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Complete f-Moment Convergence for Sung’s Type Weighted Sums of Negatively Superadditive Dependent Random Variables
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作者 HU Xueping WANG Liuliu +1 位作者 HU Ke XU Zhonghao 《应用概率统计》 北大核心 2025年第4期585-601,共17页
In this paper,by utilizing the Marcinkiewicz-Zygmund inequality and Rosenthal-type inequality of negatively superadditive dependent(NSD)random arrays and truncated method,we investigate the complete f-moment convergen... In this paper,by utilizing the Marcinkiewicz-Zygmund inequality and Rosenthal-type inequality of negatively superadditive dependent(NSD)random arrays and truncated method,we investigate the complete f-moment convergence of NSD random variables.We establish and improve a general result on the complete f-moment convergence for Sung’s type randomly weighted sums of NSD random variables under some general assumptions.As an application,we show the complete consistency for the randomly weighted estimator in a nonparametric regression model based on NSD errors. 展开更多
关键词 Marcinkiewicz-Zygmund inequality Rosenthal-type inequality Sung’s type randomly weighted sums negatively superadditive dependent random variables complete f-moment convergence
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Equivalent Conditions of Complete Convergence for Weighted Sums of Sequences of i.i.d.Random Variables under Sublinear Expectations
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作者 XU Mingzhou CHENG Kun 《应用概率统计》 北大核心 2025年第3期339-352,共14页
The complete convergence for weighted sums of sequences of independent,identically distributed random variables under sublinear expectation space is studied.By moment inequality and truncation methods,we establish the... The complete convergence for weighted sums of sequences of independent,identically distributed random variables under sublinear expectation space is studied.By moment inequality and truncation methods,we establish the equivalent conditions of complete convergence for weighted sums of sequences of independent,identically distributed random variables under sublinear expectation space.The results complement the corresponding results in probability space to those for sequences of independent,identically distributed random variables under sublinear expectation space. 展开更多
关键词 complete convergence weighted sums i.i.d.random variables sublinear expectation
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一类线性errors-in-variables模型的参数强相合估计及其a.s.收敛速度 被引量:1
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作者 程龙生 姚景尹 《高校应用数学学报(A辑)》 CSCD 北大核心 1996年第3期313-320,共8页
本文讨论了如下一类线性errors-in-variables模型——多元线性结构关系模型β′xk+α=0,ξk=xk+εk.{k=1,2,…,n.其中,{xk:k=1,2,…,n}为一组i.i.d.的m维随机向量,{... 本文讨论了如下一类线性errors-in-variables模型——多元线性结构关系模型β′xk+α=0,ξk=xk+εk.{k=1,2,…,n.其中,{xk:k=1,2,…,n}为一组i.i.d.的m维随机向量,{εk:k=1,2,…,n}是i.i.d.的随机误差,E(ε1)=0,Var(ε1)=σ2Im.且{xk:k=1,2,…,n}与{εk:k=1,2,…,n}相互独立.在一些条件下,我们证明了估计量β,α,σ2的强相合性、唯一性,并给出了估计量的收敛速度为o(n-1-1q),这里q∈[1,2). 展开更多
关键词 收敛速度 线性模型 强相合估计 多元分析
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Effect of some operational variables on bubble size in a pilot-scale mechanical flotation machine 被引量:4
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作者 张炜 J.E.Nesset J.A.Finch 《Journal of Central South University》 SCIE EI CAS 2014年第3期1077-1084,共8页
This work aims to provide a relationship of how the key operational variables of frother type and impeller speed affect the size of bubble (D32). The study was performed using pilot-scale equipment (0.8 m^3) that ... This work aims to provide a relationship of how the key operational variables of frother type and impeller speed affect the size of bubble (D32). The study was performed using pilot-scale equipment (0.8 m^3) that is up to two orders of magnitude larger than equipment used for studies performed to date by others, and incorporated the key process variables of frother type and impeller speed. The results show that each frother family exhibits a unique CCC95-HLB relationship dependent on n (number of C-atoms in alkyl group) and m (number of propylene oxide group). Empirical models were developed to predict CCC95 from HLB associated with other two parameters a and ft. The impeller speed-bubble size tests show that D32 is unaffected by increased impeller tip speed across the range of 4.6 to 9.2 m/s (representing the industrial operating range), although D32 starts to increase below 4.6 m/s. The finding is valid for both coalescing and non-coalescing conditions. The results suggest that the bubble size and bubble size distribution (BSD) being created do not change with increasing impeller speed in the quiescent zone of the flotation. 展开更多
