Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This artic...Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.展开更多
Detecting remote homology proteins is a challenging problem for both basic research and drug development. Although there are a couple of methods to deal with this problem, the benchmark datasets based on which the exi...Detecting remote homology proteins is a challenging problem for both basic research and drug development. Although there are a couple of methods to deal with this problem, the benchmark datasets based on which the existing methods were trained and tested contain many high homologous samples as reflected by the fact that the cutoff threshold was set at 95%. In this study, we reconstructed the benchmark dataset by setting the threshold at 40%, meaning none of the proteins included in the benchmark dataset has more than 40% pairwise sequence identity with any other in the same subset. Using the new benchmark dataset, we proposed a new predictor called “dRHP-GreyFun” based on the grey modeling and functional domain approach. Rigorous cross-validations have indicated that the new predictor is superior to its counterparts in both enhancing success rates and reducing computational cost. The predictor can be downloaded from https://github.com/jcilwz/dRHP-GreyFun.展开更多
The effects of the two-step ageing parameters （temperature and time） on the mechanical properties and electrical conductivity of 7B04 （A1-Zn-Mg-Cu） pre-stretched thick plates were studied. The results reveal that ...The effects of the two-step ageing parameters （temperature and time） on the mechanical properties and electrical conductivity of 7B04 （A1-Zn-Mg-Cu） pre-stretched thick plates were studied. The results reveal that the initial T1 ageing contributes a major increase of the tensile strength, and the 0.2% proof stress value reaches 482 MPa after ageing for 7 h at 115℃. Behavioral differences in the tensile properties of the alloy after the two-step ageing treatment were less with the first-step ageing at 115~C for different time periods （7, 14, and 21 h）. The effects of the second ageing parameters on the properties and microstructure of the 7B04 alloy were remarkable. TEM analysis of the samples aged at Temper I （7 h at 115℃ ＋ 12 h at 160℃） and Temper II （7 h at 115℃ ＋ 16 h at 165℃） indicates that two kinds of phases, i.e. 11＇ and 11 phases, precipitate from the matrix and efficiently improve the tensile strength of the alloy, and the grain boundary precipitates are coarse and discrete. There are obvious precipitate free zones （PFZs） along the grain boundary in the microstructure of the alloy after the two-step ageing treatment.展开更多
The optimal condition for a one-step process removing organic compounds from coking wastewater by simultaneously synthesized organobentonite as a pretreatment was investigated.Results showed that sorption of organic c...The optimal condition for a one-step process removing organic compounds from coking wastewater by simultaneously synthesized organobentonite as a pretreatment was investigated.Results showed that sorption of organic compounds by organobentonite was positively correlated to the cation surfactant exchange on the bentonite and the octanol-water partition coefficient（Kow） of the solutes.With 0.75 g/L bentonite and 180 mg/L（60% of bentonite cation exchange capacity） cetyltrimethylammonium bromide,the removal efficiencies of the 16 polycyclic aromatic hydrocarbon（PAHs） specified by the US Environmental Protection Agency in coking wastewater except naphthalene were more than 90%,and that of benzo（a）pyrene was 99.5%.At the same time,the removal efficiencies of CODCr,NH3-N,volatile phenols,colour and turbidity were 28.6%,13.2%,8.9%,55% and 84.3%,respectively,and the ratio of BOD5/CODCr increased from 0.31 to 0.41.These results indicated that the one-step process had high removal efficiency for toxic and refractory hydrophobic organic compounds,and could improve the biodegradability of the coking wastewater.Therefore it could be a promising technology for the pretreatment of toxic and refractory organic wastewater.展开更多
We propose a two-step quantum secure direct communication （QSDC） protocol with hyperentanglement in both the spatial-mode and the polarization degrees of freedom of photon pairs which can in principle be produced wi...We propose a two-step quantum secure direct communication （QSDC） protocol with hyperentanglement in both the spatial-mode and the polarization degrees of freedom of photon pairs which can in principle be produced with a beta barium borate crystal. The secret message can be encoded on the photon pairs with unitary operations in these two degrees of freedom independently. This QSDC protocol has a higher capacity than the original two-step QSDC protocol as each photon pair can carry 4 bits of information. Compared with the QSDC protocol based on hyperdense coding, this QSDC protocol has the immunity to Trojan horse attack strategies with the process for determining the number of the photons in each quantum signal as it is a one-way quantum communication protocol.展开更多
