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MISCIBILITY,CRYSTALLIZATION AND MECHANICAL PROPERTIES OF PPC/PBS BLENDS 被引量:8
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作者 Hui-liang Zhang Xiao-hong Sun Qing-yong Chen Min-qiao Ren Zhi-hao Zhang Hong-fang Zhang Zhi-shen Mo 《Chinese Journal of Polymer Science》 SCIE CAS CSCD 2007年第6期589-597,共9页
In this paper, melt blends of poly(propylene carbonate) (PPC) with poly(butylene succinate) (PBS) were characterized by dynamic mechanical analysis (DMA), differential scanning calorimetry (DSC), tensile t... In this paper, melt blends of poly(propylene carbonate) (PPC) with poly(butylene succinate) (PBS) were characterized by dynamic mechanical analysis (DMA), differential scanning calorimetry (DSC), tensile testing, wide-angle X-ray diffraction (WAXD), polarized optical microscopy and thermogravimetric analysis (TGA). The results indicated that the glass transition temperature of PPC in the 90/10 PPC/PBS blend was decreased by about 11 K comparing with that of pure PPC. The presence of 10% PBS was partially miscible with PPC. The 90/10 PPC/PBS blend had better impact and tensile strength than those of the other PPC/PBS blends. The glass transition temperature of PPC in the 80/20, 70/30, and 60/40 PPC/PBS blends was improved by about 4.9 K, 4.2 K, and 13 K comparing with that of pure PPC, respectively; which indicated the immiscibility between PPC and PBS. The DSC results indicated that the crystallization of PBS became more difficult when the PPC content increased. The matrix of PPC hindered the crystallization process of PBS. While the content of PBS was above 20%, significant crystallization-induced phase separation was observed by polarized optical microscopy. It was found from the WAXD analysis that the crystal structure of PBS did not change, and the degree of crystallinity increased with increasing PBS content in the PPC/PBS blends. 展开更多
关键词 Poly(propylene carbonate) Poly(butylene succinate) MISCIBILITY CRYSTALLIZATION Mechanical properties.
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Review on the decomposition and influence factors of coarse woody debris in forest ecosystem 被引量:12
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作者 ZHOU Li DAI Li-min +1 位作者 GU Hui-yan ZHONG Lei 《Journal of Forestry Research》 SCIE CAS CSCD 2007年第1期48-54,共7页
Coarse woody debris (CWD) is an important and particular component of forest ecosystems and is extremely important to forest health. This review describes the decomposition process, decomposition model and influence... Coarse woody debris (CWD) is an important and particular component of forest ecosystems and is extremely important to forest health. This review describes the decomposition process, decomposition model and influence factors. CWD decomposition is a complex and continuous process and characterizes many biological and physical processes, including biological respiration, leaching, and fragmentation. All these processes have closed relationships between each other and work synergistically. During decomposition, there are many controlling factors mainly including site conditions (temperature, humidity, and OJCO2concentration), woody substrate quality (diameter, species and compound) and organism in CWD. The decomposition rate is generally expresses through a constant k which indicate the percent mass, volume or density loss over time, and can be determined by long-term monitoring, chronosequence approach and the radio between input and the total mass. Now using mathematical models to simulate decomposition patterns and estimate the decomposition rate is widely applied, especially the exponential model. We brought forward that managing and utilizing for the CWD in forest was a primary objective on all forest lands. And it is should be intensified to integrate many related research subjects and to carry a comprehensive, long-term and multi-scale research which mainly focus on seven sections. 展开更多
关键词 Coarse woody debris Decomposition Forest ecosystem Influence factors
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Temporal development of open-circuit bright photovoltaic solitons 被引量:5
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作者 张磊 卢克清 +2 位作者 张美志 刘雪明 张彦鹏 《Chinese Physics B》 SCIE EI CAS CSCD 2008年第7期2539-2543,共5页
This paper investigates the temporal behaviour of open-circuit bright photovoltaic spatial solitons by using numerical techniques. It shows that when the intensity ratio of the soliton, the ratio between the soliton p... This paper investigates the temporal behaviour of open-circuit bright photovoltaic spatial solitons by using numerical techniques. It shows that when the intensity ratio of the soliton, the ratio between the soliton peak intensity and the dark irradiance, is small, the quasi-steady-state soliton width decreases monotonically with the increase of τ-, where τ- is the parameter correlated with the time, that when the intensity ratio of the soliton is big, the quasi-steady-state soliton width decreases with the increase of τ- and then increases with τ, and that the formation time of the steady-state solitons is not correlated with the intensity ratio of the soliton. It finds that the local nonlinear effect increases with the photovoltaic field, which behaves as that the width of soliton beams is small and the self-focusing quasi-period is short. On the other hand, we also discuss that both the time and the temperature have an effect on the beam bending. 展开更多
