Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search connnon topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm （GA）. The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

Constructing long-cycling crystalline C_(3)N_(4)-based carbonaceous anodes for sodium-ion battery via N configuration control

Carbon nitrides with two-dimensional layered structures and high theoretical capacities are attractive as anode materials for sodium-ion batteries while their low crystallinity and insufficient structural stability strongly restrict their practical applications.Coupling carbon nitrides with conductive carbon may relieve these issues.However,little is known about the influence of nitrogen(N)configurations on the interactions between carbon and C_(3)N_(4),which is fundamentally critical for guiding the precise design of advanced C_(3)N_(4)-related electrodes.Herein,highly crystalline C_(3)N_(4)(poly(triazine imide),PTI)based all-carbon composites were developed by molten salt strategy.More importantly,the vital role of pyrrolic-N for enhancing charge transfer and boosting Na+storage of C_(3)N_(4)-based composites,which was confirmed by both theoretical and experimental evidence,was spot-highlighted for the first time.By elaborately controlling the salt composition,the composite with high pyrrolic-N and minimized graphitic-N content was obtained.Profiting from the formation of highly crystalline PTI and electrochemically favorable pyrrolic-N configurations,the composite delivered an unusual reverse growth and record-level cycling stability even after 5000 cycles along with high reversible capacity and outstanding full-cell capacity retention.This work broadens the energy storage applications of C_(3)N_(4) and provides new prospects for the design of advanced all-carbon electrodes.

Engineering of geometrical configurations in dual-atom catalysts for electrocatalytic applications

Geometrical configurations play a crucial role in dual-atom catalysts(DACs)for electrocatalytic applications.Significant progress has been made to design DACs electrocatalysts with various geometri-cal configurations,but in-depth understanding the relationship between geometrical configurations and metal-metal interaction mechanisms for designing targeted DACs is still required.In this review,the recent progress in engineering of geometrical configurations of DACs is systematically summarized.Based on the polarity of geometrical configuration,DACs can be classified into two different types that are homonuclear and heteronuclear DACs.Furthermore,with regard to the geometrical configurations of the active sites,homonuclear DACs are identified into adjacent and bridged configurations,and heteronuclear DACs can be classified into adjacent,bridged,and separated configurations.Subsequently,metal-metal interactions in DACs with different geometrical configurations are introduced.Additionally,the applications of DACs in different electrocatalytic reactions are discussed,including the oxygen reduction reaction(ORR),oxygen evolution reaction(OER),hydrogen evolution reaction(HER),and other catalysis.Finally,the future challenges and perspectives for advancements in DACs are high-lighted.This review aims to provide inspiration for the design of highly effcient DACs towards energy relatedapplications.

Spectroscopy and molecule opacity investigation on excited states of SiS

The SiS molecule,which plays a significant role in space,has attracted a great deal of attention for many years.Due to complex interactions among its low-lying electronic states,precise information regarding the molecular structure of SiS is limited.To obtain accurate information about the structure of its excited states,the high-precision multireference configuration interaction(MRCI)method has been utilized.This method is used to calculate the potential energy curves(PECs)of the 18Λ–S states corresponding to the lowest dissociation limit of SiS.The core–valence correlation effect,Davidson’s correction and the scalar relativistic effect are also included to guarantee the precision of the MRCI calculation.Based on the calculated PECs,the spectroscopic constants of quasi-bound and bound electronic states are calculated and they are in accordance with previous experimental results.The transition dipole moments(TDMs)and dipole moments(DMs)are determined by the MRCI method.In addition,the abrupt variations of the DMs for the 1^(5)Σ^(+)and 2^(5)Σ^(+)states at the avoided crossing point are attributed to the variation of the electronic configuration.The opacity of SiS at a pressure of 100 atms is presented across a series of temperatures.With increasing temperature,the expanding population of excited states blurs the band boundaries.

Coordinated responses of leaf and nodule traits contribute to the accumulation of N in relay intercropped soybean

