A Visible and Near-Infrared Light-Fueled Omnidirectional Twist-Bend Crawling Robot

In recent years, although light-driven soft actuators have attracted intense scientific attention and achieved remarkable progress, the design and construction of an intelligent robotic system with maneuverability, self-adaptability, untethered control, and greater freedom of action, in particular the omnidirectional motion capability on a plane, remains challenging. Herein, four types of photo-thermal fillers and an unprecedented twist-bend actuation mode is introduced into a liquid crystal elastomer-based soft robot. The obtained twist-bend crawling robot not only exhibits in situ rotation, four-way turning, and four-way linear motion under light irradiation with four wavelength bands (520, 655, 808, and 980 nm), but also demonstrates the ability to avoid obstacles in complex geographical environments. This work may bring a new perspective for fabrication and development of soft robots that can adapt to dynamic and complex environmental conditions.     

有色量测噪声下带广义未知扰动的递推上限滤波

针对博弈对抗环境下利用快速采样雷达进行非合作目标跟踪带来的有色噪声和未知干扰共存问题, 本文提出有色量测噪声下带广义未知扰动的随机动态系统递推上限滤波. 这里, 有色量测噪声用于描述由于快速采样或持续干扰带来的噪声相关性, 广义未知扰动用于建模博弈对抗对雷达观测带来的异常影响(先验信息缺失). 针对所考虑系统, 通过参数优化实现状态估计误差协方差上限(而不是理论值)的在线递推, 提出有色噪声下上限滤波(CU-BF), 给出状态估计误差协方差最小上限的近似实现, 讨论了所提CUBF的存在性条件. 在具有时变未知扰动和有色量测噪声的目标跟踪仿真中验证了所提方法的有效性.     

阻尼累加离散GM(1,1)模型及其应用

基于阻尼累加生成算子和离散灰色预测模型的思想,提出一类新的阻尼累加离散GM (1,1)模型,并详细给出模型的推导过程,从理论上分析与经典GM (1,1)模型、离散GM (1,1)模型以及最近提出的阻尼累加GM (1,1)模型的关系,探讨模型的稳定性和数据适用类型分析,并利用量子粒子群优化算法计算出最优阻尼累加参数.最后将所提出模型应用于两个实际案例,结果表明所提出的阻尼累加离散GM (1,1)模型的拟合和预测误差均优于上述基准模型.     

分布式光伏电源接入对配电网影响

如今,电力能源已然成为世界发展中最重要的能源之一,世界各国大力发展经济,电力需求进一步增大。分布式能源的出现为解决这一棘手问题带来了新的希望,同时可再生清洁能源的综合利用更加符合现代化建设中的环保要求。其中,光伏发电单元是现在研究者关心的热点问题,其并网过程中可能对配网的电能质量带来较大的影响,所以研究光伏并网对其配网本身电压分布情况的影响具有重要的实际应用意义。     

面向逆变器并联的虚拟振荡器控制技术综述

虚拟振荡器控制作为继下垂控制和虚拟同步机控制之后提出的新型多逆变器无互联线并联技术,因其独特的自同步机制和快速的动态响应性能等特点而成为当前的研究热点。从控制结构、多机同步运行机制和动力学特性方面论述了虚拟振荡器的控制原理;从功率控制策略、小信号稳定性、新型虚拟振荡器方案3个方面对虚拟振荡器控制技术的研究现状进行了全面综述;分析并总结了虚拟振荡器控制与下垂控制、虚拟同步机控制的对比研究。结合目前虚拟振荡器控制面临的若干关键问题,对未来研究方向和可能的相关解决思路进行了探讨。     