One-step crystallization is one of the most energy conserving methods for glass-ceramics preparation.However,only a few kinetics studies focused on the glass-ceramics prepared by the one-step crystallization.The onest...One-step crystallization is one of the most energy conserving methods for glass-ceramics preparation.However,only a few kinetics studies focused on the glass-ceramics prepared by the one-step crystallization.The onestep crystallization kinetic parameters were studied using differential scanning calorimetry.The activation energy（Ea）and the Avrami parameter（n）were calculated as 152.79kJ·mol-1 and 4.39,respectively.These parameters indicate that continuous nucleation and three-dimensional crystal growth are the dominating mechanisms in the one-step crystallization process of the parent glass.The properties of the obtained glass-ceramics can be compared to the glass-ceramics prepared by the two-stage heat treatment and sintering method.This crystallization kinetics research can be used to evaluate the one-step crystallization potential of a parent glass.展开更多
Junior English for China’ is based on the ’Five-Step’ teachingmethod: Revision, Presentation, Drilling, Practice, Consolidation. Each step has itsown particular methodology and requires the teacher to adopt a certa...Junior English for China’ is based on the ’Five-Step’ teachingmethod: Revision, Presentation, Drilling, Practice, Consolidation. Each step has itsown particular methodology and requires the teacher to adopt a certain role. Thispaper is a discussion of the "Five-Step Method".展开更多
Two-step steam reforming of methane (SRM) is a novel chemical looping process towards the production of pure hydrogen and syngas (synthesis gas), consisting of a syngas production step and a water-splitting step. Rene...Two-step steam reforming of methane (SRM) is a novel chemical looping process towards the production of pure hydrogen and syngas (synthesis gas), consisting of a syngas production step and a water-splitting step. Renewable energy can be used to drive this process for hydrogen production, especially solar energy. CeO2-Fe2O3 complex oxide oxygen carrier was prepared by the impregnation method and characterized by means of X-ray diffractometer (XRD), Raman spectroscopy (Raman) and hydrogen programmed reduction (H2-TPR). CH4 temperature programmed and isothermal reactions were adopted to test syngas production reactivity, and water splitting reaction was employed to investigate water-splitting activity. Moreover, two-step SRM performance was evaluated by a successive redox cycle. The results showed that CO-uncontaminated H2 and highly selective syngas (with H2/CO ratio close to 2) could be respectively obtained from two steps, and CeFeO3 formation was found in the first redox cycle and proved to be enhanced by the redox treatment. After 10 successive cycles, obvious CeFeO3 phase was detected, which may be responsible for favorable successive redox cycle performances.展开更多
M stepJacobi预处理共轭梯度法被用于求解源于自共轭椭圆偏微分方程的有限元或有限差分逼近的大型稀疏线性系统。这种方法的应用基础是相应的Jacobi迭代收敛。研究结果表明:偶数步的Jacobi预处理共轭梯度法较相邻奇数步的Jacobi预处理...M stepJacobi预处理共轭梯度法被用于求解源于自共轭椭圆偏微分方程的有限元或有限差分逼近的大型稀疏线性系统。这种方法的应用基础是相应的Jacobi迭代收敛。研究结果表明:偶数步的Jacobi预处理共轭梯度法较相邻奇数步的Jacobi预处理共轭梯度法更有效,步数越多,收敛速度越快。展开更多
The design of the two-step gear reducer is a tedious and time-consuming process. For the purpose of improving the efficiency and intelligence of design process, case-based reasoning（CBR） technology was applied to th...The design of the two-step gear reducer is a tedious and time-consuming process. For the purpose of improving the efficiency and intelligence of design process, case-based reasoning（CBR） technology was applied to the design of the two-step gear reducer. Firstly, the current design method for the two-step gear reducer was analyzed and the principle of CBR was described. Secondly, according to the characteristics of the reducer, three key technologies of CBR were studied and the corresponding methods were provided, which are as follows： （a） an object-oriented knowledge representation method, （b） a retrieval method combining the nearest neighbor with the induction indexing, and （c） a case adaptation algorithm combining the revision based on rule with artificial revision. Also, for the purpose of improving the credibility of case retrieval, a new method for determining the weights of characteristics and a similarity formula were presented, which is a combinatorial weighting method with the analytic hierarchy process（AHP） and roughness set theory. Lastly, according to the above analytic results, a design system of the two-step gear reducer on CBR was developed by VC＋＋, UG and Access 2003. A new method for the design of the two-step gear reducer is provided in this study. If the foregoing developed system is applied to design the two-step gear reducer, design efficiency is improved, which enables the designer to release from the tedious design process of the gear reducer so as to put more efforts on innovative design. The study result fully reflects the feasibility and validity of CBR technology in the process of the design of the mechanical parts.展开更多
基金National Natural Science Foundation of China (50705003)National High Technology Research and Development Program of China (2007AA04Z252).
