is to employ high resolution closeto the agent (where is needed most), and a coarse resolution at large distances fromthe current location of the agent. It has been shown that the proposed multiresolutionpath planning algorithm provides an on-line path solution which is most reliableclose to the agent, while ultimately reaching the goal. In addition, the connectivityrelationship of the corresponding multiresolution cell decomposition can be computed directly from the the approximation and detail coefficients of the FLWT. The path planning algorithm is scalable and can be tailored to the available computational resources of the agent.The on-line path smoothing algorithm incorporating the path templates is presentedin Chapter 3. The path templates are comprised of a set of B-spline curves,which have been obtained from solving the off-line optimization problem subject tothe channel constraints. The channel is closely related to the obstacle-free high resolutioncells over the path sequence calculated from the high-level path planner. Theobstacle avoidance is implicitly dealt with since each B-spline curve is constrainedto stay inside the prescribed channel, thus avoiding obstacles outside the channel.By the affine invariance property of B-spline, each component in the B-spine pathtemplates can be adapted to the discrete path sequence obtained from thehigh-levelpath planner. We have shown that the smooth reference path over the entire pathcan be calculated on-line by utilizing the path templates and path stitching scheme. The simulation results with the D_-lite path planning algorithm validates the effectivenessof the on-line path smoothing algorithm. This approach has the advantageof minimal on-line computational cost since most of computations are done off-line.In Chapter 4 a nonlinear path following control law has been developed for asmall fixed-wing UAV. The kinematic control law realizes cooperative path followingso that the motion of a virtual target is controlled by an extra control input to helpthe convergence of the error variables. We applied the backstepping to derive theroll command for a fixed-wing UAV from the heading rate command of the kinematiccontrol law. Furthermore, we applied parameter adaptation to compensatefor theinaccurate time constant of the roll closed-loop dynamics. The proposed path followingcontrol algorithm is validated through a high-fidelity 6-DOF simulation of a fixed-wing UAV using a realistic sensor measurement, which verifies the applicabilityof the proposed algorithm to the actual UAV.Finally, the complete hierarchical path control algorithm proposed in this thesis isvalidated thorough a high-fidelity hardware-in-the-loop simulation environment usingthe actual hardware platform. From the simulation results, it has been demonstratedthat the proposed hierarchical path control law has been successfully applied for pathcontrol of a small UAV equipped with an autopilot that has limited computational resources.6.2 Future ResearchIn this section, several possible extensions of the work presented in this thesis are outlined.6.2.1 Reusable graph structure The proposed path planning algorithm involves calculating the multiresolution cell decomposition and the corresponding graph structure at each of iteration. Hence, the connectivity graph G(t) changes as the agent proceeds toward the goal. Subsequently, let x 2 W be a state (location) which corresponds to nodes of two distinct graphs as followsBy the respective A_ search on those graphs, the agent might be rendered to visit x at different time steps of t i and t j , i 6= j. As a result, a cyclic loop with respect to x is formed for the agent to repeat this pathological loop, while never reaching the goal. Although it has been presented that maintaining a visited set might be a means of avoiding such pathological situations[142], it turns out to be a trial-and-error scheme is not a systemical approach. Rather, suppose that we could employ a unified graph structure over the entire iteration, which retains the information from the previous search. Similar to the D_-lite path planning algorithm, the incremental search over the graph by reusing the previous information results in not only overcoming the pathological situation but also reducing the computational time. In contrast to D_ orD_-lite algorithms where a uniform graph structure is employed, a challenge lies in building the unified graph structure from a multiresolution cell decomposition. Specifically, it includes a dynamic, multiresolution scheme for constructing the graph connectivity between nodes at different levels. The unified graph structure will evolveitself as the agent moves, while updating nodes and edges associated with the multiresolutioncell decomposition from the FLWT. If this is the case, we might be ableto adapt the proposed path planning algorithm to an incremental search algorithm, hence taking advantages of both the efficient multiresolution connectivity (due tothe FLWT) and the fast computation (due to the incremental search by using the previous information).6.1个结论小型无人机自主控制施加严厉限制控制算法发展，源于所施加的限制板载硬件并要求在线实施。

2020年11月DANGDAIJIAOYANLUNCONG思臓.疗087“三全育人”理念下大学生思想政治教育建设与实施路径杨萤(上海立信会计金融学院上海201620)【摘要】随着我国高等教育事业的不断发展，大学生思想政治教育工作无论是内容还是形式都不断创新,理论与实践的探索也 不断深入，思政教育工作取得了很大的进步。

然而随着各种社会思潮的传播，大学生受各种因素的影响，其价值观还存在一定的偏差，政治信仰迷茫，比如盲目追求物质享受，这些问題证明加强大学生思政教育的改革有着重要的现实意义。

三全育人理念将高校思政教 育工作渗透于人才培养的各个环节，不仅要实现知识教育，还要实现价值塑造与能力培养。

文章就基于“三全育人”理念分析我国思政教育工作现状,并提出大学生思想政治教育建设与实施的路径。

【关键词】“三全育人”；大学生;思想政治教育；问题分析【中图分类号】GM1【文献标识码】A【文章编号】2〇95-6517(2〇2〇)11-〇〇87-〇2Construction and Implementation of Ideological and Political Education of College Studentsunder the Concept of “Three Complete Education”YA N G Ying(Shanghai Lixin Institute of Accounting and Finance,Shanghai201620, China)【Abstract】With the continuous development o f China’s higher education,the ideological and political education work of college students,whether in content or form,is constandy innovative,the exploration of theory and practice is also deepening,ideological and political education has made great progress.However,with the spread of various social trends of thought,college students are affected by various factors,and their values stiD have certain deviation,political beliefs are confused,such as blind pursuit of material enjoyment. These problems prove that strengthening the reform of Ideological and political education of college students has important practical significance.The concept of**three integrityM education infiltrates the ideological and political education work in all aspects of talent cultivation.It is not only necessary to realize knowledge education,but also to realize value shaping and ability cultivation.This paper analyzes the current situation of ideological and political education in China based on the concept of“three aspects of education”，and puts forward the path of ideological and political education construction and implementation.【Keywords】“Three complete education”；College students;Ideological and political education;Problem analysis一、"三全育人”理念的内涵所谓“三全育人”理念是指全员育人、全过程育人、全方位育人，全员、全过程、全方位是谓“三全”。

ZHANG Jiafan 1, 3, *, FU Hailun 2, DONG Yiming 1, ZHANG Yu 1, YANG Canjun 112 Zhejiang Province Instituteof Metrology,Hangzhou 310027, China3Abstract: robot teleoperation with the force-feedback in the unknown mechanism, the 3-revolution-prismatic-spherical (3RPS) parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified.Key words:1At first look at modern society, more and more robotsand automated devices are coming into our life and servemechatronic devices replace lower levels, essentially levels just as the term human which is coined by GOERTZ, et al [2]widely developed in the fields haptic interface to enhance the operator, also in the exciting applications in surgeryplanning, personnel training, and physical rehabilitation.DUBEY , et al [3], developed a methodology to incorporatesensor and model based computer assistance into humancontrolled teleoperation systems. In their approach, theThis project is supported by National Natural China (Grant No. 50305035), National Hi-tech Research and Development Program of China(863 Program, Grant No. ##), Beijing Municipal NaturalScience Foundation of China((Grant No. ##), and Zhejiang Provincial Natural Science Foundation of China((Grant No. ##)and was assisted parameters which the mapping of positions and velocities between the master and slave and their impedance parameters. The ESA humanarm exoskele- ton was developed to enable force-feedbackarms [4]. In recent work [5–6], been used to control the concepts were applied in researchers from Korea(KIST) introduced[11–12].master arm, in the torque sensor beams [14]. Likewise, the authorsto describe the bilateralremote