The effect of composite agglomeration process(CAP) on fluoric iron concentrates sintering was investigated.The yield and quality of the sinter are greatly improved when using CAP assisted with heat airflow and enhanci...The effect of composite agglomeration process(CAP) on fluoric iron concentrates sintering was investigated.The yield and quality of the sinter are greatly improved when using CAP assisted with heat airflow and enhancing magnesium oxide(MgO) contents.For conventional sintering of fluoric iron concentrate,due to lower viscosity of binding phase and higher fluidity of liquid phase,the sinter is formed with large thin-walled holes and the strength of the sinter is deteriorated consequently.The novel process forms composite agglomerate in which acid pellets are embedded in basic sinter.The pellets are solid with interconnecting crystals of hematite(Fe2O3) and magnetic(Fe3O4).For basic sintering,after adding MgO,the viscosity of the melting phase increases and the fluidity decreases;and calcium and aluminum silico-ferrites and magnesium ferrite are formed with perfect crystals and good sintering microstructure.展开更多
A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can...A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.展开更多
This paper deals with utilization possibility of a kinematical couple of screw-matrix in minimachine mechatronic concept which is assigned to move within the pipes having less than 25 mm of the inner diameter. The pri...This paper deals with utilization possibility of a kinematical couple of screw-matrix in minimachine mechatronic concept which is assigned to move within the pipes having less than 25 mm of the inner diameter. The principle of the movement for a straightforward motion consists in transformation of the actuator rotary movement through a screw and a nut to the linear motion. It causes a change of distance between the front and rear parts of the minimachine modules. Due to minimization of the dimensions, the electrical control and power supply components are placed outside of the minimachine operating area. The control module is based on a programmable integrated circuit （PIC）.展开更多
For the issue of nuclear radiation detection,this paper designs a remote control nuclear radiation detector which can trace a pre-determined route,avoid obstacles effectively,and can be controlled remotely by users wi...For the issue of nuclear radiation detection,this paper designs a remote control nuclear radiation detector which can trace a pre-determined route,avoid obstacles effectively,and can be controlled remotely by users wirelessly or through voice command.It can effectively replace manual probing due to convenience,flexibility and safety.The system mainly consists of a nuclear detection module,a voice control module,a route tracing module,an obstacle avoidance module,a data transmission module,storage and a display module,and a D.C.machine.An MSP430 microcontroller is used as a control chip to control the motor and the system uses infrared technology and ultrasonic sensors to achieve intelligent tracing and obstacle avoidance.Moreover,it applies a voice module and data transmission module to remotely controlling the device.The radiation data is shown on an LCD screen.展开更多
the system to DC voltage source as the core, AT89C52 MCU as the main controller, the output voltage to set the DC power supply through the keyboard, with a step function voltage to reality, the actual output value. Th...the system to DC voltage source as the core, AT89C52 MCU as the main controller, the output voltage to set the DC power supply through the keyboard, with a step function voltage to reality, the actual output value. This design is divided into four modules： SCM control and display module, digital to analog （D/A） conversion module, a constant voltage source module, output module. MCU control module as the core, the input signal is converted to digital quantity output; constant current source module voltage D/A conversion to analog conversion into constant pressure through a constant voltage circuit. The system has good reliability, high precision.展开更多
By introdming a small-caliber deep well rescue robot, a hold-hug pattern rescue mechanism was brought forward. In order to reduce the volmne, the trader-well rescue imclmnism is modularizing designed. At the same tira...By introdming a small-caliber deep well rescue robot, a hold-hug pattern rescue mechanism was brought forward. In order to reduce the volmne, the trader-well rescue imclmnism is modularizing designed. At the same tirae, the audio and video systyems, the illumination system and the ventilation system are expatiated. The rescuing robot can rescue the falling person in the deep well, it can save much manateral resources and time. It＇s really an ideal rescue device for the small-caliber fall.展开更多
The CNC （computer numerical control） is a technology which aims to generate, parse and execute sequential actions that describe the behavior of the end effector. This article reports the development of small sized, ...The CNC （computer numerical control） is a technology which aims to generate, parse and execute sequential actions that describe the behavior of the end effector. This article reports the development of small sized, low cost, prototype CNC system, based on a modular system with the capability of communication through USB. The report includes the basics of the electronic devices developed to run a CNC machine and proposes, as well, software developed in LabVIEW to control and establish the communication between the machine and the computer. The main objective of this work is the development of a machine which allows future researches on the process performance, on educational purposes, the demonstration of the parts involved on the CNC machine.展开更多
