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Impact Dynamics of Multi-link Robots with Link and Joint Flexibility Zhenjie Qian 1, Dingguo Zhang1,a 1School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, PR China a zhangdg419@mail.njust.edu.cn Keywords: Impact, Flexible-joint, Flexible-link, Dynamics Abstract.
Thus, the elastic potential energy of the system is, (6) where is Young’s modulus of the material, is the shear modulus of the material; is the polar area moment of inertia of the link’s cross section about the neutral axis, and are the area moments of inertia of the link’s cross section about the and axes, respectively.
ASME Journal of Mechanical Design.
Chinese Journal of Theoretical and Applied Mechanics.Vo1.43(2011).NO.5. p.886.
Journal of Mechanical Engineering.

Based on Median Pyramid Transform of the Color Image Inverse Halftoning Yunfei Zhong1,a, Lujing Fu2,b and Tao Zhou1,a 1School of Packaging and Materials Engineering, Hunan University of Technology Zhuzhou 412007, China 2School of Internet of Things, Jiangnan University, Wuxi 214122, China amaczone@163.com, bkuaileangle0415@163.com Keywords: Pyramid Transform, Median Filter, Inverse Halftoning, Color Printing.
Acknowledgment This work is supported by Natural Science Research Project of Hunan University of Technology (Grant No. 2011HZX03), Science and Technology Planning Project of Hunan Province (Grant No. 2011GK3079), Natural Science Foundation of China (Grant No. 61171192), College Students Research Learning and Innovative Experiment Plan Project of Hunan Province (Grant No. [2011]272).
Zeng: Journal of Xi’an Jiaotong University , Vol. 39 (2005) No.2, pp.1340-1343.
Naouma: Internation Journal of Electronics and Communications, Vol. 59 (2005), pp.128-133
Zhang: Journal of Xidian University, Vol. 33 (2006) No.3, pp.917-921.

Experimental materials and methods.
Acknowledgements The authors gratefully acknowledge the supports by the Natural Science Foundation of China (61078019, 50975187 and 10972150) and Suzhou Science and Technology Plan in China (SYG201036, SG0825).
Zhang, “Study on Applied Basic Theory of Powder Feeding Laser Cladding” (in Chinese), Changchun Institute of Optics Mechanics and Physics,Chinese Academy of Sciences, 2000 [6] Y.D.
Shen, “Research on Laser Cladding Process Parameters” (in Chinese), Journal of Shanghai Maritime University, P: 40-43, 2006 [7] S.F.
Peng, “Influence of Ring Laser Coaxial Powder Feeding Laser Cladding Parameters on Laser Forming” (in Chinese), Journal of Suzhou University, p: 34-38, 2008.

Trivalent chromium plating electrodeposition of nanocrystalline Fe-Ni-Cr alloy foil fluid [J] Journal of Central South University (natural science), 2006(3) [5] Tu Zhenmi, Yang Zhelong．Study on electrochemical trivalent chromium formate electroplating solution． 
Journal of Materials Protection, 1985,18(6)：8~11 [6] Dai Hongbin, Wang Guobin.
Journal of Central South University (natural science), 2005,36(2):214~218 [10] Yin Yongjia.
Shandong science and Technology Press, 1985

Materials and Methods 1.1.
Acknowledgment This work was financially supported by the National Science Fund for Distinguished Young Scholars (No. 50925932) and National Natural Science Foundation of China (No. 51279047).
Dai: Journal of Food Agriculture & Environment Vol. 11 (2013), p. 896 [5] W.
Xia,et al: Journal of Hohai University(Natural Sciences) Vol. 35 (2004), p. 92 [6] D.G.
Journal of Food Agriculture & Environment Vol. 10 (2012), p. 1174

