2003年上半年我国染料、有机颜料生产及进出口情况浅析（一）

20 0 2年我国染料及有机颜料生产和进出口数量达到历史最好水平 ,2 0 0 3年上半年虽然经受了SARS的影响 ,但我国染料及有机颜料工业仍然取得了稳定增长的成绩。上半年染料产量总计 19 5 9万t,同比增长 2 4 7%;颜料产量为 4 30万t,同比增长 2 1 6 9%。上半年出口增长幅度减缓 ,染料出口总量为 9 92万t,同比增长 3 1%;有机颜料出口为 4 2万t,同比增长 3 1%。进口基本稳定 ,上半年染料进口量为 3 2 5万t,同比增长 9 1%;有机颜料进口为1 6 9万t,同比增长为 11 5 %。总之 ,上半年主要经济指标完成情况良好 ,进出口数量和经济效益继续保持稳定增长。但染料和纺织品的生产与出口都遇到一定的困难 ,纺织品出口又直接影响染料的内销市场 ,由于内外市场的变化 ,使染料生产和进出口的增长幅度减缓。     

Morphologies-Controlled Synthesis and Optical Properties of Bismuth Tungstate Nanocrystals by a Low-Temperature Molten Salt Method

Well-crystallized bismuth tungstate (Bi₂WO₆) powders with different morphologies were successfully synthesized via a low-temperature molten salt method. The powders were characterized by X-ray diffraction, transmission electron microscopy, and UV-Vis, respectively. It was found that the variation of morphology of the obtained Bi₂WO₆ powder mainly depends on the different reaction temperatures and the weight ratio of LiNO₃–NaNO₃ salt to precursor. In addition, the UV-Visible absorption spectra showed that the synthesized powders had strong light absorption properties not only in the ultraviolet light but also in the visible light region.     

An alternate quantum adiabatic evolution for the Deutsch–Jozsa problem

Deutsch–Jozsa algorithm has been implemented via quantum adiabatic evolutions by Das et al. (Phys Rev A 65:062310, 2002) and Wei et al. (Phys Lett A 354:271, 2006). In the latter literature, the authors have shown a modified version of the adiabatic evolution which can improve the performance of the algorithm of S. Das et al’s to constant time. In this paper, we also improve the algorithm of S. Das et al’s in a constant time but by using a different construction of adiabatic evolution, i.e., adding ancillary qubits. The algorithm in this paper provides an alternative option to potential users.     

Sliding‐Mode Velocity Control of a Two‐Wheeled Self‐Balancing Vehicle

Underactuated vehicles are those in which the number of control inputs is less than the degrees of freedom to be controlled. Using actuated wheels, velocity control of the two‐wheeled self‐balancing vehicle drives the vehicle at a desired speed and balances the body of the vehicle. First, we investigate the effects of friction on the wheel and derive the hybrid model of rolling and slipping. Second, we propose a nonlinear sliding mode velocity control scheme for the pure rolling model of the two‐wheeled vehicle. We present the design of the corresponding sliding surfaces and internal dynamics of the two‐wheeled vehicle. Our stability analysis reveals that the proposed sliding mode method can guarantee the asymptotic stability of the error dynamics for velocity control of the underactuated vehicle. Compared to linear optimal control, our numerical simulations demonstrate that the proposed sliding mode schemes can effectively control the velocity under the circumstances of parametric variations, emergency braking, and rapid acceleration in slippery road conditions. The proposed velocity control and the simulation improve our understanding on designing velocity control of the two‐wheeled self‐balancing vehicle.     

A New Robust Adaptive Control of Uncertain Nonlinear Systems and Pendulum Application

A new robust adaptive control of uncertain nonlinear systems is proposed in this paper. The proposed method combines sliding mode control with the immersion and invariance (I&I) adaptive scheme, and it has more available degrees of freedom than using the backstepping scheme. Via the proposed method, a class of nonlinear systems with mismatched parametric perturbations can be rendered asymptotically stable and the performance of the system can also be improved. Finally, the proposed method is applied to a simple pendulum with motor dynamics, and simulation results show the effectiveness and performance of the proposed method.     