manipulation in the view of the control theory [15–17].In this research, a wearable exoskeleton arm, ZJUESA,based on man-machine system is designed and ahierarchically distributed teleoperation control system isexplained. This system includes three main levels: ①supervisor giving the command through the exoskeletonsafe zone with the operator interface; ②working in hazardous zone; ③ data between supervisor-master and master-slave through the Internet or Ethernet. In section 2, by using the orthogonal experiment design method, the designY ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation·2·foundation of ZJUESA and its optimal design are presented. Then in section 3, we describe a novel hybrid fuzzy control system for the force feedback on ZJUESA. Consequently, the force feedback control simulations and experiment results analysis are presented in section 4, followed by discussions and conclusions.2 Configuration of the Exoskeleton ArmSystemThe master-slave control is widely employed in the robot the routine input device for the robot master-slave control system. The system presented in this paper is shown in Fig. 1.Fig. 1.In the system the exoskeleton arm —ZJUESA replaces the joystick as the command generator. It is an external structure mechanism, which can be worn by the operator, and can transfer the motions of human upper arm to the slave manipulator position-control-commands through the Internet or Ethernet between the master and slave computers. With this information, the slave manipulator mimics the motion of the operator. At the same time, the force-feedback signals, detected by the 6-axis force/torque sensor on the slave robot arm end effector, are sent back to indicate the pneumatic actuators for the force-feedback on ZJUESA to realize the bilateral teleoperation.Since ZJUESA is designed by following the physiological parameters of the human upper-limb, with such a device the human operator can control the manipulator more comfortably and intuitively than the system with the joystick or the keyboard input.3 Design of the Exoskeleton ArmWhat we desire is an arm exoskeleton which is capable of following motions of the human upper-limb accurately and supplying the human upper-limb with proper force feedback if needed. In order to achieve an ideal controlling performance, we have to examine the structure of thehuman upper-limb.3.1 Anatomy of human upper-limb3.1.1 Upper-limbRecently, various models of the human upper-limb anatomy have been derived. The biomechanical models of the arm that stand for precise anatomical models includingmuscles, tendons and bones are too complex to be utilized in mechanical design of an anthropomorphic robot arm. From the view of the mechanism, we should set up a more practicable model for easy and effective realization.Fig. 2 introduces the configuration of human upper-limb and its equivalent mechanical model, which is a 7-DOF structure, including 3 degrees of freedom for shoulder (flexion/extension, abduction/adduction and rotation), 1 degree of freedom for elbow (flexion/extension) and 3 degrees of freedom for wrist (flexion/ extension, abduction/adduction and rotation) [18]. The details about the motion characteristics of these skeletal joints can be obtained in Refs. [18-20]. Compared to the mechanical model, the shoulder and wrist can be considered as spherical joints and the elbow as a revolution joint. It is a good approximate model for the human arm, and the base for the design and construction of exoskeleton arm-ZJUESA.Fig. 2. Configuration of human upper limband its equivalentmechanical model3.2 Mechanism of the exoskeleton armBecause the goal of this device is to follow motions of the human arm accurately for teleoperation, ZJUESA ought to make the best of motion scope of the human upper-limb and limit it as little as possible. A flexible structure with the same or similar configuration of human upper-limb is an ideal choice. Based on the anatomy of human upper-limb, the joint motion originates from extension or flexion of the muscle and ligament with each other to generate torque around the bones. Compared with the serial mechanism, the movements of the parallel mechanism are driven by the prismatics, which act analogically to the human muscles and ligament. Besides, using the parallel mechanism not only realizes the multi-DOF joint for a compact structure and ligament. Besides, using the parallel mechanism not only realizes the multi-DOF joint for a compact structure of图题字号9磅，行距固定值11磅，段前0.3行，段后回车换行1次；图中字号7.5磅 二级标题字号10磅 图题后遇标题时，段后回车换行2次 图前段落，段后回车换行1次双码页面页眉字号8磅，单倍行距，段后1.2磅三级标题字号10磅，斜体，段前0.5行CHINESE JOURNAL OF MECHANICAL ENGINEERING·3·human upper-limb. The 3RPS parallel mechanism is one of the simplest mechanisms. Fig. 3 explains the principle of the 3RPS parallel mechanism. KIM, et al [11],introduced it into the KIST design. Here we follow this concept. The two revolution degrees of freedom embodied in the 3RPS are for flexion/extension, abduction/adduction at shoulder. Its third translation degree of freedom along z axis can be used for the dimension adjustment of ZJUESA for different operators. The prismatic joints are embodied by pneumatic actuators, which are deployed to supply force reflective capability. Also displacement sensors are located along with the pneumatic actuators and the ring-shaped joints to measure their linear and angular displacements. At elbow, a crank-slide mechanism composed of a cylinder and links is utilized for flexion/extension. At wrist, since the abduction/ adduction movement is so limited and can be indirectly reached by combination of the other joints, we simplify the configuration by ignoring the effect of this movement. As shown in Fig. 4, the additional ring the same as that at shoulder for the elbow rotation. Thus our exoskeleton arm-ZJUESA has 6 degrees of freedom totally.Fig. 3. 3RPS parallel mechanismFig. 4. Prototype of the exoskeleton arm-ZJUESA3.3 Optimization design of ZJUESAAs nentioned above, the best design is to make the workspace of ZJUESA as fully cover the scope of the human upper-limb motion as possible. We employ the 3RPS parallel mechanism for the shoulder, whoseworkspace mainly influences the workspace of ZJUESA. The optimal design of 3RPS parallel mechanism for theshoulder is the key point of ZJUESA optimal design. However, it is a designing problem with multi-factors, saying the displacement of the prismatics (factor A ), circumradius ratio of the upper and lower platforms (factor B ), initial length of the prismatics (factor C ), and their coupling parameters (factor A *B , A *C and B *C ) (Table 1) and multi-targets, namely, its workspace, weight, size. So,we use theexperiment design method with foregoing 6 key factors [21] and Eq. (1) gives the expression of the optimal target function of this problem: 0, x r Q F L R ⎛⎫= ⎪⎝⎭ where L 0 is the initial length of the prismatics, R is the circumradius of the lower base in 3RPS mechanism, r is thecircumradius of the upper base in 3RPS mechanism, θ is the expected reachable angle around axis, and xθ is thereachable angle around axis.Table 1. Factors and their levels mmLevel rankA B C A *B A *C B *C 1 60 0.5 150 － － － 2 80 0.438 160 － － － 3 100 0.389 170 － － － 4 －－180－－－The orthogonal experiment design is outlined because of the ease with which levels can be allocated and its efficiency. The concept of orthogonal experiment design is discussed in Ref. [21] to obtain parameters optimization, finding the setting for each of a number of input parameters that optimizes the output(s) of the design. Orthogonal experiment design allows a decrease in the number of experiments performed with only slightly less accuracy than full factor testing. The orthogonal experiment design concept can be used for any complicated system being investigated, regardless of the nature of the system. During the optimization, all variables, even continuous ones, are thought of discrete “levels ”. In an orthogonal experiment design, the levels of each factors are allocated by using an orthogonal array [22]. By discretizing variables in this way, a design of experiments is advantageous in that it can reduce the number of combinations and is resistant to noise and conclusions valid over the entire region spanned by the control factors and their setting.Table 2 describes an orthogonal experiment design array for 6 key factors [23]. In this array the first column implies the number of the experiments and factors A , B , C , A *B , A *B and B *C are arbitrarily assigned to columns respectively. From Table 2, 36 trials of experiments are needed, with the level of each factor for each trial-run indicated in the array. The elements represent the levels of each factors. The vertical columns represent