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Ru-Xiang Hua,Hong-Xuan Ma,Wei Zou,Wei Zhang,Zhuo Wang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.2
Spraying trajectory planning is a key and challenging work for intelligent spraying robot. In order to effectively fulfill spraying on complex surfaces without CAD model, a novel spraying trajectory planning method based on segmentation and trajectory sequence optimization is proposed in this paper, which is mainly composed by three steps: surface segmentation, trajectories generation and trajectories connection. In surface segmentation, a method named regional growth with minimum curvature point (RGMCP) is proposed to segment a 3D entity into different subsurfaces by taking normals and curvatures into consideration simultaneously. In trajectories generation step, an intersection of plane and point cloud (IPPC) algorithm is used to generate the optimal spraying trajectory for each segmented subsurface. Finally, for trajectories connection, a sequence optimization algorithm based on swap-evolution particles (SOSP) is proposed to connect all the subsurface trajectories as a complete spraying one in an optimum manner by regarding it as a sequence optimization problem. The effectiveness of the proposed method is validated by simulation and practical experiment simultaneously. Comparatively, our method can improve the efficiency of a spray task with 367 trajectories and 627 s time-consuming to 215 trajectories and 413 s, while the coating thickness variances are lowered from 51.9 µm2 and 30.4 µm2 to 3.64 µm2 and 7.89 µm2 respectively, which shows that the proposed method is more effective and can keep better coating thickness uniformity.
Qing Hua Zhang,Rui Sheng,Zhao Hua Ren,Jing Huang,Yun Xiao Wang,Ben Ru Wang,Xi Lei Huang,Qin Cheng,Xue Mei Wu,Tong Bo Wang 한국공업화학회 2023 Journal of Industrial and Engineering Chemistry Vol.120 No.-
The micellization and the molecular interaction behaviors for two ternary mixtures constituted by anamphoteric sodium 3-(n-dodecyl ethylenediamino)-2-hydroxypropyl sulfonate (C12AS), an anionicsodium dodecylbenzene sulfonate (SDBS) and a nonionic octylphenol polyoxyethylated ether with thenumber (n) of oxyethylene glycol ethers OP-n (n = 10 or 7) in aqueous solution were investigated usingthe tensiometry and the effect of hydrophilicity on them was also discussed. In the framework of pseudophaseseparation model and based on the regular solution theory, the related micellization parametersincluding the mixed critical micelle concentration (cmc) values in the ideal and real cases, the activitycoefficients and the compositions in mixed micelle, etc. and thermodynamic parameters were estimatedby the Clint’s model and the Rubingh’ model. The mixed cmc value is dependent on the composition inaqueous solution and influenced by the hydrophilicity of nonionic surfactant. With increasing the nonionicin ternary mixture, the mixed cmc value is initially decreased and then slightly rise. An increasingin the hydrophilicity of nonionic will make the minimum value of mixed cmc be increased from1.299 mM to 1.705 mM. The resulting phenomena can be explained reasonably by the electrostatic effect,the steric hindrance, the hydrogen bonding, etc. Thermodynamic data indicate that the contribution ofentropy or enthalpy plays a vital role on the spontaneous process of micellization and the share ofentropy or enthalpy in free energy change is dependent largely on the amount of nonionic surfactantand the hydrophilicity. In ternary mixtures of C12AS/SDBS/OP-10, an increase in an amount of OP-10 willinduce the change from the enthalpy-driven micellization process to the entropically favorable process. Once an abundant amount of OP-7 is added, while, the enthalpy will make a main contribution on themicellization process, which can be described by the drop in the share of entropy at the composition(0.6970/0.0000/0.3030) of ternary mixture from 0.6478 to 0.4901. These findings will help with understandingthe molecular interaction behavior for the ternary surfactant mixture and the effect of the additionof nonionic surfactant and its hydrophilicity.
A New Rhodamine-based Fluorescent Probe for the Discrimination of Fe3+ from Fe2+
Qi-Hua You,Hua-Bin Huang,Zhi-Xia Zhuang,Xiao-Ru Wang,Wing-Hong Chan 대한화학회 2016 Bulletin of the Korean Chemical Society Vol.37 No.11
A new rhodamine-based fluorescent probe for the discrimination of Fe3+ from Fe2+ has been designed and investigated. The probe shows an immediate visual color change in response to Fe3+ and Cu2+, while only Fe3+ triggers the fluorescent change of the probe. The existence of large amount of other metal ions shows negligible interference in the detection of Fe3+. The association constant Kass of 4.64 × 108 M−2 (R2 = 0.994) and 5.38 × 108 M−2 (R2 = 0.991) of the complex was derived from UV/Vis and fluorescence titration assuming 1:2 stoichiometry of probe–Fe3+ complex, respectively.
