Efficient and Scalable Large-Area Organic Solar Cells by Asymmetric Nonfullerene Acceptors Based on 9H-Indeno[1,2-b]pyrazine-2,3,8-Tricarbonitrile

It remains challenging to fabricate efficient, scalable large-area organic solar cells (OSCs) owing to the unfavorable morphology of photoactive blend films. To address this challenge, two asymmetric nonfullerene acceptors (NFAs) IPC1CN-BBO-IC2F and IPC1CN-BBO-IC2Cl are synthesized, where 12,13-bis(2-butyloctyl)-3,9-diundecyl-12,13-dihydro-[1,2,5]thiadiazolo[3,4-e]thieno[2′“,3′”:4′,5′]thieno[2′,3′:4,5]pyrrolo[3,2-g]thieno[2′,3′:4,5]thieno-[3,2-b]indole (BBO) is the molecular core, and two types of end groups are appended to its ends, namely the 9H-indeno[1,2-b]pyrazine-2,3,8-tricarbonitrile (IPC1CN) end group and one of 2-(5,6-dihalo-3-oxo-2,3-dihydro-1H-inden-1-ylidene)malononitrile end groups (IC2F or IC2Cl). These NFAs facilitate effective tuning of light absorption and energy levels, offer high carrier mobilities, and allow for the formation of appropriate morphologies. Note that these benefits apply even to large-area devices, unlike typical Y6-based NFAs. In addition, a random copolymer PM6-PBDBT(55) is synthesized and its energy levels are optimally matched with those of the asymmetric NFAs. The blade-coated 1 cm²-area OSCs based on PM6-PBDBT(55):IPC1CN-BBO-IC2Cl exhibit a PCE of 14.12%, which is higher than that of PM6-PBDBT(55)-IPC1CN-BBO-IC2F-based OSCs. More importantly, the PM6-PBDBT(55):IPC1CN-BBO-IC2Cl-based large-area (58.50 cm²) modules yield an impressive PCE of 11.28% with a small cell-to-module loss in fill factor. These results suggest that a combination of the asymmetric molecular design using the IPC1CN group and the terpolymer strategy will pave a new path for fabricating highly efficient and scalable large-area OSCs.     

Nucleation and crystallization kinetics of CaO-Al2O3-2SiO2 in powdered anorthite glass

The nucleation and crystallization kinetics of CaO-Al₂O₃-2SiO₂ crystals in powdered anorthite glass with particle size <44 m in which CaO-Al₂O₃-2SiO₂ crystals were found to crystallize in the heating process of the glass, were studied by nonisothermal measurements using differential thermal analysis (DTA). The temperature of maximum nucleation rate was determined from the DTA curves of samples heat treated at different temperatures. The activation energy and kinetic parameters were simultaneously calculated from the DTA data using previously reported kinetic models. The crystallization process of a sample heat treated at the temperature of the maximum nucleation rate was fitted to kinetic equations with an Avrami constant, n2 and a dimensionality of crystal growth, m2, indicating that the constant number of nuclei of CaO-Al₂O₃-2SiO₂ precipitated in a glass matrix grew two-dimensionally with an activation energy taken as an average of the values calculated by the Kissinger and also the Augis and Bennett method of 679±4 kJ mol^–1.     

Model-driven design space exploration for multi-robot systems in simulation

Multi-robot systems are increasingly deployed to provide services and accomplish missions whose complexity or cost is too high for a single robot to achieve on its own. Although multi-robot systems offer increased reliability via redundancy and enable the execution of more challenging missions, engineering these systems is very complex. This complexity affects not only the architecture modelling of the robotic team but also the modelling and analysis of the collaborative intelligence enabling the team to complete its mission. Existing approaches for the development of multi-robot applications do not provide a systematic mechanism for capturing these aspects and assessing the robustness of multi-robot systems. We address this gap by introducing ATLAS, a novel model-driven approach supporting the systematic design space exploration and robustness analysis of multi-robot systems in simulation. The ATLAS domain-specific language enables modelling the architecture of the robotic team and its mission and facilitates the specification of the team’s intelligence. We evaluate ATLAS and demonstrate its effectiveness in three simulated case studies: a healthcare Turtlebot-based mission and two unmanned underwater vehicle missions developed using the Gazebo/ROS and MOOS-IvP robotic platforms, respectively.

     

New approaches to characterizing and understanding biofouling of spiral wound membrane systems

Historically, biofouling research on spiral wound membrane systems is typically problem solving oriented. Membrane modules are studied as black box systems, investigated by autopsies. Biofouling is not a simple process. Many factors influence each other in a non-linear fashion. These features make biofouling a subject which is not easy to study using a fundamental scientific approach. Nevertheless to solve or minimize the negative impacts of biofouling, a clear understanding of the interacting basic principles is needed. Recent research into microbiological characterizing of biofouling, small scale test units, application of in situ visualization methods, and model approaches allow such an integrated study of biofouling.     

