我国东南沿海尤其是温州地区广泛存在上覆深厚软土下覆不均匀卵石的地层。该区域的钻孔灌注桩常采用后注浆技术改善其承载性能。为了评价后注浆技术对这类地层中灌注桩承载力改善效果,开展了相应的模型试验,对比了不同注浆量对桩承载力...我国东南沿海尤其是温州地区广泛存在上覆深厚软土下覆不均匀卵石的地层。该区域的钻孔灌注桩常采用后注浆技术改善其承载性能。为了评价后注浆技术对这类地层中灌注桩承载力改善效果,开展了相应的模型试验,对比了不同注浆量对桩承载力的影响程度;并结合扫描电镜(scanning electron microscope,简称SEM)试验分析了浆液分布特点,探讨了浆液在卵石层中的扩散范围,研究了浆液扩散范围与桩承载力之间的关系。结果表明:浆液能够有效地填充桩端卵石层,注浆量的增加使得填充范围扩大,填充范围为3~4倍桩径时,桩的承载力改善最显著。在不均匀卵石持力层中存在一个最优注浆量,最优归一化注浆量约为2.8,若超过该最优注浆量归一化值,桩的承载力不再显著提高。单桩模型试验确定的最优注浆量与刘金砺公式[1]的预测结果接近。扫描电镜技术有助于评价桩的后注浆技术在上覆深厚软土下覆不均匀卵石的土层中的效果。展开更多
This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accuratel...This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.展开更多
Metal halide perovskite(MHP)has become one of the most promising materials for photocatalytic CO_(2) reduction owing to the wide light absorption range,negative conduction band position and high reduction ability.Howe...Metal halide perovskite(MHP)has become one of the most promising materials for photocatalytic CO_(2) reduction owing to the wide light absorption range,negative conduction band position and high reduction ability.However,photoreduction of CO_(2) by MHP remains a challenge because of the slow charge separation and transfer.Herein,a cobalt single-atom modified nitrogen-doped graphene(Co-NG)cocatalyst is prepared for enhanced photocatalytic CO_(2) reduction of bismuth-based MHP Cs_(3)Bi_(2)Br_(9).The optimal Cs_(3)Bi_(2)Br_(9)/Co-NG composite exhibits the CO production rate of 123.16μmol g^(-1)h^(-1),which is 17.3 times higher than that of Cs_(3)Bi_(2)Br_(9).Moreover,the Cs_(3)Bi_(2)Br_(9)/Co-NG composite photocatalyst exhibits nearly 100% CO selectivity as well as impressive long-term stability.Charge carrier dynamic characterizations such as Kelvin probe force microscopy(KPFM),single-particle PL microscope and transient absorption(TA)spectroscopy demonstrate the vital role of Co-NG cocatalyst in accelerating the transfer and separation of photogenerated charges and improving photocatalytic performance.The reaction mechanism has been demonstrated by in situ diffuse reflectance infrared Fourier-transform spectroscopy measurement.In addition,in situ X-ray photoelectron spectroscopy test and theoretical calculation reveal the reaction reactive sites and reaction energy barriers,demonstrating that the introduction of Co-NG promotes the formation of ^(*)COOH intermediate,providing sufficient evidence for the highly selective generation of CO.This work provides an effective single-atom-based cocatalyst modification strategy for photocatalytic CO_(2) reduction and is expected to shed light on other photocatalytic applications.展开更多
文摘我国东南沿海尤其是温州地区广泛存在上覆深厚软土下覆不均匀卵石的地层。该区域的钻孔灌注桩常采用后注浆技术改善其承载性能。为了评价后注浆技术对这类地层中灌注桩承载力改善效果,开展了相应的模型试验,对比了不同注浆量对桩承载力的影响程度;并结合扫描电镜(scanning electron microscope,简称SEM)试验分析了浆液分布特点,探讨了浆液在卵石层中的扩散范围,研究了浆液扩散范围与桩承载力之间的关系。结果表明:浆液能够有效地填充桩端卵石层,注浆量的增加使得填充范围扩大,填充范围为3~4倍桩径时,桩的承载力改善最显著。在不均匀卵石持力层中存在一个最优注浆量,最优归一化注浆量约为2.8,若超过该最优注浆量归一化值,桩的承载力不再显著提高。单桩模型试验确定的最优注浆量与刘金砺公式[1]的预测结果接近。扫描电镜技术有助于评价桩的后注浆技术在上覆深厚软土下覆不均匀卵石的土层中的效果。
文摘This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.
文摘Metal halide perovskite(MHP)has become one of the most promising materials for photocatalytic CO_(2) reduction owing to the wide light absorption range,negative conduction band position and high reduction ability.However,photoreduction of CO_(2) by MHP remains a challenge because of the slow charge separation and transfer.Herein,a cobalt single-atom modified nitrogen-doped graphene(Co-NG)cocatalyst is prepared for enhanced photocatalytic CO_(2) reduction of bismuth-based MHP Cs_(3)Bi_(2)Br_(9).The optimal Cs_(3)Bi_(2)Br_(9)/Co-NG composite exhibits the CO production rate of 123.16μmol g^(-1)h^(-1),which is 17.3 times higher than that of Cs_(3)Bi_(2)Br_(9).Moreover,the Cs_(3)Bi_(2)Br_(9)/Co-NG composite photocatalyst exhibits nearly 100% CO selectivity as well as impressive long-term stability.Charge carrier dynamic characterizations such as Kelvin probe force microscopy(KPFM),single-particle PL microscope and transient absorption(TA)spectroscopy demonstrate the vital role of Co-NG cocatalyst in accelerating the transfer and separation of photogenerated charges and improving photocatalytic performance.The reaction mechanism has been demonstrated by in situ diffuse reflectance infrared Fourier-transform spectroscopy measurement.In addition,in situ X-ray photoelectron spectroscopy test and theoretical calculation reveal the reaction reactive sites and reaction energy barriers,demonstrating that the introduction of Co-NG promotes the formation of ^(*)COOH intermediate,providing sufficient evidence for the highly selective generation of CO.This work provides an effective single-atom-based cocatalyst modification strategy for photocatalytic CO_(2) reduction and is expected to shed light on other photocatalytic applications.
