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Task-Space Tracking Control of Robotic Manipulator Via Intermittent Controller

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Journal of Systems Science & Complexity 2022年第6期35卷 2248-2262页

作者： MA Mihua cai Jianping School of Mathematics and Statistics Minnan Normal UniversityZhangzhou 363000China

An intermittent controller for robotic manipulator in task space was developed in this *** task space,for given a desired time-varying trajectory,the robot end-effector can track the desired target under the designed intermittent *** from most of the existing works on control of robotic manipulator,the intermittent control for robotic manipulator is discussed in task space instead of joint ***,the desired trajectory can be time-varying and not limited to *** a direct application,the authors implemented the proposed controller on tracking of a two-link robotic manipulator in task *** simulations demonstrate the effectiveness and feasibility of the proposed intermittent control strategy.

关键词： Intermittent controller robotic manipulator task-space tracking

Generating Lie Point Symmetry Groups of (2-10-Dimensional Broer-Kaup Equationvia a Simple Direct Method

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Communications in Theoretical Physics 2005年第6期43卷 1047-1052页

作者： MAHong-cai DepartmentofPhysics ShanghaiJiaoTongUniversityShanghai200030China

Using the (2+1)-dimensional Broer-Kaup equation as an simple example, a new direct method is developed to find symmetry groups and symmetry algebras and then exact solutions of nonlinear mathematical physical equations.

关键词： symmetry groups CK direct method exact solution symmetries

Total Coloring of Planar Graphs without Chordal 7-cycles

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Acta Mathematica Sinica,English Series 2015年第12期31卷 1951-1962页

作者： Hua cai School of Mathematics Shandong University Department of Mathematics Changji University

A k-total-coloring of a graph G is a coloring of vertices and edges of G using k colors such that no two adjacent or incident elements receive the same *** this paper,it is proved that if G is a planar graph with Δ（... 详细信息

关键词： Planar graph total coloring chordal 7-cycle

Effect of humic acid and metal ions on the debromination of BDE209 by nZVM prepared from steel pickling waste liquor

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Frontiers of Environmental Science & Engineering 2015年第5期9卷 879-887页

作者： Yuling cai School of Chemistry and Environment South China Normal University Guangzhou 510006 China Guangdong Technology Research Centre for Ecological Management and Remediation of Urban Water System Guangzhou 510006 China Department of Science and Environmental Studies Hong Kong Institute of Education Hong Kong 00852 China

As a promising in situ remediation technology, nanoscale zero-valent iron （nZVI） can remove polybromi- nated diphenyl ethers such as decabromodiphenyl ether （BDE209） effectively, However its use is limited by its high production cost. Using steel pickling waste liquor as a raw material to prepare nanoscale zero-valent metal （nZVM） can overcome this deficiency. It has been shown that humic acid and metal ions have the greatest influence on remediation. The results showed that nZVM and nZVI both can effectively remove BDE209 with little difference in their removal efficiencies, and humic acid inhibited the removal efficiency, whereas metal ions promoted it. The promoting effects followed the order Ni2＋〉 Cu2＋〉 Co2＋ and the cumulative effect of the two factors was a combination of the promoting and inhibitory individual effects. The major difference between nZVM and nZVI lies in their crystal form, as nZVI was found to be amorphous while that of nZVM was crystal. However, it was found that both nZVM and nZVI removed BDE209 with similar removal efficiencies. The effects and cumu- lative effects of humic acid and metal ions on nZVM and nZVI were very similar in terms of the efficiency of the BDE209 removal.