关键词 nonlinear optics photovoltaic effect temporal behaviour TEMPERATURE
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m-continued Fraction Expansions of Multi-Laurent Series 被引量:6
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作者 戴宗铎 王鲲鹏 叶顶峰 《数学进展》 CSCD 北大核心 2004年第2期246-248,共3页
The simple continued fraction expansion of a single real number gives the best solution to its rational approximation problem. A multidimensional generalization of the simple continued fraction expanding procedure is ... The simple continued fraction expansion of a single real number gives the best solution to its rational approximation problem. A multidimensional generalization of the simple continued fraction expanding procedure is the Jacobi-Perron algorithm (JPA). This algorithm and 展开更多
关键词 m-连续分数式 LAURENT级数 有理逼近 Jacobi-Perron算法
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Preparation and Properties of Anti-oxidation Inorganic Nano-coating for Low Carbon Steel at an Elevated Temperature 被引量:3
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作者 魏连启 叶树峰 《Journal of Wuhan University of Technology(Materials Science)》 SCIE EI CAS 2006年第4期48-52,共5页
A new kind of anti-oxidation inorganic nano-coating for the common low carbon steel was prepared. It included magnesite mineral, metallurgic dust and silicate adhesive as the main raw materials. The nano-coating could... A new kind of anti-oxidation inorganic nano-coating for the common low carbon steel was prepared. It included magnesite mineral, metallurgic dust and silicate adhesive as the main raw materials. The nano-coating could be sprayed directly onto the low carbon steel slab even though with hot surface as far as under 1000 ℃ . And at the same time, a compact thin nano-film was formed, and the film would inhibit the oxygen into the interface of the steel body and decrease the loss of weight because of oxidation. The loss was decreased by about 60% or more. The properties and mechanism of oxidation resistance of the coating were discussed through XRD, TG-DTA and SEM. The experimental results show that many reactions would happen among the companents of the coating and then many microspheres with the size of 80- 100nm generated in the system. By using the heat of the steel body, the silicate adhesive would interact with the microspheres, and the other components of the coating would be soft and sintered so that when the coating was sprayed onto the suface of the steel slab , the intact and compact film could be formed and adhesive with the steel body. Besides the special properties of anti- oxidation, the coating could prevent the volatilization of microelement in the steel such as silicate and carbon at a high temperature. So it can improve the quality and output of steel with this new kind of nano-coating. 展开更多
关键词 low carbon steel ANTI-OXIDATION nano-coating oxidation loss metallurgh dust
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Assessment of the effects of the shelterbelt on the soil temperature at regional scale based on MODIS data 被引量:3
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作者 DENG Rong-xin LI Ying +2 位作者 ZHANG Shu-wen WANG Wen-juan SHI Xiao-liang 《Journal of Forestry Research》 SCIE CAS CSCD 2011年第1期65-70,共6页
At present, the most researches on the protected effect of shelterbelt are on the basis of the two scales of forest belts and networks. However, with the further research on the global environmental change, more atten... At present, the most researches on the protected effect of shelterbelt are on the basis of the two scales of forest belts and networks. However, with the further research on the global environmental change, more attention was paid to the regional climate effect of shelterbelt. In present study, we analyzed the temperature effect of the shelterbelt at regional scale by using the land surface temperature (LST) data from the moderate resolution imaging spectroradiometer (MODIS) at Yushu, Nong'an, Dehui, and Fuyu in Jilin Province of China from March to October in 2008. Results show that the shelterbelt can increase the soil temperature of the protected farmland as compared with no shelterbelt zone, with the increment of 0.57oC per day in fine shelterbelt and 0.38oC per day in the normal shelterbelt. Moreover, the correlation analysis of the air temperature, precipitation and the soil type and the shelterbelt effect shows that the air temperature and precipitation are negatively correlated with the shelterbelt effects, that is, the more the temperature and precipitation are, the less the effect produced. While the impact of the soil types on the shelterbelt's effect is not very obvious as a whole. This paper draws significance in terms of analyzing the effects of the shelterbelt on the soil temperature at regional scale utilizing the remotely sensed data and GIS technique. 展开更多
