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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期 126-137页

作者： Dongfang Li Jie Huang Rob law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

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Osmotic concentration of succinic acid by forward osmosis:Influence of feed solution pH and evaluation of seawater as draw solution

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Chinese Journal of Chemical Engineering 2018年第5期26卷 976-983页

作者： Jeng Yih law Abdul Wahab Mohammad Department of Chemical and Process Engineering Faculty of Engineering and Built Environment Universiti Kebangsaan Malaysia Section of Chemical Engineering Technology Universiti Kuala Lumpur Malaysian Institute of Chemical & Bioengineering Technology

In this study, we investigated the essential role of feed solution pH so as to gain insights into the transport mechanisms of succinic acid concentration by osmotically-driven forward osmosis （FO） process. FO performances including water flux and bidirectional transport of succinate and chloride anions were systematically examined using cellulose triacetate-based FO membrane. Additionally, real seawater was explored as draw solution. Experimental results revealed that the pH-dependent speciation of succinic acid can affect the FO performances. Ionization of succinic acid at higher solution pH enhanced the osmotic pressure of feed solution, thus leading to lower water flux performance. A strong effect was pointed out on the succinate rejection for which nearly 100% rejections were achieved at pH above its pKa2 value. The rejection of succinate increased in the following order of chemical form： C2H4C2O4H2 〈 C2H4C2OH- 〈 C2H4C2O24-. With real seawater as the draw solution, low to moderate water fluxes （〈4 L. m- 2. h- 1 ） were observed. The divalent succinate anion was highly retained in the feed side despite differences in the succinic acid feed concentration at pH of approximately 6.90.

关键词： Forward osmosis Succinic acid pH Transport mechanism Seawater

Stem Cell Niche,the Microenvironment and Immunological Crosstalk

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Cellular & Molecular Immunology 2008年第2期5卷 107-112页

作者： law Sujata S.Chaudhuri Stem Cell Research and Application Unit Department of Biochemistry and Medical BiotechnologySchool of Tropical MedicineC R AvenueKolkata 700073India

The concept of stem cells, their physiological existence, the intricate anatomical localization, the known and the unknown functions, and their exclusive utility for the purpose of regenerative medicine, are all now encompassed within an emergent question, ＇how compatible these cells are immunologically？＇ Indeed, the medical aspects of stem cells are dependent on a large number of queries based on the basic properties of the cells. It has greatly been emphasized to probe into the basic research on stem cells before any successful therapeutic attempts are made. One of the intricate aspects of the adult stem cells is its immunological behavior in relation to the microenvironmental associates, the stromal cells in the presence of a suitable target. Cellular ＆ Molecular Immunology.

关键词： stem cell niche stromal immunology

Historical imaginaries, historic urban branding, and the local state in China: rejuvenation discourse, manufactured heritage and simulacrascapes

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Built Heritage 2023年第1期7卷 76-87页

作者： Andrew Malcolm law School of Architecture Planning and LandscapeNewcastle UniversityNewcastleUK

This intervention examines the extant literature on historical imaginaries and historic urban branding in *** suggests that while research in this field has increasingly moved away from an economic(or an implicit neo-Marxist)model,there is still a lack of research on the role of broader cultural and state led discourses of nationalism in the construction of historic urban imaginaries and historic urban branding within Chinese *** unpacking one nationalistic discourse a-narrative of rejuvenation-this article argues that more needs to be done to examine the role of these themes in the construction of historical imaginaries at the level of the local state(including related state networks of developers,retailers,tourist officials,town planners,architects,and designers).It is suggested that an analysis of these discourses and imaginaries is important if we are:1)to appreciate the role of these themes in the construction and/or the reconfiguration of existing or emerging historic brands within Chinese cities;2)to comprehend the construction of'authorised heritage discourses,(AHDs)practices and materialities at the level of the local state;3)to understand the politics of the past(including the uses of history,memory,nostalgia,and heritage)at the level of the local state;4)to be aware of the way in which these themes inform the preservation,conservation,and/or the demolition of heritage space at the level of the local state;5)to recognise the manufacture of'heritage'or simulacrascapes within Chinese cities.

