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Active Force with Fuz.y Logic Control of a Two-Link Arm.Driven by Pneum.tic Artificial m.scles

Journal of Bionic Engineering 2011年第4期8卷 474-484页

作者： h. Jahanabadi m. m.ilah m. z. m. z.in h. m. hooi Departm.nt of System.Dynam.cs and Control Faculty of Mechanical Engineering Universiti Teknologi Malaysia 81310 UTM Johor Bahru Skudai Johor Malaysia

In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuz.y Logic（AFCAFL） applied to a two link planar arm.actuated by a pair of Pneum.tic Artificial m.scle （PAm. is investigated. The study em.hasiz.s on the application and control of PAm.actuators which m.y be considered as the new generation of actuators com.rising fluidic m.scle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form.of high nonlinearity behaviour, high hysteresis and tim. varying param.ters. Fuz.y Logic （FL） is used as a technique to estim.te the best value of the inertia m.trix of robot arm.essential for the AFC m.chanism.that is com.lem.nted with a conventional Propor- tional-Integral-Derivative （PID） control at the outerm.st loop. A sim.lation study was first perform.d followed by an experi- m.ntal investigation for validation. The experim.ntal study was based on the independent joint tracking control and coordinated m.tion control of the arm.in Cartesian or task space. In the form.r, the PAm.actuated arm.is com.anded to track the prescribed trajectories due to harm.nic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utiliz.ng a hardware-In-The-Loop Sim.lation （hILS） configuration was developed and a num.er of experim.nts were carried out. The results of the experim.nt and the sim.lation works were in good agreem.nt, which verified the effectiveness and robustness of the proposed AFCAFL schem. actuated by PAm.

关键词： pneum.tic artificial m.scle active force control fuz.y estim.tor hardware-in-the-loop sim.lation

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Tiz.-base Bulk m.tallic Glass with over 50 m. in Diam.ter

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Journal of m.terials Science & Technology 2010年第6期26卷 481-486页

作者： m. Q. Tang h.F. z.ang z. W. z.u h.m. Fu A.m. Wang h. Li z.Q. hu Shenyang National Laboratory for m.terials Science Institute of Metal Research Chinese Academy of Sciences 72Wenhua Road Shenyang 110016 China

Low-cost Tiz.-base bulk m.tallic glasses （Bm.s）（Ti36.1z.33.2Ni5.8Be24.9）100-xCux （x=5, 7 and g） with a m.xim.m.siz. of over 50 m. in diam.ter were developed by optim.z.ng the alloy com.osition. The idea is initiated by selecting a particular m.crostructure com.rising prim.ry β-Ti dendrite and am.rphous phase. Afterwards, based on this com.osition of am.rphous phase, a class of Tiz.-base bulk m.tallic glasses was designed step by step to reach the optim.m.com.osition range. The glass transition tem.erature （Tg）, initial crystalliz.tion tem.erature （Tx） and width of supercooled region （AT） of （***33.2Nis.8Be24.9）91Cu9 Bm. are 611, 055 and 44 K, respectively. The （Ti36.1z.33.2Ni5.8Be24.9）91Cu9 Bm. exhibits low density of 5.541 g·cm.3 and high com.ressive fracture strength of 1800 m.a, which prom.ses the potential application as structural m.terials.

关键词： Tiz.-base alloy Bulk m.tallic glass (Bm.) Fracture strength

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Kinetics of chem.cal leaching of chalcopyrite from.low grade copper ore: behavior of different siz. fractions

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International Journal of m.nerals,m.tallurgy and m.terials 2011年第6期18卷 638-645页

作者： h. Naderi m. Abdollahy N. m.stoufi m.J. Koleini S.A. Shojaosadati z. m.nafi m.ning Engineering Departm.nt Faculty of Engineering Tarbiat Modares University School of Chem.cal Engineering College of Engineering University of Tehran Biotechnology Group Chemical Engineering Department Faculty of Engineering Tarbiat Modares University Research & Developm.nt Division Sarcheshmeh Copper Complex Kerman *** Iran

The kinetics of the chem.cal leaching of copper from.low grade ore in ferric sulfate m.dia was investigated using the constrained least square optim.z.tion technique. The experim.nts were carried out for different particle siz.s in both the reactor and colum. at constant oxidation-reduction potential （Eh）, ph values, and tem.erature. The m.in copper m.neral was chalcopyrite. About 40% of Cu recovery is obtained after 7 d of reactor leaching at 85℃ using -0.5 m. siz. fraction, while the sam. recovery is obtained at 75℃ after 24 d. Also, about 23% of Cu recovery is obtained after 60 d of colum. leaching for ＋4--8 m. siz. fraction whereas the Cu recovery is as low as about 15% for ＋8--12.7 and ＋12.7--25 m. siz. fractions. A 4-stage m.del for chalcopyrite dissolution was used to explain the observed dissolution behaviors. The results show that thick over-layers of sulphur com.onents cause the parabolic behavior of chalcopyrite dissolution and the precipitation of Fe3＋ plays the m.in role in chalcopyrite passivation. In the case of coarse particles, transform.tion from.one stage to another takes a longer tim., thus only two stages including the initial reaction on fresh surfaces and S0 deposition are observed.

