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This paper is going to focus on the correlation between overbites and anger level based on facial feedback theory，in which it means people can feel emotions based on their facial expressions. Overbites are orthodontics conditions where upper teeth cover the lower teeth completely forcing the upper lip to protrude. Anger is one of the basic emotions, and it’s the condition when people feel hate towards others. This paper will recruit participants who have overbites, people who have overbites tend to have tense muscles around their mouth. and researchers should use self-reports, questionnaires filled by participants’ family members and test the cortisol level of participants before and after participants' teeth correction. The goal of this research is to find out whether correcting overbites can lower people’s anger level, which helps participants reduce more of negative emotions.

Background The addition of immune checkpoint inhibitors (ICIs) to platinum-based chemotherapy has shown promising antitumor activity in patients with recurrent or metastatic nasopharyngeal carcinoma (RM-NPC), who have poor survival outcomes. We therefore compared the efficacy and adverse events of taxanes-cisplatin (TP) chemotherapy and camrelizumab plus TP chemotherapy in patients with RM-NPC.Materials and methods In this retrospective study, we collected the medical records of 194 patients with RM-NPC between June 30, 2019, and December 31, 2021. The patients received camrelizumab plus TP chemotherapy or TP chemotherapy alone as first-line treatment at Wuhan Union Hospital Cancer Center. The survival outcomes, efficacy, and treatment-related adverse reactions were compared between the groups.Results The medical records of 194 patients with RM-NPC were reviewed. Compared with the TP group, patients in the camrelizumab plus TP group had a longer median progression-free survival (PFS) (13.4 vs. 9.5 months; hazard ratio (HR) 0.628 [95% confidence interval (CI) 0.432–0.912]; P = 0.015) and overall survival (OS) (73.91% vs. 57.84%; HR 0.544 [95% CI 0.336–0.878]; P = 0.013). The results of multivariate analysis indicated that Epstein-Barr virus DNA (EBV DNA) load in plasma before treatment was an independent prognostic indicator associated with PFS (HR 0.488 [95% CI 0.336–0.709]; P P = 0.040)Conclusion Our study revealed that adding camrelizumab to taxanes-cisplatin chemotherapy showed a higher PFS and OS in patients with recurrent or metastatic nasopharyngeal carcinoma and had a manageable safety profile.

Transition metal oxides/hydroxides are important pseudocapacitive materials for supercapacitors, however, low electron transfer capability and poor long-term cycle stability limit their applications. Constructing transition metal oxide/hydroxide nanoarrays on conducting collectors is an effective way to solve the above problems. In this thesis, CuO nanowires based on carbon cloths (CuO–CCs) were firstly grown by chemical copper plating and thermal oxidation, and then Ni(OH)2@CuO–CCs and Fe2O3@CuO–CCs were constructed by chemical bath deposition and hydrothermal methods, respectively. The ASC device using Ni(OH)2@CuO–CCs as positive electrodes and Fe2O3@CuO–CCs as negative electrodes were assembled. The results demonstrate that the optimal specific capacities of Ni(OH)2@CuO–CCs and Fe2O3@CuO–CCs are 2.282 F cm−2 (at 1 mA cm−2) and 0.772 F cm−2 (at 2.5 mA cm−2), respectively. The ASC device reaches the energy density of 81.12 Wh kg−1 at a power density of 2.88 kW kg−1, and exhibit the capacitance maintenance of 97.9% after 10,000 cycles.

The pivotal efficacy study assessed efficacy and safety of GSK's AS04-HPV-16/18 vaccine in Chinese women aged 18-25 years up to 6 years. The present extension study, performed 4 years later, offered AS04-HPV-16/18 vaccination to placebo recipients. Vaccine safety and its long-term protective effect were assessed at Year 10.All 6051 women who received AS04-HPV-16/18 or the placebo during the initial study (NCT00779766) were invited to phase III/IV, open-label, partially controlled extension Year 10 study (NCT03629886). Placebo recipients were offered three-dose AS04-HPV-16/18 vaccination and followed up over 12 months to assess the safety. Cervical samples from all women were examined. Vaccine efficacy (VE) against incident infections and cytological lesions associated with HPV-16/18 and other oncogenic types was assessed as exploratory objective.Among 3537 women (out of 6051) enrolled in the extension study, 1791 women (mean age 32.7 years; standard deviation 1.8 years) received AS04-HPV-16/18 and reported no serious adverse events, potential immune-mediated diseases, or adverse pregnancy outcomes related to vaccination. Among 6051 women, VE against incident HPV-16, -18, and -16/18 infections up to Year 10 was 82.8% (95% confidence interval: 72.5-89.7), 79.8% (64.5-89.2), and 80.8% (72.4-87.0), respectively. VE against HPV-16/18 ASC-US+, CIN1+, and CIN2+ was 92.7% (82.2-97.7), 94.8% (67.4-99.9), and 90.5% (34.6-99.8), respectively.AS04-HPV-16/18 vaccine showed an acceptable safety profile in Chinese women vaccinated at age 26 years or above, and a long-term protection similar to other efficacy trials worldwide.