关键词 regional scale remote sensing SHELTERBELT temperature effect
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Characteristics of Clustering Debris Flows in Wenchuan Earthquake Zone 被引量:3
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作者 MA Chao HU Kai-heng +1 位作者 ZOU Qiang TIAN Mi 《Journal of Mountain Science》 SCIE CSCD 2013年第6期953-961,共9页
Clustering debris-flow events, namely many debris flows simultaneously triggered by a regional rainstorm in a large-scale mountainous area,occurred in four regions of Wenchuan earthquake stricken areas in 2008 and 201... Clustering debris-flow events, namely many debris flows simultaneously triggered by a regional rainstorm in a large-scale mountainous area,occurred in four regions of Wenchuan earthquake stricken areas in 2008 and 2010. The characteristics of the clustering debris flows are examined with regard to triggering rainfall, formation process, and relationship with the earthquake by field survey and remote sensing interpretation. It is found that the clustering events occurred nearly at the same time with the local peak rainstorms, and the rainfall intensity-duration bottom limit line for clustering debris flows is higher than the worldwide line. It means that more rainfall is needed for the occurrence of the clustering debris flows. Four kinds of major formation processes for these debris flows are summarized: tributary-dominated, mainstreamdominated, transformation from slope failures, and mobilization or liquefaction of landslide. The four regions has a spatial correlation with the strongquake-influenced zone with the peak ground acceleration = 0.2 g and the seismic intensity > X. 展开更多
关键词 Clustering debris flows Wenchuanearthquake Rainfall threshold Formation process
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Estimation of forest parameters based on TM imagery and statistical analysis 被引量:2
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作者 CHEN Wen-bo ZHAO Xiao-fan 《Journal of Forestry Research》 SCIE CAS CSCD 2007年第3期241-244,共4页
One of the primary forestry research interests lies in estimating forest stand parameters by applying empirical or semi-empirical model to establish the relationship between the forest stand parameters and remote sens... One of the primary forestry research interests lies in estimating forest stand parameters by applying empirical or semi-empirical model to establish the relationship between the forest stand parameters and remote sensing data. Using remote sensing image and the inventory data from 2 compartments in northeast Florida, U.S.A., this paper explored the correlation between forest stand parameters and Landsat TM spectral digital number (DN) value. Results showed that less than 50% of the total variance could be explained by linear regression models with only either a single band or such vegetation indices as vegetation index (VI) or normalized difference vegetation index (NDVI) as predicators. In consequence, multi-linear regression models which synthesized more predicators were introduced to estimate forest parameters. Regression results were tested in terms of the other group of data, and verification showed a better capability of explaining over 75% variance except for forest density. The weakness and further improvement of prediction models were also discussed in the article. This paper is expected to provide a better understanding of the relationship between TM spectral and forest characteristics 展开更多
关键词 TM image DN value Estimation of forest parameters Correlation and regression analysis
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Effects of global China' s climate change on agriculture 被引量:3
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作者 Liu Qiyong Zheng Jingyun Ge Quansheng 《中国农学通报》 CSCD 2008年第12期447-453,共7页
关键词 中国 气候变化 农业 技术创新
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Preparation of Porous Silica Ceramics with Low Dielectric Constant 被引量:1
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作者 MAO Xiao-jian WANG Shi-wei SHIMAI Shun-zo 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2006年第B12期239-243,共5页
Porous silica ceramics has been prepared with the starch consolidation casting method. Slurries with various fractions of starch added in were prepared by ball-milling. The evaluation of the microstructures was done t... Porous silica ceramics has been prepared with the starch consolidation casting method. Slurries with various fractions of starch added in were prepared by ball-milling. The evaluation of the microstructures was done through two techniques: Hg porosimetry and SEM investigation. The bending strength of the sintered samples varied within the range of 10 MPa-20 MPa and the low dielectric constant within the range of 2.0-2.4 correspondent with the porosity of 42%-56%. The ceramics holds a brilliant promise of being a kind of core material used in sandwich-like electromagnetic windows. 展开更多
