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Output feedback adaptive super twisting sliding mode control for quadrotor UAvs

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Control Theory and Technology 2024年第1期22卷 92-105页

作者： Oscar Salas-Peña Jesus DeLeón-Morales Susana v.Gutiérrez-Martínez École Centrale de nantes-LS2n UMR 6004 CNRS44300NantesFrance Facultad de Ingeniería Mecánica y Eléctrica Universidad Autónoma de Nuevo León66451San Nicolás de Los GarzaMexico

In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAv is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.

关键词： Adaptive super twisting controller High-order sliding modes observer UAv

Aqueous electrochemical delithiation of cathode materials as a strategy to selectively recover lithium from waste lithium-ion batteries

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Journal of Energy Chemistry 2024年第1期88卷 144-153,I0004页

作者： Pier Giorgio Schiavi Andrea Giacomo Marrani olga Russina Ludovica D’Annibale Francesco Amato Francesca Pagnanelli Pietro Altimari Department of Chemistry Sapienza University of RomePiazzale Aldo Moro n.500185 RomeItaly

Lithium recovery from end-of-life Li-ion batteries(LIBs)through pyro-and hydrometallurgical recycling processes involves several refining stages,with high consumption of reagents and energy.A competitive technological alternative is the electrochemical oxidation of the cathode materials,whereby lithium can be deintercalated and transferred to an electrolyte solution without the aid of chemical extracting *** article investigates the potential to selectively recover Li from LIB cathode materials by direct electrochemical extraction in aqueous *** process allowed to recovering up to 98%of Li from high-purity commercial cathode materials(LiMn_(2)O_(4),LiCoO_(2),and Li ni_(1/3)Mn_(1/3)Co_(1/3)O_(2))with a faradaic efficiency of 98%and negligible co-extraction of Co,ni,and *** process was then applied to recover Li from the real waste LIBs black mass obtained by the physical treatment of electric vehicle battery *** black mass contained graphite,conductive carbon,and metal impurities from current collectors and steel cases,which significantly influenced the evolution and performances of Li electrochemical ***,due to concomitant oxidation of impurities,lithium extraction yields and faradaic efficiencies were lower than those obtained with high-purity cathode *** oxidation was found to occur within the voltage range investigated,but it could not quantitatively explain the reduced Li extraction *** fact,a detailed investigation revealed that above 1.3 v ***/Ag Cl,conductive carbon can be oxidized,contributing to the decreased Li *** on the reported experimental results,guidelines were provided that quantitatively enable the extraction of Li from the black mass,while preventing the simultaneous oxidation of impurities and,consequently,reducing the energy consumption of the proposed Li recovery method.

关键词： Lithium recovery Lithium-ion batteries recycling Electrochemical lithium extraction Lithium selective Extraction

Detailed seismic zoning of the East Kazakhstan region in the Republic of Kazakhstan

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Geodesy and Geodynamics 2024年第2期15卷 156-165页

作者： natalya v.Silacheva n.P.Stepanenko O.K.Kurilova A.D.Kudabayeva A.T.Danabayeva Institute of Seismology Ministry of Emergency SituationsAlmaty 050060Kazakhstan

Kazakhstan is currently drafting new construction regulations that comply with the major provisions of the *** regulations are created on the basis of seismic zoning maps of various degrees of detail,developed by our Institute of Seismology using a new methodological approach for *** article is about creating the first normative map of the Detailed Seismic Zoning on a probabilistic foundation for the Republic of Kazakhstan’s East Kazakhstan *** carried out the probabilistic assessment of seismic hazard using a methodology consistent with the main provisions of Eurocode 8and updated compared with that used in developing maps of Kazakhstan’s General Seismic Zoning and seismic microzoning of *** most thorough and current data accessible for the area under consideration were combined with contemporary analytical *** have been done to not only the databases being used but also the way seismic sources were shown,including active faults *** a scale of 1:1000000,precise seismic zoning maps of the East Kazakhstan region were created for two probabilities of exceedance:10%and 2%in 50 years in terms of peak ground accelerations and macroseismic *** obtained seismic hazard distribution is generally consistent with the General Seismic Zoning of Kazakhstan’s previous ***,because active faults were included and a thoroughly revised catalog was used,there are more pronounced zones of increased danger along the fault in the western part of the *** the west of the territory,acceleration values also increased due to a more accurate consideration of seismotectonic *** maps are the basis for developing new state building regulations of the Republic of Kazakhstan.

