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As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.

The effects of a 50% forest thinning intensity on Fukushima-derived 137 Cs deposition by litterfall and its discharge by runoff in hillslope coniferous forest were monitored using four litterfall traps and a hillslope erosion plot. The observation was underway during the pre-and post-thinning periods. Results demonstrated that during the pre-thinning period a total 150 ± 13 g m -2 of litterfall deposited about 924 ± 69 Bq m -2 of 137 Cs. This accounts for 11% of the local 137 Cs fallout recorded for the study site in the aftermath of the accident. After thinning, both litterfall and 137 Cs increased by more than six- and two-fold, respectively. This is possibly owing to the slow individual tree recovery rate assisted by the change on the running space provided by canopy openings, which can accelerate even the normal gust wind to gain damaging power on the unshielded mechanically injured parts of the contaminated residual trees. In both cases, litterfall generally transferred about 37% (3 ± 0.2 kBq m -2 ) of the local 137 Cs fallout onto the forest floor over the observation period. The eroded litter-associated 137 Cs increased by about a factor of two after thinning, which only accounted for less than 1% of 137 Cs deposited by litterfall. This implies that the forest floor retains 137 Cs and remains contaminated regardless of the size of the eroded litter material. But this could become a potential secondary contamination source for the downstream resources such as water bodies and villages, especially at the time of flooding, which in turn calls a serious attention in designing decontamination schemes., (Copyright © 2019 Elsevier Ltd. All rights reserved.)