基于遗传算法的多车体机器人路径规划方法

带拖车的移动机器人系统是一种复杂的多车体系统,在不同的转弯角度下所需的路径宽度也不同,其路径规划是个难题;在给出带拖车轮式移动机器人稳态和暂态过程运动学方程的基础上,推导得出了多车体移动机器人在最大转弯情况下所需的最大路径宽度,并将之定义为等效尺寸;应用遗传算法,提出了基于等效尺寸的多车体移动机器人的路径规划方法;首先通过等效尺寸的多步障碍扩张,对障碍物的临近区域和狭窄通道进行可行性约束的分析;然后应用遗传算法进行全局的路径规划,将路径的长度和宽度综合在适应度函数之中;在一定程度上,多车体移动机器人的路径规划问题得到解决;文章通过建立三维网格化地图,对障碍物的临近区域和狭窄的瓶颈通道区域进行了可行性约束的描述,遗传算法在较复杂的环境中实现了良好的避障,并得到了相对较短的有效路径。     

利用宇宙线对BESⅢ量能器CsⅠ（Tl）晶体探测器单元的测量

利用宇宙射线进行探测器模型的性能测试是高能物理普遍采用的方法，其中最重要的步骤之一就是确定宇宙线入射的准确位置和径迹．多数采用丝室探测器来进行宇宙线的精确定位，需要很高的造价和复杂的电子学系统．本文介绍一种简单的定位方法，采用塑料闪烁体条加波移剂光纤编码读出的方式，可以实现精度为1cm的定位．据此建立了一套实验装置，对BESⅢ电磁量能器CsⅠ（Tl）晶体探测器单元的光输出强度和不均匀性进行了测量．     

Calculation of the reactor neutron time of flight spectrum by convolution technique

It is a very complex and time-consuming process to simulate the nuclear reactor neutron spectrum from the reactor core to the export channel by applying a Monte Carlo program. This paper presents a new method to calculate the neutron spectrum by using the convolution technique which considers the channel transportation as a linear system and the transportation scattering as the response function. It also applies Monte Carlo Neutron and Photon Transport Code （MCNP） to simulate the response function numerically. With the application of convolution technique to calculate the spectrum distribution from the core to the channel, the process is then much more convenient only with the simple numerical integral numeration. This saves computer time and reduces some trouble in re-writing of the MCNP program.     

Dual-wavelength distributed Bragg reflector semiconductor laser based on a composite resonant cavity

We report a monolithic integrated dual-wavelength laser diode based on a distributed Bragg reflector (DBR) composite resonant cavity. The device consists of three sections, a DBR grating section, a passive phase section, and an active gain section. The gain section facet is cleaved to work as a laser cavity mirror. The other laser mirror is the DBR grating, which also functions as a wavelength filter and can control the number of wavelengths involved in the laser action. The reflection bandwidth of the DBR grating is fabricated to have an appropriate value to make the device work at the dual-wavelength lasing state. We adopt the quantum well intermixing (QWI) technique to provide low-absorption loss grating and passive phase section in the fabrication process. By tuning the injection currents on the DBR and the gain sections, the device can generate 0.596 nm-spaced dual-wavelength lasing at room temperature.     

基于垂直结构的有机光发射晶体管制备与性能研究

制备了一种有机垂直光发射晶体管, 兼具有机发光二极管的发光和晶体管的开关调节两个功能.其结构为一个有机发光单元垂直堆叠在一个电容单元上,两单元通过一个共有的源电极连在一起.当电容单元被充电时,积累在源电极的电荷能有效地调节源极与有机层之间的载流子注入势垒,从而达到控制源漏输出电流的大小,最终控制发光单元发光的强度.实验结果表明,器件可提供02 mA的输出电流,其大小可驱动发光单元发光,工作电压（开启电压）为6 V.这种垂直集成方案,实现了器件多功能化,为有机发光二极管有源矩阵驱动的实际应用提供了一种新的解决方法. 关键词： 有机光发射晶体管 垂直 电容     

Coulomb expansion of deuterated methane clusters irradiated by an ultrashort intense laser pulse

The simulations of three-dimensional particle dynamics show that when irradiated by an ultrashort intense laser pulse, the deuterated methane cluster expands and the majority of deuterons overrun the more slowly expanding carbon ions, resulting in the creation of two separated subelusters. The enhanced deuteron kinetic energy and a narrow peak around the energy maximum in the deuteron energy distribution make a considerable contribution to the efficiency of nuclear fusion compared with the ease of homonuelear deuterium clusters. With the intense laser irradiation, the nuclear fusion yield increases with the increase of the cluster size, so that deuterated heteronuelear clusters with larger sizes are required to achieve a greater neutron yield.     

a-C:F薄膜的热稳定性与光学带隙的关联

以CF4和C6H6的混合气体作为气源,在微波电子回旋共振化学气相沉积(ECRCVD)装置中制备了氟化非晶碳薄膜(aC:F),并在N2气氛中作了退火处理以考察其热稳定性.通过傅里叶变换红外吸收谱和紫外可见光谱获得了薄膜中CC双键的相对含量和光学带隙,发现膜中CC键含量与光学带隙之间存在着密切的关联,在高微波功率下沉积的氟化非晶碳膜具有低的光学带隙和较好的热稳定性. 关键词： 氟化非晶碳膜 光学带隙 退火温度 热稳定性     

基于MgO:QPLN的多光参量振荡器电场调谐特性理论与实验研究

报道了基于掺氧化镁准周期极化铌酸锂(MgO:QPLN)的多光参量振荡器电场调谐特性理论与实验研究. 通过对电场调谐能力与极化结构参数间关联性的理论分析, 确定了高正负晶畴比MgO:QPLN电场调谐的可行性, 并模拟得到跨周期参量光输出波长与加载电压的关系曲线. 实验中通过对MgO:QPLN有效的电场加载, 实现了3.84 μm波段参量光的电场调谐, 频谱调谐带宽约6 nm, 调谐速率接近1 nm/kV, 进一步结合温度调谐, 实现了参量光宽谱段高精度的连续调谐. 所获得实验结果与理论模拟结果基本符合, 电场调谐在精度控制、快速响应方面相比于传统温度调谐更具技术优势.     

基于MgO:APLN的1.57μm/3.84μm连续波内腔多光参量振荡器研究

报道了一种基于MgO:APLN实现1.57 μm和3.84 μm跨周期参量光连续输出的内腔抽运多光参量振荡器. 采用1064 nm谐振腔与多光参量振荡腔折叠型复合结构, 综合考虑高功率抽运下谐振腔的热稳定性及多光参量振荡过程的光斑模式匹配, 通过对两个子腔谐振结构的数值模拟分析, 确定了最佳腔型参数. 在此基础上, 进一步研究了谐振参量光透过率对振荡阈值、抽运光下转换效率、输出功率稳定性的影响, 最终实现了3.13 W的1.57 μm和0.85 W的3.84 μm参量光输出, 对应斜效率为6.8%和1.9%, 输出功率稳定性分别达到了1.8%和3%.     

分层掺B和吸附H2O碳纳米管的结构稳定性及电子场发射性能

运用基于第一性原理的密度泛函理论,系统研究了处于外电场中分层掺B并吸附不同数目H₂O碳纳米管体系的结构稳定性和电子场发射性能. 研究表明:第3层掺B并吸附5个H₂O的B₃CNT+5H₂O体系结构最稳定,管帽处Mulliken电荷最密集,尤其与单独掺B的B₃CNT和单独吸附H₂O的B₃CNT+5H₂O相比,其Fermi能级处态密度分别