Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control

<!doctype html> <html lang="en"> <head> <meta charset="UTF-8" /> <title>Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control</title> <meta name="keywords" content="robotic tile laying, visual position servo, fuzzy self-adaptive, impedance control" /> <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1.0, user-scalable=0" /> <meta http-equiv="X-UA-Compatible" content="IE=edge,Chrome=1" /> <meta name="robots" content="noarchive" /> <meta property="og:title" content="Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control" /> <meta property="og:type" content="Article" /> <meta property="og:url" content="https://www.sciopen.com/article/10.26599/JIC.2024.9180031" /> <meta property="og:site_name" content="SciOpen" /> <meta property="og:description" content="<p>Construction robots have garnered attention with the rapid development of construction automation. Such tiling robots can effectively improve the construction quality and efficiency. To enhance the quality of robotic tile laying, a control method based on position servo and position impedance was proposed herein. To improve the full filling rate, the robot improved the full reduction rate of tile laying using the effective vibration from an eccentric vibrator. Experimental results showed that the proposed method could effectively improve the tile laying quality. The results of this study will promote the application of robotic tile laying to engineering and provide a reference for the improvement in the quality of robotics in construction.</p>" /> <meta name="citation_doi" content="10.26599/JIC.2024.9180031" /> <meta name="dc.identifier" content="10.26599/JIC.2024.9180031" /> <meta name="citation_journal_title" content="Journal of Intelligent Construction" /> <meta name="citation_title" content="Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control" /> <meta content="robotic tile laying" name="citation_keywords" /><meta content="visual position servo" name="citation_keywords" /><meta content="fuzzy self-adaptive" name="citation_keywords" /><meta content="impedance control" name="citation_keywords" /> <meta name="citation_volume" content="2" /> <meta name="citation_issue" content="4" /> <meta name="citation_publication_date" content="2024/12/1" /> <meta name="citation_online_date" content="2024/7/17" /> <meta name="citation_issn" content="2958-3861" /> <meta name="citation_language" content="en" /> <meta name="citation_author" content="Huixing Zhou" /> <meta name="citation_author_institution" content="School of Mechanical-Electronic and Vehicle Engineering,CHINA. Beijing University of Civil Engineering and Architecture, 102616,CHINA. " /> <meta name="citation_author" content="Shun Wang" /> <meta name="citation_author_institution" content="School of Civil and Transportation Engineering,CHINA. Beijing University of Civil Engineering and Architecture, 102616,CHINA. " /> <meta name="citation_author" content="Chongwen Xu" /> <meta name="citation_author_institution" content="School of Mechanical-Electronic and Vehicle Engineering,CHINA. Beijing University of Civil Engineering and Architecture, 102616,CHINA. " /> <meta name="citation_author" content="Haoyu Li" /> <meta name="citation_author_institution" content="School of Mechanical-Electronic and Vehicle Engineering,CHINA. Beijing University of Civil Engineering and Architecture, 102616,CHINA. " /> <meta name="citation_abstract_html_url" content="https://www.sciopen.com/article/10.26599/JIC.2024.9180031" /> <meta name="citation_fulltext_html_url" content="https://www.sciopen.com/article/10.26599/JIC.2024.9180031" /> <meta name="citation_date" content="2024/12/01" /> <meta name="citation_pdf_url" content="https://sciopen.com/article_pdf/1775425447695826946.pdf" /> <meta name="citation_publisher" content="清华大学出版社" /> <meta name="citation_fulltext_world_readable" content="" /> <meta name="Description" content="<p>Construction robots have garnered attention with the rapid development of construction automation. Such tiling robots can effectively improve the construction quality and efficiency. To enhance the quality of robotic tile laying, a control method based on position servo and position impedance was proposed herein. To improve the full filling rate, the robot improved the full reduction rate of tile laying using the effective vibration from an eccentric vibrator. Experimental results showed that the proposed method could effectively improve the tile laying quality. The results of this study will promote the application of robotic tile laying to engineering and provide a reference for the improvement in the quality of robotics in construction.</p>" /> <meta name="article_references" content="Zhou H, Wang S, Xu C, et al. . 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/> </svg> <span>Cite</span> <div class="download-boxs"> <a href="/article/download_ris?tag=2&id=1775425447695826946" target="_blank" class="item-box"> EndNote(RIS) </a> <a href="/article/download_ris?tag=3&id=1775425447695826946" target="_blank" class="item-box"> BibTeX </a> </div> </div>  <div class="v4-art-top-item" id="collection_not_1775425447695826946" onclick="openCheck("1775425447695826946")"> <svg class="vt-art-top-item-img" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="22" height="22" viewBox="0 0 200 200"> <image id="图层_1" data-name="图层 1" x="18" y="18" width="164" height="164" 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class="v4-outline-tables" v-if="tableMenuList.length>5"> <template slot="title" v-if="tableMenuList.length>5"> <span class="v4-show-hide-icon is-not-active" v-if="tableMenuList.length > 5">Show {{tableMenuList.length - 5}} more tables</span> <span class="v4-show-hide-icon is-active" v-if="tableMenuList.length > 5">Hide {{tableMenuList.length - 5}} tables</span> </template> <div class="v4-outline-table-item" v-for="(item, index) in tableMenuList" v-if="index > 