Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.

A Numerical and Experimental Study of Soot Precursor and Primary Particle Size of N-Butylbenzene in Laminar Flame

The current study analyzed the soot precursor of the n-butylbenzene found in diesel and kerosene in laminar flame, and integrated the corresponding poly-aromatic hydrocarbon (PAH) growth mechanism with the popular n-butylbenzene oxidation mechanisms to improve the soot formation prediction of n-butylbenzene. The size of soot precursor was determined by the fringe length in the core of soot particle since the nanostructure of the core of soot particle is similar with that of nascent soot particle formed by soot precursor nucleation. The geometric mean fringe length in core of soot particles was measured to be 0.67 nm approximating to the size of five-ringed PAH (A5). An A5 growth mechanism was added on a popular n-butylbenzene mechanism, and the combined mechanism was further reduced. After validation by the ignition delay time in literature, the combined mechanism was then validated by the primary particle diameter in laboratory and soot volume fraction of n-propylbenzene in literature. The calculated soot precursor concentration and PAH condensation rate of the combined mechanism are smaller than that of the base mechanism. The simulated primary soot particle diameter of proposed combined mechanism agrees well with the measure primary soot particle diameter. Comparing to the simulated soot volume fraction of base n-butylbenzene mechanism, the simulated soot volume fraction of proposed combined n-butylbenzene-A5 mechanism agrees well with the measure soot volume fraction of n-propylbenzene in literature. This study provides certain support for further investigation of soot formation of n-butylbenzene and its relative fuel like diesel and kerosene.

Improving the Dyeability and Anti-Wrinkle Properties of Cotton Fabric via Oxidized Raffinose

In the anti-wrinkle finishing of cotton fabrics, the decreased dyeability of the finished fabrics has always been a difficult problem. A new anti-wrinkle finishing mode was developed to solve this problem by changing the finishing sequence of fabric dyeing and anti-wrinkle. In this research, the partial oxidization of raffinose with sodium periodate generated multiple aldehydes, which acted as multifunctional cross-linkers and endowed cotton fabrics with anti-wrinkle and hydrophilic properties. The structural characteristics of oxyRa were analyzed by FTIR and 13C-NMR. Through response surface methodology (RSM), the finishing model of oxyRa was established from the influencing factors of catalyst concentration, pH, curing temperature and time, and the optimized finishing process: the catalyst concentration was 20.12 g/L, pH was 4.32, curing temperature was 150 °C and curing time was 120 s. Under this condition, the predicted wrinkle recovery angle (WRA) of the finished fabric was up to 249.76°, Tensile strength (TS) was 75.62%, Whiteness index (WI) was 70.69. Importantly, comparing the anti-wrinkle and dyeing performance of the fabric with anti-wrinkle and then dyeing and anti-wrinkle after dyeing, the oxyRa-treated fabrics showed better dyeing properties compared with previously reported dimethyldihydroxyethylene urea (DMDHEU), glutaraldehyde (GA), and 1,2,3,4-butanetetracarboxylic acid (BTCA). Analysis of the combined mechanism of different finishing agents and cellulose, demonstrated the reason why oxyRa can be used to change the order of dyeing and anti-wrinkle finishing.

Gopakumar-Vafa hierarchies in winding inflation and uplifts

We propose a combined mechanism to realize both winding inflation and de Sitter uplifts. We realize the necessary structure of competing terms in the scalar potential not via tuning the vacuum expectation values of the complex structure moduli, but by a hierarchy of the Gopakumar-Vafa invariants of the underlying Calabi-Yau threefold. To show that Calabi-Yau threefolds with the prescribed hierarchy actually exist, we explicitly create a database of all the genus 0 Gopakumar-Vafa invariants up to total degree 10 for all the complete intersection Calabi-Yau’s up to Picard number 9. As a side product, we also identify all the redundancies present in the CICY list, up to Picard number 13. Both databases can be accessed at this link (https://www.desy.de/∼westphal/GV_CICY_webpage/GVInvariants.html).

Parallel velocity mixing yielding enhanced electron heating during magnetic pumping

Magnetic wave perturbations are observed in the solar wind and in the vicinity of Earth's bow shock. For such environments, recent work on magnetic pumping with electrons trapped in the magnetic perturbations has demonstrated the possibility of efficient energization of superthermal electrons. Here we also analyse the energization of such energetic electrons for which the transit time through the system is short compared with time scales associated with the magnetic field evolution. In particular, considering an idealized magnetic configuration we show how trapping/detrapping of energetic magnetized electrons can cause effective parallel velocity ( $v_{\parallel }$ -) diffusion. This parallel diffusion, combined with naturally occurring mechanisms known to cause pitch angle scattering, such as whistler waves, produces enhanced heating rates for magnetic pumping. We find that at low pitch angle scattering rates, the combined mechanism enhances the heating beyond the predictions of the recent theory for magnetic pumping with trapped electrons.

Rational Use Of Drugs In The Comprehensive Treatment Of Bronchoobstructive Syndrome In Children

Treatment of bronchoobstructive syndrome in children and integrated use of drugs, that is, each drug should be pathogenetically justified, taking into account the individual characteristics of the child, and based on knowledge of the mechanism of their action and pharmacokinetics. It is necessary to have a complex effect on individual links of the pathogenesis of bronchoobstructive syndrome in many cases makes the use of complex drugs with combined mechanism of action justified. Thus, treatment of bronchoobstructive syndrome in children before a pediatrician is a responsible task, which consists in rational selection of medicines.

Nanostructured iron oxides stabilized by chitosan: using copper to enhance degradation by a combined mechanism

The H2O2 decomposition profile suggests a combined mechanism. Spherical-shaped materials were synthesized and facilitated the reuse process.