the另行排的数学式必须居中，单倍行距，段后回车换行1次表题字号9磅，字体加粗，段后0.3行表中字号8磅，行距固定值11磅，段后回车换行1次数学式前段落，段后回车换行1次 表前段落，段后回车换行1次单码页面页眉字号10.5磅，单倍行距，段后1.2磅 页码文字周围的图文框宽1.1 cm ，高0.4 cm ，相对于“页面”水平距离18cm ，相对于“段落”垂直距离0.4 cm图序与图题间空两格Table 后空一格，表序与表题间空两格缩写点后空一格Y ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation·4·experimental factors to be studied using that array. Each ofthe columns contains several assignments at each level for the corresponding factors. The levels of the latter three factors are dependent on those of the former three factors. The elements of the column IV , namely factor A *B , are determined by the elements in the columns I, II, and elements of column V , factor A *C , has the relationship with the elements of columns I, III, and the column VI, factor B *C , lies on the columns II, III.Table 2. Orthogonal experiment design array L36for 6 key factorsExperiment numberA B C A *B A *C B *C Result Q 1 1 1 1 1 1 1 Y 1 2 1 1 2 1 2 2 Y 2 3 1 1 3 1 3 3 Y 3 4 1 1 4 1 4 4 Y 4 5 1 2 1 2 1 5 Y 5 6 1 2 2 2 2 6 Y 6 33 3 3 1 9 9 9 Y 33 34 3 3 2 9 10 10 Y 34 35 3 3 3 9 11 11 Y 35 3633491212Y 36The relation between column IV and columns I, II is that: if level of A is n and level of B is m , the level of A *B is 3(n –1)+m , where n=1, 2, 3 and m=1, 2, 3. All the cases can be expressed as follows:(1, 1)→1 (1, 2)→2 (1, 3)→3; (2, 1)→4 (2, 2)→5 (2, 3)→6; (3, 1)→7 (3, 2)→8 (3, 3)→9.The first element in the bracket represents the corresponding level of factor A in Table 1 and the latter means the corresponding level of the factor B . Factor A *B has totally 9 levels, as factor A and factor B have 3 levels, respectively.Likewise, the relation between column V and columns I, III is(1, 1)→1 (1, 2)→2 (1, 3)→3 (1, 4)→4; (2, 1)→5 (2, 2)→6 (2, 3)→7 (2, 4)→8; (3, 1)→9 (3, 2)→10 (3, 3)→11 (3, 4)→12.Also the relation between column VI and columns II, III is(1, 1)→1 (1, 2)→2 (1, 3)→3 (1, 4)→4; (2, 1)→5 (2, 2)→6 (2, 3)→7 (2, 4)→8; (3, 1)→9 (3, 2)→10 (3, 3)→11 (3, 4)→12.The optimal design is carried out according to the first three columns:1211121235*36*1/91/91/9000000000000,0000000001/3A A B C B C I Y I Y I Y ⎛⎫⎛⎫⎛⎫ ⎪ ⎪⎪ ⎪ ⎪⎪ ⎪ ⎪ ⎪= ⎪ ⎪⎪ ⎪ ⎪⎪ ⎪⎪ ⎪⎝⎭⎝⎭⎝⎭ (2)max{}min{}i ij ij K I I =-,(3)where i = A , B , C , A *B , A *C , B *C ; j is the number of i rank. By Eqs. (2), (3) and the kinematics calculation of the 3RPS parallel mechanism [35], the relationship between the target and each factor can be obtained, as shown in Fig.5.Fig. 5. Relation between levels of factors and QAccording to the plots in 5, we can get thesuperiority and the degree of the influence (sensitivity) of each design factor. The factor with bigger extreme difference K i , as expressed in Eq. (3) has more influence on Q . In this case, it can be concluded that the sensitivity of the factors A *B and A *C are high and factors B *C and C have weak influence, since K A *B and K A *C are much bigger than K B *C and K C . And the set A 3B 1, A 2C 1, A 2, B 1, C 1, B 1C 1 are the best combination of each factor levels. But there is a conflict with former 3 items in such a set. As their K i have little differences between each other, the middle course is chosen. After compromising, we take the level 2 of factor A , the level 1 of factor B and the level 1 of factor C , namely d ＝80 mm, r /R ＝0.5, L 0＝150 mm [32].It is interesting to know how good the results derived from the above 36 trials are, when compared with all other possible combinations. Because of its mutual balance of orthogonal arrays, this performance ratio can be guaranteed by the theorem in non-parametric statistics [13]. It predicts that this optimization is better than 97.29% of alternatives. Combined with the kinematics and dynamics simulation of the 3RPS parallel mechanism and ZJUESA with chosen design parameters by ADAMS, we perform the optimal design. Table 3 indicates the joint range and joint torque of双数页码周围的图文框，相对于“页面”水平距离1.8 cm量名称与量符号间空两格缩写点与后续文字间空两格CHINESE JOURNAL OF MECHANICAL ENGINEERING·5·each joint on ZJUESA. It is apparent that ZJUESA can almost cover the workspace of human upper-limb well so that it can follow the motion of human operation upper-limb with little constrain, as shown in Fig. 6.Table 3. Joint ranges and joint torques for each jointon ZJUESA Joint on ZJUESAJoint range θ/(°) Joint torque T/(N ·m)Flexion/extension (shoulder) –60-60 36 Abduction/adduction (shoulder) –50-60 36 Rotation (shoulder)–20-90 18 Flexion/extension (elbow) 0-90 28 Rotation (wrist)–20-90 13 Flexion/extension (wrist) 0-6028 Abduction/ adduction (wrist)Fig. 6. Motion of exoskeleton arm following the operator4 Hybrid Fuzzy-Controller for the ForceFeedback On ZjuesaIn master-slave manipulation, besides the visual feedback and man-machine soft interface, the force feedback is another good choice to enhance the control performance. If the slave faithfully reproduces the master motions and the master accurately feels the slave forces, the operator can experience the same interaction with the teleoperated tasks, as would the slave. In this way the teleoperation becomes more intuitive.In our bilateral teleoperation system with ZJUESA, a 6 axis force/torque sensor is mounted on the end effector of the slave manipulator and detects the force and torque acting on the end effector during performing the work. This information is transferred to the master site in real time. With dynamic calculation, the references of the generating force on actuators of ZJUESA are obtained. Hereafter, the feeling can be reproduced by means of the pneumatic system.Eq. (4) expresses the relation between the force and torque on the end effector and the torques generating on the joints: T =τJ F(4)where F —Force and torque on the end effector,⎛⎫= ⎪⎝⎭f F n ,τ —Torque on each joint,T 126()τττ=τ,J —Jacobian matrix of ZJUESA.By dividing the force arm, it is easy to get to the generating force on the joints, such as shoulder ring, elbow, wrist ring and wrist, as explained by Eq. (5):()TT345645673456f f f f a a a a ττττ⎛⎫== ⎪⎝⎭f (5)where a i (i =3, 4, 5, 6) is the force arm of the shoulder ring, elbow, elbow ring and wrist joints, respectively.As for the generating force of the prismatics on the 3RPS parallel mechanism, it can be calculated as follows [35]:13RPS 23RPS 3 f F f f f ⎛⎫⎛⎫ ⎪= ⎪ ⎪⎝⎭ ⎪⎝⎭τG f (6)where f FG —Jacobian matrix of 3RPS parallel mechanism,3RPS τ—Torques on 3RPS parallel mechanism, ()T3RPS 12ττ=τ,f 3RPS —Force on 3RPS parallel mechanism.Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback.Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA. Fig. 7 explains the scheme of the pneumatic cylinder-valve system for the force feedback. Therefore, with Eqs. (5), (6), the total seven force references are obtained for the pneumatic system on ZJUESA.数学式下方的解释语及其他数学式，各行间单倍行距Y ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation ·6·Fig. 7. Scheme of the pneumatic cylinder-valve systemp1, v1, a1—Pressure, volume and section area of cylinder chamber 1p2, v2, a2—Pressure, volume and section area of cylinder chamber 2 m p—Mass of the pistona r—Section area of rodm L —Mass of loadThe high-speed on-off valves, working as the command components in the system, are controlled by the pulse width modification (PWM) signals from the control units, respectively. Rather than the proportional or servo valve, this is an inexpensive and widely used method in the application of position and force control in the pneumatic system [23–28]. To simplify the control algorithm, there is just one valve on work at any moment. For instance, when a leftward force is wanted, the valve V1 works and valve V2 is out of work. Under this case, we can control the pressure p1 in chamber 1 by modifying the PWM signals. Chamber 2 connects to the atmosphere at that time and the pressure p2 inside the chamber 2 of cylinder is absolutely ambient pressure, and vice versa. At each port of the cylinder, there is a pressure sensor to detect the pressure value inside the chamber for the close-loop control. And the throttle valves are equipped for limiting the flow out of the chamber to reduce piston vibrations. In our previous work, we gave out the specific mathematic models of the system, including pneumatic cylinder, high-speed on-off valve and connecting tube[33].However, the pneumatic system is not usually a well linear control system, because of the air compressibility and its effect on the flow line. Also the highly nonlinear flow brings troubles into the control. The conventional controllers are often developed via simple models of the plant behavior that satisfy the necessary assumptions, via the specially tuning of relatively simple linear or nonlinear controllers. As a result, for pressure or force control in such a nonlinear system, especially in which the chamber pressure vibrates rapidly, the conventional control