The women of the 1930s in the Chinese TV serials deduct inspiring stories.They play different roles in the big wealthy families such as mothers-in-law,daughters-in-law,and maidservants.There are unceasing conflicts be...The women of the 1930s in the Chinese TV serials deduct inspiring stories.They play different roles in the big wealthy families such as mothers-in-law,daughters-in-law,and maidservants.There are unceasing conflicts between these women,because of their struggle for men's love,wealth or social position.The theme of their stories is always about fertility,love,kindness and evil,with the ending being either comic or tragic.The stories of various kinds of women of the 1930s in the Chinese TV serials decorate and enrich the lives of many of us latecomers and their names are passed on from generation to generation.展开更多
A new microreactor with continuous serially connected micromixers(CSCM)was tailored for the coprecipitation process to synthesize Fe_(3)O_(4) nanoparticles.Numerical simulation reveals that the two types of CSCM micro...A new microreactor with continuous serially connected micromixers(CSCM)was tailored for the coprecipitation process to synthesize Fe_(3)O_(4) nanoparticles.Numerical simulation reveals that the two types of CSCM microchannels(V-typed and U-typed)proposed in this work exhibited markedly better mixing performances than the Zigzag and capillary microchannels due to the promotion of Dean vortices.Complete mixing was achieved in the V-typed microchannel in 2.7 s at an inlet Reynolds number of 27.Fe_(3)O_(4) nanoparticles synthesized in a planar glass microreactor with the V-typed microchannel,possessing an average size of 9.3 nm and exhibiting superparamagnetism,had obviously better dispersity and uniformity and higher crystallinity than those obtained in the capillary microreactor.The new CSCM microreactor developed in this work can act as a potent device to intensify the synthesis of similar inorganic nanoparticles via multistep chemical precipitation processes.展开更多
Basin simulation can quantitatively rebuild the histories of structural development,sedimentary en-tombment,thermal regime,hydrocarbon generation,migration and accumulation in time and space with 3D date.Thus the way ...Basin simulation can quantitatively rebuild the histories of structural development,sedimentary en-tombment,thermal regime,hydrocarbon generation,migration and accumulation in time and space with 3D date.Thus the way by which the hydrocarbon generated,migrated and accumulated can be recog-nized.展开更多
针对工业机器人在高度制造领域精度不高的问题,本文提出了一种基于POE模型的工业机器人运动学参数二次辨识方法。阐述了基于指数积(Product of exponential, POE)模型的运动学误差模型构建方法,并建立基于POE误差模型的适应度函数;为实...针对工业机器人在高度制造领域精度不高的问题,本文提出了一种基于POE模型的工业机器人运动学参数二次辨识方法。阐述了基于指数积(Product of exponential, POE)模型的运动学误差模型构建方法,并建立基于POE误差模型的适应度函数;为实现高精度的参数辨识,提出了一种二次辨识方法,先利用改进灰狼优化算法(Improved grey wolf optimizer, IGWO)实现运动学参数误差的粗辨识,初步将Staubli TX60型机器人的平均位置误差和平均姿态误差分别从(0.648 mm, 0.212°)降低为(0.457 mm, 0.166°);为进一步提高机器人的精度性能,再通过LM(Levenberg-Marquard)算法进行参数误差的精辨识,最终将Staubli TX60型机器人平均位置误差和平均姿态误差进一步降低为(0.237 mm, 0.063°),机器人平均位置误差和平均姿态误差分别降低63.4%和70.2%。为了验证上述二次辨识方法的稳定性,随机选取5组辨识数据集和验证数据集进行POE误差模型的参数误差辨识,结果表明提出的二次辨识方法能够稳定、精确地辨识工业机器人运动学参数误差。展开更多
文摘The women of the 1930s in the Chinese TV serials deduct inspiring stories.They play different roles in the big wealthy families such as mothers-in-law,daughters-in-law,and maidservants.There are unceasing conflicts between these women,because of their struggle for men's love,wealth or social position.The theme of their stories is always about fertility,love,kindness and evil,with the ending being either comic or tragic.The stories of various kinds of women of the 1930s in the Chinese TV serials decorate and enrich the lives of many of us latecomers and their names are passed on from generation to generation.
基金the financial support from the National Natural Science Foundation of China(21808059)the Fundamental Research Funds for the Central Universities(JKA01221712).
文摘A new microreactor with continuous serially connected micromixers(CSCM)was tailored for the coprecipitation process to synthesize Fe_(3)O_(4) nanoparticles.Numerical simulation reveals that the two types of CSCM microchannels(V-typed and U-typed)proposed in this work exhibited markedly better mixing performances than the Zigzag and capillary microchannels due to the promotion of Dean vortices.Complete mixing was achieved in the V-typed microchannel in 2.7 s at an inlet Reynolds number of 27.Fe_(3)O_(4) nanoparticles synthesized in a planar glass microreactor with the V-typed microchannel,possessing an average size of 9.3 nm and exhibiting superparamagnetism,had obviously better dispersity and uniformity and higher crystallinity than those obtained in the capillary microreactor.The new CSCM microreactor developed in this work can act as a potent device to intensify the synthesis of similar inorganic nanoparticles via multistep chemical precipitation processes.
文摘Basin simulation can quantitatively rebuild the histories of structural development,sedimentary en-tombment,thermal regime,hydrocarbon generation,migration and accumulation in time and space with 3D date.Thus the way by which the hydrocarbon generated,migrated and accumulated can be recog-nized.
文摘针对工业机器人在高度制造领域精度不高的问题,本文提出了一种基于POE模型的工业机器人运动学参数二次辨识方法。阐述了基于指数积(Product of exponential, POE)模型的运动学误差模型构建方法,并建立基于POE误差模型的适应度函数;为实现高精度的参数辨识,提出了一种二次辨识方法,先利用改进灰狼优化算法(Improved grey wolf optimizer, IGWO)实现运动学参数误差的粗辨识,初步将Staubli TX60型机器人的平均位置误差和平均姿态误差分别从(0.648 mm, 0.212°)降低为(0.457 mm, 0.166°);为进一步提高机器人的精度性能,再通过LM(Levenberg-Marquard)算法进行参数误差的精辨识,最终将Staubli TX60型机器人平均位置误差和平均姿态误差进一步降低为(0.237 mm, 0.063°),机器人平均位置误差和平均姿态误差分别降低63.4%和70.2%。为了验证上述二次辨识方法的稳定性,随机选取5组辨识数据集和验证数据集进行POE误差模型的参数误差辨识,结果表明提出的二次辨识方法能够稳定、精确地辨识工业机器人运动学参数误差。