关键词： Probabilistic seismic hazard assessment Detailed seismic zoning Peak ground acceleration Microseismical intensity

Antibacterial HA-coatings on bioresorbable Mg alloy

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Journal of Magnesium and Alloys 2024年第5期12卷 1965-1985页

作者： K.v.nadaraia D.v.Mashtalyar M.A.Piatkova A.I.Pleshkova I.M.Imshinetskiy M.S.Gerasimenko E.A.Belov v.v.Kumeiko D.n.Kozyrev K.A.Fomenko v.v.Mostovaya B.R.Torpanov A.R.Biktimirov I.S.Osmushko S.L.Sinebryukhov S.v.Gnedenkov Institute of Chemistry FEB RAS 159 Pr.100-letiya VladivostokaVladivostok 690022Russia Far Eastern Federal University 10 Ajax BayRussky IslandVladivostok 690922Russia A.v.Zhirmunsky national Scientific Center of Marine Biology FEB RAS 17 St.PalchevskogoVladivostok 690041Russia Regional Clinical Dermatovenerological Dispensary 18 V St.GamarnikaVladivostok 690033Russia nMIC“Treatment and Rehabilitation Center” 3 Ivankovskoe highwayMoscow 125367Russia

In this study,a calcium-phosphate coating was formed on a Mg-Mn-Ce alloy by the plasma electrolytic oxidation(PEO).The antibiotic vancomycin,widely used in the treatment of infections caused by Staphylococcus aureus(***),was impregnated into the *** with vancomycin showed high bactericidal activity against *** mechanical and electrochemical properties of the formed coatings were studied,as well as in vitro cytotoxicity tests and in vivo tests on mature male rats were *** to SEM,EDS,XRD and XPS data,coatings had a developed morphology and contained hydroxyapatite,which indicates high *** analysis of roughness of coatings without and with vancomycin did not reveal any differences,confirming the high roughness of the *** electrochemical tests,an increase in corrosion resistance by more than two times after the application of PEO coatings was *** to the results of an in vivo study,after 28 days of the implantation of samples with calcium phosphate PEO coating and vancomycin,no signs of inflammation were observed,while an inflammatory reaction developed in the area of implantation of bare alloy,followed by *** release tests from the coatings show a sharp decrease in the concentration of the released antibiotic on day 7 and then a gradual decrease until day *** the experiment,no significant deviations in the condition and behavior of the animals were observed;clinical tests did not reveal a systemic toxic reaction.

关键词： Bioactive coatings Biocompatibility Mg alloy Plasma electrolytic oxidation Hydroxyapatite vancomycin

Agglomeration of coal and polyethylene mixtures during fixed‑bed co‑gasification

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International Journal of Coal Science & Technology 2024年第2期11卷 91-100页

作者： Igor G.Donskoy Aleksandr n.Kozlov Maksim v.Penzik Denis A.Svishchev Lu Ding Melentiev Energy Systems Institute Russian Federation130 Lermontova StreetIrkutskRussia 664033 East China University of Science and Technology 130 Meilong RoadShanghai 200237China

The article presents the results of experimental studies on the gasification of mixtures of brown coal and polyethylene(up to 20 wt%fraction)in a laboratory *** work aims to study the agglomeration process during the heating and oxidation of the *** measurement results(gas composition,pressure drop)provide indirect information on the dynamics of thermal decomposition and structural changes in the fuel *** have shown that the interaction between polyethylene and a coal surface leads to the formation of dense agglomerates,in which the molten polymer acts as a *** form as a result of interfacial interactions between components and filtration flow *** hydrogen/carbon ratio in the solid residue of coal-polyethylene co-gasification increases from 0.07–0.2 to 1.11,indicating the formation of stable hydrocarbon compounds on the carbon *** conducted research makes it possible to identify possible interactions between chemical reactions and transfer processes that lead to agglomeration in mixtures of coal with polyethylene.

