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...     

Surface Reconstruction Engineering with Synergistic Effect of Mixed-Salt Passivation Treatment toward Efficient and Stable Perovskite Solar Cells

Surface passivation treatment is a widely used strategy to resolve trap-mediated nonradiative recombination toward high-efficiency metal-halide perovskite photovoltaics. However, a lack of passivation with mixture treatment has been investigated, as well as an in-depth understanding of its passivation mechanism. Here, a systematic study on a mixed-salt passivation strategy of formamidinium bromide (FABr) coupled with different F-substituted alkyl lengths of ammonium iodide is demonstrated. It is obtained better device performance with decreasing chain length of the F-substituted alkyl ammonium iodide in the presence of FABr. Moreover, they unraveled a synergistic passivation mechanism of the mixed-salt treatment through surface reconstruction engineering, where FABr dominates the reformation of the perovskite surface via reacting with the excess PbI₂. Meanwhile, ammonium iodide passivates the perovskite grain boundaries both on the surface and top perovskite bulk through penetration. This synergistic passivation engineer results in a high-quality perovskite surface with fewer defects and suppressed ion migration, leading to a champion efficiency of 23.5% with mixed-salt treatment. In addition, the introduction of the moisture resisted F-substituted groups presents a more hydrophobic perovskite surface, thus enabling the decorated devices with excellent long-term stability under a high humid atmosphere as well as operational conditions.     

三氯乙酸终止液对木瓜蛋白酶酶活测定的影响研究

本实验研究了不同的三氯乙酸终止液,对木瓜蛋白酶酶活的影响。通过使用两种检测方法,不同配方的三氯乙酸终止液进行实验。结果表明,使用两种不同配方的三氯乙酸终止液所得的结果相差2倍多。用不同稀释浓度的三氯乙酸终止液,在高浓度时,不同浓度的三氯乙酸终止液得到的结果差别很大,随着三氯乙酸浓度的降低,所测得的酶活不断升高;但是在低浓度时,不同浓度的三氯乙酸终止液得到的结果差别不大。     

125I粒子条联合胆道支架植入治疗恶性梗阻性黄疸22例疗效分析

【摘要】　 　目的 研究和探讨125I粒子条联合胆道支架植入治疗恶性梗阻性黄疸的临床疗效。方法 2011年6月—2013年9月收治恶性梗阻性黄疸患者40例。行胆道支架植入术治疗患者18例，为对照组；采用125I粒子条联合胆道支架植入患者22例，为观察组。两组均采用经皮肝穿刺胆道引流（PTCD）并胆道支架植入。结果 观察组与对照组的平均胆道开通时间分别为（8.7 ± 0.7）和（6.2 ± 0.4）个月，两组比较差异有统计学意义（P < 0.05）。观察组与对照组术后平均生存时间分别为（11.4 ± 0.8）和（8.7 ± 0.5）个月，生存时间的差异有统计学意义（P < 0.05）。术后近期疗效及并发症两组之间的比较无明显差异（P > 0.05），但是远期疗效有显著差异（P < 0.05）。结论 与对照组相比，观察组的术后生存时间及胆道开通时间明显延长，对于125I粒子条联合支架治疗恶性梗阻性黄疸值得进一步临床研究。
     

电动汽车动态无线电能恒功率充电

电动汽车充电时,且电池电量低于80％时,为了保证充电效率一般采用恒功率充电.在动态无线电能传输系统中,电动汽车的不断移动会导致发射线圈和接受线圈的互感系数变化,致使电动汽车充电不稳定.为实现恒功率充电,提出了一种基于模型预测控制(MPC)的动态无线电能传输系统(DWPT)恒功率输出的控制方法.通过对系统建立数学模型,对输出功率进行模型预测,建立最小化目标函数来获得期望输出功率所对应的最优占空比,使输出功率恒定.进行了模型预测控制的动态无线电能传输系统Simulink仿真,通过对比不同线圈互感系数下的输出功率,验证了该方法的可行性,并且通过搭建实物测得的数据也证实了该方法的可行性.     

P-doped CoSe2 nanoparticles embedded in 3D honeycomb-like carbon network for long cycle-life Na-ion batteries

We report for the first time a Na-ion battery anode material composed of P-doped CoSe2 nanoparticles(P-CoSe2)with the size of 5-20 nm that are uniformly embed in a 3D porous honeycomb-like carbon network.High rate capability and cycling stability are achieved simultaneously.The honeycomb-like carbon network is rationally designed to support high electrical conductivity,rapid Na-ion diffusion as well as the accommodation of the volume expansion from the active P-CoSe2 nanoparticles.In particular,heteroatom P-doping within CoSe2 introduces stronger P-Co bonds and additional P-Se bonds that signif-icantly improve the structure stability of P-CoSe2 for highly stable sodiation/desodiation over long-term cycling.P-doping also improves the electrical conductivity of the CoSe2 nanoparticles,leading to highly elevated electrochemical kinetics to deliver high specific capacities at high current densities.Benefiting from the unique nanostructure and atomic-level P-doping,the P-CoSe2(2∶1)/C anode delivers an excel-lent cycle stability with a specific capacity of 206.9 mA h g-1 achieved at 2000 mA g-1 after 1000 cycles.In addition,this material can be synthesized using a facile pyrolysis and selenization/phosphorization approach.This study provides new opportunities of heteroatom doping as an effective method to improve the cycling stability of Na-ion anode materials.     

一类极大极小优化问题的信赖域算法

借助于K-T条件和NCP函数,提出了处理一类极大极小优化问题的信赖域算法.数值实验结果表明该方法是行之有效的.     

点阴极电场辅助阳极连接中的紧密接触面积和电流

用等效电路的方法研究了点阴极情况下的电场辅助阳极连接效应，计算了连接电流，连接孕育期和紧密接触面积，本文结果表明，连接初期电流迅速衰减，随后缓慢变小，直至某一稳定值，孕育期随温度上升指数下降，连接温度高时，孕育期将难以观察到；待连接表面之间紧密接触面积随时间延长而非线性扩展，紧密接触区域增大时，其边界向外推进速度渐小，而接触面积增加渐快。     

为称重仪表设计热敏打印模块

随着称重技术的日益进步,其周边配套设施也日益完善,尤其是打印机方面.因为很多时候用户都需要保存或打印称重记录,用以数据的核对和备份.     

律师参与公益诉讼的法理思考

作为公民共同行为有机组成部分的公益诉讼的本质决定了律师参与公益诉讼是尽公民之本分，而作为具有为公众服务精神的律师政治家这一律师职业理想的要求，又决定了律师参与公益诉讼是律师职业特有品格的体现，是律师和律师职业真正获得尊重的基础。结合公益诉讼的现实，从立法上肯定律师参与公益诉讼的主体地位，既可保证律师实现社会正义这一价值追求，又可保证实现公益诉讼的理想效果。