Due to the distributed and decentralized characteristics of air conditioning load, the distributed control strategy has advantages for the air conditioning load to participate in the demand response. However, existing approaches focus on the dynamic control performance with very few considerations on the cost. To fill this gap, this paper proposes a multiagent consensus control method considering the whole-process response cost of air conditioning. Based on the thermodynamic characteristics of air conditioning load in the load reduction process and recovery process, the cost function curve of air conditioning load is established. Then, the multiagent consensus control strategy is adopted to send the power adjustment information to each air conditioner to realize the optimal control of the air conditioning load. The simulation results verify that the proposed method can take into account the whole-process response cost of air conditioning loads and result in smaller control cost than existing methods.

In order to deal with the fluctuation of the renewable energy, this paper proposes rolling scheduling strategy taking into account the capacity of load-side resources. By considering the energy characteristics of shiftable loads, an improved rolling scheduling model is proposed by adopting a full-cycle scheduling and adding periodic power constraints. By this way, the accuracy of the scheduling can be improved. The testing examples verified that the proposed rolling scheduling method can reflect the long-time benefit and therefore result in better performance.

With the large-scale access of new clean power generation energy to the power grid and the rapid development of smart electricity technology, more and more electric equipment is involved in the demand response to calm the fluctuation of new energy. However, the incremental cost and switch life loss of electrical equipment are usually not taken into account in the traditional optimal scheduling scheme. This paper presents a TCLs distributed cooperative control strategy based on multi-agent consistency. This strategy adopts the control cost model which takes into account the life loss of switches and can reflect the thermodynamic characteristics of TCLs, and realizes the control cost optimization through distributed collaborative control.

Due to the large proportion of air-conditioning load in the electrical load, it has great potential in absorbing renewable energy and smoothing power fluctuations. However, its massive and dispersed characteristics are a major problem in its regulation. Aiming at the characteristics of air-conditioning load dispersion and difficulty in concentration, this paper proposes a distributed control strategy based on multi-agent system consistency algorithm. The strategy is based on the cost function model established by the user's comfort, and the incremental cost is used as the consistency variable to achieve the optimal allocation of air conditioning load power. The simulation results verify the effectiveness of the control method.

As a triterpene saponin, ilexsaponin A1 is one of the most abundant, representative and active components in plants of Ilex pubescens, used in the treatment of cardiovascular diseases. This study aimed to identify the metabolites of ilexsaponin A1 and evaluate its in vitro inhibitory drug-drug interaction (DDI) potential by using human liver microsomes (HLM) and cytochrome P450 enzymes (CYPs)-specific probes, with all the qualitative and quantitative analysis performed by LC-MS/MS. As a result, two metabolites generated through the metabolic pathways of glucuronic acid conjugation and glucose conjugation were first time detected in the HLM. An inhibitory DDI evaluating system consisting of 7 major CYP enzymes involving 8 CYP-catalyzed reactions was established, validated and then used for the DDI evaluation. Our data suggested ilexsaponin A1 and its metabolite, ilexgenin A, are not direct or mechanism-based inhibitors of CYP1A2, 2B6, 2C8, 2C9, 2D6, 2E1 or 3A4/5 at 0.05–10 μM. A significant decreased remaining activity of CYP2B6 (from 77.89 % to 23.19 %) was observed in a dose-dependent manner when increased the concentration of ilexsaponin A1 from 50 to 500 μM. Collectively, our data demonstrate ilexsaponin A1 is unlikely to cause DDIs by inhibiting co-administered drugs metabolized by these CYP enzymes.

