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RISS 인기검색어
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- 저자 : Xuewen Yang (검색결과 4 건)
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A Geometric Method for Kinematics of Delta Robot and its Path Tracking Control
Xuewen Yang,Zuren Feng,Chenyu Liu,Xiaodong Ren 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper presents a geometric method for solving the inverse and forward kinematics of Delta robot, and then investigated the problem of path tracking control. The forward kinematics is most commonly solved by various iterative methods, which may suffer from slow convergence rate and strict initial value conditions. In this paper, this problem is simplified as solving the intersection point of two circles and then transforming the coordinates system to get the final solution. This method has advantages in its simplicity, accuracy and efficiency. Based on the solution to kinematics and the derivation of Jacobian matrix, the path tracking control is studied from two parts: the superior trajectory planning and the lower control system. Trajectory planning aims to define a temporal motion law along a given geometric path. A method for trajectory planning is presented which is based on a modified trapezoidal velocity profile (TVP) of which initial and final velocities could be nonzero depending on its movement model, whether continuous path (CP) or point to point (PTP). A velocity control method is proposed using a nonlinear PD controller to ensure the end effector tracking the desired path with high precision. At last, a demo trajectory is generated to verify the feasibility of the method experimentally.
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Removal of chloride ions from acidic solution with antimony oxides
Xuewen Wang,Yanping Du,Haoxiang Yang,Shenghui Tian,Qi Ge,Sheng Huang,Mingyu Wang 한국공업화학회 2021 Journal of Industrial and Engineering Chemistry Vol.93 No.-
This studyaims to investigate the removal of Cl- from acidic solutionwith antimony oxides. The effects of theadsorbenttype,reaction time,reaction temperature,Sb/Clmole ratio andacidityonadsorptionperformanceand the regeneration of loaded adsorbent were systematically studied. The results shows that Sb2O3 xH2Ohas the highest adsorption rate (97.64%) among Sb2O3 xH2O, Sb2O5 xH2O, Sb2O4 xH2O and Sb2O3 in thesolution containing 1.25 mol/L H2SO4under the condition of Sb/Cl mole ratio 3:1 and stirring for 2 h at roomtemperature, and the concentration of Cl- in the acid solution can be reduced to 280 mg/L. Then the residualSb in the adsorbed solution can be decreased from 48.21 mg/L to 16.09 mg/L by C-SbA which is made bySb2O5 xH2O. The C-SbA which has been used can be reused after calcining at 400 ℃ for 2 h. The loadedadsorbent was completely regenerated by adding it into NaOH or Na2CO3 solution whose pH is equal ormore than 9.5 according to S/L ratio 1:6 g/mL and was stirred for 0.5 h at room temperature. The Cl- in theregenerated solution was crystallized and precipitated in the form of NaCl without evaporation andconcentration according to the common ion effect of Na+, and the purity of NaCl was more than 99%.
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Synthesis of a new polystyrene@Fe3O4 magnetic microspheres
Yongping Xue,Feng Jian,Xuewen Zhong,Lu Tang,Xiaojun Yang 한양대학교 세라믹연구소 2021 Journal of Ceramic Processing Research Vol.22 No.4
In this article, the synthesis process of magnetic polystyrene@Fe3O4 was investigated, which are suitable for the applicationin magnetically stabilized fluidized-bed reactors. The magnetic polystyrene@Fe3O4 coated with Fe3O4 were prepared bysuspension polymerization. In the reaction, triethoxy(vinyl)silane, styrene, divinylbenzene, liquid paraffin, gelatin, benzoylperoxides (BPO) were used as the surfactant, monomers, the crosslinking agent, a porogenic agent, a dispersant, an initiator,respectively. Simultaneously, the chemical composition, morphologies, particle sizes, the amount of Fe3O4 coated were analyzed. The samples were characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), infrared spectroscopy(FTIR), vibrating sample magnetometer (VSM) analysis and thermo gravimetric analysis (TGA). The results showed that thenew type of magnetic polystyrene@Fe3O4 microspheres were porous, spherical in shape with a narrow particle size distributionin the range of 150~200 μm. The amount of Fe3O4 coating reached to 12.39%, and the maximum saturation magnetizationwas 51.71 A·m2·kg-1 at room temperature. In addition, the results also showed that polystyrene@Fe3O4 magnetic microsphereshave good acid resistance and good suspendability.
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Zhang, Jinglan,Shi, Xiaomin,Li, Yehua,Kim, Beom-Jun,Jia, Junling,Huang, Zhiwei,Yang, Tao,Fu, Xiaoyong,Jung, Sung Yun,Wang, Yi,Zhang, Pumin,Kim, Seong-Tae,Pan, Xuewen,Qin, Jun Elsevier 2008 Molecular cell Vol.31 No.1
<P><B>Summary</B></P><P>Sister chromatid cohesion is normally established in S phase in a process that depends on the cohesion establishment factor Eco1, a conserved acetyltransferase. However, due to the lack of known in vivo substrates, how Eco1 regulates cohesion is not understood. Here we report that yeast Eco1 and its human ortholog, ESCO1, both acetylate Smc3, a component of the cohesin complex that physically holds the sister chromatid together, at two conserved lysine residues. Mutating these lysine residues to a nonacetylatable form leads to increased loss of sister chromatid cohesion and genome instability in both yeast and human. In addition, we clarified that the acetyltransferase activity of Eco1 is essential for its function. Our study thus identified a molecular target for the acetyltransferase Eco1 and revealed that Smc3 acetylation is a conserved mechanism in regulating sister chromatid cohesion.</P>
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