Maize(Zea mays L.)-soybean(Glycine max L.Merr.)relay intercropping provides a way to enhance land productivity.However,the late-planted soybean suffers from shading by the maize.After maize harvest,how the recovery growth influences the leaf and nodule traits remains unclear.A three-year field experiment was conducted to evaluate the effects of genotypes,i.e.,supernodulating(nts1007),Nandou 12(ND12),and Guixia 3(GX3),and crop configurations,i.e.,the interspecific row spacing of 45(I45),60(I60),75 cm(I75),and sole soybean(SS),on soybean recovery growth and N fixation.The results showed that intercropping reduced the soybean total leaf area(LA)by reducing both the leaf number(LN)and unit leaflet area(LUA),and it reduced the nodule dry weight(NW)by reducing both the nodule number(NN)and nodule diameter(ND)compared with the SS.The correlation and principal component analysis(PCA)indicated a co-variability of the leaf and nodule traits in response to the genotype and crop configuration interactions.During the recovery growth stages,the compensatory growth promoted soybean growth to reduce the gaps of leaf and nodule traits between intercropping and SS.The relative growth rates of ureide(RGR_U)and nitrogen(RGR_N)accumulation were higher in intercropping than in SS.Intercropping achieved more significant sucrose and starch contents compared with SS.ND12 and GX3 showed more robust compensatory growth than nts1007 in intercropping.Although the recovery growth of relay intercropping soybean improved biomass and nitrogen accumulation,ND12 gained a more significant partial land equivalent ratio(pLER)than GX3.The I60 treatment achieved more robust compensation effects on biomass and N accumulation than the other configurations.Meanwhile,I60 showed a higher nodule sucrose content and greater shoot ureide and N accumulation than SS.Finally,intercropping ND12 with maize using an interspecific row spacing of 60 cm was optimal for both yield advantage and N accumulation.

The preparation and properties of N-doped carbon materials and their use for sodium storage

Defect engineering by heteroatom doping gives carbon materials some new characteristics such as a different electronic structure and a high electrochemical activity,making them suitable for high-performance applications.N-doping has been widely investigated because of its similar atom radius to carbon,high electronegativity as well as many different configurations.We summarize the preparation methods and properties of N-doped carbon materials,and discuss their possible use in sodium ion storage.The relationships between N content/configuration and crystallinity,electronic conductivity,wettability,chemical reactivity as well as sodium ion storage performance are discussed.

Sliding and damming properties of granular debris with different geometric configurations and grain size distributions

Granular debris plays a significant role in determining damming deposit characteristics. An indepth understanding of how variations in grain size distribution(GSD) and geometric configurations impact the behavior of granular debris during the occurrence of granular debris is essential for precise assessment and effective mitigation of landslide hazards in mountainous terrains. This research aims to investigate the impact of GSD and geometric configurations on sliding and damming properties through laboratory experiments. The geometric configurations were categorized into three categories based on the spatial distribution of maximum volume: located at the front(Type Ⅰ), middle(Type Ⅱ), and rear(Type Ⅲ) of the granular debris. Our experimental findings highlight that the sliding and damming processes primarily depend on the interaction among the geometric configuration, grain size, and GSD in granular debris. Different sliding and damming mechanisms across various geometric configurations induce variability in motion parameters and deposition patterns. For Type Ⅰ configurations, the front debris functions as the critical and primary driving component, with energy dissipation primarily occurring through inter-grain interactions. In contrast, Type Ⅱ configurations feature the middle debris as the dominant driving component, experiencing hindrance from the front debris and propulsion from the rear, leading to complex alterations in sliding motion. Here, energy dissipation arises from a combination of inter-grain and grain-substrate interactions. Lastly, in Type Ⅲ configurations, both the middle and rear debris serve as the main driving components, with the rear sliding debris impeded by the front. In this case, energy dissipation predominantly results from grainsubstrate interaction. Moreover, we have quantitatively demonstrated that the inverse grading in damming deposits, where coarse grain moves upward and fine grain moves downward, is primarily caused by grain sorting due to collisions among the grains and between the grain and the base. The impact of grain on the horizontal channel further aids grain sorting and contributes to inverse grading. The proposed classification of three geometric configurations in our study enhances the understanding of damming properties from the view of mechanism, which provides valuable insights for related study about damming granular debris.

Seismic fragility analysis of three-tower cable-stayed bridges with different connection configurations

Seismic fragility analysis of three-tower cable-stayed bridges with three different structural systems,including rigid system(RS),floating system(FS),and passive energy dissipation system(PEDS),is conducted to study the effects of connection configurations on seismic responses and fragilities.Finite element models of bridges are established using OpenSees.A new ground motion screening method based on the statistical characteristic of the predominant period is proposed to avoid irregular behavior in the selection process of ground motions,and incremental dynamic analysis(IDA)is performed to develop components and systems fragility curves.The effects of damper failure on calculated results for PEDS are examined in terms of seismic response and fragility analysis.The results show that the bridge tower is the most affected component by different structural systems.For RS,the fragility of the middle tower is significantly higher than other components,and the bridge failure starts from the middle tower,exhibiting a characteristic of local failure.For FS and PEDS,the fragility of the edge tower is higher than the middle tower.The system fragility of RS is higher than FS and PEDS.Taking the failure of dampers into account is necessary to obtain reliable seismic capacity of cable-stayed bridges.