In order to improve the degree of renewable energy integration, the demand response resource, especially on the air conditioning load side, has received attention. Currently, most of the control modes for air conditioners are centralised control, which is difficult to be applied to widely distributed air conditioning. The current studies focus on central air conditioning, but there are few studies on split-type inverter air conditioning, even though inverter air conditioning has become the most common split air system on the market. With this background, this study designs a consensus control strategy on the basis of distributed control mode, which for inverter air conditioners. The strategy is used for renewable energy integration in the studied region. The test results of various cases reveal the following findings: (i) the strategy adapts to the widely distributed air conditioning, (ii) the strategy can guarantee a fair allocation of power imbalance and user comfort, (iii) the control strategy can adapt to the uncertainties of air conditioners and the urban microclimate while efficiently consuming renewable energy. Therefore, the proposed consensus control strategy has practical value.

FTIR and Raman spectroscopy indicate the glass structure during synthesis of tin fluoride phosphate glass was pyrophosphate, mainly built up from Q1 end groups with a low concentration of Q2 polymeric chains. However, sub-optimal melting produced significantly higher concentrations of orthophosphate Q0 structural units. The variationsinNHandP-OHvibrationsinthespectrarevealedthatacriticaltimeandtemperatureofmeltingwere necessary for the conversion of NH4H2PO2 to produce sufficient P2O5 for glass forming. During melting, P2O5 and SnF2 form a low-temperature melt, which facilitates melting of the SnO and promotes the formation of a more stable glass structure. The fluorine breaks the PeOeP bonds and induces depolymerisation. The density of the glass reached a maximum at 450°C for 25min driven by the need for conversion of NH4H2PO4 to P2O5 and miscibility of SnO in the melt. Inadequate melting times and temperatures gave low Tg values because of weak FeSn and FeP linkages. Glass stability improved with melting due to increased P2O5 and SnO miscibility enabling stronger SneOeP linkages. The results show that melting conditions during synthesis strongly influence critical glass properties and future industrial scale-up will require an understanding of optimum processing.

This research investigates tin-fluoride phosphate glasses as liquid-phase fillers in polyamide 11. Optimizing the tin-fluoride content was shown to reduce the glass-transition temperature of the glass down to 106oC and enable both constituents of the composite to be fluid during processing. During extrusion, the phosphate glass was elongated into threads and ultimately broken up into droplets. The interaction parameter between the phosphate and polyamide was found to be - 0.012 due to molecular interactions and enhanced solubility of the ultrafine glass particles. All hybrids showed limited ductility due to the inability of the pinned polymer chains to be drawn into an expanding stable neck. However, there were major increases in both the Young's modulus and flexural modulus owing to the strengthening of molecular bonds by the phosphate-polyamide interactions.

Lithium battery pack is the smallest unit of energy storage system. Due to differences in manufacturing processes and usage environments, it is easy to cause the battery unit to be unbalanced, affect the overall performance of the battery pack and increase the safety hazard of overcharging and over discharging of the battery after long-term use. In this paper, the battery state of charge is used as the equalization variable, and the bidirectional flyback converter is used as the energy transfer circuit. A bidirectional active equalization control strategy is proposed for the energy storage lithium battery pack. The fuzzy PI controller is designed to optimize the equalization current, thus improving the equalization speed and efficiency. The equilibrium simulation model is built in MATLAB. The equilibrium results verify the effectiveness of the control strategy.

Short-term load forecasting predicts the hourly load of the future in few minutes to one-hour steps in a moving window manner based on historical and real-time data collected. Effective forecasting is the key basis for in-day scheduling and generator unit commitment in modern power system. It is however difficult in view of the noisy data collection process and complex load characteristics. In this paper, a short-term load forecasting method based on empirical mode decomposition and deep neural network is proposed. The empirical modal number determination method based on the extreme point span is used to select the appropriate modal number, so as to successfully decompose the load into different timescales, based on which the deep-neural-network-based forecasting model is established. The accuracy of the proposed method is verified by the testing results in this paper.