4" @click="turnCurrentNode('content_' + item['key'])" v-html="item['label']"></div> </el-collapse-item> </el-collapse> </div> </div> <div class="v4-art-main-center"> <div class="art-html-center"> <div class="art-html-top"> <div class="v4-art-info">  <span>Research Article</span> <span style="font-family: auto" >|</span >   <span class="v4-art-info-oa">Open Access </span>  </div>  <h1 class="v4-ahc-title">Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control</h1>  <div> <span class="art-authors" ><span><a href='/scholar/info?id=1775425448983478273'>Huixing Zhou</a></span><sup><sup>a</sup></sup ><span class="art-authors-email" style="padding-left: 3px" >(<a onclick="send_email("1775425448983478273","1775425447695826946")"> <el-tooltip popper-class="v4-el-tooltip" effect="dark" content="zhouhuixing@bucea.edu.cn" placement="top-start"> <img src="/assets/img/article/article-email.svg" style="width: 20px" /> </el-tooltip> </a >)</span ><span>, </span></span ><span class="art-authors" ><span><a href='/scholar/info?id=1775425449260302337'>Shun Wang</a></span><sup><sup>b</sup></sup ><span class="art-authors-email" style="padding-left: 3px" >(<a onclick="send_email("1775425449260302337","1775425447695826946")"> <el-tooltip popper-class="v4-el-tooltip" effect="dark" content="1108140719001@stu.bucea.edu.cn" placement="top-start"> <img src="/assets/img/article/article-email.svg" style="width: 20px" /> </el-tooltip> </a >)</span ><span>, </span></span ><span class="art-authors" ><span>Chongwen Xu</span><sup><sup>a</sup></sup ><span>, </span></span ><span class="art-authors" ><span>Haoyu Li</span><sup><sup>a</sup></sup ></span > </div> <div style="clear: both"></div> <div class="art-authors-unit art-authors-unit2"> <div class="art-authors-unit-inner art-authors-unit-inner2"> <div class="art-authors-unit-item"><label>a</label>School of Mechanical-Electronic and Vehicle Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China</div> <div class="art-authors-unit-item"><label>b</label>School of Civil and Transportation Engineering, Beijing University of Civil Engineering and Architecture, Beijing 100044, China</div> </div> </div> <div> <span class="art-authors art-authors-more art-authors-more2" onclick="showAuthUnit(3)"> Show Author Information <i class="el-icon-caret-bottom"></i> </span> <span class="art-authors art-authors-less art-authors-less2" style="display: none" onclick="showAuthUnit(4)"> Hide Author Information <i class="el-icon-caret-top"></i> </span> </div>  <div style="border-top: 1px solid #eef; margin-top: 20px; padding-bottom: 8px" ></div>  <div class="v4-art-content-p"> <h2></h2> </div>   <div class="v4-art-content-p v4-art-abstract" id="title_-2"> <h2>Abstract</h2> <div><p>Construction robots have garnered attention with the rapid development of construction automation. Such tiling robots can effectively improve the construction quality and efficiency. To enhance the quality of robotic tile laying, a control method based on position servo and position impedance was proposed herein. To improve the full filling rate, the robot improved the full reduction rate of tile laying using the effective vibration from an eccentric vibrator. Experimental results showed that the proposed method could effectively improve the tile laying quality. The results of this study will promote the application of robotic tile laying to engineering and provide a reference for the improvement in the quality of robotics in construction.</p></div> </div>  <div class="v4-art-content-p" id="title_-3"> <h2>Keywords</h2> <div class="v4-art-keyword"> <a class="v4-art-keyword-item" onclick="jumpKeyword("robotic tile laying")" >robotic tile laying</a ><a class="v4-art-keyword-item" onclick="jumpKeyword("visual position servo")" >visual position servo</a ><a class="v4-art-keyword-item" onclick="jumpKeyword("fuzzy self-adaptive")" >fuzzy self-adaptive</a ><a class="v4-art-keyword-item" onclick="jumpKeyword("impedance control")" >impedance control</a > </div> </div>   <div id="title_-4" class="v4-art-content-p" style="display: none"></div> <div style="border-top: 1px solid #eef; margin-top: 20px"> <div id="article_no_data" style="padding-top: 30px; display: none"> <p>No abstract is available for this article. 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H.&author=Assilian S.">Google Scholar</a> </div> </div> </div> </div> </div> </div> </div> </div> <div class="v4-art-main-right"> <img class="v4-article-journal-img" src="/journal/get_journal_cover?flag=2&status=0&id=10.26599/JIC.2024.9180031" /> <a class="v4-article-journal-title" href="/journal/2958-3861">Journal of Intelligent Construction</a> <div class="v4-art-main-right-content"> <a href="/journal/join_journal/stage_page?stage=5&id=1605098369766313986&issueIndex=1854001478400217090&issn=2958-3861" >Volume 2 Issue 4,</br>December 2024</a> </div> <div class="v4-art-main-right-content"> <span>Article number: 9180031</span> </div> <div class="v4-art-main-right-content"> DOI: <a href="https://doi.org/10.26599/JIC.2024.9180031" target="_blank" style="word-break: break-all">10.26599/JIC.2024.9180031</a> </div> <div class="v4-art-main-right-title">Cite this article:</div> <div class="v4-art-main-right-content"> <span>Zhou H, Wang S, Xu C, et al. </span> <span>Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control. </span> <span><span style = 'font-style: italic;'>Journal of Intelligent Construction</span>, </span> <span> 2024, 2(4): 9180031. </span> <span style="word-break: break-all">https://doi.org/10.26599/JIC.2024.9180031</span> </div> <div class="v4-art-main-right-content"> </div> <el-collapse style="margin-top: 15px"> <el-collapse-item title="Metrics & Citations" name="4"> <template slot="title"> Metrics & Citations   <el-tooltip popper-class="v4-el-tooltip" effect="dark" content="Citation counts are pulled independently from Crossref, Web of Science, Scopus and CSCD. 