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石灰性土壤中稳性和高稳性有机磷有效性分组法的探讨 被引量:3
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作者 胡晓玲 尹淑霞 +1 位作者 刘华开 孙素华 《安徽农业科学》 CAS 2002年第5期667-669,675,共4页
针对Bowman -Cole法 ,用于石灰性土壤稳定性有机磷有效性分组方法的缺点 ,在吸收酸性水稻土改进法优点的基础之上 ,提出石灰性土壤稳定性有机磷的提取方法以及中稳性有机磷和高稳性有机磷的有效分级方法。中稳性有机磷 ,指按照NaHCO3-Na... 针对Bowman -Cole法 ,用于石灰性土壤稳定性有机磷有效性分组方法的缺点 ,在吸收酸性水稻土改进法优点的基础之上 ,提出石灰性土壤稳定性有机磷的提取方法以及中稳性有机磷和高稳性有机磷的有效分级方法。中稳性有机磷 ,指按照NaHCO3-NaOH -H2 SO4 的连续浸提顺序处理 ,用 0 .0 5moL/LNaOH浸提 ,超声波处理 15min ,连续振荡 2h ,在pH 3 .1条件下不发生沉淀的稳定性有机磷 ;高稳性有机磷是指在上述浸提条件下 ,在pH 3 . 展开更多
关键词 石灰性土壤 中稳性 高稳性 有机磷 有效性 分组法
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高稳性浮标体室内模型设计 被引量:1
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作者 宋雨泽 熊焰 +3 位作者 路宽 李超 王花梅 朱晓阳 《海洋技术》 北大核心 2014年第5期34-40,共7页
浮标是实现海洋环境监测的一种重要手段,圆盘形浮标是最为通用的随波浮标载体形式之一,其主要功能是通过浮标搭载的各类型传感器对海洋环境中各参数进行现场测量,正是因为圆盘形浮标的随波以及在中高海况下的稳性,导致在测量风、流等动... 浮标是实现海洋环境监测的一种重要手段,圆盘形浮标是最为通用的随波浮标载体形式之一,其主要功能是通过浮标搭载的各类型传感器对海洋环境中各参数进行现场测量,正是因为圆盘形浮标的随波以及在中高海况下的稳性,导致在测量风、流等动量参数时误差较大,基于此类因素的考虑,提出一种新型的浮标体结构形式,并进行缩尺制作模型,开展室内水动力试验,以期能够对高稳性浮标的研发提供一定的参考。 展开更多
关键词 高稳性 浮标体结构 模型 设计
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高稳性多硫化钠蒸煮药液的制备 被引量:1
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作者 时留新 翟华敏 李忠正 《南京林业大学学报(自然科学版)》 CAS CSCD 北大核心 2004年第6期52-54,共3页
探讨了用溶解单质硫法制备高稳性多硫化钠蒸煮药液的技术,包括多硫化钠蒸煮药液受反应温度、反应时间、搅拌速率、硫化钠浓度和碱液浓度等因素的影响。结果表明,制备高稳性多硫化钠蒸煮药液的优化工艺条件为:反应温度80℃,时间30min,搅... 探讨了用溶解单质硫法制备高稳性多硫化钠蒸煮药液的技术,包括多硫化钠蒸煮药液受反应温度、反应时间、搅拌速率、硫化钠浓度和碱液浓度等因素的影响。结果表明,制备高稳性多硫化钠蒸煮药液的优化工艺条件为:反应温度80℃,时间30min,搅拌速率100r/min,以及尽可能高的硫化钠浓度;添加稳定剂A,可减缓碱液对多硫化钠的分解作用。 展开更多
关键词 多硫化钠 高稳性 蒸煮药液
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Experimental and Numerical Investigation of Micro Tip Injection in a High‑Speed Axial Compressor Rotor
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作者 LIU Wenhao CHU Wuli +2 位作者 ZHANG Haoguang WANG Hao WANG Guang 《Transactions of Nanjing University of Aeronautics and Astronautics》 CSCD 2024年第6期750-765,共16页
A series of experiments and numerical simulations are carried out in a high-speed axial compressor to systematically investigate the influence and underlying flow mechanisms of micro tip injection on enhancing compres... A series of experiments and numerical simulations are carried out in a high-speed axial compressor to systematically investigate the influence and underlying flow mechanisms of micro tip injection on enhancing compressor stability.Different geometric structures of micro tip injection have been investigated,including the axial positions of injector port,injected mass flow rate and injector diameter.First,seven designed micro tip injection structures and one solid wall casing are tested in the compressor test rig to elucidate the influence of different micro tip injection parameters on the compressor stability.Then,numerical simulations are conducted to analyze the underlying flow mechanisms of micro tip injection with different design parameters on enhancing the compressor stability.The experimental and numerical investigation reveal that when the injection port is located upstream of the low-speed region,the compressor stability is significantly enhanced.The tip injection with larger injected mass flow can obtain higher stall margin improvement.Smaller injector diameter produces higher injection momentum and velocity,contributing to greater improvement on the compressor stability. 展开更多
关键词 axial compressor high speed stability micro tip injection flow mechanism experiment numerical simulation
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High-resolution reconstruction of the ablative RT instability flowfield via convolutional neural networks
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作者 Xia Zhiyang Kuang Yuanyuan +1 位作者 Lu Yan Yang Ming 《强激光与粒子束》 CAS CSCD 北大核心 2024年第12期42-49,共8页