Conventional enamelling requires both the feedstock powder and the substrate component to be heated one or more times in a furnace at 800–900 °C. The process can degrade the substrate and limit the size of the component to the furnace dimensions, which are serious restrictions on the technology. This study concerns the use of combustion- flame spraying as an alternative technique for enamelling. In this process, the heat source (the flame) is separated from the substrate, which enables much lower substrate temperatures and avoids thermal damage. It also removes the need for furnace treatment and opens up the possibility of on-site enamelling and repair. However, experimental trials showed that thick flame-spray coatings delaminated during cooling and had high microporosities due to quenching stresses at the glass-steel interface and inadequate splat flow of small feedstock particles. The research shows that these adverse mechanisms could be overcome by pre-heating the substrate surface to the dilatometric softening temperature and removing fines from the feedstock powder. The control of these two parameters was found to double the adhesion strength, provide coatings of very similar hardness and fracture toughness to conventional enamel aswell as deposit coatings of over 1mmin thickness for heavy-duty corrosion protection. Thermal spraying is well established for ceramic and metal coatings but the fundamentally different structure of glasses requires a different approach. An advantage of combustion flame spraying shown up by this research is that the high energy of the flame accelerates the particles to a high velocity and the resulting impact forces promote the flow of the glass. As a result, lower substrate temperatures may be used with reduced risk of degradation or higher viscosity glasses may be deposited with enhanced properties. The influence of the type of thermal-spray technique on coating quality is also discussed

An obstacle for wider application of 3D printed parts is their inferior mechanical performance compared with those from conventional fabrication. This research aims to overcome this deficiency by developing nanostructured PLA/clay composite filaments that are 3D printable by the FFF technique, investigating the effect of filament composition on mechanical properties, and correlating it with the extent of intercalation of different types of clay. The results showed the addition of 5 wt% organomodified clay to PLA raised the elastic and flexural modulus by 10% and 14% respectively. Einstein’s composite theory did not hold for the PLA/organoclay composites but the Halpin-Tsai model was successful in interpreting the measured moduli of the organoclays. The model also showed that increasing the clay intercalation was much more effective than raising the total clay content.

Web tables provide us with high-quality sources of structured data. However, we could not use those valuable tables directly owing to various problems such as conflict data and missing headers. We present CrowdIQ, a scalable platform that integrates crowdsourcing technology for improving the quality of web tables. We design CrowdIQL, which is a declarative language aiming at helping requesters operate tables more exactly and flexibly. Crowdsourcing task is also optimized in this platform by providing candidate items and minimizing useless data, which help requesters to get higher quality tables with less cost.

Thermal spraying is a green solvent-free process with the potential of applying polymer coatings to large components in-house or on-site without the need for prolonged drying. Almost no systematic research has been undertaken on thermally spraying thermoset coatings owing to the complexity and difficulty of managing the curing process. An adequately cured thermoset coating could not be deposited by thermal spraying owing to insufficient cumulative time above the cure temperature. Preheating and post-heating the substrate under a constant heat source were not successful as they led to non-uniform curing, residual stress and the risk of overheating. This study develops and validates a computer model that simulates the deposition of thermoset coatings on metal substrates using thermal spraying and high-energy infrared irradiation. The model uses readily-available commercial software and enables precise control of the coating process to improve energy efficiency and coating quality. Further research showed that evenly cured coatings could be achieved by using variable heat fluxes and controlled utilization of inward conduction from the outer surface layers. Self curing during cooling was significant and maybe employed to increase energy efficiency. The thickness of the metal substrate was shown to be an important variable as it acts as a heat sink and, for heavy sections, can substantially increase energy consumption. The results indicate a need for sufficiently accurate process control and provide a suitable methodology for the deposition of thermoset coatings.

A new in-line reciprocating PVD prototype machine is described that enables a significant increase in throughput and product flexibility over conventional PVD machines. The research shows that conventional cathodic arc evaporation can be used in tandem with powder coating to produce planarized PVD films. However, poor adhesion was obtained for arc-evaporated zirconium films deposited on epoxy powder coatings in the prototype machine. Subsequent stress analysis showed that the epoxy undercoat substantially raised the residual stress in the zirconium and that the inadequate adhesion in the prototype machine was due to its rapid deposition rate. The analysis also predicted that inserting a material of an intermediate expansion coefficient between the film and epoxy undercoat should reduce the residual stress. Experimental trials confirmed that a copper interlayer raised the adhesion strength substantially and successful deposition could be achieved with the prototype machine. The zirconium films were dense and adherent with planarized, high gloss surfaces.