关键词： rejuvenation historical urban imaginaries historical urban branding built heritage simulacrascapes

The dispersion of surface contaminants by Stokes drift in random waves

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Acta Oceanologica Sinica 2018年第7期37卷 55-61页

作者： HUANG Guoxing law Wing-Keung Adrian State Key Laboratory of Coastal and Offshore Engineering Dalian University of Technology Dalian 116024 China State Key Laboratory of Hydrology Water Resources and Hydraulics Engineering Nanjing 210029 China School of Civil and Environmental Engineering Nanyang Technological University Singapore 639798 Singapore

Contaminants that are floating on the surface of the ocean are subjected to the action of random *** the literature,it has been asserted by researchers that the random wave action will lead to a dispersion mechanism through the induced Stokes drift,and that this dispersion mechanism may have the same order of significance comparable with the others means due to tidal currents and *** is investigated whether or not surface floating substances will disperse in the random wave environment due to the induced Stokes *** analytical derivation is first performed to obtain the drift velocity under the random *** the analysis,it is shown that the drift velocity is a time-independent value that does not possess any fluctuation given a specific wave energy ***,the random wave drift by itself should not have a dispersive effect on the surface floating *** were then conducted with small floating objects subjected to P-M spectral waves in a laboratory wave flume,and the experimental results reinforced the conclusion drawn.

关键词： dispersion surface contaminants random wave Stokes drift

Is hepatic neoplasm-related pyogenic liver abscess a distinct clinical entity?

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World Journal of Gastroenterology 2012年第10期18卷 1110-1116页

作者： Siu-Tong law Ki Kong Li Division of Gastroenterology and Hepatology Department of Medicine and Geriatrics Tuen Mun Hospital

AIM: To compare the clinical characteristics of pyogenic liver abscess (PLA) in patients with and without hepatic neoplasm (HN). METHODS: We performed a retrospective analysis involving patients with PLA. The demographic, clinical features, laboratory and imaging findings, management and outcome of patients with and without HN were studied. RESULTS: From January 2000 to December 2009 inclusive, 318 patients (35 with HN) had PLA, and mean age and comorbidity were comparable between the two groups. More patients with HN experienced right upper quadrant pain (68.6% vs 52.7%, P < 0.04), developed jaundice (14.3% vs 5.7%, P < 0.03) and hepatomegaly (17.1% vs 3.9%, P < 0.01), and had higher serum total bilirubin level (43.3 μmol/L vs 30.0 μmol/L, P = 0.05). Most patients in both groups had PLAs in the right hepatic lobe, and biliary tract disorder was the most common underlying cause (71.4% and 61.8%). However, more PLAs in the HN group were associated with thicker abscess wall (37.1% vs 19.4%, P < 0.01), septal lobulation (77.1% vs 58%, P < 0.02), gaseous cavitation (17% vs 7.8%, P = 0.03), portal thrombophlebitis (11.4% vs 1.8%, P < 0.01) and aerobilia (25.9% vs 5.5%, P < 0.01). Mixed bacterial growth (40% vs 15.2%, P < 0.01) and Gram-negative bacilli (22.8% vs 60.4%, P < 0.01) were dominant isolates in PLAs with and without HN, respectively. Although incidence of the complications was comparable between the two groups, patients with HN had a higher mortality rate than those without (71.4% vs 8.8%, P < 0.01). Multivariate logistic regression analysis revealed underlying active malignancy [odds ratio (OR): 40.45, 95% CI: 14.76-111.65], hypoalbuminemia (OR: 1.22, 95% CI: 1.14-1.38), disseminated intravascular coagulation (OR: 3.32, 95% CI: 1.19-9.69) and acute coronary syndrome (OR: 4.48, 95% CI: 1.08-17.8) were independent risk factors associated with mortality. However, several HN cases, presented concurrently with PLAs, were found to have curative resectable tumors and

关键词： Pyogenic liver abscess Hepatic neoplasms Hepatic malignancy Liver abscess

Dispersion in oscillatory electro-osmotic flow through a parallel-plate channel with kinetic sorptive exchange at walls

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Journal of Hydrodynamics 2014年第3期26卷 363-373页

作者： SONG Jie 吴朝安 law Wing-Keung Adrian School of Civil and Environmental Engineering Nanyang Technological University Department of Mechanical Engineering The University of Hong Kong

