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Evolution of the volume expansion of SiO/C composite electrodes in lithium-ion batteries during aging cycles
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作者 Haosong Yang Kai Sun +2 位作者 Xueyan Li Peng Tan Lili Gong 《中国科学技术大学学报》 北大核心 2025年第2期27-33,26,I0001,共9页
As a negative electrode material for lithium-ion batteries,silicon monoxide(SiO)suffers from dramatic volume changes during cycling,causing excessive stress within the electrode and resulting in electrode deformation ... As a negative electrode material for lithium-ion batteries,silicon monoxide(SiO)suffers from dramatic volume changes during cycling,causing excessive stress within the electrode and resulting in electrode deformation and fragmentation.This ultimately leads to a decrease in cell capacity.The trends of volume expansion and capacity change of the SiO/graphite(SiO/C)composite electrode during cycling were investigated via in situ expansion monitoring.First,a series of expansion test schemes were designed,and the linear relationship between negative electrode expansion and cell capacity degradation was quantitatively analyzed.Then,the effects of different initial pressures on the long-term cycling performance of the cell were evaluated.Finally,the mechanism of their effects was analyzed by scanning electron microscope.The results show that after 50 cycles,the cell capacity decreases from 2.556 mAh to 1.689 mAh,with a capacity retention ratio(CRR)of only 66.08%.A linear relationship between the capacity retention ratio and thickness expansion was found.Electrochemical measurements and scanning electron microscope images demonstrate that intense stress inhibits the lithiation of the negative electrode and that the electrode is more susceptible to irreversible damage during cycling.Overall,these results reveal the relationship between the cycling performance of SiO and the internal pressure of the electrode from a macroscopic point of view,which provides some reference for the application of SiO/C composite electrodes in lithium-ion batteries. 展开更多
关键词 lithium-ion batteries in situ expansion measurement initial stress cycle life SiO/C composite electrode
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On the Relative Growth Rate of the Digits in Sylvester Continued Fraction Expansions
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作者 LV Meiying RAO Guilin 《应用数学》 北大核心 2025年第2期468-476,共9页
For the Sylvester continued fraction expansions of real numbers,FAN et al.(2007)proved that,for almost all real numbers,the nth partial quotient grows exponentially with respect to the product of the first n-1 partial... For the Sylvester continued fraction expansions of real numbers,FAN et al.(2007)proved that,for almost all real numbers,the nth partial quotient grows exponentially with respect to the product of the first n-1 partial quotients.In this paper,we establish the Hausdorff dimension of the exceptional set where the growth rate is a general function. 展开更多
关键词 Sylvester continued fraction expansions Growth rate Hausdorff dimension
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Missionary Impulses and American Isolationism and Expansionism
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作者 汪涛 《陕西师范大学学报(哲学社会科学版)》 CSSCI 北大核心 2002年第S3期220-226,共7页
Isolationism and expansionism are two themes of American diplomacy. From the beginning of the state’s history, isolationism and expansionism have manifested themselves as two policy imperatives in American diplomacy.... Isolationism and expansionism are two themes of American diplomacy. From the beginning of the state’s history, isolationism and expansionism have manifested themselves as two policy imperatives in American diplomacy. On the surface, isolationism and expansionism represent contradictory attitudes and assumptions about America’s proper relationship with the outside world: isolationism advocates diplomatic and military non-entanglement in world affairs; expansionism urges active involvement in external affairs. But in a deeper sense, both isolationism and expansionism are manifestations of American sense of mission, the belief that the US has a special role to perform for all nations in the world. Isolationism is a passive approach to accomplish that mission: it emphasizes the exemplary nature of their country. Expansionism stresses the need for active involvement to achieve that mission; thus, is an active approach to American mission. 展开更多
关键词 MISSIONARY IMPULSES ISOLATIONISM expansionISM AMERICAN HISTORY
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THE EFFECT OF STEM CELL FACTOR, INTERLEUKIN-6 AND ERYTHROPOIETIN ON EXPANSION OF CD34^+ CELLS FROM HUMAN UMBILICAL CORD BLOOD
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作者 隋星卫 《中国实验血液学杂志》 CAS CSCD 1995年第4期390-394,共5页