High-resolution flow field data has important applications in meteorology,aerospace engineering,high-energy physics and other fields.Experiments and numerical simulations are two main ways to obtain high-resolution fl... High-resolution flow field data has important applications in meteorology,aerospace engineering,high-energy physics and other fields.Experiments and numerical simulations are two main ways to obtain high-resolution flow field data,while the high experiment cost and computing resources for simulation hinder the specificanalysis of flow field evolution.With the development of deep learning technology,convolutional neural networks areused to achieve high-resolution reconstruction of the flow field.In this paper,an ordinary convolutional neuralnetwork and a multi-time-path convolutional neural network are established for the ablative Rayleigh-Taylorinstability.These two methods can reconstruct the high-resolution flow field in just a few seconds,and further greatlyenrich the application of high-resolution reconstruction technology in fluid instability.Compared with the ordinaryconvolutional neural network,the multi-time-path convolutional neural network model has smaller error and canrestore more details of the flow field.The influence of low-resolution flow field data obtained by the two poolingmethods on the convolutional neural networks model is also discussed. 展开更多
关键词 convolutional neural networks ablative Rayleigh-Taylor instability high-resolutionreconstruction multi-time-path pooling
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Influence of heat treatment on electrochemical properties of Ti_(1.4)V_(0.6)Ni alloy electrode containing icosahedral quasicrystalline phase 被引量:1
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作者 刘万强 张姗姗 王立民 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2012年第12期3034-3038,共5页
The structures and electrochemical properties of the Ti1.4V0.6Ni ribbon before and after heat treatment are investigated systematically. The structure of the sample is characterized by X-ray powder diffraction analysi... The structures and electrochemical properties of the Ti1.4V0.6Ni ribbon before and after heat treatment are investigated systematically. The structure of the sample is characterized by X-ray powder diffraction analysis. Electrochemical properties including the discharge capacity, the cyclic stability and the high-rate discharge ability are tested. X-ray powder diffraction analysis shows that after heat treatment at 590 °C for 30 min, all samples mainly consist of the icosahedral quasicrystal phase (I-phase), Ti2Ni phase (FCC), V-based solid solution phase (BCC) and C14 Laves phase (hexagonal). Electrochemical measurements show that the maximum discharge capacity of the alloy electrode after heat treatment is 330.9 mA?h/g under the conditions that the discharge current density is 30 mA/g and the temperature is 30 °C. The result indicates that the cyclic stability and the high-rate discharge ability are all improved. In addition, the electrochemical kinetics of the alloy electrode is also studied by electrochemical impedance spectroscopy (EIS) and hydrogen diffusion coefficient (D). 展开更多
关键词 QUASICRYSTAL Ti1.4V0.6Ni alloy electrochemical properties cyclic stability high-rate discharge discharge capacity
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Experimental study of pavement performance of basalt fiber-modified asphalt mixture 被引量:17
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作者 范文孝 康海贵 郑元勋 《Journal of Southeast University(English Edition)》 EI CAS 2010年第4期614-617,共4页
To discuss the pavement performance of basalt fiber-modified asphalt mixtures,the optimum dosages of asphalt and fibers are studied by the Marshall test and the rutting test.The results demonstrate that the optimum do... To discuss the pavement performance of basalt fiber-modified asphalt mixtures,the optimum dosages of asphalt and fibers are studied by the Marshall test and the rutting test.The results demonstrate that the optimum dosages of asphalt and fibers are 4.63% and 0.3%,respectively.Then the pavement performances of basalt(polyester,xylogen)fiber-modified asphalt mixtures are investigated through high temperature stability tests,water stability tests and low temperature crack resistance tests.It indicates that the pavement performances of the fiber-modified asphalt mixtures such as rutting dynamic stability,freezing splitting tensile strength,low temperature crack resistance and so on are improved compared with control asphalt mixture.The results show that the pavement performances of asphalt mixtures can be improved by fiber-modifiers.Besides,the improvement effects of basalt fiber are superior to polyester fiber and xylogen fiber. 展开更多
