The Configuration Optimization for Multilimbed Robots with the Viewpoint of Maximum Loading Capacity

This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. When the applying Cartesian force and the task point are given, the best configuration of the robot will be easily found through a series of imaginary motions of the robot and some simple computations. The imaginary motion varies with the working environment related to the construction of the robot, the task point and the force direction. The working environment could be predicted by the proposed inequalities, so that the way of motion could be decided in advance.     

用图形知识库方法建立智能教育系统

我们研制了图形知识库并为其构造了一些工具。这种方法可使结构化和分布式的知识更方便地表达和检索。结构化的知识表示，可以以层次和网状形式表示教学系统中的知识。知识的分布式表示可以用于在图形背景上描述知识。有时，这种形式对于有的智能教育系统也是必要的。我们的方法允许相同或不同的类型的知识表示嵌套。在多任务太阳工作站的大屏幕站上实现这些设想容易使用是建立智能教育系统的有力工具。，我们较详细地描述了图形知识库方法，并用简略的教育系统的例子，加以图解说明，这些系统也是用上述设想设计的。     

A fluid dynamics route for producing graphene and its analogues

A novel fluid dynamics route for scalable and efficient production of graphene and its analogues is demonstrated. Atomic force microscopy and transmission electron microscopy analyses strongly suggest that the bulk layered materials （graphite, BN, MoS2, and WS2） are efficiently exfoliated into individual layers containing mono-and few-layer nanosheets. Computational fluid dynamics analysis indicates that multiple fluid dynamics events are responsible for efficient exfoliation. Cavitation and pressure release can generate normal force for exfoli- ation. The velocity gradient-induced viscous shear stress, the turbulence-induced Reynolds shear stress, and shear effects stemmed from turbulence and flow channel-induced collisions can generate lateral force for exfoliation, resulting in theses bulk layered materials self-exfoliation down to single or few layers through their intrinsically lateral self-lubricating ability.     

Tracing the stepwise oxygenation of the Proterozoic ocean

Biogeochemical signatures preserved in ancient sedimentary rocks provide clues to the nature and timing of the oxygenation of the Earth's atmosphere. Geochemical data suggest that oxygenation proceeded in two broad steps near the beginning and end of the Proterozoic eon (2,500 to 542 million years ago). The oxidation state of the Proterozoic ocean between these two steps and the timing of deep-ocean oxygenation have important implications for the evolutionary course of life on Earth but remain poorly known. Here we present a new perspective on ocean oxygenation based on the authigenic accumulation of the redox-sensitive transition element molybdenum in sulphidic black shales. Accumulation of authigenic molybdenum from sea water is already seen in shales by 2,650 Myr ago; however, the small magnitudes of these enrichments reflect weak or transient sources of dissolved molybdenum before about 2,200 Myr ago, consistent with minimal oxidative weathering of the continents. Enrichments indicative of persistent and vigorous oxidative weathering appear in shales deposited at roughly 2,150 Myr ago, more than 200 million years after the initial rise in atmospheric oxygen. Subsequent expansion of sulphidic conditions after about 1,800 Myr ago (refs 8, 9) maintained a mid-Proterozoic molybdenum reservoir below 20 per cent of the modern inventory, which in turn may have acted as a nutrient feedback limiting the spatiotemporal distribution of euxinic (sulphidic) bottom waters and perhaps the evolutionary and ecological expansion of eukaryotic organisms. By 551 Myr ago, molybdenum contents reflect a greatly expanded oceanic reservoir due to oxygenation of the deep ocean and corresponding decrease in sulphidic conditions in the sediments and water column.     

Genetic variation in human NPY expression affects stress response and emotion

Understanding inter-individual differences in stress response requires the explanation of genetic influences at multiple phenotypic levels, including complex behaviours and the metabolic responses of brain regions to emotional stimuli. Neuropeptide Y (NPY) is anxiolytic and its release is induced by stress. NPY is abundantly expressed in regions of the limbic system that are implicated in arousal and in the assignment of emotional valences to stimuli and memories. Here we show that haplotype-driven NPY expression predicts brain responses to emotional and stress challenges and also inversely correlates with trait anxiety. NPY haplotypes predicted levels of NPY messenger RNA in post-mortem brain and lymphoblasts, and levels of plasma NPY. Lower haplotype-driven NPY expression predicted higher emotion-induced activation of the amygdala, as well as diminished resiliency as assessed by pain/stress-induced activations of endogenous opioid neurotransmission in various brain regions. A single nucleotide polymorphism (SNP rs16147) located in the promoter region alters NPY expression in vitro and seems to account for more than half of the variation in expression in vivo. These convergent findings are consistent with the function of NPY as an anxiolytic peptide and help to explain inter-individual variation in resiliency to stress, a risk factor for many diseases.     

