Abstract: A liquid-solid axial moving bed reaction and regeneration apparatus and a solid acid alkylation process by using the liquid-solid axial moving bed reaction and regeneration apparatus.

Abstract: Provided is a mutant of an antibody or fragment thereof, characterized in that the antibody or fragment thereof contains a light-chain constant region, and according to the Kabat numbering system, the amino acid at position 166 is mutated to cysteine.

Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.

Abstract: A method for generating a geometric folding full coverage path for a robot is provided. A conventional full coverage path planning algorithm is based on a zigzag pattern, a spiral pattern or a combination thereof. A traversal order is restricted by a linear traversal manner or a traversal manner from inside to outside and therefore lacks flexibility. In the method, a geometric folding operation is used to generate a full coverage path pattern for the robot, referred to as a geometric folding path pattern. The full coverage path has a flexible traversal order. A representation method for the geometric folding path pattern is modeled in the method, and subsequently the method for randomly generating the geometric folding full coverage path and a search method for a geometric folding path within a constraint of passing through specified points in a given order are provided.

Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.

Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.

Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.

Abstract: A dispersed state monitoring device for distributed generation includes a power module, an input conditioning module, a data processing module and a network communication module which are connected one after another in this order. The power is input, via a civil plug and a 220V power socket, to the power module and the input conditioning module in the device at the same time. The power module ensures normal operation of the device through conditioning of a voltage. The input conditioning module is configured to condition input voltage signals, extract voltage transient-state and steady-state signals to be analyzed, and inputting the signals to the data processing module. The data processing module is configured to analyze the voltage transient-state and steady-state signals, judge the operating state of the distributed power source, and output a judging result to the network communication module. The result is output from the network communication module via a standard RJ45 Ethernet interface.

Abstract: A dispersed state monitoring device for distributed generation includes a power module, an input conditioning module, a data processing module and a network communication module which are connected successively, wherein the power is input, via a civil plug and a 220V power socket, to the power module and the input conditioning module in the device at the same time. The power module ensures normal operation of the device through conditioning of a voltage. The input conditioning module is responsible for conditioning input voltage signals, extracting voltage transient-state and steady-state signals to be analyzed, and inputting the signals to the data processing module. The data processing module is responsible for analyzing the voltage transient-state and steady-state signals, judging the operating state of the distributed power source, and outputting a judging result to the network communication module. The result is output from the network communication module via a standard RJ45 Ethernet interface.