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聚苯胺導電高分子二次電池之研製及性能研究
塑膠一向被認為絕緣體。但Heeger,MacDiarmid,以及Shirakawa證實,塑膠可以被改製成電的良導體。這須在高分子合成的過程中,使碳鏈呈現單、雙鍵交錯排列情形。此外,高分子也須加以摻雜(doped),換言之,電子必須在氧化過程中被移除或在還原過程中被加進聚合物。電子移除所留下的電洞,或新加進的電子則可自由在分子鏈上移動,形成導電性。我們所要製備的導電高分子二次電池就是由這個原理完成的。所謂的二次電池(Secondary Cell)簡單的定義就是「可反覆充電、放電,循環使用的電池」,我們將會將其與市售電池比較,並改良出合適商品化的高分子二次電池。我們將以聚苯胺做為我們電池的正極,並用鋅片(原本我們要用鋰金屬的,但其再空氣中即易氧化,因此改採鋅)做為負極,製成一聚苯胺二次電池。The plastics is thought to be a insulator, but Heeger, MacDiarmid, and Shirakawa had proved that conductivity of plastics can be improved by doping other media. The conjugated polymers such as polyacetylene、polyaniline have the interlaced single-double bonds that electrons can move from one side to another side caused the production of electric currents. The purpose of this study is try to study the application of the conjugated polymer polyaniline to make a secondary battery. First, we use the chemical and electrochemical method to compose the polyaniline. Then we test the conductivity of the produced polyaniline and test the current and electrical potential of the polymer battery. The battery that we made from our laboratory has the electric potential about 0.5 volts and the electric current is greater than 50 microamperes. Finally, we also try to use the lithium as cathode to improve the performance of the polyaniline battery.
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耍「薛骰」-Sicherman Dice 的探討
George Sicherman discovered that it is possible to take a couple of 6-sided dice re-labeling them with different positive integers (1,2,2,3,3,4) and (1,3,4,5,6,8) having the same probability distribution as rolling a standard pair of 6-sided dice. Such unique pair of dice is calling Sicherman dice. The secret behind the Sicherman dice can be studied by combining the powerful mathematical tool “Generating functions” with the symbolic manipulation software “Derive 6”, The same procedure may be applied to studying the possibility of the generalized Sicherman dice along the consideration of :\r (1) Adding more dice. (2) Changing the number of faces. To this end, we introduce the concept of the Sicherman Bound. For a given integer n, the number of n-sided Sicherman dice is finite. We computed manually such numbers for n?50 based on the method of “Elimination of negative terms”. Sicherman Dice 就是一對點數配置與正常骰子(6 面正立方體,點數為1到6)不同的骰子,它所拋擲出的每一種不同點數和(2,3,4...,12) 的機率恰好與一對正常的骰子相同。這種骰子是美國的Col. George Sicherman 所發現的。 Sicherman 更進一步指出:在不使用Sicherman Dice 的情形下,不可能找到一組大於或等於三顆的非正常骰子,它們拋擲出的每一種不同點數和的機率恰好與一組同數量的正常骰子相同。本研究的目標在於1. 尋求計算「Sicherman Dice 的組合和正常的骰子有相同的出現機率」的方法2. 證明Sicherman 結論的真偽及是否適用於其他正多面體(4 面/ 8 面/12 面/ 20面) 的標準骰子3. 修正Sicherman 的結論,並定義Sicherman 極限(Sicherman Limit)。在假設n面正多面體(n 為自然數, n ? 50 )存在的情形下,探討每一個正多面體的Sicherman 極限4. Sicherman Dice (Crazy Dice) 的延伸探討(1) 不同面數骰子的組合,是否可以找到面數組合相同,但點數配置不同的Crazy Dice( 如4 面與6 面的標準骰子組合,找到4 面與6 面的Crazy Dice)(2) 多個面數相同或不同骰子的組合,是否可以找到面數、個數及點數配置皆不同的Crazy Dice ( 如3 個4 面標準骰子組合, 找到2 個8 面的Crazy Dice)在研究的過程中,我發現以下的現象:(1) Sicherman Dice 的產生,是生成函數因式重新組合的結果(2) Sicherman Dice 是否存在,則視上述重新組合的結果是否有負項產生由於上述的觀察,我使用自行發展的「負項消去」法來檢驗Sicherman 結論的正確性及求得n 面正多面體其對應的Sicherman 極限。同時我也和Col. George Sicherman 取得聯繫, 討論當年他發現Sicherman Dice 的經過及其結論的限制條件,作為本研究未來發展的參考。
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Rubik's Cube Solver
Aim: Over the years I became quite quick at solving the cube. I was keen to see if I could create a mechanical system that would do it in a similar time. Because of financial limitations and equipment I thought it impossible to achieve my usual times of around 1 minute and so settled on a target of 10 minutes. So my aim became; “To create a mechanical system that could solve the cube 100% reliably in less than 10 minutes” What I did: I started from the view that I wanted to get it to find a solution using the process that I usually use. The downside of this approach was that this approach meant that most internet research was irrelevant to my project. Also some methods I found were very sophisticated and expensive eg. the university professor who created a system to solve it in 6 seconds. I wrote software capable of solving the cube, printed out its results then testing the instruction steps by manually manipulating the cube. This was improved until 100% reliable. I then developed the user interface to input the colours on each face. The building of the hardware to manipulate the cube proved my most difficult challenge. To get the cube flipped and rotated accurately using the 5 servos. I modeled this using lego and popsicle sticks until the movements met the accuracy and reliability outcomes I needed. Surprisingly these materials held up to the challenge. Integrating the software and hardware