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To solve the problem of illegal buildings, laws were used to control illegal buildings from the perspective of urban planning. Illegal buildings were legalized by reissuing relevant procedures. Illegal buildings were confiscated and auctioned. Illegal buildings that endanger public safety were completely removed. Illegal buildings that meet the safety standards were transformed into citizens' affordable housing and other disposal modes. The results showed that China's current laws on the lack of identification of illegal buildings, legal lag, legislative dispersion and many of the problems involved in illegal construction were cross-types. There were both frontier subject issues and ubiquitous issues. Regardless of the extent of the aspects involved, the legal issues of studying illegal building governance have always been the main line and the main tone of social development. Therefore, by perfecting laws and regulations on illegal building management, the administrative enforcement mechanism for illegal buildings is improved and publicity efforts are strengthened. The legal consciousness of the people is enhanced.

In order to evaluate the rheological properties of asphalt more comprehensively and effectively, and to explore and discuss the practicability of relevant models in the evaluation of the rheological properties of asphalt.

Based on the rheological and viscoelastic theories, temperature scanning, frequency scanning and multiple stress creep recovery (MSCR) tests of different modified asphalt were carried out by dynamic shear rheometer (DSR) to obtain relevant viscoelastic parameters and evaluate the high temperature properties of different modified asphalt. Based on the time-temperature equivalence principle, the main curve was constructed to study the viscoelastic properties of asphalt in a wider frequency domain. The main curve was fitted with the CAM model, and the rheological properties of different modified asphalt were evaluated through the analysis of model parameters. The creep stiffness and creep velocity of different modified asphalt were obtained through the rheological test of bending beam (BBR), and the low-temperature performance of different modified asphalt was analyzed by using Burgers model to fit the creep compliance.

The results show that the high temperature rheological properties of several modified asphalt studied in the test are ranked from best to worst as follows: PE modified asphalt > SBS modified asphalt > SBR modified asphalt. Short-term aging can improve the high temperature performance of asphalt, and different types of modifiers can promote or inhibit this improvement effect. Based on BBR test and Burgers model fitting analysis, SBR modified asphalt has the best low temperature performance, followed by SBS modified asphalt, while PE modified asphalt has poor low temperature performance, so it is not suitable to be used as road material in low temperature area.

Combined with effective evaluation methods, the rheological properties of asphalt at different temperatures and angles were systematically evaluated, and the evolution of rheological properties of asphalt characterized by model parameters was further analyzed by advanced model simulation.

This paper aims to propose a novel system design and control algorithm of lower limb exoskeleton, which provides walking assistance and load sharing for the wearer.

In this paper, the valve-controlled asymmetrical hydraulic cylinder is selected for driving the hip and knee joint of exoskeleton. Pressure shoe is developed that purpose on detecting changes in plantar force, and a fuzzy recognition algorithm using plantar pressure is proposed. Dynamic model of the exoskeleton is established, and the sliding mode control is developed to implement the position tracking of exoskeleton. A series of prototype experiments including benchtop test, full assistance, partial assistance and loaded walking experiments are set up to verify the tracking performance and power-assisted effect of the proposed exoskeleton.

The control performance of PID control and sliding mode control are compared. The experimental data shows the tracking trajectories and tracking errors of sliding mode control and demonstrate its good robustness to nonlinearities. sEMG of the gastrocnemius muscle tends to be significantly weakened during assisted walking.

In this paper, a structure that the knee joint and hip joint driven by the valve-controlled asymmetrical cylinder is used to provide walking assistance for the wearer. The sliding mode control is proposed to deal with the nonlinearities during joint rotation and fluids. It shows great robustness and frequency adaptability through experiments under different motion frequencies and assistance modes. The design and control method of exoskeleton is a good attempt, which takes positive impacts on the productivity or quality of the life of wearers.

Using typical structure of asphalt pavement in Harbin area of China, and the formula of generalized friction coefficient between base and surface layers of asphalt pavement in cold area is established.

Through structural characteristics analysis of asphalt pavement in cold area, the generalized formula of friction coefficient between base and surface layers of asphalt pavement in cold area is derived. The formula can quickly calculate the friction coefficient between layers of asphalt pavement.