关键词 porous ceramics SIO2 starch consolidation casting bending strength dielectric properties
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Temporal-spatial change and driving mechanism for regional difference of domestic tourism in China 被引量:1
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作者 Degen Wang Tian Chen 《Chinese Journal of Population,Resources and Environment》 2013年第1期69-78,共10页
By using the variation coefficient,Gini coefficient and Theil coefficient,this paper makes preliminary exploration of temporalspatial change features and driving mechanism for regional differences of domestic tourism ... By using the variation coefficient,Gini coefficient and Theil coefficient,this paper makes preliminary exploration of temporalspatial change features and driving mechanism for regional differences of domestic tourism in China from 1995 to 2009.According to the results,we drew the following conclusions:(1)The regional difference of domestic tourism in China tends to be narrowing generally,and is less than that of inbound tourism,playing an important role in narrowing the overall gap of regional tourism in China.(2)The regional internal difference features:inter-provincial difference in the eastern region and difference among the eastern,central and western regions are comparatively obvious and demonstrate a significantly shrinking tendency,the change tendency is consistent with the change tendency of overall difference and exercises a decisive role in overall difference,whereas the inter-provincial difference in the central and western regions is small and relatively stable,having less influence on the overall difference.(3)The temporal-spatial change in regional difference is featured by:low-level provinces occupy a majority and are concentrated in the central and western regions,showing a tendency of narrowing difference;high-level provinces are concentrated in the eastern region,showing a tendency of spreading to the central and western regions;spatial pattern of regional difference demonstrates 4 types,i.e."proliferation type","polarization type","quiescence type"and"collapse type."(4)The driving force for regional difference of domestic tourism in China comes down to 3 aspects:regional socio-economic attribute,regional transport accessibility level and regional development policy. 展开更多
关键词 DOMESTIC TOURISM REGIONAL DIFFERENCE temporal-spatial CHANGE driving mechanism China
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Optical properties of carbon materials filled HDPE composites in THz region 被引量:1
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作者 CHEN Xiliang MA Mingwang +5 位作者 YANG Xiaomin YANG Kang LIU Dan JI Te WU Shengwei ZHU Zhiyong 《Nuclear Science and Techniques》 SCIE CAS CSCD 2009年第5期265-270,共6页
The optical and electrical properties of several composites, formed by filling the high density polyethylene (HDPE) with similar amount of carbon black (CB), multi-walled carbon nanotubes (MWNT) and fullerene (C60), r... The optical and electrical properties of several composites, formed by filling the high density polyethylene (HDPE) with similar amount of carbon black (CB), multi-walled carbon nanotubes (MWNT) and fullerene (C60), respectively, were characterized using a THz-TDS setup. It was found that the optical parameters and the details of their variation with frequency differ significantly for different kinds of carbon materials. The results are analyzed by using Cole-Cole formula of dipole relaxation under the assumption that carbon particles dispersed in the matrix behave like dipoles and contribute mainly to the dielectric loss in the THz frequency range. Fitting results indicate that MWNT and CB filled composites have a broader distribution of the relaxation time compared with C60 which possesses a nearly single relaxation time. Compared with CB and C60, MWNT filled composite possesses the larger relaxation strength due to its higher electron density and larger conductive clusters. The real part of conductivity for three kinds of composites all follows power law behavior with respect to frequency but the exponents are quite different. These phenomena may be related to the special properties of the fillers as well as their particulate structures, such as aspect ratio, particle size, and aggregate structure, etc. 展开更多
关键词 HDPE MWNT 碳元素 核技术
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Rural Development Evaluation from Territorial Function Angle:a Case of Shandong Province 被引量:1
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作者 CHEN Yangfen LIU Yansui 《Journal of Northeast Agricultural University(English Edition)》 CAS 2011年第1期67-74,共8页
