This paper studies the problems of tip position regulation and vibration suppression of flexible manipulators without using the model. Because of the two-timescale characteristics of flexible manipulators, applying the existing model-free control methods may lead to ill-conditioned numerical problems. In this paper, the dynamics of a flexible manipulator is decomposed into two subsystems which are linear and controllable at different timescales by singular perturbation theory and a model-free composite controller is designed to alleviate the ill-conditioned numerical problems. To do this, (...) a model-free composite control strategy is constructed which facilitates in designing the controller in slow and fast timescales. In the slow timescale, the slow subsystem controller is designed by adaptive dynamic programming based on the measurements of the slow inputs and the position, while the vibration in the slow timescale is estimated by the least square method. In the fast timescale, the vibration is reconstructed based on the measurements of vibration and its estimate in the slow timescale, by which the fast controller is designed using ADP. Stability of the closed-loop system is proved by SP theory. Finally, simulations are given to show the feasibility and effectiveness of the proposed methods. (shrink)

Existing studies mainly explored the detrimental effect of employee credit claiming, and little is known about how leader credit claiming can affect employees. Based on affective events theory and relative deprivation theory, we explore how leader credit claiming affects employee work outcomes by the research methods of literature review, interview, and empirical questionnaire. With a sample of 418 matched leader–employee pairs from a large manufacturing company, we find that leader credit claiming influences employee work outcomes through the mediating role of (...) employee anger and perceived unfairness. Additionally, we determine that leader credit-claiming attribution has a moderating influence on the relationship between credit claiming and anger and between credit claiming and perceived unfairness. The results support all hypotheses. Furthermore, we discuss the theoretical and practical implications of the findings. (shrink)

Optimization for vertical vibration performance of a rail-train coupling system is investigated in this paper with the introduction of inerters for both primary and secondary suspensions. A model of a typical Chinese passenger train that travels on a traditional rail with track, sleepers, and ballast is simulated. The goal is to improve the ride quality for the train and vibration attenuation for the rail system in response to track irregularities. Optimizations for only inertance and all suspension parameters are carried out (...) by the particle swarm algorithm. Performance benefits for both the train and the rail system are demonstrated and suspension layouts with inerters connected in parallel and series are compared with the traditional one in both time domain and frequency domain. (shrink)

Using Reidenbach and Robin’s Multidimensional Ethics Scale, this study designs three scenarios related to academic dishonesty dilemmas to explore students’ moral philosophies, behavioral intentions, and ethical judgments and further examines whether students with different individual factors have differences in the above variables. A total of 605 students from two areas, Taiwan and Mainland China, participated in this study. The results indicated that Taiwanese students had stricter moral equity, relativism, and contractualism philosophies in the duplicate submission scenario than Mainland China students. (...) They also had stricter moral equity and relativism philosophies in the incomplete citation scenario. Similarly, relatively harsh relativism and contractualism philosophies accompanied by a low level of willingness to be a perpetrator in the failure to cite research published in other countries scenario were found. In addition, females applied relatively harsh moral equity and utilitarianism to all scenarios, reporting that they and their peers were less likely to engage in all AD activities. Graduates had a stricter egoism attitude toward duplicate submission and had stricter moral equity, relativism, and contractualism philosophies toward the behavior of incomplete citation. Graduate students also had strict moral equity, relativism, egoism, and contractualism beliefs in the failure to cite the foreign research scenario. Finally, regression analysis showed that moral equity, contractualism, and self-behavioral intention are significant predictors of students’ ethical evaluations in the three scenarios. (shrink)

Objects: To evaluate the feasibility and effectiveness of in-bed wearable elbow robot training for motor recovery in patients with early and late subacute stroke.Methods: Eleven in-patient stroke survivors received 15 sessions of training over about 4 weeks of hospital stay. During each hourly training, participants received passive stretching and active movement training with motivating games using a wearable elbow rehabilitation robot. Isometric maximum muscle strength of elbow flexors and extensors was evaluated using the robot at the beginning and end of (...) each training session. Clinical measures including Fugl-Meyer Assessment of upper extremity, Motricity Index for upper extremities, Modified Ashworth Scale were measured at baseline, after the 4-week training program, and at a 1-month follow-up. The muscle strength recovery curve over the training period was characterized as a logarithmic learning curve with three parameters.Results: At the baseline, participants had moderate to severe upper limb motor impairment {FMA-UE [median ]: 28 } and mild spasticity in elbow flexors {MAS [median ]: 0 }. After about 4 weeks of training, significant improvements were observed in FMA-UE and MI, and the improvements were sustained at the follow-up. The elbow flexors MVC significantly increased by 1.93 Nm and the elbow extensor MVC increased by 0.68 Nm. Muscle strength recovery curve showed that patients with severe upper limb motor impairment had a greater improvement rate in elbow flexor strength than those with moderate motor impairment.Conclusion: In-bed wearable elbow robotic rehabilitation is feasible and effective in improving biomechanical and clinical outcomes for early and late subacute stroke in-patients. Results from the pilot study suggested that patients with severe upper limb motor impairment may benefit more from the robot training compared to those with moderate impairment. (shrink)

