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In order to simplify the dynamic equation of tank and design the controller conveniently, the barrel is often regarded as a rigid body in the previous tank barrel model. However, the barrel whose structure is a long straight pipe, is a typical flexible body in practice, it will affect the controller performance if it is directly treated as a rigid body. In this paper, we consider the flexibility of barrel and design a backstepping controller firstly. Then, Matlab and RecurDyn co-simulation were combined to compare the tracking performance of the method under different road excitation. The results show that backstepping control can adjust the muzzle angle of the flexible barrel in real-time.

Anaerobic ammonium oxidation (anammox) is a key biochemical process to reduce nitrogen pollution in aquaculture, especially in water recirculating pond aquaculture system (RPAS). We used 16S RNA and quantified PCR to study the distribution and environmental impacts of anammox bacteria in RPAS. The results show that the anammox bacterial community distributions and diversities that are apparently unit-specific and seasonal have significant (p < 0.05) difference variation in the RPAS. Most of the anaerobic ammonium oxidation bacteria sequences (77.72%) retrieved from the RPAS belong to the Brocadia cluster. The abundance of anammox bacterial in the RPAS ranged from 3.33 × 101 to 41.84 × 101 copies per ng of DNA. The environmental parameter of temperature and nitrogen composition in water could have impacted the anammox bacterial abundance. This study provides more information on our understanding of the anammox bacteria in the RPAS, and provides an important basis for RPAS improvement and regulation.

La0.67Sr0.33MnO3 (LSMO)/Pb0.92La0.08Zr0.65Ti0.35O3 (PLZT) composite film was fabricated on a (001) LaAlO3 (LAO) single crystal substrate by a sol-gel technique. The results from X-ray diffraction (XRD) indicated that LSMO and PLZT could grow successively on LAO substrate with (001) preferred orientation. The ferroelectric and ferromagnetic properties of LAO/LSMO/PLZT composite film were also investigated. The results showed that the remnant polarization Pr, and coercive field Ec of the composite film at room temperature were 36.38 μC/cm2 and 512.43 kV/cm respectively. Moreover, the composite film exhibited significant ferromagnetic hysteresis loops and soft magnetic behavior at temperatures lower than 250 K.

Background: This study is all about predicting the value of serum vaspin level in the amelioration of fatty liver and metabolic disturbance in patients with severe obesity after laparoscopic vertical banded gastroplasty (LVBG). Methods: A total of 164 patients (from January 2012 to May 2015) with severe obesity were chosen and performed LVBG. Enzyme-linked immunosorbent assay was performed to detect the serum vaspin level. The patients were given a biochemical automatic analyzer to measure the biochemical indicators. Homeostasis model assessment (HOMA) helps in the calculation of fasting insulin level (FINS) and insulin resistance (IR). The changes in fatty liver were examined by computed tomography (CT). Receiver operating characteristic curve is used to increase the predictive value of serum vaspin level in the amelioration of liver function and disturbances in the metabolism. Results: Weight, BMI, waist circumference, serum vaspin level, and triglyceride (TG) decreased, but CT value of liver increased at 4th, 7th, and 12th month after surgery. After the 7th and 12th month period of surgery, the alanine aminotransferase, aspartate aminotransferase, FINS, and HOMA-IR reduced in the patients (P

Gastrointestinal micro-bionic robot checkups system in clinical applications has very broad prospects and important significance, which has become one of the hot research fields of medical equipment at home and abroad. In this paper, based on the micro machining technology, micro actuation technology, microelectronics technology, wireless communication technology, wireless power transfer technology and clinical medical technology, this study focused on the system design and the locomotion compatibility of a miniature biomimetic robotic examination system for gastrointestinal tract. The aim is to provide a new effective approach and reference for the design of robotic endoscope system. The result shows that the miniature bionic creeping robotic system runs stably and has good move performance. This generation of miniature bionic creeping robotic system is very important for the further research. Development of the gastrointestinal tract considers running checkups micro-robots its efficacy and safety analysis of the compatibility of that robot and the human gastrointestinal tract.