Based on quantitative analysis to the contacting state between layers of asphalt pavement in cold area, the relationships between generalized friction coefficient and resilient modulus of asphalt mixtures, temperature shrinkage coefficient and temperature have been established.

The findings can enrich the description methods about the contacting state between layers of asphalt pavement, and have a certain theoretical and practical value. Through the application of the formula of generalized friction coefficient between layers, it can provide a technical basis for the asphalt pavement design, construction and maintenance in cold area.

The purpose of this study is to compare and analyze the anti-aging durability of asphalt and asphalt mixture under the conditions of inherent and improved performance. The research contents include: the mechanical properties (dynamic stability, bending strain, freeze-thaw splitting tensile strength ratio (TSR)) of different modified asphalt mixtures were tested by using the best modified asphalt.

The anti-aging durability of different modified asphalt was analyzed by using the results of macro tests such as penetration and softening point as evaluation indexes. Meanwhile, the change of the asphalt colloid instability index (Ic) in the aging process was used as the evaluation index to verify the results of the macroscopic test, and the best modified asphalt was obtained. On this basis, the composition of different modified asphalt mixtures was designed by using the best modified asphalt. Meanwhile, water stability was used as evaluation indexes to study the anti-aging durability of different modified asphalt mixtures.

The results show that styrene-butadiene-styrene (SBS) modified asphalt has better aging resistance. Due to the special storage time, the performance of rubber asphalt is also the best. Meanwhile, in terms of modified asphalt mixture, its high temperature performance and durability of anti-aging is as follows: 4% SBS /16% rubber modified asphalt mixture (IV) > 4% SBS modified asphalt mixture (II) > asphalt mixture (90#) (I) > 16% rubber modified asphalt mixture (III). The low temperature performance and durability of anti-aging is as follows: Ⅱ > IV > Ⅰ > Ⅲ. The water stability performance and durability of anti-aging is as follows: IV > Ⅲ > Ⅱ > Ⅰ.

The research results have important theoretical and guiding significance for exploring the change of intrinsic properties and improved properties of asphalt and asphalt mixture in the aging process and revealing the anti-aging mechanism of different modified asphalt mixtures.

The purpose of this paper is to propose a fractional order optimization method based on perturbation bound and gamma function of a DGM(r,1).

By analyzing and minimizing perturbation bound, the sub-optimal solution on fractional order interval is obtained through offline solving without iterative calculation. By this method, an optimized fractional order non-equidistant ROGM (OFONEROGM) is applied in fitting and prediction water quality parameters for a surface water pollution monitoring system.

This method can narrow fractional order interval in this work. In a surface water pollution monitoring system, the fitting and prediction performances of OFONEROGM are demonstrated comparing with integer order non-equidistant ROGM (IONEROGM).

A method of offline solving the sub-optimal solution on fractional order interval is proposed. It can narrow the optimized fractional order range of NEROGM without iterative calculation. A large number of calculations are eliminated. Besides that, optimized fractional order interval is only related to the number of original data, and convenient for practical application. In this work, an OFONEROGM is modeled for predicting water quality trend for preventing water pollution or stealing sewage discharge. It will provide guiding significance in water quality parameter fitting and predicting for water environment management.

The purpose of this paper is to generate grinding trajectory of unknown model parts simply and efficiently. In this paper, a method of grinding trajectory generation of hybrid robot based on Cartesian space direct teaching technology is proposed.

This method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed control more freely when dragging the robot, the sensor data is processed by Kalman filter, and a variable admittance control model is established. And the joint constraint processing is given during teaching. After that, the path points are modified and fitted into double B-splines, and the speed planning is performed to generate the final grinding trajectory.

Experiment verifies the feasibility of using direct teaching technology in Cartesian space to generate grinding trajectory of unknown model parts. By fitting all the teaching points into cubic B-spline, the smoothness of the grinding trajectory is improved.

The whole method is verified by the self-developed TriMule-600 hybrid robot, and it can also be applied to other industrial robots.

The main contribution of this paper is to realize the direct teaching and trajectory generation of the hybrid robot in Cartesian space, which provides an effective new method for the robot to generate grinding trajectory of unknown model parts.

