Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Mobile Networks and Applications - Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in...     

Surface Reconstruction Engineering with Synergistic Effect of Mixed-Salt Passivation Treatment toward Efficient and Stable Perovskite Solar Cells

Surface passivation treatment is a widely used strategy to resolve trap-mediated nonradiative recombination toward high-efficiency metal-halide perovskite photovoltaics. However, a lack of passivation with mixture treatment has been investigated, as well as an in-depth understanding of its passivation mechanism. Here, a systematic study on a mixed-salt passivation strategy of formamidinium bromide (FABr) coupled with different F-substituted alkyl lengths of ammonium iodide is demonstrated. It is obtained better device performance with decreasing chain length of the F-substituted alkyl ammonium iodide in the presence of FABr. Moreover, they unraveled a synergistic passivation mechanism of the mixed-salt treatment through surface reconstruction engineering, where FABr dominates the reformation of the perovskite surface via reacting with the excess PbI₂. Meanwhile, ammonium iodide passivates the perovskite grain boundaries both on the surface and top perovskite bulk through penetration. This synergistic passivation engineer results in a high-quality perovskite surface with fewer defects and suppressed ion migration, leading to a champion efficiency of 23.5% with mixed-salt treatment. In addition, the introduction of the moisture resisted F-substituted groups presents a more hydrophobic perovskite surface, thus enabling the decorated devices with excellent long-term stability under a high humid atmosphere as well as operational conditions.     

Organic Semiconducting Luminophores for Near-Infrared Afterglow,Chemiluminescence, and Bioluminescence Imaging

Optical imaging has played a pivotal role in deciphering in vivo bioinformatics but is limited by shallow penetration depth and poor imaging performance owing to interfering tissue autofluorescence induced by concurrent photoexcitation. The emergence of near-infrared (NIR) self-luminescence imaging independent of real-time irradiation has timely addressed these problems. There are two main kinds of self-luminescent agents, namely inorganic and organic luminophores. Inorganic luminophores usually suffer from long-term biotoxicity concerns resulting from potential heavy-metal ions leakage and nonbiodegradability, which hinders their further translational application. In contrast, organic luminophores, especially organic semiconducting luminophores (OSLs) with good biodegradable potential, tunable design, and outstanding optical properties, are preferred in biological applications. This review summarizes the recent progress of OSLs used in NIR afterglow, chemiluminescence, and bioluminescence imaging. Molecular manipulation and nanoengineering approaches of OSLs are discussed, with emphasis on strategies that can extend the emission wavelength from visible to NIR range and amplify luminescence signals. This review concludes with a discussion of current challenges and possible solutions of OSLs in the self-luminescence field.     

Deacetylated Cellulose Acetate/Polyurethane Composite Nanofiber Membranes with Highly Efficient Oil/Water Separation and Excellent Mechanical Properties

Nowadays, oil pollution has become more serious, which causes great threats both to the ecological environment and human life. In this study, a novel type of multifunctional deacetylated cellulose acetate/polyurethane (d-M_CA:M_TPU) composite nanofiber membranes for oil/water separation are successfully fabricated by electrospinning, which show super-amphiphilicity in air, super-hydrophilicity in oil, and oleophobicity in water. All the d-M_CA:M_TPU composite nanofiber membranes with different mass ratios can be used as water-removing, oil-removing, and emulsion separation substance only by gravity driving force. The highest separation flux for water and oil reaches up to 37 000 and 74 000 L m⁻² h⁻¹, respectively, and all the separation efficiencies are more than 99%. They have outstanding comprehensive mechanics performance, which can be controlled by simply adjusting the mass ratios. They show excellent antifouling and self-cleaning ability, endowing powerful cyclic stability and reusability. Those results show that d-M_CA:M_TPU composite nanofiber membranes have great application prospects in oil/water separation.     

P-doped CoSe2 nanoparticles embedded in 3D honeycomb-like carbon network for long cycle-life Na-ion batteries

We report for the first time a Na-ion battery anode material composed of P-doped CoSe2 nanoparticles(P-CoSe2)with the size of 5-20 nm that are uniformly embed in a 3D porous honeycomb-like carbon network.High rate capability and cycling stability are achieved simultaneously.The honeycomb-like carbon network is rationally designed to support high electrical conductivity,rapid Na-ion diffusion as well as the accommodation of the volume expansion from the active P-CoSe2 nanoparticles.In particular,heteroatom P-doping within CoSe2 introduces stronger P-Co bonds and additional P-Se bonds that signif-icantly improve the structure stability of P-CoSe2 for highly stable sodiation/desodiation over long-term cycling.P-doping also improves the electrical conductivity of the CoSe2 nanoparticles,leading to highly elevated electrochemical kinetics to deliver high specific capacities at high current densities.Benefiting from the unique nanostructure and atomic-level P-doping,the P-CoSe2(2∶1)/C anode delivers an excel-lent cycle stability with a specific capacity of 206.9 mA h g-1 achieved at 2000 mA g-1 after 1000 cycles.In addition,this material can be synthesized using a facile pyrolysis and selenization/phosphorization approach.This study provides new opportunities of heteroatom doping as an effective method to improve the cycling stability of Na-ion anode materials.     

常减压装置设备腐蚀分析及防护措施

文章介绍了中国石油化工股份有限公司齐鲁石化分公司胜利炼油厂第二常减压蒸馏装置的总体情况,分析总结了装置在2000-2005年期间停工闲置及开工运行过程中设备腐蚀情况和防护中所做的工作,可供相似类型、相似状态的装置借鉴。     

激光熔覆Ni基SiC合金涂层组织与性能的研究

利用5kWCO2连续波激光器在16Mn钢基材表面对含20%(体积比)SiC陶瓷粉末的镍基自熔性合金粉末进行激光熔覆得到Ni基SiC合金涂层(NiSiC)。研究了合金涂层的组织形貌及相结构,并用单纯的镍基合金涂层(Ni60)进行了显微硬度及滑动磨损性能的对比试验。结果表明,NiSiC合金涂层由γ枝晶及其间的共晶组织组成,主要组成相为γ-Ni,γ-(Ni,Fe)固溶体和(Cr,Fe)7C3,Cr23C6及(Cr,Si)3Ni3Si等化合物。添加SiC的镍基合金涂层NiSiC比单纯的镍基合金涂层Ni60具有较高的硬度和耐磨性。     

Kinetic of CO2 absorption and carbamate formation in aqueous solutions of diethanolamine

The absorption rates of CO₂ into aqueous solutions of Diethanolamine (DEA) with varying concentrations from 0.2 to 4M and temperature range from 293 to 323 K were measured by using a laboratory stirred reactor. The CO₂ partial pressure was varied in a range that the reaction would occur in pseudo first order regime. Experimental data were analyzed and the kinetic parameters associated with the reaction were determined. The activation energy for the deprotonation of the intermediate zwitterion was estimated at about 11.4 kcal/mol. The contribution of carbamate formation to the overall absorbed CO₂ was experimentally evaluated and found to be of the order of 100%.     

壳体的有限元线法分析(Ⅰ)——基本理论

本文从退化壳理论[6]出发构造了任意曲面壳体的四边形有限元线法[1][2]单元。该单元满足 连续，为协调单元。对于所构造的单元，本文从最小势能原理出发推导出用该单元作壳体静力计算的控制微分方程和边界条件，得到一致的线法方程体系。全文共分两篇，此为上篇，主要介绍基本理论，数值算例将在下篇中给出。