两类仿鲹科机器鱼倒游运动控制方法的对比研究

给出并比较了两类分别采用鱼体波动方程和中枢模式发生器（Central pattern generator,CPG）控制仿鲹科机器鱼倒游运动的方法.前者主要通过修改鱼体波动方程、颠倒机器鱼各个关节的控制规律来实现 鱼体倒游;后者则基于CPG模型,产生各个关节的节律控制信号.基于CPG的倒游方法可进一步细分为两种:1） 相位颠倒的CPG控制方法,即通过逆转CPG控制机器鱼直游的相位关系;2） 相位-幅值颠倒的CPG控制方法,即通过逆转鱼体波的传播方向和摆动幅值来实现机器鱼倒游.文中针对这两大类、三种机器鱼倒游运动控制方法 进行了分析、仿真和实验.实验结果表明:在相同参数配置下,采用相位颠倒的CPG控制方法产生的倒游速度最大,但游动对水的扰动也最大;而采用鱼体波倒游和相位-幅值颠倒的CPG控制方法时,两者产生的最大倒游速度相差不大,扰动较小.此外,采用鱼体波倒游方法在频率切换时会有抖动现象,需要设计专门的过渡函数来消除;而采用CPG模型的方法 则可以实现平滑过渡.上述结果对提高水下游动机器人的机动性能具有重要的指导意义.     

Mineralization of an azo dye Acid Red 14 by photoelectro-Fenton process using an activated carbon fiber cathode

The mineralization of an azo dye Acid Red 14 (AR14) by the photoelectro-Fenton (PEF) process was studied in an undivided electrochemical reactor with a RuO₂/Ti anode and an activated carbon fiber (ACF) cathode able to electrochemically generate H₂O₂. Anodic oxidation and UV irradiation of AR14 were also examined as comparative experiments. Results indicate that the electro-Fenton process yielded about 60–70% mineralization of AR14, while the photoelectro-Fenton could mineralize AR14 more effectively (more than 94% total organic carbon (TOC) removal) even at low current densities assisted with UV irradiation after 6 h electrolysis. The mineralization current efficiency (MCE) of the PEF process increased with the increasing AR14 concentrations. In addition, the initial solution pH ranging from 1.49 to 6.72 had little influence on the TOC removal probably due to the formation of organic carboxylic acids which balanced the pH increase caused by the cathodic generation of hydrogen gas. The ACF cathode showed a long-term stability during multiple experimental runs for degradation of AR14, indicating its good potential for practical application in treating refractory organic pollutants in aqueous solutions.     

Solar photocatalytic degradation of real textile effluents by associated titanium dioxide and hydrogen peroxide

The present work investigated the photodegradation of real textile effluents by advanced oxidative process (AOP) using TiO₂/H₂O₂/sunlight system. The procedures were carried out at ambient conditions in March 2005. The results were evaluated by COD reduction concomitant to the increase in inorganic ion concentration (mineralization) and the analysis of the effluent characteristic spectral wavelengths: 228, 254, and 284 nm (simple aromatic compounds), 310 nm (conjugated aromatic compounds), and 390, 450, and 530 (color). As this study is not restricted to the decolorization process, it allows a more reliable evaluation of effluent mineralization. The results indicate that solar radiation is as efficient as or even more efficient than artificial radiation was in previous studies and that it also allows a reduction in effluent treatment operational costs.     

Effect of management history and temperature on the mineralization of methylene urea in soil

A soil incubation and a greenhouse study on processing tomato were used to test the effects of soil temperature and the size and activity of the soil microbial biomass (SMB) on the degradation (mineralization) rate of a slow-release N fertilizer, methylene urea (MU), a condensation product of urea and formaldehyde. The mineralization rates of three MUs: Short (S), Medium (M), and Long (L) with different water solubilities were measured at two temperatures in a soil with low (fallow, F) and high (cover crop, CC) microbial activity. In the greenhouse study, the fate of fertilizer N was followed using ¹⁵N-urea and ¹⁵N-MU. The fertilizer N efficiency calculated for urea using the ¹⁵N mass balance approach was 93 and 85% compared with 65 and 67% for MU-S in F and CC soils, respectively. During six months of incubation, 52 and 63% of MU-S N was mineralized at 20 and 30 °C, respectively. The accumulated N data suggested that the degradation of all three MU types followed first-order reaction kinetics. The reaction rates were similar for all three MUs and increased with increasing temperature. However, fitting discrete, non-accumulated data revealed that MU mineralization is more complex and cannot be modeled with simple exponential decay equations. The size and activity of SMB did not affect the mineralization rate of MU-N under laboratory or greenhouse conditions. Interestingly, Activity Index (AI), defined as the slowly available pool of MU-N, was not a reliable indicator for the mineralization rate and plant availability of MU-N.     

