Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

Solar light-driven photocatalytic production of hypochlorous acid over Pt/WO3 in seawater for marine antifouling

The hypochlorous acid (HCIO) was synthesized from seawater by the Pt/WO₃ photocatalyst under visible-light irradiation. The effect of WO₃ morphology and Pt loading on the performance of the composite photocatalyst for the production of HCIO has been studied in detail. The study found that among the series of materials, hollow WO₃ microspheres with a diameter of about 3 μm loaded with 1.0 wt% Pt have the best HCIO production performance. Over it, 14.52 μM of HClO (1.24 mg/L of free chlorine) was accumulated in 0.5 M NaCl solution after 2 h of visible-light photoirradiation. What is more, the concentration of HClO can reach 4.34 μM (0.354 mg/L free chlorine) in natural seawater for 1 h using this Pt/WO₃ photocatalyst. Under visible-light irradiation, the Pt/WO₃ photocatalyst has a good broad-spectrum antibacterial activity and the activity of inhibiting marine fouling algae. The Pt/WO₃ photocatalyst has high stability and reusability. All these characteristics are conducive to the application in the field of marine antifouling. Moreover, the photocatalytic reaction mechanism was evaluated by studying the photoelectrochemical properties of Pt/WO₃/FTO. This research provides a new strategy for replacing the traditional electrolytic marine antifouling system with the visible-light-catalyzed HClO production system.

     

High-performance nonfused ring electron acceptor with a steric hindrance induced planar molecular backbone

Three nonfused ring electron acceptors (NFREAs) TTC6,TT-C8T and TT-TC8 were purposefully designed and synthesized.The molecular geometry can be adjusted by the steric hindrance of lateral substituents.According to the DFT calculations,from TTC6 to TT-C8T and TT-TC8,planarity of the molecular backbone is gradually improved,accompanying with the enhancing of intramolecular charge transfer effect.As for TT-TC8,the two phenyl substituents are almost perpendicular to the molecular backbone,which endues the acceptor with good solubility and suppresses it to form over-aggregation.Multidirectional regular molecular orientation and closer molecular stacking are formed in TT-TC8 film.As a result,TT-TC8 based devices afford the highest PCE of 13.13%,which is much higher than that of TTC6 (4.41%) and TT-C8T (10.42%) and among the highest PCE values based on NFREAs.     

Hyperparameter on-line learning of stochastic resonance based threshold networks

Aiming at training the feed-forward threshold neural network consisting of nondifferentiable activation functions, the approach of noise injection forms a stochastic resonance based threshold network that can be optimized by various gradient-based optimizers. The introduction of injected noise extends the noise level into the parameter space of the designed threshold network, but leads to a highly non-convex optimization landscape of the loss function. Thus, the hyperparameter on-line learning procedure with respective to network weights and noise levels becomes of challenge. It is shown that the Adam optimizer, as an adaptive variant of stochastic gradient descent, manifests its superior learning ability in training the stochastic resonance based threshold network effectively. Experimental results demonstrate the significant improvement of performance of the designed threshold network trained by the Adam optimizer for function approximation and image classification.     

Graphene Saturable Absorber Mirror for Mode-Locked Orange Pulse Laser

Journal of Russian Laser Research - We demonstrate a passively-mode-locked Pr3+: LuLiF4 laser operated at the 604 nm orange wave-length, using monolayer graphene as a saturable absorber. The...     

Design and synthesis of novel α-aminoamides derivatives as Nav1.7 inhibitors for antinociception

Three novel series of α-aminoamides derivatives were designed and synthesized based on ralfinamide,and their Nav1.7 inhibitory activities were evaluated using manual patch clamp electrophysiology. Active compounds inhibited Nav1.7 with half maximal inhibitory concentration(IC50) values ranging from2.9 μmol/L to 21.4 μmol/L. Among them, the most potent compound 19h exhibited about 12-fold potency better than ralfinamide. The investigation of their structure-activity relationship gives a strategy ...     

Improvement of high-frequency properties of Co2FeSi Heusler films by ultrathin Ru underlayer

Heusler Co2FeSi films with a uniaxial magnetic anisotropy and high ferromagnetic resonance frequency fr were deposited by an oblique sputtering technique on Ru underlayers with various thicknesses tRufrom 0 nm to 5 nm.It is revealed that the Ru underlayers reduce the grain size of Co2FeSi,dramatically enhance the magnetic anisotropy field HK induced by the internal stress from 242 Oe(1 Oe=79.5775 A·m^-1)to 582 Oe with an increment ratio of 2.4,while a low damping coefficient remains.The result of damping implies that the continuous interface between Ru and Co2FeSi induces a large in-plane anisotropic field without introducing additional external damping.As a result,excellent high-frequency soft magnetic properties with fr up to 6.69 GHz are achieved.     

低喷淋密度超亲水表面水平管降液膜温度分布

水平管降液膜蒸发广泛应用在石油、化工、海水淡化等领域,对低喷淋密度温度演化规律的研究有助于拓宽其应用范围,理解其微观机理。本文在超亲水表面上结合红外热追踪技术,对水平管降液膜表面的温度演化规律进行了研究,分析了温度分区现象和温升规律。实验中首次发现了马鞍形液膜内部的高温环状结构,并结合三维数值模拟揭示了掺混作用导致的局部高温环状结构形成的内部机理。     

多层结构的阴极修饰层对有机电致发光器件的性能改善

为提高有机电致发光器件（OLEDs）的阴极电子注入效率，我们设计了新型的阴极杂化修饰层，其结构为Bphen∶LiF/Al/MoO₃，将其应用到器件ITO/NPB/Alq₃/Al中，参考器件的电子注入层选用传统材料LiF。实验研究表明，与传统的阴极修饰层LiF相比，基于这种杂化结构的阴极修饰层非常有效。测试了器件的电致发光光谱（EL谱），其峰值位于534 nm，发光来自于Alq₃，实验中我们可以观察到明亮的绿色发光。将其与传统参考器件的EL谱进行对比，在电流密度40 mA·cm-2下，两个器件的电致发光光谱是一致的。在0～100 mA·cm-2范围内，对器件的EL谱进行了测试。实验结果表明，随着电流密度的增加，器件的发光增强，但是EL谱的形状和谱峰的位置是固定不变的。与参考器件对比，基于杂化修饰层的器件的发光性能更好。研究表明，杂化修饰层的最佳参数为Bphen∶LiF(5 nm; 6%)/Al(1 nm)/MoO₃(5 nm)，在测试范围内，器件的最大电流效率和最大功率效率分别为4.28 cd·A-1和2.19 lm·W-1，相比参考器件提高了25.5%和23.7%。器件的电流密度-电压特性曲线表明阴极杂化修饰层可以增强电子的注入，使器件中的载流子更加平衡，从而提高了器件的发光性能。从两个角度对器件效率的增强进行了理论方面的论证。一方面利用阴极杂化修饰层的作用机制来解释。在HML中，LiF能填充Bphen的电子陷阱，增强电流的注入，同时HML也能限制空穴的传输，减小空穴电流。另一方面从电荷平衡因子的角度，HML增强了电子的注入，使得器件的电荷平衡因子增大，空穴和电子的平衡性更好。实验研究表明，阴极杂化修饰层很好地增强了器件的效率。