Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is th...Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.展开更多
Aircraft digital flexible assembly fixture and technologies are widely used in developed countries, while the traditional jig-based assembly mode is still used in China. The application study of aircraft digital flexi...Aircraft digital flexible assembly fixture and technologies are widely used in developed countries, while the traditional jig-based assembly mode is still used in China. The application study of aircraft digital flexible assembly system is just beginning in our country recently. To meet the requirements of automated posture alignment and join in digital assembly system for large aircraft components, a novel fitting fixture called 3-axis actuator is developed. On the basis of the actuators, three kinds of posture alignment system for large aircraft components are proposed, including the non-redundant system, the redundant actuating system, and the redundant leg system, and their constitutions and properties are introduced. Through deriving the feeding transmission stiffness model of single actuator and analyzing the inverse kinematics of these systems, the relationship between the external force and the changes of position and orientation of large aircraft component is obtained, and then the postural alignment stiffness models are established. With the method mentioned above, the postural alignment stiffness of three systems is computed by using the algebraic formulate, and the results show that redundant properties can increase system's postural alignment stiffness. As an example, a optimized layout of the assembly system for a given model of aircraft is developed, the results of application show that the layout has many advantages, such as high accuracy, stiffness, stability, reliability, efficiency and flexible, which can satisfy the requirement of aircraft digital assembly system well. The proposed study of postural alignment stiffness for different systems can supply the theoretic support for the optimization layout design of aircraft digital assembly system, and contribute to evaluate the system working performance of systems.展开更多
The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the ...The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the main characteristics in the 3-axis flight table servosystem. Based on the description of dynamic and static model of a nonlinear Stribeck frictionmodel, and taking account of the practical uncertainties of 3-axis flight table servo system, theQFT controller is designed. Simulation and realtime results are presented.展开更多
Globally,groundwater contamination by nitrate is one of the most widespread environmental problems,particularly in arid and semiarid areas,which are characterized by low amounts of rainfall and groundwater recharge.Th...Globally,groundwater contamination by nitrate is one of the most widespread environmental problems,particularly in arid and semiarid areas,which are characterized by low amounts of rainfall and groundwater recharge.The stable isotope composition of groundwater(δ2H-H2O andδ18O-H2O)and dissolved nitrate(δ15N-NO3–andδ18O-NO3–)and factor analysis(FA)were applied to explore groundwater provenance,pollution,and chemistry evolution in the northwestern part of the Amman-Al Zarqa Basin,Jordan.In this study,we collected 23 samples from the Lower Ajloun aquifer in 2021,including 1 sample from a groundwater well and 22 samples from springs.These samples were tested for electrical conductivity,total dissolved solids,pH,temperature,dissolved oxygen,the concentration of major ions(Ca2+,Mg2+,Na+,K+,HCO3–,Cl–,SO42–,and NO3–),and the stable isotope composition of groundwater and dissolved nitrate.The results revealed that groundwater in the study area is mainly Ca–Mg–HCO3 type and can be classified as fresh water,hard water,and very hard water.The range and average concentration of NO3–were 3.5–230.8 and 50.9 mg/L,respectively.Approximately 33%of the sampling points showed NO3–levels above the maximum allowable concentration of 50.0 mg/L set by the World Health Organization(WHO)guidelines for drinking water quality.The values ofδ18O-H2O andδ2H-H2O showed that groundwater in the study area is part of the current water cycle,originating in the Mediterranean Sea,with significant evaporation,orographic,and amount effects.The values of the stable isotope composition of NO3–corresponded toδ15N-NO3–andδ18O-NO3–values produced by the nitrification process of manure or septic waste and soil NH4+.The FA performed on the hydrochemical parameters and isotope data resulted in three main factors,with Factor 1,Factor 2,and Factor 3,accounting for 50%,21%,and 11%of the total variance,respectively.Factor 1 was considered human-induced factor,named"pollution factor",whereas Factor 2,named"conservative fingerprint factor",and Factor 3,named"hardness factor",were considered natural factors.This study will help local researchers manage groundwater sustainably in the study area and other similar arid and semiarid areas in the world.展开更多