functional models took a lot longer than anticipated to get the software instructions executed and coordinated. A great deal of fine tuning was required. Outcome: The system solves the cube 100% of the time. I was exceptionally pleased with this result in view of the lego and popsicle stick model. On reflection I have achieved a successful working model that university students have aspired to and this gives me great satisfaction. Conclusion: While the outcome is pleasing I envisaged achieving a much faster system with easier data input using camera and colour recognition software. Unfortunately time and my budget restrictions prevented this from being developed. However this is a step I am interested in implementing in the future. The speed could be improved by designing more efficient cube solving algorithms, implementing a camera with colour recognition, and possibly rethinking and redesigning my mechanical design. I would also like to Figure 1 illustrates how the air would flow through a fan, and get pushed underground in several short HDPE pipes. This tempered air would then be fed into a small, insulated air chamber built against the home that contains an air-sourced heat pump. The walls of this chamber would have small vents to balance air pressure, and an exit near the top for cooled exhaust air. When the temperature outdoors is in the coldest stage of winter (daily average of -3.0ºC), the tempered air being brought into the chamber would simulate an outdoor ambient temperature of about 10.0ºC, allowing a heat pump to operate with a COP of ~3.79 (based on data from Goodman Air Conditioning and Heating).² This means that for every unit of energy put into the heat pump, 3.79 units of energy are extracted. 4. Conclusions: In building an enclosed air chamber for around an air-sourced heat pump, it was found that it is possible to simulate a 10.0ºC climate in the coldest parts of winter through air tempering. This will allow the heat pump to run substantially more efficiently throughout the year. This system could be used effectively to heat a home in the winter, as well as cool a home in the summer.
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The Solution to Global Water Pollution?
The waters of the Benguela, the Atlantic Ocean off South Western African shorelines, are amongst the most productive in the world, supporting prolific marine life. However despite the abundance of animals, survival in this marine ecosystem is not always easy. Oxygen-deficient bottom water, often containing toxic hydrogen sulphide, is a feature of the northern Benguela coastal upwelling system. Here, superfluous cells from excess phytoplankton production, decay and sink to the bottom to form the oozy diatomaceous mud belt sediment off the Namibian coastline. Within this diatomaceous mud further intensified decay takes place to form toxic hydrogen sulphide in the sediment. Sporadically large amounts of the hydrogen sulphide are released into the water column, causing the deadly annual "sulphur" events, as they are locally known in Namibia, to take place. Sulphur eruptions result in the deaths of thousands of marine animals. This marine system off the Namibian coast, with its harsh natural conditions of hydrogen sulphide and low oxygen, is similar to an ecosystem suffering intensive marine pollution. These natural conditions of the Benguelan waters are closely related to the conditions of many coastal areas suffering from the global marine pollution problem, created by man all over the world, through the discharge and disposal of wastes, such as nitrate fertilisers, sewage and biological decay material. A specialsed group of bacteria known as sulphur bacteria occur within the sulphidic conditions of the sediments. Sulphur bacteria actually use some of the produced toxic hydrogen sulphide in the sediments, converting it to harmless elemental sulphur micro granules in their cytoplasm. Where no other life occurs, due to the harsh conditions unfriendly to most marine lifr, sulphur bacteria thrive. Sulphur bacteria control and decrease the amount of hydrogen sulphide, which goes from the sediment into the water, through their complex metabolic systems. The biggest and most effective sulphur bacteria, only found off the Namibian coast, were dubbed Thiomargarita namibiensis. Thio means sulphur and namibiensis refers to its occurrence in Namibia. This giant sulphur-eating microbe is the earth's biggest known bacterium, visible to the naked eye. I conclude with a personal hypothesis to suggest a solution to global water pollution by utilising this magnificent bacterium. Through bacterial cultivation and processing Thiomargarita namibiensis could be