Abstract: A method of partial-form model-free adaptive disturbance compensation control in the presence of measurable disturbances, includes establishing a dynamic data model of a controlled plant subject to measurable disturbances, wherein the dynamic data model is described by a pseudo Jacobian input matrix and a pseudo Jacobian disturbance matrix; constructing cost functions and solving their optimization problems to find optimal values of the pseudo Jacobian input matrix and the pseudo Jacobian disturbance matrix; designing a partial-form model-free adaptive disturbance compensation control law in the presence of measurable disturbances; constructing an energy function and solving it by using a momentum gradient descent method to find optimal values of the partial-form adaptive input matrix and the partial-form adaptive disturbance matrix; controlling the controlled plant by using the control law.

Abstract: An oil inlet of a motor communicates with a first end of an oil pump through a first passage. A first oil sump of the motor communicates with a second end of the oil pump through a second passage. When the oil pump is rotating, a port at the first end is an oil outlet of the oil pump, and a port at the second end is an oil inlet of the oil pump. The first end of the oil pump communicates with a second oil sump through a third passage with a first valve. The second end of the oil pump communicates with the second oil sump through a fourth passage with a second valve. In this way, when the oil pump is reversing, coolant may be input into a motor cavity and accumulate in the motor cavity, so as to cool motor components in an immersion manner.

Abstract: A method of compact-form model-free adaptive disturbance compensation control in the presence of measurable disturbances includes establishing a dynamic data model of a controlled plant subject to measurable disturbances, wherein the dynamic data model is described by a pseudo Jacobian input matrix and a pseudo Jacobian disturbance matrix; constructing cost functions and solving their optimization problems to find optimal values of the pseudo Jacobian input matrix and the pseudo Jacobian disturbance matrix; designing a compact-form model-free adaptive disturbance compensation control law in the presence of measurable disturbances; constructing an energy function and solving it by using a momentum gradient descent method to find optimal values of the compact-form adaptive input matrix and the compact-form adaptive disturbance matrix; controlling the controlled plant by using the control law.

Abstract: A method of full-form model-free adaptive disturbance compensation control in the presence of unmeasurable disturbances, includes establishing a dynamic data model of a controlled plant subject to unmeasurable disturbances, wherein the dynamic data model is described by a pseudo Jacobian input matrix and a pseudo Jacobian disturbance matrix; constructing cost functions and solving their optimization problems to find optimal values of the pseudo Jacobian input matrix and the pseudo Jacobian disturbance matrix; designing a full-form model-free adaptive disturbance compensation control law in the presence of unmeasurable disturbances; constructing an energy function and solving it by using a momentum gradient descent method to find optimal values of the full-form adaptive input matrix and the full-form adaptive disturbance matrix; controlling the controlled plant by using the control law.

Abstract: A method of full-form model-free adaptive disturbance compensation control in the presence of measurable disturbances, includes establishing a dynamic data model of a controlled plant subject to measurable disturbances, wherein the dynamic data model is described by a pseudo Jacobian input matrix and a pseudo Jacobian disturbance matrix; constructing cost functions and solving their optimization problems to find optimal values of the pseudo Jacobian input matrix and the pseudo Jacobian disturbance matrix; designing a full-form model-free adaptive disturbance compensation control law in the presence of measurable disturbances; constructing an energy function and solving it by using a momentum gradient descent method to find optimal values of the full-form adaptive input matrix and the full-form adaptive disturbance matrix; controlling the controlled plant by using the control law.

Abstract: A method of partial-form model-free adaptive disturbance compensation control in the presence of unmeasurable disturbances includes establishing a dynamic data model of a controlled plant subject to unmeasurable disturbances, wherein the dynamic data model is described by a pseudo Jacobian input matrix and a pseudo Jacobian disturbance matrix; constructing cost functions and solving their optimization problems to find optimal values of the pseudo Jacobian input matrix and the pseudo Jacobian disturbance matrix; designing a partial-form model-free adaptive disturbance compensation control law in the presence of unmeasurable disturbances; constructing an energy function and solving it by using a momentum gradient descent method to find optimal values of the partial-form adaptive input matrix and the partial-form adaptive disturbance matrix; controlling the controlled plant by using the control law.

