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.     

基于传递矩阵算法的裂隙注浆扩散机制研究

在裂隙岩体注浆工程中,由注浆压力引起的裂隙位移对注浆扩散过程影响显著。为研究浆体在裂隙岩体流动时浆液的扩散规律,克服以往假设裂隙无开度变化且仅在单一裂隙内考虑浆液扩散的情况,将传递矩阵算法引入宾汉流体本构方程,利用传递矩阵求解任意位置处的裂隙位移,同时建立考虑浆液在岩体间劈裂注浆的简化裂隙岩体模型通过加设阻力来模拟浆液在岩体内扩散的能量耗损,从而在平板裂隙条件下可以完整准确描述浆液在裂隙中及岩体间连续扩散的过程,建立了基于传递矩阵法的裂隙岩体注浆模型。应用有限元软件ＣＯＭＳＯＬ分别建立单裂隙、多裂隙注浆模型对上述理论模型进行对比验证。     

少资料条件河渠冬季冰情过程模拟研究

针对天然河道开展冰情过程数值模拟普遍存在的河道断面资料、水文和气象资料缺少的难题,本研究提出了时均气温和时均太阳辐射计算方法和支流流量的动态分配方法,即根据实测日最大气温、日最小气温和日净太阳辐射率定出关键影响参数,模拟出给定气象站的时均气温和时均太阳辐射的变化过程;通过上游流量向下游传播过程的特征分析,推演出缺少支流流量条件下河道区间支流流量分配的合理比例。将本文方法应用到黄河内蒙河段冰情过程模拟计算中,模拟的巴彦高勒冰盖厚度值和冰盖前沿的发展同实测值吻合良好。本研究成果可应用到少资料条件下江、河、渠道冰情演变过程的数值模拟中,为天然河道冰情的准确模拟提供方法支撑。     

基于热电联产的汽轮机组油膜振荡故障诊断系统设计

常规振荡故障诊断系统,采集振荡信号噪声较大,导致诊断的故障类别信任度较低。针对这一问题,提出基于热电联产的汽轮机组油膜振荡故障诊断系统。耦合热电联产生产方式,循环汽轮机组多余排汽,通过排汽热量增加系统发电量完成硬件设计;采用小波包降噪算法,消除采集振荡信号噪声,分解信号各个时刻和频带,排序频带内时域子信号能量值,构成故障信号特征向量,输入神经网络,训练后输出振荡故障诊断模式完成软件设计。采集满负荷、最小负荷、噪声条件下的油膜振荡信号,设置对比实验,结果表明,所设计系统提高了故障诊断信任度,故障诊断结果更为准确可靠。     

Optimization of post-classification processing of high-resolution satellite image: A case study

The application of remote sensing monitoring techniques plays a crucial role in evaluating and governing the vast amount of ecological construction projects in China. However, extracting information of ecological engineering target through high-resolution satellite image is arduous due to the unique topography and complicated spatial pattern on the Loess Plateau of China. As a result, enhancing classification accuracy is a huge challenge to high-resolution image processing techniques. Image processing techniques have a definitive effect on image properties and the selection of different parameters may change the final classification accuracy during post-classification processing. The common method of eliminating noise and smoothing image is majority filtering. However, the filter function may modify the original classified image and the final accuracy. The aim of this study is to develop an efficient and accurate post-processing technique for acquiring information of soil and water conservation engineering, on the Loess Plateau of China, using SPOT image with 2.5 m resolution. We argue that it is vital to optimize satellite image filtering parameters for special areas and purposes, which focus on monitoring ecological construction projects. We want to know how image filtering influences final classified results and which filtering kernel is optimum. The study design used a series of window sizes to filter the original classified image, and then assess the accuracy of each output map and image quality. We measured the relationship between filtering window size and classification accuracy, and optimized the post-processing techniques of SPOT5 satellite images. We conclude that (1) smoothing with the majority filter is sensitive to the information accuracy of soil and water conservation engineering, and (2) for SPOT5 2.5 m image, the 5×5 pixel majority filter is most suitable kernel for extracting information of ecological construction sites in the Loess Plateau of China.     

大同矿区忻州窑矿(井工矿)土地利用分类最佳波段组合研究

选择具有历史悠久的井工矿大同矿区忻州窑矿为研究区域,根据矿区的开采状况,基于多光谱Landsat系列遥感数据,选择2004和2017年2期的遥感影像,采用OIF指数法确定遥感数据的最佳波段组合.结果表明:2004年波段7-3-1是最佳波段组合,且监督分类精度较高,2017年波段7-2-3是最佳波段组合,且精度最高.     

Carbon-coated lithium titanate: effect of carbon precursor addition processes on the electrochemical performance

In this paper,two carbon-coated lithium titanate(LTO-C1 and LTO-C2)composites were synthesized using the ball-milling-assisted calcination method with different carbon precursor addition processes.The physical and electrochemical properties of the as-synthesized negative electrode materials were characterized to investigate the effects of two carbon-coated LTO synthesis processes on the electrochemical performance of LTO.The results show that the LTO-C2 synthesized by using Li2CO3 and TiO2 as the raw materials and sucrose as the carbon source in a one-pot method has less polarization during lithium insertion and extraction,minimal charge transfer impedance value and the best electrochemical performance among all samples.At the current density of 300 mA·h·g^-1,the LTO-C2 composite delivers a charge capacity of 126.9 mA·h·g^-1,and the reversible capacity after 300 cycles exceeds 121.3 mA·h·g^-1 in the voltage range of 1.0–3.0 V.Furthermore,the electrochemical impedance spectra show that LTO-C2 has higher electronic conductivity and lithium diffusion coefficient,which indicates the advantages in electrode kinetics over LTO and LTO-C1.The results clarify the best electrochemical properties of the carbon-coated LTO-C2 composite prepared by the one-pot method.     

低温烘焙下城市生活垃圾与烟煤的混燃特性

为了探讨垃圾与煤的混燃特性,选取城市生活垃圾(MSW)和烟煤(BC)为研究对象,通过热重分析法研究烘焙温度、掺混比例、升温速率对样品燃烧特性的影响,并采用Kissinger-Akahira-Sunose(KAS)法计算样品的活化能。结果表明:MSW经220℃,260℃和300℃低温烘焙后,热值都有所提升,随着烘焙温度上升,其质量产率和能量产率逐渐降低,挥发分析出与燃烧区间逐渐减小,固定碳燃烧区间逐渐增大;MSW-260与BC掺混能有效改善烟煤的燃烧特性,提高混合样的燃烧速率;升温速率上升会产生热滞后现象,MSW-260与BC混合燃烧各反应阶段向高温侧移动,且升温速率越快偏移越明显。综合动力学分析以及燃烧特性参数分析来看,在保证资源高利用率和良好的燃烧状况条件下,MSW-260与BC混燃质量比可以选用5∶5。