Impact of a Glyphosate-Tolerant Soybean Line on the Rhizobacteria, Revealed by Illumina MiSeq
( Gui-hua Lu ),( Yin-ling Zhu ),( Ling-ru Kong ),( Jing Cheng ),( Cheng-yi Tang ),( Xiao-mei Hua ),( Fan-fan Meng ),( Yan-jun Pang ),( Rong-wu Yang ),( Jin-liang Qi ),( Yong-hua Yang ) 한국미생물 · 생명공학회 2017 Journal of microbiology and biotechnology Vol.27 No.3
The global commercial cultivation of transgenic crops, including glyphosate-tolerant soybean, has increased widely in recent decades with potential impact on the environment. The bulk of previous studies showed different results on the effects of the release of transgenic plants on the soil microbial community, especially rhizosphere bacteria. In this study, comparative analyses of the bacterial communities in the rhizosphere soils and surrounding soils were performed between the glyphosate-tolerant soybean line NZL06-698 (or simply N698), containing a glyphosate-insensitive EPSPS gene, and its control cultivar Mengdou12 (or simply MD12), by a 16S ribosomal RNA gene (16S rDNA) amplicon sequencing-based Illumina MiSeq platform. No statistically significant difference was found in the overall alpha diversity of the rhizosphere bacterial communities, although the species richness and evenness of the bacteria increased in the rhizosphere of N698 compared with that of MD12. Some influence on phylogenetic diversity of the rhizosphere bacterial communities was found between N698 and MD12 by beta diversity analysis based on weighted UniFrac distance. Furthermore, the relative abundances of part rhizosphere bacterial phyla and genera, which included some nitrogen-fixing bacteria, were significantly different between N698 and MD12. Our present results indicate some impact of the glyphosate-tolerant soybean line N698 on the phylogenetic diversity of rhizosphere bacterial communities together with a significant difference in the relative abundances of part rhizosphere bacteria at different classification levels as compared with its control cultivar MD12, when a comparative analysis of surrounding soils between N698 and MD12 was used as a systematic contrast study.
Ru Fang,Shaozong Yang,Yanbin Wang,Hua Qian 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2015 NANO Vol.10 No.5
"Paclitaxel (PTX) is usual for the treatment of a variety of malignancies, however, its applications are greatly limited due to its poor water solubility. Over the past years, there has been a considerable research interest in the area of nanoscale drug delivery systems (DDSs) as carrier for PTX due to their solubilization, safety, targeting and controlled release. There are many different types and shapes of nanoscale DDSs that have been prepared to deliver PTX, including nanoliposome, lipid nanoemulsion, nanosuspension, nanocapsule, nanofiber, nanotube, nanopolymersome, micelle and nanoparticle (NP). Nanascale DDSs can be based on lipids, proteins, polysaccharides, polymers or other materials. The recent strategic developments of PTX formulation have been discussed with emphasis on lipid-, polymer- and protein-based nanoscale DDSs. Here we focus on the comparative analysis of the preparation, morphology, solubilization, targeting, penetrability, controllability and efficacy profile of various PTX-loaded nanoscale DDSs, which were reported in the different researches. Meanwhile the advantages and disadvantages are also discussed for each type of DDS. Furthermore, the current review embodies an in-depth discussion of human serum albumin (HSA) NP formulation, which showed significantly great efficacy and low toxicity. All the information obtained in this review might shed light on designing new and better nanoscale PTX formulations for potential anticancer applications in the clinic."
Study on the Heterogeneous Reaction of SO₂ and NO₂ on Coal Ash
Ru-Jiao Song,Zi-Xiang Xu,Joo-Chang Park,Hueon Namkung,Li-Hua Xu,Hyung-Taek Kim 한국열환경공학회 2019 한국열환경공학회 학술대회지 Vol.2019 No.춘계
Harmful substances such as sulfur dioxide produced by coal combustion are the main source of air pollution. The heterogeneous reaction of polluting gases and coal ash particles has an important impact on atmospheric pollution. The sulphate formed by the oxidation of SO2 from coal combustion is combined with the dust generated by coal combustion, resulting in a large amount of adsorbed water on the surface becoming agglomerated nucleus, which forms a dense fog, affects the visibility of the atmosphere, and endangers human health. The existing research results show that serious damage to personnel is not only polluted gases such as SO2 and primary particulate matter directly discharged from coal combustion, but mainly secondary particles such as sulfate and nitrate formed by chemical reaction of SO2 and NO2 on the surface of particulate matter. Studying the formation process of secondary particulate matter on the surface of coal ash is crucial to improve the atmospheric environment around the power plant and other institutions. The heterogeneous reaction of mixed gas SO2, NO2 and air on the surface of the coal ash particles was investigated based on the laboratory-built aerosol reactor under ambient temperature and pressure conditions. Experimental studies have found that the relative humidity, light conditions and gas concentration will affect the process of SO2 and NO2 gas in the heterogeneous transformation of coal ash into secondary particles.