Abstract: A method of compact-form model-free adaptive disturbance compensation control in the presence of unmeasurable disturbances, includes establishing a dynamic data model of a controlled plant subject to unmeasurable disturbances, wherein the dynamic data model is described by a pseudo Jacobian input matrix and a pseudo Jacobian disturbance matrix; constructing cost functions and solving their optimization problems to find optimal values of the pseudo Jacobian input matrix and the pseudo Jacobian disturbance matrix; designing a compact-form model-free adaptive disturbance compensation control law in the presence of unmeasurable disturbances; constructing an energy function and solving it by using a momentum gradient descent method to find optimal values of the compact-form adaptive input matrix and the compact-form adaptive disturbance matrix; controlling the controlled plant by using the control law.

Abstract: Application of glutamate dehydrogenase GdhA of Peptostreptococcus asaccharolyticus in increasing the yield of poly-?-glutamic acid from Bacillus licheniformis. The glutamate dehydrogenase GdhA of the Bacillus licheniformis WX-02 per se is replaced with the glutamate dehydrogenase derived from the Peptostreptococcus asaccharolyticus by means of homologous recombination, which significantly increases the level of synthesizing the poly-?-glutamic acid for the Bacillus licheniformis, and the yield of the obtained poly-?-glutamic acid from strains is increased at least by more than 20% compared with control strains.

Abstract: Provided are a laser cutting device and a laser cutting method. The laser cutting device comprises a beam expanding element provided with a plurality of lens sets, wherein optical axes of the plurality of lens sets are located in the same line and each lens set comprises at least one lens; the beam expanding element is configured to convert an incident beam into a first beam; and a spectroscopic element arranged on a light path of an emitted light of the beam expanding element, and wherein the spectroscopic element is configured to convert the first beam into multiple second beams that are annular and spaced apart from each other.

Abstract: Provided is an ice avalanche-type glacial lake outburst surge generation and height measurement device. A glacial lake outburst test device includes a glacial lake simulation module and an ice avalanche surge module. An impact path, an impact angle, an impact scale, an impact velocity and a landslide density of an ice avalanche slider are controlled by simulation means. During formation of ice avalanche surges, the ice avalanche slider rushes into the glacial lake at a high speed, an ice avalanche pushes water to move in a sliding direction, thus forming a first surge, then continues to move to the bottom of the lake under the inertia and discharges a certain amount of water at its back. Movement of the landslide drives surrounding water to converge quickly into the back area, thus forming a second surge. Surge waves evolve around with a water entry point as a center.

Abstract: A method for forming a test flume usable in hydraulic engineering and debris-flow hazard mitigation is provided. The test flume has a foundation flume and an expansion flume. The expansion flume has a lower edge connected to an upper edge of the foundation flume. A hydraulic radius of the test flume is determined based on a model test. A width of the foundation flume is selected based on a size of the test site of the model test. A coefficient is obtained and a width of the test flume is obtained. A cross section curve equation of the expansion flume is obtained based on the hydraulic radius of the test flume, the coefficient, the width of the test flume and the width of the foundation flume. The test flume is formed based on the cross section curve equation of the expansion flume.

Abstract: The present disclosure discloses a mechanical self-locking type anti-falling socket structure, including a socket shell and several mechanical lock mechanisms. Several grooves and mechanical lock limiting slots are formed in the socket shell. A charging plugin is arranged in each groove. A charging jack is formed in the charging plugin. Each mechanical lock mechanism includes a pressure head and a lock body. The lock body outwards extends to be provided with a limiting convex slot. A limiting block is clamped in the limiting convex slot. The bottom of the lock body is provided with a spring slot. Two sides of the lock body are provided with sliding plates. The bottom of each mechanical lock limiting slot is provided with a spring. Two sides of the mechanical lock limiting slot are provided with sliding slots. The spring is clamped in the spring slot. The sliding plates are slidably connected into the sliding slots.

Abstract: The present disclosure discloses a socket with a safety shutter, including a safety shutter device, a socket upper cover, and a socket base; the safety shutter device includes a base plate, and a first sliding structure, a second sliding structure, and a third sliding structure which are slidably connected in the base plate; the first sliding structure and the second sliding structure are connected in an interpenetrating manner; a plurality of jack groups are formed in the socket upper cover; each jack group includes a grounding jack, an I-shaped jack, and a T-shaped jack; and the socket base is provided with a grounding conducting plate, a first conducting plate, and a three-pin second conducting plate corresponding to the T-shaped jack.