关键词 asphalt mixture basalt fiber Marshall test high temperature stability test pavement performance
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Stability of Baicalin Aqueous Solution by Validated RP-HPLC 被引量:6
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作者 仇峰 唐星 +1 位作者 何仲贵 李好枝 《Journal of Chinese Pharmaceutical Sciences》 CAS 2004年第2期134-137,共4页
Aim In the present study a RP-HPLC method was developed and validated toinvestigate the stability of baicalin aqueous solution. Methods The influences of temperature and pHon the stability of baicalin aqueous solution... Aim In the present study a RP-HPLC method was developed and validated toinvestigate the stability of baicalin aqueous solution. Methods The influences of temperature and pHon the stability of baicalin aqueous solution were investigated by classic homoiothermicacceleration test, and the pH for the most stable solution was determined. Results The time whenbaicalin suffered 10% loss was found to be 18.1 h, and the degradation activation energy of baicalinwas 79.1 kJ·moL^(-1) . The pH at which baicalin is most stable is 4.28. Conclusion The temperatureshould be kept at a lower level and the pH should be adjusted to near that for the most stablesolution in the production of baicalin preparations. 展开更多
关键词 RP-HPLC BAICALIN STABILITY TEMPERATURE PH
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登海9号玉米引种试验研究
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作者 张守兵 唐俊杰 张叔煜 《河北北方学院学报(自然科学版)》 2005年第5期39-42,共4页
运用高稳系数法对引种的登海系列玉米品种进行不同年度间高产稳产性分析,并对参试品种运用灰色系统理论进行综合评判。结果表明:经2001~2003年连续3年引种大区比较试验,登海9号玉米在年度间高产性及综合性表现上,都优于生产上主栽品... 运用高稳系数法对引种的登海系列玉米品种进行不同年度间高产稳产性分析,并对参试品种运用灰色系统理论进行综合评判。结果表明:经2001~2003年连续3年引种大区比较试验,登海9号玉米在年度间高产性及综合性表现上,都优于生产上主栽品种农大108,在生产上具有很好的推广前景。 展开更多
关键词 登海9号玉米 引种试验 高稳性分析 灰色评判
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漓江有了双体豪华游船
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作者 周继发 贺振敏 《珠江水运》 1995年第3期33-33,共1页
造型古朴典雅、高稳性、低噪音的双体电力推进高级豪华游船——“阳航301号”投入桂林漓江营运。 该游船是阳朔航运总公司投资,漓江游船新产品新技术研制室设计研制,阳朔航运总公司造船厂承建的第一艘漓江双体豪华游船。为了适应漓江旅... 造型古朴典雅、高稳性、低噪音的双体电力推进高级豪华游船——“阳航301号”投入桂林漓江营运。 该游船是阳朔航运总公司投资,漓江游船新产品新技术研制室设计研制,阳朔航运总公司造船厂承建的第一艘漓江双体豪华游船。为了适应漓江旅游业发展的需要,阳朔航运总公司针对漓江现有游船振动大、噪音高、稳性欠佳等不足,克服许多困难,投资125万元,采用双船体宽甲板连接结构。 展开更多
关键词 豪华游船 双体 航运总公司 阳朔 高稳性 交流电力推进 桂林漓江 古朴典雅 连接结构 设计研制
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Food Resource Partitioning in Alpine Weasel,Steppe Polecat and Upland Buzzard:Evidence from Stable Isotope Ratios 被引量:4
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作者 易现峰 《Zoological Research》 CAS CSCD 北大核心 2005年第1期1-7,共7页
Based on mass balance theory and IsoSource program,stable carbon and nitrogen isotopic ratios revealed that small mammals (plateau pika,root vole and plateau zokor) contributed 26.8% and 27.0% and 29.2% to alpine weas... Based on mass balance theory and IsoSource program,stable carbon and nitrogen isotopic ratios revealed that small mammals (plateau pika,root vole and plateau zokor) contributed 26.8% and 27.0% and 29.2% to alpine weasel,steppe polecat and upland buzzard of carnivores as food respectively;adult passerine birds contributed 22.3%,47.7% and 69.1%,with hatchlings contributing 50.9%,25.6% and 1.70% to each respectively.δ 13 C values plotted against δ 15 N indicated significant partitioning in two-dimensional space among the three carnivores.It was reasonable to propose a food resource partitioning among alpine weasel,steppe polecat and upland buzzard,which partially revealed their co-existence mechanisms. 展开更多
