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A Study of Flexible Force Control Method on Robotic Assembly for Spacecraft Zhang Lijian *,Hu Ruiqin, Yi Wangmin, Fu Hao, Tang Laiying Beijing Institute of Spacecraft Environment Engineering, Beijing 100094, China E-mail: zljcast@163.com Keywords: Flexible Force Control; Spacecraft; Robotic Assembly Abstract: For complex spacecraft assembly conditions, how to play effective and flexible robotic characteristics, and improve production efficiency, is the problem needed to solve.this paper presents a flexible force control method on robotic assembly: a 6-axis force/torque sensor is mounted between tools and the end of robots, the operator operates the load by hands directly, and the system can obtain the force/torque information caused by operator’s hands through gravity compensation algorithm, then the force/torque information is used as input parameters to control the robots moving with the hands.
the operator can control with a small force to adjust and pose the large workpiece.the operator can follow the daily habit forming operation of the object,it is more intuitively to adjustment the pose at the end of robots and avoid the mistakes.this method combined with robots's stable and reliable with high precision and the operate flexibility of human observation together,more suitable for complex spacecraft assembly conditions. 2 Flexible force control theory Flexible force control theory of robots: put a ‘6-axis force/torque sensor’ between end effector and the end of robots,it is the key feedback components to achieve flexible force control on robots.‘6-axis force/torque sensor’ is the sensor that enable to measure any force system about The three dimensional orthogonal force （Fx，Fy，Fz）and three-dimensional perpendicular torque（Mx，My，Mz）[6].In the flexible force control of robots, 6-axis force/torque sensor is for sensing informations on the role of forces and moments.
Material handling application of intellectual robot with vision system[J].
Journal of Mechanical Engineering. ,2010, 46(8):73-77
Optics and Precision Engineering, 2011, 19(12): 2954-2962.

Decision Support System for The Management Of Water Resource System in Ningxia Kepeng Feng1, 2, 3, a, Juncang Tian1, 2, 3, b 1School of Civil and Hydraulic Engineering, Ningxia University, China 2Ningxia Research Center of Technology on Water-saving Irrigation and Water Resources Regulation, Yinchuan, China 3Engineering Research Center for Efficient Utilization of Water Resources in Modern Agriculture in Arid Regions, Yinchuan, China afeng_kp@163.com, bslxtjc@163.com Keywords: Decision Support System; Water Resources; Optimal Allocation; Simulation; Ningxia Abstract.
Water resources management decision support system to provide data, information and background material for decision-makers, which is a water resource management needs; help decision-makers to determine the decision-making goals and problems; to establish or modify the decision-making model, offers a variety of programs; evaluate and prefer various programs; repeatedly through man-machine dialogue, analysis, comparison and judgment, provide useful help to the correct decision.
It stores the contents of natural geography, socio-economic, basic geology, hydrogeology, water resources, water resources assessment, supply and demand balance analysis, hydraulic engineering, ecology, environment, and other information.
And do the knowledge collection, storage, processing and output, among them, the key lies in knowledge and experience to explain.
Water dispatch of east2route of south2to2north water transfer project based on system simulation method [J].Journal of Hydraulic Engineering, (11):38 - 43

The Application of Oil Monitoring Technology in the Marine Hydraulic System Sun Bin a, Zhou Xincong b Institute of Energy and Power Engineering, Wuhan University of Technology, Wuhan, 430063 a, b 13971020135@139.com Keywords: hydraulic system; oil monitoring Abstract.
Mechanical impurity in the hydraulic oil is the main components of the solid pollutants in hydraulic oil, and it includes inclusions from the outside, such as hydraulic components of burr, sand, pipe joint at the end of the scale, welding slag, fiber, color chip, and the dirt constantly produced by the working system, such as the metal powder produced by components wear, wear particles of sealing material, and the hardening of impurities dissolved or generated in the oil.
[6] BALBIR S Dhillon, The integrated monitoring system for running parameters of key mining equipment based on condition monitoring technology, Journal of Coal Science & Engineering(China), 01, 2010
Dhillon, The safety parameters monitoring system for the coal mine based on CAN bus communication and intelligent data acquisition, Department of Mechanical Engineering, Univ.

To generate the node’s mobility in Bonnmotion, some of the key parameters are used to write the script for Disaster Area Scenario, stated in Table. 4.
International Journal of Online and Biomedical Engineering
International Research Journal of Engineering and Technology, 17-20
International Journal Of Innovative Engineering, Technology And Science, 68-76
Rao, "Performance Evaluation of Routing Protocols in Large Size Disaster Scenario", International Journal of Recent Technology and Engineering (IJRTE), vol. 9, no. 2, pp :4200-4204, Jul 2019. doi: 10.35940/ijrte.B3389.078219 [19] Segara, A.