A temperature stable Li2Zn0.95(SrxCa1-x)0.05Ti3O8(0≤x≤1)ceramics were fabricated using a conventional solid-state route sintered at 1100℃for 4 h.The XRD results indicate that the main phase Li2ZnTi3O8 and secondary...A temperature stable Li2Zn0.95(SrxCa1-x)0.05Ti3O8(0≤x≤1)ceramics were fabricated using a conventional solid-state route sintered at 1100℃for 4 h.The XRD results indicate that the main phase Li2ZnTi3O8 and secondary phase including SrxCa1-xTiO3(0≤x≤1)solid solution and TiO2 co-exist in composite and form a stable composite system when the(CaxSr1-x)(0≤x≤1)substitutes for Zn of Li2ZnTi3O8 ceramic.As x is increased from 0 to 1,the relative permittivity(εr)increases from 26.65 to 27.12,and the quality factor(Q×f)increases from 63300 to 66600 GHz.With the increased of x,the temperature coefficient of resonant frequency(τf)increases from 0.27 to 8.23 ppm/℃,and then decreases to 3.51 ppm/℃.On the whole,the Li2Zn0.95(SrxCa1-x)0.05Ti3O8(0≤x≤1)ceramics show excellent comprehensive properties of middleεr=25-27,higher Q×f≥60000 GHz andτf≤±8.5 ppm/℃.展开更多
Objective To establish stable prostate cancer bone metastasis cell line overexpressing microRAN-145 (miR-145)for the study of the mechanism of miR-145 in bone metastasis.Methods pMSCV-miR-145 plasmids and retroviruses...Objective To establish stable prostate cancer bone metastasis cell line overexpressing microRAN-145 (miR-145)for the study of the mechanism of miR-145 in bone metastasis.Methods pMSCV-miR-145 plasmids and retroviruses of pMSCV-vector展开更多
Na2SiO3 and Na2SeO3 were chosen as stable reagents of alkaline thiourea solution substituting Na2SO3, according to the structure-property relationship between the stability of alkaline thiourea and the structure of th...Na2SiO3 and Na2SeO3 were chosen as stable reagents of alkaline thiourea solution substituting Na2SO3, according to the structure-property relationship between the stability of alkaline thiourea and the structure of thiourea and sulfite ion, and the effect of the stable reagents on stability of alkaline thiourea was investigated. The results show that contrary to Na2SeO3, Na2SO3 and Na2SiO3 affect the stability of alkaline thiourea solution remarkably. The stable effect of Na2SiO3 on alkaline thiourea is obviously better than that of Na2SO3. The stable reagents Na2SO3 and Na2SiO3 decrease the decomposition rate of alkaline thiourea solution greatly, and the decomposition rate of alkaline thiourea reduces from (72.5%) to (33.8%) with addition of (0.3 mol·L-1) Na2SiO3. Dissolution currents of gold in the alkaline thiourea solution containing Na2SO3 and Na2SiO3 are (2.0) (mA·cm-2) and (3.5) (mA·cm-2) at the potential of 0.42 V, respectively, and Na2SO3 is consumed excessively due to the oxidation reaction of Na2SO3 occurring in the studied potential range. Na2SiO3 is an efficient stable reagent of alkaline thiourea solution, and gold dissolution is accelerated much more obviously by Na2SiO3 than by Na2SO3.展开更多
The sulfide solid electrolytes have the characteristics of high ionic conductivity and low grain boundary resistance, which make them suitable for bulk-type all-solid-state batteries. However, most of them suffer from...The sulfide solid electrolytes have the characteristics of high ionic conductivity and low grain boundary resistance, which make them suitable for bulk-type all-solid-state batteries. However, most of them suffer from poor stability in air. Here, we explore the air stable sulfide solid electrolytes in Li4-xSbxSn1-xS4 system. The solid solutions of Li4-xSbxSn1-xS4(0 ≤ x ≤ 0.5) can be formed in Li4-xSbxSn1-xS4 system. Li3.8 Sb0.2 Sn0.8 S4 achieves the highest ionic conductivity of 3.5 × 10-4 S cm-1 in this system,which is 5 times as that of Li4 Sn S4 and 3 orders of magnitude higher than that of Li3 Sb S4, respectively. Li3.8 Sb0.2 Sn0.8 S4 crystallizes into the same structure with high ionic conductivity phase of β-Li3 PS4. Moreover, Li3.8 Sb0.2 Sn0.8 S4 owns good stability in humid air. Matching with LiCoO2 and Li4 Ti5 O12,Li3.8 Sb0.2 Sn0.8 S4 exhibits the potential to be applied in all-solid-state batteries.展开更多
Intensive soil tillage is a significant factor in soil organic matter decline in cultivated soils. Both cultivation abandonment and foregoing tillage have been encouraged in the past 30 years to reduce greenhouse gas ...Intensive soil tillage is a significant factor in soil organic matter decline in cultivated soils. Both cultivation abandonment and foregoing tillage have been encouraged in the past 30 years to reduce greenhouse gas emissions and soil erosion. However, the dynamic processes of soil organic carbon (SOC) in areas of either continuous cultivation or abandonment remain unclear and inconsistent.Our aims were to assess and model the dynamic processes of SOC under continuous tillage and after cultivation abandonment in the black soil of Northeast China. Soil profiles were collected of cultivated or abandoned land with cultivation history of 0–100 