Photophysical investigation of the formation of defect levels in P doped ZnO thin films

Zinc oxide (ZnO) offers a major disadvantage of asymmetry doping in terms of reliability, stability, and reproducibility of p-type doping, which is the main hindrance in realization of optoelectronic devices. The problem is even more complicated due to formation of various native defects in unintentionally doped n-type ZnO. The realization of p-type conductivity in doped ZnO requires an in-depth understanding of the formation of an effective shallow acceptor, as well as donor-acceptor compensation. Photophysical properties such as photoconductivity along with photoluminescence (PL) studies have unprecedentedly and effectively been utilized in this work to monitor the evolution of various in-gap defects. Phosphorus (P) doped ZnO thin films have been grown by RF magnetron sputtering under various Ar to O₂ gas ratios to investigate the effect of O₂ on the donor-acceptor compensation by comprehensive photoconductivity measurements supported by the PL studies. Initial elemental analyses indicate presence of abundant zinc vacancies (V_Zn) in O-rich ambience. The results predict that P sits in the zinc (Zn) site rather than the oxygen (O) site causing the formation of P_Zn–2V_Zn acceptor-like defects, which compensates the donor defects in P doped ZnO films. Photocurrent spectra uniquely reveal presence of more oxygen vacancies (V_O) defects states in lower O₂ flow, which gets compensated with an increase in the O₂ flow. Successive photocurrent transients indicate probable presence of more V_O in the films grown with lower O₂ flow and more V_Zn in higher O₂ flow. Overall the photosensitivity measurements clearly present that O-rich ambience expedites the formation of acceptor defects which are compensated, thereby lowering the dark current and enhancing the ultraviolet photosensitivity.     

适应不同重力环境的仿壁虎机器人运动仿真

针对不同重力环境下仿壁虎机器人的运动稳定性、运动高效协调性等问题,基于四足机器人的步态规划现状和仿壁虎机器人自身特定的机械结构,设计了仿壁虎机器人在g、0、-g 3种环境下的足端轨迹和运动步态。在ADAMS仿真软件中研究了机器人的运动学和动力学特性,得到了仿壁虎机器人稳定爬行与脚掌黏附力、足端轨迹和运动步态的关系。探讨了仿真结果的合理性和局限性,为仿壁虎机器人在实际环境中的稳定运动奠定了理论基础。     

Friction compensation controller for load varying machine tool feed drive

The load applied to a machine tool feed drive changes during the machining process as material is removed. This load change alters the Coulomb friction of the feed drive. Because Coulomb friction accounts for a large part of the total friction the friction compensation control accuracy of the feed drives is limited if this nonlinear change in the applied load is not considered. This paper presents a new friction compensation method that estimates the machine tool load in real time and considers its effect on friction characteristics. A friction observer based on a Kalman filter with load estimation is proposed for friction compensation control considering the applied load change. A specially designed feed drive testbed that enables the applied load to be modified easily was constructed for experimental verification. Control performance and friction estimation accuracy are demonstrated experimentally using the testbed.     

Adaptive compensation of persistent actuator failures of nonlinear systems

In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time-varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed-loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.     

Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

低觉醒脑电识别与唤醒的可穿戴系统研究

为智能化地识别警戒作业人员出现的低觉醒、注意力下降的生理状态，本文介绍了一种基于FPGA和脑电信号处理的低觉醒状态检测与唤醒系统，系统通过传感器从大脑头皮采集脑电信号，转换为数字信号，经傅里叶变换获取了脑电信号的θ相对能量、α相对能量、重心频率、谱熵等4个特征量，由4个特征量表征低觉醒状态并运用支持向量机对低警戒状态进行识别，当识别出低觉醒状态时采用声音报警模块发出声音，唤醒警戒作业人员。设计系统能够较好地识别出低觉醒状态，识别率达90.8%，可为提高警戒作业工作绩效提供一种可穿戴的智能装备。     

重力坝坝基多斜面抗滑稳定模糊体系可靠度研究

以基岩具有多斜面、多滑移通道的某实际重力坝工程为例,基于刚体极限平衡法,采用模糊理论和几种典型的体系可靠度计算方法,研究其典型坝段的坝基深层抗滑稳定模糊体系可靠度,探讨模糊理论中隶属函数形式、隶属度以及隶属函数中关键参数的取值对可靠度计算结果的影响。研究结果表明,采取限制失效概率模糊界限比的方法可使计算结果更具有参考性,考虑模糊性的抗滑稳定可靠指标的下限较常规可靠度计算值偏小,这在重力坝坝基抗滑稳定分析中应引起重视。     

论精神损害的国家赔偿责任

国家的侵权行为造成相对人的精神损害应当承担赔偿责任是当今世界国家赔偿制度的发展潮流与趋势.确立精神损害的国家赔偿责任对社会公平正义的实现、人权的保护及促使国家公职人员依法行使职权具有重大的意义,因而应在基于我国国情的基础上,构建我国的精神损害国家赔偿制度.     

DISPERSION COMPENSATION CFBG IN100km 10Gbit／s RECIRCULATING SYSTEMS

A 10Gbit/s recirculating system is configured with Chirped Fiber Bragg Grating (CFBG) for the dispersion compensation. For the first time, the transmission distance in the loop reaches 1000km with bit error rate of 10-9. The effect of the group delay ripple of the fiber grating is also investigated in the recirculating systems, and it is shown that the transmission distance is limited to 4 cycles (4×167.1km ) in the loop with the power penalty fluctuation below 1.0dB. Thus the group delay ripple should be reduced to allow for the wavelength drift of±5GHz. At the end of this letter, the principles are given for designing long haul recirculating systems with dispersion compensation CFBG.     

色散补偿及EDFA增益均衡的一体化

提出一种新的色散补偿及EDFA增益均衡的一体化方法。在10Gb／s的光通信系统和600km G652光纤中首次实现了基于16个碉啾光纤布拉格光栅(FBG)的色散补偿及掺饵光纤放大器(EDFA)的增益均衡。16个FBG的波长间隔为1．6nm，波长覆盖C波段1529～1556nm约27nm的范围。经600km G652光纤传输后，10Gb／s的NRZ码传输功率代价小于2dB。