A robust control of robot manipulators for physical interaction: stability analysis for the interaction with unknown environments

Intelligent Service Robotics - A robust control designed for multiple degrees-of-freedom (DOF) robot manipulators performing complex tasks requiring frequent physical interaction with unknown...     

高强不锈钢绞线网与ECC黏结-滑移关系模型

高强不锈钢绞线网与ECC的黏结是二者协同工作的基础，且黏结 滑移关系模型是其黏结性能的综合反映，故通过对17组51个高强不锈钢绞网增强ECC薄板试件进行单边拉拔试验，研究横向钢绞线间距、纵向钢绞线直径和相对锚固长度等因素对钢绞线网在ECC中黏结性能的影响规律。试验结果表明，横向钢绞线的设置可使黏结破坏由脆性破坏转变为延性破坏；高强不锈钢绞线网与ECC的黏结滑移曲线可分为5个阶段，分别为上升段、微降段、延性强化段、下降段和残余段。基于试验结果，对钢绞线网在ECC中的黏结破坏特征和黏结 滑移机理进行分析，在相关黏结-滑移关系模型的基础上，提出钢绞线网与ECC的黏结 滑移关系模型，并进行模型参数分析。所提模型及模型参数计算公式与试验结果吻合良好，能较好地反映钢绞线网与ECC的界面黏结滑移特征。     

Large increase of Curie temperature in (110)-oriented La0.7Sr0.3MnO3 films

From the perspectives of scientific researches and practical applications, it is desirable to explore high operating temperature ferromagnetic films. The effect of biaxial strain on magnetic properties of (110)-oriented La_0.7Sr_0.3MnO₃ films was studied. High quality La_0.7Sr_0.3MnO₃ films were grown on (110)-oriented perovskite single crystal substrates using pulsed laser deposition, varying substrate-induced misfit strains from ??2.27–0.75%. A remarkable enhancement of Curie temperature has been achieved for (110)-oriented La_0.7Sr_0.3MnO₃ films clamped with small misfit strains (i.e., grown on LAST (110)). The enhanced Curie temperature of (110)-oriented La_0.7Sr_0.3MnO₃ films could be attributed to the misfit strain between the films and the underlying substrates and may have technological implication for applications at high temperature environments.     

Overseas Cooperation of Chinese Oil Enterprises in 2017

This paper analyzes the status quo and progress of overseas oil and gas business cooperation built by Chinese oil enterprises in 2017. With the slow recovery of the oil and gas industries as a whole, the overseas oil and gas business of Chinese oil enterprises has continued to grow in size, and all-round cooperation progress was made along the Belt and Road. Breakthroughs were made in oil and gas cooperation between China and the United States. In the meantime, new features have emerged in the overseas cooperation of Chinese enterprises, and a pattern of diversified investors has basically taken shape.     

Preparation of biaxially textured Ce1-x(Y0.2Zr0.8)xOδ buffer layers on RABiTS NiW tapes by chemical solution deposition

Highly (100)-oriented Ce_1-x(Y_0.2Zr_0.8)_xO_δ (CYZO) films were prepared on biaxially textured NiW substrates by a chemical solution deposition approach using metal inorganic salts as starting materials. It has been found that both the preferential orientation and surface roughness of CYZO films decrease gradually with increasing of the doping percentage of Y³⁺ and Zr⁴⁺ ions. The epitaxial growth relationship of (220)_CYZO//(200)_NiW and [00?l]_CYZO//[001]_NiW was demonstrated by XRD texture measurement as well as atomic resolution STEM observation. XRD, Raman and XPS spectra results indicate that Y³⁺ and Zr⁴⁺ ions were indeed introduced into CeO₂ lattice to substitute Ce⁴⁺ ions and form cubic fluorite CYZO solid solution. Moreover, CeO₂ buffer layer can be endowed a strong enough capability to prevent element diffusion through co-doping of yttrium and zirconium, provided that an optimal doping ratio of them is adopted. This will provide a new approach to fabricating strong-barrier single buffer layer for coated conductor.     

