Purpose: The gait planning and control of quadruped crawling robot affect the stability of the robot walking on a slope. The control includes the position control in the swing phase, the force control in the support phase and the switching control in the force/position switching. To improve the...

A neural network-based robust adaptive control design scheme is developed for a class of nonlinear systems represented by input–output models with an unknown nonlinear function and unmodeled dynamics. By on-line approximating the unknown nonlinear functions and unmodeled dynamics by radial...

A Burkholderia lipase was immobilized on celite grafted with long alkyl groups. The immobilized lipase-catalyzed methanolysis of sunflower oil in a packed-bed reactor (PBR) follows the Ping Pong Bi Bi mechanism. The external mass transfer and enzymatic reaction that simultaneously occurred in...

Biodiesel is a promising substitute for petroleum diesel, and has been commercialized and utilized in many countries. Conventional chemical or physical methods used for biodiesel production face the drawbacks of high energy consumption or intensive use of chemicals. In contrast, using...

Biobutanol production from cellulosic feedstock is considered promising and economically feasible. A highly efficient butanol-producing bacterial microflora (containing mainly Clostridial species) was obtained from hydrogen-producing sewage sludge. In this work, two types of agricultural waste...

Bioethanol converted from lignocellulosic feedstock, such as agricultural waste, is considered one of the most promising biofuels being developed. The raw materials usually need to be pretreated and hydrolyzed by cellulolytic enzymes to produce sugars for subsequent ethanol fermentation....

Purpose – The aim of this paper, considering the two types of networks and the scope of power from structural holes, is to clarify the relationship between employees’ performance and their social network structure in Chinese small and medium enterprises from the whole-network perspective....

This paper proposes a novel extended traffic network model to solve the logit-based stochastic user equilibrium (SUE) problem with elastic demand. In this model, an extended traffic network is established by properly adding dummy nodes and links to the original traffic network. Based on the...

Biodiesel has potential as a substitute for petroleum diesel because of the increasing worldwide concern for environmental sustainability and dwindling petroleum resources. Methanol has been the commonly used alcohol for biodiesel production. Compared with methanol, ethanol can be derived from...

Transesterification of oil feedstocks using immobilized lipase (IL) is a promising process for biodiesel production. However, the running cost of this process is still higher than that of conversional chemical-catalyzed approaches. To address this challenge, both upstream and downstream...