Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties

This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd.     

广东早期砖薄壳结构的建构技术研究——1957-1958年新会的"逼拱"实验

揭示1957-1958年华南工学院土木系薄壳结构研究小组在新会的砖薄壳结构实验图景.以田野调查、文献分析、三维图示、超声波检测等方法发现、确认此研究小组在新会的6处薄壳建筑及其遗存情况.它们是广东地区推广砖薄壳建筑的起点,其中的回旋砖薄壳实验是从结构角度探索中国建筑民族形式的重要案例,弥补国内结构工程史学研究的薄弱点,也是共和国早期节约"三材"约束下的薄壳建造技术自主创新设计的重要内容.     

餐饮废油生物柴油低温流动性的改进研究

使用气-质联用仪测定餐饮废油生物柴油(WCME)和-10号柴油(-10PD)的组成,使用冷滤点试验器和运动黏度试验器测定WCME的低温流动性,同时使用调合、添加低温流动性改进剂的方法改进WCME的低温流动性。实验结果表明,WCME主要由饱和脂肪酸甲酯和不饱和脂肪酸甲酯组成,质量分数分别为27.63%和71.81%;WCME冷滤点为0℃,运动黏度(40℃)为4.41mm2/s;WCME与-10PD调合后,冷滤点降低,其中B20的冷滤点最低,为-13℃,运动黏度随着WCME的体积分数的减少,逐渐接近-10PD的运动黏度。通过添加低温流动性改进剂,WCME,B10,B20的冷滤点分别从0,-8,-13℃降至-4,-26,-25℃。     

Characteristic of polysaccharides from Flammulina velutipes in vitro digestion under salivary,simulated gastric and small intestinal conditions and fermentation by human gut microbiota

In this study, in vitro digestion and fermentation of Flammulina velutipes -derived polysaccharides (FVP) were investigated. It was found that FVP mainly consisted of 48.45% glucose, 15.40% mannose, 14.60% xylose, 11.80% fucose and 9.90% galactose. The -human saliva, simulated gastric and small intestinal juices conditions did not break down the FVP. Based on in vitro fermentation tests, FVP modulated the composition of gut microbiota by elevating the amounts of Bifidobacteriaceae and Bacteroidaceae and reducing the numbers of genera Lachnospiraceae and Enterococcaceae. Meanwhile, FVP affected the synthesis of short-chain fatty acids derived from gut microbiota.     

Effects of Undercooling and Transformation Time on Microstructure and Strength of Fe–C–Mn–Si Superbainitic Steel

Strength of Materials - A metallographic method, dilatometry, and X-ray diffraction were applied to investigate the effects of undercooling and holding time on bainitic transformation,...     

Lactobacillus Gasseri LGZ 1029 in yogurt: rheological behaviour and volatile compound composition

Yogurt preserves and enhances nutritional value of milk. In this study, we have compared several strains to determine the physicochemical, sensory, rheological and aroma characteristics of different yogurts. We used Lactobacillus gasseri LGZ 1029 (LG), commercial probiotic L. rhamnosus (LGG) and traditional fermentation strains Streptococcus thermophilus and L. bulgaricus (SL). Results showed that the flavour and texture characteristics of mixed-strain yogurts were obviously better than in single-strain yogurts. Addition of LG increased pseudoplastic behaviour, as shown by Herschel–Bulkley model analysis of rheological behaviour. The LG + SL group also had both the highest viscosity consistency index and thickening ability. In addition, a total of 57 volatile compounds were detected in yogurts and the fermentation with the addition of LG was mainly affected by ketones. Our study suggested that a yogurt with new attributes can be produced by using LGZ 1029.     

Rapid screening of DON contamination in whole wheat meals by Vis/NIR spectroscopy and computer vision coupling technology

This work intends to develop an online experimental system for screening of deoxynivalenol (DON) contamination in whole wheat meals by visible/near-infrared (Vis/NIR) spectroscopy and computer vision coupling technology. Spectral and image information of samples with various DON levels was collected at speed of 0.15 m s⁻¹ on a conveyor belt. The two-type data were then integrated and subjected to chemometric analysis. Discriminant analysis showed that samples could be classified by setting 1000 μg kg⁻¹ as the cut-off value. The best correct classified rate obtained in prediction was 93.55% based on fusion of spectral and image features, with reduced prediction uncertainty as compared to single feature. However, quantification of DON by quantitative analysis was not successful due to poor model performance. These results indicate that, although not accurate enough to provide conclusive result, this coupling technology could be adopted for rapid screening of DON contamination in cereals and feeds during processing.     

Enhanced photoreactivity of MOFs by intercalating interlayer bands via simultaneous ?NCO and ?SCu modification

Herein, we propose a novel method to enhance the photoreactivity of an MOF catalyst by grafting isocyanate bonds ( NCO) and sulfhydryl-complexed copper ( SCu) onto ZIF-8 (NIF-SCu). The grafting process intercalated interlayer bands between the conduction and valence bands of ZIF-8, thereby providing a “ladder” for facile electron transition. The extreme improvement in the photoreactivity of NIF-SCu could be attributed to the enhancement in light responses in the range of 350–450 nm by  NCO groups and the widening of the visible light range of the MOF by  SCu groups. The formation of staggered energy levels in NIF-SCu could also narrow the band gap, lower the resistance, and facilitate the transfer of photogenerated carriers, thereby generating electrons with strong reduction potential in the  SCu conduction band. This study provides a new strategy for improving or even endowing the photoactivity of environmental functional materials with wide bandgaps.