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var esmSize = 0; var articleId = "1775425447695826946"; var article = {"id":"1775425447695826946","title":"Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control","doi":"10.26599\/JIC.2024.9180031","type":"2","journalId":"1605098369766313986","isOa":1,"clickNum":898,"downloadNum":366,"collectionNum":null,"cscdNum":0,"quoteNum":0,"articleNo":"JIC-2024-0003","cover":null,"receivedTime":"2024-01-09T00:00:00.000+08:00","strReceivedTime":"09 January 2024","acceptedTime":"2024-03-26T00:00:00.000+08:00","strAcceptedTime":"26 March 2024","erratumId":null,"issueInfo":null,"issueInfoUrl":"<a href='\/journal\/join_journal\/archive?journalId=1605098369766313986\u0026volume=2024\u0026issn2958-3861'>2024, 2<\/a>(<a href='\/journal\/join_journal\/stage_page?stage=5\u0026id=1605098369766313986\u0026issueIndex=1854001478400217090\u0026issn2958-3861'>4<\/a>): 9180031","stageNum":5,"strType":"Research Article","strStage":"Issue","pubTime":"2024-07-17T00:00:00.000+08:00","pubYear":2024,"strPubTime":"17 July 2024","citationDate":"2024\/12\/01","erratum":null,"abstraction":"<p>Construction robots have garnered attention with the rapid development of construction automation. Such tiling robots can effectively improve the construction quality and efficiency. To enhance the quality of robotic tile laying, a control method based on position servo and position impedance was proposed herein. To improve the full filling rate, the robot improved the full reduction rate of tile laying using the effective vibration from an eccentric vibrator. Experimental results showed that the proposed method could effectively improve the tile laying quality. The results of this study will promote the application of robotic tile laying to engineering and provide a reference for the improvement in the quality of robotics in construction.<\/p>","abstractImage":null,"abstractToc":null,"acknowledgement":"<p>This study is supported by Beijing Natural Science Foundation Project\u2013Municipal Education Commission Joint Fund Project of China (No. KZ202110016024).<\/p>","copyright":"\u00A9 The Author(s) 2024. 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The future of construction automation: Technological disruption and the upcoming ubiquity of robotics. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1016\/j.autcon.2015.07.022\">Autom Constr<\/a>, 2015, 59: 113\u2013121.<\/p>","keyStr":"b1","label":"[1]","content":null,"num":null,"doi":"10.1016\/j.autcon.2015.07.022","link":"https:\/\/scholar.google.com\/scholar_lookup?title=The future of construction automation: Technological disruption and the upcoming ubiquity of robotics\u0026journal=Autom Constr\u0026volume=59\u0026pages=113-121\u0026publication_year=2015\u0026author=Bock T."},{"id":"1854040120724295681","articleId":null,"reference":"<p>Q. Chen, B. G. de Soto, B. T. Adey. Construction automation: Research areas, industry concerns and suggestions for advancement. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1016\/j.autcon.2018.05.028\">Autom Constr<\/a>, 2018, 94: 22\u201338.<\/p>","keyStr":"b2","label":"[2]","content":null,"num":null,"doi":"10.1016\/j.autcon.2018.05.028","link":"https:\/\/scholar.google.com\/scholar_lookup?title=Construction automation: Research areas, industry concerns and suggestions for advancement\u0026journal=Autom Constr\u0026volume=94\u0026pages=22-38\u0026publication_year=2018\u0026author=Chen Q.\u0026author=de Soto B. G.\u0026author=Adey B. T."},{"id":"1854040120741072897","articleId":null,"reference":"<p>S. Y. Cai, Z. L. Ma, M. J. Skibniewski, et al. Construction automation and robotics for high-rise buildings over the past decades: A comprehensive review. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1016\/j.aei.2019.100989\">Adv Eng Inf<\/a>, 2019, 42: 100989.<\/p>","keyStr":"b3","label":"[3]","content":null,"num":null,"doi":"10.1016\/j.aei.2019.100989","link":"https:\/\/scholar.google.com\/scholar_lookup?title=Construction automation and robotics for high-rise buildings over the past decades: A comprehensive review\u0026journal=Adv Eng Inf\u0026volume=42\u0026pages=100989\u0026publication_year=2019\u0026author=Cai S. Y.\u0026author=Ma Z. L.\u0026author=Skibniewski M. J."},{"id":"1854040120757850113","articleId":null,"reference":"<p>B. Garc\u00EDa de Soto, I. Agust\u00ED-Juan, S. Joss, et al. Implications of construction 4.0 to the workforce and organizational structures. <a ext-link-type=\"uri\" href=\"Int J Constr Manag\">Int J Constr Manag<\/a>, 2022, 22: 205\u2013217.<\/p>","keyStr":"b4","label":"[4]","content":null,"num":null,"doi":"10.1080\/15623599.2019.1616414","link":"https:\/\/scholar.google.com\/scholar_lookup?title=Implications of construction 4\u0026journal=0 to the workforce and organizational structures. Int J Constr Manag\u0026volume=22\u0026pages=205-217\u0026publication_year=2022\u0026author=Garc\u00EDa de Soto B.\u0026author=Agust\u00ED-Juan I.\u0026author=Joss S."},{"id":"1854040120816570370","articleId":null,"reference":"<p>F. Sherratt, R. Dowsett, S. Sherratt. Construction 4.0 and its potential impact on people working in the construction industry. <a ext-link-type=\"uri\" href=\"Proc Inst Civil Eng-manag Procur Law\">Proc Inst Civil Eng-manag Procur Law<\/a>, 2020, 173: 145\u2013152.<\/p>","keyStr":"b5","label":"[5]","content":null,"num":null,"doi":"10.1680\/jmapl.19.00053","link":"https:\/\/scholar.google.com\/scholar_lookup?title=Construction 4\u0026journal=0 and its potential impact on people working in the construction industry. Proc Inst Civil Eng-manag Procur Law\u0026volume=173\u0026pages=145-152\u0026publication_year=2020\u0026author=Sherratt F.\u0026author=Dowsett R.\u0026author=Sherratt S."},{"id":"1854040120833347585","articleId":null,"reference":"<p>C. P. Chea, Y. Bai, X. B. Pan, et al. An integrated review of automation and robotic technologies for structural prefabrication and construction. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1093\/tse\/tdaa007\">Trans Saf Environ<\/a>, 2020, 2: 81\u201396.