Deactivation Mechanism of SCR Catalyst Based on Nano-ZrO2 Rong Liu1, a, Zhiqin Yang2,b, Hao Guan3,c 1，2，3School of Geography Science, Nanjing Normal University, Nanjing 210042, China aliurongle@163.com, byangzhiqin200@163.com,clandongkobe@126.com Keywords: selective catalytic reduction (SCR), Zirconia nanoparticles, inactivation, SO2 Abstract.
In this study, due to the way by which water vapor is introduced, the characteristic peaks of water in the spectrum (a) ~ (d) are crystal water of the catalyst material.
Acknowledgements Supported by University Nature Science Foundation of Jiangsu Province，No. (008112TSJ0125)     References [1] X.X.
[4] Wang Jing, Shen Boxiong, Liu Ting and Tian xiaojuan, Deactivation and Regeneration of SCR Catalyst Based on V2O5-TiO2, Environmental Science & Technology.33 (2010) 97-101 [5] B.
Applied Catalysis B: Environmental.7 (1996) 337-357 [7] G.S.Qi, R.T.Yang and R.Chang, MnOx-CeO2 Mixed Oxides Prepared by Co-precipitation for Selective Catalytic Reduction of NO with NH3 at Low Temperatures, Applied Catalysis B: Environmental. 51 (2004) 93-106 [8] J.H.Huang, H.Tong, Z.Q.Tong, J.F.Zhang and Y.Huang, Effects of H2O and SO2 on Mn-Fe/MPS Catalyst for NO Reduction by NH3 at Lower Temperatures, The Chinese Journal of Process Engineering. 8 (2008) 517-522 (In Chinese) [9] Z.Q.Yang, F.Yang and R.Liu, The Influence of Temperature on Zirconia Nanoparticles,Journal of Nanjing Normal University.10 (2010) 49-53(In Chinese) [10] Z.Xun, Study on Reduction of NO with Mn-Fe-Ce/TiO2 as Catalyst at Low Temperature and Molding of Catalyst.

Study on photocatalytic degradation of acid red 3R by Titanium dioxide coupling with magnetic field[J].Journal of Xi'an Jiaotong University, 2007,40 (7):851-855
Environmental Science and Technology, 2002, 25 (l):11-12
Photoelectric degradation of reactive brilliant red X-3B on three different anodes[J].Chinese Journal of Catalysis,2005,26 (7):557-562
Anodic destruction of 4-chlorophenol solution [J].Hazardous Materials, 2000, 75 (1):99-113
Science&Technology in Chemical Industry, 2010,18 (2):5-8

Microstructure and oxidation resistance of TiN Coatings Guozheng Nie1, Chunliang Zhong2, a, Lan’e Luo2, Renlong Zhou1, Qiang Liu1 1School of Physics and Electronic Science, Hunan University of Science and Technology, Xiangtan, China 2Dept.
Diamond is the highest hardness (70-90GPa) known to nature of the material.
But because of the high temperature diamond instability and carbon to iron and other material mixture, it limited the diamond hard carbon coating to high temperature tool application [1].
H illiard: Journal of Applied Physics Vol.48 (1977), p.876
Pense: Materials Characterization Vol. 30 (1993), p.35.

Extraction of Aluminum by AlCl Disproportionation Process in Vacuum Yuebin FENG 1, a, Qingchun YU 2,b, Bin YANG 2,c and Yongnian DAI 2,d 1Faculty of Science, Kunming University of Science and Technology, Kunming 650500, China 2National Engineering Laboratory of Vacuum Metallurgy, Faculty of Metallurgy and Energy Engineering, Kunming University of Science and Technology, Kunming 650093, China afenjys@126.com, byqcy@163.com, ckgyb2005@126.com, dkgdaiyongnian@sohu.com Keywords: AlCl; aluminum; disproportionation; vacuum; carbothermal reduction Abstract.
The direct carbothermal process requires high temperatures of 2300-2500K [1-3], in which a large of byproducts, i.e., aluminum carbide, aluminum oxycarbide, etc and unreacted raw materials would melt and mix with molten aluminum, and it is difficult to separate aluminum from the molten mixture [1-5].
The AlCl disproportionation process in vacuum developed from the direct carbothermal process could enable metallic aluminum apart from the mixture of byproducts and unreacted raw materials.
Acknowledgements The authors acknowledge the financial support provided by the Funds of the National Science Foundation of China (Grant No.51264023) and Yunnan Province, China (Grant No.KKSY2012070 16) References [1] M.
Dai: Chinese Journal of Vacuum Science and Technology Vol. 29(2006), p. 377 [8] Y.N.

The strength is possible to increase by using various individual and complex additional materials, for example, plastifisizers or mineral additional materials.
In contrast to filling materials made from thick rocks lightweight filling materials have high specific surface and chemical activity.
Sadenko, The structure of the concrete mixture and the role of water in its physico-chemical transformation into concrete, Journal of Construction Materials. (2014) 52-55
[12] V.N Vernigova, S.M Sadenko, On the nonstationary nature of physicochemical processes occurring in a concrete mixture, Journal of Construction Materials. (2017) 86-89 [13] P.B.
Ryazanov, Structure and properties of lime-ash cement and its modification, Journal of Construction Materials. (2018) 18-22