关键词 Alpine weasel Steppe polecat Upland buzzard Stable isotope FOOD Resource partitioning
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Ground stability of underground gateroad with 1 km burial depth: A case study from Xingdong coal mine, China 被引量:13
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作者 ZHANG Guang-chao HE Fu-lian +1 位作者 LAI Yong-hui JIA Hong-guo 《Journal of Central South University》 SCIE EI CAS CSCD 2018年第6期1386-1398,共13页
This paper presents an integrated investigation of the ground stability of a deep gateroad with a 1 km burial depth based on a field test, case studies, and numerical modelling. In situ stress measurements and mechani... This paper presents an integrated investigation of the ground stability of a deep gateroad with a 1 km burial depth based on a field test, case studies, and numerical modelling. In situ stress measurements and mechanical properties tests were first conducted in the test site. Then, the deformation behavior, stress and yield zone distributions, as well as the bolts load of the gateroad, were simulated using FLAC3D software. The model results demonstrated that the soft rock properties and high in situ stress were the main factors for the deep gateroad instability, and the shear slip failure induced by the high stress was the primary failure model for the deep rock mass. In addition, the unsuitable support patterns, especially the relatively short bolts/cables with low pre-tensions, the lack of high-strengthen secondary supports and the unsupported floor strata, also contributed to the gateroad instability. Subsequently, a new combined supporting strategy, incorporating longer bolts/cables, yielding ring supports, and grouting measures, was proposed for the deep gateroad, and its validity was verified via field monitoring. All these could be a reference for understanding the failure mechanism of the gateroad with 1 km burial depth. 展开更多
关键词 deep coal mine soft rock burial depth failure mechanism deformation behavior support strategy
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Stability of a rat model of prehepatic portal hypertension caused by partial ligation of the portal vein 被引量:8
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作者 Zhe Wen Jin-Zhe Zhang +2 位作者 Hui-Min Xia Chun-Xiao Yang Ya-Jun Chen 《World Journal of Gastroenterology》 SCIE CAS CSCD 2009年第32期4049-4054,共6页
AIM: To study the stability of portal hypertension (PHT) caused by partial ligation of the portal vein ligation (PVL) in a rat model.METHODS: Thirty male adult Wistar rats were divided into two groups: 10 in Gr... AIM: To study the stability of portal hypertension (PHT) caused by partial ligation of the portal vein ligation (PVL) in a rat model.METHODS: Thirty male adult Wistar rats were divided into two groups: 10 in Group Ⅰ received a sham operation; and 20 in Group Ⅱreceived partial PVL. Portal vein pressure (PVP) was measured at four time periods: before ligation, 2 wk, 6 wk and 10 wk postsurgery. Portal venography, blood sampling and liver and spleen pathological examinations were conducted at 10 wk after surgery.RESULTS: The PVP was 9.15± 0.58 cmH2O before ligation, and increased to 17.32 ±0.63 cmH2O 2 wk after PVL. By repeat measurement of the PVP in each rat, it was shown to remain elevated for 10 wk. There were no significant differences in the pressure measurements at 2 wk, 6 wk and 10 wk. Varices were found mainly in the mesenteric vein 2 wk after PVL, which were more obvious later, while these manifestations were similar at week 6 and week 10. Portal venography demonstrated the varices and collaterals. There was no significant change in liver pathology. The volume of the spleen was enlarged 2-fold after ligation, and the sinus of the spleen was enlarged due to congestion. Significant sinus endothelial cell proliferation was observed, but no evidence of hypersplenia was found on hemogram and biochemical examination.CONCLUSION: These findings suggest that a satisfactory prehepatic PHT rat model can be obtained by partial ligation of the portal vein, and this PHT rat model was stable for at least 10 wk. 展开更多