CD34+ cells from human umbilical cord blood were purified by Dynal beads M-450 CD34 immunoselection system and cultured in the presence of various cytokines alone or in combination, including stem cell factor (SCF), i... CD34+ cells from human umbilical cord blood were purified by Dynal beads M-450 CD34 immunoselection system and cultured in the presence of various cytokines alone or in combination, including stem cell factor (SCF), interleukin-6 (IL-6) and erythropoietin (EPO). The results revealed that: (D In methylcellulose culture, the plating efficiencies of purified cord blood CD34+ cells were much different when stimulated by various cytokines. IL-6 alone had the lowest colo-ny yield, while the combination of SCF, IL-6 and EPO had the highest yield. ② In the suspension culture, IL-6 alone or IL-6 + EPO had little expanding effect on cord blood CD34+ celis, the other cytokine combinations could expand cord blood CD34+ celis at different Ievels. Among them, the combination of SCF, IL-6 and EPO had the maximal expanding effect on cord blood CD34+ celis, the number of progenitor celis peaked at day 21, about 29-fold increase and nucleated celis increased approximately 3676-fold at day 28. The expanding effect of 展开更多
关键词 CORD blood CD34+ cell CYTOKINE ex vivo expansion
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Electrolysis expansion performance of semigraphitic cathode in [K_3AlF_6/Na_3AlF_6]-AlF_3-Al_2O_3 bath system 被引量:10
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作者 李劼 方钊 +2 位作者 赖延清 吕晓军 田忠良 《Journal of Central South University》 SCIE EI CAS 2009年第3期422-428,共7页
The electrolysis expansion of semigraphitic cathode in [K3AlF6/Na3AlF6]-AlF3-Al2O3 bath system was tested by self-made modified Rapoport apparatus. A mathematical model was introduced to discuss the effects of acR (c... The electrolysis expansion of semigraphitic cathode in [K3AlF6/Na3AlF6]-AlF3-Al2O3 bath system was tested by self-made modified Rapoport apparatus. A mathematical model was introduced to discuss the effects of acR (cryolite ratio) and βKR (elpasolite content divided by the total amount of elpasolite and sodium cryolite) on performance of cathode electrolysis expansion. The results show that K and Na (potassium and sodium) penetrate into the cathode together and have an obvious influence on the performance of cathode electrolysis expansion. The electrolysis expansion and K/Na penetration rate increase with the increase of αCR. When αCR=1.9 and βKR=0.5, the electrolysis expansion is the highest, which is 3.95%; and when αCR=I.4 and βKR=0.1, the electrolysis expansion is the lowest, which is 1.28%. But the effect offlKR is correlative with αCR. When αCR=1.6 and 1.9, with the increase of titan, the electrolysis expansion and K/Na penetration rate increase. However, when αCR=l.4, the electrolysis expansion and K/Na penetration rate firstly increase and then decrease with the increase of βKR. 展开更多
关键词 aluminum electrolysis semigraphitic cathode low temperature electrolysis electrolysis expansion K penetration Na penetration
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Damage alarming for bridge expansion joints using novelty detection technique based on long-term monitoring data 被引量:4
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作者 缪长青 邓扬 +1 位作者 丁幼亮 李爱群 《Journal of Central South University》 SCIE EI CAS 2013年第1期226-235,共10页
Damage alarming and safety evaluation using long-term monitoring data is an area of significant research activity for long-span bridges. In order to extend the research in this field, the damage alarming technique for... Damage alarming and safety evaluation using long-term monitoring data is an area of significant research activity for long-span bridges. In order to extend the research in this field, the damage alarming technique for bridge expansion joints based on long-term monitoring data was developed. The effects of environmental factors on the expansion joint displacement were analyzed. Multiple linear regression models were obtained to describe the correlation between displacements and the dominant environmental factors. The damage alarming index was defined based on the multiple regression models. At last, the X-bar control chart was utilized to detect the abnormal change of the displacements. Analysis results reveal that temperature and traffic condition are the dominant environmental factors to influence the displacement. When the confidence level of X-bar control chart is set to be 0.003, the false-positive indications of damage can be avoided. The damage sensitivity analysis shows that the proper X-bar control chart can detect 0.1 cm damage-induced change of the expansion joint displacement. It is reasonably believed that the proposed technique is robust against false-positive indication of damage and suitable to alarm the possible future damage of the expansion joints. 展开更多
关键词 damage alarming expansion joint TEMPERATURE traffic condition control chart suspension bridge
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Effects of submicron-MgO and nano-MgO on the expansion and microscopic properties of high-performance concrete 被引量:3