关键词 FLOTATION bubble size operational variables critical coalescence concentration hydrophile-lipophile balance impellerspeed
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Multi-attribute group decision making method under 2-dimension uncertain linguistic variables 被引量:4
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作者 JIANG Kexin ZHANG Quan YAN Manting 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第6期1254-1261,共8页
A method is proposed to deal with the uncertain multiple attribute group decision making problems,where 2-dimension uncertain linguistic variables(2DULVs)are used as the reliable way for the experts to express their f... A method is proposed to deal with the uncertain multiple attribute group decision making problems,where 2-dimension uncertain linguistic variables(2DULVs)are used as the reliable way for the experts to express their fuzzy subjective evaluation information.Firstly,in order to measure the 2DULVs more accurately,a new method is proposed to compare two 2DULVs,called a score function,while a new function is defined to measure the distance between two 2DULVs.Secondly,two optimization models are established to determine the weight of experts and attributes based on the new distance formula and a weighted average operator is used to determine the comprehensive evaluation value of each alternative.Then,a score function is used to determine the ranking of the alternatives.Finally,the effectiveness of the proposed method is proved by an illustrated example. 展开更多
关键词 2-dimension uncertain linguistic variables(2DULVs) multi-attribute group decision making problem score function distance formula
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Estimating probability curves of rock variables using orthogonal polynomials and sample moments 被引量:3
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作者 邓建 边利 《Journal of Central South University of Technology》 2005年第3期349-353,共5页
A new algorithm using orthogonal polynomials and sample moments was presented for estimating probability curves directly from experimental or field data of rock variables. The moments estimated directly from a sample ... A new algorithm using orthogonal polynomials and sample moments was presented for estimating probability curves directly from experimental or field data of rock variables. The moments estimated directly from a sample of observed values of a random variable could be conventional moments (moments about the origin or central moments) and probability-weighted moments (PWMs). Probability curves derived from orthogonal polynomials and conventional moments are probability density functions (PDF), and probability curves derived from orthogonal polynomials and PWMs are inverse cumulative density functions (CDF) of random variables. The proposed approach is verified by two most commonly-used theoretical standard distributions: normal and exponential distribution. Examples from observed data of uniaxial compressive strength of a rock and concrete strength data are presented for illustrative purposes. The results show that probability curves of rock variable can be accurately derived from orthogonal polynomials and sample moments. Orthogonal polynomials and PWMs enable more secure inferences to be made from relatively small samples about an underlying probability curve. 展开更多
关键词 rock variables probability curve orthogonal polynomials conventional moments probability-weighted moments
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Reliability analysis for aeroengine turbine disc fatigue life with multiple random variables based on distributed collaborative response surface method 被引量:2
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作者 高海峰 白广忱 +1 位作者 高阳 鲍天未 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第12期4693-4701,共9页
The fatigue life of aeroengine turbine disc presents great dispersion due to the randomness of the basic variables,such as applied load,working temperature,geometrical dimensions and material properties.In order to am... The fatigue life of aeroengine turbine disc presents great dispersion due to the randomness of the basic variables,such as applied load,working temperature,geometrical dimensions and material properties.In order to ameliorate reliability analysis efficiency without loss of reliability,the distributed collaborative response surface method(DCRSM) was proposed,and its basic theories were established in this work.Considering the failure dependency among the failure modes,the distributed response surface was constructed to establish the relationship between the failure mode and the relevant random variables.Then,the failure modes were considered as the random variables of system response to obtain the distributed collaborative response surface model based on structure failure criterion.Finally,the given turbine disc structure was employed to illustrate the feasibility and validity of the presented method.Through the comparison of DCRSM,Monte Carlo method(MCM) and the traditional response surface method(RSM),the results show that the computational precision for DCRSM is more consistent with MCM than RSM,while DCRSM needs far less computing time than MCM and RSM under the same simulation conditions.Thus,DCRSM is demonstrated to be a feasible and valid approach for improving the computational efficiency of reliability analysis for aeroengine turbine disc fatigue life with multiple random variables,and has great potential value for the complicated mechanical structure with multi-component and multi-failure mode. 展开更多
