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A Lyapunov-based discontinuous friction compensation technique is developed for the position regulation of a hydraulic actuator. The control scheme is capable of asymptotic position regulation with no steady-state error despite friction effects. Although, no knowledge of actuator friction, servovalve dynamics, or hydraulic parameters is required for control(More)
Formal semantics of components are foundations for rigorous analyzing and reasoning about the composition process and its correctness. According to the notion of software contract, components interaction patterns and composition process patterns, formal semantics of components are proposed. With this basis and inspired by typing system and process(More)
[structure: see text] Bulky phenanthracenyl imidazolium-derived carbene ligands were investigated for copper-free Sonogashira coupling with terminal acetylenes. Aryl bromides and iodides gave coupled products in excellent yields from the Pd(PPh(3))(2)Cl(2) complex with potassium t-butoxide and 18-crown-6 in THF. A remarkable dependence on the size of the(More)
A series of SrSiAl2O3N2:Eu(2+) (0.005 ≤x≤ 0.05) phosphors were successfully synthesized through a pressureless, facile, and efficient solid state route. The crystal structure, band structure, and their photoluminescence and cathodoluminescence properties were investigated in detail. The phosphors exhibit rod shape morphology with a uniform Eu(2+)(More)
Recently, as more and more applications of peer-to-peer network (P2P network) appeared on file sharing and information retrieving, many researchers made great efforts in studying its search mechanism and algorithm design. In this paper, we establish a novel Differential Coefficient Dynamics Model of file transmission in P2P network using system dynamics(More)
N-doped graphene (NG)/TiO2 nanocomposite was synthesized via a facile one-step hydrothermal reaction. X-ray photoelectron spectroscopy (XPS) and Raman spectroscopy analysis demonstrate that nitrogen atoms successfully doped into graphene structure. The photocatalytic activity of the obtained nanocomposite for the degradation of methylene blue (MB) was(More)
A series of single-component Ce(3+), Li(+), Mn(2+) ions codoped color-tunable CaSr2Al2O6 phosphors were synthesized by a high-temperature solid-state reaction, and the photoluminescence properties as well as the energy transfer mechanism from Ce(3+) to Mn(2+) ions have been investigated in detail. The Ce(3+) activated phosphors have strong absorption in the(More)
A near-UV excited phosphor, LiSr4(BN2)3:Eu(2+) (LSBN:Eu(2+)), was synthesized using a solid-state reaction at 800 °C. The crystal structure of LSBN had been refined and determined from the XRD profiles by the Rietveld refinement method, which belongs to the space group Im3[combining macron]m with the lattice constants a = b = c = 7.46112(23) Å. The(More)