Traditional enamelling requires high temperatures, which soften high-performance aluminium substrates and limit their application in engineering. Thermal spraying can, in principle, overcome this problem by enabling low substrate temperatures during deposition but it was found that its rapid cooling conditions produced enamel with high residual stress and poor adhesion. The research shows that thermal-spray enamelling of aluminium can be successfully achieved by introducing a preheating step prior to spraying, so that the enamel can flow for long enough to relax the residual stress. In this study, preheating was undertaken by flame scanning as a means of raising the enamel above its glass transition temperature and allowing sufficient flow. Furthermore, it was found that in the Al–Mg alloy substrate under investigation, the magnesium segregated to the substrate–enamel interface and this also adversely affected adhesion. The preheating temperature therefore needs to be optimized to give adherence but avoid excessive substrate softening and magnesium segregation. The results showed that optimally flame-sprayed enamel successfully increased the wear resistance of the Al–Mg alloy by a factor of ten. The thermal-spray enamelling of generic aluminium alloys is discussed.

An underactuated two-dimensional translational oscillator with rotational actuator (2DTORA) consisting of an actuated rotational proof-mass and two unactuated translational carts is presented. Passivity-based control design is employed for 2DTORA based on its Euler–Lagrange structure and passivity property. Firstly, the dynamics of 2DTORA are derived based on Euler–Lagrange equations. Motivated by constructing a damped close-loop Euler–Lagrange system, the controller dynamics is designed to shape the potential energy and inject the required damping. As a result, the designed controller stabilizes the underactuated 2DTORA with the feedback of the rotational actuator’s position only. Moreover, by modifying controller dynamics with a saturation function, the control input can be constrained to certain bounds. Finally, simulation results demonstrate the feasibility and effectiveness of the proposed controllers.

Thermoset powder coatings are traditionally cured by an isothermal heat treatment in an oven. This paper studies thermoset deposition by flame spraying, which is an alternative technology with potential for depositing these coatings. However, the flame-spray process is non-isothermal and the temperature of the coating oscillates greatly during deposition due to the scanning action of the spray gun. As a result, the process conditions needed to provide a satisfactory amount of cure cannot be defined simply by a given time at a specified temperature, as it is in conventional isothermal baking. The results in this study show that the rate of curing varies drastically during the spraying operation and that a mathematical model is needed for the prediction of the degree of cure. This research provides a model that can quantify the cure degree by determining the Arrhenius constants of the polymer and integrating over the temperature-time profile of the coating during deposition. The latter thermal profile may be obtained by real-time measurements or by theoretical calculations. The model is applied to a combined thermal spraying and infrared irradiance process and validated by differential scanning calorimetry. The work demonstrates that process parameters have a major influence and shows, for example, that very thick metal substrates can suppress curing due to a heat sink effect. The results also indicate that conventional epoxies cannot be fully cured during flame spraying and need additional thermal energy, as in infrared irradiation. The research develops a quantitative model to predict the degree of cure that takes into account the polymer formulation and flame-spraying conditions. It provides a methodology that could be used for the process control of flame-sprayed thermoset coatings in an industrial context.

Thermal spraying has the ability to coat large components and structures on site. It has been used to deposit thermoplastic coatings but little work has been done on thermosets. To form a thermoset coating by thermal spraying, the feedstock particles have to melt in the flame without degradation but also the coating itself must then be cured by the end of the deposition process. The particle residence time in a typical thermal-spray flame during deposition is less than 0.01 s, whereas conventional thermoset powders need orders of magnitude more time at the baking temperature to achieve a sufficient degree of cure. However, the freshly deposited coating also receives heat from the scanning flame during thermal-spray deposition, which should contribute to the curing process. This effect is complicated by the fact that the heat input during scanning varies with time. To control the curing process, therefore, a full understanding of the interaction between the flame, coating and substrate is essential. In this paper, experimental trials and computer simulations were carried out aimed at controlling the temperature profiles of the thermoset deposit to enable sufficient cure to take place. Software developed by the authors was used to simulate flame scanning and post heat treatment. Commercial software was also applied to simulate steady-state infrared heating. The results indicate that process parameters have a critical effect on the properties of the coatings and can be optimized with the aid of computer simulation.