The molten Fe80P13C7 alloys can achieve a large undercooling up to 320 K by fluxing technique. With the help of fluxing technique, the molten Fe80P13C7 alloys can be solidified at different undercooling （△T） throug...The molten Fe80P13C7 alloys can achieve a large undercooling up to 320 K by fluxing technique. With the help of fluxing technique, the molten Fe80P13C7 alloys can be solidified at different undercooling （△T） through isothermal undercooling experiment It is indicated that the microstructure of the solidified Fe80P133C7 alloy specimens is refined significantly with the increasing undercooling and the grain size is about 20 μm, 10 μm, 200 nm and 70 nm for △T=50 K, 150 K, 250 K and 320 K, respectively The solidification morphologies of the solidified Fe80P13C7 alloy specimens under different undercooling are quite different. When △T=50 K, it presents a traditional solidification microstructure under a undercooling condition, composed of the primary dendrite and anomalous eutectic within the dendrites. When △T=150 K, a cell-like solidification morphology can be found, which can be proposed to be formed based on the nucleation and growth of spinodal decomposition mechanism. When △T=250 K, there is a strong direction of the solidification under an optical micrograph, two zones can be divided, and the microstructure of each zone presents a network which results from a liquid spinodal decomposition. When △T=320 K, the microstructure presents a random network completely. Microhardness test shows that the hardness of the solidified specimens increases with the undercooling.展开更多
The small GTPase Rap1 induces integrin activation via an inside-out signaling pathway mediated by the Rapl-interacting adaptor mol- ecule （RIAM）. Blocking this pathway may suppress tumor metastasis and other disease...The small GTPase Rap1 induces integrin activation via an inside-out signaling pathway mediated by the Rapl-interacting adaptor mol- ecule （RIAM）. Blocking this pathway may suppress tumor metastasis and other diseases that are related to hyperactive integrins. However, the molecular basis for the specific recognition of RIAM by Rap1 remains largely unknown. Herein we present the crystal structure of an active, GTP-bound GTPase domain of Rap1 in complex with the Ras association （RA）-pleckstrin homology （PH） structural module of RIAM at 1.65 A. The structure reveals that the recognition of RIAM by Rap1 is governed by side-chain interactions. Several side chains are critical in determining specificity of this recognition, particularly the Lys31 residue in Rap1 that is oppositely charged compared with the Glu31/Asp31 residue in other Ras GTPases. Lys31 forms a salt bridge with RIAM residue Glu212, making it the key specificity determinant of the interaction. We also show that disruption of these interactions results in reduction of Rapl：RIAM association, leadingto a loss of co-clustering and cell adhesion. Our findings elucidate the molecular mechanism by which RIAM med- iates Rapl-induced integrin activation. The crystal structure also offers new insight into the structural basis for the specific recruitment of RA-PH module-containing effector proteins by their smaU GTPase partners.展开更多
To analyze the stability of a shallow square tunnel, a new curved failure mechanism, representing the mechanical characteristics and collapsing form of this type of tunnel, is constructed. Based on the upper bound the...To analyze the stability of a shallow square tunnel, a new curved failure mechanism, representing the mechanical characteristics and collapsing form of this type of tunnel, is constructed. Based on the upper bound theorem of limit analysis and the Hoek-Brown nonlinear failure criterion, the supporting pressure derived from the virtual work rate equation is regarded as an objective function to achieve optimal calculation. By employing variational calculation to optimize the objective function, an upper bound solution for the supporting pressure and the collapsing block shape of a shallow square tunnel are obtained. To evaluate the validity of the failure mechanism proposed in this paper, the solutions computed by the curved failure mechanism are compared with the results calculated by the linear multiple blocks failure mechanism when the Hoek-Brown nonlinear failure criterion is converted into the Mohr-Coulomb linear criterion. The influences of rock mass parameters on the supporting pressure and collapsing block shape are discussed.展开更多
The purpose of this work is to investigate the asymptotic properties of a stochastic Gilpin--Ayala population system under regime switching on patches. We establish the global stability and the extinction of the trivi...The purpose of this work is to investigate the asymptotic properties of a stochastic Gilpin--Ayala population system under regime switching on patches. We establish the global stability and the extinction of the trivial equilibrium state of the model. Further- more, we show the existence of the stationary distribution for our system model. The analytical results are illustrated by computer simulations.展开更多
This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the...This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect with one another through self-assembly to form robotic organisms. The configuration connection state table is used to describe the configuration of the robotic structure. A directional self-assembly control model is proposed to perform the self-assembly experiments. The self-assembly process begins with one Sambot as the seed, and then the Docking Sambots use a behavior-based controller to achieve connection with the seed Sambot. The controller is independent of the target configuration. The seed and connected Sambots execute a configuration comparison algorithm to control the growth of the robotic structure. Furthermore, the simul- taneous self-assembly of multiple Sambots is discussed. For multiple configurations, self-assembly experiments are conducted in simulation platform and physical platform of Sambot. The experimental results verify the effectiveness and scalability of the self-assembly algorithms.展开更多
基金Project(50725416) supported by the National Science Fund for Distinguished Young Scholars
文摘The effect of composite agglomeration process(CAP) on fluoric iron concentrates sintering was investigated.The yield and quality of the sinter are greatly improved when using CAP assisted with heat airflow and enhancing magnesium oxide(MgO) contents.For conventional sintering of fluoric iron concentrate,due to lower viscosity of binding phase and higher fluidity of liquid phase,the sinter is formed with large thin-walled holes and the strength of the sinter is deteriorated consequently.The novel process forms composite agglomerate in which acid pellets are embedded in basic sinter.The pellets are solid with interconnecting crystals of hematite(Fe2O3) and magnetic(Fe3O4).For basic sintering,after adding MgO,the viscosity of the melting phase increases and the fluidity decreases;and calcium and aluminum silico-ferrites and magnesium ferrite are formed with perfect crystals and good sintering microstructure.