Research on HJ-1A/B satellite data automatic geometric precision correction design

Developed independently by China, HJ-1A/B satellites have operated well on-orbit for five years and acquired a large number of high-quality observation data. The realization of the observation data geometric precision correction is of great significance for macro and dynamic ecological environment monitoring. The paper analyzed the parameter characteristics of HJ- 1 satellite and geometric features of HJ- 1 satellite level 2 data （systematic geo-corrected data）. Based on this, the overall H J- 1 multi-sensor geometric correction flow and charge-coupled device （CCD） automatic geometric precision correction method were designed. Actual operating data showed that the method could achieve good result for automatic geometric precision correction of HJ- 1 sat- ellite data, automatic HJ- 1 CCD image geometric precision correction accuracy could be achieved within two pixels and automatic matching accuracy between the images of same satellite could be obtained less than one pixel.     

Nuclear Energy—the Strategic Role and Sustainability in China

analyzing the challenges of China’s energy supply, an excellent perspective of nuclear power development in china has been described. Taking into account the midlong term development requirements, a comprehensive, coordinated and sustainable nuclear power strategic consideration and proposal is put forward. Thus our national nuclear industry can not only catch up with the world advanced level in proper time, but also possess the enough stamina of sustainability.     

Isothermal oxidation behavior and mechanism of a nickel-based superalloy at 1000℃

The oxidation behavior of a nickel-based superalloy at 1000℃ in air was investigated through X-ray diffraction, scanning electron microscopy, and energy-dispersive spectroscopy analysis. A series of oxides, including external oxide scales (Cr₂O₃, (TiO₂ + MnCr₂O₄)) and internal oxides (Al₂O₃,TiN), were formed on the surface or sub-surface of the substrate at 1000℃ in experimental still air. The oxidation resistance of the alloy was dependent on the stability of the surface oxide layer. The continuity and density of the protective Cr₂O₃ scale were affected by minor alloying elements such as Ti and Mn. The outermost oxide scale was composed of TiO₂ rutile and MnCr₂O₄ spinel, and the growth of TiO₂ particles was controlled by the outer diffusion of Ti ions through the pre-existing oxide layer. Severe internal oxidation occurred beneath the external oxide scale, consuming Al and Ti of the strength phase γ' (Ni₃(Al,Ti)) and thereby severely deteriorating the surface mechanical properties. The depth of the internal oxidation region was approximately 35 μm after exposure to experimental air at 1000℃ for 80 h.     

Effect of magnesia on the compressive strength of pellets

The compressive strength of MgO-fluxed pellets was investigated before and after they were reduced. The porosity and pore size of green pellets, product pellets, and reduced pellets were analyzed to clarify how MgO affects the strength of the pellets. Experimental results show that when the MgO-bearing flux content in the pellets increases from 0.0wt% to 2.0wt%, the compressive strength of the pellets at ambient temperature decreases, but the compressive strength of the pellets after reduction increases. Therefore, the compressive strength of the pellets after reduction exhibits no certain positive correlation with that before reduction. The porosity and pore size of all the pellets (with different MgO contents) increase when the pellets are reduced. However, the increase in porosity of the MgO-fluxed pellets is relatively smaller than that of the traditional non-MgO-fluxed pellets, and the pore size range of the MgO-fluxed pellets is relatively narrower. The reduction swelling index (RSI) is a key factor for governing the compressive strength of the reduced pellets. An approximately reversed linear relation can be concluded that the lower the RSI, the greater the compressive strength of the reduced pellets is.     

Additive effects on tin electrodepositing in acid sulfate electrolytes

The effects of additives on the stannous reduction of an acid sulfate bath were investigated using cyclic and linear sweep voltammetry, electrochemical impedance spectroscopy (EIS), and microstructure analysis. In the absence of additives, tin coatings are rough, and the tin electrodepositing is a single-step reduction process accompanied by hydrogen gas evolution. The addition of tartaric acid produces a slight reduction in the peak current of stannous reduction and has an appreciably positive effect on the stability of the acidic tin bath. Both benzylidene acetone and polyoxyethylene octylphenol ether hinder the stannous reduction and greatly suppress the hydrogen gas evolution. Formaldehyde slightly decreases the peak current density of stannous reduction and serves as an auxiliary brightener in the acid sulfate bath. The presence of mixed additives greatly suppresses the stannous reduction and hydrogen gas evolution and consequently produces a significantly smoother and denser tin coating. The (112) crystal face is found to be the dominant and preferred orientation of tin deposits.