Ehigiator Department of Civil Engineering, Ambrose Alli University, Ekpoma, Nigeria ayuduehigiator @yahoo.com [Date received: 11 November 2010.
The soils at the lower end of the catena had soft plinthite at 15 to 20cm below the surface that hardened to lateritic concretionary materials on exposure by clearing and subsequent cultivation.
All trees and underbrush material were then burnt in- situ about 3 to 4 weeks after felling.
Transactions of the American Society of Agricultural Engineers 421, (1999) 89-97
International Journal of Engineering.

Green electrospinning and crosslinking of polyvinyl alcohol/ citric acid Jingjing Shi, Enlong Yang* (College of Material and Textile Engineering, Jiaxing University, Jiaxing, Zhejiang 314001, China) Email: enlong_e_mail@hotmail.com Keywords: Green electrospinning; Crosslinking; Nanofiber membrane; Heat treatment Abstract: The present study reports green electrospinning of polyvinyl alcohol (PVA) / citric acid nanofiber membranes, and the membranes were then crosslinked by heat treatment.
Experimental Section Materials PVA (Mw 67 000 g/mol, 88% hydrolyzed) powder and citric acid (Mw 210 g/mol, GR, 99.8%) were purchased from Aladdin Chemistry Co., Ltd.
Since the citric acid is a tricarboxylic acid, crosslinking is formed within the materials [15].
This kind of simple, efficient, and green electrospinning and crosslinking technique may realize industrialization of PVA-based membranes in drug delivery and tissue engineering.
Mikos, Electrospinning of polymeric nanofibers for tissue engineering applications: A review, Tissue Eng. 12 (2006) 1197-1211

Materials and Experimental procedures Materials and Equipments.
Fig. 3 SEM picture of the SU-8 photoresist Compared to the commonly employed chemical etching process, the electrochemical machining offers better controllability and flexibility for microfabrication, and have the advantages of higher machining rate, the use of non-toxic and non-corrosive electrolyte, and the possibility of machining a wide range of electrically conducting materials [14].
However, since their material removal rates are not as fast as other processes, long machining time is required to produce micro products.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING Vol. 51 (2004), p. 890-895
Proceedings of the SPIE-The International Society for Optical Engineering Vol. 5116 (2003), p. 424-434

Manach3,e 1CEMUC, Department of Mechanical Engineering, University of Coimbra, Pinhal de Marrocos, 3030-788 Coimbra, Portugal 2CT2M, Department of Mechanical Engineering, University of Minho, Campus de Azurém, 4800-058 Guimarães, Portugal 3LIMATB, Université Européenne de Bretagne, Université de Bretagne-Sud, BP 92116, 56321 Lorient, France adiogo.neto@dem.uc.pt, bmarta.oliveira@dem.uc.pt, cjlalves@dem.uminho.pt, dluis.menezes@dem.uc.pt, epierre-yves.manach@univ-ubs.fr Keywords: Nagata patch interpolation, Smooth surface description, DD3IMP in-house code, Reverse deep drawing, Experimental and numerical results.
Typically, the forming process is decomposed into two or more stages in order to increase the material formability [1,15,16].
Material parameter Value [MPa] 180.3 K [MPa] 555.3 n 0.208 F 0.314 G 0.366 H 0.634 L=M 1.500 N 1.176 The material adopted in the present study is a DDQ mild steel, supplied with a thickness of 0.98 mm.
The blank-holder is connected to the die by using sixteen screws regularly spaced, introducing adjustable keys to control the gap between the blank-holder and the die.
Due to geometric and material symmetry conditions, only one quarter of the model is simulated, as shown in Fig. 1 (b).

The mixture of materials, masonry types and the irregular shape of the ruins made a hard task the design of a mimetic prototype.
Experimental campaign Several test were performed in order to acquire the level of knowledge of the structure starting from the materials.
Lourenco – A matrix formulation for the elastoplastic homogenisation of layered materials – Mechanics of cohesive frictional materials, vol.1 (1996) 273-294
Nobile, Seismic Vulnerability Assessment of a Historical Church: Limit Analysis and Nonlinear Finite Element Analysis Advances in Civil Engineering Volume 2013, Article ID 517454, 12 pages
Nobile, Effect of salt crystallisation on the shear behaviour of masonry walls: An experimental study, Construction and Building Materials, (37) 181-189 (2012),

Materials and Methods 2.1.
Emergent Materials, 2021: p. 1-9
Emergent Materials, 2021: p. 1-16
Journal of Environmental Chemical Engineering, 2017. 5(1): p. 547-554
Journal of hazardous materials, 2009. 166(2): p. 1339-1343