method can hardly have a good performance.Fortunately, the introduction of the hybrid control method mentioned, gives out a solution to this problem. But the traditional design of the hybrid controller is always complicated and only available to the proportion or servo valve system. In our system, we figured out a kind of novel hybrid fuzzy control strategy for the high-speed on-off valves, which is much simpler and can be realized by micro control units (MCUs) in the contributed architecture. This strategy is composed of two main parts: a fuzzy controller and a bang-bang controller. The fuzzy controller provides a formal methodology for representing, manipulating, and implementing a person’s heuristic knowledge about how to control a system. It can be regarded as an artificial decision maker that operates in a closed-loop system in real time and can help the system to get the control information either from a human decision maker who performs the control task or by self-study, while the bang-bang controller is added to drive the response of the system much more quickly.Fig. 8 shows the concept of the proposed hybrid fuzzy controller. The concept of multimode switching is applied to activate either the bang-bang controller or the fuzzy controller mode.Fig. 8. Concept of the hybrid fuzzy controllerBang-bang control is applied when the actual output is far away from reference value. In this mode, fast tracking of the output is implemented. The fuzzy controller is activated when the output is near the set point, which needs accuracy control.In the fuzzy-control mode, we use pressure error ref actual()()()e t P t P t=-and its change ()e t as the input variables on which to make decisions. On the other hand, the width of the high voltage in one PWM period is denoted as the output of the controller.As mentioned above, the PC on master site works as the supervisor for real-time displaying, kinematics calculation and exchanges the control data with the slave computer and so on. For the sake of reducing the burden of the master PC, the distributed control system is introduced. Each control unit contains a Mega8 MCU of A TMEL Inc., working as a hybrid fuzzy-controller for each cylinder respectively, and forms a pressure closed-loop control. The controller samples the pressure in chamber with 20 kHz sampling rate by the in-built analog- digital converters. These controllers keep in contact or get the differential pressure signals from the master PC through RS232, as depicted in Fig. 9. In this mode, fast tracking of the output is implemented.当图题后面有注释时，图题前、后各0.3行注释文字字号8磅，单倍行距，最后一行段后回车换行1次CHINESE JOURNAL OF MECHANICAL ENGINEERING·7·Fig. 9. Distributed control system of the master arm5 Force Feedback ExperimentsFig. 10 gives out the set up of the force feedback experiments. The system includes the soft interface, data acquisition, Mega8 MCU experiment board, on-off valves, sensors of displacement and pressure, and the oscilloscope. We chose the cylinder DSNU-10-40-P produced by FESTO Inc. The soft signal generator and data acquisition are both designed in the LabVIEW, with which users may take advantage of its powerful graphical programming capability. Compared with other conventional programming environments, the most obvious difference is that LabVIEW is a graphical compiler that uses icons instead of lines of text. Additionally, LabVIEW has a large set of built-in mathematical functions and graphical data visualization and data input objects typically found in data acquisition and analysis applications.Fig. 10. Set-up of force feedback experimentThe plots in Fig. 11 give out experimental results of the chamber pressure outputs with step input signals on one joint. While at frequencies higher than 80 Hz, force is sensed through the operator’s joint, muscle and te ndon receptors, and the operator is unable to respond to, and low amplitude disturbances at these frequencies. We remove reflected force signals above 80Hz band by fast Fourier transfer (FFT) and get the smoothed curve in the plots. One is obtained by using hybrid control strategy and another is obtained by using traditional fuzzy controller without bang-bang controller. Although these two curves both track the reference well with very good amplitude match (less than 5% error) and a few milliseconds misalignment in the time profile, by comparing these two curves, it can be found that the adjust time of the curve with hybrid control strategy is less than 0.03 s, which is much less than 0.05 s of other with traditional fuzzy controller. It proves effect of the hybrid control strategy.Fig. 11. Experimental results with a step signalFig. 12 shows the results of tracking a sinusoidal commander. This experiment is implemented to test the dynamic nature of the system. Although there is a little error and delay between the reference curve and the experiment curve, the system has good performance. According to the experiments, the system with the help of hybrid fuzzy control strategy can track an up to 5 Hz frequency sinusoidal command well.Fig. 12. Experiment results for sinusoidal pressure commandsY ZHANG Jiafan, et al: Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation ·8·After then, another two experiments are carried out torealize the bilateral teleoperation with simple motion, inwhich the slave manipulator is controlled for the shoulderabduction/ adduction (the movement of a boneaway/toward the midline in the frontal plane) andextension/flexion of elbow (the movement in the sagittalplane) by the teleoperation with ZJUESA.In the first experiment, the operator performs theshoulder abduction/adduction movement with ZJUESA,when the slave robot follows and holds up the load. Withthe force feedback on ZJUESA, the operator has feeling asif he holds the load directly without the mechanicalstructure, as shown in Fig. 13. Plots in Figs. 14, 15 showthe torque and force on each joint on ZJUESA during theshoulder abduction/adduction movement from 45° to 90°(inthe frontal plane) with 5 kg load. There are some remarks. In plots of Fig. 14 shoulder 3RPS-x means the torque around x-axis of 3RPS mechanism at shoulder and the same to shoulder 3RPS-y. Shoulder ring, elbow, wrist ring and wrist represent the torques on these joints, respectively. The characters shoulder 3RPS-1, shoulder 3RPS-2 and shoulder 3RPS-3 in Fig. 15 represent corresponding force on the cylinders on 3RPS parallel mechanism (referring to Fig. 3) with length L1, L2 and L3, respectively.Fig. 13. Shoulder abduction/adduction teleoperation Fig. 14. Torques on the joints of the shoulderabduction/adduction for 5 kg load liftingFig. 15. Force feedback on the cylinders of the shoulder abduction/adduction for 5 kg load liftingThe operator teleoperates the slave manipulator with force feedback as if he performs for lifting a dumbbell or raising package in daily life (Fig. 16). Fig. 17 shows the moment on each joint during the process for producing the feeling of lifting a 10 kg dumbbell. Fig.18 depicts the force output of every pneumatic cylinder on ZJUESA.All these results of experiments demonstrate the effect of ZJUESA system. ZJUESA performs well by following the motions of human upper-limb with little constrain and the pneumatic force feedback system supplies a proper force feedback tracking the reference well.Fig. 16. Extension/flexion for elbow teleoperationFig. 17. Torques on the joints of the elbowextension/flexion for 10 kg load lifting。