关键词： steel pickling waste liquor nanoscale zero-valet metal nanoscale zerovalent iron humic acid metalion

Overpressure development and oil charging in the central Junggar Basin,Northwest China:Implication for petroleum exploration

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Science China Earth Sciences 2009年第11期52卷 1791-1802页

作者： XiYuan cai China Petroleum & Chemical Corporation Beijing 100092 China

The Junggar Basin is one of the largest and most petroliferous superimposed petroleum basins in China. The central depression area has become the frontier field for petroleum exploration. The characteristics of potential source rocks and reservoir sandstones, and the pressure regime in the central Junggar Basin were studied. Permian shales are dominated by hydrogen-rich, oil-prone algal organic matter, and Jurassic mudstones are dominated by hydrogen-poor, higher-plant derived organic matter. These source rocks are widespread and have been mature for hydrocarbon generation, suggesting good to excellent exploration potential, both for crude oils and for natural gases. The deeply buried Jurassic sandstones usually have low porosity and permeability. However, sandstones beneath the Jurassic/Cretaceous unconformity display relatively high porosity and permeability, suggesting that meteoric water leaching had improved the quality of the sandstones. Overpressure developed over much of the central Junggar Basin. The overpressured rocks are characterized by slightly increased interval transit time, low sandstone permeability, increased organic matter maturity, and high relative hydrocarbon-gas contents. Mudstones in the overpressured system have quite the same clay mineral compositions as mudstones in the lower part of the normally pressured system. Overpressure generation in the central Junggar Basin is best to be explained as the result of hydrocarbon generation and fluid retention in low-permeability rocks. Petroleum generated from Permian and Jurassic source rocks could migrate laterally through preferential petroleum migration pathways and accumulated in structural traps or lithological traps in the overpressured system, or migrate vertically through faults/ hydraulic fractures into the overlying, normally pressured system and accumulate in structural or lithological traps. Therefore, commercial petroleum reservoirs could be potentially found in both the overpressured

关键词： pressure regime overpressure generation oil charge petroleum exploration potential Junggar Basin

Theoretical Investigation on Interaction between Guanine and Luteolin

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Chinese Journal of Chemical Physics 2013年第5期26卷 533-540,I0003页

作者： Lai-cai Li Kun-kun Bai Wan-fei cai Departement of Chemistry and Material Science Sichuan Normal University Chengdu 610066 China

The interacting patterns of the luteolin and guanine have been investigated by using the density functional theory B3LYP method with 6-31＋G＊ basis set. Eighteen stable structures for the luteolin-guanine complexes have been found respectively. The results indicate that the complexes are mainly stabilized by the hydrogen bonding interactions. Meanwhile, both the number and strength of hydrogen bond play important roles in determining the stability of the complexes which can form two or more hydrogen bonds. Theories of atoms in molecules and natural bond orbital have also been utilized to investigate the hydrogen bonds involved in all the systems. The interaction energies of all the complexes which were corrected by basis set superposition error are 6.04-56.94 kJ/mol. The calculation results indicate that there are strong hydrogen bonding interactions in the luteolin-guanine complexes. We compared the interaction between luteolin and four bases of DNA, and found luteolin-thymine was the strongest and luteolin-adenine was the weakest. The interaction between luteolin and DNA bases are all stronger than luteolin-water.

关键词： Density functional theory Luteolin Guanine Hydrogen bond Atoms inmolecules Natural bond orbital

纳米颗粒粒径、形貌及大体积分数颗粒粒径测量

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中国粉体技术 2025年第1期31卷 118-129页

作者：刘泽奇仪显亨蔡天意蔡小舒上海理工大学能源与动力工程学院上海200093 嘉兴美帕克仪器科技有限公司浙江嘉兴314200

【目的】准确、快速测量纳米颗粒的粒径、形貌,同时避免颗粒体积分数过高对测量结果的影响。【方法】采用3种新的纳米颗粒测量方法图像动态光散射法、偏振图像动态光散射法、大体积分数纳米颗粒180°光纤后向动态光散射法,分别快速测量... 详细信息