考虑新能源不确定性的互联电网交换功率鲁棒优化模型

高比例新能源及其不确定性增加了多区域交流互联系统交换功率控制的难度,为保证区域间联络线传输功率的协调分布及其波动相对均衡,提出了一种考虑互联电网外特性的交换功率稳定控制模型。考虑互联系统自动发电控制(AGC)参与因子与联络线潮流分布的关联关系,推导并构建了互联系统AGC下的潮流模型。进而,以联络线功率波动幅值最小为目标函数,建立了基于鲁棒优化的区域交换功率稳定控制模型,并提出了一种基于松弛法的协同演化算法对该模型进行求解。以双IEEE 14节点和IEEE 118节点测试系统为例进行仿真分析,将无优化与鲁棒优化计算结果进行对比,结果表明鲁棒优化可以有效应对新能源随机出力的影响,对于外特性的稳定性具有明显改善效果,并验证了所提算法的有效性和实用性。     

一种宽带注入锁定三倍频器

文章提出了一种宽带注入锁定三倍频器。在传统注入方式基础上,倍频器采用了推-推差分对输入信号进行二倍频,并将产生的二次谐波通过变压器耦合至注入管的源极共模点,增强了注入管源极共模点二次谐波。由于注入电流是由注入信号与源极共模点二次谐波进行混频而产生,因此注入电流也被增强,从而增大了锁定范围。除此之外,三倍频采用了四阶谐振器,谐振阻抗的相位在过零点被平坦化,锁定范围进一步被增大。采用标准CMOS 65 nm工艺设计三倍频,芯片面积为720×670 μm²,1.2-V供电时的功耗为15.2 mW。0 dBm注入功率下三倍频的锁定范围为19.2~27.6 GHz,对应的基波抑制比大于25 dB,二次谐波抑制大于35 dB。注入锁定三倍频器可满足5G收发机中本振源的要求。     

Syntax–Aware graph convolutional network for the recognition of chinese implicit inter-sentence relations

The Journal of Supercomputing - In the literature, most previous studies on English implicit inter-sentence relation recognition only focused on semantic interactions, which could not exploit the...     

Electrochemical stripping features of graphite and its products characterization

A stable dispersion in mixed solvent of water and N,N-dimethyl formamide (DMF) of graphene was synthesized by one-step electrochemical approach. Here we demonstrate about electrochemical stripping graphite to prepare graphene influence by different electrolytes. The physical and chemical properties of the stripping product had been characterized by using X-ray diffraction (XRD), X-ray photoelectron spectroscopy (XPS), Fourier transform infrared spectroscopy (FTIR), UV-Vis spectrophotometer (UV-Vis), Scanning electron microscopy (SEM), Transmission Electron Microscope (TEM) . The characteristic results of XRD showed that it could improve the efficiency of graphite stripping when H₂SO₄ was used as electrolyte mother liquid and amount of HNO₃ was doped in electrolyte; XPS and FTIR results indicate that the electrochemical stripping products preserve the intrinsic structure of graphene. The results of SEM and TEM shown that the surface morphology of the as-prepared graphene was folded lamellar structure and have good transparency;its thickness varies from 0.8 nm to a few nanometers.     

Anionic Regulated NiFe (Oxy)Sulfide Electrocatalysts for Water Oxidation

The construction of active sites with intrinsic oxygen evolution reaction (OER) is of great significance to overcome the limited efficiency of abundant sustainable energy devices such as fuel cells, rechargeable metal–air batteries, and in water splitting. Anionic regulation of electrocatalysts by modulating the electronic structure of active sites significantly promotes OER performance. To prove the concept, NiFeS electrocatalysts are fabricated with gradual variation of atomic ratio of S:O. With the rise of S content, the overpotential for water oxidation exhibits a volcano plot under anionic regulation. The optimized NiFeS‐2 electrocatalyst under anionic regulation possesses the lowest OER overpotential of 286 mV at 10 mA cm^?2 and the fastest kinetics being 56.3 mV dec^?1 to date. The anionic regulation methodology not only serves as an effective strategy to construct superb OER electrocatalysts, but also enlightens a new point of view for the in‐depth understanding of electrocatalysis at the electronic and atomic level.