三教改革的英语The Three Educations Reform in China's Education SystemIn recent years, China has been pushing forward the Three Educations Reform in its education system, aiming tocultivate well-rounded individuals who possess not only knowledge but also comprehensive qualities. The Three Educations refer to moral education, intellectual education, and physical education, which should be integrated harmoniously in the curriculum. This reform is of great significance as it lays a solid foundation for the future development of our country.Moral education plays a crucial role in the Three Educations Reform. It aims to cultivate students' virtues, ethical values, and social responsibilities. Through moral education, students are guided to develop a strong sense of integrity, honesty, and empathy. They learn to respect others, to be responsible citizens, and to contribute to society. Moral education also instills in students a deepunderstanding of cultural heritage and traditional values, nurturing their sense of cultural identity and appreciation.Intellectual education is another key aspect of the Three Educations Reform. It focuses on nurturing students'cognitive abilities, critical thinking skills, and creativity. Intellectual education aims to cultivate students' curiosity, analytical skills, and problem-solving abilities. Studentsare encouraged to think independently, to explore various subjects, and to develop a global perspective. Through intellectual education, students not only acquire knowledgebut also learn how to apply it in real-life situations, fostering their abilities to adapt to an ever-changing world.Physical education, the third pillar of the Three Educations, promotes students' physical health, sportsmanship, and teamwork. By participating in physical activities,students learn the importance of regular exercise, healthy lifestyle choices, and sportsmanship. Physical educationhelps students develop physical strength, endurance, and coordination, contributing to their overall well-being. Italso cultivates teamwork and cooperation skills, enhancing students' social interactions and communication abilities.The integration of these three educations in thecurriculum is crucial for a holistic and well-balanced education system. By combining moral, intellectual, and physical education, students can develop into well-rounded individuals with a strong moral compass, intellectual prowess, and physical well-being. This integrated approach ensuresthat students not only excel academically but also become responsible, compassionate, and healthy members of society.In conclusion, the Three Educations Reform in China's education system aims to cultivate individuals who possess moral integrity, intellectual abilities, and physical well-being. By integrating moral, intellectual, and physical education, this reform provides a comprehensive and well-rounded education for students. It is through this reformthat China is nurturing the next generation of leaders whowill contribute to the country's continued growth and development.。

3 back to top 3G Third Generation3LP Third Party Logistics ProviderA back to top ABAP Advanced Business Application Programming - SAP development language ABC Activities Based CostingADSL Asymmetric Digital Subscriber LineAI Automatic InsertionAIT Automatic Inspection TechnologyAMA American Management AssociationAML Approved Manufacturer's ListAMPL Approved Manufacturer's Parts ListAMT Advanced Manufacturing TechnologyAOI Automatic Optical InspectionA/P Accounts PayablesAPICS American Production and Inventory Control Society - Supply Chain Management certificationAPO Adaptive Performance OptimizationAPQP Advanced Product Quality PlanningAPS Advanced Planning SystemAQL Acceptable Quality LevelA/R Accounts ReceivableASIC Application Specific Integrated CircuitASP Attached Support ProcessorATO Assemble to OrderATP Available to PromiseAVL Approved Vendor ListB back to top B2B Business to BusinessBAT Board Assembly and TestBGA Ball Grid ArrayBIOS Basic Input/Output SystemBOM Bill of MaterialBPCS Business Planning and Control SystemsBPH Boards per HourBPP Business Process ProcedureBSI British Standards InstituteBSQC Bottom Side Quality ControlBST Board System TestBTO Build to OrderBUC Business Unit CoordinatorBUD Business Unit DirectorBUM Business Unit ManagerBW Business WarehouseC back to top CAC Corrective Action CommitteeCAD Computer Aided DesignCAE Computer Aided EngineeringCAM Computer Aided ManufacturingCAR Corrective Action ReportCAS Chemical Abstract ServiceCAT Corrective Action TeamCDMA Call Division Multiple AccessCEM Contract Electronics ManufacturingCEO Chief Executive OfficerCFO Chief Financial OfficerCFR Cost & FreightCGA Column Grid ArrayCIF Cost, Insurance & FreightCIM Computer Integrated ManufacturingCIP Carriage and Insurance Paid ToCIQ Computer Integrated QualityCIQS Computer Integrated Quality SystemCIS Customer Information SystemCLF Customer Line FalloutCM Contract Manufacturing - former term used to describe EMS (Electronic Manufacturing Services)CMTS Cellular Mobile Telephone SystemCOB Chip on Board or Close of BusinessCOC Certificate of ComplianceCOGM Cost of Goods ManufacturerCofC Certificate of Compliance/ConformityCOGS Cost of Goods SoldCOO Chief Operating OfficerCOSHH Control of Substances Hazardous to HealthCPE Customer Provided EquipmentCPIM Certified in Production and Inventory ManagementCPT Carriage Paid ToCRD Component Reference DesignatorCRP Capacity Requirements PlanningCRT Cathode Ray TubeCSP Certified Service ProviderCSR Customer Service RepresentativeCTB Clean To BuildCTO Configure to OrderCTS Clean To StartCV Single Line PhoneCWA Contract Work AuthorizationD back to top D/S Direct SaleD/W Direct WithdrawalDAF Delivered at FrontierDBW Drive by WireDC Distribution CenterDDP Delivered Duty PaidDDU Delivered Duty UnpaidDE Design EngineerDEQ Delivered Ex QuayDES Delivered Ex ShipDF Direct FulfillmentDFA Design for AssemblyDFD Design for DisassemblyDFEMC Design for Electromagnetic CompatibilityDFESD Design for Electrostatic DischargeDFI Design for InstallabilityDFM Design for Manufacturing; Design for MaintainabilityDFML Design for Material LogisticsDFP Design for Procurement; Design for Production; Design for Packageability DFQ Design for QualityDFR Design for Redesign; Design for Reliability; Design for Reuse; Design for RepairDFS Design for Safety; Design for Simplicity; Design for Speed DFT Design for TestDFX Design for ExcellenceDGR Daily Going RateDID Direct Inward Dialing - type of telephone line that is not part of the internal telephone systemDII Days In InventoryDL Direct LaborDLT Digital Linear TapeDOA Dead On ArrivalDOC Microsoft Word file extensionDOE Design of ExperimentDOF Direct Order FulfillmentDOH Days on HandDPM Defects per Million - common Quality termDPMO Defects per Million Opportunities - common Quality term DR Dynamic ReplenishmentDRM Dynamic Replenishment ModelDSI Digital Speed InterpolationDSL Digital Subscriber LineDSO Days Sales OutstandingDSP Digital Signal ProcessorDTS Dock to StockDWDM Dense Wavelength Division MultiplexingE back to top EBN Electronic Buyer's News (EMS Industry publication)E&O Errors and Omissions (type of insurance)EC Electronic CommerceECN Engineering Change NoticeECO Engineering Change OrderED Electrically DefectiveEDI Electronic Data InterchangeEDM Electronic Document ManagementEDS Engineering Data ServicesEEO Equal Employment OpportunityEFT Electronic Funds TransferEMC Electromagnetic CompatibilityEMI Electromagnetic InterferenceEMS Electronic Manufacturing ServicesEOL End Of LifeEPS Electronic Packout System or Earnings Per ShareERP Enterprise Resource PlanningERS Evaluated Receipt SettlementESD Electrostatic DischargeESI Early Supplier InvolvementESS Environmental Stress ScreeningETA Estimated Time of ArrivalETD Estimated Time of DeliveryF back to top FA Final Assembly or Field AnalysisFAB Bare boardFAI Final Article InspectionFAS Free Alongside StripFCA Free CarrierFCD Factory Complete DateFCPA Foreign Corrupt Practices ActFEDI Financial Electronic Data InterchangeFGI Finished Goods InventoryFIFO First In, First OutFIN Final InspectionFM Functional ManagerFMEA Failure Mode Effect AnalysisFOB Free On BoardFPY First Pass YieldFQC Final Quality ControlFSA Full System AssemblyFSR Field Service ReturnFST Functional System TestFTP File Transfer ProtocolFVT Functional Verification TestG back to top GAL Global Address List in OutlookGDT Global Desktop TeamGHD Global Help DeskGIF Graphics Interchange Format - graphics file extensionGMP Good Manufacturing PracticesGNT Global Network TeamGPS Global Performance System; Global Positioning SystemGQAM Global Quality Assurance ManagerGRN Goods Receipt NumberGSB General Services Building (St. Petersburg, Florida)GSM General Surface MountGST Global Systems TeamGTB Global Technology BuildingGTS Global Test ServicesGUI Graphical User InterfaceH back to top HALT Highly Accelerated Life TestHASS Highly Accelerated Stress ScreeningHDD Hard Disk DriveHERS Manufacturer's Part Number in SAPHI POT High Potential Safety TestHMP Highly Marketable PartHMU Hot Mock UpHP Hewlett Packard CorporationHR Human ResourcesH&S Health and SafetyHSP High Speed PlacementHTML Hypertext Markup Language - web development languageHVLM High Volume, Low MixI back to top IA Inventory AnalystIC Integrated CircuitICT In-Circuit TestIL Indirect LaborIMD In-mold DecorationIMPCON Integrated Manufacturing Production ControlIP Investors in People;Intellectual PropertyIPC Institute of Interconnecting and Packaging Electronic CircuitsIR Investor RelationsISO International Standards OrganizationIT Information TechnologyJ back to topJIT Just-In-Time Inventory SystemJPG Joint Photographic Experts Group - graphics file extensionL back to topLAN Local Area NetworkLCL Lower Control LimitLIFO Last In, First OutLOA Letter of Agreement/AgencyLOI Letter of IntentLVHM Low Volume High MixM back to top MCU Multi-Point Control UnitMDA Manufacturing Defect AnalysisME Manufacturing EngineerMELF Metal Electrode FaceMES Manufacturing