employed in tacking extent of global marine pollution. The bacteria use toxic hydrogen sulphide as "fuel" for their metabolism and nitrate as an oxidizing agent, to produce harmless sulphur granules. This explains the bacteria's effectivity in removing nitrate and hydrogen sulphide wastes, the forms most biological wastes eventually occur in, from the water. This spectacular process, as it occurs within these magnificent "sulphur pearl strings", could be the sensational answer to the regeneration of polluted marine waters on a worldwide scale. This absolutely natural treatment of the water would not bear any harmful consequences such as those artificial treatment leaves behind. Sewage treatment or denitrifying treatments applied by man on polluted water leaves chemical discharge and damage to affected ecosystems. Especially Thiomargarita could be used in the regeneration of rural and urban waters (should those survive in fresh water)and sewage schemes as well as most marine waters, due to its high effectivity in removing hydrogen sulphide from affected water. It is not the solution to global water pollution to fight chemicals with chemicals. Nature has provided an excellent and valuable resource that could enable absolute natural recovery within polluted marine ecosystems. We should dedicate ourselves towards such magnificent discoveries and help nature help itself. Research on these Sulphur bacteria(especially Thiomargarita namibiensis)is very recent and ongoing. I recently enjoyed the privilege of a 24 hour marine research ship cruise off the Namibian coast with marine biologists from the Namibian Ministry for Fisheries and Marine Resources, to obtain mud cores holding Thiomargarita namibiensis bacteria. Several chemical tests are done and biological reactions are studied to collect the necessary data concerning Thiomargarita namibiensis. The discovery of Thiomargarita namibiensis awoke worldwide scientific excitement and interest. Its application to solve the problem of global water pollution would be a spectacular scientific breakthrough for the human race.
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Bio-Conversion of TiO2/UV System Pretreated Rice Straw to Ethanol
1. Purpose of the research :\r One of the greatest challenges for 21st century society is to meet the growing energy demand for transportation, heating and industrial processes. U.S. and Brazil are currently converting corn starch and sugarcane juice into ethanol; however, these are edible products. To stop global warming and poverty, we tried to determine to develop new pretreatment method to produce biofuel using non-edible parts of agricultural products.\r 2. Procedures :\r For our research purpose, we conducted ‘Preparation of Rice straw - Powder’, ‘Pretreatment Method of Rice Straw and Statistical Optimization Using Response Surface Methodology’, ‘Enzymatic Hydrolysis for Saccharification of Pre-treated Rice Straw’, ‘Analyses of Pretreatment Efficiency and Production of Glucose and Xylose Using HPLC & TLC’, ‘Ethanol Fermentation and Recovery’, ‘Strain Improvement for Pichia’.\r 3. Data :\r For the first time, rice straw was pretreated in a novel manner using hypochlorite-hydrogen peroxide (Ox-B) solution. The optimum pretreatment condition was analyzed by response surface methodology and the pretreated rice straw was hydrolyzed using two kinds of enzymes. Following hydrolysis, Saccharomyces cerevisiae and Pichia stipitis were inoculated for ethanol production. The optimum condition was 60 min pretreatment using Ox-B solution containing 0.6% hypochlorite and 25% hydrogen peroxide for 1 g rice straw in 240 ml total reaction volume. The Ox-B solution treatment was an essential step for efficient hemicelluloase hydrolysis. Under these conditions, 406.8 mg glucose and 224.0 mg xylose were obtained from 1 g rice straw. The structural change of rice straw after pretreatment and enzyme hydrolysis was examined by scanning electron microscopy. With the 10% initial sugar concentration, the final ethanol concentration was about 3.46%, which is 90.5 % of stoichiometric and fermentation efficiency yield.\r 4. Conclusions :\r Rice straw was pretreated in a novel mean by using an Ox-B solution broadly used in potable water treatment. Pretreatment modified the structures of lignocelluloses. The Ox-B solution treatment was an essential step for efficient hemicelluloase hydrolysis. Pretreatment modified the structures of cell wall. Further optimization studies of the fermentation process and strain improvement research (for derepressed mutant) are in progress. In the future, I hope to see cultivators to move by the ethanol produced from rice straw and agricultural wastes.
