Modified dynamic surface approach with bias torque for multi-motor servomechanism

This paper presents a modified neural dynamic surface control (DSC) with an adaptive bias torque for the multi-motor servomechanism (MMS) with backlash, friction and other disturbances. By introducing a continuous hybrid differentiator to replace the first-order filter in each step, a modified DSC is developed to improve the load tracking precision of MMS. However, when the MMS enters the backlash band, only DSC cannot guarantee the load tracking performance. Thus, an adaptive bias torque is firstly proposed based on the prescribed performance function technique to compensate the backlash nonlinearity and guarantee the load tracking performance of MMS. In addition, the unknown dynamics including the friction and other disturbances are approximated by using wavelet echo state networks where the weights are all updated online. By means of Lyapunov stability theory, the semi-globally uniformly ultimately bounded (SGUUB) property of all signals in the closed-loop system is proved. Finally, simulations and experimental results based on a four-motor servomechanism are presented to show the effectiveness of the proposed approach.     

Silver nanoparticles embedded in modified polyallylamine resin as efficient catalysts for alkyne–azide 1,3-dipolar cycloaddition in water

A silver nanoparticle composite based on modified polyallylamine has been synthesized by a simple chemical route and its catalytic activity has been tested for alkyne–azide cycloaddition reaction. This silver nanocomposite shows an excellent catalytic activity at 80 °C for the synthesis of 1,4-disubstituted 1,2,3-triazole by alkyne–azide cycloaddition. The solid silver nanocomposite catalyst was characterized by transmission electron microscopy, Fourier-transform infrared spectroscopy, X-ray diffractometry and thermogravimetric analysis. The developed catalyst is stable in air, easy to prepare and can be recovered easily and reused ten times without a significant decrease in activity.     

Iterated non-linear model predictive control based on tubes and contractive constraints

This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.     

基于粗糙齿面的矿用重载齿轮传动润滑效应研究

借助分形函数模拟齿面粗糙度,基于弹流理论建立了齿轮传动混合润滑模型,采用多重网格法进行了5组数值计算,从理论上探讨了润滑剂黏度对重载齿轮传动齿面接触应力的影响。结果表明:对齿轮润滑而言,合理选择润滑剂黏度十分重要。随着黏度的增大,齿轮润滑状态逐渐从边界润滑历经混合润滑过渡到全膜润滑;与此同时,由齿面粗糙度引起的压力波动减小、幅值降低且油膜厚度同时增大,所有这些均有助于提高齿轮传动齿面接触寿命。     

Enhancing the Activity of Glutamate Decarboxylase from Lactobacillus brevis by Directed Evolution

Glutamate decarboxylase (GAD, EC4.1.1.15) can catalyze the decarboxylation of l-glutamate to form γ-aminobutyrate (GABA), which is in great demand in some foods and pharmaceuticals. In our previous study, gad, the gene coding glutamate decarboxylase from Lactobacillus brevis CGMCC 1306, was cloned and its soluble expression was realized. In this study, error-prone PCR was conducted to improve its activity, followed by a screening. Mutant Q51H with high activity [55.4 mmol·L^− 1·min^− 1·(mg protein)^− 1, 120% higher than that of the wild type at pH 4.8] was screened out from the mutant library. In order to investigate the potential role of this site in the regulation of enzymatic activity, site-directed saturation mutagenesis at site 51 was carried out, and three specific mutants, N-terminal truncated GAD, Q51P, and Q51L, were identified. The kinetic parameters of the three mutants and Q51H were characterized. The results reveal that aspartic acid at site 88 and N-terminal domain are essential to the activity as well as correct folding of GAD. This study not only improves the activity of GAD, but also sheds new light on the structure–function relationship of GAD.     

Have Chinese universities embraced their third mission? New insight from a business perspective

Have Chinese universities, after enormous investment over the past decade, embraced the university’s third mission—contributing to industrial and technological progress? The literature has not sufficiently addressed this question. This study intends to advance understanding of this issue by empirically addressing this question from a business perspective in a bold and unconventional way. Unlike prior studies that simply used contingent and institutional factors to describe the link between Chinese universities and industrial firms by measuring such aspects as patent licensing, co-patenting, and co-authoring, our work goes further and applies longitudinal analysis to examine the ways firms access university-level knowledge and the impact of such knowledge on firm innovation outputs. We propose that if Chinese universities embraced their third mission, then we would observe a positive effect of university–industry collaborations on firms’ subsequent innovation outputs. Empirical results based on a sample of the top 100 Chinese electronic firms in terms of output value support our hypothesis. Specifically, university patent licensing and co-patenting between universities and firms was found to positively affect firm innovation outputs. Moreover, we found that geographical distance and collaboration dominance moderate the co-patenting–innovation output relationship.     

Carbon nanofibers decorated SiC foam monoliths as the support of anti-sintering Ni catalyst for methane dry reforming

A silicon carbide (SiC) foam monolith decorated with a carbon nanofibers (CNFs) layer was employed as the catalyst support for Ni-based catalyst preparation, used for the CO₂ dry reforming of methane (DRM) reaction. The loading amount of CNFs on the SiC foam monolith was 6.6 wt.%, which obviously increased the surface area of the pristine SiC foam from 4 m²/g to 24 m²/g. The prepared CNFs layer strongly attached to the pristine SiC surface and was considerably stable even after 100 h time on stream (TOS) DRM reaction. The CNFs decorated SiC composite support provided more anchorage sites for improving the dispersion of the Ni particles and enhanced the metal-support interaction compared to the pristine SiC support. Compared with other catalysts such as Ni/SiC and Ni/CNFs, the Ni/CNFs-SiC catalyst exhibited not only the highest activity but also remarkable stability during DRM reaction. The XPS and SEM-EDS results showed that the carbon deposition over the nickel surface of Ni/CNFs-SiC catalyst was much less than those of Ni/SiC and Ni/CNFs catalysts. In addition, the XRD analysis verified that almost no sintering of nickel particle was detected over the Ni/CNFs-SiC catalyst, which was prepared with CNFs-SiC composite as catalyst support, even after 100 h TOS DRM reaction at 750 °C.     

2-溴-3,3,3-三氟丙烯的制备

以3,3,3-三氟丙烯和溴为原料,经加成反应合成了中间产物1,2-二溴-3,3,3-三氟丙烷,随后在氢氧化钠水溶液中进行消除反应制备了目标产物2-溴-3,3,3-三氟丙烯,通过试验得到了较佳的反应条件。     

Multi-view human movement recognition based on fuzzy distances and linear discriminant analysis

In this paper, a novel multi-view human movement recognition method is presented. A novel representation of multi-view human movement videos is proposed that is based on learning basic multi-view human movement primitives, called multi-view dynemes. The movement video is represented in a new feature space (called dyneme space) using these multi-view dynemes, thus producing a time invariant multi-view movement representation. Fuzzy distances from the multi-view dynemes are used to represent the human body postures in the dyneme space. Three variants of Linear Discriminant Analysis (LDA) are evaluated to achieve a discriminant movement representation in a low dimensionality space. The view identification problem is solved either by using a circular block shift procedure followed by the evaluation of the minimum Euclidean distance from any dyneme, or by exploiting the circular shift invariance property of the Discrete Fourier Transform (DFT). The discriminant movement representation combined with camera viewpoint identification and a nearest centroid classification step leads to a high human movement classification accuracy.