Freely Tailorable Yolk-Shell Encapsulation: Versatile Applications in Ultralow-k Dielectric,Drug Delivery Systems,and Catalysts

Herein, a facile, controllable, and versatile method is reported to prepare monodisperse yolk-shell and yolk-multishell silica nanoparticles (NPs) with mesoporous shells by a novel selective etching strategy. The mechanism of selective etching based on fluoride-silica chemistry is investigated in detail and thus provides a fundamentally novel principle for the fabrication of yolk-shell NPs. Specifically, this unprecedented and versatile synthesis strategy can be used to encapsulate essentially any silica-based, carbon-based, metal, metal oxide, or other possible NPs. Noteworthy is that most of the yolk-shell mesoporous silica (mSiO₂) NPs are prepared for the first time. To demonstrate the major structural and compositional advantages of the designed yolk-shell NPs, their applications in the fields of ultralow-dielectric constant (k) materials, drug delivery systems, and catalysts were explored. In detail, the lowest k value of the prepared yolk-shellordered mesoporous silica@mSiO₂/fluorinated polybenzoxazole composite films is 2.02; The obtained yolk-shell mSiO₂/C@mSiO₂/C NPs possess high hydrophilicity and pH-responsive sensitivity; The conversion of the catalytic reaction of the designed magnetic yolk-shell hollow Fe₃O₄@SiO₂/Au@mSiO₂ NPs at 20 min is 97% with a high conversion rate (92%) and recyclability even after 10 reuses. This innovative work lays a solid foundation for freely tailorable yolk-shell encapsulation and will greatly stimulate more efforts devoted to relevant research and development.     

基于量子重力探测技术的水下匹配导航仿真分析与评估

在电磁信号拒止的海洋环境中,基于海洋重力场辅助的水下匹配导航技术是提高潜航器导航定位精度的有效途径之一。近年来,基于冷原子干涉的量子绝对重力探测技术发展迅速,其探测精度高、可移动性强,在水下重力辅助导航领域具有极大的应用潜力。结合冷原子干涉量子重力仪最新技术发展水平,选取太平洋某典型海域,通过地形正演构建了高精度（<0.1mGal）、高分辨率（500m）海洋重力基准图,基于最近等值线迭代（Iterative Closest Contour Point,ICCP）算法实现了对潜航器水下航行误差的重力场辅助匹配校正,将初始航迹误差从约4km校正到约400m。匹配算法具有指数收敛优势,在阈值收敛误差为10-6下,算法平均收敛迭代次数44次,平均收敛时间0.0678s。通过仿真分析和“探测技术-重力场基准图-匹配算法”系统综合效能评估,论证了现有量子重力探测技术在重力辅助水下匹配导航领域的应用潜能。     

Development,integration, and field evaluation of an autonomous citrus-harvesting robot

Citrus harvesting is a labor-intensive and time-intensive task. As the global population continues to age, labor costs are increasing dramatically. Therefore, the citrus-harvesting robot has attracted considerable attention from the business and academic communities. However, robotic harvesting in unstructured and natural citrus orchards remains a challenge. This study aims to address some challenges faced in commercializing citrus-harvesting robots. We present a fully integrated, autonomous, and innovative solution for citrus-harvesting robots to overcome the harvesting difficulties derived from the natural growth characteristics of citrus. This solution uses a fused simultaneous localization and mapping algorithm based on multiple sensors to perform high-precision localization and navigation for the robot in the field orchard. Besides, a novel visual method for estimating fruit poses is proposed to cope with the randomization of citrus growth orientations. Further, a new end-effector is designed to improve the success and conformity rate of citrus stem cutting. Finally, a fully autonomous harvesting robot system has been developed and integrated. Field evaluations showed that the robot could harvest citrus continuously with an overall success rate of 87.2% and an average picking time of 10.9 s/fruit. These efforts provide a solid foundation for the future commercialization of citrus-harvesting robots.     

Real-time 3D multi-pedestrian detection and tracking using 3D LiDAR point cloud for mobile robot

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.     