Rural territorial function follows the trend to develop from agricultural production space to a complex of cultural heritage,food security,social stability,quality of living,etc.Based on the rural area's territorial ... Rural territorial function follows the trend to develop from agricultural production space to a complex of cultural heritage,food security,social stability,quality of living,etc.Based on the rural area's territorial function to both urban and rural areas and its evolution law,index system of rural development evaluation,covering rural production function,rural consumption function,regional sustaining function,and individual development function were constructed in this paper.Case study based on Shandong Province and entropy method showed that the rural development in Shandong Province was neither stable nor orderly,and some of rural territorial functions were under fluctuation.The simulation result was close to the actual situation in rural areas of Shandong Province,and therefore,it would provide some experience for scientific evaluation of rural development in other regions.In the end,policy suggestion to cope with rural function transition was provided,namely further promoting the rural economic development,and breaking away from various factors that restricted the value realization,natural increment,and equitable distribution of rural production factors,and therefore,it would receive a sustainable rural development. 展开更多
关键词 rural territorial function rural development EVALUATION entropy method
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Application of an Optimized Entropy-TOPSIS Multicriteria Decision Making Model to Facilities Management 被引量:3
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作者 WANG Zhao-hong ZHAN Wei QIU Wan-hua 《International Journal of Plant Engineering and Management》 2006年第3期129-136,共8页
Performance evaluation of facilities management plays a key role in the facilities management process. This paper proposes an optimized multicriteria decision making model to evaluate the performance of facilities man... Performance evaluation of facilities management plays a key role in the facilities management process. This paper proposes an optimized multicriteria decision making model to evaluate the performance of facilities management in schools in Hong Kong. In this model, entropy weights acted as weight coefficients for evaluated criteria in order to avoid uncertainty and randomicity of subjective judgments. Besides, the TOPSIS method was incorporated in this model. Then this model was em- ployed to evaluate the performance of facilities management in classrooms, offices and laboratories and satisfying results were obtained. Moreover, findings indicated that one of the schools could be rehabilitated rather than removed. 展开更多
关键词 facilities management performance evaluation information entropy TOPSIS method multicriteria decision making
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Disposable Electrochemical Biosensor for Amperometric Measurement of β-hydroxybutyrate and Total Cholesterol
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作者 Huaqing Li Li Wang +2 位作者 Nenggao Rao Dafu Cui Xinxia Cai 《稀有金属材料与工程》 SCIE EI CAS CSCD 北大核心 2006年第A03期305-308,共4页
A new type of disposable thin-film amperometric biosensor has been developed for measurement ofβ-hydroxybutyrate and total cholesterol in serum.The biosensor consists of two plain gold electrodes mounted on a Polyeth... A new type of disposable thin-film amperometric biosensor has been developed for measurement ofβ-hydroxybutyrate and total cholesterol in serum.The biosensor consists of two plain gold electrodes mounted on a Polyethylene terephthalate (PET) substrate.The reagent solution contains bienzymes (cholesterol oxidase and cholesterol esterase for total cholesterol,β-hydroxybutyrate dehydrogenase and diaphorase forβ-hydroxybutyrate respectively) with mediator (ferricyanide) were absorption at the surface of electrodes coated by electrodepositing platinum black.The presence of the mediator lowers the applied potential and eliminates the interference from other oxidizable species enhancing the sensitivity and selectivity of the biosensor without modifying the dynamic parameters of the response.The enzymes stably retains in the matrices of platinum black film improving the performance of the mediated sensor.The linearity is observed in the concentration range from 1.0×10^(-4) to 1.0×10^(-2) mM and 1.0×10^(-4) mM to 4.99×10^(-3) mM with sensitivity of 1.958μA/mM and 2.447μA/mM respectively.The optimized biosensor exhibits excellent reproducibility and stability retaining more than 90% of its original activity over a period of one month.The simple operation of the biosensor mass-produced at low cost is expected to find clinical application and homecare. 展开更多
关键词 AMPEROMETRIC β-Hydroxybutyrate total cholesterol FERRICYANIDE platinum black
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Development of Enzyme Biosensor for Amperometric Measurement of Aspartate Aminotransferase
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作者 Zonghui Guo Chunxiu Liu +3 位作者 Huaqing Li Jianfang Xu Lianshi Feng Xinxia Cai 《稀有金属材料与工程》 SCIE EI CAS CSCD 北大核心 2006年第A03期330-332,共3页