Distributed IRS-Aided DF Relaying Systems:Performance Analysis and Optimization

Intelligent reflecting surface(IRS)is a newly emerged and promising paradigm to substantially improve the performance of wireless communications by constructing favorable communication channels via properly tuning massive reflecting elements.This paper considers a distributed IRS aided decode-and-forward(DF)relaying system over Nakagami-m fading channels.Based on a tight approximation for the distribution of the received signalto-noise ratio(SNR),we first derive exact closed-form expressions of the outage probability,ergodic capacity,and energy efficiency for the considered system.Moreover,we propose the optimal IRS configuration considering the energy efficiency and pilot overhead.Finally,we compare the performance between the distributed IRS-aided DF relaying and multi-IRS-only systems,and verify the analytical results by using monte carlo simulations.

Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

Research of capture mechanisms with strong capture adaptability and stable grasp is important to solve the problem of launch and recovery of torpedo-shaped autonomous underwater vehicles(AUVs).A multi-loop coupling capture mechanism with strong adaptability and high retraction rate has been proposed for the launch and recovery of torpedo-shaped AUVs with different morphological features.Firstly,the principle of capturing motion retraction is described based on the appearance characteristics of torpedo-shaped AUVs,and the configuration synthesis of the capture mechanism is carried out using the method of constrained chain synthesis.Secondly,the screw theory is employed to analyze the degree of freedom(DoF)of the capture mechanism.Then,the 3D model of the capture mechanism is established,and the kinematics and dynamics simulations are carried out.Combined with the capture orientation requirements of the capture mechanism,the statics and vibration characteristics analyses are carried out.Furthermore,considering the capture process and the underwater working environment,the motion characteristics and hydraulics characteristics of the capture mechanism are analyzed.Finally,a principle prototype is developed and the torpedo-shaped AUVs capture experiment is completed.The work provides technical reserves for the research and development of AUV capture special equipment.

Bound and Resonating Multiquark Configurations

We review the predictions of quark models for multiquark configurations that are bound or resonant states,and compare different methods for estimating the properties of resonances.

Practical operating flexibility of a bifunctional freestanding membrane for efficient anion exchange membrane water electrolysis across all current ranges

This study explores a symmetric configuration approach in anion exchange membrane(AEM)water electrolysis,focusing on overcoming adaptability challenges in dynamic conditions.Here,a rapid and mild synthesis technique for fabricating fibrous membrane-type catalyst electrodes is developed.Our method leverages the contrasting oxidation states between the sulfur-doped NiFe(OH)2 shell and the metallic Ni core,as revealed by electron energy loss spectroscopy.Theoretical evaluations confirm that the S–NiFe(OH)_(2) active sites optimize free energy for alkaline water electrolysis intermediates.This technique bypasses traditional energy-intensive processes,achieving superior bifunctional activity beyond current benchmarks.The symmetric AEM water electrolyzer demonstrates a current density of 2 A cm^(-2) at 1.78 V at 60℃ in 1 M KOH electrolyte and also sustains ampere-scale water electrolysis below 2.0 V for 140 h even in ambient conditions.These results highlight the system's operational flexibility and structural stability,marking a significant advance-ment in AEM water electrolysis technology.

Measurement of 2p-3d absorption in a hot molybdenum plasma

We present measurements of the 2p-3d transition opacity of a hot molybdenum-scandium sample with nearly half-vacant molybdenum M-shell configurations.A plastic-tamped molybdenum-scandium foil sample is radiatively heated to high temperature in a compact D-shaped gold Hohlraum driven by∼30 kJ laser energy at the SG-100 kJ laser facility.X rays transmitted through the molybdenum and scandium plasmas are diffracted by crystals and finally recorded by image plates.The electron temperatures in the sample in particular spatial and temporal zones are determined by the K-shell absorption of the scandium plasma.A combination of the IRAD3D view factor code and the MULTI hydrodynamic code is used to simulate the spatial distribution and temporal behavior of the sample temperature and density.The inferred temperature in the molybdenum plasma reaches a average of 138±11 eV.A detailed configuration-accounting calculation of the n=2–3 transition absorption of the molybdenum plasma is compared with experimental measurements and quite good agreement is found.The present measurements provide an opportunity to test opacity models for complicated M-shell configurations.

