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Force tracking impedance control with unknown environment via an iterative learning algorithm

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Science China(Information Sciences) 2019年第5期62卷 47-49页

作者： xiuquan liang Huan ZHAO xiangfei LI Han DINg State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology

Dear editor,Force tracking control is important for constrained operations. In recent years, impedance control is garnering increasing attention in robot force control. A new two-phase impedance function through null stiffness in an original impedance equation to satisfy zero-force tracking error for any environment was presented in [1, 2]. Further improvement was performed in [3]. However, the hy-

关键词： Force tracking impedance control with unknown environment via an iterative learning algorithm

Phase Transitions in a Mixture of Hard-Sphere Dipoles and Neutral Hard Spheres

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Communications in Theoretical Physics 2009年第9期52卷 523-526页

作者： LI Li LI liang-Sheng CHEN xiao-Song Institute of Theoretical Physics Chinese Academy of Sciences P.O. Box 2735 Beijing 100190 China

Using the reference hypernetted chain （RHNC） integral equation theory and a rigorous stability analysis method, we investigate the phase behavior of a mixture of hard-sphere dipoles and neutral hard spheres based on the correlations of the homogeneous isotropic phase. Lowering the temperature down to the points where the RHNC equations fail to have a solution, several ttuctuations strongly increase. At low densities our results indicate the onset of ／ chain formation, which is similar with the pure DHS system. At high densities, the results indicate the appearance of isotropic-to-ferroelectric transitions （small neutral hard spheres concentrations） and demixing transitions （large neutral hard spheres concentrations）.

关键词： integral equations phase transition dipolar fluids

Magnetic Properties of Spin-1/2 Ising Superlattice

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Communications in Theoretical Physics 2007年第5期47卷 955-960页

作者： LIU Wei-Jie xIN Zi-Hua HU Hong-liang College of Science Shanghai University Shanghai 200444 China

Using the effective-field theory we studied the magnetic properties of a spin-1/2 Ising supedattice, which consist of three different ferromagnet materials. The magnetic behavior of this superlattice is examined. The critical temperature and the compensation temprature of the system are studied as a function of the exchange interactions between the nearest-neiboring spins across the interface and in the intraface. Temperature dependence of magenetizations is also given.

关键词： Ising superlattice effective field theory phase transition compensation point

Mechanical Property of Low Chromium Semi-Steel grinding Ball Prepared by Cross Rolling

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Journal of Iron and Steel Research International 2004年第5期11卷 50-54页

作者： CHANgLi-min MENgDe-liang NIEPu-lin LIUJian-hua JilinNormalUniversity Siping136000China YanshanUniversity Qinhuangdao066004China

The preparing method,rolling technology and mechanical properties of low chromium semi-steel grinding ball by cross rolling were *** results show that when the low chromium semi-steel bar is forged from55mm to50mm,cross-rolled into grinding ball at 1 000-1 050℃,air cooled and tempered at 550℃for 2h,the best mechanical properties,especially the abrasive resistance under the action of hard abrasive,can be obtained.

关键词： low chromium semi-steel grinding ball cross rolling mechanical property

Effect of multi-walled carbon nanotube addition on the microstructures and mechanical properties of Ti(C,N)-based cermets

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Journal of Advanced Ceramics 2018年第1期7卷 58-63页

作者： P.WU S.C.LIU x.R.JIANg College of Chemistry and Materials Science Longyan University

The surface modification of multi-walled carbon nanotubes(MWCNTs) was carried out using plasma treatment. The microstructures of the prepared cermets with different additions of MWCNTs were investigated by scanning electron microscopy(SEM), transmission electron microscopy(TEM), energy dispersive x-ray analysis(EDx), and x-ray diffraction(xRD). Mechanical properties such as transverse rupture strength(TRS), fracture toughness(K_(IC)), and hardness(HRA) were measured. The results showed that some reactive groups were successfully modified on the surface of MWCNTs, resulting in the improvement of dispersibility. Most of the amorphous carbons and impurities were peeled from the MWCNTs. Increasing MWCNT addition decreased the dissolution of tungsten, titanium, and molybdenum in the binder phase. The cermet with 0.5 wt% MWCNT addition showed the highest TRS and fracture toughness. The strengthening mechanisms were attributed to the finer grain size, the homogeneous microstructure, and the higher volume fraction of binder phase in the binder. The toughening mechanisms were characterized by bridging and pulling-out.

