Surface active ionic liquids (SAILs) are considered as prominent materials in enhanced oil recovery thanks to their high interfacial activity. This study reports the preparation and applications of a nanostructure Tri...Surface active ionic liquids (SAILs) are considered as prominent materials in enhanced oil recovery thanks to their high interfacial activity. This study reports the preparation and applications of a nanostructure Tripodal imidazolium SAIL as an environmentally-friendly substitute to the conventional surfactants. The product has a star-like molecular structure centered by a triazine spacer, namely [(C_(4)im)_(3)TA][Cl_(3)], prepared by a one-step synthesis method and characterized with FT-IR, NMR, XRD, and SEM analysis methods. The interfacial tension of the system was decreased to about 78% at critical micelle concentration of less than 0.08 mol·dm^(−3). Increasing temperature, from 298.2 to 323.2 K, improved this capability. The solid surface wettability was changed from oil-wet to water-wet and 80% and 77% stable emulsions of crude oil–aqueous solutions were created after one day and one week, respectively. Compared to the Gemini kind homologous SAILs, the superior effects of the Tripodal SAIL were revealed and attributed to the strong hydrophobic branches in the molecule. The Frumkin adsorption isotherm precisely reproduced the generated IFT data, and accordingly, the adsorption and thermodynamic parameters were determined.展开更多
临床预测模型开发和验证过程的完整报告对于模型外部验证及临床应用至关重要。《个体预后或诊断的多变量预测模型透明报告》(Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis,TRIPOD...临床预测模型开发和验证过程的完整报告对于模型外部验证及临床应用至关重要。《个体预后或诊断的多变量预测模型透明报告》(Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis,TRIPOD)为规范化预测模型的报告过程及报告质量评价提供了指导。本文将采用例解的形式对TRIPOD报告规范各条目进行详细解读,便于临床预测模型领域的研究者更好地掌握及应用该报告规范,进而提高预测模型的报告质量。展开更多
临床预测模型开发和验证过程的完整报告对于模型外部验证及临床应用至关重要。《个体预后或诊断的多变量预测模型透明报告》(Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis,TRIPOD...临床预测模型开发和验证过程的完整报告对于模型外部验证及临床应用至关重要。《个体预后或诊断的多变量预测模型透明报告》(Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis,TRIPOD)为规范化预测模型的报告过程及报告质量评价提供了指导。本文将采用例解的形式对TRIPOD报告规范各条目进行详细解读,便于临床预测模型领域的研究者更好地掌握及应用该报告规范,进而提高预测模型的报告质量。展开更多
论文针对仿生六足机器人运动问题,提出了一种基于虚拟模型控制(Virtual Model Control,VMC)的简单直观的运动控制方法。在VMC框架中,一系列虚拟原件安装在机器人关节上,以产生相应的虚拟力。将机器人腿的运动模式分为站立相和摆动相两...论文针对仿生六足机器人运动问题,提出了一种基于虚拟模型控制(Virtual Model Control,VMC)的简单直观的运动控制方法。在VMC框架中,一系列虚拟原件安装在机器人关节上,以产生相应的虚拟力。将机器人腿的运动模式分为站立相和摆动相两个阶段。站立相中,VMC被用于控制机器人躯干姿态,包括躯干高度和欧拉角;摆动相中,VMC为摆动腿提供控制,使其遵循期望的轨迹。通过状态机实现机器人腿状态切换和运动配合。仿真结果表明,设计的控制器可以实现六足机器人三角步态稳定行走。展开更多
基金The authors would like to acknowledge the Bu Ali Sina University and the Iran National Science Foundation:INSF,under Grant number of 99031559,for their financial supports.
文摘Surface active ionic liquids (SAILs) are considered as prominent materials in enhanced oil recovery thanks to their high interfacial activity. This study reports the preparation and applications of a nanostructure Tripodal imidazolium SAIL as an environmentally-friendly substitute to the conventional surfactants. The product has a star-like molecular structure centered by a triazine spacer, namely [(C_(4)im)_(3)TA][Cl_(3)], prepared by a one-step synthesis method and characterized with FT-IR, NMR, XRD, and SEM analysis methods. The interfacial tension of the system was decreased to about 78% at critical micelle concentration of less than 0.08 mol·dm^(−3). Increasing temperature, from 298.2 to 323.2 K, improved this capability. The solid surface wettability was changed from oil-wet to water-wet and 80% and 77% stable emulsions of crude oil–aqueous solutions were created after one day and one week, respectively. Compared to the Gemini kind homologous SAILs, the superior effects of the Tripodal SAIL were revealed and attributed to the strong hydrophobic branches in the molecule. The Frumkin adsorption isotherm precisely reproduced the generated IFT data, and accordingly, the adsorption and thermodynamic parameters were determined.
文摘临床预测模型开发和验证过程的完整报告对于模型外部验证及临床应用至关重要。《个体预后或诊断的多变量预测模型透明报告》(Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis,TRIPOD)为规范化预测模型的报告过程及报告质量评价提供了指导。本文将采用例解的形式对TRIPOD报告规范各条目进行详细解读,便于临床预测模型领域的研究者更好地掌握及应用该报告规范,进而提高预测模型的报告质量。
文摘临床预测模型开发和验证过程的完整报告对于模型外部验证及临床应用至关重要。《个体预后或诊断的多变量预测模型透明报告》(Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis,TRIPOD)为规范化预测模型的报告过程及报告质量评价提供了指导。本文将采用例解的形式对TRIPOD报告规范各条目进行详细解读,便于临床预测模型领域的研究者更好地掌握及应用该报告规范,进而提高预测模型的报告质量。
基金The National Natural Science Foundation of China(Nos.21203050,61307056,11274210,11374084)the Anhui Provincial Natural Science Foundation(No.1508085QF123)
文摘论文针对仿生六足机器人运动问题,提出了一种基于虚拟模型控制(Virtual Model Control,VMC)的简单直观的运动控制方法。在VMC框架中,一系列虚拟原件安装在机器人关节上,以产生相应的虚拟力。将机器人腿的运动模式分为站立相和摆动相两个阶段。站立相中,VMC被用于控制机器人躯干姿态,包括躯干高度和欧拉角;摆动相中,VMC为摆动腿提供控制,使其遵循期望的轨迹。通过状态机实现机器人腿状态切换和运动配合。仿真结果表明,设计的控制器可以实现六足机器人三角步态稳定行走。