A computational model is developed to predict the temperature profile over an organic coating on a metal surface as a result of the action of a moving flame. The deflection of the flame as it impinges on the surface is simulated and its consequent heat transfer to the polymer is determined. The scanning action of the flame across the substrate is quantified and the temperature profiles within the polymer are calculated. The results show a substantial build up of temperature at the surface and large temperature gradients throughout the thickness, which are due to the low thermal conductivity of polymers. This can be particularly detrimental for polymers owing to their low softening and decomposition temperatures. The model can be applied to flame impingement on a bulk polymer or on an organic coating on a metal substrate. The research shows the risks of a moving flame overheating a polymer surface and indicates remedial measures.

Physical vapour deposited (PVD) films have many benefits as coatings on metals but provide little corrosion resistance or surface levelling of the underlying substrate. This research investigates the use of epoxy undercoats for PVD films as a means of overcoming these deficiencies. Experimental trials showed that sputtered titanium films and the epoxy undercoats both cracked severely as a result of the PVD process. A quantitative model has been developed for the calculation of residual stress in a three-layer film-epoxy-substrate system. The model and experimental trials showed that cracking originated from thermal stresses developed in the titanium-epoxy-aluminium system as a result of PVD. Instability and cracking initiated where pores intersected the film-coating interface. Increasing the baking temperature to 210oC raised the tensile strength of the epoxy sufficiently to avoid instability due to residual stress and produce crack-free PVD titanium films.

Thermal-spray processes involve many sources of uncertainty: the feedstock powder has a wide particle size distribution, the powder particles leave the powder injection nozzle in a variety of angles and velocities and enter a thermal jet that has enormous temperature and velocity gradients. Particles of various sizes therefore travel through the gas jet in many different trajectories and impact upon the substrate in a wide range of velocities, temperatures and angles. The process inevitably has a large non-deterministic and random element. Since coating performance is crucially dependent on the nature of the particles on impact, this degree of randomness must have a major influence on the effectiveness of industrial thermal spraying. Simulations based on the behaviour of a single particle cannot therefore provide accurate predictions of the deposition process. In this paper, a probability approach is adopted using the Monte-Carlo method and applied to simulate the behaviour of particles in a plasma jet. The distributions of particle temperature, velocity and trajectory are directly linked to the particle size distribution and powder injection parameters. This approach enables the prediction of the mean value and standard deviation of the particle temperature and velocity together with the deposition impact position. A unique attribute of the model is its ability to calculate the standard deviations of the parameters, which provides information on the variability of coating performance. The research shows that there are a limited number of process parameters and particle properties that are expected to govern the performance of the as-deposited coating. Charts showing the effect of process combinations on particle properties are used to simplify the data and are proposed as a basis for industrial process control.

The temperature of the substrate and coating during thermal spraying may have a significant effect on coating quality, especially for low-temperature materials such as polymers. The temperature must be high enough to thermally activate the necessary interfacial bonding mechanisms but low enough to avoid degradation of the coating material or of the substrate surface. A computer model is developed in this paper on the basis of fluid mechanics and heat transfer theory to predict the temperature distributions in the coating and substrate during scanning with a thermal-spray gun. The three-dimensional temperature profile of the gas jet was measured experimentally and the data used in the computational model. The model shows how the important practical parameters used in the operation of thermal spraying affect the temperature distributions of the coating and the substrate throughout deposition. For example, coatings on small substrates heat up considerably during repeated scanning, whereas there is little temperature build-up in large substrates. Increasing the scanning speed reduces the temperature fluctuations during a given cycle but does not change the overall temperature rise in the coating. The model can contribute to the understanding and control of thermal spraying by simulating the many possible combinations of operating parameters and predicting the shifting temperature distributions across and within the coating and substrate.