<\/p>","keyStr":"b6","label":"[6]","content":null,"num":null,"doi":"10.1093\/tse\/tdaa007","link":"https:\/\/scholar.google.com\/scholar_lookup?title=An integrated review of automation and robotic technologies for structural prefabrication and construction\u0026journal=Trans Saf Environ\u0026volume=2\u0026pages=81-96\u0026publication_year=2020\u0026author=Chea C. P.\u0026author=Bai Y.\u0026author=Pan X. B."},{"id":"1854040120850124802","articleId":null,"reference":"M. E. Baharudin. Development of automatic floor tile laying machine. Master Thesis, Malaysia: Universiti Sains Malaysia, 2007.","keyStr":"b7","label":"[7]","content":null,"num":null,"doi":"","link":null},{"id":"1854040120866902017","articleId":null,"reference":"<p>H. Deng, H. Hong, D. H. Luo, et al. Automatic indoor construction process monitoring for tiles based on BIM and computer vision. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1061\/(ASCE)CO.1943-7862.0001744\">J Constr Eng Manag<\/a>, 2020, 146: 04019095.<\/p>","keyStr":"b8","label":"[8]","content":null,"num":null,"doi":"10.1061\/(ASCE)CO.1943-7862.0001744","link":"https:\/\/scholar.google.com\/scholar_lookup?title=Automatic indoor construction process monitoring for tiles based on BIM and computer vision\u0026journal=J Constr Eng Manag\u0026volume=146\u0026pages=04019095\u0026publication_year=2020\u0026author=Deng H.\u0026author=Hong H.\u0026author=Luo D. H."},{"id":"1854040120883679234","articleId":null,"reference":"<p>K. L. Lin, J. L. Fang. 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In: Proceedings of 1984 American Control Conference, San Diego, USA, 1984: pp 304\u2013313.","keyStr":"b11","label":"[11]","content":null,"num":null,"doi":"10.23919\/ACC.1984.4788393","link":null},{"id":"1854040120963371010","articleId":null,"reference":"<p>P. Song, Y. Q. Yu, X. P. Zhang. A tutorial survey and comparison of impedance control on robotic manipulation. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1017\/S0263574718001339\">Robotica<\/a>, 2019, 37: 801\u2013836.<\/p>","keyStr":"b12","label":"[12]","content":null,"num":null,"doi":"10.1017\/S0263574718001339","link":"https:\/\/scholar.google.com\/scholar_lookup?title=A tutorial survey and comparison of impedance control on robotic manipulation\u0026journal=Robotica\u0026volume=37\u0026pages=801-836\u0026publication_year=2019\u0026author=Song P.\u0026author=Yu Y. Q.\u0026author=Zhang X. P."},{"id":"1854040120980148226","articleId":null,"reference":"<p>R. G. von Gioi, J. Jakubowicz, J. M. Morel, et al. LSD: A line segment detector. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.5201\/ipol.2012.gjmr-lsd\">Image Process Line<\/a>, 2012, 2: 35\u201355.<\/p>","keyStr":"b13","label":"[13]","content":null,"num":null,"doi":"10.5201\/ipol.2012.gjmr-lsd","link":"https:\/\/scholar.google.com\/scholar_lookup?title=LSD: A line segment detector\u0026journal=Image Process Line\u0026volume=2\u0026pages=35-55\u0026publication_year=2012\u0026author=von Gioi R. G.\u0026author=Jakubowicz J.\u0026author=Morel J. M."},{"id":"1854040120996925442","articleId":null,"reference":"<p>E. H. Mamdani, S. Assilian. An experiment in linguistic synthesis with a fuzzy logic controller. <a ext-link-type=\"uri\" href=\"https:\/\/doi.org\/10.1016\/S0020-7373(75)80002-2\">Int J Man-Mach Stud<\/a>, 1975, 7: 1\u201313.<\/p>","keyStr":"b14","label":"[14]","content":null,"num":null,"doi":"10.1016\/S0020-7373(75)80002-2","link":"https:\/\/scholar.google.com\/scholar_lookup?title=An experiment in linguistic synthesis with a fuzzy logic controller\u0026journal=Int J Man-Mach Stud\u0026volume=7\u0026pages=1-13\u0026publication_year=1975\u0026author=Mamdani E. H.\u0026author=Assilian S."}]; var ifShowFullText = true; var galleryTopTable; var galleryThumbsTable; //设置预览全局变量 var ifPreview = 0 || 0; // 在《纳米研究》2024年Issue2中35篇文章的下载按钮上增加Google下载事件代码 var ifNeedGoogleDownload = 1; // 是否需要显示show all outline按钮 var allOutlineShow = false; // 在《纳米研究》2024年Issue2中35篇文章的下载按钮上增加Google下载事件代码 function googleDownload() { if (ifNeedGoogleDownload == 0) { gtag('event', 'conversion', { 'send_to': 'AW-10902746976/k8LBCKGMg5YZEODu6s4o' }); } } // 正文左侧导航的节点 var domArr = []; var treeDataO = []; var articleApp = new Vue({ el: '#article-app', data: { pdfHoverIsShow: false, drawer: false, activeNames: ['1'], treeData: [], treeDataReady: false, defaultProps: { children: 'children', label: 'label', id: 'id', }, imgMenuList: [], tableMenuList: [], }, methods: { pdfViewMouseenter() { const userAgentInfo = navigator.userAgent; const Agents = ['Android', 'iPhone', 'SymbianOS', 'Windows Phone', 'iPad', 'iPod']; const isPcStatus = Agents.every((one) => 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generators were installed on sloping buildings such as houses to achieve large-scale raindrop energy harvesting easily. Reprinted with permission from <i>iEnergy</i>, 2(2): 93–99, 2023 © 2023 The Author(s)</p>\n</fig>", // "contentHtml": "<img id=\"image-iEng-2023-s-0024-1\" onclick=\"showImage(event,this)\" 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1</label></p>", // "htmlWithNoLabel": "<img src=\"zip-unzip/zip-7f9b22ae-5865-4143-a681-f77a8724f8dd/iEng-2023-s-0024/files/iEng-2023-s-0024-1.jpg\" />", // "parentHtml": "<fig id=\"Figure1\">\n <img