六轮移动机器人运动学建模与仿真

针对石化行业的需求,设计了一款具有较强运动灵活性的适合在狭小空间、复杂环境中工作的六轮移动机器人。采用4个全向轮与两个普通橡胶车轮混搭的车轮配置方案,建立机器人的运动学模型,并分析了车轮的运动参数与机器人本体位姿之间的关系;运用ADAMS仿真软件构建了机器人的仿真模型,通过对直线行驶、原地转向性能进行运动学仿真,得到了机器人的运动学曲线,验证了运动学理论模型的正确性和机器人机构设计的合理性。原地转向误差实验表明,机器人具有较强的原地转向能力,原地转向最小误差可达到2.299mm,较好地满足了该机器人的高灵活性需求。     

改性纳米二氧化硅/水性聚氨酯杂化皮革补伤剂的制备及表征

以自制聚酯和异佛尔酮二异氰酸酯(IPDI)为原料,添加不同用量的纳米SiO_2,通过物理共混和原位聚合合成不同的水性聚氨酯乳液,并与进口聚氨酯补伤剂A比较。物理共混与原位聚合合成法制得聚氨酯的力学性能、粘数、吸水率、透光率、附着力均与纳米SiO_2的改性方式与用量有关,与进口补伤剂A相比,所得聚氨酯的透光率不足,但附着力要优于进口补伤剂A。通过比较,添加0.10%吐温-80改性纳米SiO_2和一定的助剂,原位聚合制得的纳米SiO_2/水性聚氨酯材料可作为皮革补伤剂。     

Co掺杂CeO2稀磁氧化物陶瓷和纳米颗粒的铁磁性能

分别采用固相烧结法及激光液相烧蚀(LAL)技术,成功制备出Co掺杂CeO_2稀磁氧化物陶瓷块体和纳米颗粒。XRD和SEM研究发现所制备的材料具有良好的结晶性和形貌。Co掺杂CeO_2稀磁氧化物陶瓷块体和纳米颗粒均为多晶立方结构,与纯立方相的CeO_2结构相同,说明Co掺杂未形成其他结构和杂相。磁性测量表明固相烧结法和激光烧蚀液相法制备的Co掺杂CeO_2样品均具有较高的室温铁磁性,且远高于文献中报道的结果。将陶瓷块材经激光烧蚀成纳米颗粒后,纳米颗粒的铁磁性与陶瓷块材保持一致。这说明激光烧蚀法制备的纳米材料可以很好地保持母材的特性,是一种很好的纳米颗粒制备方法。根据XRD和SEM研究结果,笔者认为Co掺杂CeO_2陶瓷块材及纳米颗粒的室温铁磁性是内禀性质;磁性产生的机理源于氧空位诱导的铁磁性耦合。     

Al2O3基陶瓷材料增韧的研究进展

Al_2O_3基陶瓷材料具有高的化学稳定性,有较好的应用前景,但其脆性限制了它的推广应用,对氧化铝陶瓷进行增韧是解决其脆性问题的一条重要途径。简要介绍了目前氧化铝陶瓷的增韧方法和增韧机理,综述了氧化铝陶瓷增韧的研究现状,分析了氧化铝陶瓷增韧研究中存在的主要问题,展望了氧化铝陶瓷增韧的发展方向,提出了原位生长及复合增韧是高性能Al_2O_3基陶瓷材料的研究重点。     

In Situ Chelating Synthesis of Hierarchical LiNi1/3Co1/3Mn1/3O2 Polyhedron Assemblies with Ultralong Cycle Life for Li‐Ion Batteries

Layered lithium transition‐metal oxides, with large capacity and high discharge platform, are promising cathode materials for Li‐ion batteries. However, their high‐rate cycling stability still remains a large challenge. Herein, hierarchical LiNi_1/3Co_1/3Mn_1/3O₂ polyhedron assemblies are obtained through in situ chelation of transition metal ions (Ni²⁺, Co²⁺, and Mn²⁺) with amide groups uniformly distributed along the backbone of modified polyacrylonitrile chains to achieve intimate mixing at the atomic level. The assemblies exhibit outstanding electrochemical performances: superior rate capability, high volumetric energy density, and especially ultralong high‐rate cyclability, due to the superiority of unique hierarchical structures. The polyhedrons with exposed active crystal facets provide more channels for Li⁺ diffusion, and meso/macropores serve as access shortcuts for fast migration of electrolytes, Li⁺ and electrons. The strategy proposed in this work can be extended to fabricate other mixed transition metal‐based materials for advanced batteries.     