【目的】准确、快速测量纳米颗粒的粒径、形貌,同时避免颗粒体积分数过高对测量结果的影响。【方法】采用3种新的纳米颗粒测量方法图像动态光散射法、偏振图像动态光散射法、大体积分数纳米颗粒180°光纤后向动态光散射法,分别快速测量纳米颗粒的粒径及分布、形貌及分布、大体积分数纳米颗粒的粒径;利用基于不同测量方法研制的3种仪器测量多种纳米颗粒,包括球形、非球形和工业纳米颗粒样品。【结果】图像动态光散射法可以快速准确地测量纳米颗粒的粒径,光纤后向动态光散射法可以测量体积分数高达20%的纳米颗粒粒径;对于非球形纳米颗粒,采用光学球体度表征颗粒形貌,偏振图像动态光散射法可以快速测出颗粒的光学球体度和光学球体度分布,用于表征被测颗粒偏离球体的程度,以及非球形纳米颗粒形貌的一致性;非球形颗粒形状偏离球体越远,光学球体度值越小,光学球体度分布越窄,表明非球形纳米颗粒的形貌越均匀。【结论】使用这3种纳米颗粒测量仪器可以实现纳米颗粒粒径的实时测量、纳米颗粒的形貌测量以及高体积分数纳米颗粒的在线测量,可以应用于药物生产的实时监测、化学样品的工艺分析、磨料颗粒的性能评估等方面。

关键词：纳米颗粒粒径分布形貌分布多次散射动态光散射

Greenhouse gas budget for terrestrial ecosystems in China

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Science China Earth Sciences 2012年第2期55卷 173-182页

作者： cai ZuCong State Key Laboratory of Soil and Sustainable Agriculture Institute of Soil ScienceChinese Academy of SciencesNanjing 210008China

Terrestrial ecosystems may act as a source or a sink for the atmospheric greenhouse gases, carbon dioxide (CO2), methane (CH4), and nitrous oxide (N2O), depending on land use and management. This paper reviews the literature on carbon, CH4, and N2O fluxes from terrestrial ecosystems in China, and analyzes its national greenhouse gas budget. Carbon storage in biomass and soils in Chinese terrestrial ecosystems decreased in the past 300 years, due to deforestation and expansion of cultivated land, and reached a minimum in the late 1970s. Since then, carbon storage has increased at an estimated rate of 0.19 to 0.26 Pg C yr-1, mainly owing to reforestation and afforestation. CH4 emission from natural wetlands decreased from 6.65 Tg CH4 yr-1 in 1990 to 5.71 Tg CH4 yr-1 in 2000 owing to the decrease in wetland area. CH4 emission from flooded rice fields was 7.41 Tg CH4 yr-1. At the same time, aerobic soils took up atmospheric CH4 at a rate of 2.56 Tg CH4 yr-1. Nitrous oxide emission from forestlands, grasslands, and farmlands was positively correlated with precipitation at a national scale, and the emission rate was positively correlated with the CH4 uptake rate of forestlands and grasslands (P<0.01). Natural N2O sources were estimated to be 419 Gg N yr-1 and anthropogenic sources (from farmlands) to be 292 to 476.3 Gg N yr-1, with a mean of 372.6 Gg N yr-1. The integrated budget of greenhouse gasses indicates that Chinese terrestrial ecosystems act as a small net sink for global warming potential (GWP), ranging from 0.04 to 0.32 Pg CO2-eq yr-1, in a striking contrast to terrestrial ecosystems globally, which are a source of 2.75 to 6.78 Pg CO2-eq yr-1. The ratios of anthropogenic to natural sources of CH4 and N2O are much larger in Chinese terrestrial ecosystems than they are in global averages, reflecting greater human disturbance of terrestrial ecosystems in China.

关键词： terrestrial ecosystems carbon dioxide methane nitrous oxide

Viscosity Iterative Algorithm for Variational Inequality Problems and Fixed Point Problems of Strict Pseudo-contractions in Uniformly Smooth Banach Spaces

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Acta Mathematica Sinica,English Series 2015年第9期31卷 1435-1448页

作者： Gang cai College of Mathematics Science Chongqing Normal University

The purpose of this paper is to study a new viscosity iterative algorithm based on a generalized contraction for finding a common element of the set of solutions of a general variational inequality problem for finite inversely strongly accretive mappings and the set of common fixed points for a countable family of strict pseudo-contractions in uniformly smooth Banach spaces. We prove some strong convergence theorems under some suitable conditions. The results obtained in this paper improve and extend the recent ones announced by many others in the literature.

关键词： Variational inequality fixed point strong convergence uniformly smooth Banach space