草乌几种炮制品的毒性实验比较

比较性地研究了草乌润后加压蒸新炮制品和药典炮制品、生品的急性毒性及对心律和呼吸的影响。结果证明新法１炮制品（润４８ｈ，６８．６５ｋＰａ，１１５℃蒸２ｈ）具有毒性低，对心律影响小，抑制呼吸作用弱等优点。

ADAPTIVE BACKSTEPPING FLIGHT CONTROL WITH ACTUATOR SATURATION

Because actuator satu ration can become a problem or even a disaster in flight control system, the con sideration of actuator saturation in the design phase may indeed reduce the degr ee of conservativeness of an flight control system (FCS) and thus noticeably enh ance the performance of the FCS. Deflection limits and rate limits are both cons idered in a new adaptive backstepping FCS design process. The key of the method is that a new control Lyapunov function (CLF) and a control law are chosen when the actuator saturation occurs. This idea results from that there must be a vari ation in the pseudo-control at saturation. The whole progress is a modification of an early presented method: adaptive backstepping control scheme. The stabili ty is proved and verified successfully. The conclusion and some comments about t his method are given in the end.

Cloning and molecular characterization of△^(12)-fatty acid desaturase gene from Mortierella isabellina

AIM： To clone △^12 -fatty acid desaturase gene of Mortierella isabellina and to functionally characterize this gene in vitro and in vivo.METHODS： Reverse transcriptional polymerase chain reaction （RT-PCR） was used to clone the open reading frame of △^12-fatty acid desaturase gene （D12D） of Mortierella isabellina. Plasmids pEMICL12 and pYMICL12 were constructed with it. pEMICL12 was transformed into Escherichia coli（E.coli） strain BL21 using CaCl2 method for expression after induction with IPTG. pTMICL12 was transformed into Saccharomyces cerevisiae strain IN- VSc1 using lithium acetate method for expression under the induction of galactose. Northern blotting method was used to investigate the effect of temperature on the transcriptional level of this gene in S.cerevisiae strain IN- VSc1.RESULTS： Recombinant plasmids pEMICL12 and pTMICL12 were successfully constructed and transformed into E. coli and S.cerevisiae separately with appropriate method. After induction with IPTG and galactose, it was found that expression of △^12-fatty acid desaturase genes in E.coli and S. cerevisiae under appropriate conditions led to the production of active △^12-fatty acid desaturase, which could convert 17.876% and 17.604% of oleic acid respectively to linoleic acid by GC-MS detection in vitro and in vivo.CONCLUSION： Cloning and expression of M.isabellina D12D gene in E.coli and S.cerevisiae is successfully completed.

Adaptive Backstepping Sliding Mode Control for Nonlinear Systems with Input Saturation

An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks (NNs).The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function,so the stability can be guaranteed even under the input saturation.The proposed control law is robust against the disturbance,and it can also eliminate the impact of input saturation.Simulation results indicate that the proposed controller has a good performance.

Coordinated Control of Multi-Agent Systems with a Varying-Velocity Leader and Input Saturation

In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be completelymeasured.We theoretically prove that each agent can follow the leader with estimable track errors.Finally,somenumerical simulations are presented to illustrate our theoretical results.

Nonlinear stochastic optimal bounded control of hysteretic systems with actuator saturation

A modified nonlinear stochastic optimal bounded control strategy for random excited hysteretic systems with actuator saturation is proposed. First, a controlled hysteretic system is converted into an equivalent nonlinear nonhysteretic stochastic system. Then, the partially averaged Itoe stochastic differential equation and dynamical programming equation are established, respectively, by using the stochastic averaging method for quasi non-integrable Hamiltonian systems and stochastic dynamical programming principle, from which the optimal control law consisting of optimal unbounded control and bang-bang control is derived. Finally, the response of optimally controlled system is predicted by solving the Fokker-Planck-Kolmogorov （FPK） equation associated with the fully averaged Itoe equation. Numerical results show that the proposed control strategy has high control effectiveness and efficiency.

Role of Ni(NO_3)_2 in the preparation of a magnetic coal-based activated carbon

The role of Nil（NO3）2 in the preparation of a magnetic activated carbon is reported in this paper. Magnetic coal-based activated carbons （MCAC） were prepared from Taixi anthracite with low ash content in the presence of Ni（NO3）2. The MCAC materials were characterized by a vibrating sample magnetometer （VSM）, X-ray diffraction （XRD）, a scanning electric microscope （SEM）, and by N2 adsorption. The cylindri- cal precursors and derived char were also subjected to thermogravimetric analysis to compare their behavior of weight losses during carbonization. The results show that MCAC has a larger surface area （1074 m21g） and a higher pore volume （0.5792 cm3/g） with enhanced mesopore ratio （by about 10~）. It also has a high saturation magnetization （1.6749 emu/g） and low coercivity （43.26 Oe）, which allows the material to be magnetically separated. The MCAC is easily magnetized because the nickel salt is con- vetted into Ni during carbonization and activation. Metallic Ni has a strong magnetism on account of electrostatic interaction. Added Ni（NO3）2 catalyzes the carbonization and activation process by accelerat- ing burn off of the carbon, which contributes to the development of mesopores and macropores in the activated carbon.