New Insight into Procedure of Interface Electron Transfer through Cascade System with Enhanced Photocatalytic Activity

Recombination of photogenerated electron–hole pairs is extremely limited in the practical application of photocatalysis toward solving the energy crisis and environmental pollution. A rational design of the cascade system (i.e., rGO/Bi₂WO₆/Au, and ternary composites) with highly efficient charge carrier separation is successfully constructed. As expected, the integrated system (rGO/Bi₂WO₆/Au) shows enhanced photocatalytic activity compared to bare Bi₂WO₆ and other binary composites, and it is proved in multiple electron transfer (MET) behavior, namely a cooperative electron transfer (ET) cascade effect. Simultaneously, UV–vis/scanning electrochemical microscopy is used to directly identify MET kinetic information through an in situ probe scanning technique, where the “fast” and “slow” heterogeneous ET rate constants (K_eff) of corresponding photocatalysts on the different interfaces are found, which further reveals that the MET behavior is the prime source for enhanced photocatalytic activity. This work not only offers a new insight to study catalytic performance during photocatalysis and electrocatalysis systems, but also opens up a new avenue to design highly efficient catalysts in photocatalytic CO₂ conversion to useful chemicals and photovoltaic devices.     

A Microfluidic Strategy for Controllable Generation of Water‐in‐Water Droplets as Biocompatible Microcarriers

Droplet microfluidics has been widely applied in functional microparticles fabricating, tissue engineering, and drug screening due to its high throughput and great controllability. However, most of the current droplet microfluidics are dependent on water‐in‐oil (W/O) systems, which involve organic reagents, thus limiting their broader biological applications. In this work, a new microfluidic strategy is described for controllable and high‐throughput generation of monodispersed water‐in‐water (W/W) droplets. Solutions of polyethylene glycol and dextran are used as continuous and dispersed phases, respectively, without any organic reagents or surfactants. The size of W/W droplets can be precisely adjusted by changing the flow rate of dispersed and continuous phases and the valve switch cycle. In addition, uniform cell‐laden microgels are fabricated by introducing the alginate component and rat pancreatic islet (β‐TC6) cell suspension to the dispersed phase. The encapsulated islet cells retain high viability and the function of insulin secretion after cultivation for 7 days. The high‐throughput droplet microfluidic system with high biocompatibility is stable, controllable, and flexible, which can boost various chemical and biological applications, such as bio‐oriented microparticles synthesizing, microcarriers fabricating, tissue engineering, etc.     

Sculpting Extreme Electromagnetic Field Enhancement in Free Space for Molecule Sensing

A strongly confined and enhanced electromagnetic (EM) field due to gap‐plasmon resonance offers a promising pathway for ultrasensitive molecular detections. However, the maximum enhanced portion of the EM field is commonly concentrated within the dielectric gap medium that is inaccessible to external substances, making it extremely challenging for achieving single‐molecular level detection sensitivity. Here, a new family of plasmonic nanostructure created through a unique process using nanoimprint lithography is introduced, which enables the precise tailoring of the gap plasmons to realize the enhanced field spilling to free space. The nanostructure features arrays of physically contacted nanofinger‐pairs with a 2 nm tetrahedral amorphous carbon (ta‐C) film as an ultrasmall dielectric gap. The high tunneling barrier offered by ta‐C film due to its low electron affinity makes an ultranarrow gap and high enhancement factor possible at the same time. Additionally, its high electric permittivity leads to field redistribution and an abrupt increase across the ta‐C/air boundary and thus extensive spill‐out of the coupled EM field from the gap region with field enhancement in free space of over 10³. The multitude of benefits deriving from the unique nanostructure hence allows extremely high detection sensitivity at the single‐molecular level to be realized as demonstrated through bianalyte surface‐enhanced Raman scattering measurement.