years. An isotope mass balance equation was used to calculate the proportion of SOC derived from corn debris (C_4) and from natural vegetation (C_3) to deduce the dynamic process. Approximately 40% of SOC in the natural surface soil (0–10 cm) was eroded in the first 5 years of cultivation, increasing to about 75% within 40 years, before a slow recovery. C_4 above 30 cm soil depth increased by 4.5%–5% or 0.11–0.12 g·kg^(-1) on average per year under continuous cultivation, while it decreased by approximately 0.34% annually in the surface soil after cultivation abandonment.The increase in the percentage of C_4 was fitted to a linear equation with given intercepts in the upper 30 cm of soil in cultivated land. A significant relationship between the change of C_4 and time was found only in the surface soil after abandonment of cultivation. These results demonstrate the loss and accumulation of corn-derived SOC in surface black soil of Northeast China under continuous tillage or cultivation abandonment.展开更多
The transferability of the toughness results in ductile-brittle transition region for welded cracked specimens is conducted by 3D FE analysis. The fracture toughness Values for the double edge notched tension specimen...The transferability of the toughness results in ductile-brittle transition region for welded cracked specimens is conducted by 3D FE analysis. The fracture toughness Values for the double edge notched tension specimens are predicted effectively from the bend test results based on the local approach considering stable crack growth. It is found that the cell model gives a good description of the stable crack growth behavior, and the local approach is useful for the transferability analysis of fracture toughness results in ductile-brittle transition region.展开更多
After having laid down the Axiom of Algebra, bringing the creation of the square root of -1 by Euler to the entire circle and thus authorizing a simple notation of the nth roots of unity, the author uses it to organiz...After having laid down the Axiom of Algebra, bringing the creation of the square root of -1 by Euler to the entire circle and thus authorizing a simple notation of the nth roots of unity, the author uses it to organize homogeneous divisions of the limited development of the exponential function, that is opening the way to the use of a whole bunch of new primary functions in Differential Calculus. He then shows how new supercomplex products in dimension 3 make it possible to calculate fractals whose connexity depends on the product considered. We recall the geometry of convex polygons and regular polygons.展开更多
文摘Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.
文摘Aircraft digital flexible assembly fixture and technologies are widely used in developed countries, while the traditional jig-based assembly mode is still used in China. The application study of aircraft digital flexible assembly system is just beginning in our country recently. To meet the requirements of automated posture alignment and join in digital assembly system for large aircraft components, a novel fitting fixture called 3-axis actuator is developed. On the basis of the actuators, three kinds of posture alignment system for large aircraft components are proposed, including the non-redundant system, the redundant actuating system, and the redundant leg system, and their constitutions and properties are introduced. Through deriving the feeding transmission stiffness model of single actuator and analyzing the inverse kinematics of these systems, the relationship between the external force and the changes of position and orientation of large aircraft component is obtained, and then the postural alignment stiffness models are established. With the method mentioned above, the postural alignment stiffness of three systems is computed by using the algebraic formulate, and the results show that redundant properties can increase system's postural alignment stiffness. As an example, a optimized layout of the assembly system for a given model of aircraft is developed, the results of application show that the layout has many advantages, such as high accuracy, stiffness, stability, reliability, efficiency and flexible, which can satisfy the requirement of aircraft digital assembly system well. The proposed study of postural alignment stiffness for different systems can supply the theoretic support for the optimization layout design of aircraft digital assembly system, and contribute to evaluate the system working performance of systems.
文摘The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the main characteristics in the 3-axis flight table servosystem. Based on the description of dynamic and static model of a nonlinear Stribeck frictionmodel, and taking account of the practical uncertainties of 3-axis flight table servo system, theQFT controller is designed. Simulation and realtime results are presented.
基金funded by the Deanship of Scientific Research,Jordan University of Science and Technology(20210159).