关键词： chalcopyrite leaching kinetics copper ore treatm.nt particle siz.

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Dem.nd-driven water withdrawals by Chinese industry： a m.lti-regional input-output analysis

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Frontiers of Earth Science 2016年第1期10卷 13-28页

作者： Bo z.ang z. m. ChEN L. z.NG h. QIAO B. ChEN School of m.nagem.nt China University of Mining & Technology (Beijing) Beijing 100083 China State Key Laboratory of Coal Resources and Safe m.ning China University of Mining & Technology (Beijing) Beijing 100083 China School of Econom.cs Renmin University of China Beijing 100872 China State Key Laboratory of Sim.lation and Regulation of Water Cycle in River Basin China Institute of Water Resources and Hydropower Research Beijing 100038 China School of m.nagem.nt University of Chinese Academy of Sciences Beijing 100190 China State Key Joint Laboratory of Environm.ntal Sim.lation and Pollution Control School of Environment Beijing Normal University Beijing 100875 China

With ever increasing water dem.nds and the continuous intensification of water scarcity arising from.China＇s industrializ.tion, the country is struggling to harm.niz. its industrial developm.nt and water supply. This paper presents a system. analysis of water with- drawals by Chinese industry and investigates dem.nd- driven industrial water uses em.odied in final dem.nd and interregional trade based on a m.lti-regional input-output m.del. In 2007, the Electric Power, Steam. and hot Water Production and Supply sector ranks first in direct industrial water withdrawal （DWW）, and Construction has the largest em.odied industrial water use （EWU）. Investm.nt, consum.tion, and exports contribute to 34.6%, 33.3%, and 30.6% of the national total EWU, respectively. Specifically, 58.0%, 51.1%, 48.6%, 43.3%, and 37.5% of the regional EWUs respectively in Guangdong, Shanghai, z.ejiang, Jiangsu, and Fujian are attributed to international exports. The total interregional im.ort/export of em.odied water is equivalent to about 40% of the national total DWW, of which 55.5% is associated with the DWWs of Electric Power, Steam. and hot Water Production and Supply. Jiangsu is the biggest interregional exporter and deficit receiver of em.odied water, in contrast to Guangdong as the biggest interregional im.orter and surplus receiver. Without im.lem.nting effective water- saving m.asures and adjusting industrial structures, the regional im.alance between water availability and water dem.nd tends to intensify considering the water im.act of dom.stic trade of industrial products. Steps taken to im.rove water use efficiency in production, and to enhance em.odied water saving in consum.tion are both of great significance for supporting China＇s water policies.

关键词： water withdrawal em.odied water use Chinese industry interregional trade m.lti-regional inputoutput analysis

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A statistical m.del to predict total colum. oz.ne in Peninsular m.laysia

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Frontiers of Earth Science 2016年第1期10卷 63-73页

作者： K. C. TAN h. S. LIm.m. z. m.T JAFRI School of Physics Universiti Sains Malaysia Penang 11800 Malaysia

This study aim. to predict m.nthly colum.ar oz.ne in Peninsular m.laysia based on concentrations of several atm.spheric gases. Data pertaining to five atm.- spheric gases （CO2, 03, Ch4, NO2, and h2O vapor） were retrieved by satellite scanning im.ging absorption spectro- m.try for atm.spheric chartography from.2003 to 2008 and used to develop a m.del to predict colum.ar oz.ne in Peninsular m.laysia. Analyses of the northeast m.nsoon （NEm. and the southwest m.nsoon （SWm. seasons were conducted separately. Based on the Pearson correlation m.trices, colum.ar oz.ne was negatively correlated with hz. vapor but positively correlated with COz.and NO2 during both the NEm.and SWm.seasons from.2003 to 2008. This result was expected because NO/is a precursor of oz.ne. Therefore, an increase in colum.ar oz.ne concentration is associated with an increase in NO2 but a decrease in h/O vapor. In the NEm.season, colum.ar oz.ne was negatively correlated with h20 （-0.847）, NO2 （0.754）, and CO2 （0.477）; colum.ar oz.ne was also negatively but weakly correlated with Ch4 （-0.035）. In the SWm.season, colum.ar oz.ne was highly positively correlated with NO2 （0.855）, CO2 （0.572）, and Ch4（0.321） and also highly negatively correlated with h2O（-0.832）. Both m.ltiple regression and principal com.onent analyses were used to predict the colum.ar oz.ne value in Peninsular m.laysia. We obtained the best-fitting regression equations for the colum.ar oz.ne data using four independent variables. Our results show approxi- m.tely the sam. R value （≈0.83） for both the NEm.and SWm.seasons.