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作者 TIAN Chang-jin WANG You-zhi +1 位作者 QIU Kai YANG Qi-lin 《Journal of Central South University》 SCIE EI CAS CSCD 2022年第9期3186-3200,共15页
MgO-series expansive agents can effectively compensate for the shrinkage and deformation of concrete structures.However,few experimental studies have been conducted on MgO expansive agents,particularly concerning the ... MgO-series expansive agents can effectively compensate for the shrinkage and deformation of concrete structures.However,few experimental studies have been conducted on MgO expansive agents,particularly concerning the difference between and effects of submicron-MgO and nano-MgO in high-performance concrete(HPC)with a low water-cement ratio,thereby limiting their application in practical engineering.To clarify the expansion effect and expansion mechanism of MgO expansive agents in HPC,the effects of submicron-MgO and nano-MgO on the strength,toughness,and expansion characteristics of HPC were examined.The test results showed that submicron-MgO and nano-MgO continued to hydrate in the cement environment to produce Mg(OH)_(2),thus improving the structural compactness and structural strength of HPC.Nano-MgO concrete was found to have more stable mechanical properties and better structural deformability than submicron-MgO concrete.This study provides effective data support and theoretical reference concerning the hydration expansion mechanisms and engineering applications of nano-expanded materials. 展开更多
关键词 submicron-MgO nano-MgO high-performance concrete STRENGTH TOUGHNESS expansion characteristics microstructure
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Energy dissipation of cavity expansion based on generalized non-linear failure criterion under high stresses 被引量:3
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作者 邹金锋 童无欺 赵健 《Journal of Central South University》 SCIE EI CAS 2012年第5期1419-1424,共6页
Based on the compression mechanism for analyzing the cavity expansion problem in soil under high stresses,generalized non-linear failure criterion and large strain and energy conservation in plastic region during the ... Based on the compression mechanism for analyzing the cavity expansion problem in soil under high stresses,generalized non-linear failure criterion and large strain and energy conservation in plastic region during the cavity expanding were adopted.The energy conservation equation was established and the limited pressure of cavity expansion under high stresses was given based on the energy dissipation analysis method,in which the energy generated from cavity expansion is absorbed by the volume change and shear strain caused in soil.The factors of large strain and dilatation were considered by the proposed method.The analysis shows that the limited pressure is determined by failure criterion,stress state,large deformation characteristic,dilatation and strength of soil.It is shown from the comparison that the results with the proposed method approximate to those of the in-situ method.The cavity expansion pressure first decreases and then increases nonlinearly with both of shear modulus and dilatation increasing. 展开更多
关键词 energy dissipation energy conservation large strain cavity expansion high stress
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Simulation of thermal and sodium expansion stress in aluminum reduction cells 被引量:3
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作者 李劼 伍玉云 +4 位作者 赖延清 刘伟 王志刚 刘杰 刘业翔 《Journal of Central South University of Technology》 EI 2008年第2期198-203,共6页
Two finite element(FE) models were built up for analysis of stress field in the lining of aluminum electrolysis cells.Distribution of sodium concentration in cathode carbon blocks was calculated by one FE model of a c... Two finite element(FE) models were built up for analysis of stress field in the lining of aluminum electrolysis cells.Distribution of sodium concentration in cathode carbon blocks was calculated by one FE model of a cathode block.Thermal stress field was calculated by the other slice model of the cell at the end of the heating-up.Then stresses coupling thermal and sodium expansion were considered after 30 d start-up.The results indicate that sodium penetrates to the bottom of the cathode block after 30 d start-up.The semi-graphitic carbon block has the largest stress at the thermal stage.After 30 d start-up the anthracitic carbon has the greatest sodium expansion stress and the graphitized carbon has the lowest sodium expansion stress.Sodium penetration can cause larger deformation and stress in the cathode carbon block than thermal expansion. 展开更多
关键词 aluminum reduction cell STRESS sodium penetration sodium expansion SIMULATION
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A new model for the expansion tube considering the stress coupling:Theory,experiments and simulations 被引量:1