Ultrawideband coupled relative positioning algorithm applicable to flight controller for multidrone collaboration

In this study, we introduce a loosely coupled relative position estimation method that utilizes a decentralized ultrawideband (UWB), Global Navigation Support System and inertial navigation system for flight controllers (FCs). Key obstacles to multidrone collaboration include relative position errors and the absence of communication devices. To address this, we provide an extended Kalman filter-based algorithm and module that correct distance errors by fusing UWB data acquired through random communications. Via simulations, we confirm the feasibility of the algorithm and verify its distance error correction performance according to the amount of communications. Real-world tests confirm the algorithm's effectiveness on FCs and the potential for multidrone collaboration in real environments. This method can be used to correct relative multidrone positions during collaborative transportation and simultaneous localization and mapping applications.     

异步电机低速电制动控制

阐述了异步电机电制动的控制策略;分析实际应用中低速电制动转矩出现偏差的原因,并通过MATLAB绘制出当定向角度出现偏差时给定转矩与实际转矩在三维空间中的比例关系。为解决低速电制动时由于转子磁场定向偏差引起电机转矩不准的问题,采用基于无功功率模型的转子时间常数自适应控制进行校正。试验结果表明该控制策略可以实现校正转子磁场定向偏差的功能,具有良好的动态性能,可以满足地铁列车的性能要求。     

缓减电压暂降影响的电-气综合能源系统储气装置选址定容方法

针对电力系统故障导致的电压暂降通过电-气耦合设备对系统造成多次影响的问题,提出了一种缓减电压暂降影响的电-气综合能源系统储气装置选址定容方法。分析了电力系统发生电压暂降事件对电-气综合能源系统的影响;基于灵敏度分析提出了天然气系统储气装置选址方法;综合考虑投资成本与效益,以安装储气装置后效益的最大值为目标函数,确定储气装置最佳配置方案。通过对由IEEE 14节点电力系统和11节点天然气系统构成的电-气综合能源系统进行算例分析,验证了该缓减方法的正确性与有效性。     

基于结构诱导人工表面等离激元的宽带低耦合电路北大核心CSCD

实现超宽带传输和超高集成度设计是微波和太赫兹电路发展的终极目标。针对以上目标,本文提出了结构诱导人工表面等离激元的概念。基于此设计并验证了具有超高局附性和超小传输常数的结构诱导人工表面等离激元电路结构,打破了传统人工表面等离激元电路对传输常数和衰减常数的限制。理论分析和数值验证表明,相较于经典人工表面等离激元,具备优异的场局附性和传输特性的结构诱导人工表面等离激元具有明显的弱色散和低耦合特性,在电路设计中可以有效减少宽带信号传输的色散失真,同时提高布线密度。     

TBM试验台支撑推进节能系统设计与仿真分析

针对全断面硬岩隧道掘进机(hard rock tunnel boring machine,简称TBM)在撑靴以设定压力撑紧围岩后支撑推进系统存在较大流量损失的问题,设计出一种具有负载敏感、恒压控制和蓄能器辅助支撑功能的支撑推进(简称LSCPGT)系统。利用AMESim软件搭建了LSCPGT系统模型,仿真分析了LSDRGT系统在变推进负载下的压力流量响应,并对比分析了在支撑工况下LSCPGT系统和恒压控制泵型支撑(constant pressure gripper,CPG)系统,以及在推进工况下LSCPGT系统与负载敏感泵型推进(load-sensing thrust,LST)系统和定量泵型推进(ration thrust,RT)系统的压力流量响应.结果表明:LST系统和LSCPGT系统在推进过程中都没有流量损失;CPG系统在支撑工况下存在流量损失,而LSCPGT系统由于蓄能器的保压作用没有流量损失;相对于LST系统+CPG系统的支撑推进系统,LSCPGT系统在撑靴达到设定压力后效率至少可提高43.5%。所设计的LSCPGT系统在满足支撑推进要求的同时,避免了流量损失,具有较好的节能效果。     

Formal Specification and Quantitative Analysis of a Constellation of Navigation Satellites

Navigation satellites are a core component of navigation satellite‐based systems such as Global Positioning System, Global Navigation Satellite System and Galileo, which provide location and timing information for a variety of uses. Such satellites are designed for operating on orbit to perform tasks and have lifetimes of 10 years or more. Reliability, availability and maintainability analysis of systems has been indispensable in the design phase of satellites in order to achieve minimum failures or to increase mean time between failures and thus to plan maintenance strategies, optimise reliability and maximise availability. In this paper, we present formal models of both a single satellite and a navigation satellite constellation and logical specification of their reliability, availability and maintainability properties, respectively. The probabilistic model checker PRISM has been used to perform automated analysis of these quantitative properties. Copyright © 2014 John Wiley & Sons, Ltd.