Unveiling the geometric site dependent activity of spinel Co_(3)O_(4)for electrocatalytic chlorine evolution reaction

Spinel cobalt oxide(Co_(3)O_(4)),consisting of tetrahedral Co^(2+)(CoTd)and octahedral Co^(3+)(CoOh),is considered as promising earth-abundant electrocatalyst for chlorine evolution reaction(CER).Identifying the catalytic contribution of geometric Co site in the electrocatalytic CER plays a pivotal role to precisely modulate electronic configuration of active Co sites to boost CER.Herein,combining density functional theory calculations and experiment results assisted with operando analysis,we found that the Co_(Oh) site acts as the main active site for CER in spinel Co_(3)O_(4),which shows better Cl^(-)adsorption and more moderate intermediate adsorption toward CER than CoTd site,and does not undergo redox transition under CER condition at applied potentials.Guided by above findings,the oxygen vacancies were further introduced into the Co_(3)O_(4) to precisely manipulate the electronic configuration of Co_(Oh) to boost Cl^(-)adsorption and optimize the reaction path of CER and thus to enhance the intrinsic CER activity significantly.Our work figures out the importance of geometric configuration dependent CER activity,shedding light on the rational design of advanced electrocatalysts from geometric configuration optimization at the atomic level.

Network Configuration Entity Extraction Method Based on Transformer with Multi-Head Attention Mechanism

Nowadays,ensuring thequality of networkserviceshas become increasingly vital.Experts are turning toknowledge graph technology,with a significant emphasis on entity extraction in the identification of device configurations.This research paper presents a novel entity extraction method that leverages a combination of active learning and attention mechanisms.Initially,an improved active learning approach is employed to select the most valuable unlabeled samples,which are subsequently submitted for expert labeling.This approach successfully addresses the problems of isolated points and sample redundancy within the network configuration sample set.Then the labeled samples are utilized to train the model for network configuration entity extraction.Furthermore,the multi-head self-attention of the transformer model is enhanced by introducing the Adaptive Weighting method based on the Laplace mixture distribution.This enhancement enables the transformer model to dynamically adapt its focus to words in various positions,displaying exceptional adaptability to abnormal data and further elevating the accuracy of the proposed model.Through comparisons with Random Sampling(RANDOM),Maximum Normalized Log-Probability(MNLP),Least Confidence(LC),Token Entrop(TE),and Entropy Query by Bagging(EQB),the proposed method,Entropy Query by Bagging and Maximum Influence Active Learning(EQBMIAL),achieves comparable performance with only 40% of the samples on both datasets,while other algorithms require 50% of the samples.Furthermore,the entity extraction algorithm with the Adaptive Weighted Multi-head Attention mechanism(AW-MHA)is compared with BILSTM-CRF,Mutil_Attention-Bilstm-Crf,Deep_Neural_Model_NER and BERT_Transformer,achieving precision rates of 75.98% and 98.32% on the two datasets,respectively.Statistical tests demonstrate the statistical significance and effectiveness of the proposed algorithms in this paper.

Light emission from multiple self-trapped excitons in one-dimensional Ag-based ternary halides

Ternary metal halides based on Cu(I)and Ag(I)have attracted intensive attention in optoelectronic applications due to their excellent luminescent properties,low toxicity,and robust stability.While the self-trapped excitons(STEs)emission mechanisms of Cu(I)halides are well understood,the STEs in Ag(I)halides remain less thoroughly explored.This study explores the STE emission efficiency within the A_(2)AgX_(3)(A=Rb,Cs;X=Cl,Br,I)system by identifying three distinct STE states in each material and calculating their configuration coordinate diagrams.We find that the STE emission efficiency in this system is mainly determined by STE stability and influenced by self-trapping and quenching barriers.Moreover,we investigate the impact of structural compactness on emission efficiency and find that the excessive electron–phonon coupling in this system can be reduced by increasing the structural compactness.The atomic packing factor is identified as a low-cost and effective descriptor for predicting STE emission efficiency in both Cs_(2)AgX_(3) and Rb_(2)AgX_(3) systems.These findings can deepen our understanding of STE behavior in metal halide materials and offer valuable insights for the design of efficient STE luminescent materials.The datasets presented in this paper are openly available in Science Data Bank at https://doi.org/10.57760/sciencedb.12094.

