The modeling and implementation of tri-rotor flying robot

The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors. The dynamic equations of the tri-rotor flying robot are determined in this paper. The relationship between motor thrust, angular acceleration, and voltage input was also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study develops a universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor flying robot can rapidly change flying gesture and avoid oscillation. Finally, we conducted some indoor and outdoor flight tests. From the experimental results, the tri-rotor flying robot can fly and hover stably in the sky.     

Sensitizing Effect of Mixed Surfactants on the Colouration of Scandium(Ⅲ)with Phenylfluorone or Its Derivatives

In the presence of mixed micelle of a cationic and a nonionic surfactants,the reaction of scandium(Ⅲ)with phenylfluorone or its derivatives results in a very sensitive colouration:furthermore this chromophoricsystem tolerates the existence of a considerable amount of masking agents,so that many interfering ions can bemasked and its selectivity would be further improved.After studying the optimum conditions and main charac-ters of some similar systems,the system of Sc(Ⅲ)—Orthonitrophenyuorone—CetyltrimethylammoniumBromide(CTMAB)—Triton X-200 is chosen for the spectrophotometric determination of microamount ofscandium.The proposed method shows not only high sensitivity(with a molar absorptivity of 2.12×1~sLmol~(-1)·cm~(-1))and selectivity,but also high tolerance of chromophoric conditions.Beer's law is obeyed over arange of 0～6.0 μg Sc/25ml.If the dual-wavelength method is applied,a much higher molar absorptivity o|"3.04×10~5L·mol~(-1)·cm~(-1)than those of other systems ever reported in the literatures can be attained:more-over.its linear range is extended to 0～8.0 μg Sc/25ml and its reproducibility is also improved.     

以1,3-二(4-邻羟基苯亚胺次甲基)苯氧基丙烷为载体的铁离子(Ⅲ)电极的研究

以1,3-二(4-邻羟基苯亚胺次甲基)苯氧基丙烷为中性载体制备了PVC膜Fe3+离子选择性电极。该电极对Fe3+呈现出良好的选择性和近Nernst电位响应性能。电极斜率为21mV/dec,线性范围为3.0×10-5～1.0×10-1mol/L,检出限为1.0×10-5mol/L。采用交流阻抗技术研究了电极的响应机理,并将电极作为指示电极初步用于EDTA的电位滴定。     

基于信息化的地表水水质预测

水利信息化技术指在水质信息管理、水质分析评价、水质预测和抗洪救灾等方面提供了多重应用需求;本文针对目前主流的计算机技术,对地表水常见水质预测方法进行分析与探索。     

多系列 PLC 控制系统升级改造

根据水厂 PLC 控制系统的具体情况和发展需求,对水厂现有的 PLC 控制系统进行升级改造.采用三菱新产品 Q 系列 PLC 升级改造落后老化的大 A 和小 A 系列 PLC 站,解决不同系列的 PLC 网络通讯问题,提高水厂 PLC 控制系统的安全性、兼容性和先进性     

High-performance Multicrystalline Silicon Ingots Assisted by Recycled Multicrystalline Silicon Block Tailing as Seeds

Silicon - Nowadays, casted multicrystalline silicon is the most important material in photovoltaic industry. In order to reduce the cost of silicon ingots, the recycle of silicon ingot tailings is...     

Catalase (CAT) Gene Family in Rapeseed (Brassica napus L.): Genome-Wide Analysis,Identification, and Expression Pattern in Response to Multiple Hormones and Abiotic Stress Conditions