Execution SystemMESS Material Excess and Shortage StatusMET Manufacturing Engineering TechnicianMFG ManufacturingMFPY Monthly First Pass YieldMIS Management Information SystemMIT Manager in TrainingMO Machine OperatorMOQ Minimum Order QuantityMPM Screen Printer ManufacturerMPS Master Production ScheduleMPU Main Processing UnitMPV Material Price VarianceMQA Materials Quotation AnalystMRB Material Review BoardMRO Maintenance, Repair & Operating SuppliesMRP Materials Requirements PlanningMS Master ScheduleMSDS Material Safety Data SheetMSN Multi Service NetworkMTBF Mean Time Between FailuresMTD Month-To-DateN back to top NAFTA North American Free Trade AgreementNBV Net Book ValueNCD New Customer DevelopmentNDA Non Disclosure AgreementNDF Non-Defined FailNPFs No Problem Found AssembliesNPI New Product IntroductionNRE Non Recurring ExpenseNTI New Technology IntroductionNYSE New York Stock ExchangeO back to top OBA Out of Box AuditODM Original Design ManufacturerOEM Original Equipment ManufacturerOLA Operations Level AgreementORT On-Going Reliability TestOSHA Occupational Safety and Health ActOTD On Time DeliveryOTS On Time ShipOTW Over the WaveP back to top P&L Profit and LossP/n Part NumberPBA Printed Board AssemblyPBX Private Branch ExchangePC Production Coordinator; Personal ComputerPC & L Production Control and LogisticsPCA Printed Circuit AssemblyPCB Printed Circuit BoardPCBA Printed Circuit Board AssemblyPCI Peripheral Component InterfacePDA Personal Digital AssistantPDF Portable Document Format (Adobe Acrobat file extension)PDM Product Data ManagementPE Production Engineer;Price Earnings ratioPEL Permissible Exposure LimitPFMEA Product/Process Failiure Mode Effects and AnalysisPFTA Pre-Functional Test AssemblyPGI Post Goods Issue (direct sale)PI Physical InventoryPLCC Plastic Leaded Chip CarrierPLD Programmable Logic DevicesPLS Purchase Leverage SystemPLV Production Line VerificationPNG Portable Network Graphics (graphic file extension)PO Purchase OrderPOC Point of ContactPOD Proof of DeliveryPOS Point of ServicePOST Power of Self TestPP Production PlannerPP1 Pre-Production Run 1PPE Personal Protective EquipmentPPT Microsoft Powerpoint file extensionPPV Purchase Price VariancePR Public RelationsPRWS Pre-WashPSA Pre-Ship AuditPTF Platform Tray FeederPTH Plated Through HolePVT Process Verification TestPWA Printed Wiring AssemblyPWB Printed Wiring BoardQ back to top Q&A Question & AnswerQBR Quarterly Business ReviewQC Quality ControlQE Quality EngineerQFD Quality Function DeploymentQFMS Quality First Management SystemQFP Quad Flat PackQM Quality Management ModuleQN Quality NetworkQTEC Quality, Teamwork, Empowerment, Continuous ImprovementR back to top R&D Research & DevelopmentRAMTF Random Access Matrix Tray FeederREQ Resource Expenditure QuoteRF Radio FrequencyRFQ Request for QuotationRI Receive InspectionRIR Receive Inspection ReportRMA Return Materials AuthorizationRODMAN Regional Operations Development ManagerROI Return On InvestmentROIC Return On Invested CapitalRPC Reclaimed Production ComponentsRTC Return to CustomerRTV Return to VendorS back to top S&P 500 Standard & Poor's 500SAF Sub-Assembly ForecastSCAR Supplier Corrective Action ReportSCM Supply Chain ManagementSCSI Small Computer Systems InterfaceSEC Securities Exchange CommissionSED Shipper's Export DeclarationSIS Supplier Information SystemSLA Service Level AgreementSLI Shipper's Letter of InstructionSMCI Supplier Managed Consigned Inventory SMD Surface Mount DeviceSME Subject Matter ExpertSMI Supplier Managed InventorySMT Surface Mount TechnologySNT System Network TestSO Sales OrderSOIC Small Outline Integrated Circuit SONET Synchronous Optical NetworkSOJ Small Outline Package with J Leads SOT Small Outline TransistorSOW Statement of WorkSPB Seconds per BoardSPC Statistical Process Control, former manufacturing quality system currently known as CIQSPV Sales Price VarianceSQE Supplier Quality EngineerSROH Abbreb for c-class component in SAPSSD Solid State DeviceSSL Secure Socket LayerSTP Shielded Twisted PairSVP Senior Vice PresidentSVS Synthetic Vision SystemT back to top TAB Tape Automated BondingTAM Telecommunications Access MethodTARS Test Analysis and Rework SystemTE Test EngineerTER Travel and Entertainment ReportTLV Threshold Limit ValueTP Transport ProtocolTQM Total Quality ManagementTQRDCE Technology/Quality/Responsiveness/Delivery/Cost/EnvironmentTS Transport StreamTSQC Top Side Quality ControlTTM Time To MarketTTV Time To VolumeU back to top UCL Upper Control LimitUK United KingdomUSD United States DollarV back to top VAMs Vendor Accounts ManagersVCC Voltage Constant CurrentVCD Vertical Component DeviceVCLF Verified Customer Line FalloutVGA Video Graphic AnalyzerVOC Volatile Organic CompoundsVOIP Voice Over Internet ProviderVMI Vendor Managed InventoryVP Vice PresidentVPN Virtual Private NetworkW back to top WACC Weighted Average Cost of CapitalWAN Wide Area NetworkWIP Work in ProgressWMA Windows Media File extension for audio filesWMV Windows Media File extension for video filesX back to top XLS Microsoft Excel file extensionXML Extensible Markup LanguageA back to topAccountsAmount company owes to suppliers/vendors for supplies and services. Payable (A/P)AccountsReceivable(A/R)Sales that the company expects to collect from the customer.Accrued Expenses Expenses that have been incurred but have not yet been invoiced nor paid for.Amoritization The systematic repayment of a debt or loan over a specific time period.Assets The objects that a company owns. Assets are groups into current assets and fixed assets.C back to topCapital A business' cash or property.Cash and Cash Equivalents The amount of money that a company has sitting in the bank. It may also include marketable securities, such as government bonds and banker's acceptances.Cash Flow A measure that tells an investor whether a company is actually bringing cash in to the company's coffers.Cash Flow Statement A financial statement reflecting the monies that go into and out of a business, and the timing of those movements. The cash flow statement reports on cash inflows and outflows in a company's operations, investments, and financing activities.Charge Off A loss that is written off a company's books when a lender determines it will be unable to collect from the debtor.Common Stock A security representing partial ownership in a public or private corporation.Corporate Charges Carrying costs of Net Assets (minus A/P). 12% for net fixed assets and 8% for working capital (A/R + Inventory - A/P).Cost of Material The material cost to make the products that were sold during the specified period.Current Assets Assets that the company will use within a year.CurrentLIabilitiesDebt or other obligations that are payable within a year.D back to topDays SalesOutstanding(DSO)A measure of how long it takes a company to collect money that it is due. Debt A liablity that must be paid.Depreciation Accounting method of spreading the costs of the fixed assets over the number of years they are deemed useful.E back to topEarnings The money that is left over after a company pays all its bills. Also known as net income or net profit.Earnings Per A company's earnings divided by the number of shares outstanding.Share (EPS) EBITDA (earnings perinterest, taxes, depreciation and amortization) Otherwise known as the middle line or operational cash flow, it is not a replacement for earnings per share.F back to topFiscal Year End The end of a 12-month accounting period.Fixed Assets Property, plant and equipment with a life of over one year and unit value over $1000.Fixed Expenses Manufacturing costs that do not vary in relation to sales. They are the same whether 1 unit is producted or 10 units are producted.G back to topGross Margin A percentage of how much of each dollar of sales is left over after the costs to make the product are subtracted.I back to topInsider Trading Trading done by a person with access to key non-public information.Inventory Raw materials and Work In Progress materials that are used in production and finished goods that the company expects to sell to the customer.Investment Grade A bond whose credit quality is considered to be among the most secure by any independent bond-rating agency. A rating of Baa or higher by Moody's Investors Service or a rating of BBB or higher by Standard & Poor's is considered investment grade.L back to topLiabilities Debt a company owes.N back to topNet FixedAssetsFixed assets minus depreciation.Net Income Gross income minus total expenses.Net Profit The bottom line. This is how much money the company made in profits. Net Revenue Revenue (sales) minus returns, discounts and allowances.New YorkStockExchange(NYSE)The oldest and largest stock exchange in the United States.O back to