关键词 complicated mechanical structure reliability analysis multiple random variables multi-component and multi-failure mode distributed collaborative response surface method
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Complete Convergenceand Complete Moment Convergence for Weighted Sums of ANA Random Variables 被引量:1
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作者 MENG Bing WU Qunying 《应用概率统计》 CSCD 北大核心 2024年第5期710-724,共15页
In this paper,we investigate the complete convergence and complete moment conver-gence for weighted sums of arrays of rowwise asymptotically negatively associated(ANA)random variables,without assuming identical distri... In this paper,we investigate the complete convergence and complete moment conver-gence for weighted sums of arrays of rowwise asymptotically negatively associated(ANA)random variables,without assuming identical distribution.The obtained results not only extend those of An and Yuan[1]and Shen et al.[2]to the case of ANA random variables,but also partially improve them. 展开更多
关键词 ANA random variables complete convergence complete moment convergence weighted sums
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Study on Multi-variables Decoupled Fuzzy Controller for Confined Pig House in Northern China 被引量:1
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作者 Shen Wei-zheng Zhang Si-yuan +4 位作者 Yin Yan-ling Zhang Yu Wang Run-tao Yu Hai-jiao Nagi Eltieb 《Journal of Northeast Agricultural University(English Edition)》 CAS 2019年第1期73-85,共13页
In winter, the confined pig house of northern China is severe. The environment variables are nonlinear, time-varying and coupled, which seriously affect the health of pigs and the qualities of the meat. In order to so... In winter, the confined pig house of northern China is severe. The environment variables are nonlinear, time-varying and coupled, which seriously affect the health of pigs and the qualities of the meat. In order to solve the problem multi-variables coupling, a multi-variables decoupled fuzzy logic control method was proposed. Two fuzzy logic controllers were designed based on fuzzy logic theory. The fans, heaters and humidifiers were used to control temperature, humidity and ammonia. The reductions of temperature and humidity caused by ventilating were compensated by heaters and humidifiers respectively which realized the multivariables decoupling. The proposed methods were validated through theoretical, experimental and simulation analysis. The results suggested that the methods were able to regulate the confined pig house environment effectively. In addition, comparing to the manual regulation, the proposed methods could reduce 19% power consumption as well. 展开更多
关键词 PIG house environment fuzzy CONTROL variable DECOUPLING environmental CONTROL
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Integrating dual-role variables in data envelopment analysis 被引量:1
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作者 Feng Yang Liang Liang Zhaoqiong Li Shaofu Du 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第5期771-776,共6页
Traditional data envelopment analysis(DEA) theory assumes that decision variables are regarded as inputs or outputs,and no variable can play the roles of both an input and an output at the same time.In fact,there ex... Traditional data envelopment analysis(DEA) theory assumes that decision variables are regarded as inputs or outputs,and no variable can play the roles of both an input and an output at the same time.In fact,there exist some variables that work as inputs and outputs simultaneously and are called dual-role variables.Traditional DEA models cannot be used to appraise the performance of decision making units containing dual-role variables.The paper analyzes the structure and properties of the production systems comprising dual-role variables,and proposes a DEA model integrating dual-role variables.Finally the proposed model is illustrated to evaluate the efficiency of university departments. 展开更多
关键词 data envelopment analysis efficiency evaluation dual-role variable.