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Automatic Sterilization System for Operating Rooms?
The ASSOR is a device that allow to perform the sterilization function in hospital areas, the most important sectors of the hospital where it is required to implement this type of systems are the operating rooms, intensive cares, baby care, pathology, etc. The principle of the present project is a system that enables or either disables a valve that allows the fluid of the product, antiseptic or sterilizing, inside the room to be sterilized. The main application of this system is, after the manual cleansing of the room, in a control board, the procedure is turned on. The ASSOR consists, in general, of an electro valve that controls the fluid of the antiseptic into the room, a fan system, the electronic control circuit for the application of the product and electronic circuit to have a synchronized control of the system, and finally the product application in the target room.
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多重電極並聯情況下交、直流電解水的比較研究
The temperature of the water was commonly higher and both of electrodes were oxidized during electrolysis by using alternating current, but the above happenings were only found at the positive electrode by using direct current. It can be explained by the principle of the microwave stove. The exchange of the current causes the water molecules to release heat. The strength and weakness of electrolytes, the length and width of the electrodes, and the frequency of the alternating current can affect the rate of electrolysis of water. Commonly speaking, the stronger the electrolyte is, the faster the rate of electrolysis will be. NaOH and HNO3 are strong electrolytes, but the amount of the gas is zero during electrolysis by using alternating current. Maybe both of electrolytes react with stainless-steel electrodes to form some kinds of protective layers to affect the conduction of current. When copper bars, carbon bars, and iron nails are used as electrodes, either the alternating current or direct current is used, the amount of the gas is very small. Maybe these electrodes react with oxygen produced during electrolysis to form oxidized layers to block the conduction of current. Long and wide electrodes produce more amount of the gas. The amount of the gas increases when the frequency of the alternating current increases. The longer the distance between electrodes is, the smaller the amount of the gas will be. The smaller the angle between electrodes is, the smaller the amount of the gas will be, too. When the number of multiple electrodes in parallel increases, the total amount of the gas almost increases. The amount of the gas is smaller at the farther electrode. The amount of the gas at the electrode at the same distance becomes smaller when the number of multiple electrodes in parallel increases. At the same voltage, the effective current of the alternating current is about 0.707 of that of direct current. So we can predict that the total amount of the gas elect rolyzed by alternating current must be about 0.707 of the total amount of the gas electrolyzed by direct current. When we used stainless-steel electrodes and the electrolyte- H2SO4, we found the ratio was about 0.4286. Maybe the system of the electrolysis of water doesn’t obey the ideal linear system of Ohm’s Law and some part of electrical energy is wasted by increasing the temperature of the water and the oxidization of electrodes.