A New Derivation of the Cubature Kalman Filters

This paper investigates the cubature Kalman filtering (CKF) for nonlinear dynamic systems. This third‐degree rule based filter employs a spherical‐radial cubature rule to numerically compute the integrals encountered in nonlinear filtering problems, thereby removing the requirements of explicitly computing the Jacobians. The cubature rule, however, requires computing the intractable integrals over a high‐dimensional spherical region for multidimensional applications. Moreover, the cubature formula that has been used to construct the spherical cubature formula has some demerits, most notably its inconvenient properties in computation and low estimation accuracy. Aimed at these issues, a general class of CKFs that uses only cubature rules is derived in this paper. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes higher‐degree CKFs, especially two representative types of the fifth‐degree CKFs. Performance of the proposed algorithms is demonstrated via two target tracking problems. The experimental results, presented herein, illustrate the superior performance of higher‐degree CKFs to conventional nonlinear filters.     

Quantum identity authentication based on ping-pong technique without entanglements

A quantum identity authentication scheme based on ping-pong technique without entanglements is proposed. It can verify the legitimate user’s identity and update the initial authentication key for reuse. The security of the proposed scheme is extensively analyzed and accordingly confirmed in the case of general individual attacks. The present scheme owns high efficiency due to the use of single-particle states in a two-way quantum channel. Moreover, the scheme is economical and feasible with present-day technique.     

Flexible protocol for quantum private query based on B92 protocol

Jakobi et al. for the first time proposed a novel and practical quantum private query (QPQ) protocol based on SARG04 (Scarani et al. in Phys Rev Lett 92:057901, 2004) quantum key distribution protocol (Jakobi et al. in Phys Rev A 83:022301, 2011). Gao et al. generalized Jakobi et al’s protocol and proposed a flexible QPQ protocol (Gao et al. in Opt Exp 20(16):17411–17420, 2012). When $\theta <\pi /4$ , Gao et al’s protocol exhibits better database security than Jakobi et al’s protocol, but has a higher probability with which Bob can correctly guess the address of Alice’s query. In this paper, we propose a flexible B92-based QPQ protocol. Although SARG04 protocol is a modification of B92 protocol and can be seen as a generalization of B92 protocol, our protocol shows different advantages from Gao et al’s protocol. It can simultaneously obtain better database security and a lower probability with which Bob can correctly guess the address of Alice’s query when $\theta <\pi /4$ . By introducing entanglement, the proposed QPQ protocol is robust against channel-loss attack, which also implies lower classical communication complexity. Similar to Gao et al’s protocol, it is flexible, practical, and robust against quantum memory attack.     

Exploration of unknown object by active touch of robot hand

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.     

Structural optimization of the cross-beam of a gantry machine tool based on grey relational analysis

Crossbeam structural design of gantry machine tool is a multi-level, multi-index and multi-scheme decision-making problem. In order to solve the above problem, the optimum seeking model of crossbeam structure was built through using the grey relational analysis and Analytic Hierarchy Process. The finite element analysis of the static and dynamic performance parameters for four kinds of crossbeam structural schemes designed had been done, and the optimal design scheme was selected by using the optimum seeking model. After conducting sensitivity analysis for the optimal crossbeam selected, the reasonable design variables were obtained, and the dynamic optimization design model of crossbeam was established. Six groups of non-inferior solutions were obtained after solving the optimization design model. The optimal solution was selected from the non-inferior solution set through using the crossbeam structural optimization method based on grey relational analysis again, which makes the crossbeam’s dynamic performance improving greatly. The dynamic experiments on the crossbeams before and after optimization design were conducted, then the experimental results show that the first four order natural frequencies of the crossbeam increase 17.56 %, 19.36 %, 17.04 % and 19.58 % respectively, which proves that the structural optimization design method based on grey relational analysis proposed in this paper is reasonable and practicable.