A Lagrangian two-phase flow approach has been used to simulate the gas flow and simultaneously the motion and heating of particles in a plasma jet. This enables the interaction between the gas flow and feedstock powder particles to be investigated during the plasma spraying of engineering coatings. An essential element of the Lagrangian two-phase flow model applied in the present study is that, instead of tracing the motion and heating process of each individual particle, the particles are grouped into ‘parcels’. The particles in the same parcel will have the same location and physical properties. In addition, instead of using an average particle size, a statistical method has been used to simulate the more realistic case of injected particles with a normal size distribution. Numerical computations are carried out to correlate the influence of inter-phase interaction on gas flow and particle motion/heating with the powder injection conditions. The model is applied to study the influence of turbulence on the dispersed particles, gas–particle interactions and the motion and heating of the in-flight particles. The errors introduced by neglecting the existence of the dispersed phase are calculated and used as a measure of the practical importance of the model. The results indicate that the gas–particle interaction produces irregularities in the pattern of the plasma jet owing to the asymmetry of the powder trajectory together with the random components in the injection velocity and the size of the feedstock particles. The magnitude of the interaction increases monotonically with the powder feed rate. The critical feed rate above which gas–particle interactions become significant depends upon the operating conditions but would normally be approximately 2–3 kg/h. The effect of phase interaction above this critical rate on the temperature and velocity of in-flight particles would be expected to be greater than 5% and could be as high as 15%. The results indicate that a two-phase model taking into account particle–gas interactions should be used to simulate plasma spraying, particularly at high feed rates.

Two different hierarchical sliding mode controllers are designed for an underactuated TORA (Translational Oscillator with Rotational Actuator) system. Firstly, the dynamics of TORA system is separated into two subsystems according to the motion degrees of freedom. Each subsystem contains two state variables, which are chosen to construct a sub-sliding mode surface. And the total sliding mode surface is defined as a function of the two sub-sliding mode surfaces. For the two methods of hierarchical sliding mode control, the first method is to define the total sliding mode surface as a piecewise linear function of the two sub-sliding surfaces. The coefficient of the function needs to be frequently switched to guarantee the system stability. The second method is to define the total sliding mode surface as a continuous liner function of the two sub-sliding mode surfaces. The coefficient sign of the continuous liner function is determined by analyzing the model. Finally, simulation results demonstrate the feasibility of the two controllers, and show that the second controller has better performance.

This paper presents the dynamics and motion control of a two-wheeled mobile robot (2WMR). The 2WMR is driven by two independent wheel motors, upon which an intermediate body (IB) is mounted. Based on Lagrange Equations, the mathematical model of the 2WMR is derived. The 2WMR having two actuated configuration variables (left wheel angle and right wheel angle) and one unactuated configuration variable (tilt angle of the IB) is a typical underactuated system. And it is inherently unstable and all the configuration variables have to been controlled through the actions of the wheel motors. Based on linearized model of the deduced dynamics, a double-loop proportional-derivative (PD) control strategy is designed to balancing control of the IB and follow the desired wheel speed motion. Moreover, a more robust double-loop fuzzy control scheme is proposed according to the parameters uncertainty of the 2WMR. The universe values of the fuzzy controller are selected based on the simulation of the double-loop PD controller. Simulation and experimental results are presented to demonstrate the feasibility and effectiveness of the proposed motion control design for the 2WMR.

2-Dimensional Translational Oscillator with Rotational Actuator (2DTORA) consisting of an actuated rotational proof-mass and two unactuated translational carts is a novel underactuated system. In this paper, passivity-based stabilizing controllers are designed for 2DTORA based on its Euler-Lagrange structure and passivity property. Firstly, the dynamics of 2DTORA is described by Euler-Lagrange Equations. Motivated by constructing a damped close-loop Euler-Lagrange system, the controller dynamics are designed to shape the potential energy and inject required damping. The designed controller is with the feedback of the rotational actuator's position only. Moreover, by modifying controller dynamics with a saturation function, the control input can be constraint to certain bounds. Finally, simulation results demonstrate the feasibility and effectiveness of the controllers.

Most of the disturbance in the power system is nonlinear and no-stationary. Hilbert-Huang transform (HHT) is an efficient time-frequency analysis method which can detect different kinds of power quality disturbance. HHT consists of empirical-mode decomposition (EMD) and Hilbert transform (HT). EMD can self-adjust according to the characteristics of the signal itself, and decompose the signal into IMFs, so that the disturbance can be separated and studied. Ensemble empirical mode decomposition (EEMD), which improved the performance of EMD, overcomes the mode mixing phenomena which restrain the usage of EMD. This paper did a contrast study on power quality detection using EMD and EEMD. It is concluded that EEMD has better effect on detecting some of power quality disturbances.