Robust and precision motion control system of linear-motor direct drive for high-speed X-Y table positioning mechanism

In this paper, design and implementation of an H/sub /spl infin//-based precision motion control system is presented for a high-speed linear-motor direct-drive X-Y table positioning mechanism in semiconductor wire-bonding applications. The system works with a cascaded robust feedback control, which has an inner loop velocity controller and an outer loop position controller, and an autotuning feedforward compensator. The design aim is to achieve high and consistent tracking performance even in the presence of considerable resonance uncertainties and external disturbances. Toward this aim the velocity controller is designed using H/sub /spl infin// optimization technique, based on reduced-order modeling that considers three significant resonance modes and neglects all other resonance modes having an insignificant amplitude and/or too high frequency. These neglected modes and variations of the three resonance modes from machine to machine (due to manufacturing tolerance) and/or with different operating conditions are taken care of by appropriate additive uncertainty representation in the design phase. The resulting system is validated and implemented with a profile motion of a maximum acceleration of 5.2 g (1g=9.81 m/s/sup 2/) on mass-produced wire bonding machines.     

玻璃碳电极的激光改性处理

玻璃碳电极（ＧＣＥ）用激光脉冲照射处理后，电化学反应行为发生很大变化。背景电流减小，Ｆｅ３＋／Ｆｅ２＋氧化还原电对的电极反应速率显著提高，抗坏血酸（ＡＡ）在电极上呈现明显的吸附作用。     

Pseudohalide‐Induced Recrystallization Engineering for CH3NH3PbI3 Film and Its Application in Highly Efficient Inverted Planar Heterojunction Perovskite Solar Cells

High crystallinity and compactness of the active layer is essential for metal‐halide perovskite solar cells. Here, a simple pseudohalide‐induced film retreatment technology is developed as the passivation for preformed perovskite film. It is found that the retreatment process yields a controllable decomposition‐to‐recrystallization evolution of the perovskite film. Corresponding, it remarkably enlarges the grain size of the film in all directions, as well as improving the crystallinity and hindering the trap density. Meanwhile, owing to an intermediate catalytic effect of the pseudohalide compound (NH₄SCN), no crystal orientation changing and no impurity introduction in the modified film. By integrating the modified perovskite film into the planar heterojunction solar cells, a champion power conversion efficiency of 19.44% with a stabilized output efficiency of 19.02% under 1 sun illumination is obtained, exhibiting a negligible current density–voltage hysteresis. Moreover, such a facile and low‐temperature film retreatment approach guarantees the application in flexible devices, showing a best power conversion efficiency of 17.04%.     

Efficient and photostable CsPbl2Br solar cells realized by adding PMMA

Organic-inorganic hybrid perovskite materials demonstrate promising applications in high-efficiency perovskite solar cells (PSCs) with a certified power conversion efficiency (PCE) of 25.5％ (https://www.nrel.gov/pv/cell-efficiency.html).However, intrinsically volatile and thermally unstable nature of the organic cations result in poor thermal stability of organic-inorganic hybrid perovskite materials, hampering the commercialization of organic-inorganic hybrid PSCs[1].All-inorganic CsPbl3-xBrx (x =0-3) perovskites have been attracting great attention in recent years because of their higher thermal stability[2].Among the reported CsPbl3-xBrx perovskites, CsPbl2Br bears a reasonable balance between bandgap and phase stability, thus becomes the most extensively studied material[3-15].Though there are many works aiming at achieving high-efficiency CsPbl2Br PSCs, improving the photostability of CsPbl2Br PSCs is another key for commercialization of all-inorganic PSCs.Intriguingly, it has been reported that CsPbl2Br is susceptible to make light-induced phase segregation, i.e.severe segregation of CsPbl2Br to low-bandgap I-rich and wide-bandgap Br-rich domains via ion diffusion, leading to obvious current-voltage hysteresis and decrease of stabilized power output (SPO)[16-20].Such a light-induced phase segregation can be suppressed by optimizing the interface between perovskite layer and charge-transport layer[18, 19].     

一种基于实时几何测距的船桥主动防撞方法

本文提出一种基于实时几何测距的船桥主动防撞方法.该方法对船的改动量甚微,仅需维持多项距离矩阵,通过告警逻辑矩阵进行展示与告警,能起到很好的船桥防撞提示效果.     

串联机械臂及视觉控制探究

本文从串联机器人和视觉技术的应用方面,对机器人如何通过视觉完成复杂的包装工作进行探究.     

低成本火箭弹弹载计算机的设计

低成本制导火箭弹是一种对点目标具有较高命中概率的低成本灵巧弹药,具有较高的作战效费比。弹载计算机是火箭弹制导控制系统的核心,本文从弹载计算机的运算和接口处理要求出发,充分考虑相关电路低成本、高可靠性的实现方法,为火箭弹低成本、制导化的实施提供参考。     

激光治疗皮肤色素性及血管性病变的疗效观察

本文报告用维纳斯多波长、多功能的固体激光、治疗各种色素性及血管性病变379例。其中对黑兰色素性病变治愈率可达98％以上，对血管性病变治愈好转率可达80％以上。该治疗方法副作用少，目前是治疗色素性疾病及血管性疾病的最好方法。     

大功率CO2混合模激光束传输参数的精确测量

根据大功率 CO2 混合模激光束横截面强度分布的变化规律 ,任选两个横截面的强度分布 ,采用数值迭代方法 ,精确计算出混合模传输的光学参数。