关键词 LIGATION Portal hypertension Portal vein RAT
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Asymmetric photocatalysis over robust covalent organic frameworks with tetrahydroquinoline linkage 被引量:3
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作者 Chunzhi Li Yinhua Ma +5 位作者 Haoran Liu Lin Tao Yiqi Ren Xuelian Chen He Li Qihua Yang 《Chinese Journal of Catalysis》 SCIE EI CAS CSCD 北大核心 2020年第8期1288-1297,共10页
The asymmetric photocatalytic organic synthesis(APOS)process is a sustainable and environmentally benign method for the production of optically active chemicals with sunlight as an energy source.However,it still lacks... The asymmetric photocatalytic organic synthesis(APOS)process is a sustainable and environmentally benign method for the production of optically active chemicals with sunlight as an energy source.However,it still lacks efficient semiconductors with tunable band structures and has a low recycling stability.Herein,we report the synthesis of tetrahydroquinoline-linked covalent organic frameworks(QH-COFs)with irreversible tetrahydroquinoline linkage as efficient semiconductors for the visible-light-driven asymmetricα-alkylation of aldehydes by merging with a chiral secondary amine.Up to 94%ee was obtained over QH-COFs,and the activity of QH-COFs was significantly higher than those of inorganic semiconductors(e.g.,Ti O2,Bi VO4,and WO3)under similar conditions,which is mainly attributed to their narrow band gap and suitable band edge.As far as we know,QH-COFs are the most active semiconductors for asymmetricα-alkylation of aldehydes ever reported.The QH-COFs were prepared via a one-pot Povarov cascade imine formation and cycloaddition reaction using Sc(OTf)3/Yb(OTf)3 as Lewis acid catalysts.Attributed to the tetrahydroquinoline linkage,QH-COFs showed extremely high recycling stability,which made practicals application possible.This work not only opens up a new avenue for asymmetric photocatalysis but also provides an efficient and general method for the construction of robust COFs. 展开更多
关键词 PHOTOCATALYSIS Covalent organic frameworks Tetrahydroquinoline linkage Asymmetric catalysis Ultrastability
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Relationship between autonomic nervous system function and acute mountain sickness 被引量:4
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作者 Long Min Huang Lan +3 位作者 Tian Kaixin Yu Shiyong Yu Yang Qin Jun 《Journal of Medical Colleges of PLA(China)》 CAS 2008年第5期276-282,共7页
Objective: To elucidate the role of the autonomic nervous system (ANS) in acute mountain sickness (AMS) during the initial phase at acute high-altitude exposure. Methods: Ninety-nine healthy sea-level residents rapidl... Objective: To elucidate the role of the autonomic nervous system (ANS) in acute mountain sickness (AMS) during the initial phase at acute high-altitude exposure. Methods: Ninety-nine healthy sea-level residents rapidly ascended to Tibet plateau (3 675 m altitude) by airplane from Chengdu plain (560 m altitude). ANS function was tested in plain and day 2–4 in Tibet by heart rate variability (HRV), cold pressor test (CPT). AMS was evaluated by clinic symptomatic scores. All subjects were divided into non-AMS group (57, scores≤4) and AMS group (42, scores>4). Results: Compared with non-AMS group, AMS group had higher standard deviation of normal to normal intervals (SDNN), root mean square of delta RR (rMSSD), low-frequency (LF) power, and normalized low-frequency (LFnu) power in plain (P<0.05). After arrival at 3 675 m altitude, AMS group had greater reduction in percentage of delta RR>50 ms(PNN50), rMSSD (P<0.01) and SDNN, LF, total power (TP) (P<0.05). Although no significant differences in the increase of SP and DP during CPT were found between 2 groups in plain, the SP increase during CPT of AMS group was less than non-AMS group (P<0.05) at 3 675 m altitude. AMS symptomatic scores was not only positively correlated with SDNN, rMSSD, LF/HF in plain (P<0.05), but also negatively correlated with HFnu in plain (P<0.05). Conclusion: During the initial high altitude exposure, ANS modulation is generally blunted, but the relatively predominant sympathetic control is enhanced, and this characteristic change of ANS function is positively correlated with the development of AMS. 展开更多
