Non-flow aqueous zinc-bromine batteries without auxiliary components(e.g.,pumps,pipes,storage tanks)and ion-selective membranes represent a cost-effective and promising technology for large-scale energy storage.Unfort...Non-flow aqueous zinc-bromine batteries without auxiliary components(e.g.,pumps,pipes,storage tanks)and ion-selective membranes represent a cost-effective and promising technology for large-scale energy storage.Unfortunately,they generally suffer from serious diffusion and shuttle of polybromide(Br^(-),Br^(3-))due to the weak physical adsorption between soluble polybromide and host carbon materials,which results in low energy efficiency and poor cycling stability.Here,we develop a novel self-capture organic bromine material(1,10-bis[3-(trimethylammonio)propyl]-4,4'-bipyridinium bromine,NVBr4)to successfully realize reversible solid complexation of bromide components for stable non-flow zinc-bromine battery applications.The quaternary ammonium groups(NV^(4+)ions)can effectively capture the soluble polybromide species based on strong chemical interaction and realize reversible solid complexation confined within the porous electrodes,which transforms the conventional“liquid-liquid”conversion of soluble bromide components into“liquid-solid”model and effectively suppresses the shuttle effect.Thereby,the developed non-flow zinc-bromide battery provides an outstanding voltage platform at 1.7 V with a notable specific capacity of 325 mAh g^(-1)NVBr4(1 A g^(-1)),excellent rate capability(200 mAh g^(-1)NVBr4 at 20 A g^(-1)),outstanding energy density of 469.6 Wh kg^(-1)and super-stable cycle life(20,000 cycles with 100%Coulombic efficiency),which outperforms most of reported zinc-halogen batteries.Further mechanism analysis and DFT calculations demonstrate that the chemical interaction of quaternary ammonium groups and bromide species is the main reason for suppressing the shuttle effect.The developed strategy can be extended to other halogen batteries to obtain stable charge storage.展开更多
Electrocatalyst designs based on oxophilic foreign atoms are considered a promising approach for developing efficient pH-universal hydrogen evolution reaction(HER)electrocatalysts by overcoming the sluggish alkaline H...Electrocatalyst designs based on oxophilic foreign atoms are considered a promising approach for developing efficient pH-universal hydrogen evolution reaction(HER)electrocatalysts by overcoming the sluggish alkaline HER kinetics.Here,we design ternary transition metals-based nickel telluride(Mo WNi Te)catalysts consisting of high valence non-3d Mo and W metals and oxophilic Te as a first demonstration of non-precious heterogeneous electrocatalysts following the bifunctional mechanism.The Mo WNi Te showed excellent HER catalytic performance with overpotentials of 72,125,and 182 mV to reach the current densities of 10,100,and 1000 mA cm^(-2),respectively,and the corresponding Tafel slope of 47,52,and 58 mV dec-1in alkaline media,which is much superior to commercial Pt/C.Additionally,the HER performance of Mo WNi Te is well maintained up to 3000 h at the current density of 100 mA cm^(-2).It is further demonstrated that the Mo WNi Te exhibits remarkable HER activities with an overpotential of 45 mV(31 mV)and Tafel slope of 60 mV dec-1(34 mV dec-1)at 10 mA cm^(-2)in neutral(acid)media.The superior HER performance of Mo WNi Te is attributed to the electronic structure modulation,inducing highly active low valence states by the incorporation of high valence non-3d transition metals.It is also attributed to the oxophilic effect of Te,accelerating water dissociation kinetics through a bifunctional catalytic mechanism in alkaline media.Density functional theory calculations further reveal that such synergistic effects lead to reduced free energy for an efficient water dissociation process,resulting in remarkable HER catalytic performances within universal pH environments.展开更多
Non selective beta blockers(NSBBs)are used in primary and secondary prophylaxis of portal hypertensionrelated bleeding in patients with cirrhosis.The efficacy of NSBBs treatment is predicted by hemodynamic response in...Non selective beta blockers(NSBBs)are used in primary and secondary prophylaxis of portal hypertensionrelated bleeding in patients with cirrhosis.The efficacy of NSBBs treatment is predicted by hemodynamic response in term of reduction of the hepatic venouspressure gradient(HVPG)below 12 mm Hg or at least20%of the basal value.Nevertheless a relevant number of patients who do not achieve this HVPG reduction during NSBBs therapy do not bleed during follow up;this evidence suggests an additional non-hemodynamic advantage of NSBBs treatment to modify the natural history of cirrhosis.Recent studies have questioned the efficacy and safety of NSBBs in patients with advanced stage of liver disease characterized by refractory ascites and/or spontaneous bacterial peritonitis.These studies have suggested the existence of a defined and limited period to modify the natural history of cirrhosis by NSBBs:the"window hypothesis".According with this hypothesis,patients with cirrhosis benefit from the use of NSBBs from the appearance of varices up to the development of an advanced stage of cirrhosis.Indeed,in patients with refractory ascites and/or spontaneous bacterial peritonitis the hemodynamic effects of NSBBs may expose to a high risk of further complications such as renal insufficiency and/or death.Methodological concerns and contrasting results counterbalance the evidence produced up to now on this issue and are the main topic of this editorial.展开更多