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Retrieval of canopy biophysical variables from remote sensing data using contextual information 被引量:1
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作者 肖志强 王锦地 +2 位作者 梁顺林 屈永华 万华伟 《Journal of Central South University of Technology》 EI 2008年第6期877-881,共5页
In order to improve the accuracy of biophysical parameters retrieved from remotely sensing data, a new algorithm was presented by using spatial contextual to estimate canopy variables from high-resolution remote sensi... In order to improve the accuracy of biophysical parameters retrieved from remotely sensing data, a new algorithm was presented by using spatial contextual to estimate canopy variables from high-resolution remote sensing images. The developed algorithm was used for inversion of leaf area index (LAI) from Enhanced Thematic Mapper Plus (ETM+) data by combining with optimization method to minimize cost functions. The results show that the distribution of LAI is spatially consistent with the false composition imagery from ETM+ and the accuracy of LAI is significantly improved over the results retrieved by the conventional pixelwise retrieval methods, demonstrating that this method can be reliably used to integrate spatial contextual information for inverting LAI from high-resolution remote sensing images. 展开更多
关键词 inverse problem canopy biophysical variables contextual information leaf area index
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Fuzzy identification of nonlinear dynamic system based on selection of important input variables 被引量:1
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作者 LYU Jinfeng LIU Fucai REN Yaxue 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2022年第3期737-747,共11页
Input variables selection(IVS) is proved to be pivotal in nonlinear dynamic system modeling. In order to optimize the model of the nonlinear dynamic system, a fuzzy modeling method for determining the premise structur... Input variables selection(IVS) is proved to be pivotal in nonlinear dynamic system modeling. In order to optimize the model of the nonlinear dynamic system, a fuzzy modeling method for determining the premise structure by selecting important inputs of the system is studied. Firstly, a simplified two stage fuzzy curves method is proposed, which is employed to sort all possible inputs by their relevance with outputs, select the important input variables of the system and identify the structure.Secondly, in order to reduce the complexity of the model, the standard fuzzy c-means clustering algorithm and the recursive least squares algorithm are used to identify the premise parameters and conclusion parameters, respectively. Then, the effectiveness of IVS is verified by two well-known issues. Finally, the proposed identification method is applied to a realistic variable load pneumatic system. The simulation experiments indi cate that the IVS method in this paper has a positive influence on the approximation performance of the Takagi-Sugeno(T-S) fuzzy modeling. 展开更多
关键词 Takagi-Sugeno(T-S)fuzzy modeling input variable selection(IVS) fuzzy identification fuzzy c-means clustering algorithm
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ON PROBLEMS OF THE SPATIAL STATISTICAL ANALYSIS OF QUALITATIVE VARIABLES IN GEOLOGY
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作者 Luo Junfeng(Chengdu University of Technology, China) 《成都理工大学学报(自然科学版)》 CAS CSCD 1998年第S1期142-150,共9页
ONPROBLEMSOFTHESPATIALSTATISTICALANALYSISOFQUALITATIVEVARIABLESINGEOLOGYLuoJunfeng(ChengduUniversityofTechno... ONPROBLEMSOFTHESPATIALSTATISTICALANALYSISOFQUALITATIVEVARIABLESINGEOLOGYLuoJunfeng(ChengduUniversityofTechnology,China)ABSTR... 展开更多
关键词 SPATIAL MARKOV CHAIN transition probability auto and cross correlation CLOSED set effect INDICATOR variable
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Hybrid Genetic Algorithm for Engineering Structural Optimization with Dis crete Variables
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作者 WEI Ying-zi 1,2,3, ZHAO Ming-yang 1 (1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Acad emy of Science, Shenyang 110016, China 2. Shenyang Institute of Technology , Shenyang 110016, China 3. Graduate School of the Chinese Academy of Scienc es, Beijing 100039, China) 《厦门大学学报(自然科学版)》 CAS CSCD 北大核心 2002年第S1期178-,共1页
