基于未知环境状态新定义及知识启发的机器人导航Q学习算法

由于强大的自主学习能力, 强化学习方法逐渐成为机器人导航问题的研究热点, 但是复杂的未知环境对算法的运行效率和收敛速度提出了考验。提出一种新的机器人导航Q学习算法, 首先用三个离散的变量来定义环境状态空间, 然后分别设计了两部分奖赏函数, 结合对导航达到目标有利的知识来启发引导机器人的学习过程。实验在Simbad仿真平台上进行, 结果表明本文提出的算法很好地完成了机器人在未知环境中的导航任务, 收敛性能也有其优越性。     

两体量子态可分离性判据

一般情况下,判断一个给定量子态是否为纠缠态以及是否可用于信息处理是一个比较复杂的问题.文中研究了两体量子态的可分离性,通过分析密度矩阵在可分离状态下的展开式以及展开系数之间的关系,给出了两体量子态可分离性的一个新的判据:若量子态可分,则展开系数必满足一定的不等式.此判据仅依赖于系统的维数和密度矩阵的展开系数,而这些数据是易于求得的,使得量子纠缠态的判断简单易行且易于操作,在实际运用中具有理论价值.     

两方量子密钥协商协议的改进

针对Hsueh和Chen的基于最大纠缠态两方量子密钥协商协议存在安全漏洞,即发送方可单方控制共享密钥的问题,通过增加接收方的幺正操作给出了一个改进方案.利用幺正操作来代替对发送方的安全检测,这从根本上满足了量子密钥协商中各参与者都贡献于共享密钥的生成和分配这一基本要求,从而使其抗发送方攻击的安全性依赖于基本物理原理而非检测光子技术.安全分析表明,该方案可有效抵抗外部攻击和参与者攻击.与另一改进方案相比,该方案以更小的代价解决了原协议的漏洞,提高了协议效率.     

多体量子态全可分的一个纠缠判据

研究了量子信息理论中多体量子态的纠缠探测问题.利用量子系统上的局域正交可观测量算子,以及多体复合系统的局域不确定关系和斜信息,讨论了有限维情形多体复合系统中全可分量子态与其关系.得到了多体量子态全可分的若干必要条件,推广了有限维两体量子系统的相应结果,获得了识别多体量子态纠缠性的一些方法.     

水上无人机自主着水控制系统设计

针对水上无人机在高海况下的着水问题,本文在分析了不同着水阶段特性的基础上,提出了一种自主着水控制系统设计方案.该方案将整个系统分为速度控制子系统和姿态控制子系统.速度控制子系统包含速度动态逆控制器和油门切换模块,姿态控制子系统包含海浪滤波器俯仰角反步控制器、高度PID控制器、俯仰角切换模块和T-S模糊推理模块.其中,海浪滤波器能有效滤除受扰姿态角中的海浪高频扰动,避免了着水之后舵面的频繁抖动;俯仰角反步控制器采用指令滤波的反步法设计,有效缓解了高海况下的舵面饱和问题.最后,在不同海况条件下进行了仿真.仿真结果表明所设计的控制系统具有良好的控制性能.     

Interference automata

We propose a computing model, the Two-Way Optical Interference Automata (2OIA), that makes use of the phenomenon of optical interference. We introduce this model to investigate the increase in power, in terms of language recognition, of a classical Deterministic Finite Automaton (DFA) when endowed with the facility of interference. The question is in the spirit of Two-Way Finite Automata With Quantum and Classical States (2QCFA) [A. Ambainis, J. Watrous, Two-way finite automata with quantum and classical states, Theoret. Comput. Sci. 287 (1) (2002) 299–311] wherein the classical DFA is augmented with a quantum component of constant size. We test the power of 2OIA against the languages mentioned in the above paper. We give efficient 2OIA algorithms to recognize languages for which 2QCFA machines have been shown to exist, as well as languages whose status vis-a-vis 2QCFA has been posed as open questions. Having a DFA as a component, it trivially recognizes regular languages. We show that our model can recognize all languages recognized by 1-way deterministic blind counter automata. Finally we show the existence of a language that cannot be recognized by a 2OIA but which can be recognized by an O(n³)$O\left(n^3\right)$ space Turing machine.     

Two types of nonlinear automata over a finite ring

The structure of a class of automata is analyzed. These automata are analogs of symmetric chaotic dynamical systems over a finite ring, namely, the Guckenheimer–Holmes cycle and free-running systems. Problems of parametric identification and identification of initial states are solved, and a set of fixed points of automaton mappings is characterized. Translated from Kibernetika i Sistemnyi Analiz, No. 4, pp. 57–68, July–August 2009.     