For optimal design of constant stress accelerated life test(CSALT) with two-stress, if the stresses could not reach the highest levels simultaneously, the test region becomes non-rectangular. For optimal CSALT desig...For optimal design of constant stress accelerated life test(CSALT) with two-stress, if the stresses could not reach the highest levels simultaneously, the test region becomes non-rectangular. For optimal CSALT design on non-rectangle test region, the present method is only focused on non-rectangle test region with simple boundary, and the optimization algorithm is based on experience which can not ensure to obtain the optimal plan. In this paper, considering the linear-extreme value model and the optimization goal to minimize the variance of lifetime estimate under normal stress, the optimal design method of two-stress type-I censored CSALT plan on general non-rectangular test region is proposed. First, two properties of optimal test plans are proved and the relationship of all the optimal test plans is determined analytically. Then, on the basis of the two properties, the optimal problem is simplified and the optimal design method of two-stress CSALT plan on general non-rectangular test region is proposed. Finally, a numerical example is used to illustrate the feasibility and effectiveness of the method, The result shows that the proposed method could obtain the optimal test plan on non-rectangular test regions with arbitrary boundaries. This research provides the theory and method for two-stress optimal CSALT planning on non-rectangular test regions.展开更多
AIM: To assess the efficacy of moxifloxacin-containing triple therapy after non-bismuth quadruple therapy failure for Helicobacter pylori(H. pylori) eradication.METHODS: Between January 2010 and December 2012,we scree...AIM: To assess the efficacy of moxifloxacin-containing triple therapy after non-bismuth quadruple therapy failure for Helicobacter pylori(H. pylori) eradication.METHODS: Between January 2010 and December 2012,we screened individuals who were prescribed non-bismuth quadruple therapy for H. pylori eradication. Among them,a total of 98 patients who failed non-bismuth quadruple therapy received 1-wk or 2-wk moxifloxacin-containing triple therapy(400 mg moxifloxacin once daily,and 20 mg of rabeprazole and 1 g of amoxicillin twice daily). H. pylori status was evaluated using the 13C-urea breath test 4 wk later,after treatment completion. The eradication rates were determined by intention-to-treat and per-protocol analyses.RESULTS: In total,60 and 38 patients received 1-wk and 2-wk moxifloxacin-containing triple therapy,respectively. The intention-to-treat and per-protocol eradication rates were 56.7%(95%CI: 45.0-70.0) and 59.6%(95%CI: 46.6-71.7) in the 1-wk group and 76.3%(95%CI: 63.2-89.5) and 80.6%(95%CI: 66.7-91.9) in the 2-wk group(P = 0.048 and 0.036,respectively). All groups had good compliance(95% vs 94.9%). Neither group showed serious adverse events,and the proportions of patients experiencing mild side effects were not significantly different(21.1% vs 13.9%). Clinical factors such as age,sex,alcohol and smoking habits,comorbidities,and presence of gastric or duodenal ulcer did not influence the eradication therapy efficacy. The efficacy of second-line eradication therapy did not differ significantly according to the firstline regimen.CONCLUSION: Two-week moxifloxacin-containing triple therapy showed better efficacy than a 1-wk regimen after non-bismuth quadruple therapy failure.Key words: Helicobacter pylori; Moxifloxacin-based triple; Non-bismuth quadruple; Second-line;展开更多
Extending Parikh and Wilczek's work to the non-stationary black hole, we study the Hawking radiation of the non-stationary Kerr black hole by the Hamilto-Jacobi method. The result shows that the radiation spectrum is...Extending Parikh and Wilczek's work to the non-stationary black hole, we study the Hawking radiation of the non-stationary Kerr black hole by the Hamilto-Jacobi method. The result shows that the radiation spectrum is not purely thermal and the tunnelling probability is related to the change of Bekenstein Hawking entropy, which gives a correction to the Hawking thermal radiation of the black hole.展开更多
We present a non-Markovian master equation for a qubit interacting with a general reservoir, which is derived according to the Nakajima-Zwanzig and the time convolutionless projection operator technique. The non-Marko...We present a non-Markovian master equation for a qubit interacting with a general reservoir, which is derived according to the Nakajima-Zwanzig and the time convolutionless projection operator technique. The non-Markovian solutions and Markovian solution of dynamical decay of a qubit are compared. The results indicate the validity of non-Markovian approach in different coupling regimes and also show that the Markovian master equation may not precisely describe the dynamics of an open quantum system in some situation. The non-Markovian solutions may be effective for many qubits independently interacting with the heated reservoirs.展开更多
