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.     

Synthesis of Ionic Ultramicroporous Polymers for Selective Separation of Acetylene from Ethylene

The design of highly stable and efficient porous materials is essential for developing breakthrough hydrocarbon separation methods based on physisorption to replace currently used energy-intensive distillation/absorption technologies. Efforts to develop advanced porous materials such as zeolites, coordination frameworks, and organic polymers have met with limited success. Here, a new class of ionic ultramicroporous polymers (IUPs) with high-density inorganic anions and narrowly distributed ultramicroporosity is reported, which are synthesized by a facile free-radical polymerization using branched and amphiphilic ionic compounds as reactive monomers. A covalent and ionic dual-crosslinking strategy is proposed to manipulate the pore structure of amorphous polymers at the ultramicroporous scale. The IUPs exhibit exceptional selectivity (286.1–474.4) for separating acetylene from ethylene along with high thermal and water stability, collaboratively demonstrated by gas adsorption isotherms and experimental breakthrough curves. Modeling studies unveil the specific binding sites for acetylene capture as well as the interconnected ultramicroporosity for size sieving. The porosity-engineering protocol used in this work can also be extended to the design of other ultramicroporous materials for the challenging separation of other key gas constituents.     

NH_3-OH体系中共沉淀法同时回收钕铁硼废料中Nd-Pr-Co-Fe

为了避免回收单一钕铁硼废料中有价元素带来的操作复杂和资源浪费等问题,本研究采用共沉淀法共沉淀出钕铁硼废料中的有价元素Me(Nd,Pr,Co,Fe),制备可用于生产再生钕铁硼的原料;根据质量守恒和同时平衡原理,采用MATLAB软件建立Me(Nd,Pr,Co,Fe)-OH--NH3热力学模型,绘制lg[Me]-p H曲线模拟共沉淀工艺,并根据模拟结果确立了共沉淀工艺;模拟和实验的结果表明:根据lg[Me]-p H模拟结果可以确立一步共沉淀法的p H:6~10,Fe3+比Fe2+更易于沉淀完全;在上述条件下获得的共沉淀粉末主相均为Nd,Pr,Co,Fe的化合物,且有价元素的百分比含量均大于99.4%;其中,当p H值在8左右时回收率最高,在该条件下金属元素Me(Nd,Pr,Co,Fe)的沉淀效率分别为:98.7%,99.9%,93.6%,99.9%。该结果也表明共沉淀法工艺不仅高效,而且所制备的共沉淀粉末可以满足制备二次钕铁硼的需要。     

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.     

渣油中硫化物类型分布与化学转化性能

用X射线光电子能谱（XPS）定量研究了Athabasca渣油及其加氢裂化渣油，流化焦化渣油中的硫化物类型，用超临界流体萃取分馏将3种渣油分别分离成9－14个窄馏分及残渣，测定其中的硫醚，噻吩，亚砜和砜类硫原子的分布，讨论了加氢裂化和热裂化反应脱除硫化物的反应性能。     

基于ISP技术的自动测试系统信号处理研究

在VXI总线模块及GPIB仪器构成的自动测试系统中 ,利用ispLSI10 3 2实现了测试信号的动态分配和预处理 ,有效解决了测试平台对多种复杂被测对象的适配问题。     

基于传递矩阵算法的裂隙注浆扩散机制研究

在裂隙岩体注浆工程中,由注浆压力引起的裂隙位移对注浆扩散过程影响显著。为研究浆体在裂隙岩体流动时浆液的扩散规律,克服以往假设裂隙无开度变化且仅在单一裂隙内考虑浆液扩散的情况,将传递矩阵算法引入宾汉流体本构方程,利用传递矩阵求解任意位置处的裂隙位移,同时建立考虑浆液在岩体间劈裂注浆的简化裂隙岩体模型通过加设阻力来模拟浆液在岩体内扩散的能量耗损,从而在平板裂隙条件下可以完整准确描述浆液在裂隙中及岩体间连续扩散的过程,建立了基于传递矩阵法的裂隙岩体注浆模型。应用有限元软件ＣＯＭＳＯＬ分别建立单裂隙、多裂隙注浆模型对上述理论模型进行对比验证。     

少资料条件河渠冬季冰情过程模拟研究

针对天然河道开展冰情过程数值模拟普遍存在的河道断面资料、水文和气象资料缺少的难题,本研究提出了时均气温和时均太阳辐射计算方法和支流流量的动态分配方法,即根据实测日最大气温、日最小气温和日净太阳辐射率定出关键影响参数,模拟出给定气象站的时均气温和时均太阳辐射的变化过程;通过上游流量向下游传播过程的特征分析,推演出缺少支流流量条件下河道区间支流流量分配的合理比例。将本文方法应用到黄河内蒙河段冰情过程模拟计算中,模拟的巴彦高勒冰盖厚度值和冰盖前沿的发展同实测值吻合良好。本研究成果可应用到少资料条件下江、河、渠道冰情演变过程的数值模拟中,为天然河道冰情的准确模拟提供方法支撑。