Calibration of a multi-mobile coil magnetic manipulation system utilizing a control-oriented magnetic model

In this paper, we address the calibration of a family of magnetic manipulation systems composed of several coils that are moved around by serial robot manipulators. We show in this paper that the calibration of the whole system ultimately results in calibrating the manipulator and coil separately up to an unknown rigid transformation. For calibration of the coil, we propose to use a model that has not been used so far in the literature; a control-oriented model which is sufficiently accurate and computes the magnetic field in real time. A protocol for calibrating the magnetic manipulation system using the Nelder–Mead algorithm to estimate the model parameters is presented. Calibration was performed through simulations and validated experimentally on a physical system. It was observed that the root mean square error was reduced by 37% after calibration of the physical system, indicating an improvement in accurately estimating the magnetic model.     

多功能射频综合系统中的电磁协同北大核心CSCD

限定时空条件下,射频综合系统有效发挥多功能效应的实质是实现系统多功能协同高效运行,而制约其协同高效运行的瓶颈是特定时空条件下可用的电磁资源。电磁资源的高效利用依赖电磁协同,是按照任务要求及限定条件,在时间、频率、空间、能量多个维度寻求构建电磁协同自组织结构的最优解,并确定具体任务时空下有序运行自组织结构的驱动方式,按照求解出的电磁资源动态分配结果,执行任务,使系统电磁效应在任务牵引下受控。电磁协同服务于多功能射频综合系统融合,可以有效利用、管理战场电磁环境,高效提升多功能射频综合系统的运行效率。本文从多功能射频综合系统融合运行之瓶颈、电磁协同概念和电磁协同方法三个方面论述电磁协同的核心要点,期望为实现多功能射频综合系统融合运行提供可行的技术途径。     

Micro construction of poly(epsilon-caprolactone)/poly(L-lactic acid) blend film by solution casting under microwave irradiation

The micro construction of poly(epsilon-caprolactone) (PCL) and poly(L-lactic acid) (PLLA) blend films fabricated by solution casting under microwave irradiation was investigated by selective enzymatic degradation and scanning electron microscopy (SEM). The results were totally different from the blends obtained by conventional methods. The blend was more homogeneous and the PCL continuous phase more compact as no spherulites and tiny zone separation were observed from the film surface and no PCL network was observed inside the film, and the degradation of a PCL plank by Pseudomonas lipase was significantly retarded. The distributed PLLA micro spheres were enlarged and amorphous. The thermal behavior of the blend by microwave heating revealed that PCL and PLLA underwent a melting process, which induced the variations of the PCL phase and PLLA spheres. The weight loss caused by degradation of the PCL/PLLA blend obtained by conventional methods (B50c) is greater than that of the blend obtained by microwave methods (B50m), which reflects the change in morphology from a loose PCL network (B50c) to a dense PCL plank (B50m).     

Penetration of plasma surface modification. I. Cf4 and C2F4 glow discharge plasmas

Plasma treatment of a polymeric surface could involve at least three major mechanisms: (1) direct interaction of reactive species in the low-temperature plasma state with the surface (line of sight irradiation effect), and (2) chemical reactions of plasma-induced reactive species with the surface, and (3) reactions among reactive species and the surface (plasma polymerization). The first and the third effects are considered to be limited to the surfaces which directly contact with plasma (glow). The second effect is not limited to the surfaces that contact with plasma state but can penetrate beyond the plasma zone by diffusion. Using an assembly of fibers, of which only the top layer contacts with plasma (glow), the penetration of chemical changes caused by plasma exposure was investigated. Results indicate that the fluorination effect (incorporation of fluorine-containing moieties on the surface of polymeric substrate) penetrates through a considerable thickness of the assembly of fibers, depending on the porosity (gas permeability) of the system. Chemical reactions of plasma-induced (chemically) reactive but nonpolymerizing species with the substrate fibers seems to predominate. The direct interactions of energetic species, such as ions, electrons, and electronically excited species, with polymeric surfaces seems to play relatively minor roles in the plasma treatment investigated. The major role of plasma, in this case, seems to be creating such chemically reactive species. © 1994 John Wiley & Sons, Inc.     

Nafion化学修饰圆盘预富集-石墨炉 原子吸收联用法对牛血超氧化物歧化酶中铜、锌分布状态的研究

本文研究了Nafion化学修饰钨丝圆盘预富集-石墨炉原子吸收(GFAAS)方法测定牛血超氧化物歧化酶(SOD)中游离态Cu～(2+)及Zn～(2+)的方法,并用GFAAS法直接测定SOD中铜、锌的总量,证实了牛血SOD中金属辅基铜、锌原子个数比为1:1,初步探讨了一定浓度的牛血SOD中Cu～(2+)、Zn～(2+)的表观离解平衡常数。为提高SOD的活性和稳定性的研究,提供了一种有效的方法。     

Selective formation of AAB- and ABC-type heterotrimeric alpha-helical coiled coils