In this work, a PPy actuator was fabricated by galvanostatic electropolymerization. The electrochemical deformation behaviors of the PPy actuator were investigated in aqueous solutions of an electrolyte, lithium bis(trifluoromethanesulphonyl)imide (LiTFSI), containing different concentrations of methanol. Marked improvement of the actuating strain of approximately 9% was achieved when the actuator was driven by a potential between –1 and 1 V in the LiTFSI electrolyte containing 40 to 50% of methanol under a load stress of 0. 3 MPa. On the other hand, the actuator functioned in the electrolyte solutions containing more than 60% of methanol showed rapid decrease of the actuating strain and the electrochemical creep after repeated actuations. Possible mechanisms for these behaviors were discussed.

Anaerobic ammonium oxidation (ANAMMOX) is one of the important functions in waste water treatment by subsurface flow constructed wetland (SSFCW), however, there are few studies on ANAMMOX in SSFCW environment at present. The community characteristics of ANAMMOX in the SSFCW of processing aquaculture waste water were explored in this study. In order to analyze the structure, diversity and abundance of ANAMMOX bacteria, several 16S rRNA clone libraries were constructed and real-time PCR targeting specific 16S rRNA genes together with diversity analysis was adopted. The obtained results showed that the SSFCW identified a total of three unknown clusters and two known clusters including Candidatus brocadia and Candidatus kuenenia. The dominant cluster was Candidatus brocadia. The highest diversity levels of ANAMMOX bacteria occurred in autumn (H', 1.21), while the lowest in spring (H', 0.64). The abundance of ANAMMOX bacteria in SSFCW environment ranged from 8.0 x 10(4) to 9.4 x 10(6) copies x g(-1) of fresh weight and the copy number of total bacterial 16S rRNA genes ranged from 7.3 x 10(9) to 9.1 x 10(10) copies x g(-1) of fresh weight during culture cycle. There were significant differences in the ANAMMOX bacteria abundances of different stratum and seasons in SSFCW environment, but the differences in total bacterial abundances were not obvious. In addition, the differences in ANAMMOX bacteria abundances in different stratum and seasons in SSFCW environment were irregular in different culture cycle. According to the distribution characteristics of ANAMMOX bacteria in the wetland, the denitrification effect of SSFCW could be improved by changing the supplying manners of aquaculture wastewater and adjusting the structure of wetland. The research results will provide reference for further optimizing the SSFCW and improving the efficiency of purification.

P-channel pentacene field effect transistorswith a Si/SiO2/pentacene/Au structure were fabricated, and were gamma-ray irradiated with a Co60source. The changes of the drain current IDvs. source/drain voltage VSD(ID- VSD) characteristics were measured after every 200 Gy in silicon (GySi) irradiations up to the total dose of 1200 GySi. The drain current IDcontinuously decreased to less than 10 % of that before irradiation after 1200 GySiirradiation. The threshold voltage Vthcontinuously decreased up to 800 GySi, started to saturate above 800 GySi,and recovered above1000 GySi. The mobility m continued to decrease up to 1200 GySi. Those behaviors were explained by accumulation of positive trapped charge within the gate insulator SiO2near the interface, continuous increase of interface traps near the interface between the SiO2and pentacene, and build up of electrons in the channel regions. These behaviors were discussed in comparisons with previously reported results on ultraviolet (UV) light irradiation experiments on similarly structured pentacene-based transistors.

A novel large thiophene-fused polycyclic aromatics 1 based on pyrene 5 has been synthesized, and its structure was confirmed by 1 H NMR, 13 C NMR, MS, UV–vis and elemental analysis. The key steps of the synthesis involved the Stille cross-coupling reaction and followed by selective β - β oxidative cyclization of pendant thienyl rings by FeCl 3 under mild conditions.

Electrical characterization of 60Co γ-ray radiation effects on pentacene-based organic thin-film-transistors having two kinds of gate insulator have been carried out. For transistors with SiO2 gate insulator, the threshold voltage shifts are consistent with positive charge trapping in the oxide and a “rebound” effect is observed. This “rebound” effect is attributed to the negatively charged interface traps generated during irradiation. For polyimide gate insulator, the threshold voltage continually decreases with an increasing total-dose. At total-dose of 1200 Gy (Si), for the SiO2 gate insulator, the field-effect mobility decreased by almost 80%, and for polyimide gate insulator, it decreased by 40%.

The Co‐Na heterobinuclear polymer complex based on Salen Schiff base and crown ether have been prepared by a method of interfacial polymerization without the presence of a phase transfer catalyst. The catalytic behavior of the Co‐Na heterobinuclear polymer complex in aerobic oxidation of cyclohexene has been studied.