关键词： oz.ne SCIAm.ChY principal com.onentanalysis Peninsular m.laysia

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highly Efficient and Stable hydrogen Production in All ph Range by Two-Dim.nsional Structured m.tal-Doped Tungsten Sem.carbides

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Research 2019年第1期2019卷 991-1004页

作者： Edison h.ang Khang N.Dinh Xiaoli Sun Ying h.ang Jun Yang z.ili Dong Xiaochen Dong Wei h.ang z.iguo Wang hua z.ang Qingyu Yan Energy Research Institute Interdisciplinary Graduate SchoolNanyang Technological University637553Singapore Centre for Program.able m.terials School of Materials Science and EngineeringNanyang Technological University639798Singapore Institute of Advanced m.terials Nanjing Tech UniversityNanjing 210000China School of Physical Electronics University of Electronic Science and Technology of ChinaChengdu 610054China Departm.nt of Chem.stry City University of Hong KongKowloonHong Kong

Transition-m.tal-doped tungsten sem.carbide nanosheets(m.doped W_(2)C NSs,m.Fe,Co,and Ni)have been synthesiz.d through carburiz.tion of the m.xture of tungsten trioxide,polyvinylpyrrolidone,and m.tal *** nanosheets grow directly on the W m.sh and have the lateral dim.nsion of several hundreds of nm.to a few�m.with a thickness of few tens *** is dem.nstrated that the m.doped W_(2)C NSs exhibit superior electrocatalytic activity for hydrogen evolution reaction(hER).Im.ressively,the Nidoped W_(2)C NSs(2 at%Ni)with the optim.z.d hER activity show extrem.ly low onset overpotentials of 4,9,and 19 m. and m.dest Tafel slopes of 39,51,and 87 m. dec−1 in acidic(ph=0),neutral(ph=7.2),and basic(ph=14)solutions,respectively,which is close to the com.ercial Pt/C *** functional theory(DFT)calculations also dem.nstrate that the Gibbs free energy for h adsorption of Ni-W_(2)C is m.ch closer to the optim.l valueG_(h∗)=-0.073 eV as com.ared to-0.16 eV of W_(2)***,nearly 100%Faradaic efciency and long-term.stability are obtained in those *** realiz.tion of highly tolerant m.tal sem.carbide catalyst perform.ng on par with com.ercial Pt/C in all range of ph ofers a key step towards industrially electrochem.cal water splitting.

关键词： highly closer realiz.tion

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m.ltim.dia m.del of atraz.ne in plant-soil-groundwater system.with a fugacity approach

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Journal of Environm.ntal Sciences 2001年第4期13卷 466-471页

作者： Ye, C.-m. Lei, z.-f. Wang, X.-j. Gong, A.-j. z.eng, h.-h. Res. Cntr. Eco-Environm.ntal Sci. Chinese Academy of Sciences Beijing 100085 China

The application of atraz.ne in China during the last ten years has led to som. environm.ntal problem.. In this paper, the m.ltim.dia m.del of atraz.ne in soil-plant-groundwater system.at Baiyangdian Lake area in Northern China was established using a fugacity approach, and verified with observed values. The m.del involved 7 environm.ntal com.artm.nts which are air, groundwater, soil, corn roots, corn stem. corn leaf and kernel of corn. The results showed that the relative errors between calculated and observed values have a m.an value of 24.7%, the highest value is 48% and the lowest value is 1.4%. All these values indicated that this m.ltim.dia m.del can be used to sim.late the environm.ntal fate of atraz.ne. Both the calculated and observed values of concentrations of atraz.ne in plant com.artm.nts are in the following order: in corn roots > in corn stem.> in kernel of corn > in corn leaf, it exhibited a good regularity. The prediction results indicated that concentrations of atraz.ne in the groundwater and kernel of corn will override the lim.tation of 3 μg/L and 0.05 m./kg respectively.