Power-Assisted Cart Control Method with Motor Torque Limiter Based on Prediction of Torque Saturation

In this article, a method to control power-assisted carts with motor torque limiter that achieves the desired load-reduction ratio even if torque saturation occurs, is proposed to reduce the size and power consumption of power-assist systems. This method uses the ratio of the assist-force impulse to the operator-force impulse as an indicator for evaluating proposed method. Proposed method predicts the needs of the operator and delivers the desired load-reduction ratio by predicting operation. The results show that the target load-reduction ratio can be obtained with proposed control method and indicate that the target load-reduction ratio can be obtained with 80% force. By applying our proposed method, short available time of power-assisted carts will be improved.

Study of Comparative Saturated Sliding Mode Control and LQR Controller

The saturation problem is the one of the most common handicaps for applying to real applications, especially the actuator saturation. This paper focuses on the robustness of the sliding mode control （SMC） which incorporates a saturation constraint technique compared to classical linear quadratic regulator （LQR） with saturation. In the first step, the authors present a design methodology of SMC of a class of linear saturated systems. The authors present the structure of the saturation, after that the synthesis of the sliding surface is formulate as a problem of root clustering, which leads to the development of a continuous and non-linear control law that ensures the reaching condition of the sliding mode. The second step is devoted to present briefly the LQR controller technique. Finally, to validate results, the authors demonstrate an example of a quarter of vehicle system.

Preparation of Air-Stable Iron-Oxide-Coated Metallic Iron Nanoparticles

The α-Fe nanoparticles with oxide shell were prepared by the complete reduction of iron oxide ones with hydrogen, followed by the selective surface oxidation as a thin layer. As-treated α-Fe nanoparticles preserved their saturation magnetization and metal α-Fe phase for at least 80 days in the air. In comparison, the unstabilized α-Fe nanoparticles protected only by their silica shell were oxidized instantly in the air and the saturation magnetization of the unstabilized α-Fe nanoparticles was decreased drastically. Since the stabilization procedure was carried out under dry conditions using silica-coated iron oxide nanoparticles as precursors, it could be applied to nanoparticles of various sizes and shapes to obtain a stable α-Fe phase.

Saturation influence of control voltage on maglev stationary self-excited vibration

This work addresses the saturation influence of control voltage on the occurring of self-excited vibration of maglev vehicle-bridge interaction system, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the interaction model of vehicle-bridge system is developed. Based on the interaction model, the relationship between the control voltage and vibration frequency is solved. Then, the variation of the effective direct component and fundamental harmonic are discussed. Furthermore, from the perspective of energy transmission between the levitation system and bridge, the principle underlying the self-excited vibration is explored, and the influence on the stability is discussed. Finally, in terms of the variation of the characteristic roots, the influence is analyzed further and some conclusions are obtained. This study provides a theoretical guidance for mastering the self-excited vibration problems.

Adaptive Backstepping Control for Uncertain Systems with Compound Nonlinear Characteristics

An adaptive backstepping multi-sliding mode approximation variable structure control scheme is proposed for a class of uncertain nonlinear systems.An actuator model with compound nonlinear characteristics is established based on the model decomposition method.The unmodeled dynamic term of the radial basis function neural network approximation system is presented.The Nussbaum gain design technique is utilized to overcome the problem that the control gain is unknown.The adaptive law estimation is used to estimate the upper boundary of neural network approximation and uncertain interference.The adaptive approximate variable structure control effectively weakens the control signal chattering while enhancing the robustness of the controller.Based on the Lyapunov stability theory,the stability of the entire control system is proved.The main advantage of the designed controller is that the compound nonlinear characteristics are considered and solved.Finally,simulation results are given to show the validity of the control scheme.

