In this paper, by combining a stochastic optimization method with a refrigeration shaft work targeting method,an approach for the synthesis of a heat integrated complex distillation system in a low-temperature process...In this paper, by combining a stochastic optimization method with a refrigeration shaft work targeting method,an approach for the synthesis of a heat integrated complex distillation system in a low-temperature process is presented. The synthesis problem is formulated as a mixed-integer nonlinear programming(MINLP) problem,which is solved by simulated annealing algorithm under a random procedure to explore the optimal operating parameters and the distillation sequence structure. The shaft work targeting method is used to evaluate the minimum energy cost of the corresponding separation system during the optimization without any need for a detailed design for the heat exchanger network(HEN) and the refrigeration system(RS). The method presented in the paper can dramatically reduce the scale and complexity of the problem. A case study of ethylene cold-end separation is used to illustrate the application of the approach. Compared with the original industrial scheme, the result is encouraging.展开更多
The article presents the legal and economic issues connected with the formation and operation of Polish agricultural cooperatives. Additionally, it shows a brief history of cooperative development on Polish lands and ...The article presents the legal and economic issues connected with the formation and operation of Polish agricultural cooperatives. Additionally, it shows a brief history of cooperative development on Polish lands and statistical data on agriculture and cooperatives. Most attention is given to dairy cooperatives, cooperative groups of agricultural producers and agricultural production cooperatives. These types of cooperatives are the most popular in Polish agriculture. The fundamental law regulating the issue of cooperatives in Poland is the Cooperative Law Act of September 16, 1982. Other laws, however, also have a big influence on the business activity of agricultural cooperatives, especially the EU legal regulations. Poland membership in the European Union has created new possibilities of development for the cooperative movement.展开更多
In this review we have summarized some recent results mainly reported by our group that focused on the development of smart gating nanochannels based on polymer films. These nanochannels were prepared using a track-et...In this review we have summarized some recent results mainly reported by our group that focused on the development of smart gating nanochannels based on polymer films. These nanochannels were prepared using a track-etch process. The responsive materials/molecules and modification methods/techniques have also been demonstrated, from which we have obtained a series of smart gating nanochannels that can respond to single/dual external stimuli, e.g., pH, ion, temperature, light, and so on. These studies utilize responsive behaviors to regulate ionic transport properties inside a single nanochannel and demonstrate the fea-sibility of designing other smart nanodevices in the future.展开更多
Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener...Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.展开更多
基金the National Basic Research Program of China(2010CB720500)the National Natural Science Foundation of China(21176178)
文摘In this paper, by combining a stochastic optimization method with a refrigeration shaft work targeting method,an approach for the synthesis of a heat integrated complex distillation system in a low-temperature process is presented. The synthesis problem is formulated as a mixed-integer nonlinear programming(MINLP) problem,which is solved by simulated annealing algorithm under a random procedure to explore the optimal operating parameters and the distillation sequence structure. The shaft work targeting method is used to evaluate the minimum energy cost of the corresponding separation system during the optimization without any need for a detailed design for the heat exchanger network(HEN) and the refrigeration system(RS). The method presented in the paper can dramatically reduce the scale and complexity of the problem. A case study of ethylene cold-end separation is used to illustrate the application of the approach. Compared with the original industrial scheme, the result is encouraging.
文摘The article presents the legal and economic issues connected with the formation and operation of Polish agricultural cooperatives. Additionally, it shows a brief history of cooperative development on Polish lands and statistical data on agriculture and cooperatives. Most attention is given to dairy cooperatives, cooperative groups of agricultural producers and agricultural production cooperatives. These types of cooperatives are the most popular in Polish agriculture. The fundamental law regulating the issue of cooperatives in Poland is the Cooperative Law Act of September 16, 1982. Other laws, however, also have a big influence on the business activity of agricultural cooperatives, especially the EU legal regulations. Poland membership in the European Union has created new possibilities of development for the cooperative movement.
基金supported by the National Basic Research Program of China(973 Program,2011CB935703,2010CB934700,2009CB930404 &2007CB936403)National Natural Science Foundation of China(20974113,20920102036)Center for Molecular Science,Chinese Academy of Sciences (CX-201014)
文摘In this review we have summarized some recent results mainly reported by our group that focused on the development of smart gating nanochannels based on polymer films. These nanochannels were prepared using a track-etch process. The responsive materials/molecules and modification methods/techniques have also been demonstrated, from which we have obtained a series of smart gating nanochannels that can respond to single/dual external stimuli, e.g., pH, ion, temperature, light, and so on. These studies utilize responsive behaviors to regulate ionic transport properties inside a single nanochannel and demonstrate the fea-sibility of designing other smart nanodevices in the future.
基金supported by the National Basic Research Program of China (Grant No. 2013CB035501)
文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.