The alpha-helical coiled coils have a representative amino acid sequence of (abcdefg)(n) heptad repeats. We previously reported that two peptides named IZ-2A and IZ-2W formed an (IZ-2A)(2)/IZ-2W heterotrimer with an Ala-Ala-Trp interaction in the hydrophobic core. In this paper, we describe the selective formation of AAB- and ABC-type heterotrimers. To increase the selectivity of the AAB-type heterotrimeric formation, Lys residues at the f position were mutated to either an Ala or a Gln residue to form IZ-2A(fA) or IZ-2W(fQ). Separately, both IZ-2A(fA) and IZ-2W(fQ) have a random structure at pH 7 and 20 degrees C. However, together IZ-2A(fA) and IZ-2W(fQ) form a 2:1 complex with a thermal transition midpoint (Tm) of 48 degrees C. This procedure was applied to prepare the ABC-type heterotrimer, in which two sets of Ala-Ala-Trp interactions were designed in the hydrophobic core. Interhelical interaction between the e and g positions and the alpha-helical propensity of the amino acid at the f position were also considered in the design. The resultant three peptides selectively formed the ABC-type heterotrimer with a Tm of 51 degrees C. Other peptide combinations had random coil properties.     

Effect of the Coil Angle in an Inductively Coupled Plasma Torch: A Novel Two-Dimensional Model

A two-dimensional model has been developed for the calculation of the electromagnetic (EM) fields generated by spiral coil currents, in order to obtain a better representation of the actual configuration used in a typical inductively coupled plasma (ICP) torch. In order to obtain the EM fields in a two-dimensional model, the change of EM field in tangential direction is neglected and the coil is assumed to be a concentric cylinder. In order to justify our assumption, the EM, flow and temperature fields resulting from five-ring coil and concentric cylinder coil are compared and the results are almost the same except for the EM field in the vicinity of the coil. In the case of the spiral coil, the coil current is inclined with respect to the horizontal plane. Therefore current in the cylinder coil is assumed to have the same inclined angle, which is split into tangential and axial components. The axial electric field and hence an axial current in plasma is induced by the axial component of the spiral coil current. Charge density is accumulated in the plasma, since the axial current cannot form a loop. In order to obtain the EM field and the charge distribution in the plasma generated by the spiral coil, the equations of axial vector potential and electrostatic potential have been derived. Due to the swirling Lorentz force (J_z×B_r) an axisymmetrical swirling fluid model is used to simulate the plasma flow in an axisymetrical configuration. With an inclined angle of the coil current being 3.7° and the frequency being 3 MHz, computational results show that the swirling Lorentz force causes plasma swirling with a maximum speed of 3.41 m/s near the plasma center when the injected sheath gas and central gas are not swirling. In these conditions, the real and imaginary parts of the maximum electrostatic potential are 0.95 V and 1.66 V, respectively. When the electrostatic field is neglected, the swirling velocity of the plasma is 3.95 m/s.     

压缩X因子导数光谱法测定痕量锗

本采用压缩Ｘ因子导数光谱技术实现了宽峰体系灵敏度的大幅度提高，提出了测定痕量锗的方法。在０．７２ｍｏｌ／ＬＨ２ＳＯ４和３．０ｍｏｌ／ＬＨ３ＰＯ４的混酸介质中，锗－水杨基荧光酮－ＯＰ三元显色体系的压缩Ｘ因子四阶导数光谱摩尔响应系数达１．８９×１０＾６Ｌ．ｍｏｌ＾－１．ｃｍ＾－１，灵敏度比常规光度法高１２．４倍；最低检测出限为０．０００３３ｍｇ／Ｌ，比常规光谱法低４倍；选择性也进一步提高，绝大多数离     

A strategy for synthesis of polymer-protective bimetallic colloids

A strategy for the synthesis of polymer-protective bimetallic sols is proposed which has the advantage of the strong protective effect of the polymer agent on one of the composites to stabilize the bimetallic colloidal particles. This strategy is certified to be useful to the predication of the formation of stable bimetallic colloids protected by polymer and to the control of the particle size to a certain extent. A series of new PVP-protective bimetallic colloidal dispersions containing noble metal element (Pt, Rh, Pd), light transition metal element (Co, Fe), and boron are obtained from the corresponding salts by the methods of reduction by stage and coreduction, using the NaBH4 as reductant. The TEM, XRD and EPMA measurements indicate the formation of bimetallic colloids. An interesting kind of coil aggregation is observed in the systems of PVP-Pt-Co and PVP-Rh-Co prepared by the method of reduction by stage.     

Difference in Conversions Between Dimethyl Sulfide and Methanethiol in a Cold Plasma Environment

This study compared the conversion of two malodorous substances, dimethyl sulfide (CH₃SCH₃, DMS) and methanethiol (CH₃SH) in a cold plasma reactor. The DMS and CH₃SH were successfully destroyed at room temperature. DMS decomposed less than CH₃SH at the same conditions. In oxygen-free condition, CS₂ and hydrocarbons were the major products, while SO₂ and CO_x were main compounds in oxygen-rich environments. The DMS/Ar plasma yielded more hydrocarbons and less CS₂ than that of CH₃SH/Ar plasma. In the CH₃SH/O₂/Ar plasma, rapid formation of SO and CO resulted in the yields much more amounts of SO₂ and CO₂ than those in the DMS/O₂/Ar plasma; and remained only a trace of total hydrocarbons, CH₂O, CH₃OH, CS₂, and OCS. The major differences between the reaction mechanisms of DMS and CH₃SH were also proposed and discussed.