文摘Globally,groundwater contamination by nitrate is one of the most widespread environmental problems,particularly in arid and semiarid areas,which are characterized by low amounts of rainfall and groundwater recharge.The stable isotope composition of groundwater(δ2H-H2O andδ18O-H2O)and dissolved nitrate(δ15N-NO3–andδ18O-NO3–)and factor analysis(FA)were applied to explore groundwater provenance,pollution,and chemistry evolution in the northwestern part of the Amman-Al Zarqa Basin,Jordan.In this study,we collected 23 samples from the Lower Ajloun aquifer in 2021,including 1 sample from a groundwater well and 22 samples from springs.These samples were tested for electrical conductivity,total dissolved solids,pH,temperature,dissolved oxygen,the concentration of major ions(Ca2+,Mg2+,Na+,K+,HCO3–,Cl–,SO42–,and NO3–),and the stable isotope composition of groundwater and dissolved nitrate.The results revealed that groundwater in the study area is mainly Ca–Mg–HCO3 type and can be classified as fresh water,hard water,and very hard water.The range and average concentration of NO3–were 3.5–230.8 and 50.9 mg/L,respectively.Approximately 33%of the sampling points showed NO3–levels above the maximum allowable concentration of 50.0 mg/L set by the World Health Organization(WHO)guidelines for drinking water quality.The values ofδ18O-H2O andδ2H-H2O showed that groundwater in the study area is part of the current water cycle,originating in the Mediterranean Sea,with significant evaporation,orographic,and amount effects.The values of the stable isotope composition of NO3–corresponded toδ15N-NO3–andδ18O-NO3–values produced by the nitrification process of manure or septic waste and soil NH4+.The FA performed on the hydrochemical parameters and isotope data resulted in three main factors,with Factor 1,Factor 2,and Factor 3,accounting for 50%,21%,and 11%of the total variance,respectively.Factor 1 was considered human-induced factor,named"pollution factor",whereas Factor 2,named"conservative fingerprint factor",and Factor 3,named"hardness factor",were considered natural factors.This study will help local researchers manage groundwater sustainably in the study area and other similar arid and semiarid areas in the world.
基金Funded by the Open Project Program of Key Laboratory of Inorganic Functional Materials and Devices,Chinese Academy of Sciences(No.KLIFMD201606)the Open Fund of National Innovation Platform(No.2017YJ163)+1 种基金the National Natural Science Foundation of China(Nos.51502220,51521001,and 51672197)the Open Foundation of Hubei Key Laboratory of Theory and Application of Advanced Materials Mechanics(Wuhan University of Technology)(No.TAM201802)。
文摘A temperature stable Li2Zn0.95(SrxCa1-x)0.05Ti3O8(0≤x≤1)ceramics were fabricated using a conventional solid-state route sintered at 1100℃for 4 h.The XRD results indicate that the main phase Li2ZnTi3O8 and secondary phase including SrxCa1-xTiO3(0≤x≤1)solid solution and TiO2 co-exist in composite and form a stable composite system when the(CaxSr1-x)(0≤x≤1)substitutes for Zn of Li2ZnTi3O8 ceramic.As x is increased from 0 to 1,the relative permittivity(εr)increases from 26.65 to 27.12,and the quality factor(Q×f)increases from 63300 to 66600 GHz.With the increased of x,the temperature coefficient of resonant frequency(τf)increases from 0.27 to 8.23 ppm/℃,and then decreases to 3.51 ppm/℃.On the whole,the Li2Zn0.95(SrxCa1-x)0.05Ti3O8(0≤x≤1)ceramics show excellent comprehensive properties of middleεr=25-27,higher Q×f≥60000 GHz andτf≤±8.5 ppm/℃.
文摘Objective To establish stable prostate cancer bone metastasis cell line overexpressing microRAN-145 (miR-145)for the study of the mechanism of miR-145 in bone metastasis.Methods pMSCV-miR-145 plasmids and retroviruses of pMSCV-vector
文摘Na2SiO3 and Na2SeO3 were chosen as stable reagents of alkaline thiourea solution substituting Na2SO3, according to the structure-property relationship between the stability of alkaline thiourea and the structure of thiourea and sulfite ion, and the effect of the stable reagents on stability of alkaline thiourea was investigated. The results show that contrary to Na2SeO3, Na2SO3 and Na2SiO3 affect the stability of alkaline thiourea solution remarkably. The stable effect of Na2SiO3 on alkaline thiourea is obviously better than that of Na2SO3. The stable reagents Na2SO3 and Na2SiO3 decrease the decomposition rate of alkaline thiourea solution greatly, and the decomposition rate of alkaline thiourea reduces from (72.5%) to (33.8%) with addition of (0.3 mol·L-1) Na2SiO3. Dissolution currents of gold in the alkaline thiourea solution containing Na2SO3 and Na2SiO3 are (2.0) (mA·cm-2) and (3.5) (mA·cm-2) at the potential of 0.42 V, respectively, and Na2SO3 is consumed excessively due to the oxidation reaction of Na2SO3 occurring in the studied potential range. Na2SiO3 is an efficient stable reagent of alkaline thiourea solution, and gold dissolution is accelerated much more obviously by Na2SiO3 than by Na2SO3.