Study on the Height of the Mining-Induced Water-Conducting Fracture Zone Under the Q 2l Loess Cover of the Jurassic Coal Seam in Northern Shaanxi,China

A method to calculate the height of a water-conducting fractured zone (HWCFZ) was developed based on the plate and shell theory, and the development of the HWCFZ in bedrock and Q2l loess strata is discussed in detail. First, the subsidence-deflection curve equation of the overlying stratum is theoretically derived, and then the ultimate deflection and free space height of rock strata are calculated. Moreover, the strata tensile strain is calculated by using integral calculus. In addition, the failure state of the rock is analyzed by comparing the theoretically calculated tensile strain with the experimentally measured yield tensile strain, allowing one to attain the maximum value of HWCFZ. This approach was tested at the Jinjitan coal mine; the theoretically predicted, experimentally measured, and numerically computed maximum HWCFZ values were 189.5, 187.3, and 188.5 m, respectively, demonstrating the accuracy of the proposed method. These results are highly significant for safe and environment-friendly coal mining in northwest Shaanxi, China.     

Development of Core-Shell Nanoparticle Drug Delivery Systems Based on Biomimetic Mineralization

Among various drug-delivery systems, core-shell nanoparticles have many advantages. Inspired by nature, biomimetic synthesis has emerged as a new strategy for making core-shell nanoparticles in recent years. Biomimetic mineralization is the process by which living organisms produce minerals based on biomolecule templating that leads to the formation of hierarchically structured organic–inorganic materials. In this minireview, we mainly focus on the synthesis of core-shell nanoparticle drug-delivery systems by biomimetic mineralization. We review various biomimetic mineralization methods for fabricating core-shell nanoparticles including silica-based, calcium-based and other nanoparticles, and their applications in drug delivery. We also summarize strategies for drug loading in the biomolecule-mineralized core-shell NPs. Current challenges and future directions are also discussed.     

Detecting Cysteine in Bioimaging with a Near-Infrared Probe Based on a Novel Fluorescence Quenching Mechanism

Near-infrared (NIR) fluorescent probes are very significant for detecting cysteine in biological systems. Herein, we report a highly selective and sensitive NIR turn-on fluorescent probe (BDP-NIR) based on BODIPY with large Stokes shift (105 nm) for detecting Cys. We clarified the sensing mechanism based on the different thiol-induced S_NAr substitution/rearrangement reaction of the probe with cysteine and homocysteine/glutathione, which leads to the corresponding amino- and thiol-BODIPY dyes with distinct photophysical properties. Moreover, a novel mechanism of fluorescence quenching was demonstrated by density functional theory calculation. The reason for the fluorescence quenching of the probe might be intersystem crossing (from singlet to triplet excited state). Moreover, BDP-NIR had a high linear dynamic range of 0–500 μM, which was promising for detecting cysteine quantificationally. Significantly, BDP-NIR was capable of sensing endogenous cysteine in living cells and in vivo.     

太赫兹波计算鬼成像:原理和展望

本文立足于太赫兹波成像领域近年来备受关注的研究热点—太赫兹波计算鬼成像,首先回顾了鬼成像从量子到经典再到计算的历史过程,然后阐述了计算鬼成像的数学原理,随后综述了计算鬼成像在太赫兹波段的发展历程,及其在超衍射分辨成像、石墨烯光电导成像、太赫兹光谱成像等方面的应用,并在最后展望了太赫兹波计算鬼成像的发展前景:计算鬼成像作为一种成像手段,可以绕开在太赫兹频段缺乏经济高效的焦面阵列式探测器的难题,但目前的成像帧率还难以满足快速成像的应用需求,相信在未来随着器件性能的提升和成像算法的优化,其成像帧率可以得到大幅提升。