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.     

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.     

A Reduced Reachability Tree for a Class of Unbounded Petri Nets

As a powerful analysis tool of Petri nets, reachability trees are fundamental for systematically investigating many characteristics such as boundedness, liveness and reversibility. This work proposes a method to generate a reachability tree, called ωRT for short, for a class of unbounded generalized nets called ω-independent nets based on new modified reachability trees (NMRTs). ωRT can effectively decrease the number of nodes by removing duplicate and ω-duplicate nodes in the tree, and verify properties such as reachability, liveness and deadlocks. Two examples are provided to show its superiority over NMRTs in terms of tree size.      

现代化工分离技术讲座

<正>第十一章离子液体在分离过程中的应用(上接第2006年第5期) 5．2有机/生物/生物燃料分子的离子液体萃取由于带电有机物在离子液体中的高溶解性,促进了离子液体回收有机物的发展。如表11-7所示,在IL-H_2O两相体系中进行了一些取代苯衍生物的相分配研究。     

Antenna-array pattern nulling using a differential evolution algorithm

A new method based on the differential evolution (DE) algorithm is proposed for antenna-array pattern synthesis with prescribed nulls. The array excitation amplitudes are the only controlling parameters, and the objectives are to synthesize array patterns with nulls imposed on directions of interferences while keeping the sidelobe levels (SLLs) below prescribed levels. Many factors such as the excitation dynamic range ratio, null depth level, null width, and SLLs are taken into account in the synthesis. Simulation results of several typical problems are compared with published results to illustrate the effectiveness of the proposed method. © 2003 Wiley Periodicals, Inc. Int J RF and Microwave CAE 14: 57–63, 2004.