An enzyme biosensor for amperometric measurement of aspartate aminotransferase has been developed.The working electrode was modified with a thin-film of redox polymer,then glutamate oxidase,with the immobilized reagen... An enzyme biosensor for amperometric measurement of aspartate aminotransferase has been developed.The working electrode was modified with a thin-film of redox polymer,then glutamate oxidase,with the immobilized reagent cast and dried on the electrode.The biosensor responses to AST by detecting hydrogen peroxide were produced by enzymical reaction at-0.1 V with a response time of 120 seconds.The electrode gave a detection limit of 32.5 U/L with a linear concentration range of 32.5 U/L~2000 U/L in serum.Due to more sensitive and lower detection limit,the biosensor is expected mainly to be used for physiological identification and physical performance of athletes in the future.Extended application will also affect the practice of clinical medicine for the diagnosis of heart and liver disease. 展开更多
关键词 aspartate aminotransferase redox polymer AMPEROMETRIC BIOSENSOR
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A Novel Method for Beckmann Rearrangement of Oximes with Silica Sulfuric Acid under Mild Condition
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作者 Lin Fei XIAO Jia Jian PENG Chun Gu XIA 《Chinese Chemical Letters》 SCIE CAS CSCD 2006年第5期617-620,共4页
Silica sulfuric acid in which sulfuric acid is immobilized on the surface of silica gel via covalent bond has been proved to be green catalyst for liquid-phase Beckmann rearrangement of oximes in dried dioxane at room... Silica sulfuric acid in which sulfuric acid is immobilized on the surface of silica gel via covalent bond has been proved to be green catalyst for liquid-phase Beckmann rearrangement of oximes in dried dioxane at room temperature. Excellent conversion and selectivity were acquired in the Beckmann rearrangement of cyclohexanone oxime. The catalyst system was recycled and reused. 展开更多
关键词 Beckmann rearrangement OXIMES silica sulfuric acid.
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Distribution of slip along an earthquake fault
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作者 WU Zhong-liang(吴忠良) 《Acta Seismologica Sinica(English Edition)》 CSCD 2004年第5期542-548,共9页
Slip distribution of the 1979 Imperial Valley, 1989 Loma Prieta, 1992 Landers, 1994 Northridge, and 1995 Kobe earthquake shows a piece-wise Gutenberg-Richters law. For small slips, the b-value is near to 1; while for ... Slip distribution of the 1979 Imperial Valley, 1989 Loma Prieta, 1992 Landers, 1994 Northridge, and 1995 Kobe earthquake shows a piece-wise Gutenberg-Richters law. For small slips, the b-value is near to 1; while for large slips, the b-value is larger than 1. 展开更多
关键词 earthquake slip Gutenberg-Richters law B-VALUE
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Scientific Basis and Technological Path of Regional Strategic Environmental Assessment
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作者 Liu He Jin Fengjun Xu Xu 《Chinese Journal of Population,Resources and Environment》 2010年第3期25-28,共4页
The study tries to set up a system to extract strategic environmental assessment (SEA) in exploitation of regional development based on the present situation of environmental assessment in China. First, the article su... The study tries to set up a system to extract strategic environmental assessment (SEA) in exploitation of regional development based on the present situation of environmental assessment in China. First, the article summarizes the emphasis and deficiency of international academic community’s SEA research in the past 10 years. Based on this, the article puts forward the concept and evaluation principles of regional strategic environmental assessment (RSEA). Then the article expounds the necessity of carrying out RSEA. After that, the article discusses in detail the process of RSEA, which includes defining evaluation scope, describing regional background, combing strategic behavior, designing development scenarios, predicting the pressure on environment, assessing environmental impact, screening alternatives and proposing regulation and control schemes. 展开更多
关键词 strategic environmental assessment cumulative impact REGION
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Twist-related locomotion of a snake-like robot
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作者 叶长龙 Ma Shugen +2 位作者 Li Bin Wang Yuechao Jing Tao 《High Technology Letters》 EI CAS 2006年第2期143-149,共7页
As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion us... As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snakelike robot can move on rough ground and even climb up some obstacles. In dfis paper, the twist-related locomotion function is firstly solved, and simplified to be expressible by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses. 展开更多
关键词 snake-like robot twist-related locomotion simplified function composite locomotion
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