Aiming at the phenomenon of discrete variables whic h generally exists in engineering structural optimization, a novel hybrid genetic algorithm (HGA) is proposed to directly search the optimal solution in this pape r.... Aiming at the phenomenon of discrete variables whic h generally exists in engineering structural optimization, a novel hybrid genetic algorithm (HGA) is proposed to directly search the optimal solution in this pape r. The imitative full-stress design method (IFS) was presented for discrete struct ural optimum design subjected to multi-constraints. To reach the imitative full -stress state for dangerous members was the target of IFS through iteration. IF S is integrated in the GA. The basic idea of HGA is to divide the optimization t ask into two complementary parts. The coarse, global optimization is done by the GA while local refinement is done by IFS. For instance, every K generations, th e population is doped with a locally optimal individual obtained from IFS. Both methods run in parallel. All or some of individuals are continuously used as initial values for IFS. The locally optimized individuals are re-implanted into the current generation in the GA. From some numeral examples, hybridizatio n has been discovered as enormous potential for improvement of genetic algorit hm. Selection is the component which guides the HGA to the solution by preferring in dividuals with high fitness over low-fitted ones. Selection can be deterministi c operation, but in most implementations it has random components. "Elite surviv al" is introduced to avoid that the observed best-fitted individual dies out, j ust by selecting it for the next generation without any random experiments. The individuals of population are competitive only in the same generation. There exists no competition among different generations. So HGA may be permitted to h ave different evaluation criteria for different generations. Multi-Selectio n schemes are adopted to avoid slow refinement since the individuals have si milar fitness values in the end phase of HGA. The feasibility of this method is tested with examples of engineering design wit h discrete variables. Results demonstrate the validity of HGA. 展开更多
关键词 hybrid genetic algorithm discrete variables o ptimization design imitative full-stress
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Prognostic value of pulmonary hemodynamic variables in heart failure patients with reduced ejection fraction(HFrEF) and pulmonary hypertension
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作者 Ruilin Quan 《中国循环杂志》 CSCD 北大核心 2018年第S01期168-168,共1页
Objective To investigate the survival of different subgroups of pulmonary hypertension due to left heart disease(PH-LHD)in heart failure patients with reduced ejection fraction(HFrEF)and to detect possible hemodynamic... Objective To investigate the survival of different subgroups of pulmonary hypertension due to left heart disease(PH-LHD)in heart failure patients with reduced ejection fraction(HFrEF)and to detect possible hemodynamic variables associated with the prognosis of these patients. 展开更多
关键词 HFrEF PH-LHD possible HEMODYNAMIC variables associated
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An Improved HVQ Algorithm for Compression and Rendering of Space Environment Volume Data with Multi-correlated Variables
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作者 BAO Lili CAI Yanxia +2 位作者 WANG Rui ZOU Yenan SHI Liqin 《空间科学学报》 CAS CSCD 北大核心 2023年第4期780-785,共6页
Volume visualization can not only illustrate overall distribution but also inner structure and it is an important approach for space environment research.Space environment simulation can produce several correlated var... Volume visualization can not only illustrate overall distribution but also inner structure and it is an important approach for space environment research.Space environment simulation can produce several correlated variables at the same time.However,existing compressed volume rendering methods only consider reducing the redundant information in a single volume of a specific variable,not dealing with the redundant information among these variables.For space environment volume data with multi-correlated variables,based on the HVQ-1d method we propose a further improved HVQ method by compositing variable-specific levels to reduce the redundant information among these variables.The volume data associated with each variable is divided into disjoint blocks of size 43 