关键词： Coal Polyethylene Gasification Combustion Agglomeration

Al-Ca-Cu三元合金体系中与铝平衡的金属间化合物

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Transactions of nonferrous Metals Society of China 2024年第5期34卷 1380-1392页

作者： T.K.AKOPyan T.A.SvIRIDOvA n.A.BELOv n.v.LETyaGIn A.v.KOROTITSKIY national University of Science and Technology MISiS 4 Leninsky pr.Moscow 119049Russia

对三元Al-Ca-Cu合金体系中与铝固溶体平衡的(Al,Cu)_(4)Ca、Al_(27)Ca_(3)Cu_(7)和Al_(8)CaCu_(4)金属间化合物的结构和性能进行全面分析。基于Al4Ca相中部分Al原子被Cu取代,将(Al,Cu)_(4)Ca金属间化合物视为线性化合物。化合物中铜的... 详细信息

对三元Al-Ca-Cu合金体系中与铝固溶体平衡的(Al,Cu)_(4)Ca、Al_(27)Ca_(3)Cu_(7)和Al_(8)CaCu_(4)金属间化合物的结构和性能进行全面分析。基于Al4Ca相中部分Al原子被Cu取代,将(Al,Cu)_(4)Ca金属间化合物视为线性化合物。化合物中铜的溶解度达到10 at.%(19 wt.%),导致化合物的晶格结构、物理和力学性能发生显著变化。例如,化合物的密度从2.22 g/cm^(3)增加到2.79 g/cm^(3),显微硬度从Hv 180增加到Hv 250。将Al_(27)Ca_(3)Cu_(7)相视为具有严格化学计量比和BaHg11型初始晶体结构的三元化合物,其空间群为Pm3m,晶格参数为8.514Å,密度为3.45 g/cm^(3)。Al_(8)CaCu_(4)相也是严格化学计量比的三元化合物,具有Mn_(12)Th型晶格结构,最高的显微硬度(Hv 505)和密度(4.57 g/cm^(3))。属于二元(Al)+(Al,Cu)_(4)Ca相场和准二元(Al)+Al_(27)Ca_(3)Cu_(7)截面的合金,有前景作为新型天然铝基复合材料的基材。

关键词：金属间化合物 Al-Ca合金显微组织晶体结构物理性能力学性能

Global paleobiogeography of Albian—Cenomanian(mid-Cretaceous)marine ostracods

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Journal of Palaeogeography 2024年第2期13卷 212-236页

作者： Bernardo vázquez-García Jorge villegas-Martín Gerson Fauth Leonardo Borghi Aristóteles De Moraes Rios netto Post-Graduate Program in Geology Unisinos UniversitySao LeopoldoRSBrazil Technological Institute of Paleoceanography and Climate Change-Itt Oceaneon Unisinos UniversitySao LeopoldoRSBrazil Laboratory of Sedimentary Geology(Lagesed) Department of GeologyInstitute of GeosciencesUFRJ-Federal Universityof Riode JaneiroBrazil Labmicro Department of GeologyInstitute of GeosciencesUFRJ-Federal University of Rio de JaneiroBrazil

Despite their potential for providing important information for paleobiogeography,studies using ostracod assemblages compiled from global datasets have been scarce so *** this study,the paleogeographic implications of the relationship between different ostracod assemblages are analyzed and discussed for the Albian and *** compiled an ostracod dataset at the genus level,with 168 genera for the Albian and 174 for the Cenomanian,to which different multivariate statistical methods of grouping were *** affinity between different ostracod assemblages from different regions allowed for the delineation of 30 operational geographic units(OGUs)for the Albian,and 32 OGUs for the Cenomanian,grouped in three paleobiogeographic units(PBUs;Megatethys,Persia,and Austral)and one sub-unit(PBSU;Maghreb associated to the Megatethys).The Maghreb PBSU showed minor changes between the Albian and *** relationship among the OGUs grouped in each PBU is related to different factors,such as eustatic sea level events,similar climatic zones,and marine current circulation patterns.A relationship was observed between the Gabon and nigeria OGUs with the Persia PBU,which suggests a direct east—west connection between them during the *** affinity observed in the Austral PBU between the South American,South African,and Australian regions during the Albian can be explained by their relative geographic isolation due to the Walvis Ridge *** eventual flooding of this barrier led to the relationship observed between the SE Brazilian and Bolivian regions with the Austral ***,the data also suggested that the separation of the Indian subcontinent from the Austral PBU took place during the Cenomanian.