src=\"https://wqketang.oss-cn-beijing.aliyuncs.com/zip-unzip/zip-7f9b22ae-5865-4143-a681-f77a8724f8dd/iEng-2023-s-0024/files/iEng-2023-s-0024-1.jpg?Expires=1719580654&OSSAccessKeyId=STS.NUbZf2DD6Ue3FqTmGvgkvUbF1&Signature=AJ%2BQ6vjArPRI%2FXGsFthpTKeluio%3D&x-oss-process=image%2Fresize%2Cm_fixed%2Cw_217&security-token=CAISywJ1q6Ft5B2yfSjIr5bXEdyGqZsX4qfYRFfliUcja%2BRauqft0zz2IHtKenhsBOsbtfk1mG5W5%2FgZlqJ9SptIAEfJa9d99Mz%2Bf8BIjdCT1fau5Jko1beHewHKeTOZsebWZ%2BLmNqC%2FHt6md1HDkAJq3LL%2Bbk%2FMdle5MJqP%2B%2FUFB5ZtKWveVzddA8pMLQZPsdITMWCrVcygKRn3mGHdfiEK00he8TouufTinpHMskGA1Aell7Mvyt6vcsT%2BXa5FJ4xiVtq55utye5fa3TRYgxowr%2Fwo0v0YpGya5YzHXwcPskvdKZbo78UqLQlla6w%2BGqFJqvPxr%2Fp8t%2Fx5fWJKAezhVgs8cVM8JOjIqKOscIsiZmYk4pM4wgzSyCaJL7f%2FhREKa7znWGyxgyLY25K9yOXNh%2FA7x25WFZknm%2BbJoNLmr0pOOvEupyi0697UTzDnGoABihsmGXKWpSd6XDZIstjWbPKKorqYDJSMThEt%2F%2F9EPJXR4F4eCQ9BJV3gUyzfY08MnHKQ4H7mG8WnZ8%2FjZiwrfF7NSWXWD8SUf46hbaSsKbigUEcuiHoLO8%2BpSp%2BiEOlDNxxej3LE4vOpbeaqnNSNZFXt3nMTNC1HaeHqNJS7lYcgAA%3D%3D\" original-src=\"https://wqketang.oss-cn-beijing.aliyuncs.com/zip-unzip/zip-7f9b22ae-5865-4143-a681-f77a8724f8dd/iEng-2023-s-0024/files/iEng-2023-s-0024-1.jpg?Expires=1719580654&OSSAccessKeyId=STS.NUbZf2DD6Ue3FqTmGvgkvUbF1&Signature=CaKJgAJ16yzHNf6wFEX2G1f1LT0%3D&security-token=CAISywJ1q6Ft5B2yfSjIr5bXEdyGqZsX4qfYRFfliUcja%2BRauqft0zz2IHtKenhsBOsbtfk1mG5W5%2FgZlqJ9SptIAEfJa9d99Mz%2Bf8BIjdCT1fau5Jko1beHewHKeTOZsebWZ%2BLmNqC%2FHt6md1HDkAJq3LL%2Bbk%2FMdle5MJqP%2B%2FUFB5ZtKWveVzddA8pMLQZPsdITMWCrVcygKRn3mGHdfiEK00he8TouufTinpHMskGA1Aell7Mvyt6vcsT%2BXa5FJ4xiVtq55utye5fa3TRYgxowr%2Fwo0v0YpGya5YzHXwcPskvdKZbo78UqLQlla6w%2BGqFJqvPxr%2Fp8t%2Fx5fWJKAezhVgs8cVM8JOjIqKOscIsiZmYk4pM4wgzSyCaJL7f%2FhREKa7znWGyxgyLY25K9yOXNh%2FA7x25WFZknm%2BbJoNLmr0pOOvEupyi0697UTzDnGoABihsmGXKWpSd6XDZIstjWbPKKorqYDJSMThEt%2F%2F9EPJXR4F4eCQ9BJV3gUyzfY08MnHKQ4H7mG8WnZ8%2FjZiwrfF7NSWXWD8SUf46hbaSsKbigUEcuiHoLO8%2BpSp%2BiEOlDNxxej3LE4vOpbeaqnNSNZFXt3nMTNC1HaeHqNJS7lYcgAA%3D%3D\">\n <p><label>Fig. 1</label>Bridge array generators were installed on sloping buildings such as houses to achieve large-scale raindrop energy harvesting easily. Reprinted with permission from <i>iEnergy</i>, 2(2): 93–99, 2023 © 2023 The Author(s)</p>\n</fig>", // "contentHtml": "<img id=\"image-iEng-2023-s-0024-1\" onclick=\"showImage(event,this)\" src=\"https://wqketang.oss-cn-beijing.aliyuncs.com/zip-unzip/zip-7f9b22ae-5865-4143-a681-f77a8724f8dd/iEng-2023-s-0024/files/iEng-2023-s-0024-1.jpg?Expires=1719580654&OSSAccessKeyId=STS.NUbZf2DD6Ue3FqTmGvgkvUbF1&Signature=%2BhRmDGIUtD9EkRxdDzgF%2FWU9dDE%3D&x-oss-process=image%2Fresize%2Cm_fixed%2Cw_600&security-token=CAISywJ1q6Ft5B2yfSjIr5bXEdyGqZsX4qfYRFfliUcja%2BRauqft0zz2IHtKenhsBOsbtfk1mG5W5%2FgZlqJ9SptIAEfJa9d99Mz%2Bf8BIjdCT1fau5Jko1beHewHKeTOZsebWZ%2BLmNqC%2FHt6md1HDkAJq3LL%2Bbk%2FMdle5MJqP%2B%2FUFB5ZtKWveVzddA8pMLQZPsdITMWCrVcygKRn3mGHdfiEK00he8TouufTinpHMskGA1Aell7Mvyt6vcsT%2BXa5FJ4xiVtq55utye5fa3TRYgxowr%2Fwo0v0YpGya5YzHXwcPskvdKZbo78UqLQlla6w%2BGqFJqvPxr%2Fp8t%2Fx5fWJKAezhVgs8cVM8JOjIqKOscIsiZmYk4pM4wgzSyCaJL7f%2FhREKa7znWGyxgyLY25K9yOXNh%2FA7x25WFZknm%2BbJoNLmr0pOOvEupyi0697UTzDnGoABihsmGXKWpSd6XDZIstjWbPKKorqYDJSMThEt%2F%2F9EPJXR4F4eCQ9BJV3gUyzfY08MnHKQ4H7mG8WnZ8%2FjZiwrfF7NSWXWD8SUf46hbaSsKbigUEcuiHoLO8%2BpSp%2BiEOlDNxxej3LE4vOpbeaqnNSNZFXt3nMTNC1HaeHqNJS7lYcgAA%3D%3D\">", // "name": "graphic" // } // ], // "imgKeyList": [ // "image-iEng-2023-s-0024-1" // ], // "tabKeyList": [], // "tables": [], // "fullTextUrl": "https://wqketang.oss-cn-beijing.aliyuncs.com/other/journal_prod/2024-06-28/3098b740-7b52-44b7-88a9-92fedc8988db.gif?Expires=1719560854&OSSAccessKeyId=STS.NUbZf2DD6Ue3FqTmGvgkvUbF1&Signature=1K7ZtLBP2mEeczlPMrOHw4aoGus%3D&security-token=CAISywJ1q6Ft5B2yfSjIr5bXEdyGqZsX4qfYRFfliUcja%2BRauqft0zz2IHtKenhsBOsbtfk1mG5W5%2FgZlqJ9SptIAEfJa9d99Mz%2Bf8BIjdCT1fau5Jko1beHewHKeTOZsebWZ%2BLmNqC%2FHt6md1HDkAJq3LL%2Bbk%2FMdle5MJqP%2B%2FUFB5ZtKWveVzddA8pMLQZPsdITMWCrVcygKRn3mGHdfiEK00he8TouufTinpHMskGA1Aell7Mvyt6vcsT%2BXa5FJ4xiVtq55utye5fa3TRYgxowr%2Fwo0v0YpGya5YzHXwcPskvdKZbo78UqLQlla6w%2BGqFJqvPxr%2Fp8t%2Fx5fWJKAezhVgs8cVM8JOjIqKOscIsiZmYk4pM4wgzSyCaJL7f%2FhREKa7znWGyxgyLY25K9yOXNh%2FA7x25WFZknm%2BbJoNLmr0pOOvEupyi0697UTzDnGoABihsmGXKWpSd6XDZIstjWbPKKorqYDJSMThEt%2F%2F9EPJXR4F4eCQ9BJV3gUyzfY08MnHKQ4H7mG8WnZ8%2FjZiwrfF7NSWXWD8SUf46hbaSsKbigUEcuiHoLO8%2BpSp%2BiEOlDNxxej3LE4vOpbeaqnNSNZFXt3nMTNC1HaeHqNJS7lYcgAA%3D%3D", // "glossary": [], // "notes": [], // "fundingStatements": [], // "app": [], // "fn": [], // "bio": [] // }; if (fullTextInfo['glossary']['length'] > 0) { for (var gl = 0; gl < fullTextInfo['glossary']['length']; gl++) { treeDataO.push({ id: 'content_title_-4_' + gl, label: fullTextInfo['glossary'][gl]['title'] }); } } // 正文 if (fullTextInfo['trees'].length > 0) { fullTextInfo['trees'].forEach(item => { if (item.key !== 'esm1') { var nodeC = { id: 'content_' + item.key, label: item.title, children: [] }; if (item.children && item.children.length > 0) { allOutlineShow = true; item.children.forEach(child => { if (child.key !== 'esm1') { var nodeS = { id: 'content_' + child.key, label: child.title, children: [] }; if (child.children && child.children.length > 0) { child.children.forEach(son => { if (son.key !== 'esm1') { nodeS.children.push({ id: 'content_' + son.key, label: son.title, children: [] }); } }); } nodeC.children.push(nodeS); } }); } treeDataO.push(nodeC); } }); } // app 附录 if (fullTextInfo['app']['length'] > 0) { for (var ap = 0; ap < fullTextInfo['app']['length']; ap++) { treeDataO.push({ id: 'content_title_-5_' + ap, label: fullTextInfo['app'][ap]['title'] }); } } // fn 脚注 if (fullTextInfo['fn']['length'] > 0) { treeDataO.push({ id: 'content_title_-6', label: 'Annotation' }); } // esm if (article.strType !== 'Issue Information') { treeDataO.push({ id: 'content_title_-11', label: 'Electronic Supplementary Material' }); } // ack 致谢 if (article['acknowledgement']) { treeDataO.push({ id: 'content_title_-7', label: 'Acknowledgements' }); } // funding-statement 基金 if (fullTextInfo['fundingStatements']['length'] > 0) { treeDataO.push({ id: 'content_title_-8', label: 'Funding' }); } // notes [ 伦理声明,知情同意书, 利益声明,作者声明,数据声明] if (fullTextInfo['notes']['length'] > 0) { for (var no = 0; no < fullTextInfo['notes'].length; no++) { treeDataO.push({ id: 'content_title_-10_' + no, label: fullTextInfo['notes'][no]['title'] }); } } // 参考文献 if (referenceList && referenceList['length'] > 0) { treeDataO.push({ id: 'content_title_-12', label: 'References' }); } // bio 作者简介 if (fullTextInfo['bio']['length'] > 0) { treeDataO.push({ id: 'content_title_-13', label: 'Author biography' }); 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} } $('#content_img').html(imageBigHtml); } //表格大纲信息 tableListInfo = fullTextInfo['tables']; if (tableListInfo.length > 0) { // 表格查看大图 var tableBig1Html = ''; var tableBig2Html = ''; if (tableListInfo.length > 0) { for (var n = 0; n < tableListInfo.length; n++) { tableBig1Html = '<div class="swiper-slide" style="background-color: #fff">' + '<div class="ahc-content" style="max-height: 100%; width: 100%; padding: 20px; overflow: auto">' + tableListInfo[n]['parentHtml'] + '</div>' + '</div>'; tableBig2Html = '<div class="swiper-slide table-big-view" style="cursor: pointer">' + tableListInfo[n]['html'] + '</div>'; $('#insert_table_big_1').append(tableBig1Html); $('#insert_table_big_2').append(tableBig2Html); } } } // 正文信息 $.ajax({ url: fullTextInfo['fullTextUrl'], // url: 'http://localhost:8733/assets/fig-test.gif', type: 'get', success: function(data) { fullTextInfo['contentList'] = JSON.parse(data); // glossary if (fullTextInfo['glossary']['length'] > 0) { $('#title_-4').css('display', 'block'); var dom = ''; for (var g = 0; g < fullTextInfo['glossary']['length']; g++) { dom = dom + '<div class="v4-art-content-p">' + '<div class="glossary-item" id="title_-4_' + g + '">' + '<h2>' + fullTextInfo['glossary'][g]['title'] + '</h2>' + '<div>' + fullTextInfo['glossary'][g]['content'] + '</div>' + '</div>' + '</div>'; } dom = dom + '<div style="clear: both;"></div>'; $('#title_-4').html(dom); } // 正文 var contentHtml = ''; var contentHtml2 = ''; esmTextInfo = ''; esmTextTitle = ''; if (fullTextInfo['contentList'] && fullTextInfo['contentList']['length'] > 0) { for (var s = 0; s < fullTextInfo['contentList'].length; s++) { // 处理图片 for (var i = 0; i < imgListInfo['length']; i++) { const mergImg = new RegExp(`<img[^>]*id="${imgListInfo[i]['key']}"[^>]*>`, 'i'); if (imgListInfo[i]['contentHtml'].indexOf('class="inline-graphic"') < 0) { // 是否是fig图片 var ifFig = false; for (var ii = 0; ii < imgKeyListInfo.length; ii++) { if (imgListInfo[i]['contentHtml'].indexOf(imgKeyListInfo[ii]) > 0) { ifFig = true; } } if (ifFig) { fullTextInfo['contentList'][s]['content'] = fullTextInfo['contentList'][s]['content'].replace(mergImg, imgListInfo[i]['contentHtml'] + '<div class="v4-art-image">\n' + ' <span onclick="showImageBtn(event, \'' + imgListInfo[i]['key'] + '\')">View original image</span>\n' + ' <span onclick="downloadImageBtn(event, \'' + imgListInfo[i]['key'] + '\')">Download original image</span>\n' + ' </div>'); } else { fullTextInfo['contentList'][s]['content'] = fullTextInfo['contentList'][s]['content'].replace(mergImg, imgListInfo[i]['contentHtml']); } } else { fullTextInfo['contentList'][s]['content'] = fullTextInfo['contentList'][s]['content'].replace(mergImg, imgListInfo[i]['contentHtml']); } } // 处理正文的脚注内容，实现定位 const xrefFn = new RegExp(`ref-type="fn"`, 'gi'); fullTextInfo['contentList'][s]['content'] = fullTextInfo['contentList'][s]['content'].replace(xrefFn, 'ref-type="fn" onclick="findFnById(event)"'); // 正文内出现esm说明文字内容 if (fullTextInfo['contentList'][s]['key'] === 'esm1') { esmTextInfo = fullTextInfo['contentList'][s]['content']; esmTextTitle = fullTextInfo['contentList'][s]['title']; } else { contentHtml = contentHtml + '<div class="v4-art-content-p" id="' + fullTextInfo['contentList'][s]['key'] + '">' + '<h2 >' + fullTextInfo['contentList'][s]['title'] + '</h2>' + '<div style="overflow-x: auto; overflow-y: hidden;">' + fullTextInfo['contentList'][s]['content'] + '</div>' + '</div>'; } } } // app if (fullTextInfo['app']['length'] > 0) { for (var a = 0; a < fullTextInfo['app']['length']; a++) { contentHtml = contentHtml + '<div class="v4-art-content-p" id="title_-5_' + a + '">' + '<h2>' + fullTextInfo['app'][a]['label'] + fullTextInfo['app'][a]['title'] + '</h2>' + '<div style="overflow-x: auto; overflow-y: hidden;">' + fullTextInfo['app'][a]['content'] + '</div>' + '</div>'; } } // fn if (fullTextInfo['fn']['length'] > 0) { contentHtml = contentHtml + '<div class="v4-art-content-p" id="title_-6">' + '<h2 class="content-title">' + 'Annotation' + '</h2>'; for (var f = 0; f < fullTextInfo['fn']['length']; f++) { contentHtml = contentHtml + '<div class="fn-item">' + '<span style="cursor: pointer;" id="f_' + fullTextInfo['fn'][f]['key'] + '" onclick="findFnInContentById(this)">' + fullTextInfo['fn'][f]['title'] + '</span>' + '<div>' + fullTextInfo['fn'][f]['content'] + '</div>' + '</div>'; } contentHtml = contentHtml + '</div>'; } // 正文内的esmText放到esm位置 if (esmTextInfo) { if (esmSize > 0) { $('#esm_text').html(esmTextInfo); $('#esm_text').css('display', 'block'); $('#esm_title').html(esmTextTitle); } else if (esmSize < 0) { contentHtml = contentHtml + '<div class="v4-art-content-p" id="title_-11">' + '<h2 class="content-title">' + esmTextTitle + '</h2>' + '<div style="overflow-x: auto; overflow-y: hidden;">' + esmTextInfo + '</div>' + '</div>'; } treeDataO.forEach((item) => { if (item.id === 'content_title_-11') { item.label = esmTextTitle; item.labelWord = esmTextTitle; articleApp.treeData = treeDataO; } }); } else { if (esmSize === 0) { treeDataO.forEach((item, index) => { if (item.id === 'content_title_-11') { treeDataO.splice(index, 1); articleApp.treeData = treeDataO; } }); } } articleApp.treeDataReady = true; // ack if (article['acknowledgement']) { contentHtml2 = contentHtml2 + '<div class="v4-art-content-p" id="title_-7">' + '<h2 class="content-title">' + 'Acknowledgements' + '</h2>' + '<div style="overflow-x: auto; overflow-y: hidden;">' + article['acknowledgement'] + '</div>' + '</div>'; } // funding-statement if (fullTextInfo['fundingStatements']['length'] > 0) { contentHtml2 = contentHtml2 + '<div class="v4-art-content-p" id="title_-8">' + '<h2 class="content-title">' + 'Funding' + '</h2>'; for (var fs = 0; fs < fullTextInfo['fundingStatements']['length']; fs++) { contentHtml2 = contentHtml2 + '<div class="fs-item"><p>' + fullTextInfo['fundingStatements'][fs] + '</p></div>'; } contentHtml2 = contentHtml2 + '</div>'; } // notes if (fullTextInfo['notes']['length'] > 0) { contentHtml2 = contentHtml2 + '<div class="v4-art-content-p" id="title_-10">'; for (var n = 0; n < fullTextInfo['notes']['length']; n++) { contentHtml2 = contentHtml2 + '<div class="notes-item" id="title_-10_' + n + '">' + '<h2>' + fullTextInfo['notes'][n]['title'] + '</h2>' + '<div>' + fullTextInfo['notes'][n]['content'] + '</div>' + '</div>'; } contentHtml2 = contentHtml2 + '</div>'; } // bio var contentHtmlBio = ''; if (fullTextInfo['bio']['length'] > 0) { contentHtmlBio = contentHtmlBio + '<div class="v4-art-content-p" id="title_-13" style="min-height: 200px;">' + '<h2>' + 'Author biography' + '</h2>'; for (var b = 0; b < fullTextInfo['bio']['length']; b++) { contentHtmlBio = contentHtmlBio + '<div class="bio-item">' + (fullTextInfo['bio'][b]['path'] ? '<img src="' + fullTextInfo['bio'][b]['path'] + '">' : '') + '<div>' + fullTextInfo['bio'][b]['content'] + '</div>' + '</div>'; } contentHtmlBio = contentHtmlBio + '<div style="clear: both"></div></div>'; } $('#insert_content_one').prepend(contentHtml); $('#insert_content_two').prepend(contentHtml2); $('#insert_content').append(contentHtmlBio); setTimeout(function() { if ($('#insert_content .v4-art-content-p').last().height() < 500) { $('#insert_content .v4-art-content-p').last().css('padding-bottom', '500px'); } }, 1000); MathJax.Hub.Queue(['Typeset', MathJax.Hub]); // 渲染好数据之后，； setTimeout(function() { // 图片大图模态初始化 if (document.getElementById('content_img')) { preViewImage = new Viewer(document.getElementById('content_img'), { url: 'original-src', }); } // 表格大图查看初始化 initSwiper(); initTagClickHandler(); // 插入查看表格按钮如果是移动端去掉表格模态查看 => 屏幕小于600 去掉表格查看 if ($(window).width() > 600) { var tableDom = $('#insert_content table'); for (var ta = 0; ta < tableDom.length; ta++) { if ($($('#insert_content table')[ta]).attr('id')) { // 判断 if (tableListInfo.length > 0) { let haveT = false; for (let tt = 0; tt < tableListInfo.length; tt++) { if ($($('#insert_content table')[ta]).attr('id') == tableListInfo[tt]['key']) { haveT = true; } } if (haveT) { var b = document.createElement('div'); b.setAttribute('onclick', 'showTableBtn(this)'); b.setAttribute('class', 'v4-art-table'); b.innerText = 'Show table'; $($('#insert_content table')[ta]).parent().parent().append(b); } } } } } // 左侧大纲节点 domArr = $('.v4-art-content-p'); // 是否显示show outline setTimeout(() => { if (allOutlineShow) { $(".v4_art_outline_show").css('display', 'block'); } }, 300); }, 10); if ( fullTextInfo['glossary']['length'] === 0 && (!fullTextInfo['contentList'] || fullTextInfo['contentList']['length'] === 0) && fullTextInfo['app']['length'] === 0 && fullTextInfo['fn']['length'] === 0 && (!esmTextInfo && esmSize === 0) && !article['acknowledgement'] && fullTextInfo['fundingStatements']['length'] === 0 && fullTextInfo['notes']['length'] === 0 && fullTextInfo['bio']['length'] === 0 && referenceList['length'] === 0 && !article.clcNumber && !article.documentsCode && !article.articleCodeId && !article.abstraction && !article.abstractToc && !article.abstractImage && !article['keypointsAbstracted'] && !article.erratum && articleKeyword.length === 0 ) { $('#article_no_data').css('display', 'block'); } }, error: function(err) { alert(err.toString()); }, }); }, error: function(err) { alert(err.toString()); }, }); } // 进入页面时执行 // 组装大纲 // key-points Highlights keypointsAbstracted if (article['keypointsAbstracted'] != null) { treeDataO.push({ id: 'content_title_-1', label: article['keypointsAbstracted']['title'] }); } // 摘要 article.abstractImage != null if ((article.abstractImage != null && article.abstractImage != '') || (article.abstractToc != null && article.abstractToc != '')) { treeDataO.push({ id: 'content_title_-2-1', label: 'Graphical Abstract' }); } // 摘要 article.abstraction != null || (article.abstractToc != null && article.abstractToc != '') if (article.abstraction != null && article.abstraction != '') { treeDataO.push({ id: 'content_title_-2', label: 'Abstract' }); } // 关键词 if (articleKeyword.length>0) { treeDataO.push({ id: 'content_title_-3', label: 'Keywords' }); } // CLC number 2024-7-8 大纲中去掉CLC Number显示 // if ((article.clcNumber != null && article.clcNumber != '') || (article.documentsCode != null && article.documentsCode != '') // || (article.articleCodeId != null && article.articleCodeId != '')) { // treeDataO.push({ id: 'content_title_clc', label: 'CLC number' }); // } // 处理摘要图片 if (article.abstractImage) { var abstractImgStrBig = '<img ' + 'original-src=' + $('#v4_art_abstract_img img').attr('src'); $('#content_img_abstract').html('<li>' + article.abstractImage.replace('<img', abstractImgStrBig) + '</li>'); var abstractImgStr = '<img id="v4-art-abstract-img" onclick="showImageBtn(event, \'v4-art-abstract-img\')" ' + 'original-src=' + $('#v4_art_abstract_img img').attr('src'); $('#v4_art_abstract_img').html(article.abstractImage.replace('<img', abstractImgStr)); var dom = '<div class="v4-art-image">\n' + ' <span onclick="showImageBtn(event, \'v4-art-abstract-img\')">View original image</span>\n' + ' <span onclick="downloadImageBtn(event, \'v4-art-abstract-img\')">Download original image</span>\n' + ' </div>'; $('#v4_art_abstract_img').parent().append(dom); setTimeout(() => { // 图片大图模态初始化 if (document.getElementById('content_img_abstract')) { preViewImage = new Viewer(document.getElementById('content_img_abstract'), { url: 'original-src', }); } }, 10); } // 如果显示正文内容加载正文，不显示正文时，拼接显示增强出版资源、参考文献 if (ifShowFullText && article.strType !