Procaine and hyperthermia have been shown to possess a relatively selective cytotoxicity to leukemlc cells. In this study, the combined effects of procaine and hyperthermia on the growth of hematopoietic progenitors (...Procaine and hyperthermia have been shown to possess a relatively selective cytotoxicity to leukemlc cells. In this study, the combined effects of procaine and hyperthermia on the growth of hematopoietic progenitors (GM-CFU) and ieukemic progenitors (L-CFU) were examined to determine if this combination resulted in a great selective killing of leukemlc cells than that achieved by procaine or heat alone. When the cells were treated simutaneously with procaine (2 mM) and hyperthermia (42℃) for one hour, the killing of L-CFU was enhanced considerably whereas GM-CFU were not markedly affected. These data Indicate that the combined treatment with procain and hyperthermia might offer an efficient mean to selectively purge residual leukemlc cells in vitro. Procaine with hyperthermia may have a role in clinical autoiogous bone marrow transplantation for acute leukemia.展开更多
Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, ...Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, have been used to control this kind of system, but there are some deficiencie s in those methods: some need accurate and some need complicated operation and e tc. In recent years, in need of controlling the industrial robots, aiming at com pletely tracking the ideal input for the controlled subject with repetitive character, a new research area, ILC (iterative learning control), has been devel oped in the control technology and theory. The iterative learning control method can make the controlled subject operate as desired in a definite time span, merely making use of the prior control experie nce of the system and searching for the desired control signal according to the practical and desired output signal. The process of searching is equal to that o f learning, during which we only need to measure the output signal to amend the control signal, not like the adaptive control strategy, which on line assesses t he complex parameters of the system. Besides, since the iterative learning contr ol relies little on the prior message of the subject, it has been well used in a lot of areas, especially the dynamic systems with strong non-linear coupling a nd high repetitive position precision and the control system with batch producti on. Since robot manipulator has the above-mentioned character, ILC can be very well used in robot manipulator. In the ILC, since the operation always begins with a certain initial state, init ial condition has been required in almost all convergence verification. Therefor e, in designing the controller, the initial state has to be restricted with some condition to guarantee the convergence of the algorithm. The settle of initial condition problem has long been pursued in the ILC. There are commonly two kinds of initial condition problems: one is zero initial error problem, another is non-zero initial error problem. In practice, the repe titive operation will invariably produce excursion of the iterative initial stat e from the desired initial state. As a result, the research on the second in itial problem has more practical meaning. In this paper, for the non-zero initial error problem, one novel robust ILC alg orithms, respectively combining PD type iterative learning control algorithm wit h the robust feedback control algorithm, has been presented. This novel robust ILC algorithm contain two parts: feedforward ILC algorithm and robust feedback algorithm, which can be used to restrain disturbance from param eter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The feedforward ILC algorithm can be used to improve the tracking error and perf ormance of the system through iteratively learning from the previous operation, thus performing the tracking task very fast. The robust feedback algorithm could mainly be applied to make the real output of the system not deviate too much fr om the desired tracking trajectory, and guarantee the system’s robustness w hen there are exterior noises and variations of the system parameter. In this paper, in order to analyze the convergence of the algorithm, Lyapunov st ability theory has been used through properly selecting the Lyapunov function. T he result of the verification shows the feasibility of the novel robust iterativ e learning control in theory. Finally, aiming at the two-freedom rate robot, simulation has been made with th e MATLAB software. Furthermore, two groups of parameters are selected to validat e the robustness of the algorithm.展开更多
A new differential equation was derived from the modified first-order kinetic model to describe the polymer crystallization processes. The crystallization experiments were carried out by means of DSC. Poly (ethylene t...A new differential equation was derived from the modified first-order kinetic model to describe the polymer crystallization processes. The crystallization experiments were carried out by means of DSC. Poly (ethylene terephthalate) resins were selected as the samples containing different catalysts. The relationships between the parameters obtained from the known Avrami equation and from one in the present paper were discussed. A method for applying the equation to determine the kinetic parameters from a constant heating and a constant cooling curve was proposed.展开更多
基金the Guangdong Basic and Applied Basic Research Foundation(grant number:2019A1515011819,2021B1515120004)National Natural Science Foundation of China(22005207)Open Research Fund of Songshan Lake Materials Laboratory(2021SLABFN04).