交流電解普遍水溫較高且兩極都有被氧化現象,直流電解則只有正極有上述現象,可能是交流電有類似微波爐的原理,電流交替時造成水分子震盪發熱。電解質強弱、電極種類、電極長短粗細、交流電頻率會影響電解水速率:強電解質較快,但NaOH 、KNO3 雖是強電解質,在交流電解時,氣體產生量幾乎是零,這可能是他們與不銹鋼電極反應形成某種保護層而影響導電;以銅棒、碳棒、鐵釘為電極時,不管是交流電或直流電,氣體體積都很小,這可能是這些電極和產生的氧氣反應,形成氧化層阻礙了導電;長的和粗的電極氣體產生量較多;交流電頻率越大,則電解所產生的氣體量也隨之增加;電極之間的距離越大兩極的氣體體積越小;兩電極之間的角度越小,兩極的氣體體積越少;多重電極並聯的個數越多,總氣體體積約略越大,距離越遠的氣體體積越小,同距離的氣體體積隨並聯的個數越多氣體體積越小。在相同電壓下,交流電輸出的均方根電壓(電流)為直流電電壓(電流)的0.707 倍(1/√2),所以推測交、直電解水的氣體總體積比值也應為0.707,但我們以不銹鋼為電極、H2SO4 為電解液下比值為0.4286,這可能是本電解水系統並非為遵守歐姆定律的理想線性系統,且電解水時部分電能被消耗在水溫的升高及電極的氧化上。
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The Main Features Of Climate Change On The South-West Of Yakutia In The Last 100 Years
1. Purpose of the research to detect the dynamics of the change of moisture regime on the territories of Olekminsk area for the past 100 years.\r 2. Procedures for analysis we used as materials of observations on the testing areas of school of ecological control of our Center, so and of the meteorological station Jikimda situated on the territories of Olekminsk reserve, as literary sources. Time-series analysis was conducted as to following scheme: for period 1901 -1914, 1949-1958 and for period 1996 -2009.\r 3. Data The changes of the temperature of air and sediments for the period of instrumental observations from 1901 to 2009 were analyzed\r 4. Conclusions Climate is characterized with many parameters coming in radiation, the heat and aqueous balances of territory. The most simple and widely measured parameters are the temperature of air and the quantity of atmospheric condensation. Carried out researches and the analysis of received results let us make tentative conclusions:\r 1. Average amount of precipitation increased on 41% (with 229 mm during the period 1901-1914 till 390 mm for period 1998 - 2006)\r 2. The decrease of firm precipitation in cold period and increasing of fluid precipitation in warm period are noticed for 100 years.\r 3. The gross amount of days with precipitation grows from 135 days (period 1901 - 1914) till 160 days (for period 1996 - 2006). For period 1901 -1914 a month with the greatest quantity of days with precipitation is January. The middle quantity of days with precipitation in it composes 16 days. A month with the least quantity of days with precipitation is July. The middle quantity of days with precipitation in it composes 8 days for period 1996 -2006. We should note that though increasing of the quantity of days with precipitation is on the cold period of year, increasing of the value of precipitation arises at expense of warm months. This reflects well the annual motion of the force of precipitation as to studied periods, the force of precipitation grows, in the first case achieving maximum in August, into second - in July. The maximal significances of the force of the precipitation of second period exceed of such the first period almost in two times.\r 4. The disposition of meteorological phenomena shows the change of climate to moistness. There are more days with fog, snow-storm, the quantity of days with precipitation increases from more 1mm, so more and 5 mm and it’s noticed that the quantity of days at a speed of wind more 10 and 15m/sec increases.\r 5. The change of the precipitation amount, especially in warm period affects the level and the expense of water in the Lena River. Analyzing as to decades the statistics on stratum of flow as to stratum flow since 1930 till 2006 can be noted tendency increasing of stratum flow from 132.8 mm in 1930 till 289 mm in 2006. The significance of the annualized expense of water with 6370 in 1999 till 8710 m/sec in 2006 enlarge, the annualized level of water changes from 282 till 376 cm. It is according. The area of the movement of the significances of the indicators changes to their increasing in the course of the year for the last 10 years. Averaging their significance exceed the norm of 18%.\r In conclusion we want to note that global change of climate actually touches all of us and already has significant influence on natural environment and the life of people. In simple words warming - the increase of temperature - for the many areas of our north country might become a favorable change of the conditions of life. But the trouble is that the change of climate is much more complex process, and one of its main manifestations is the augmentation of the instability of climatic conditions, changes of flora and fauna, increasing of infectious diseases. This influences badly on natural ecosystems and complicates the life of people. Besides, too quick warming does not let natural ecosystems adapt themselves, and they can be destroyed. And at least now we shouldn’t wait doing nothing, it is necessary to take all efforts to try to reduce climate change effect.
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筆者將K?Cr?O?置於明膠溶液中煮沸,加入AgNO?水溶液,使之造成空間震盪反應。產生Liesegang ring。並且在研究空間震盪的過程中,筆者在研究過程中同時發展出一個程式,可以完成空間震盪實驗完成之後,由其震盪條紋的時空關係,得知ksp與擴散係數。或者可以在已知ksp和擴散係數的條件之下,預測出空間震盪實驗完成時的情形。We put K?Cr?O? into glutin, boiling it. After it concretizes, add AgNO? aqua into the glutin of K?Cr?O?. It is made to be space oscillation reaction with the Liesegang rings. And when we research for the process of space oscillation, we develop a program which can know the Ksp or diffusing coefficient after finising an experiment in Lablratory. Or we can predict the statement after the experiment on the condition of the Ksp and diffusing coefficient.