topOne-Time Charge A cost that a company must pay once, as compared with costs it must pay regularly.Operating Cash Flow Money that is growing during the course of a company running its business.OperatingExpensesThe cost of doing business. P back to topPreferred Stock Preferred stock pays a dividend on a regular schedule and is given preference onver common stock in regard to the payment of dividends. Their share prices tend to remain stable and will generally not carry the voting rights that common stock does.Price To Earnings Ratio (P/E) The share price of a stock divided by its per-share earnings over the past year.Pro Forma Financial statements that are adjusted to reflect a projected or recently completed transaction. The term may be applied to income statements, balance sheets, and statements of cash flow.Property, Plant and Equipment The original cost of assets less their accumulated depreciation. Often called fixed assets.Prospectus A legal document that provides information about a potential investment including discussions of its investment objectives, policies, past performance, risks and cost.R back to topRecord Date The date on which a company's books are closed in order to identify share owners and distribute any quarterly dividends, proxies or other financial documentation.Research and Development (R&D) An expense reported on the income statement reflectiing the company's efforts to discover and invest in new technologies.RetainedEarningsIncome a company has earned less the dividends it has paid.Return on Equity (ROE) It is a measure as a percentage of how much in earnings a company generates in four quarters compared to its shareholders' equity.Return on Invested Capital (ROIC) Is a measure of financial performance and a financial performance forecasting tool.Revenue Sales of product within the specified time period. Revenue is recognized in the period in which the product has transferred title and has been shipped to a location designated by the customer.S back to topSG&A Administrative costs of operations. Examples: accounting, HR, IT, operations management, project management.SecondaryOfferingThe sale of a large block of company stock.Securities and Exchange Commission (SEC) The federal agency charged with ensuring that the U.S. stock market is a free and open market. All companies with stock registered in the United States must comply with SEC rules and regulations, which include filing quarterly reports on how the company is doing.Standard & Poor's 500 Index An index of 500 of the biggest publicly traded companies in the United States.Stock An ownership share in a corporation.Stock Split It involves a company alterinig the number of its shares outstanding and proportionally adjusting the share price to compensate. A typical example is a 2-for-1 stock split.Stockholder's Equity Contributed capital from the stockholders to the company for use in business plus earned capital if the company is profitable.T back to topTicker Symbol An abbreviation for a company's name that is used as shorthand by stock-quote reporting services and brokerages.V back to topVariableExpensesManufacturing costs that vary in relation to sales.Volatility The degree of movement in the price of a stock or other security.Volume The amount (expressed in shares or dollars) of a stock that is traded during a specified period.W back to topWorkingCapitalIt is the money the company has readily available to use in business.A back to topAdhesive A substance such as glue or epoxy used to hold components to the PCB. Annular Ring The pad/land surrounding a plated through hole.Array A group of elements or circuits arranged in rows and columns on a base material.Assembly A completed or partially completed printed circuit board.Automatic Pull An inventory request by the I/A to move 3 shirts' worth of material from the stockroom to the manufacturing floor.Axial Component A through hole component that has two (2) leads extending from either side like arms.B back to topBackflush An inventory control method in SAP; clearing the number of boards from the system also clears the corresponding numbers and types of components.Bar Code A label with vertical lines of varying width and space used to identify theassembly.Bare Board An unassembled (unpopulated) PCB.Barrel The foil lining that forms the conductive surface of a PTH. Blind Via A via that extends to only one side of the PCB.Blow Hole A solder void caused by out gassing.Boxbuild Production of a complete functional product; the building of the entire plastic case.C back to topCapacitance A measure of the ability of two adjacent conductors separated by an insulator to hold a charge when voltage is impressed between them.CIQ Computer Integrated Quality - A real time computer system that tracks the defects input by QC inspectors. This data is used to start corrective actions as problems are found.Circuit A number of electrical elements and devices that have been interconnected to perform a desire electrical function.Clinched Lead A component lead inserted into a PTH and is bent over to secure the part in place during the soldering process.Cold Solder Joint A solder connection that exhibits poor wetting, and is characterized by a grayish and porous appearance. Usually caused by excessive impurities in the solder and/or insufficient heat applied.Corrision The attack of chemicals, fluxes and flux-residues on the base metals and solder masking.Cost of Quality The money spent in the creation, control and evaluation of quality and the consequences of the failure to meet specified requirements.CRD Designator Component Reference Designator, a letter that identifies the various components and the number next to the letter tells their location on the PCB.D back to topDate Code This is the markings (numbers) on a product (PCB's, components, etc.) to indicate the date they were manufactured.Defect A nonconformance to specified requirements by a unit or product.Degrees of Hazard Danger means that the chemical can cause immediate serious injury or death.Warning means a potentially serious injury or death.Caution indicates a potentially moderate injury.Deviation A form that is required to be filled out anytime we change (deviate) from our normal work process or procedure.Dewetting A condtion that results when molten solder coats a surface and then recedes to leave irregularly shaped mounds of solder that are separated by areas that are covered by a thin film of solder.Double Sided A printed circuit board with conductive patterns and components on bothBoard sides.E back to topExcessive Solder A solder connection of such volume that positive wetting cannot be verified.F back to topFirst Pass Yield The percentage of assemblies that complete the production process one time through without any rework.Flash Point The lowest temperature at which a chemical will ignite.Fractured Solder This is a condition in which a component or wire is pulled away from the solder connection, looks like a crack in the solder.G back to topGold FIngers These are also called contact tabs. They are on the edge of the PCB. They are used to plug into a connector or slot.H back to topHazard Data Description of the hazards posed by the chemical properties of a substance. For example, explosive limits and flammability are hazard data.I back to topInsertion Through-hole placement of components, secured by wave or manual solder.Insufficient Solder There is not enough solder to verify positive wetting. No evidence of solder fillets.L back to topLand Pattern A combination of lands that are used for the mounting, interconnection and testing of a particular component.Lock Out A method of keeping equipment from being set in motion and endangering workers. A device is often placed over the energy isolating mechanism to hold it in the safe position.M back to topManual Pull An inventory request by the manufacturing floor to the stockroom for materials such as MRO, components needed for rework, or components.Masking/Solder Resist A thin protective coating (usually green or clear) covering the PCB; solder will not adhere to masking.MELF Metal Electrode Face. A surface mount component that is tublar in shape. Mis-Inserted A through hold component that is not properly seated in the board.Mis-Onserted A surface mount component that is misregistered in the X, Y axis. Up, down, left or right out of alignment with the pads.MRB Material Review Board - a group of selected representatives from various support functions responsible for the evaluation and disposition of material identified as non-conforming.N back to topNon Conforming Defect Any nonconformance to specified requirements by a unit or a product. (Doesn't meet customers quality or IPC requirements)Non Wetting