金成矿作用的二重性及其指导意义

金成矿作用的二重性,突出表现在金的成矿作用中的活化、迁移和富集沉淀各个阶段,尤其金在富铁贫硫的条件下,表现出强烈的亲铁性,金主要和铁矿物伴生;金在贫铁富硫的条件下,表现出强烈的亲硫性,金主要和硫化物伴生;金在富铁富硫的条件下,又同时表现为亲铁亲硫性,金主要和黄铁矿(FeS2)伴生。在找矿过程中我们可以根据矿石中铁矿物、硫矿物的富集状况,对金矿进行成矿预测,指导区域性找矿,合理的圈定矿体;同时对金矿地质设计、矿山远景经济评价以及研究延长矿山使用年限都具有重要的技术经济价值。     

Compressive strength and preliminary in vitro evaluation of gypsum and gypsum–polymer composites in protein-free SBF at 37 °C

Gypsum is a bioresorbable material that has been used in many applications such as tissue regeneration. Mechanical properties of gypsum have limited its applications to non-load bearing sites. The current study aimed at studying the compressive strength and behaviour of gypsum–polymer composites in protein-free simulated body fluids (SBF). Polymers studied were poly(vinyl alcohol) (PVA) and its copolymers with vinyl acetate and itaconic acid in addition to vinyl acetate and vinyl chloride. Composites with the highest compressive strength results were chosen for the preliminary in vitro evaluation in protein-free SBF solutions. Changes in the concentrations of Ca²⁺ and PO₄³⁻ ions, weight loss and morphology of the solid samples were monitored after soaking them in SBF and 1.5 SBF solutions. Results showed resorption of gypsum, concurrently with deposition of apatite in all composites, including polymer-free gypsum. Mechanical integrities of all samples were maintained, suggesting their stabilities when used as bone cements.     

Development of a biomimetic chitosan film-coated gold electrode for determination of dopamine in the presence of ascorbic acid and uric acid

A gold electrode surface was modified using a dinuclear copper complex [Cu^II₂ (Ldtb)(μ-OCH₃)](BPh₄) and then coated with a chitosan film. This biomimetic polymer film-coated electrode was employed to eliminate the interference from ascorbic acid and uric acid in the sensitive and selective determination of dopamine. The optimized conditions obtained for the biomimetic electrode were 0.1 M phosphate buffer solution (pH 8.0), complex concentration of 2.0 × 10⁻⁴ M, 0.1% of chitosan and 0.25% of glyoxal. Under the optimum conditions, the calibration curve was linear in the concentration range of 4.99 × 10⁻⁷ to 1.92 × 10⁻⁵ M, and detection and quantification limits were 3.57 × 10⁻⁷ M and 1.07 × 10⁻⁶ M, respectively. The recovery study gave values of 95.2-102.6%. The lifetime of this biomimetic sensor showed apparent loss of activity after 70 determinations. The results obtained with the modified electrode for dopamine quantification in the injection solution matrix were in good agreement with those of the pharmacopoeia method.     

西藏丁青扎格拉金矿床地质特征及成矿机理

西藏扎格拉金矿床是河南省地质调查院在国土资源调查项目中发现的一个较大规模的岩体矿床。西藏扎格拉金矿床矿区位于青藏高原的东部的班公湖-怒江结合带北部,矿区主要出露早-中侏罗统希湖群(J1-2xh)地层,其中希湖群一段安山岩为赋矿岩层。矿区内发育一系列断裂构造,属导矿、容矿构造。结合矿区地质特征、矿体特征及矿石特征研究,分析丁青扎格拉金矿床的类型和成矿作用,初步认为该矿床属脉状-破碎蚀变型矿床。     

Modeling and simulation of an artificial muscle and its application to biomimetic robot posture control

The shape memory effect exhibited by Nitinol wire can be utilized to construct an artificial muscle. The muscle is activated by an electric current, which produces heat and initiates a phase transformation. The Nitinol artificial muscle stress–strain–power relationship was determined by experiments, and a mathematical model was developed. The artificial muscle model was utilized for the posture control of a biomimetic underwater robot. The optimal activation patterns for height, pitch, and roll postures were determined. Simulation results for the height postures are in agreement with the experiments. The separation between the center of gravity and the centroid of the robot has a stabilizing effect on pitch and roll postures.