关键词： Ti(C,N)-based cermets microstructure mechanical property fracture toughness

A more compact multi-id identity-based FHE scheme in the standard model and its applications

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Science China(Information Sciences) 2019年第3期62卷 190-192页

作者： xueqing WANg Biao WANg Bei liang Rui xUE State Key Laboratory of Information Security Institute of Information EngineeringChinese Academy of Sciences School of Cyber Security University of Chinese Academy of Sciences Department of Computer Science and Engineering Chalmers University of Technology

Dear editor,Fully homomorphic encryption (FHE) is a cryptographic primitive that allows anyone, even those without a secret key, to perform arbitrary computation on encrypted data. Since gentry’s breakthrough realization of FHE in 2009 [1], the research on FHE has been blown out. Furthermore,López-Alt et al.[2] proposed a new notion of multi-

关键词： IBE CPA A more compact multi-id identity-based FHE scheme in the standard model and its applications IND

Transition Metal Silicide Nanowires growth and Electrical Characterization

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Chinese Physics Letters 2009年第12期26卷 206-209页

作者：彭祖林 liang S. 邓罗根 School of Science Beijing Institute of Technology Beijing 100081 Science and Engineering of Materials Program Arizona State University Tempe AZ 85287 USA

We report the characterization of self-assembled epitaxially grown transition metal, Fe, Co, Ni, silicide nanowires （TM-NW） growth and electrical transport properties. NWs grown by reactive deposition epitaxy on various silicon surfaces show a dimension of 10nm by 5nm, and several micrometers in length. NW orientations strongly depend on substrate crystal orientation, and follow the substrate symmetry. By using conductive-AFM （c-AFM）, the electron transport properties of one single NW were measured, the resistivity of crystalline nickel silicide NW was estimated to be 2×10-2Ω＆#12539;cm.

关键词： Surfaces interfaces and thin films Nanoscale science and low-D systems

Effect of Er ion implantation on the physical and electrical properties of TiN/HfO_2 gate stacks on Si substrate

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Science China(Physics,Mechanics & Astronomy) 2013年第7期56卷 1384-1388页

作者： ZHAO Mei liang RenRong WANg Jing xU Jun Tsinghua National Laboratory for Information Science and Technology Institute of MicroelectronicsTsinghua University

In this paper, we report the fabrication, electrical and physical characteristics of TiN/HfO2/Si MOS capacitors with erbium （Er） ion implantation. It is demonstrated that the fiat band voltage can be reduced by 0.4 V due to the formation of Er oxide. Moreover, it is observed that the equivalent oxide thickness is thinned down by 0.5 nm because the thickness of interfacial layer is significantly reduced, which is thought to be attributed to the strong binding capability of the implanted Er atoms with oxygen atoms. In addition, cross-sectional transmission electron microscopy experiment shows that the HfO2 layer with Er ion implantation is still amorphous after annealing at a high temperature. This Er ion implantation technique has the potential to be implemented as a band edge metal gate solution for NMOS without a capping layer, and may also satisfy the demand of the EOT reduction in 32 nm technology node.

关键词： erbium ion implantation high-k/metal-gate equivalent oxide thickness fiat band voltage interfacial layer crystallization

Study on the Synthesis of Metabolite CM2 of Clausenamide

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Chinese Chemical Letters 2003年第4期14卷 338-340页

作者： xing Zhou LI Ke Mei WU liang HUANg Institute of Materia Medica Chinese Academy of Medical Sciences&Peking Union Medical CollegeBeijing 100050

Synthesis of the optically active metabolite of clausenamide CM2 (3, 5-dihydroxy- 5-(a-hydroxylbenzyl)-1-methyl-4-benzylpyrrolidin-2-one) from 3-O-acetyl- clausenamide was described.

关键词： Metabolite clausenamide dehydration dihydroxylation deacylation.