Experimental Plans Method to Formulate a Resin Concrete

This work is an experimental approach based on the method of experimental plans to determine a specific formulation of a resin concrete. In this study, an unsaturated polyester resin （thermosetting resin） was used with two types of mineral fillers （dune sand and crushed sand）, and with the addition of a marble powder to ensure the continuity of the particle size mixing granular. The lack of the methods for developing this kind of composite materials, had led us to perform an initial experimental approach to define the experimental field, that is to say determine the mass proportions of the various compounds of mixture of our study. In the second approach, we have established and implemented fully experimental plans with three factors namely： factor （1）： sand, factor （2）： resin, factor （3）： marble powder. Test results being the density of polymer concrete and the mechanical resistances. Finally, multi-parameters regression allowed us to determine predictive mathematical models for the different responses of the study. Tests results showed that at three days we got a tensile strength of about 16 MPa with a resin concrete density of 1.9 g/cm3. This shows the advantages of this material.

Selective Mono-Ozonolysis of a Cyclic 1,5,9-Cyclododecatrien

Some unsaturated compounds with the required （Z,Z）-double bonds configuration are synthesized through controlled ozonolysis process of 1,5,9-cyclododecatriene by determining the necessary amount of ozone passing through to selectively guarantee the breakage of a double bond while leaving other two bonds as （Z,Z）. The products were diagnosed by using NMR spectrum, infrared （IR） and mass spectrometer techniques. It is concluded that these products could widely be used in the synthesis of insect pheromones instead of insecticides and as useful intermediate compounds in many chemical reactions.

A Numerical Analysis of the Forced Convection Condensation of Saturated Vapor Flowing Axially Outside a Horizontal Tube

Physical and mathematical models are developed to describe the forced convection condensation heattransfer of saturated vapor flowing axially outside a horizontal tube. The numerical solution of themodels indicates the effects of vapor velocity on the liquid film thickness. The result verifies the enhancement of condensation heat transfer caused by such flow.

Supersaturation controlled growth of MAFAPbI3 perovskite film for high efficiency solar cells

Controlling the nucleation and growth of organic-inorganic hybrids perovskite is of key importance to improve the morphology and crystallinity of perovskite films. However, the growth mechanism of perovskite films based on classical crystallization theory is not fully understood. Here, we develop a supersaturation controlled strategy(SCS) to balance the nucleation and crystal growth speeds. By this strategy, we are able to find an ideal supersaturation region to realize a balance of nucleation and crystal growth, which yields highly crystallized perovskite films with micrometer-scale grains. Besides, we provide a thoughtful analysis of nucleation and growth based on the fabrication of the perovskite films. As a result, the highest photovoltaic power conversion efficiencies(PCE) of 19.70% and 20.31% are obtained for the planar and the meso-superstructured devices, respectively. This strategy sheds some light for understanding the film growth mechanism of high quality perovskite film, and it provides a facile strategy to fabricate high efficiency perovskite solar cells.

PARALLEL SIMULTANEOUS STABILIZATION OF A SET OF PORT-CONTROLLED HAMILTONIAN SYSTEMS SUBJECT TO ACTUATOR SATURATION

This paper investigates parallel simultaneous stabilization （PSS） of a set of multi-input nonlinear Port-Controlled Hamiltonian （PCH） systems subject to actuator saturation （AS）, and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.

Anti-unwinding attitude maneuver control of spacecraft considering bounded disturbance and input saturation

The attitude maneuver control of spacecraft under bounded disturbance and input saturation is investigated in this paper.Using the Lyapunov stability theory,an anti-saturation sliding mode control algorithm is given by designing a time-varying sliding mode to solve the input saturated attitude control problem without disturbance.Then combining the merit in anti-saturation of time-varying sliding mode controller with the merit in anti-disturbance of time-invariant sliding mode controller,a switching strategy between the two controllers is designed to solve the attitude maneuver control problem under input saturation and bounded disturbance.However,double value of quaternions makes the attitude slewing unwinding.To solve the problem,an attitude error vector is designed.Based on the error vector,a modified sliding mode control algorithm is proposed which simultaneously has the ability of anti-saturation,anti-disturbance and anti-unwinding.Simulation results show that the algorithm in this paper is feasible and effective.

GLOBAL STABILIZATION OF LINEAR SYSTEMS WITH BOUNDED CONTROLS USING STATE-DEPENDENT SATURATION FUNCTIONS

By using the so-called SP-stable polynomials, this paper reconsiders the problem of global stabilization of linear systems with input saturation. Firstly, a new nonlinear feedback law consisting of parallel connections of saturation functions by means of the so-called state-dependent saturation function is proposed for global stabilization of chains of integrators system. The state-dependent saturation function allows increasing the control energy when some of the states are badly scaled and can improve significantly the transient performances of the closed-loop system. Secondly, this type of global stabilization nonlinear feedback laws is extended to a class of linear systems that can be globally stabilized by bounded controls. Numerical examples show the effectiveness of the proposed approach.