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.     

基于学习进程的学习评估在大学化学教学中的实践

高等教育质量提升的关键在于课程教学质量的不断完善。作为高等教育的重要环节,化学课程教学在非化学化工专业人才的知识体系构建、能力培养、素质养成方面有着不可或缺的作用。大学化学课程的教学实践表明,基于学习进程的评估有利于激发学生的学习积极性,显著提高教学班的整体成绩并实现课程教学质量的提升。     

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.     

超高性能混凝土国内外研究与应用进展*

介绍了超高性能混凝土（UHPC）的制备原理和性能特点，对UHPC国内外研究和应用情况进行了综述，指出了我国UHPC研究和应用中存在的问题。结果表明：UHPC是一种具有优异的力学性能、耐久性能和环保效益的新型水泥基复合材料。国外在UHPC理论研究和应用研究方面都取得了大量成果，在实际工程中已经获得了广泛的应用；近年来我国在理论研究和应用方面也得到了快速发展；如何简化UHPC制备工艺、降低生产成本、补偿自收缩是今后的主要研究方向，完善相关规范标准以更好地指导UHPC现浇工程应用是目前首要解决的问题。随着环保和可持续发展理念的日益重视，UHPC这种低碳环保材料将有广阔的发展前景。     

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.