== 'Issue Information') { // 加载文章内容 loadFullTextInfo(); } else { // esm if (esmSize > 0) { treeDataO.push({ id: 'content_title_-11', label: 'Electronic Supplementary Material', labelWord: 'Electronic Supplementary Material', }); } // 参考文献 if (referenceList && referenceList['length'] > 0) { treeDataO.push({ id: 'content_title_-12', label: 'References' }); } articleApp.treeData = treeDataO; articleApp.treeDataReady = true; if ( esmSize === 0 && referenceList['length'] === 0 && !article.clcNumber && !article.documentsCode && !article.articleCodeId && !article.abstraction && !article.abstractToc && !article.abstractImage && !article['keypointsAbstracted'] && !article.erratum && articleKeyword === 0 ) { $('#article_no_data').css('display', 'block'); } } // 初始化图片表格轮播 function initSwiper() { // 初始化正文表格模态显示 galleryTopTable = new Swiper('.gallery-top-table', { nextButton: '.swiper-button-next-table', prevButton: '.swiper-button-prev-table', spaceBetween: 10, }); galleryThumbsTable = new Swiper('.gallery-thumbs-table', { spaceBetween: 10, centeredSlides: true, slidesPerView: 'auto', touchRatio: 0.2, slideToClickedSlide: true, }); galleryTopTable.params.control = galleryThumbsTable; galleryThumbsTable.params.control = galleryTopTable; } // 加载Altmetrics 是否存在 function isAltmetrics() { $.ajax({ // url: contextPath + '/article/altmetric?doi=' + doi, url: 'https://api.altmetric.com/v1/doi/' + doi, type: 'get', dataType: 'json', contentType: 'application/json', success: function(data) { if (data.score > 0) { $('#article_altmetric').css('display', 'block'); } }, error: function(err) { // alert(err.toString()); console.log(err); }, }); } setTimeout(function() { isAltmetrics(); }, 1000); // 点击图片显示大图 function showImage(event, dom) { if ($(dom).attr('class') !== 'inline-graphic') { event.stopPropagation(); var id = $(dom).attr('id'); var index = 0; for (var i = 0; i < imgShowListInfo.length; i++) { if (imgShowListInfo[i]['key'] === id) { index = i; $($('#content_img').children()[index]).find('img').click(); } } } } function showImageBtn(event, id) { event.stopPropagation(); if (id === 'v4-art-abstract-img') { $($('#content_img_abstract').children()[0]).find('img').click(); } else { var index = 0; for (var i = 0; i < imgShowListInfo.length; i++) { if (imgShowListInfo[i]['key'] === id) { index = i; $($('#content_img').children()[index]).find('img').click(); } } } } // 下载原图 function downloadImageBtn(event, id) { event.stopPropagation(); $.ajax({ url: contextPath + '/article/img/download?path=' + $('#' + id).attr('src'), type: 'get', dataType: 'json', contentType: 'application/json', success: function(data) { if ($(window).width() < 800) { window.location.href = data.object; } else { window.open(data.object); } }, error: function(err) { alert(err.toString()); }, }); } // 点击表格模态显示表格 function showTable(event) { return; // 如果是移动端去掉表格模态查看 => 屏幕小于600 去掉表格查看 if ($(window).width() < 600) { return; } var id = $(event).attr('id'); var index = 0; for (var i = 0; i < tableListInfo.length; i++) { if (tableListInfo[i]['key'] === id) { index = i; galleryTopTable.slideTo(index, 100, false); galleryThumbsTable.slideTo(index, 100, false); setTimeout(function() { $('.article-html-table-modal').css('margin-left', 0); }, 200); } } } function showTableBtn(event) { var id = $($(event).prev().children()[0]).attr('id'); var index = 0; for (var i = 0; i < tableListInfo.length; i++) { if (tableListInfo[i]['key'] === id) { index = i; galleryTopTable.slideTo(index, 100, false); galleryThumbsTable.slideTo(index, 100, false); setTimeout(function() { $('.article-html-table-modal').css('margin-left', 0); }, 200); } } } // 关闭模态 function closeModal() { $('.article-html-table-modal').css('margin-left', '-100%'); } // 新增轮询检测用户停留时间 $(document).ready(function() { setInterval(function() { $.ajax({ url: '/article/statistical_duration?id=' + articleId + '&uuid=' + uuid, type: 'get', }); }, 5000); }); // 统计下载量 function countDownLoadNum(id, ifPreview) { $.ajax({ url: contextPath + '/article/stat?articleId=' + id + '&ifPreview=' + ifPreview, type: 'get', dataType: 'json', contentType: 'application/json', }); } var user = null; function send_email(authorId, articleId) { if (user != null) { location.href = contextPath + '/user/user/article/send_email?authorId=' + authorId + '&articleId=' + articleId; } else { showYxAlert('warning', 'You are not currently logged in, please log in and operate!'); var code = window.location.pathname; var param = window.location.search; location.href = '/user/user/login_forward?tag=5&code=' + encodeURIComponent(code + param); } } // 点击xref标签跳转 function initTagClickHandler() { $('xref').click(function(event) { event = event || window.event; event.stopPropagation ? event.stopPropagation() : (event.cancelBubble = true); var refType = $(this).attr('ref-type'); var id = $(this).attr('rid'); switch (refType) { // 表格 case 'table': { var dom = $('#' + id).parent(); break; } // 图片 case 'fig': // 章节 case 'sec': // 公式 case 'disp-formula': { var dom = $('#' + id); break; } default: { } } jumpToId(dom); }); $('.html-table-content label').click(function() { var tableDom = $(this).closest('.html-table-content'); jumpToId(tableDom); }); $('fig label').click(function() { var figDom = $(this).closest('fig'); jumpToId(figDom); }); } function jumpToId(dom) { if (!dom) { return; } $(window).scrollTop(dom.offset().top - 100); dom.css('backgroundColor', '#eee'); setTimeout(function() { dom.css('backgroundColor', 'initial'); }, 1000); } // 正文节点滚动到可视范围内，选中展开对应的节点 $(window).scroll(function() { // 正文节点滚动到可视范围内，选中展开对应的节点 for (var d = 0; d < domArr.length; d++) { const domRect = domArr[d].getBoundingClientRect(); if (domRect.top < 150 && domRect.top > 0) { articleApp.setSelectedKey('content_' + $(domArr[d]).attr('id')); return; } if (domRect.bottom > 500 && domRect.top < 0) { articleApp.setSelectedKey('content_' + $(domArr[d]).attr('id')); return; } } }); window.addEventListener('scroll', function() { // 不显示正文的时候不统计浏览量 if (!ifShowFullText) { return } // 滚动到正文部分的时候掉接口 if (time > 1000 * 60 * 5 || num === 0) { if (document.getElementById('insert_content').getBoundingClientRect().top <= 150) { time = 0; num = num + 1; countDownLoadNum(articleId, ifPreview); } } }); var time = 0; var num = 0; var interval = setInterval(function() { time = time + 1000; }, 1000); window.addEventListener('beforeunload', (event) => { // 在这里执行你的清理工作 clearInterval(interval); }); </script> </html>

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Process control of robotic tile laying based on position-based impedance and fuzzy-adaptive contact force control