基金Supported by the National High Technology Research and Development Programme of China（2006AA04Z220）； the National Natural Science Foundation of China（60705027）；Partially Supported by Progranl for Changjiang SchoLars and Innovative Research Team in University（PCSIRT）（IRT0423）.
文摘A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
文摘This paper deals with utilization possibility of a kinematical couple of screw-matrix in minimachine mechatronic concept which is assigned to move within the pipes having less than 25 mm of the inner diameter. The principle of the movement for a straightforward motion consists in transformation of the actuator rotary movement through a screw and a nut to the linear motion. It causes a change of distance between the front and rear parts of the minimachine modules. Due to minimization of the dimensions, the electrical control and power supply components are placed outside of the minimachine operating area. The control module is based on a programmable integrated circuit （PIC）.
基金supported by the National Natural Science Foundation of China(No.61071016)
文摘For the issue of nuclear radiation detection,this paper designs a remote control nuclear radiation detector which can trace a pre-determined route,avoid obstacles effectively,and can be controlled remotely by users wirelessly or through voice command.It can effectively replace manual probing due to convenience,flexibility and safety.The system mainly consists of a nuclear detection module,a voice control module,a route tracing module,an obstacle avoidance module,a data transmission module,storage and a display module,and a D.C.machine.An MSP430 microcontroller is used as a control chip to control the motor and the system uses infrared technology and ultrasonic sensors to achieve intelligent tracing and obstacle avoidance.Moreover,it applies a voice module and data transmission module to remotely controlling the device.The radiation data is shown on an LCD screen.
文摘the system to DC voltage source as the core, AT89C52 MCU as the main controller, the output voltage to set the DC power supply through the keyboard, with a step function voltage to reality, the actual output value. This design is divided into four modules： SCM control and display module, digital to analog （D/A） conversion module, a constant voltage source module, output module. MCU control module as the core, the input signal is converted to digital quantity output; constant current source module voltage D/A conversion to analog conversion into constant pressure through a constant voltage circuit. The system has good reliability, high precision.
基金supported by the Graduate Science and Technology Innovation Fund(YCB100150)
文摘By introdming a small-caliber deep well rescue robot, a hold-hug pattern rescue mechanism was brought forward. In order to reduce the volmne, the trader-well rescue imclmnism is modularizing designed. At the same tirae, the audio and video systyems, the illumination system and the ventilation system are expatiated. The rescuing robot can rescue the falling person in the deep well, it can save much manateral resources and time. It＇s really an ideal rescue device for the small-caliber fall.
文摘The CNC （computer numerical control） is a technology which aims to generate, parse and execute sequential actions that describe the behavior of the end effector. This article reports the development of small sized, low cost, prototype CNC system, based on a modular system with the capability of communication through USB. The report includes the basics of the electronic devices developed to run a CNC machine and proposes, as well, software developed in LabVIEW to control and establish the communication between the machine and the computer. The main objective of this work is the development of a machine which allows future researches on the process performance, on educational purposes, the demonstration of the parts involved on the CNC machine.