文摘Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.
文摘Detecting remote homology proteins is a challenging problem for both basic research and drug development. Although there are a couple of methods to deal with this problem, the benchmark datasets based on which the existing methods were trained and tested contain many high homologous samples as reflected by the fact that the cutoff threshold was set at 95%. In this study, we reconstructed the benchmark dataset by setting the threshold at 40%, meaning none of the proteins included in the benchmark dataset has more than 40% pairwise sequence identity with any other in the same subset. Using the new benchmark dataset, we proposed a new predictor called “dRHP-GreyFun” based on the grey modeling and functional domain approach. Rigorous cross-validations have indicated that the new predictor is superior to its counterparts in both enhancing success rates and reducing computational cost. The predictor can be downloaded from https://github.com/jcilwz/dRHP-GreyFun.
基金the National High-Tech Research Development Program of China (No. 2003AA331100).
文摘The effects of the two-step ageing parameters （temperature and time） on the mechanical properties and electrical conductivity of 7B04 （A1-Zn-Mg-Cu） pre-stretched thick plates were studied. The results reveal that the initial T1 ageing contributes a major increase of the tensile strength, and the 0.2% proof stress value reaches 482 MPa after ageing for 7 h at 115℃. Behavioral differences in the tensile properties of the alloy after the two-step ageing treatment were less with the first-step ageing at 115~C for different time periods （7, 14, and 21 h）. The effects of the second ageing parameters on the properties and microstructure of the 7B04 alloy were remarkable. TEM analysis of the samples aged at Temper I （7 h at 115℃ ＋ 12 h at 160℃） and Temper II （7 h at 115℃ ＋ 16 h at 165℃） indicates that two kinds of phases, i.e. 11＇ and 11 phases, precipitate from the matrix and efficiently improve the tensile strength of the alloy, and the grain boundary precipitates are coarse and discrete. There are obvious precipitate free zones （PFZs） along the grain boundary in the microstructure of the alloy after the two-step ageing treatment.
基金supported by the National Natural Science Foundation of China (No. 20890111)
文摘The optimal condition for a one-step process removing organic compounds from coking wastewater by simultaneously synthesized organobentonite as a pretreatment was investigated.Results showed that sorption of organic compounds by organobentonite was positively correlated to the cation surfactant exchange on the bentonite and the octanol-water partition coefficient（Kow） of the solutes.With 0.75 g/L bentonite and 180 mg/L（60% of bentonite cation exchange capacity） cetyltrimethylammonium bromide,the removal efficiencies of the 16 polycyclic aromatic hydrocarbon（PAHs） specified by the US Environmental Protection Agency in coking wastewater except naphthalene were more than 90%,and that of benzo（a）pyrene was 99.5%.At the same time,the removal efficiencies of CODCr,NH3-N,volatile phenols,colour and turbidity were 28.6%,13.2%,8.9%,55% and 84.3%,respectively,and the ratio of BOD5/CODCr increased from 0.31 to 0.41.These results indicated that the one-step process had high removal efficiency for toxic and refractory hydrophobic organic compounds,and could improve the biodegradability of the coking wastewater.Therefore it could be a promising technology for the pretreatment of toxic and refractory organic wastewater.
基金supported by the Natural Science Foundation of Jiangsu Provincial Universities, China (Grant No. 10KJB180004)
文摘We propose a two-step quantum secure direct communication （QSDC） protocol with hyperentanglement in both the spatial-mode and the polarization degrees of freedom of photon pairs which can in principle be produced with a beta barium borate crystal. The secret message can be encoded on the photon pairs with unitary operations in these two degrees of freedom independently. This QSDC protocol has a higher capacity than the original two-step QSDC protocol as each photon pair can carry 4 bits of information. Compared with the QSDC protocol based on hyperdense coding, this QSDC protocol has the immunity to Trojan horse attack strategies with the process for determining the number of the photons in each quantum signal as it is a one-way quantum communication protocol.