文摘Non-flow aqueous zinc-bromine batteries without auxiliary components(e.g.,pumps,pipes,storage tanks)and ion-selective membranes represent a cost-effective and promising technology for large-scale energy storage.Unfortunately,they generally suffer from serious diffusion and shuttle of polybromide(Br^(-),Br^(3-))due to the weak physical adsorption between soluble polybromide and host carbon materials,which results in low energy efficiency and poor cycling stability.Here,we develop a novel self-capture organic bromine material(1,10-bis[3-(trimethylammonio)propyl]-4,4'-bipyridinium bromine,NVBr4)to successfully realize reversible solid complexation of bromide components for stable non-flow zinc-bromine battery applications.The quaternary ammonium groups(NV^(4+)ions)can effectively capture the soluble polybromide species based on strong chemical interaction and realize reversible solid complexation confined within the porous electrodes,which transforms the conventional“liquid-liquid”conversion of soluble bromide components into“liquid-solid”model and effectively suppresses the shuttle effect.Thereby,the developed non-flow zinc-bromide battery provides an outstanding voltage platform at 1.7 V with a notable specific capacity of 325 mAh g^(-1)NVBr4(1 A g^(-1)),excellent rate capability(200 mAh g^(-1)NVBr4 at 20 A g^(-1)),outstanding energy density of 469.6 Wh kg^(-1)and super-stable cycle life(20,000 cycles with 100%Coulombic efficiency),which outperforms most of reported zinc-halogen batteries.Further mechanism analysis and DFT calculations demonstrate that the chemical interaction of quaternary ammonium groups and bromide species is the main reason for suppressing the shuttle effect.The developed strategy can be extended to other halogen batteries to obtain stable charge storage.
基金supported through the National Research Foundation of Korea(NRF)funded by the Ministry of Science and ICT(2022M3H4A1A04096478)the support from the Supercomputing Center of Wuhan University。
文摘Electrocatalyst designs based on oxophilic foreign atoms are considered a promising approach for developing efficient pH-universal hydrogen evolution reaction(HER)electrocatalysts by overcoming the sluggish alkaline HER kinetics.Here,we design ternary transition metals-based nickel telluride(Mo WNi Te)catalysts consisting of high valence non-3d Mo and W metals and oxophilic Te as a first demonstration of non-precious heterogeneous electrocatalysts following the bifunctional mechanism.The Mo WNi Te showed excellent HER catalytic performance with overpotentials of 72,125,and 182 mV to reach the current densities of 10,100,and 1000 mA cm^(-2),respectively,and the corresponding Tafel slope of 47,52,and 58 mV dec-1in alkaline media,which is much superior to commercial Pt/C.Additionally,the HER performance of Mo WNi Te is well maintained up to 3000 h at the current density of 100 mA cm^(-2).It is further demonstrated that the Mo WNi Te exhibits remarkable HER activities with an overpotential of 45 mV(31 mV)and Tafel slope of 60 mV dec-1(34 mV dec-1)at 10 mA cm^(-2)in neutral(acid)media.The superior HER performance of Mo WNi Te is attributed to the electronic structure modulation,inducing highly active low valence states by the incorporation of high valence non-3d transition metals.It is also attributed to the oxophilic effect of Te,accelerating water dissociation kinetics through a bifunctional catalytic mechanism in alkaline media.Density functional theory calculations further reveal that such synergistic effects lead to reduced free energy for an efficient water dissociation process,resulting in remarkable HER catalytic performances within universal pH environments.
