四轮驱动全向底盘的控制方法研究

为提高机器人移动的灵活性和机动性,使机器人到任意位置均沿直线行走并改变姿态,需在传统的两轮驱动底盘上增加驱动轮,本文主要针对四轮驱动全向底盘的控制方法进行研究。本文对四轮驱动全向底盘进行运动学分析并建模,得到了控制系统传递函数,并进仿真验证;对四轮驱动全向底盘进行了动力学建模,分析了如何避免出现“打滑”现象;导航方式采用了经济、精度较高的全向码盘导航方式;控制上采用闭环控制,加入前置探测点和超前校正环节,并且考虑了实际过程中机体的加减速问题。实验结果表明,提出的控制方法可以使四轮驱动全向底盘实现预设功能,并且具有较高的控制精度,研究内容对机器人的灵活移动有着十分重要的意义。     

Studies on the level structure of154Gd via the β-decay of154Eu nucleus

The excited states of¹⁵⁴Gd populated by theβ-decay of¹⁵⁴Eu (T _1/2=8.5y) have been studied. With a HPGe-NaI (T1) Compton suppression spectrometer and a HPGe-NaI(T1) coincidence circuitυ-ray singles spectra, coincidence spectra and theγ-γ directional correlational functions have been obtained. The deduced mixing ratios of multipolarities are presented. The energy levels and the relativeB(E2) values of the variousγ-transitions in¹⁵⁴Gd nucleus have been calculated both in the IBA model and it's extended version with boson surface delta interaction (BSDI).     

夸克蜕定域、色屏蔽和核力的中程吸引

本文描述了在通常的夸克势模型中的夸克蜕定域、色屏蔽及核力特性,对所得核子—核子绝热近似势和散射相移进行了定性描述:既有排斥心,又有中程吸引,但没有Van der Waals力问题,变分给出蜕定域的数值也是合理的,对质心运动效应、色屏蔽形式的影响以及各种单夸克基矢的关系和选择问题进行了专门的研究。 We introduce the quark delocalization and color screening into the usual quark modeland the property of nuclear force. The resulting N-N phase shifts and the adiabatic potential aredescribed qualitatively well: there are exclusion core and also intermediate range attraction, but thereis no Van der Waals force. The delocalization parameter obtained from variational method is alsoreasonable. we consider especially the effect of mass center motion, the effect of forms of colorscreening...     

Performance improvement of electrochromic display devices employing micro-size precipitates of tungsten oxide

In this paper, we studied the effect of micro-size WO₃ precipitates on the electrochromic characteristics based on aging test. The electrochromic mechanism can be effectively investigated by a solid-state TaN/WO₃/ITO capacitor. The experimental results reveal that WO₃ electrochromic devices with optimized aging time of 4 days exhibit a higher optical contrast and longer retention time, which is mainly attributed to the formation of micro-size WO₃ precipitates during aging process. The performance improvement using micro-size WO₃ precipitates has the potential in future large-area window or energy efficient display applications.     

Synchronization of complex community networks with nonidentical nodes and adaptive coupling strength

In this Letter, the complex dynamical networks with community structure and nonidentical nodes are considered. The globally asymptotical synchronization of the time-delayed complex community networks onto any uniformly smooth state is studied. Some simple and useful criteria are derived by constructing an effective control scheme and adjusting automatically the adaptive coupling strength. Finally, the developed techniques are applied to two complex community networks which are respectively synchronized to a chaotic trajectory and a periodic orbit, and numerical simulations are provided to show the feasibility of the developed methods.     

有机/无机复合结构光电导型器件的光激发机制

制备了PVK/ZnS有机无机复合的光电导型器件 ,器件结构分别为Glass/ITO/PVK/Al;Glass/ITO/ZnS/Al;Glass/ITO/ZnS/PVK/Al。通过研究此复合器件在外加电场作用下的稳态光电导激发谱 ,得到了基本光激发过程。把PVK/ZnS的吸收谱和器件的光电导谱进行比较 ,知道虽然两者的吸收对器件光电流都有贡献 ,但有效部分在PVK和ZnS的界面处。最大光电流对外加电场的依赖性与器件的暗电流和光电流谱为此提供了证据     

Optical studies of pulsed-laser fragmentation of biliary calculi

The fragmentation of gallstones and kidney stones using pulsed visible laser radiation has recently been demonstrated; however, the fragmentation mechanism is not well understood. The temporal and spectral characteristics of the bright flash of light accompanying fragmentation of gallstones were studied using 0.8 and 360-s-long, 690-nm-wavelength, dye-laser pulses. Time-resolved visible emission spectra show a broad continuum upon which line spectra are superimposed. The continuum emission is due to free-free and free-bound electron transitions indicative of a plasma and the line spectra are due to neutral and ionized calcium. Initiation of this plasma is fluence rather than intensity dependent. A model is proposed in which laser energy is coupled to the plasma, which then impulsively expands, generating intense acoustic transients which fracture the stone.     

微观结构对膜换湿能力影响研究

对多孔膜换湿过程进行了理论分析,得到了透湿量和湿阻的计算式.同时对三种膜包括PVDF,PES和纤维素膜进行了湿阻的测量实验,通过对实验数据的回归处理,得到了多孔膜的结构参数.结果表明,膜厚、孔径分布、孔隙率及曲折因子对膜的换湿特性都有较大影响,在平均孔径相同的情况下,其它因素仍然导致了不同膜换湿能力的较大差距。在所获得的结构参数基础上,通过数值模拟的方法研究了平均孔径对膜换湿能力的影响。结果表明湿阻随平均孔径的增大而减小,减小趋势逐渐平缓最后趋向一定值。     

Bi2223带材的临界电流及交流损耗研究

测量了77K温度下不同基体材料和不同芯数带材的临界电流和交流损耗.分析了弯曲应变对它们的影响.结果表明单芯样品的不可逆应变小于0.15%,而多芯样品的不可逆应变在01%到03%之间,多芯导体的机械性能比单芯导体的好,增加芯数可以提高机械性能,金属包套材料对超导芯起到了增强的作用,它防止了超导芯中裂纹的进一步传播.自场损耗随外加应变的增加而增加,这种大幅度的增加与应变使带材的临界电流急剧减小直接相关 关键词： 高温超导体 临界电流 交流损耗     

Theoretical study on the catalytic properties of single-atom catalyst stabilised on silicon-doped graphene sheets

ABSTRACT

The stable configurations, electronic structures and catalytic activities of single-atom metal catalyst anchored silicon-doped graphene sheets (3Si-graphene-M, M?=?Ni and Pd) are investigated by using density functional theory calculations. Firstly, the adsorption stability and electronic property of different gas reactants (O₂, CO, 2CO, CO/O₂) on 3Si-graphene-M substrates are comparably analysed. It is found that the coadsorption of O₂/CO or 2CO molecules is more stable than that of the isolated O₂ or CO molecule. Meanwhile, the adsorbed species on 3Si-graphene-Ni sheet are more stable than those on the 3Si-graphene-Pd sheet. Secondly, the possible CO oxidation reactions on the 3Si-graphene-M are investigated through Eley–Rideal (ER), Langmuir–Hinshelwood (LH) and new termolecular Eley–Rideal (TER) mechanisms. Compared with the LH and TER mechanisms, the interaction between 2CO and O₂ molecules (O₂?+?CO → CO₃, CO₃?+?CO → 2CO₂) through ER reactions (< 0.2?eV) are an energetically more favourable. These results provide important reference for understanding the catalytic mechanism for CO oxidation on graphene-based catalyst.