Abstract: The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.

Abstract: A method for preparing troxerutin ester using whole-cell catalysis belongs to the fields of biological catalysis and pharmaceutical chemistry. The method specifically includes the following steps: evenly mixing troxerutin and a mixed organic solvent containing pyridine, then adding an acyl donor and a whole-cell catalyst, and performing a reaction under oscillation at a reaction temperature of 25° C. to 55° C.; and after the reaction is finished, separating and purifying a product by column chromatography or thin-layer chromatography, so as to obtain the troxerutin ester. The invention has the advantages of mild reaction conditions, environmental friendliness, simple process, fewer side reactions and high selectivity.

Abstract: The present invention provides a fractional order sliding mode synchronous control method for a teleoperation system based on an event trigger mechanism. The method comprises: establishing a dynamics model for the teleoperation system by considering external disturbance and parameter uncertainty, selecting a master robot and a slave robot, interactively establishing the teleoperation system through a communication network, determining system parameters of the dynamics model, designing a fractional order nonsingular rapid terminal sliding mode surface equation by utilizing a position tracking error and a fractional order calculus, setting a trigger event condition of information interaction between the master robot and the slave robot, designing a self-adaptive fractional order nonsingular rapid terminal sliding mode controller based on the sliding mode, designing a Lyapunov function to carry out stability analysis, proving the boundedness of a closed-loop state signal of the system.

Abstract: The invention discloses a method for preparing chitosan and a derivative nanofiber thereof by mechanical means. The method comprises: firstly pre-treating a chitosan fiber or a chitosan derivative fiber material (referred to as chitosan fiber) of a suitable length with water or alkali or acid of an appropriate concentration added, then refining or beating the treated fiber (preferably using a beating device in a beating and papermaking process) to obtain a micro-sized chitosan fiber, and finally homogenizing the micro-sized chitosan fiber under a high pressure to obtain a chitosan nanofiber. According to an electron microscope image, the obtained chitosan nanofiber reaches a nano-level. The method is simple in operation and convenient for industrial production, and the obtained chitosan nanofiber with a new topology has broad application prospects in biomedicine, daily chemical engineering and special materials.

Abstract: A method for preparing troxerutin ester using whole-cell catalysis belongs to the fields of biological catalysis and pharmaceutical chemistry. The method specifically includes the following steps: evenly mixing troxerutin and a mixed organic solvent containing pyridine, then adding an acyl donor and a whole-cell catalyst, and performing a reaction under oscillation at a reaction temperature of 25° C. to 55° C.; and after the reaction is finished, separating and purifying a product by column chromatography or thin-layer chromatography, so as to obtain the troxerutin ester. The invention has the advantages of mild reaction conditions, environmental friendliness, simple process, fewer side reactions and high selectivity.