基金supported by the National Basic Research Program of China(973 Program,2015CB258400)the Program for HUST Interdisciplinary Innovation Team(2015ZDTD021)the China Postdoctoral Science Foundation Grant(2017M622422)。
文摘The sulfide solid electrolytes have the characteristics of high ionic conductivity and low grain boundary resistance, which make them suitable for bulk-type all-solid-state batteries. However, most of them suffer from poor stability in air. Here, we explore the air stable sulfide solid electrolytes in Li4-xSbxSn1-xS4 system. The solid solutions of Li4-xSbxSn1-xS4(0 ≤ x ≤ 0.5) can be formed in Li4-xSbxSn1-xS4 system. Li3.8 Sb0.2 Sn0.8 S4 achieves the highest ionic conductivity of 3.5 × 10-4 S cm-1 in this system,which is 5 times as that of Li4 Sn S4 and 3 orders of magnitude higher than that of Li3 Sb S4, respectively. Li3.8 Sb0.2 Sn0.8 S4 crystallizes into the same structure with high ionic conductivity phase of β-Li3 PS4. Moreover, Li3.8 Sb0.2 Sn0.8 S4 owns good stability in humid air. Matching with LiCoO2 and Li4 Ti5 O12,Li3.8 Sb0.2 Sn0.8 S4 exhibits the potential to be applied in all-solid-state batteries.
基金supported by the National Natural Science Foundation of China(Grant Nos.4157301241571130041 U1612441)
文摘Intensive soil tillage is a significant factor in soil organic matter decline in cultivated soils. Both cultivation abandonment and foregoing tillage have been encouraged in the past 30 years to reduce greenhouse gas emissions and soil erosion. However, the dynamic processes of soil organic carbon (SOC) in areas of either continuous cultivation or abandonment remain unclear and inconsistent.Our aims were to assess and model the dynamic processes of SOC under continuous tillage and after cultivation abandonment in the black soil of Northeast China. Soil profiles were collected of cultivated or abandoned land with cultivation history of 0–100 years. An isotope mass balance equation was used to calculate the proportion of SOC derived from corn debris (C_4) and from natural vegetation (C_3) to deduce the dynamic process. Approximately 40% of SOC in the natural surface soil (0–10 cm) was eroded in the first 5 years of cultivation, increasing to about 75% within 40 years, before a slow recovery. C_4 above 30 cm soil depth increased by 4.5%–5% or 0.11–0.12 g·kg^(-1) on average per year under continuous cultivation, while it decreased by approximately 0.34% annually in the surface soil after cultivation abandonment.The increase in the percentage of C_4 was fitted to a linear equation with given intercepts in the upper 30 cm of soil in cultivated land. A significant relationship between the change of C_4 and time was found only in the surface soil after abandonment of cultivation. These results demonstrate the loss and accumulation of corn-derived SOC in surface black soil of Northeast China under continuous tillage or cultivation abandonment.
文摘The transferability of the toughness results in ductile-brittle transition region for welded cracked specimens is conducted by 3D FE analysis. The fracture toughness Values for the double edge notched tension specimens are predicted effectively from the bend test results based on the local approach considering stable crack growth. It is found that the cell model gives a good description of the stable crack growth behavior, and the local approach is useful for the transferability analysis of fracture toughness results in ductile-brittle transition region.
文摘After having laid down the Axiom of Algebra, bringing the creation of the square root of -1 by Euler to the entire circle and thus authorizing a simple notation of the nth roots of unity, the author uses it to organize homogeneous divisions of the limited development of the exponential function, that is opening the way to the use of a whole bunch of new primary functions in Differential Calculus. He then shows how new supercomplex products in dimension 3 make it possible to calculate fractals whose connexity depends on the product considered. We recall the geometry of convex polygons and regular polygons.