文摘Non selective beta blockers(NSBBs)are used in primary and secondary prophylaxis of portal hypertensionrelated bleeding in patients with cirrhosis.The efficacy of NSBBs treatment is predicted by hemodynamic response in term of reduction of the hepatic venouspressure gradient(HVPG)below 12 mm Hg or at least20%of the basal value.Nevertheless a relevant number of patients who do not achieve this HVPG reduction during NSBBs therapy do not bleed during follow up;this evidence suggests an additional non-hemodynamic advantage of NSBBs treatment to modify the natural history of cirrhosis.Recent studies have questioned the efficacy and safety of NSBBs in patients with advanced stage of liver disease characterized by refractory ascites and/or spontaneous bacterial peritonitis.These studies have suggested the existence of a defined and limited period to modify the natural history of cirrhosis by NSBBs:the"window hypothesis".According with this hypothesis,patients with cirrhosis benefit from the use of NSBBs from the appearance of varices up to the development of an advanced stage of cirrhosis.Indeed,in patients with refractory ascites and/or spontaneous bacterial peritonitis the hemodynamic effects of NSBBs may expose to a high risk of further complications such as renal insufficiency and/or death.Methodological concerns and contrasting results counterbalance the evidence produced up to now on this issue and are the main topic of this editorial.
基金supported by National Natural Science Foundation of China(Grant Nos. 50935002, 51075370, 51105341)National Hi-tech Research and Development Program of China(863 Program, Grant No. 2007AA04Z409)+1 种基金the Technology Foundation of National Defense ProgramZhejiang Provincial Natural Science Foundation of China (Grant Nos. Y1100777, Y1080762)
文摘For optimal design of constant stress accelerated life test(CSALT) with two-stress, if the stresses could not reach the highest levels simultaneously, the test region becomes non-rectangular. For optimal CSALT design on non-rectangle test region, the present method is only focused on non-rectangle test region with simple boundary, and the optimization algorithm is based on experience which can not ensure to obtain the optimal plan. In this paper, considering the linear-extreme value model and the optimization goal to minimize the variance of lifetime estimate under normal stress, the optimal design method of two-stress type-I censored CSALT plan on general non-rectangular test region is proposed. First, two properties of optimal test plans are proved and the relationship of all the optimal test plans is determined analytically. Then, on the basis of the two properties, the optimal problem is simplified and the optimal design method of two-stress CSALT plan on general non-rectangular test region is proposed. Finally, a numerical example is used to illustrate the feasibility and effectiveness of the method, The result shows that the proposed method could obtain the optimal test plan on non-rectangular test regions with arbitrary boundaries. This research provides the theory and method for two-stress optimal CSALT planning on non-rectangular test regions.
文摘AIM: To assess the efficacy of moxifloxacin-containing triple therapy after non-bismuth quadruple therapy failure for Helicobacter pylori(H. pylori) eradication.METHODS: Between January 2010 and December 2012,we screened individuals who were prescribed non-bismuth quadruple therapy for H. pylori eradication. Among them,a total of 98 patients who failed non-bismuth quadruple therapy received 1-wk or 2-wk moxifloxacin-containing triple therapy(400 mg moxifloxacin once daily,and 20 mg of rabeprazole and 1 g of amoxicillin twice daily). H. pylori status was evaluated using the 13C-urea breath test 4 wk later,after treatment completion. The eradication rates were determined by intention-to-treat and per-protocol analyses.RESULTS: In total,60 and 38 patients received 1-wk and 2-wk moxifloxacin-containing triple therapy,respectively. The intention-to-treat and per-protocol eradication rates were 56.7%(95%CI: 45.0-70.0) and 59.6%(95%CI: 46.6-71.7) in the 1-wk group and 76.3%(95%CI: 63.2-89.5) and 80.6%(95%CI: 66.7-91.9) in the 2-wk group(P = 0.048 and 0.036,respectively). All groups had good compliance(95% vs 94.9%). Neither group showed serious adverse events,and the proportions of patients experiencing mild side effects were not significantly different(21.1% vs 13.9%). Clinical factors such as age,sex,alcohol and smoking habits,comorbidities,and presence of gastric or duodenal ulcer did not influence the eradication therapy efficacy. The efficacy of second-line eradication therapy did not differ significantly according to the firstline regimen.CONCLUSION: Two-week moxifloxacin-containing triple therapy showed better efficacy than a 1-wk regimen after non-bismuth quadruple therapy failure.Key words: Helicobacter pylori; Moxifloxacin-based triple; Non-bismuth quadruple; Second-line;
基金Project supported by the National Natural Science Foundation of China(Grant No10773008)
文摘Extending Parikh and Wilczek's work to the non-stationary black hole, we study the Hawking radiation of the non-stationary Kerr black hole by the Hamilto-Jacobi method. The result shows that the radiation spectrum is not purely thermal and the tunnelling probability is related to the change of Bekenstein Hawking entropy, which gives a correction to the Hawking thermal radiation of the black hole.