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The human eyes can adjust automatically the color of object under different illuminants. But digital camera does not have such mechanism, must join the white balance to simulate the color constancy of human eyes. There are many existing white balance methods. They can be categorized into two types. The first type utilizes the widespread assumption on the dealing natural scenery, which has the advantage of simplicity. Another type explores knowledge of the semantic content, which has the advantage of accuracy. In this study we modify and enhance the widespread assumption methods that can adopt the advantage of the simplicity and accuracy. Our proposed method is structured in two main parts: a color cast detector and a color cast remover. The detector first analyzes the color distribution of the image with simple statistical tools to determine whether or not the image has color cast. The remover, a modified and enhanced version of the widespread assumption methods ( gray world and max RGB ), is then applied on the color cast image. From the experiment results, it demonstrates the efficacy and performance of the proposed method.人類的視覺能夠自動修正因光線變化而改變的物體顏色,但是數位取像設備的感光元件卻不具有這樣的功能,必須加入白平衡的功能,才可模擬人眼維持色彩恆常的特性。現有的白平衡演算法可分為兩大類型,第一類型為廣泛假設型,具有運算速度快、與取像設備無關的特性,但是平均誤差會較大;另一類型為預知特性型,其特徵為準確性較高,但是運算較速度較慢、建立色彩特性資訊時所需的成本較高,本篇研究針對廣泛假設型的演算法做些修正與增強,使其具有較小的平均誤差以獲得較佳色彩品質的影像。我們將影像的色偏校正分為色偏偵測與色偏移除等兩個階段來進行,由於僅有被偵測出有色偏的影像才需要進行色偏的移除,所以可以避開將無色偏或固有色偏的影像做錯誤的修正,由實驗的結果看來,我們的方法確實有效,除了具有運算速度快、與取像設備無關的優點外,其色偏校正能力也較現有的方法好,使得影像色彩更能與人眼所見相近。
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近幾年來,蠶繭彩色化已引起廣泛的注意,日本與中國大陸紛紛投入此研究領域。我們用食用色素、酸性染料和活體染色劑中性紅等色素水溶液,以沾附於桑葉餵食、浸泡蠶體、注射入蠶體血腔等方法,使白色繭品系的家蠶生產出多種顏色的彩色蠶繭,其中以附於桑葉餵食最有效率,我們就此法找出投與色素的有效期間,可以比日本、中國的方法更節省色素。同法處理黃色品系的家蠶則產生黃色與所加色素的混合色蠶繭。由於這樣得到的彩色蠶繭放久了都會褪色,我們試用奈米色素餵食家蠶所得彩色蠶繭,與一般食用色素所製成的彩色蠶繭比較,發現對各種光照、清潔劑清洗等處理,用奈米色素所得蠶繭明顯較用一般食用色素所得蠶繭不易褪色。這樣用奈米色素生產的彩色蠶繭,因為解決了褪色的問題而更具有潛在的產業價值。To make silkworm cocoons with different colors has received a great attention recently. Japan and China have invested great resources in this field of the study. In order to let white cocoon silkworms produce cocoons of different colors, we used the aqueous solutions of food dyes, acid dyes and neutral red, and fed the worms with mulberry leaves immersed with such aqueous solutions, or directly soaked or injected them with the solutions. We found that using mulberry leaves immersed in the dye solutions was the best approach. We improved this approach by finding a critical, effective time of applying dyes. It saved the dyes and labor than those of Japan and China. We also found that yellow cocoon silkworms produced yellow and mixing colored cocoons by the mulberry leaf feeding method with the same dyes. Because all colors of the cocoons mentioned above faded easily, we furthermore tested nano-dye and found that colors of the cocoons had better resistant to fading away in washing with detergents under various types and intensities of light illumination. This result suggested that nano-dye has a potential in solving the fading problem of the colored cocoons.
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M24WS2 (Multiple Mode 4 Wheel Steering System)
\r The idea for my steering system started from a discussion with my Tech teacher about a wheel the Mechatronics and Robotics Research group of Massey University were working on. It featured precision shaped rollers at 45 degrees to the wheel’s axle. The idea was that with a number of these wheels a vehicle could go in any direction, depending on the rate that each wheel was revolving. \r
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