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作者 M.Z.Wu X.W.Zhang Q.M.Zhang 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2022年第7期1190-1204,共15页
Based on the two-arc profile assumption,the expansion deformation and energy absorption of circular tubes compressed by conical-cylindrical dies were reconsidered.First,the deformation of the two arcs was analyzed ind... Based on the two-arc profile assumption,the expansion deformation and energy absorption of circular tubes compressed by conical-cylindrical dies were reconsidered.First,the deformation of the two arcs was analyzed independently and an improved model denoted as Model-I was established.Then,by further involving the coupling between the bending moment and membrane forces,a more elaborate model,i.e.,Model-II was developed.Afterwards,experiments and simulations were conducted to verify the models,which show that,compared with previous theoretical models,Model-II could not only capture the prominent features of the deformation,but also improve the prediction accuracy of the steady driving force significantly.By means of this model,it was found that the critical semi-conical angle,which makes the driving force minimum,increases with the increase of the friction coefficient,expansion ratio as well as the radius/thickness ratio of the tube.And,the energy dissipation due to stretching is always greater than that of bending,while the friction dissipation can account for the largest proportion at small semi-conical angle or large friction coefficient.At a certain friction and die conditions,the specific energy absorption of expanded tubes can be much higher than that under progressive collapse mode. 展开更多
关键词 expansion Circular tube Stress coupling Strain hardening Energy absorption
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Numerical investigations on effects of bluff body in flat plate micro thermo photovoltaic combustor with sudden expansion 被引量:1
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作者 鄂加强 黄海蛟 赵晓欢 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第4期975-982,共8页
In order to reveal combustion characteristics of H_2/air mixture in a micro-combustor with and without bluff body, the effects of inlet velocities, equivalence ratios and bluff body's blockage ratios on the temper... In order to reveal combustion characteristics of H_2/air mixture in a micro-combustor with and without bluff body, the effects of inlet velocities, equivalence ratios and bluff body's blockage ratios on the temperature field, pressure of the combustor wall, combustion efficiency and blow-off limit were investigated. The numerical results indicate that the sudden expansion plate micro combustor with bluff body could enhance the turbulent disturbance of the mixed gas in the combustion chamber and the combustion condition is improved. Moreover, a low-speed and high temperature recirculation region was formed between the sudden expansion step and the bluff body so that the high and uniform wall temperature(>1000 K) could be gotten. As a result, it could strengthen the mixing process, prolong the residence time of gas, control the flame position effectively and widen the operation range by the synergistic effect of the bluff body and steps. When the blockage ratio ranged from 0.3 to 0.6, it could be found that the bluff body could play a stabilizing effect and expand combustion blow burning limit, and combustion efficiency firstly was increased with the inlet velocity and equivalence ratio, and then was decreased. 展开更多
关键词 micro combustor bluff body sudden expansion numerical investigations
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Effects of heat treatment temperature on crystallization and thermal expansion coefficient of Li_2O-Al_2O_3-SiO_2 被引量:1
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作者 卢安贤 贾明 刘树江 《Journal of Central South University of Technology》 EI 2004年第3期235-238,共4页
The basic glass of Li2O-Al2O3-SiO2 system using P2O5 as nucleator was prepared by means of conventional melt quenching technology, and the heat-treatment process was determined by using differential thermal analysis. ... The basic glass of Li2O-Al2O3-SiO2 system using P2O5 as nucleator was prepared by means of conventional melt quenching technology, and the heat-treatment process was determined by using differential thermal analysis. The crystalline phases and the microstructure of the glass-ceramics were investigated by using X-ray diffraction and scanning electron microscopy. The results show that the glass based on Li2O-Al2O3-SiO2 oxides using P2O5 as nucleator can be prepared at lower melt temperature of 1 450 ℃ and the glass-ceramics with lower thermal expansion coefficient of 21.6×10-7 ℃-1 can also be obtained at 750 ℃. The glass-ceramics contain a few crystal phases in which the main crystal phase is β-quartz solid solution and the second crystal phase is β-spodumene solid solution. When the heat treatment temperature is not higher than 650 ℃, the transparent glass-ceramics containing β-quartz solid solution can be prepared. β-quartz solid solution changes into β-spodumene solid solution at about 750 ℃. And the appearance of the glass-ceramics changes from translucent, part opaque to complete opaque with increasing (temperature.) 展开更多