Formation of large-and medium-sized Cretaceous volcanic reservoirs in the offshore Bohai Bay Basin,East China

Based on the geological and geophysical data of Mesozoic oil-gas exploration in the sea area of Bohai Bay Basin and the discovered high-yield volcanic oil and gas wells since 2019,this paper methodically summarizes the formation conditions of large-and medium-sized Cretaceous volcanic oil and gas reservoirs in the Bohai Sea.Research shows that the Mesozoic large intermediate-felsic lava and intermediate-felsic composite volcanic edifices in the Bohai Sea are the material basis for the formation of large-scale volcanic reservoirs.The upper subfacies of effusive facies and cryptoexplosive breccia subfacies of volcanic conduit facies of volcanic vent-proximal facies belts are favorable for large-scale volcanic reservoir formation.Two types of efficient reservoirs,characterized by high porosity and medium to low permeability,as well as medium porosity and medium to low permeability,are the core of the formation of large-and medium-sized volcanic reservoirs.The reservoir with high porosity and medium to low permeability is formed by intermediate-felsic vesicular lava or the cryptoexplosive breccia superimposed by intensive dissolution.The reservoir with medium porosity and medium to low permeability is formed by intense tectonism superimposed by fluid dissolution.Weathering and tectonic transformation are main formation mechanisms for large and medium-sized volcanic reservoirs in the study area.The low-source“source-reservoir draping type”is the optimum source-reservoir configuration relationship for large-and medium-sized volcanic reservoirs.There exists favorable volcanic facies,efficient reservoirs and source-reservoir draping configuration relationship on the periphery of Bozhong Sag,and the large intermediate-felsic lava and intermediate-felsic composite volcanic edifices close to strike-slip faults and their branch faults are the main directions of future exploration.

Solution for Output Coordination Equations of Several Typical Parallel Six-Dimensional Acceleration Sensing Mechanisms

Aiming at the problem that it is difficult to generate the dynamic decoupling equation of the parallel six-dimensional acceleration sensing mechanism,two typical parallel six-dimensional acceleration sensing mechanisms are taken as examples.By analyzing the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,a new method for establishing the dynamic equation of the sensing mechanism is proposed.Firstly,based on the scale constraint relationship between the hinge points on the mass block and the hinge points on the base of the sensing mechanism,the expression of the branch rod length is obtained.The inherent constraint relationship between the branches is excavated and the branch coordination closed chain of the“12-6”configuration is constructed.The output coordination equation of the sensing mechanism is successfully derived.Secondly,the dynamic equations of“12-4”and“12-6”configurations are constructed by the Newton-Euler method,and the forward decoupling equations of the two configurations are solved by combining the dynamic equations and the output coordination equations.Finally,the virtual prototype experiment is carried out,and the maximum reference errors of the forward decoupling equations of the two configuration sensing mechanisms are 4.23%and 6.53%,respectively.The results show that the proposed method is effective and feasible,and meets the real-time requirements.

Review of the Configuration and Transient Stability of Large-scale Renewable Energy Generation through Hybrid DC Transmission

Based on the complementary advantages of Line Commutated Converter(LCC)and Modular Multilevel Converter(MMC)in power grid applications,there are two types of hybrid DC system topologies:one is the parallel connection of LCC converter stations and MMC converter stations,and the other is the series connection of LCC and MMC converter stations within a single station.The hybrid DC transmission system faces broad application prospects and development potential in large-scale clean energy integration across regions and the construction of a new power system dominated by new energy sources in China.This paper first analyzes the system forms and topological characteristics of hybrid DC transmission,introducing the forms and topological characteristics of converter-level hybrid DC transmission systems and system-level hybrid DC transmission systems.Next,it analyzes the operating characteristics of LCC and MMC inverter-level hybrid DC transmission systems,provides insights into the transient stability of hybrid DC transmission systems,and typical fault ride-through control strategies.Finally,it summarizes the networking characteristics of the LCC-MMC series within the converter station hybrid DC transmission system,studies the transient characteristics and fault ridethrough control strategies under different fault types for the LCC-MMC series in the receiving-end converter station,and investigates the transient characteristics and fault ride-through control strategies under different fault types for the LCC-MMC series in the sending-end converter station.

A numerical survey of parameters to reach ignition condition for axial compression of a large-sized field reversed configuration

Field reversed configuration(FRC)is widely considered as an ideal target plasma for magnetoinertial fusion.However,its confinement and stability,both proportional to the radius,will deteriorate inevitably during radial compression.Hence,we propose a new fusion approach based on axial compression of a large-sized FRC.The axial compression can be made by plasma jets or plasmoids converging onto the axial ends of the FRC.The parameter space that can reach the ignition condition while preserving the FRC's overall quality is studied using a numerical model based on different FRC confinement scalings.It is found that ignition is possible for a large FRC that can be achieved with the current FRC formation techniques if compression ratio is greater than 50.A more realistic compression is to combine axial with moderate radial compression,which is also presented and calculated in this work.