关键词 High altitude Autonomic nervous system Acute mountain sickness Heart rate variability Cold pressor test
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Synthesis of Mesoporous Titanium Silicalite-1 with High Stability in Cyclohexanone Ammoximation 被引量:3
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作者 王亚权 叶家鑫 +3 位作者 王书海 林永杰 王守桂 刘伟 《Transactions of Tianjin University》 EI CAS 2016年第3期254-260,共7页
Mesoporous titanium silicalite-1(TS-1)was hydrothermally synthesized with the addition of triethanolamine(TEA)in the conventional process, and used in the cyclohexanone ammoximation in a continuous slurry reactor. The... Mesoporous titanium silicalite-1(TS-1)was hydrothermally synthesized with the addition of triethanolamine(TEA)in the conventional process, and used in the cyclohexanone ammoximation in a continuous slurry reactor. The as-prepared TS-1 was characterized with X-ray diffraction(XRD), scanning electron microcopy(SEM), N_2 adsorption-desorption, Fourier transform infrared(FT-IR)spectroscopy, UV-Visible(UV-Vis)diffuse reflectance spectra and UV Raman spectroscopy. The results indicated that the addition of TEA resulted in the formation of mesopores and the slight increase of framework titanium in TS-1. TS-1 synthesized with the addition of TEA exhibited a higher stability in the cyclohexanone ammoximation than that without the addition of TEA, attributing to the increase of mesopore volumes and the slight increase of the framework titanium in TS-1. However, when the addition of TEA was up to TEA/SiO_2 ratio of 0.24, the crystallinity and framework titanium of TS-1 decreased markedly, and the average crystal sizes of TS-1 increased, with the catalyst stability becoming poor. 展开更多
关键词 TS-1 TRIETHANOLAMINE cyclohexanone ammoximation MESOPORE STABILITY
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Analysis of Yielding Ability and Yield Stability and Extension Prospect on New Maize Varieties in Jiangsu Province 被引量:1
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作者 郑飞 孔令杰 +5 位作者 刘瑞响 张美景 孟庆长 赵文明 陈艳萍 袁建华 《Agricultural Science & Technology》 CAS 2017年第4期619-623,626,共6页
[Objective] This study was conducted to select new hybrids with good ex- tension prospect, and to comprehensive assess various varieties and combinations from yielding ability, yield stability and adaptability. [Metho... [Objective] This study was conducted to select new hybrids with good ex- tension prospect, and to comprehensive assess various varieties and combinations from yielding ability, yield stability and adaptability. [Method] The yielding ability and yield stability of 5 varieties and 2 pioneer combinations in 5 test locations in Jiang- su Province in 2013-2015 were analyzed comprehensively. [Result] The environment effects and genotype x environment interaction effects of various tested varieties differed very significantly. It could be seen from various test locations that Mingyu 1301 and Sushi 51417 had very good yielding ability and yield stability, and were comprehensively assessed to be very good, Suyu 41 had very good yield stability and better yielding ability, and was comprehensively assessed to be good, while Suyu 29 and Suyu 39 showed instable yields in various locations and were greatly affected by environment, and thus should be planted in carefully-selected areas in extension. [Conclusion] This study provides theoretical foundation for breeding and extension of new varieties. 展开更多
