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针对遗传算法在移动机器人路径规划中易产生早熟现象和收敛速度慢的问题,提出了改进的D~* Lite遗传算法。该算法将D~* Lite算法和遗传算法相结合,通过引入碰撞系数和可视检测技术以提高路径安全性,寻找最短路径。在遗传算法设计中加入动态调整交叉与变异概率,以解决算法在路径规划中因陷入局部最优值而不能到达目标点的问题。最后,通过实验仿真可知:与蚁群算法和免疫遗传算法相比,改进的D~* Lite遗传算法执行效率高,可以快速规划出全局最优路径。 相似文献
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Mohammad Afshari Amir-Reza Rouhani Isfahani Saeed Hasani Fatemeh Davar Khadijeh Jahanbani Ardakani 《International Journal of Applied Ceramic Technology》2019,16(4):1612-1621
In the present study, spinel structure CoFe2O4 nanoparticles were successfully synthesized by the sol-gel auto-combustion technique. The effect of apple cider vinegar (ACV) addition as an organic biocompatible agent on the size, morphology, and magnetic properties of CoFe2O4 nanoparticles was investigated in detail. The phase evolution, particle size, and lattice parameter changes of the synthesized phase have been estimated by using Rietveld structure refinement analysis of X-ray powder diffraction data. Also, Fourier transform infrared spectra (FT-IR) of the samples verified the presence of two expected bands correspond to tetrahedral and octahedral metal-oxygen complexes within the spinel structure. Furthermore, microstructural observations revealed that ultrafine particles have a semi-spherical morphology. It was shown that the particles size decreased from ~45 to ~17 nm with an increase in the amount of ACV. Magnetic properties were carried out by vibrating sample magnetometer (VSM) at room temperature. Both the saturation magnetization (Ms) and coercivity (Hc) were found to be significantly dependent on the crystallite size and the amount of ACV. 相似文献
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Qi Yang Qilong Wu Yang Liu Shuiping Luo Xiaotong Wu Xixia Zhao Haiyuan Zou Baihua Long Wen Chen Yujia Liao Lanxi Li Pei Kang Shen Lele Duan Zewei Quan 《Advanced materials (Deerfield Beach, Fla.)》2020,32(36):2002822
Engineering novel Sn-based bimetallic materials could provide intriguing catalytic properties to boost the electrochemical CO2 reduction. Herein, the first synthesis of homogeneous Sn1−xBix alloy nanoparticles (x up to 0.20) with native Bi-doped amorphous SnOx shells for efficient CO2 reduction is reported. The Bi-SnOx nanoshells boost the production of formate with high Faradaic efficiencies (>90%) over a wide potential window (−0.67 to −0.92 V vs RHE) with low overpotentials, outperforming current tin oxide catalysts. The state-of-the-art Bi-SnOx nanoshells derived from Sn0.80Bi0.20 alloy nanoparticles exhibit a great partial current density of 74.6 mA cm−2 and high Faradaic efficiency of 95.8%. The detailed electrocatalytic analyses and corresponding density functional theory calculations simultaneously reveal that the incorporation of Bi atoms into Sn species facilitates formate production by suppressing the formation of H2 and CO. 相似文献
58.
Wenshu Chen Jiajun Gu Yongping Du Fang Song Fanxing Bu Jinghan Li Yang Yuan Ruichun Luo Qinglei Liu Di Zhang 《Advanced functional materials》2020,30(25)
Large‐scale production of hydrogen from water‐alkali electrolyzers is impeded by the sluggish kinetics of hydrogen evolution reaction (HER) electrocatalysts. The hybridization of an acid‐active HER catalyst with a cocatalyst at the nanoscale helps boost HER kinetics in alkaline media. Here, it is demonstrated that 1T–MoS2 nanosheet edges (instead of basal planes) decorated by metal hydroxides form highly active / heterostructures, which significantly enhance HER performance in alkaline media. Featured with rich / sites, the fabricated 1T–MoS2 QS/Ni(OH)2 hybrid (quantum sized 1T–MoS2 sheets decorated with Ni(OH)2 via interface engineering) only requires overpotentials of 57 and 112 mV to drive HER current densities of 10 and 100 mA cm?2, respectively, and has a low Tafel slope of 30 mV dec?1 in 1 m KOH. So far, this is the best performance for MoS2‐based electrocatalysts and the 1T–MoS2 QS/Ni(OH)2 hybrid is among the best‐performing non‐Pt alkaline HER electrocatalysts known. The HER process is durable for 100 h at current densities up to 500 mA cm?2. This work not only provides an active, cost‐effective, and robust alkaline HER electrocatalyst, but also demonstrates a design strategy for preparing high‐performance catalysts based on edge‐rich 2D quantum sheets for other catalytic reactions. 相似文献
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Effect of gums on viability and β‐galactosidase activity of Lactobacillus spp. in milk drink during refrigerated storage
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Bernice D. Karlton‐Senaye Reza Tahergorabi Valerie L. Giddings Salam A. Ibrahim 《International Journal of Food Science & Technology》2015,50(1):32-40
The viability and β‐galactosidase activity of four Lactobacillus strains in milk drink containing gums during 28 days of refrigerated storage at 4 °C were assessed. The population of Lactobacillus rhamnosus GGB101 and Lactobacillus rhamnosus GGB103 were maintained, whereas the population of Lactobacillus reuteri DSM20016 and Lactobacillus reuteri SD2112 significantly decreased. The recommended level of 6 log CFU g?1 was exceeded for all tested trains throughout storage. The highest viable number of Lactobacillus rhamnosus GGB103 (8.76 ± 0.03 log CFU mL?1) was obtained in the product containing carrageenan–maltodextrin. The addition of guar–locust bean–carrageenan led to 20‐fold increase in the level of β‐galactosidase activity for L. rhamnosus GGB101 (1208 ± 2.12 Miller units mL?1) compared to the control (61 ± 2.83 Miller units mL?1). Our results suggested that gums could be added to milk to improve viability and enhance β‐galactosidase activity of Lactobacillus. 相似文献