The purpose of this paper is to develop an easily implemented and practical stabilizing strategy for the hardware-in-the-loop (HIL) system. As the status of HIL system in the ground verification experiment for space equipment keeps rising, the stability problems introduced by high stiffness of industrial robot and discretization of the system need to be solved ungently. Thus, the study of the system stability is essential and significant.

To study the system stability, a mathematical model is built on the basis of control circle. And root-locus and 3D root-locus method are applied to the model to figure out the relationship between system stability and system parameters.

The mathematical model works well in describing the HIL system in the process of capturing free-floating targets, and the stabilizing strategy can be adopted to improve the system dynamic characteristic which meets the needs of the practical application.

A method named 3D root-locus is extended from traditional root-locus method. And the improved method graphically displays the stability of the system under the influence of multivariable. And the strategy that stabilize the system with elastic component has a strong feasible and promotional value.

The growing availability of naturalistic driving datasets (NDDs) presents a valuable opportunity to develop various models for autonomous driving. However, while current NDDs include data on vehicles with and without intended driving behavior changes, they do not explicitly demonstrate a type of data on vehicles that intend to change their driving behavior but do not execute the behaviors because of safety, efficiency, or other factors. This missing data is essential for autonomous driving decisions. This study aims to extract the driving data with implicit intentions to support the development of decision-making models.

According to Bayesian inference, drivers who have the same intended changes likely share similar influencing factors and states. Building on this principle, this study proposes an approach to extract data on vehicles that intended to execute specific behaviors but failed to do so. This is achieved by computing driving similarities between the candidate vehicles and benchmark vehicles with incorporation of the standard similarity metrics, which takes into account information on the surrounding vehicles' location topology and individual vehicle motion states. By doing so, the method enables a more comprehensive analysis of driving behavior and intention.

The proposed method is verified on the Next Generation SIMulation dataset (NGSim), which confirms its ability to reveal similarities between vehicles executing similar behaviors during the decision-making process in nature. The approach is also validated using simulated data, achieving an accuracy of 96.3 per cent in recognizing vehicles with specific driving behavior intentions that are not executed.

This study provides an innovative approach to extract driving data with implicit intentions and offers strong support to develop data-driven decision-making models for autonomous driving. With the support of this approach, the development of autonomous vehicles can capture more real driving experience from human drivers moving towards a safer and more efficient future.

In order to determine the range of medium temperature zone of road asphalt, it is hoped that the evolution of viscoelastic characteristics of road asphalt under medium temperature state can be deeply explored.

In this paper, the needle penetration test and temperature scanning test were designed for 90# and 70# bitumen as test materials, and the boundary of medium temperature zone of 90# and 70# bitumen was accurately determined by data analysis method. A mathematical model was established based on principal component analysis, and a comprehensive evaluation index was proposed to evaluate the evolution of temperature viscoelastic characteristics of road asphalt by means of standardization and rotational dimensionality reduction.

The test results show that the medium temperature zone of 90# asphalt is [−5 ± 1°C, 38 ± 1°C], and the medium temperature zone of 70# asphalt is [0 ± 1°C, 51 ± 1°C]. According to the viscoelastic response of road asphalt in the medium temperature zone, the medium temperature zone can be divided into three evolution stages: weak viscoelastic stage, viscoelastic equilibrium stage, strong viscoelastic weak stage. Analysis based on the intrinsic viscosity fillip target describing the various intrinsic viscoelastic index represents the viscoelastic properties of bitumen from different angles, and limitations inherent stick fillip for target put forward the integrated the inherent stick fillip mark information, as well as targeted and accurate evaluation of road asphalt temperature comprehensive evaluation indexes in the evolution of the viscoelastic properties of I_M-T. Finally, the temperature data of asphalt pavement in several representative regions of China are compared with the determined medium temperature region, and it is proved that the research on the evolution of viscoelastic characteristics of asphalt pavement under the medium temperature condition has important practical significance.

The boundary of medium temperature zone of 90# and 70# base asphalt was determined, and the viscoelastic characteristic evolution of road asphalt under medium temperature state was studied deeply. Aiming at the limitation of intrinsic viscoelastic index, a comprehensive evaluation index IM-T which not only integrates the information of intrinsic viscoelastic index but also can accurately evaluate the evolution of temperature viscoelastic characteristics in road asphalt is proposed.