关键词 MAIZE Yielding ability Yield stability High stability coefficient AMMI model
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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking 被引量:2
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作者 Hongfei Wang Shimeng Li Yuan F.Zheng 《Engineering》 SCIE EI 2015年第1期36-45,共10页
In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we pr... In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge. 展开更多
关键词 humanoid robot DARPA robotics challenge(DRC) rough-terrain walking Ski-Type gait
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Mechanism analysis on pillar instability induced by micro-disturbance under critical condition 被引量:2
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作者 李江腾 曹平 《Journal of Central South University of Technology》 2005年第3期346-348,共3页
A simplified mechanical model of ultra-high pillar was established and its potential energy expression was derived under axial load on the basis of energy theory. Under critical conditions according to the nonlinear t... A simplified mechanical model of ultra-high pillar was established and its potential energy expression was derived under axial load on the basis of energy theory. Under critical conditions according to the nonlinear theory, the critical behaviors and the forming mechanism of pillar instability were discussed by external disturbance , such as stresses waves by blasting , axial force eccentricity ratherish and imperfections in pillar. The results show that the micro-disturbances attenuate with time and they are independence each other when pillar is in the stability state. Their effects on the stability of system are inessential. The correlation degree of disturbances increases sharply and various micro-disturbances are relative and nested reciprocally when the system is in critical state and they also cooperate with each other, which induces system to reach a new state. 展开更多
关键词 ultra-high pillar STABILITY potential energy critical condition micro-disturbance
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Multi-Embed Nonlinear Scale-Space for Image Trust Root Generation 被引量:1
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作者 Lizhao Liu Wentu Gao +3 位作者 Jian Liu Huayi Yin Huarong Xu Shunzhi Zhu 《China Communications》 SCIE CSCD 2016年第11期170-179,共10页
An image trust root is a special type of soft trust root for trusted computing. However,image trust root generation is difficult,as it needs a corresponding stable logic feature generation model and algorithm for dyna... An image trust root is a special type of soft trust root for trusted computing. However,image trust root generation is difficult,as it needs a corresponding stable logic feature generation model and algorithm for dynamical and sustained authentication. This paper proposes a basic function of constructing new scale-spaces with deep detecting ability and high stability for image features aimed at image root generation. According to the heat distribution and spreading principle of various kinds of infinitesimal heat sources in the space medium,a multi-embed nonlinear diffusion equation that corresponds to the multi-embed nonlinear scale-space is proposed,a HARRIS-HESSIAN scale-space evaluation operator that aims at the structure acceleration characteristics of a local region and can make use of image pixels' relative spreading movement principle was constructed,then a single-parameter global symmetric proportion(SPGSP) operator was also constructed. An authentication test with 3000 to 5000 cloud entities shows the new scale-space can work well and is stable,when the whole cloud has 5%-50% behavior with un-trusted entities. Consequently,it can be used as the corresponding stable logic feature generation model and algorithm for all kinds of images,and logic relationships among image features for trust roots. 展开更多
关键词 image trust root SCALE-SPACE diffusion equation evolution operator feature detection
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