关键词： Operational geographic units Paleobiogeographic units Albian Cenomanian Marine ostracods

Porous Shish-Kebab Structure Prepared from Oriented UHMWPE Films by Processing in Supercritical CO_(2)

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Chinese Journal of Polymer Science 2024年第1期42卷 97-104,I0009页

作者： Sergey A.Lermontov Aleksey v.Maksimkin nataliya A.Sipyagina Tarek Dayyoub Alena n.Malkova Evgeniy A.Kolesnikov Elena A.Straumal Inna O.Gozhikova Saidkhodzha G.nematulloev Dmitry v.Telyshev Institute of Physiologically Active Compounds of the Russian Academy of Sciences Chernogolovka 142432Russia Institute for Bionic Technologies and Engineering I.M.Sechenov First Moscow State Medical University(Sechenov University)Moscow 19991Russia national University of Science and Technology"MISIS"Moscow 119049 Russia Institute of Biomedical Systems National Research University of Electronic TechnologyZelenogradMoscow 124498Russia

For the first time, a highly crystalline porous shish-kebab structure with a high degree of crystallinity was obtained by using a combination of two methods for the formation of porous polymeric materials. A treatment procedure using supercritical carbon dioxide(sc CO_(2))was carried out for oriented ultrahigh molecular weight polyethylene(UHMWPE) films, which provided special conditions for the crystallization of dissolved UHMWPE macromolecules on the surface of oriented UHMWPE crystals. The prepared porous materials were investigated by scanning electron microscopy(SEM) and differential scanning calorimetry(DSC). The particularity of the obtained porous shish-kebab is the absence of the amorphous phase between lamellar crystals(kebabs). The obtained pores had an oval shape, and they were oriented in the orientation direction of the UHMWPE macromolecules. The pore size ranged from 0.05 μm to 4 μm. Controlling the conditions for the crystallization of the UHMWPE macromolecules using supercritical CO_(2) gives the possibility to control the size of both lamellar disks and pores formed.

关键词： UHMWPE Supercritical CO_(2) Porous shish-kebab structure

Al-Ca-Fe合金中Al_(10)CaFe_(2)化合物的形成与表征

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Transactions of nonferrous Metals Society of China 2024年第2期34卷 361-377页

作者： n.A.BELOv T.K.AKOPyan E.A.nAUMOvA v.v.DOROSHEnKO T.A.SvIRIDOvA n.O.KOROTKOvA national University of Science and Technology MISIS 4 Leninsky pr.Moscow 119049Russia Baikov Institute of Metallurgy and Materials Science 49 Leninsky pr.Moscow 119991Russia

采用热力学计算和实验技术研究铝角的Al-Ca-Fe体系相图,包括液相面投影图和凝固反应。结果表明,与铝固溶体(Al)平衡的不是Al_(3)Fe相,而是一种组成符合化学式Al_(10)CaFe_(2)的三元化合物。通过包晶转变L+Al_(3)Fe→(Al)+Al_(10)CaFe_(2... 详细信息

采用热力学计算和实验技术研究铝角的Al-Ca-Fe体系相图,包括液相面投影图和凝固反应。结果表明,与铝固溶体(Al)平衡的不是Al_(3)Fe相,而是一种组成符合化学式Al_(10)CaFe_(2)的三元化合物。通过包晶转变L+Al_(3)Fe→(Al)+Al_(10)CaFe_(2)(638℃,3.3%Ca和0.5%Fe,摩尔分数)发生从二元化合物到三元化合物的转变。与针状Al_(3)Fe相夹杂物不同,三元化合物的初晶和共晶具有致密的形貌。使用第一性原理计算和X射线衍射分析确定三元化合物Al_(10)CaFe_(2)的晶格结构。此外,近共晶合金Al-6%Ca-1%Fe(质量分数)在500~600℃退火后具有细晶组织,过量相的总体积分数约为25%。因此,Al-Ca-Fe体系可用于制造新的铝基复合合金。

关键词： Al-Ca合金金属间化合物相图相变显微组织铝基复合材料