Catalase (CAT) is an antioxidant enzyme expressed by the CAT gene family and exists in almost all aerobic organisms. Environmental stresses induce the generation of reactive oxygen species (ROS) that eventually hinder plant growth and development. The CAT enzyme translates the hydrogen peroxide (H₂O₂) to water (H₂O) and reduce the ROS levels to shelter the cells’ death. So far, the CAT gene family has not been reported in rapeseed (Brassica napus L.). Therefore, a genome-wide comprehensive analysis was conducted to classify the CAT genes in the rapeseed genome. The current study identified 14 BnCAT genes in the rapeseed genome. Based on phylogenetic and synteny analysis, the BnCATs belong to four groups (Groups I–IV). A gene structure and conserved motif analysis showed that Group I, Group II, and Group IV possess almost the same intron/exon pattern, and an equal number of motifs, while Group III contains diverse structures and contain 15 motifs. By analyzing the cis-elements in the promoters, we identified five hormone-correlated responsive elements and four stress-related responsive elements. Further, six putative bna-miRNAs were also identified, targeting three genes (BnCAT4, BnCAT6, and BnCAT8). Gene ontology (GO) enrichment analysis showed that the BnCAT genes were largely related to cellular organelles, ROS response, stimulus response, stress response, and antioxidant enzymes. Almost 10 BnCAT genes showed higher expression levels in different tissues, i.e., root, leaf, stem, and silique. The expression analysis showed that BnCAT1–BnCAT3 and BnCAT11–BnCAT13 were significantly upregulated by cold, salinity, abscisic acid (ABA), and gibberellic acid (GA) treatment, but not by drought and methyl jasmonate (MeJA). Notably, most of the genes were upregulated by waterlogging stress, except BnCAT6, BnCAT9, and BnCAT10. Our results opened new windows for future investigations and provided insights into the CAT family genes in rapeseed.     

Genome-Wide Analysis of the Late Embryogenesis Abundant (LEA) and Abscisic Acid-, Stress-, and Ripening-Induced (ASR) Gene Superfamily from Canavalia rosea and Their Roles in Salinity/Alkaline and Drought Tolerance

Canavalia rosea (bay bean), distributing in coastal areas or islands in tropical and subtropical regions, is an extremophile halophyte with good adaptability to seawater and drought. Late embryogenesis abundant (LEA) proteins typically accumulate in response to various abiotic stresses, including dehydration, salinity, high temperature, and cold, or during the late stage of seed development. Abscisic acid-, stress-, and ripening-induced (ASR) genes are stress and developmentally regulated plant-specific genes. In this study, we reported the first comprehensive survey of the LEA and ASR gene superfamily in C. rosea. A total of 84 CrLEAs and three CrASRs were identified in C. rosea and classified into nine groups. All CrLEAs and CrASRs harbored the conserved motif for their family proteins. Our results revealed that the CrLEA genes were widely distributed in different chromosomes, and all of the CrLEA/CrASR genes showed wide expression features in different tissues in C. rosea plants. Additionally, we introduced 10 genes from different groups into yeast to assess the functions of the CrLEAs/CrASRs. These results contribute to our understanding of LEA/ASR genes from halophytes and provide robust candidate genes for functional investigations in plant species adapted to extreme environments.     

医药副产含磷废盐的提纯研究

随着精细化工及中间体产品的发展,各类副产废盐量不断增加,由于其产生量大及难处理等特点,成为阻碍行业发展的一大瓶颈。主要开展了医药副产含磷废盐的提纯实验研究,针对废盐产生的途径和特性,采用洗脱剂（甲醇-乙醇）+活性炭混合洗脱与重结晶的方式,分别去除废盐中的有机物和氯化钠,回收可利用的磷酸盐,实现废盐的提纯资源化。当洗脱剂与废盐的体积质量比为1 mL/g、洗脱剂甲醇与乙醇的体积比为4∶6、活性炭用量为废盐质量的0.4%时,废盐中的有机物得到了有效去除。随后对得到的混盐进行重结晶得到回收磷酸盐,回收磷酸盐的纯度可达98%以上,符合工业磷酸盐行业标准的要求。将含磷废盐提纯回收磷酸盐,1 t废盐的处理成本约为174.24元,可回收0.61 t磷酸盐,实现了废盐的资源化再利用。