基金Item Sponsored by National Natural Science Foundation of China(U1360202,51472030,51502014)National Key Project of the Scientific and Technical Support Program of China(2011BAE13B07,2012BAC02B01,2011BAC10B02)+2 种基金National Hi-tech Research and Development Program of China(2012AA063202)Fundamental Research Funds for the Central Universities of China(FRF-TP-15-050A2)China Postdoctoral Science Foundation Funded Project(2014M560885)
文摘One-step crystallization is one of the most energy conserving methods for glass-ceramics preparation.However,only a few kinetics studies focused on the glass-ceramics prepared by the one-step crystallization.The onestep crystallization kinetic parameters were studied using differential scanning calorimetry.The activation energy（Ea）and the Avrami parameter（n）were calculated as 152.79kJ·mol-1 and 4.39,respectively.These parameters indicate that continuous nucleation and three-dimensional crystal growth are the dominating mechanisms in the one-step crystallization process of the parent glass.The properties of the obtained glass-ceramics can be compared to the glass-ceramics prepared by the two-stage heat treatment and sintering method.This crystallization kinetics research can be used to evaluate the one-step crystallization potential of a parent glass.
文摘Junior English for China’ is based on the ’Five-Step’ teachingmethod: Revision, Presentation, Drilling, Practice, Consolidation. Each step has itsown particular methodology and requires the teacher to adopt a certain role. Thispaper is a discussion of the "Five-Step Method".
基金Project support by the National Natural Science Foundation of China (50574046, 50774038)the Natural Science Foundation of Yunnan Prov-ince (2008E030M)+1 种基金the Research Fund for the Doctoral Program of Higher Education of China (20095314120005)2010 Innovation Fund of Kunming University of Science and Technology
文摘Two-step steam reforming of methane (SRM) is a novel chemical looping process towards the production of pure hydrogen and syngas (synthesis gas), consisting of a syngas production step and a water-splitting step. Renewable energy can be used to drive this process for hydrogen production, especially solar energy. CeO2-Fe2O3 complex oxide oxygen carrier was prepared by the impregnation method and characterized by means of X-ray diffractometer (XRD), Raman spectroscopy (Raman) and hydrogen programmed reduction (H2-TPR). CH4 temperature programmed and isothermal reactions were adopted to test syngas production reactivity, and water splitting reaction was employed to investigate water-splitting activity. Moreover, two-step SRM performance was evaluated by a successive redox cycle. The results showed that CO-uncontaminated H2 and highly selective syngas (with H2/CO ratio close to 2) could be respectively obtained from two steps, and CeFeO3 formation was found in the first redox cycle and proved to be enhanced by the redox treatment. After 10 successive cycles, obvious CeFeO3 phase was detected, which may be responsible for favorable successive redox cycle performances.
基金This project is supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2008AA04Z115)Science and Technology Program of the Ministry of Construction of China (Grant No. 2008-K8-2)+1 种基金Jiangsu Provincial Natural Science Foundation of China (Grant No. BK2007042)Open Fund of State Key Lab of CAD&CG, Zhejiang University, China (Grant No. A0914)
文摘The design of the two-step gear reducer is a tedious and time-consuming process. For the purpose of improving the efficiency and intelligence of design process, case-based reasoning（CBR） technology was applied to the design of the two-step gear reducer. Firstly, the current design method for the two-step gear reducer was analyzed and the principle of CBR was described. Secondly, according to the characteristics of the reducer, three key technologies of CBR were studied and the corresponding methods were provided, which are as follows： （a） an object-oriented knowledge representation method, （b） a retrieval method combining the nearest neighbor with the induction indexing, and （c） a case adaptation algorithm combining the revision based on rule with artificial revision. Also, for the purpose of improving the credibility of case retrieval, a new method for determining the weights of characteristics and a similarity formula were presented, which is a combinatorial weighting method with the analytic hierarchy process（AHP） and roughness set theory. Lastly, according to the above analytic results, a design system of the two-step gear reducer on CBR was developed by VC＋＋, UG and Access 2003. A new method for the design of the two-step gear reducer is provided in this study. If the foregoing developed system is applied to design the two-step gear reducer, design efficiency is improved, which enables the designer to release from the tedious design process of the gear reducer so as to put more efforts on innovative design. The study result fully reflects the feasibility and validity of CBR technology in the process of the design of the mechanical parts.