Dispersion in time-oscillatory electro-osmotic flows in a slit micro-channel under the effect of kinetic sorptive exchange at walls is theoretically investigated using the homogenization method. The two walls of the channel are considered to be made up of different materials, and therefore have different zeta potentials and sorption coefficients. A general expression for the Taylor dispersion coefficient under different zeta potentials as well as various sorption conditions at the walls is derived analytically. The dispersion coefficient is found to be dependent on the oscillation frequency, the Debye parameter, the species partition coefficient, the reaction kinetics and the ratio of the wall potentials. The results demonstrate that the presence of wall sorption tends to enhance the dispersion when the oscillation frequency is low, but the effect is negligible in high-frequency oscillatory flows. Moreover, it is found that the dispersion coefficient could be significantly changed by adjusting the relative wall potentials for low-frequency flows.

关键词： oscillatory electro-osmotic flows dispersion sorptive walls homogenization method

Optimization of thermophilic anaerobic-aerobic treatment system for Palm Oil Mill Effluent （POME）

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Frontiers of Environmental Science & Engineering 2015年第2期9卷 334-351页

作者： Yijing CHAN Meifong CHONG Chunglim law Department of Chemical and Environmental Engineering The University of Nottingham Malaysia Campus Selangor 43500 Malaysia

Optimization of an integrated anaerobic-aero- bic bioreactor （IAAB） treatment system for the reduction of organic matter （Chemical Oxygen Demand （COD）, Biochemical Oxygen Demand （BOD） and Total Sus- pended Solids （TSS） concentrations） in Palm Oil Mill Effluent （POME） to legal standards with high methane yield was performed for the first time under thermophilic condition （50~C-55~C） by using response surface meth- odology （RSM）. The experiments were conducted based on a central composite rotatable design （CCRD） with three independent operating variables, organic loading rates in anaerobic compartment （OLRan） and mixed liquor volatile suspended solids （MLVSS） concentration in anaerobic （MLVSSa,） and aerobic compartments （MLVSSa）. The optimum conditions for the POME treatment were determined as OLRan of 15.6 g COD＇L-I＂d-1, MLVSSan of 43100mg.L l, and MLVSSa of 18600mg.L-1, where high aerobic COD, BOD and TSS removal efficiencies of 96.3%, 97.9%, and 98.5% were achieved with treated BOD of 56mg.L1 and TSS of *** meeting the discharge standard. This optimization study successfully achieved a reduction of 42% in the BOD concentrations of the final treated effluent at a 48% higher OLRan as compared to the previous works. Besides, thermophilic IAAB system scores better feasibility and higher effectiveness as compared to the optimized mesophilic system. This is due to its higher ability to handle high OLR with higher overall treatment efficiencies （more than 99.6%）, methane yield （0.31 L CH4＂ gl CODremoved） and purity of methane （67.5%）. Hence, these advantages ascertain the applicability ofthermophilic IAAB in the POME treatment or even in other high-strength wastewaters treatment.

关键词： palm oil mill effluent (POME) anaerobic aerobic thermophilic biogas optimization

Industrial water treatment and industrial marine outfalls： Achieving the right balance

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Frontiers of Chemical Science and Engineering 2016年第4期10卷 472-479页

作者： Adrian W. K. law Chunyan Tang Environmental Process Modelling Centre Nanyang Environment and Water Research Institute Nanyang Technological University Singapore 637141 Singapore School of Civil and Environmental Engineering Nanyang Technological University Singapore 639798 Singapore

Industrial water treatment and industrial marine outfalls both function together to reduce the pollutant concentrations in the effluent and mitigate the potential impact on the environment. The former uses environ- mental treatment technology with energy and material cost considerations, while the latter utilizes the natural assimilation potential of the coastal water environment achievable at the outfall location. Because of their synergistic nature, marine outfalls are now commonly used for the disposal of partially treated domestic and industrial effluents in many coastal cities around the world, with many successful examples of low and acceptable risks to the environment. The objective of this paper is to review their balance from both environmental and economic considerations. We also discuss the end-of-the-pipe and mixing zone approaches for industrial effluents, and give some recommendations particularly for developing coun- tries. Finally, we emphasize that a compulsory and vigorous monitoring program is essential regardless of how the balance is achieved.

关键词： industrial effluent treatment industrial marineoutfalls economic and environmental considerations