关键词 heat treatment GLASS-CERAMICS CRYSTALLIZATION thermal expansion coefficient
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Mobile channel estimation for MU-MIMO systems using KL expansion based extrapolation 被引量:1
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作者 Donghua Chen Hongbing Qiu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第3期349-354,共6页
In multi-user multiple input multiple output (MU-MIMO) systems, the outdated channel state information at the transmit- ter caused by channel time variation has been shown to greatly reduce the achievable ergodic su... In multi-user multiple input multiple output (MU-MIMO) systems, the outdated channel state information at the transmit- ter caused by channel time variation has been shown to greatly reduce the achievable ergodic sum capacity. A simple yet effec- tive solution to this problem is presented by designing a channel extrapolator relying on Karhunen-Loeve (KL) expansion of time- varying channels. In this scheme, channel estimation is done at the base station (BS) rather than at the user terminal (UT), which thereby dispenses the channel parameters feedback from the UT to the BS. Moreover, the inherent channel correlation and the parsimonious parameterization properties of the KL expan- sion are respectively exploited to reduce the channel mismatch error and the computational complexity. Simulations show that the presented scheme outperforms conventional schemes in terms of both channel estimation mean square error (MSE) and ergodic capacity. 展开更多
关键词 channel estimation multiple input multiple output (MIMO) Karhunen-Loeve (KL) expansion minimum mean square error (MMSE).
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Three-dimensional pseudo-dynamic reliability analysis of seismic shield tunnel faces combined with sparse polynomial chaos expansion
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作者 GUO Feng-qi LI Shi-wei ZOU Jin-Feng 《Journal of Central South University》 SCIE EI CAS CSCD 2024年第6期2087-2101,共15页
To address the seismic face stability challenges encountered in urban and subsea tunnel construction,an efficient probabilistic analysis framework for shield tunnel faces under seismic conditions is proposed.Based on ... To address the seismic face stability challenges encountered in urban and subsea tunnel construction,an efficient probabilistic analysis framework for shield tunnel faces under seismic conditions is proposed.Based on the upper-bound theory of limit analysis,an improved three-dimensional discrete deterministic mechanism,accounting for the heterogeneous nature of soil media,is formulated to evaluate seismic face stability.The metamodel of failure probabilistic assessments for seismic tunnel faces is constructed by integrating the sparse polynomial chaos expansion method(SPCE)with the modified pseudo-dynamic approach(MPD).The improved deterministic model is validated by comparing with published literature and numerical simulations results,and the SPCE-MPD metamodel is examined with the traditional MCS method.Based on the SPCE-MPD metamodels,the seismic effects on face failure probability and reliability index are presented and the global sensitivity analysis(GSA)is involved to reflect the influence order of seismic action parameters.Finally,the proposed approach is tested to be effective by a engineering case of the Chengdu outer ring tunnel.The results show that higher uncertainty of seismic response on face stability should be noticed in areas with intense earthquakes and variation of seismic wave velocity has the most profound influence on tunnel face stability. 展开更多
关键词 reliability analysis shield tunnel face sparse polynomial chaos expansion modified pseudo-dynamic approach seismic stability assessment
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A New Method of Aperture Analysis Based on Gaussian Beam Expansion
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作者 Zhou Haijing & Ruan Yingzheng(University of Electronic Science and Technology, Chengdu 610054, P. R. China) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1997年第2期7-18,共12页
Gaussian beam expansion based on the aperture field distribution is studied systematically in this paper. The beam series representation for a radiated field and its asymptotic form are derived and applied to aperture... Gaussian beam expansion based on the aperture field distribution is studied systematically in this paper. The beam series representation for a radiated field and its asymptotic form are derived and applied to aperture analysis. Numerical results indicate that this method is able to analyze the radiated field accurately in all zones. 展开更多
关键词 ANTENNA Gaussian beam expansion Aperture analysis.