With the widespread application of electric vehicles, the study of the power lithium-ion battery has broad prospects and great academic significance. The state of charge is one of the key parts in battery management system, which is used to provide guarantee for the safe and efficient operation of LIB. To obtain the reliable SOC estimation result under the influence of simple model and measurement noise, a novel estimation method with adaptive feedback compensator is presented in this paper. The simplified dynamic (...) external electrical characteristic of LIB is represented by the one-order Thevenin equivalent circuit model and then the ECM parameters are identified by the forgetting factor recursive least squares method. Fully taking into account the feedback effect of terminal voltage innovation, the combination of adaptive extended Kalman filter and innovation vector-based proportional-integral-derivative feedback is proposed to estimate the LIB SOC. The common single proportional feedback of Kalman filter is replaced by the innovation vector-based PID feedback, which means that the multiple prior terminal voltage innovation is used in the measurement correction step of KF. The results reveal that the AEKF with PID feedback compensation strategy can improve the SOC estimation performance compared with the common AEKF, and it reveals good robust capability and rapid convergence speed for initial SOC errors. The maximum absolute error and average absolute error for SOC estimation are close to 4% and 2.6%, respectively. (shrink)

The pandemic has impacted various industries, including the sports industry. However, corporate social responsibility can mitigate the adverse effects of the crisis and promote the sports industry. To analyze the effect of CSR, the study examined the impact of perceived corporate social responsibility on injury prevention expectation, injury risk perception, and health up-gradation with the mediation of sports safety measures. There are 259 sportsmen of local sports bodies provided the data through a self-administered survey. Data analysis was conducted through Smart-PLS (...) and SEM techniques. The outcome of the analysis showed that perceived corporate social responsibility leads to injury prevention expectation, injury risk perception, and health up-gradation. Also, the study found that sports safety measure mediates the relationship between perceived corporate social responsibility and injury prevention expectation, between perceived corporate social responsibility and injury risk perception, and between perceived corporate social responsibility and health up-gradation among sportsmen of local sports bodies. The theoretical implications were presented related to the significance of CSR and sports safety measure and their impact on sportsmen injury prevention expectation, health, and risk perception. The practical implications were related to the management of local sports bodies and how they can induce CSR initiatives and programs. Some limitations related to sample size, incorporating other variables, examining the model in other contexts, and using different study designs, have also been mentioned in the study. (shrink)

To identify the common and specific structural basis of bipolar depression and unipolar depression is crucial for clinical diagnosis. In this study, a total of 85 participants, including 22 BD patients, 36 UD patients, and 27 healthy controls, were enrolled. A voxel-based morphology method was used to identify the common and specific changes of the gray matter volume to determine the structural basis. Significant differences in GMV were found among the three groups. Compared with healthy controls, UD patients showed decreased (...) GMV in the orbital part of the left inferior frontal gyrus, whereas BD patients showed decreased GMV in the orbital part of the left middle frontal gyrus. Compared with BD, UD patients have increased GMV in the left supramarginal gyrus and middle temporal gyrus. Our results revealed different structural changes in UD and BD patients suggesting BD and UD have different neurophysiological underpinnings. Our study contributes toward the biological determination of morphometric changes, which could help to discriminate between UD and BD. (shrink)