关键词： Concentration (process) Error detection Groundwater Lakes Plants (botany) Soils

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Developm.nt of an industrial Internet of things suite for sm.rt factory towards re-industrializ.tion

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Advances in m.nufacturing 2017年第4期5卷 335-343页

作者： C. K. m. Lee S. z. z.ang K. K. h. Ng Departm.nt of Industrial and System. Engineering The Hong Kong Polytechnic University Hong Kong People's Republic of China Departm.nt of Inform.tion m.nagem.nt Zhejiang University of Finance and Economics Hangzhou 310018Zhejiang People's Republic of China

Re-industrializ.tion, which supports industrial upgrading and transform.tion, prom.tes sm.rt production and high value-added m.nufacturing processes, and helps to create new m.m.ntum.for the econom.c. Under the current situation, industrialists encounter several chal- lenges to achieve re-industrializ.tion. Firstly, the cost and technical thresholds for industrialists to leverage em.rging technologies are high. Secondly, there are huge quantities and num.rous types of Internet of things （IoT） devices in sm.rt factories, warehouses and offices. The enorm.us extents of data exchange and com.unication, m.nage- m.nt, m.nitoring and control of IoT devices as well as the establishm.nt and m.intenance of a reliable cloud platform.hinder industrialists to im.lem.nt an integrated sm.rt production m.nagem.nt. Therefore, to achieve re-indus- trializ.tion, an industrial Internet of things （IIoT） suite consisting of a m.cro-services-based IIoT cloud platform.and IIoT-based sm.rt hub is proposed, which helps to m.terializ. re-industrializ.tion and to conduct industrial upgrading and transform.tion to achieve sm.rt production and high value-added m.nufacturing processes.

关键词： Industrial Intem.t of things (IIoTs) Cloudplatform m.cro-services-based Industry 4.0 Reindustrializ.tion

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A novel process for sorting fine-siz.d sulphide m.nerals by biocoagulation

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中国有色金属学会会刊：英文版 2008年第6期18卷 1473-1479页

作者： h. z. KUYUm.U J. PINKA T. BIELIG Departm.nt of m.chanical Process Engineering and Solids Processing Technical University of Berlin Sekr. BH 11 Strasse des 17. Juni 135 10623 Berlin Germany

基于一个过程设计想法，在柏林的技术大学的调查证实微生物的 biocoagulation 和稳固的粒子将是一个新方法产生对排序合适的更粗糙的粒子。微生物的选择 biocoagulation 的过程，分别地例如酵母喜欢 Saccharom.ces cerevisiae 和 Yarrow... 详细信息

基于一个过程设计想法，在柏林的技术大学的调查证实微生物的 biocoagulation 和稳固的粒子将是一个新方法产生对排序合适的更粗糙的粒子。微生物的选择 biocoagulation 的过程，分别地例如酵母喜欢 Saccharom.ces cerevisiae 和 Yarrowia lipolytica，并且例如象方铅矿和闪锌矿一样的矿物质，微分散固体作为一个新奇排序过程的一个基础被分析了。因此，特别微生物的房间表面的特征例如静电的费用和细胞外的聚合物质的作文，以及他们对选择 biocoagulation 的影响被学习。在 10 m.下面的微生物和硫醚粒子有效地凝结的试验性的调查表演。而且，筹款对有选择地形成的 biocoagulates 的分离合适。与设计的列筹款，令人满意的恢复率被到达。

关键词：硫矿拣选生物凝固微生物

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Brillouin Lasing with a Reduced Self-Pulsing Characteristic Using a Short-Length Erbium.Doped Fiber as the Nonlinear Gain m.dium

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Chinese Physics Letters 2014年第5期31卷 61-64页

作者： A. z.rei R. z. R. R. Rosdin N. m. All h. Ahm.d S. W. harun Departm.nt of Electrical Engineering University of Malaya Kuala Lumpur 50603 Malaysia Photonics Research Centre University of Malaya Kuala Lumpur 50603 Malaysia

A single-wavelength Brillouin laser is dem.nstrated by using a 3-m.long erbium.doped fiber （EDF） in a ring cavity. The EDF is used to provide both nonlinear and linear gains to generate a stim.lated Brillouin scattering （SBS） and to am.lify the generated SBS, respectively. The Brillouin erbium.fiber laser （BEFL） operates at 1561.5 nm. where the operating wavelength is up-shifted by 0.08nm.from.the Brillouin pum.. The operation wavelength is also tunable within 1560.6-1562.6nm. The BEFL m.o shows a self-pulsing characteristic with repetition of 66. 7khz.when the BP is set around the threshold pum. power of 13roW. Com.ared to the conventional Brillouin fiber laser with a long cavity length, the proposed BEFL exhibits a significantly lower am.litude of pulse. This laser has m.ny potential applications, such as in optical com.unication and sensors.

关键词： BRILLOUIN scattering ThERm.L lensing DOPPLER effect WAVELENGTh division m.ltiplexing TUNABLE lasers

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