initially.The blocks are represented as two levels,a mean level and a detail level.The variable-specific mean levels and detail levels are combined respectively to form a larger global mean level and a larger global detail level.To both global levels,a splitting based on a principal component analysis is applied to compute initial codebooks.Then,LBG algorithm is conducted for codebook refinement and quantization.We further take advantage of progressive rendering based on GPU for real-time interactive visualization.Our method has been tested along with HVQ and HVQ-1d on high-energy proton flux volume data,including>5,>10,>30 and>50 MeV integrated proton flux.The results of our experiments prove that the method proposed in this paper pays the least cost of quality at compression,achieves a higher decompression and rendering speed compared with HVQ and provides satisficed fidelity while ensuring interactive rendering speed. 展开更多
关键词 Compressed volume rendering Multi-correlated variables Space environment Vector quantization GPU programming
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Error model identification of inertial navigation platform based on errors-in-variables model 被引量:6
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作者 Liu Ming Liu Yu Su Baoku 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第2期388-393,共6页
Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression mo... Because the real input acceleration cannot be obtained during the error model identification of inertial navigation platform, both the input and output data contain noises. In this case, the conventional regression model and the least squares (LS) method will result in bias. Based on the models of inertial navigation platform error and observation error, the errors-in-variables (EV) model and the total least squares (TLS) method axe proposed to identify the error model of the inertial navigation platform. The estimation precision is improved and the result is better than the conventional regression model based LS method. The simulation results illustrate the effectiveness of the proposed method. 展开更多
关键词 errors-in-variables model total least squares method inertial navigation platform error model identification
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养育倦怠的定义和测量及相关因素(综述) 被引量:2
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作者 李永鑫 张曼婷 王玮 《中国心理卫生杂志》 北大核心 2025年第3期233-238,共6页
养育倦怠是指由于父母角色和长期的育儿压力所导致的一系列负性症状,如与父母角色相关的耗竭感、与子女保持情感距离等。本文对截止到2023年所发表的具有代表性的养育倦怠相关文献进行分析,围绕养育倦怠定义及测量、前因变量、后果变量... 养育倦怠是指由于父母角色和长期的育儿压力所导致的一系列负性症状,如与父母角色相关的耗竭感、与子女保持情感距离等。本文对截止到2023年所发表的具有代表性的养育倦怠相关文献进行分析,围绕养育倦怠定义及测量、前因变量、后果变量进行综述。结果表明人口统计学变量、个体及家庭因素均能影响父母的养育倦怠,养育倦怠的后果主要反映在养育者和养育对象上。养育倦怠的发生率受到社会文化因素的影响,但其作用机制尚不明确,且目前对于养育倦怠的干预研究较少。未来的研究应充分关注社会文化因素在养育倦怠研究中的作用和地位,并积极开展养育倦怠的干预研究。 展开更多
关键词 养育倦怠 前因变量 后果变量 综述
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新型穿戴式辅助人工采摘菠萝装置设计 被引量:1
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作者 郭婷 周峥 +2 位作者 金悦 桂亮 王永泉 《机械设计》 北大核心 2025年第5期16-21,共6页
菠萝作为多年生植物,成熟后周围长有不规则分布的菠萝幼芽,不能利用大型机械采收。由于菠萝外皮粗糙、植株锋利、高度不均等生物特性,人工采摘过程中存在易扎手、果实重、频繁弯腰疲劳等问题。为了减小人工劳动量同时保护菠萝幼苗,文中... 菠萝作为多年生植物,成熟后周围长有不规则分布的菠萝幼芽,不能利用大型机械采收。由于菠萝外皮粗糙、植株锋利、高度不均等生物特性,人工采摘过程中存在易扎手、果实重、频繁弯腰疲劳等问题。为了减小人工劳动量同时保护菠萝幼苗,文中设计了一种新型可穿戴的菠萝采摘装置,分别对采摘模块、外骨骼模块和控制模块进行设计;对菠萝采摘过程进行受力分析,选择转矩为3.4 N·m的掰断电机和转矩为6 N·m的牵拉电机;采用3D打印技术实现采摘爪、变刚度关节及部分零配件加工,经过装配、穿戴和调试后,与人工徒手采摘进行对比,该装置运行效果良好,总体采摘时间接近。 展开更多
关键词 菠萝采摘 采摘爪 可穿戴 变刚度关节
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基于RTSR-RRT^(*)算法的机械臂路径规划 被引量:2
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作者 刘小松 康磊 +2 位作者 单泽彪 苏成志 刘云清 《仪器仪表学报》 北大核心 2025年第3期65-73,共9页
针对传统RRT^(*)算法在路径扩展中存在随机采样偏置性差、路径搜索效率低和收敛速度慢等问题,提出一种重定义采样区域RRT^(*)(RTSR-RRT^(*))算法。首先,在RRT^(*)算法中引入目标偏置策略,降低采样的随机性,增加采样点的偏向性;其次,将... 针对传统RRT^(*)算法在路径扩展中存在随机采样偏置性差、路径搜索效率低和收敛速度慢等问题,提出一种重定义采样区域RRT^(*)(RTSR-RRT^(*))算法。首先,在RRT^(*)算法中引入目标偏置策略,降低采样的随机性,增加采样点的偏向性;其次,将扩展节点与目标点的偏移角度及周围障碍物分布的密集程度按占空比转换得到的角度叠加,再以扩展节点为顶点,与目标点连线为平分线,平分两角度之和形成的采样区域,实现对采样区域的重定义,缩小采样空间,提高路径搜索效率;再次,在重定义采样区域进行二次采样,通过目标点固定引力与采样点变引力共同作用,优化新节点生长方向,进一步提高路径扩展的偏向性,加快算法的收敛速度,最终生成规划路径。为验证所提算法的优越性,通过与RRT^(*)算法、informed-RRT^(*)算法、GB-RRT^(*)算法和AEC-RRT^(*)算法进行对比,结果表明:相较RRT^(*)算法,规划时间节省35%,采样点数量降低58%;相较informed-RRT^(*)算法,规划时间节省40%,采样点数量降低50%;相较GB-RRT^(*)算法,规划时间节省29%,采样点数量降低54%;相较AEC-RRT^(*)算法,规划时间节省31%,采样点数量降低53%。最后,利用机械臂测试平台对所规划路径进行了运动测试实验,进一步验证了所提算法的有效性。 展开更多
关键词 路径规划 机械臂 重定义采样区域 变引力
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