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The effect of acid-soluble aluminum content on precipitates and magnetic properties of grain oriented silicon steel was researched by optical microscopy and zeiss ultra 55 Scanning Electron Microscope (SEM) technique respectively. The results show that the number of precipitates increases with the increase of acid-soluble aluminum content, and the size of precipitates is relatively large after hot rolling. Under the low hot rolling temperature, the number of precipitates in the samples is large and the size is small, moreover, the grain size of the primary recrystallized grain is small. The matching of process parameters under different production process lines is the key to obtain good magnetic performance. The effect of nitriding on magnetic properties of the samples is related to the acidsoluble aluminum content of the samples. Too much acid-soluble aluminum can deteriorate the magnetic properties.

The effect of finishing rolling reduction on microstructures and textures of grain oriented silicon steel was researched by optical microscopy, zeiss ultra 55 Scanning Electron Microscope (SEM) and Electron Backscatter Diffraction (EBSD) technique severally. The results show that the grain size of hot rolled sheets and decarburized strips decreases, while the center grain size of the normalized sheet increases with the increase of the finishing rolling reduction. The pearlite content increases with the increase of the finishing rolling reduction after normalization. Compare with the previous research, the effect of finishing rolling reduction on the grain size of primary recrystallization is greater than that of roughing rolling reduction, and large rolling reduction is beneficial to the formation of {110} texture.

The effect of hot rolling reduction on microstructures and textures of grain oriented silicon steel was studied by optical microscopy (OM), zeiss ultra 55 Scanning electron microscope (SEM) and Electron backscatter diffraction (EBSD) technique respectively. The results indicate that the effect of hot rolling reduction on grain size of hot rolled and normalized sheets in surface layer is great, while the effect on grain size of primary recrystallized grain is little. The shear zone thickens with the finishing reduction decreases, moreover strong {111} and {110} textures can be obtained in hot rolled sheets. Combined with the previous research conclusions, it can be found that the rolling process of oriented silicon steel is contributed to the formation of texture, while the recrystallization process reduces the sharpness of the texture.

The effect of hot rolling temperature on microstructures and textures of grain oriented silicon steel was studied by optical microscopy (OM), zeiss ultra 55 Scanning electron microscope (SEM) and Electron backscatter diffraction (EBSD) technique respectively. The results show that being hot rolled at 1 152 °C and 1 227 °C respectively, the effect of hot rolling temperature on microstructures of hot rolled and normalized sheets is little, and there is only a small difference in grain size between the samples. Secondary recrystallization is difficult to occur in the medium temperature sample due to the lack of sufficient inhibitors in the sample. The major deformed texture component in center region of hot rolled sheets is {114} which has obviously heredity, and it is more sharp in low temperature sample.

The production of conventional grain oriented silicon steel without normalizing was studied by two-stage cold rolling process, and the orientation evolution was analyzed by optical microscopy (OM) and electron backscatter diffraction (EBSD) technique. The results indicate that, the key of CGO silicon steel hot rolled sheet canceling normalizing process is to obtain as many {111} and Goss oriented grains as possible, meanwhile, it is to increase the nitrogen pressure appropriately during the temperature-rise stage of secondary recrystallization. By controlling the process parameters, the iron loss P1, 7 of the finished product is 1,258 W/kg, and the magnetic induction B8 is 1,840 T. Furthermore, the cubic orientation can be retained more in CGO silicon steel after annealing due to the less influence of columnar grain.

Vision-based navigation has become an attractive solution for autonomous navigation for planetary exploration. This paper presents our work of designing and building an autonomous vision-based GPS-denied unmanned vehicle and developing an ARFM (Adaptive Robust Feature Matching) based VO (Visual Odometry) software for its autonomous navigation. The hardware system is mainly composed of binocular stereo camera, a pan-and tilt, a master machine, a tracked chassis. And the ARFM-based VO software system contains four modules: camera calibration, ARFM-based 3D reconstruction, position and attitude calculation, BA (Bundle Adjustment) modules. Two VO experiments were carried out using both outdoor images from open dataset and indoor images captured by our vehicle, the results demonstrate that our vision-based unmanned vehicle is able to achieve autonomous localization and has the potential for future planetary exploration.

Background: Regorafenib is a salvage option for metastatic colorectal cancer (mCRC). Understanding the prognostic factors for mCRC patients undergoing regorafenib treatment can help optimize therapeutic strategies. Materials and methods: We searched Taiwan’s National Health Insurance database for patients who began regorafenib treatment for mCRC between 1 September 2015 and 31 December 2018. Taiwan’s National Death Registry and the Taiwan Cancer Registry were examined for data on survival and clinicopathological variables, respectively. Results: In total, 3643 patients were included in the analysis. The median time to treatment discontinuation (TTD) was 2.3 months, and the median overall survival (OS) was 7.2 months. Compared with the patients with a right-sided tumor, those with a left-sided primary tumor exhibited a significantly longer TTD (2.4 versus 2.1 months, P < 0.001) and OS (7.6 versus 6.1 months, P < 0.001). The patients who received chemotherapy with regorafenib also exhibited a longer TTD (2.6 versus 2.2 months, P < 0.001) and OS (8.3 versus 6.7 months, P < 0.001) than did the patients who did not. In multivariate analysis, left-sidedness and chemotherapy addition were confirmed as predictors of longer TTD and OS. Because of the interaction between sidedness and KRAS mutation, we established separate Cox models and identified that left-sidedness was an independent predictor of longer TTD and OS for KRAS wild-type tumors but not for KRAS-mutant tumors. Conclusions: In this population-wide cohort study, left-sidedness of the primary tumor and the addition of chemotherapy were associated with a longer OS and TTD for regorafenib treatment for mCRC.