Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Mobile Networks and Applications - Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in...     

电信运营商云网规划数字化研究和实现

基于电信运营商数字化转型，系统性地提出了数据驱动的云网发展规划体系，以及六大关键数字化能力构建，设计和实现了一种云网规划数字化平台，该平台可用于实现目标网络精细规划、边缘计算精准预测等场景，并探讨了数字孪生在规划领域的应用前景，对运营商推进云网融合战略、推进高质量发展具有指导和参考意义。     

小型饮料瓶盖颜色识别系统设计与实现

目的：解决当前饮料瓶盖检测系统功能单一、体积偏大、颜色识别率低的问题。方法：提出一种基于ARM处理器的小型饮料瓶盖颜色识别系统设计方案，通过仿真软件HyperLynx的LineSim工具设计四层PCB板，设置传输线参数并进行阻抗匹配仿真分析；利用编译软件Jupyter Notebook实现阈值设置、目标轮廓检测、目标框出等功能。结果：在强、弱光条件下，识别系统对红、绿、蓝3种颜色瓶盖的识别率达到92.7%。结论：与傅里叶描述子相比，该识别系统识别准确率和精度更高，同时系统也具有人脸识别功能，适用于各种智能应用场景。     

基于特征建模的TDD系统大气波导干扰控制体系研究

大气波导干扰是特定气象条件下发生的时分双工（time-division duplex，TDD）系统内干扰，是TDD移动通信系统大规模组网面临的顽疾。在总结分析大气波导干扰成因和分类等的基础上，对大气波导干扰进行建模和表征，验证了海量干扰源在时域和频域的功率集总特征，并结合大量4G/5G现网实测数据给出了典型条件下内陆波导和海面波导的量化干扰信号传播模型，对于干扰的预测和预防具有重要意义。基于干扰特征，给出了TDD系统预防大气波导干扰的帧结构与组网的4项设计原则，5G现网数据表明干扰控制方案有效，上行干扰下降10 dB以上，相关原则对于6G系统的设计也具有指导意义。     

基于禁忌搜索的晶体位置谱分割与校准方法

为满足不同规格晶体探测器对分割校准晶体条响应事件位置数据的需求，开发了一种以禁忌搜索算法为核心，结合UDP数据帧、二维高斯模型及光导折射率的位置信息分割校准方法。实验结果表明，本方法在溢出率为5%时，峰谷比可达1218，空间分辨率达17 mm，晶体条响应位置识别准确度高达99%，滤除了引发伪峰的噪声，避免了过分割问题。在面对多种规格晶体阵列的位置谱时，本方法能依照阵列规格将晶体条区域的响应自动校准编号并输出晶体位置查找表，实现响应事件的精确校准。     

Solution-Synthesized Multifunctional Janus Nanotree Microswimmer

Synthetic active matters are perfect model systems for non-equilibrium thermodynamics and of great potential for novel biomedical and environmental applications. However, most applications are limited by the complicated and low-yield preparation, while a scalable synthesis for highly functional microswimmers is highly desired. In this paper, an all-solution synthesis method is developed where the gold-loaded titania-silica nanotree can be produced as a multi-functional self-propulsion microswimmer. By applying light, heat, and electric field, the Janus nanotree demonstrated multi-mode self-propulsion, including photochemical self-electrophoresis by UV and visible light radiation, thermophoresis by near-infrared light radiation, and induced-charge electrophoresis under AC electric field. Due to the scalable synthesis, the Janus nanotree is further demonstrated as a high-efficiency, low-cost, active adsorbent for water decontamination, where the toxic mercury ions can be reclaimed with enhanced efficiency.     

Carbon corrosion mechanism on nitrogen-doped carbon support — A density functional theory study

In this work, density functional theory (DFT) calculations were used to investigate the mechanism of carbon corrosion on nitrogen-doped carbon support. Free energy diagrams were generated based on three proposed reaction pathways to evaluate corrosion mechanisms. The most energetically preferred mechanism on nitrogen-doped carbon was determined. The results show that the step of water dissociation to form ^#OH was the rate-determining step for gra-G-1N (graphene doped with graphitic N) and pyrr-G-1N (graphene doped with pyrrolic N). As for graphene doped with pyridinic N, the step of C^#OC^#O formation was critical. It was found that the control of nitrogen concentration was necessary for precisely designing optimized carbon materials. Abundance of nitrogen moieties aggravated the carbon corrosion. When the high potential was applied, specific types of graphitic N and pyridinic N were found to be favorable carbon modifications to improve carbon corrosion resistance. Moreover, the solvent effect was also investigated. The results provide theoretical insights and design guidelines to improve corrosion resistance in carbon support through material modification by inhibiting the adsorption of surface oxides (OH, O, and OOH).