A Visible and Near-Infrared Light-Fueled Omnidirectional Twist-Bend Crawling Robot

In recent years, although light-driven soft actuators have attracted intense scientific attention and achieved remarkable progress, the design and construction of an intelligent robotic system with maneuverability, self-adaptability, untethered control, and greater freedom of action, in particular the omnidirectional motion capability on a plane, remains challenging. Herein, four types of photo-thermal fillers and an unprecedented twist-bend actuation mode is introduced into a liquid crystal elastomer-based soft robot. The obtained twist-bend crawling robot not only exhibits in situ rotation, four-way turning, and four-way linear motion under light irradiation with four wavelength bands (520, 655, 808, and 980 nm), but also demonstrates the ability to avoid obstacles in complex geographical environments. This work may bring a new perspective for fabrication and development of soft robots that can adapt to dynamic and complex environmental conditions.     

Direct Observation of Oxygen Ion Dynamics in a WO3-x based Second-Order Memristor with Dendritic Integration Functions

Direct observation of oxygen dynamics in an oxide-based second-order memristor can provide the valid evidence to clarify the memristive mechanism, however, which is still limited for now. In this study, the migration and diffusion of oxygen ions in the region of Pt/WO_3-x Schottky interface are observed in the WO_3-x second-order memristor by using the technique of in situ transmission electron microscopy (TEM) and the electron energy loss spectroscopy. Interestingly, the coexistence of memristive and memcapacitive switching can be implemented in this memristor. Combined with the analysis of depth-profile X-ray photoelectron spectroscopy (XPS), an interface-barrier-modulation second-order memristive model is proposed based on the above results. Notably, temporally correlative oxygen dynamics in the memristor offers the platform to integrate signals from multiple inputs, enabling the realization of the dendritic functions of synchronous and asynchronous integration for the application of logic operations with fault-tolerance capability and associative learning. These findings provide the experimental evidence to in-depth understanding of oxygen dynamics and switching mechanism in second-order memristor, which can support the optimization of memristive performance and the achievement of biorealistic synaptic functions.     

A Novel Routing Algorithm with Bernoulli Sampling-based Link Quality Estimation in Wireless Sensor Networks

Wireless Personal Communications - Long term evolution (LTE) and LTE—Advanced are the promising broadband wireless technology that supports variety of services with higher data rate. To...     

Polymer passivation of defects in inorganic perovskite solar cells

Inorganic perovskite solar cells (IPSCs) have attained attention due to their excellent thermal and phase stability. In this work, we demonstrate a novel approach for fabricating IPSCs, using the strategies of interface passivation and anti-solvent before spin-coating perovskite. Poly(methyl methacrylate) (PMMA) and chlorobenzene (CB) are used as passivator and anti-solvent, respectively. The CB improves the perovskite crystal morphology. Meanwhile, PMMA passivates the defects between poly(3, 4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) and perovskite layer, thus increasing the short-circuit current. Excitingly, we find that PMMA benefits the grain boundaries (GBs) of perovskite, which makes it more humidity-resistant, increasing the stability of perovskite film. Especially, PMMA mitigates interfacial charge losses, and the devices based on CsPbI3-xBrx passivated by PMMA exhibit the power conversion efficiency (PCE) much higher than those based on pure CsPbI3-xBrx.     

Structural and optical properties of AIN sputtering deposited on sapphire substrates with various orientations

AIN thin films were deposited on c-,a-and r-plane sapphire substrates by the magnetron sputtering technique.The in-fluence of high-temperature thermal annealing (HTTA) on the structural,optical properties as well as surface stoichiometry were comprehensively investigated.The significant narrowing of the (0002) diffraction peak to as low as 68 arcsec of AIN after HTTA implies a reduction of tilt component inside the AIN thin films,and consequently much-reduced dislocation densities.This is also supported by the appearance of E2(high) Raman peak and better Al-N stoichiometry after HTTA.Furthermore,the in-creased absorption edge after HTTA suggests a reduction of point defects acting as the absorption centers.It is concluded that HTTA is a universal post-treatment technique in improving the crystalline quality of sputtered AIN regardless of sapphire orienta-tion.     

改进海鸥算法的多阈值图像分割算法北大核心CSCD

为进一步提高图像分割精度,改善传统多阈值图像分割方法计算量大、分割慢的问题,提出了改进海鸥算法(improved seagull optimization algorithm,ISOA)的多阈值图像分割方案。针对原始海鸥算法(seagull optimization algorithm,SOA)存在早熟、寻优精度不足的问题,首先,采用cubic混沌映射优化初始解,提高搜索效率;其次,引入鹰栖息优化算法(eagle perching optmizer,EPO)的缩放因子和疯狂算子进行扰动,并与麻雀搜索算法(sparow search algorithm,SSA)警戒者的位置更新相结合,优化寻优精度和收敛速度,避免陷入局部最优。利用6种基准测试函数对ISOA进行寻优性能测试。最后,将ISOA与图像分割的最优阈值选取相结合,进行基于Otsu的多阈值图像分割,并与现有分割算法进行对比。仿真结果表明,ISOA在基于Otsu的图像分割中,100%取得了最优值,且80.9%的结果优于其余算法,使图像的分割精度和质量均得到了优化。     

预估型氨法脱硫控制系统研究

燃煤发电系统中氨法脱硫控制系统具有时变、大延时、大惯性的特点。针对典型的大延迟系统,文中提出基于Smith预估器的脱硫控制系统,通过抵消系统被控对象中的纯滞后环节来提高系统的实时性。Smith预估器依赖准确的PID模型,系统中PID参数整定仍存在不确定性。利用SOA算法对PID参数进行整定,将绝对误差积分ITAE作为适应度函数,通过对适应度值的不断寻优,找到最佳的比例积分微分系数组合。仿真结果表明,相较于Smith预估器控制下的脱硫系统,基于SOA的Smith预估PID控制系统跟随性好且反应迅速,调节时间缩小为原来的9%,峰值时间缩小为原来的5%,具有较小的超调量,系统的实时性和稳定性得到保证。上述结果证明该算法对工程控制系统有效,并具有良好的应用前景。     

On the isomorphisms and automorphism groups of circulants

Denote byC _n(S) the circulant graph (or digraph). LetM be a minimal generating element subset ofZ _n, the cyclic group of integers modulon, and In this paper, we discuss the problems about the automorphism group and isomorphisms ofC _n(S). When M S , we determine the automorphism group ofC _n(S) and prove that for any T if and only ifT = S, where is an integer relatively prime ton. The automorphism groups and isomorphisms of some other types of circulant graphs (or digraphs) are also considered. In the last section of this paper, we give a relation between the isomorphisms and the automorphism groups of circulants.