The lifetime prevalence of major depressive disorder in adolescents is reported to be as high as 20%; thus, MDD constitutes a significant social and public health burden. MDD is often associated with nonsuicidal self-injury behavior, but the contributing factors including cognitive function have not been investigated in detail. To this end, the present study evaluated cognitive impairment and psychosocial factors in associated with MDD with NSSI behavior. Eighteen and 21 drug-naïve patients with first-episode MDD with or without NSSI and 24 (...) healthy control subjects were enrolled in the study. The Hamilton Anxiety Scale, Hamilton Depression Scale, Adolescent Self-injury Questionnaire, Beck Scale for Suicide Ideation–Chinese Version, Shame Scale for Middle School Students, Sensation Seeking Scale and Childhood Trauma Questionnaire were used to assess depression-related behaviors, and event-related potentials were recorded as a measure of cognitive function. The latency of the N1, N2, P3a, P3b, and P50 components of ERPs at the Cz electrode point; P50 amplitude and P50 inhibition showed significant differences between the 3 groups. CTQ scores also differed across three groups, and the NSSI– and NSSI+ groups showed significant differences in scores on the Shame Scale for Middle School Students. Thus, cognitive function was impaired in adolescents with MDD with NSSI behavior, which was mainly manifested as memory decline, attention and executive function deficits, and low anti-interference ability. We also found that childhood abuse, lack of social support, and a sense of shame contributed to NSSI behavior. These findings provide insight into the risk factors for MDD with NSSI behavior, which can help mental health workers more effectively diagnose and treat these patients. (shrink)

In the original publication of the article, the y axis labels present in Figs. 1a and 2a are incorrect. The correct Figs. 1a and 2a are provided here.

In this paper, we propose two four-base related 2D curves of DNA primary sequences and their corresponding single-base related 2D curves. The constructions of these graphical curves are based on the assignments of individual base to four different sinusoidal functions; then by connecting all these points on these four sinusoidal functions, we can get the F-B curves; similarly, by connecting the points on each of the four sinusoidal functions, we get the single-base related 2D curves. The proposed 2D curves are (...) all strictly non degenerate. Then, a 8-component characteristic vector is constructed to compare similarity among DNA sequences from different species based on a normalized geometrical centers of the proposed curves. As examples, we examine similarity among the coding sequences of the first exon of beta-globin gene from eleven species, similarity of cDNA sequences of beta-globin gene from eight species, and similarity of the whole mitochondrial genomes of 18 eutherian mammals. The experimental results well demonstrate the effectiveness of the proposed method. (shrink)

本书将马克思主义哲学关于唯物论、辩证论、认识论、历史观、人生观等十二个观点作了论述。.

本书阐述了马恩列斯的基本军事理论,主要有无产阶级的战争观、无产阶级的建军理论、无产阶级进行武装斗争包括战略战术的学说、无产阶级关于加强战备和国防建设以及学习马恩列斯基本军事理论的重要意义。.

Modern aesthetics in its early phase was “consciousness aesthetics” which upheld spirit but obviated body, hence offered demonstration for the priority of refined art as well as elite culture. In its later period, modern aesthetics converted into “somaesthetics” which, at the same time when it affirmed the identity of consciousness and body, laid particular stress on body, hence offered basis for the reasonableness of popular art as well as mass culture. Thus consciousness aesthetics and somaesthetics have their respective reasonableness and (...) limitation. We should transcend the opposition between them, acknowledging the spirit aspect of aesthetics as well as the body aspect of it and affirming the dominant position of spirit, so as to establish a modern aesthetics characterized by body-mind integration. (shrink)

本书内容涉及刑法属性论,刑事责任基本范畴研究,死刑论,我国对犯罪的惩办与宽大相结合的政策,中国的青少年犯罪和治理对策等方面。.

本书收录了关于邓小平理论的哲学基础、论创新实践与创新实践唯物主义、马克思的市民社会论等内容.

本书运用现代性理论划定中国现代美学思潮范围,并且以美学思潮为单位来建构中国现代美学史.具体写作中,该书在中国现代美学史上出现的思潮中,选取了有代表性的美学家进行了考察,并且以美学思潮的更替展现了中国现 代美学的历史演变规律.

This paper investigates a composite learning prescribed performance control scheme for uncertain strict-feedback system. Firstly, a prescribed performance boundary condition is developed for the tracking error, and the original system is transformed into an equivalent one by using a transformation function. In order to ensure that the tracking error satisfies the PPB, a sufficient condition is given. Then, a control scheme of PPC combined with neural network and backstepping technique is proposed. However, the unknown functions cannot be guaranteed to estimate (...) accurately by this method. To solve this problem, predictive errors are defined by applying online recorded date and instantaneous date. Furthermore, novel composite learning laws are proposed to update NN weights based on a partial persistent excitation condition. Subsequently, the stability of the closed-loop system is guaranteed and all signals are kept bounded by using composite learning PPC method. Finally, simulation results verify the effectiveness of the proposed methods. (shrink)