基金supported by the National Natural Science Foundation of China(Grant No.51061017)the College Research Plan Project of Xinjiang Uyghur Autonomous Region of China(Grant No.XJEDU2010I04)
文摘The molten Fe80P13C7 alloys can achieve a large undercooling up to 320 K by fluxing technique. With the help of fluxing technique, the molten Fe80P13C7 alloys can be solidified at different undercooling （△T） through isothermal undercooling experiment It is indicated that the microstructure of the solidified Fe80P133C7 alloy specimens is refined significantly with the increasing undercooling and the grain size is about 20 μm, 10 μm, 200 nm and 70 nm for △T=50 K, 150 K, 250 K and 320 K, respectively The solidification morphologies of the solidified Fe80P13C7 alloy specimens under different undercooling are quite different. When △T=50 K, it presents a traditional solidification microstructure under a undercooling condition, composed of the primary dendrite and anomalous eutectic within the dendrites. When △T=150 K, a cell-like solidification morphology can be found, which can be proposed to be formed based on the nucleation and growth of spinodal decomposition mechanism. When △T=250 K, there is a strong direction of the solidification under an optical micrograph, two zones can be divided, and the microstructure of each zone presents a network which results from a liquid spinodal decomposition. When △T=320 K, the microstructure presents a random network completely. Microhardness test shows that the hardness of the solidified specimens increases with the undercooling.
文摘The small GTPase Rap1 induces integrin activation via an inside-out signaling pathway mediated by the Rapl-interacting adaptor mol- ecule （RIAM）. Blocking this pathway may suppress tumor metastasis and other diseases that are related to hyperactive integrins. However, the molecular basis for the specific recognition of RIAM by Rap1 remains largely unknown. Herein we present the crystal structure of an active, GTP-bound GTPase domain of Rap1 in complex with the Ras association （RA）-pleckstrin homology （PH） structural module of RIAM at 1.65 A. The structure reveals that the recognition of RIAM by Rap1 is governed by side-chain interactions. Several side chains are critical in determining specificity of this recognition, particularly the Lys31 residue in Rap1 that is oppositely charged compared with the Glu31/Asp31 residue in other Ras GTPases. Lys31 forms a salt bridge with RIAM residue Glu212, making it the key specificity determinant of the interaction. We also show that disruption of these interactions results in reduction of Rapl：RIAM association, leadingto a loss of co-clustering and cell adhesion. Our findings elucidate the molecular mechanism by which RIAM med- iates Rapl-induced integrin activation. The crystal structure also offers new insight into the structural basis for the specific recruitment of RA-PH module-containing effector proteins by their smaU GTPase partners.
基金supported by the National Natural Science Foundation of China (No. 51178468)the National Basic Research Program (973) of China (No. 2011CB013800)
文摘To analyze the stability of a shallow square tunnel, a new curved failure mechanism, representing the mechanical characteristics and collapsing form of this type of tunnel, is constructed. Based on the upper bound theorem of limit analysis and the Hoek-Brown nonlinear failure criterion, the supporting pressure derived from the virtual work rate equation is regarded as an objective function to achieve optimal calculation. By employing variational calculation to optimize the objective function, an upper bound solution for the supporting pressure and the collapsing block shape of a shallow square tunnel are obtained. To evaluate the validity of the failure mechanism proposed in this paper, the solutions computed by the curved failure mechanism are compared with the results calculated by the linear multiple blocks failure mechanism when the Hoek-Brown nonlinear failure criterion is converted into the Mohr-Coulomb linear criterion. The influences of rock mass parameters on the supporting pressure and collapsing block shape are discussed.
文摘The purpose of this work is to investigate the asymptotic properties of a stochastic Gilpin--Ayala population system under regime switching on patches. We establish the global stability and the extinction of the trivial equilibrium state of the model. Further- more, we show the existence of the stationary distribution for our system model. The analytical results are illustrated by computer simulations.
基金supported by the National High Technology Research and Development Program of China ("863" Program) (Grant Nos. 2009AA043901 and 2012AA041402)National Natural Science Foundation of China (Grant No. 61175079)+1 种基金Fundamental Research Funds for the Central Universities (Grant No. YWF-11-02-215)Beijing Technological New Star Project (Grant No. 2008A018)
文摘This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect with one another through self-assembly to form robotic organisms. The configuration connection state table is used to describe the configuration of the robotic structure. A directional self-assembly control model is proposed to perform the self-assembly experiments. The self-assembly process begins with one Sambot as the seed, and then the Docking Sambots use a behavior-based controller to achieve connection with the seed Sambot. The controller is independent of the target configuration. The seed and connected Sambots execute a configuration comparison algorithm to control the growth of the robotic structure. Furthermore, the simul- taneous self-assembly of multiple Sambots is discussed. For multiple configurations, self-assembly experiments are conducted in simulation platform and physical platform of Sambot. The experimental results verify the effectiveness and scalability of the self-assembly algorithms.
