软体微手鲁棒非线性控制设计

软体驱动器是构建智能软体机器人的基石。然而,由于软体驱动器具有非线性、耦合和不确定性等复杂的特性,如何对其进行有效建模与控制是目前极需解决的难题。以一种由三支单腔双向弯曲软驱动器构成的软体微手为研究对象,对其进行了鲁棒非线性控制设计研究。首先,进行了鲁棒非线性控制系统的总体结构设计分析。其次,对如何设计算子控制器、跟踪控制器、算子观测器实现其对软体微手的弯曲角度和力进行控制进行了分析和讨论。接着,分析和研究了鲁棒稳定和跟踪条件。最后,通过基于实验数据的仿真验证了所提方案的可行性和有效性。     

基于586-Driver的无人机飞控计算机智能检测系统研制

传统飞控计算机检测方法以人工操作为主,存在一定的主观性且效率低下的缺点。采用信号门限检测技术,设计了飞控计算机一键式全功能检测方案。以586-Driver板卡为核心,设计了智能检测系统,实现了在全程无人干预情况下对飞控计算机按预设时序逻辑的自动检测。通过系统测试表明：满足某型飞控计算机的检测需求,提高了飞控计算机检测效率,具有实际工程应用价值。     

Deterministic secure quantum communication using four-particle genuine entangled state and entanglement swapping

A deterministic secure quantum communication scheme using entanglement swapping is proposed. The sender prepares four-particle genuine entangled states and sends two particles in each state to the receiver and remains the rest particles. If the quantum channel is secure, they begin to communicate. After their four-particle projective measurements, the receiver can obtain the secret information according to his measurement outcomes and classical information from the sender. Using entanglement swapping, there are no particles carrying secret information to be transmitted.     

Preparation and characterization of Cobalt Sulfophthalocyanine/TiO2/fly-ash cenospheres photocatalyst and study on degradation activity under visible light

Cobalt Sulfophthalocyanine (CoSPc) sensitized TiO₂ sol samples were prepared through a Sol-Gel method using Cobalt Sulfophthalocyanine as a sensitizer. Loading and modified floating photocatalyst was prepared by hydrothermal method using fly-ash cenospheres as a carrier. The properties of the samples were characterized by scanning electron microscopy (SEM), X-ray diffraction (XRD), Fourier transform infrared (FT-IR) and UV-vis diffuse reflectance spectrum (DRS). Photocatalytic activity was studied by degrading wastewater of methylene blue under visible light. The results indicate that the fly-ash cenospheres are covered by modified TiO₂ film which composed of the anatase, brookite and rutile misch crystal phase. CoSPc/TiO₂/fly-ash cenospheres samples have good catalytic activity under visible light, and have strong absorbency during 600-700 nm. The sensitization of CoSPc can enhance visible light catalytic activity of TiO₂/fly-ash cenospheres. The degradation rate of methylene blue reaches 73.36% in 180 min under the visible light illumination. But too much CoSPc can decrease its catalytic activity.     

Oxygen vacancy pairs on CeO2(110): A DFT + U study

Oxygen vacancy pairs have been suggested to play a role in the reduction of NO molecules on ceria and for the oxidation processes of reducible rare-earth oxides. The formation energy of the oxygen vacancy pairs and the changes in the structural and electronic properties of the ceria (110) surface with oxygen vacancy pairs are investigated using density-functional theory (DFT + U) methodology within the generalized gradient approximation. It is found that the excess electrons localize on the Ce ions neighbouring the vacancies, and the most stable structure for the oxygen vacancy pairs on the ceria (110) surface is at next-nearest-neighbour site.     

Preparation of In2S3 nanopraricle by ultrasonic dispersion and its tribology property

In this paper, we describe a facile and rapid method for preparing In2S3 nanoparticles via ultrasound dispersion. This method allows us to prepare In2S3 nanoparticles from bulk indium and sulfur with ease and without using expensive agents and in a short time. The possible growing mechanism of the In2S3 nanoparticles was presented. In addition, we provide detailed characterizations including TEM, XRD, TG-DTA, and XPS to study the shape, composition and structure of In2S3 nanoparticles. We also studied the tribology property of In2S3 nanoparticles made using this novel recipe.     

Theoretical and experimental investigations of nanosecond 177.3 nm deep-ultraviolet light by second harmonic generation in KBBF

We have presented theoretical and experimental investigations of nanosecond (ns) deep-ultraviolet (DUV) 177.3 nm radiation by means of second harmonic generation (SHG) from a frequency-tripled Nd:YAG laser (355 nm, 49 ns and 10 kHz) in KBe₂BO₃F₂ (KBBF) nonlinear crystal for the first time. A DUV KBBF-SHG numerical model, accounting for linear absorption, pump depletion, beam spatial birefringent walk-off and diffraction, is performed in the Gaussian approximation of spatial and temporal profiles. In the experiment, a maximum average output power of 14.1 mW at 177.3 nm was obtained. The dependence of 177.3 nm output power on the 355 nm pump power was simulated. The calculated results are in good agreement with the measured data. We used the model further to investigate the optical conversion efficiency, pulse width, beam spatial intensity profile and beam quality factor of the generated 177.3 nm light, in particular the effect of beam birefringent walk-off.     

Scanning tunneling microscopy and spectroscopy of graphene layers on graphite

We report low temperature scanning tunneling microscopy and spectroscopy on graphene flakes supported on a graphite substrate. The experiments demonstrate that graphite is exceptionally well suited as a substrate for graphene because it offers support without disturbing the intrinsic properties of the charge carriers. The degree of coupling of a graphene flake to the substrate was recognized and characterized from the appearance of an anomalous Landau level sequence in the presence of a perpendicular magnetic field. By following the evolution of the Landau level spectra along the surface, we identified graphene flakes that are decoupled or very weakly coupled to the substrate. From the Landau level sequence in this flake, we extract the local Fermi velocity and energy of the Dirac point and find extremely weak spatial variation of these quantities confirming the high quality and non invasive nature of the graphite substrate.     

The effect of metastable states of the impurities on quantized acoustoelectric current

We report a detailed experimental study of the fluctuations of acoustoelectric (AE) current induced by surface acoustic waves in a shallow-etched quantum point contact defined in a GaAs/Al_xGa_1?xAs heterostructure at 1.7 K. We observe that current fluctuations between two AE current plateaus are more obvious than those at the plateaus. Switching the metastable states of the impurities is considered as the physical origin of the current fluctuations.