The partial adherence of molten solder to a surface that it has contracted and the base metal is exposed.O back to topOnsertion The process of placing a surface mount component. P back to topP Value In SPC, the mean of the quantity of components rejected divied by the quantity of components placed for an individual machine over time.Paceline Hand-inserted components line (components difficult to handle with automation).Pack-out A manual count and verification of correct assembly number and the successful passing of the correct departments.Pad/Land The metal surface on the PCB that the components are soldered to; there are 2 kinds:1. Surface mount pads - rectangular in shape and without a matching pad on the opposite side of the board.2. Through hole pads - mostly round in shape (annular ring) with a match on the opposite side of the board.Polarity Is the indication of where to apply voltage for the flow of current. This means the part may only be mounted on the PCB one specific way.Primary Side The side of the PCB that usually has the most complex or the majority of the components. Or the side designated by the visual aid as the Primary Side. Also known as the Topside of the board.Process Alert This is an indication of a known problem with the PCB. R back to topRadical Component A through hole component that has two or more leads that extend straight down from the component body like legs.S back to topSecondary Side The side of the PCB that has few, if any, components. This side usually contains fewer and less complex parts, or the side that the visual aid designates as the secondary side.Sideserted A surface mount defect in which a chip style component is mounted so that it is standing on its narrowest edge. Also known as billboarding.Skewed A surface mount component that is rotated (twisted) in relation to the X, Y axis.Solder Ball Small spheres (ball) of solder adhering to the laminate or conductive surface.Solder Peak A cone shaped peak or sharp point of solder. Also known as an icicle.。

Education is a cornerstone of societal development and individual growth.In this essay,we will explore the significance of education,its various forms,and its impact on personal and societal levels.Importance of EducationEducation is essential for several reasons.Firstly,it equips individuals with the knowledge and skills necessary to navigate the world effectively.It fosters critical thinking,problemsolving abilities,and creativity,which are vital in both personal and professional spheres.Secondly,education is a pathway to economic empowerment.A welleducated populace is more likely to secure better job opportunities,leading to improved living standards and overall economic growth.Forms of EducationEducation is not limited to formal schooling.It encompasses various forms,including:1.Formal Education:This is the traditional method of learning that occurs in schools, colleges,and universities.It is structured and follows a curriculum designed to impart specific knowledge and skills.rmal Education:This type of education happens outside the structured environment of schools.It includes selfstudy,workshops,seminars,and onthejob training.3.NonFormal Education:It is organized educational activity that does not correspond to the established,formal education system.Examples include adult literacy classes and vocational training programs.4.Distance Education:With the advent of technology,learning has transcended geographical boundaries.Online courses and virtual classrooms have made education accessible to a wider audience.Impact of EducationThe impact of education is profound and farreaching:1.Personal Development:Education contributes to the holistic development of an individual,enhancing their cognitive abilities,emotional intelligence,and social skills.2.Social Mobility:It provides opportunities for social mobility,allowing individuals from disadvantaged backgrounds to improve their life circumstances.3.Cultural Understanding:Education fosters an appreciation for diverse cultures, promoting tolerance and understanding among people of different backgrounds.4.Societal Progress:An educated society is more likely to engage in informed decisionmaking,leading to better governance and societal progress.Challenges in EducationDespite its benefits,the education sector faces several challenges:1.Access:In many parts of the world,access to quality education remains a challenge due to factors such as poverty,conflict,and geographical isolation.2.Quality:Even where education is available,the quality can vary significantly,with some institutions lacking the necessary resources and trained educators.3.Equity:There is a need to address the disparities in educational opportunities among different genders,socioeconomic groups,and regions.ConclusionIn conclusion,education is a fundamental human right and a powerful tool for change.It is crucial for the development of individuals and societies alike.Efforts must be made to overcome the challenges faced by the education sector to ensure that everyone has the opportunity to learn and grow.By doing so,we can build a more knowledgeable,skilled, and compassionate world.。

张立彬简介00000发布时间：2011-10-16 9:07:03发布者：yz来源：yzb浏览次数：730姓名：张立彬00000工作部门：机械工程学院00000性别：男技术职称：教授00000最高学位：博士00000民族：汉00000籍贯：浙江景宁人联系方式：00000Email:************.cn电话：*************000主要研究方向：00000高速邮政装备、新能源技术及装备、设施农业装备、机器人及智能控制简历：000001985.02-1988.10 浙江农业大学农业工程系助教，讲师00001988.10-1993.11 浙江农业大学农业工程系副系主任，系主任，副教授，教授1993.11-1994.09 浙江农业大学工程技术学院院长，教授1994.09-2000.12 浙江工业大学副校长，教授2000.12-2005.03 浙江工业大学常务副校长，教授，博士生导师，机电工程研究所所长2005.03- 浙江工业大学校长，教授，博士生导师研究（情况）项目：[1]小批量多品种小型农业作业机重构设计方法的研究, 浙江省自然科学基金重大项目, 项目批准号: Z503054, 2004年01月-2006年12月.0000[2]高速邮资机的研究与开发, 浙江省重点科研项目, 2004年01月-2005年12月. 鉴定证书号：浙科鉴字（2004）第304号。

00000[3]面向大批量定制的农业作业机可重构模块的设计新方法及其应用, 重大基础研究前期研究专项, 国家科技部, 项目批准号: 2004CCA05800, 2005年1月—2006年12月.[4]模块化农业作业机模块重构技术基础研究，高校博士点基金，国家教育部，项目批准号:20040337002, 2005年1月~2006年12月。

0000[5]新型设施农业成套装备及核心技术研究与示范，省科技重大专项，项目批准号:2006C12040，2006年4月－2008年12月。

In the contemporary world,the role of technology and innovation is paramount. Here is a detailed essay on the subject:Introduction:The essence of human progress has always been intertwined with the development of technology and the spirit of innovation.From the invention of the wheel to the creation of the internet,each leap in technological advancement has marked a significant shift in the way we live,work,and communicate.The Impact of Technology:Technology has revolutionized various sectors,including healthcare,education, transportation,and communication.For instance,medical technology has enabled the development of advanced diagnostic tools and treatments,improving patient outcomes and extending life expectancy.In education,digital platforms and online learning have made knowledge accessible to a global audience,breaking geographical barriers. Innovation as a Catalyst:Innovation is the driving force behind technological progress.It is the process of translating an idea or invention into a good or service that creates value or for which customers will pay.Innovations such as smartphones,electric cars,and renewable energy technologies have not only created new markets but have also spurred economic growth and job creation.The Role of Research and Development:Investment in research and development RD is crucial for fostering innovation. Governments and private sectors alike must allocate resources to support RD activities in various fields.This not only leads to the creation of new technologies but also encourages a culture of creativity and problemsolving.Challenges and Ethical Considerations:While technology and innovation bring numerous benefits,they also present challenges. Issues such as privacy,cybersecurity,and the digital divide are pressing concerns that need to be addressed.Moreover,ethical considerations must guide the development and application of new technologies to ensure they are used responsibly and for the greater good.The Future of Technology and Innovation:Looking ahead,the integration of artificial intelligence,machine learning,and quantum computing is expected to bring about unprecedented changes.These technologies hold the potential to solve complex problems,from climate change to personalized medicine,but they also require careful stewardship to navigate the ethical and societal implications. Conclusion:In conclusion,technology and innovation are the cornerstones of modern society.They have the power to transform lives,economies,and the world at large.It is imperative that we continue to invest in and support these areas,while also ensuring that we address the challenges and ethical dilemmas they present.By doing so,we can harness the full potential of technology and innovation for the benefit of all.。