A new seam-tracking algorithm through characteristic-point detection for a portable welding robot

The welding task in double-hulled structures in shipyards and in steel-frame structures is hazardous and difficult due to the toxic gas and limited workspace. Therefore, many efforts have been undertaken for automation. The main challenge for automation is the development of a simple and robust seam-tracking algorithm that can be applied to a portable welding robot that operates under irregular and diverse task conditions in the workspace. We developed a seam-tracking algorithm for weaving weld path planning using a laser displacement sensor. The goal of the proposed algorithm is to detect the seam of single-butt welding with manually tack-welded non-zero gaps. The focus is on keeping the algorithm simple and affordable so that it can be applied to portable robots that operate in hazardous fields. The algorithm consists of four steps: scanning, filtering, generation of the reference points, and path planning. In the scanning process, the depth data of a cross-section of the seam profile is obtained. Next, a Gaussian filter is used to remove noise from the raw data. A differential characteristic-point detection algorithm is applied to the filtered data to detect the reference points that represent the shape and location of the gap to be welded. Finally, path planning for single-V butt multi-pass welding is done based on the detected reference points. A portable four-axis welding robot is built using the developed algorithm. The algorithm is validated through welding experiments regarding a single-V butt welding task with a manually tack-welded non-zero gap.     

A probability matrix based particle swarm optimization for the capacitated vehicle routing problem

Particle swam optimization (PSO) is a relatively new metaheuristic that has recently drawn much attention from researchers in various optimization areas. However, application of PSO for the capacitated vehicle routing problem (CVRP) is very limited. This paper proposes a simple PSO approach for solving the CVRP. The proposed PSO approach uses a probability matrix as the main device for particle encoding and decoding. While existing research used the PSO solely for assignment of customers to routes and used other algorithms to sequence customers within the routes, the proposed approach applies the PSO approach to both simultaneously. The computational results show the effectiveness of the proposed PSO approach compared to the previous approaches.     

MoS2/MoTe2 Heterostructure Tunnel FETs Using Gated Schottky Contacts

2D transition metal dichalcogenide based van der Waals materials are promising candidates to realize tunnel field effect transistors (TFETs) with a steep subthreshold swing (SS) for low‐power applications. Their atomically flat, self‐passivated layers offer potentially defect free interlayer tunneling. There are still several issues that need to be addressed to experimentally achieve a steep SS, e.g., the Schottky contacts, impact of thick layers, and device architecture with respect to gate configuration. This paper resolves these challenges by experimentally demonstrating MoS₂/MoTe₂ TFETs and their electrical characteristics, in conjunction with ab initio simulations and surface Kelvin probe microscopy. The Schottky barrier's effect at the contact regions are isolated by fabricating individual buried gates below the contacts. Devices with different top and bottom gate configurations are produced to understand the impact of gate placement on the heterostructure characteristics. Quantum transport simulations are performed on MoS₂/MoTe₂ multilayer stack to evaluate the impact of multiple layers on TFET performance, effect of gate placement, and the mechanism behind indirect tunneling over the heterojunction region. This work highlights the influence of the Schottky contacts, multiple layers and the role of different gate configurations on the band‐to‐band tunneling phenomenon in 2D heterojunction TFETs.     

Automata-based verification of programs with tree updates

This paper describes a verification framework for Hoare-style pre- and post-conditions of programs manipulating balanced tree-like data structures. Since the considered verification problem is undecidable, we appeal to the standard semi-algorithmic approach in which the user has to provide loop invariants, which are then automatically checked, together with the program pre- and post-conditions. We specify sets of program states, representing tree-like memory configurations, using Tree Automata with Size Constraints (TASC). The main advantage of this new class of tree automata is that they recognise tree languages based on arithmetic reasoning about the lengths of various (possibly all) paths in trees, like, e.g., in AVL trees or red–black trees. TASCs are closed under union, intersection, and complement, and their emptiness problem is decidable. Thus we obtain a class of automata which are an interesting theoretical contribution by itself. Further, we show that, under few restrictions, one can automatically compute the effect of tree-updating program statements on the set of configurations represented by a TASC, which makes TASC a practical verification tool. We tried out our approach on the insertion procedure for red–black trees, for which we verified that the output on an arbitrary balanced red–black tree is also a balanced red–black tree.     

Gait planning based on kinematics for a quadruped gecko model with redundancy

Recent research on mobile robots has focused on locomotion in various environments. In this paper, a gait-generation algorithm for a mobile robot that can travel from the ground to a wall and climb vertical surfaces is proposed. The algorithm was inspired by a gecko lizard. Our gait planning was based on inverse kinematics using the Jacobian of the whole body, where the redundancy was solved by defining an object function for the gecko posture to avoid collisions with the surface. The optimal scalar factor for these two objects was obtained by defining a superior object function to minimize the angular acceleration of joints. The algorithm was verified through simulation of the gecko model travelling on given task paths and avoiding abnormal joint movements and collisions.