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Roles of trifluoperazine and verapamil in the oocyte maturation and cumulus expansion of bovine cumulus-oocyte complexes
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作者 Sun Qingyuan Feng Huailiang +1 位作者 Yang Qingzhang Liu Guoyi and Qin Pengchun(Department of Biotechnology,Northeast Agriculural University, Harbin,150030,P.R.ChinaDepartment of Biological Sciences, Changchun Veterinary University, Changchun,China) 《Journal of Northeast Agricultural University(English Edition)》 CAS 1994年第1期59-67,共9页
Bovine cumulus-oocyte complexes were cultured in the maturation medium containing 4 different concentrations of verapamil and trifluoperazine to testify the necessity of extracellular Ca2+ and Ca2+-calmodulin complex ... Bovine cumulus-oocyte complexes were cultured in the maturation medium containing 4 different concentrations of verapamil and trifluoperazine to testify the necessity of extracellular Ca2+ and Ca2+-calmodulin complex for the resumption and completion of meiosis as well as cumulus expansion.Ultrastructure of the treated oocytes was also observed to investigate the cytoplasm maturation. The results showed that verapamil didn't influence the cumulus expansion,meiosis resumption and completion and cytoplasm maturation significantly.TFP inhibited cumulus expansion in a dose-dependent manner.25 μm trifluoperazine significantly inhibited the GVBD and maturation(p<0.01),wherease 1 μm TFP had no effect.Both oocytes and cumulus cells treated with 25 μm TFP severely degenerated.Our observations suggest that the resumption and completion of meiosis and cumulus expansion are Ca2+ -CaM dependent and blocking membrane Ca2+ channel does not influence oocyte germinal vesicle breakdown,nuclear and cytoplasm maturation significantly in cattle. 展开更多
关键词 Calcium bovine oocyte MATURATION cumulus expansion
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An Alternative Method of Eigenfunction Expansion Associated with Second Order Differential Equation in Infinite Domain and Its Application
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作者 Chen Jingxiong(Beijing Institute of Radio Measurement, Beijing. China) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1990年第1期32-36,47,共6页
In this paper a method of eigenfunction expansion associated with 2nd order differential equation is developed by using the concept of theory of distribution. An application of the method to the infinite long antenna ... In this paper a method of eigenfunction expansion associated with 2nd order differential equation is developed by using the concept of theory of distribution. An application of the method to the infinite long antenna is described in detail. 展开更多
关键词 Eigenfunction expansion lnfinite domain.
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Preparation of 2 (5H)-Furanones by Ring Expansion of 4-Hydroxy-2-cyclobutenones
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《厦门大学学报(自然科学版)》 CAS CSCD 北大核心 1999年第S1期338-338,共1页
关键词 Furanones by Ring expansion of 4-Hydroxy-2-cyclobutenones
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Finite-Time Expected Present Value of Operating Costs until Ruin in a Two-Dimensional Risk Model with Periodic Observation
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作者 TENG Ye XIE Jiayi ZHANG Zhimin 《应用概率统计》 北大核心 2025年第5期748-765,共18页
This paper investigates ruin,capital injection,and dividends for a two-dimensional risk model.The model posits that surplus levels of insurance companies are governed by a perturbed composite Poisson risk model.This m... This paper investigates ruin,capital injection,and dividends for a two-dimensional risk model.The model posits that surplus levels of insurance companies are governed by a perturbed composite Poisson risk model.This model introduces a dependence between the two surplus levels,present in both the associated perturbations and the claims resulting from common shocks.Critical levels of capital injection and dividends are established for each of the two risks.The surplus levels are observed discretely at fixed intervals,guiding decisions on capital injection,dividends,and ruin at these junctures.This study employs a two-dimensional Fourier cosine series expansion method to approximate the finite time expected discounted operating cost until ruin.The ensuing approximation error is also quantified.The validity and accuracy of the method are corroborated through numerical examples.Furthermore,the research delves into the optimal capital allocation problem. 展开更多
关键词 two-dimensional risk model Fourier cosine expansion capital injection DIVIDEND
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Regular virtual tube for cooperative transportation of a payload by multiple quadrotors
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作者 TANG Jiacheng YANG Zixiao +2 位作者 ZHANG Lei HU Tianjiang ZHU Bo 《Journal of Systems Engineering and Electronics》 2025年第4期1068-1076,共9页
How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative trans... How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube. 展开更多
关键词 virtual tube multi-unmanned aerial vehicles(UAVs) motion planning cooperative transportation system expansion environment anti swing.
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