基金Project supported by the Natural Science Foundation of Hunan Province of China (Grant No. 09JJ6011)the Natural Science Foundation of the Education Department of Hunan Province of China (Grant Nos. 06C652 and 07C528)
文摘We present a non-Markovian master equation for a qubit interacting with a general reservoir, which is derived according to the Nakajima-Zwanzig and the time convolutionless projection operator technique. The non-Markovian solutions and Markovian solution of dynamical decay of a qubit are compared. The results indicate the validity of non-Markovian approach in different coupling regimes and also show that the Markovian master equation may not precisely describe the dynamics of an open quantum system in some situation. The non-Markovian solutions may be effective for many qubits independently interacting with the heated reservoirs.
文摘Procaine and hyperthermia have been shown to possess a relatively selective cytotoxicity to leukemlc cells. In this study, the combined effects of procaine and hyperthermia on the growth of hematopoietic progenitors (GM-CFU) and ieukemic progenitors (L-CFU) were examined to determine if this combination resulted in a great selective killing of leukemlc cells than that achieved by procaine or heat alone. When the cells were treated simutaneously with procaine (2 mM) and hyperthermia (42℃) for one hour, the killing of L-CFU was enhanced considerably whereas GM-CFU were not markedly affected. These data Indicate that the combined treatment with procain and hyperthermia might offer an efficient mean to selectively purge residual leukemlc cells in vitro. Procaine with hyperthermia may have a role in clinical autoiogous bone marrow transplantation for acute leukemia.
文摘The global existence and finite time blow up of the positive solution for a nonlinear degenerate parabolic equation with non- local source are studied
文摘Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, have been used to control this kind of system, but there are some deficiencie s in those methods: some need accurate and some need complicated operation and e tc. In recent years, in need of controlling the industrial robots, aiming at com pletely tracking the ideal input for the controlled subject with repetitive character, a new research area, ILC (iterative learning control), has been devel oped in the control technology and theory. The iterative learning control method can make the controlled subject operate as desired in a definite time span, merely making use of the prior control experie nce of the system and searching for the desired control signal according to the practical and desired output signal. The process of searching is equal to that o f learning, during which we only need to measure the output signal to amend the control signal, not like the adaptive control strategy, which on line assesses t he complex parameters of the system. Besides, since the iterative learning contr ol relies little on the prior message of the subject, it has been well used in a lot of areas, especially the dynamic systems with strong non-linear coupling a nd high repetitive position precision and the control system with batch producti on. Since robot manipulator has the above-mentioned character, ILC can be very well used in robot manipulator. In the ILC, since the operation always begins with a certain initial state, init ial condition has been required in almost all convergence verification. Therefor e, in designing the controller, the initial state has to be restricted with some condition to guarantee the convergence of the algorithm. The settle of initial condition problem has long been pursued in the ILC. There are commonly two kinds of initial condition problems: one is zero initial error problem, another is non-zero initial error problem. In practice, the repe titive operation will invariably produce excursion of the iterative initial stat e from the desired initial state. As a result, the research on the second in itial problem has more practical meaning. In this paper, for the non-zero initial error problem, one novel robust ILC alg orithms, respectively combining PD type iterative learning control algorithm wit h the robust feedback control algorithm, has been presented. This novel robust ILC algorithm contain two parts: feedforward ILC algorithm and robust feedback algorithm, which can be used to restrain disturbance from param eter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The feedforward ILC algorithm can be used to improve the tracking error and perf ormance of the system through iteratively learning from the previous operation, thus performing the tracking task very fast. The robust feedback algorithm could mainly be applied to make the real output of the system not deviate too much fr om the desired tracking trajectory, and guarantee the system’s robustness w hen there are exterior noises and variations of the system parameter. In this paper, in order to analyze the convergence of the algorithm, Lyapunov st ability theory has been used through properly selecting the Lyapunov function. T he result of the verification shows the feasibility of the novel robust iterativ e learning control in theory. Finally, aiming at the two-freedom rate robot, simulation has been made with th e MATLAB software. Furthermore, two groups of parameters are selected to validat e the robustness of the algorithm.
文摘A new differential equation was derived from the modified first-order kinetic model to describe the polymer crystallization processes. The crystallization experiments were carried out by means of DSC. Poly (ethylene terephthalate) resins were selected as the samples containing different catalysts. The relationships between the parameters obtained from the known Avrami equation and from one in the present paper were discussed. A method for applying the equation to determine the kinetic parameters from a constant heating and a constant cooling curve was proposed.