Probing into Reverse Bias Dark Current in Perovskite Photodiodes: Critical Role of Surface Defects

Minimizing reverse bias dark current density (J_dark) while retaining high external quantum efficiency is crucial for promising applications of perovskite photodiodes, and it remains challenging to elucidate the ultimate origin of J_dark. It is demonstrated in this study that the surface defects induced by iodine vacancies are the main cause of J_dark in perovskite photodiodes. In a targeted way, the surface defects are thoroughly passivated through a simple treatment with butylamine hydroiodide to form ultrathin 2D perovskite on its 3D bulk. In the passivated perovskite photodiodes, J_dark as low as 3.78 × 10^-10 A cm^-2 at -0.1 V is achieved, and the photoresponse is also enhanced, especially at low light intensities. A combination of the two improvements realizes high specific detectivity up to 1.46 × 10¹² Jones in the devices. It is clarified that the trap states induced by the surface defects can not only raise the generation-recombination current density associated with the Shockley–Read–Hall mechanisms in the dark (increasing J_dark), but also provide additional carrier recombination paths under light illumination (decreasing photocurrent). The critical role of surface defects on J_dark of perovskite photodiodes suggests that making trap-free perovskite thin films, for example, by fine preparation and/or surface engineering, is a top priority for high-performance perovskite photodiodes.     

Kinetically Accelerating Elementary Steps via Bridged Ru-H State for the Hydrogen-Evolution in Anion-Exchange Membrane Electrolyzer

Designing hydrogen evolution reaction (HER) electrocatalysts for facilitating its sluggish adsorption kinetics is crucial in generating green hydrogen via sustainable water electrolysis. Herein, a high-performance ultra-low Ruthenium (Ru) catalyst is developed consisting of atomically-layered Ru nanoclusters with adjacent single Ru sites, which executs a bridging-Ru-H activation strategy to kinetically accelerate the HER elementary steps. Owing to its optimal electronic structure and unique adsorption configuration, the hybrid Ru catalyst simultaneously displayed a drastically reduced overpotential of 16 mV at 10 mA cm⁻² as well as a low Tafel slope of 35.2 mV dec⁻¹ in alkaline electrolyte. When further coupled with a commercial IrO₂ anode catalyst, the ensembled anion-exchange membrane water electrolyzer achievs a current density of 1.0 A cm⁻² at a voltage of only 1.70 V_cell. In situ spectroscopic analysis verified that Ru single atom and atomically-layered Ru nanoclusters in the hybrid materials play a critical role in facilitating water dissociation and weakening *H adsorption, respectively. Theoretical calculations further elucidate the underlaying mechanism, suggesting that the dissociated proton at the single atom Ru site orients itself adjacently with Ru nanoclusters in a bridged structure through targeted charge transfer, thus promoting Volmer-Heyrovsky dynamics and boosting the HER activity.     

Proximity-Induced Fully Ferromagnetic Order with Eightfold Magnetic Anisotropy in Heavy Transition Metal Oxide CaRuO3

Ferromagnetic materials with a strong spin-orbit coupling (SOC) have attracted much attention in recent years because of their exotic properties and potential applications in energy-efficient spintronics. However, such materials are scarce in nature. Here, a proximity-induced paramagnetic to ferromagnetic transition for the heavy transition metal oxide CaRuO₃ in (001)-(LaMnO₃/CaRuO₃) superlattices is reported. Anomalous Hall effect is observed in the temperature range up to 180 K. Maximal anomalous Hall conductivity and anomalous Hall angle are as large as ∼15 Ω⁻¹ cm⁻¹ and ∼0.93%, respectively, by one to two orders of magnitude larger than those of the typical 3d ferromagnetic oxides such as La_0.67Sr_0.33MnO₃. Density functional theory calculations indicate the existence of avoid band crossings in the electronic band structure of the ferromagnetic CRO layer, which enhances Berry curvature thus strong anomalous Hall effects. Further evidences from polarized neutron reflectometry show that the CaRuO₃ layers are in a fully ferromagnetic state (∼0.8 μ_B/Ru), in sharp contrast to the proximity-induced canted antiferromagnetic state in 5d oxides SrIrO₃ and CaIrO₃ (∼0.1 μ_B/Ir). More than that, the magnetic anisotropy of the (001)-(LaMnO₃/CaRuO₃) superlattices is eightfold symmetric, showing potential applications in the technology of multistate data storage.