自动装配减速机中机械臂的笛卡尔阻抗控制

针对谐波减速机的装配严重依赖人工装配技能,整机故障率高等问题,文章研究了一种基于笛卡尔阻抗控制的机械臂系统来代替人工,实现谐波减速机的自动装配,以提高减速机工件的装配速度与精度,减少人为因素影响。首先,将装配组件抽象为peg-in-hole模型,然后阐述了机械臂笛卡尔空间下的阻抗控制算法,并根据模型建立机械臂的笛卡尔空间阻抗控制系统,最后通过实验验证了该方法的有效性,使装配更加柔顺,具有一定的实际应用价值。

一种群体智能算法——狮群算法

基于狮群中狮王、母狮及幼狮的自然分工,模拟狮王守护、母狮捕猎、幼狮跟随3种群智能行为,提出群体智能算法——狮群算法.算法中不同种类的狮子位置更新方式不同.遵循自然界生物"适者生存"的竞争法则,狮王守护领土,优先享用食物,母狮合作捕猎,幼狮分为学习捕猎、饥饿进食和成年被驱逐.狮子位置更新方式的多样化保证算法快速收敛,不易陷入局部最优.最后,将算法应用于6个标准测试函数优化问题,并对比粒子群算法、骨干粒子群算法,测试结果表明,文中算法收敛速度较快,精度较高,能较好地获得全局最优解.

贪心二进制狮群优化算法求解多维背包问题

针对经典的多约束组合优化问题——多维背包问题(MKP),提出了一种贪心二进制狮群优化(GBLSO)算法。首先,采用二进制代码转换公式将狮群个体位置离散化,得到二进制的狮群算法;其次,引入反置移动算子对狮王位置进行更新,同时对母狮和幼狮位置重新定义;然后,充分利用贪心算法进行解的可行化处理,增强搜索能力并进一步提高收敛速度;最后,对10个MKP典型算例进行仿真实验,并把GBLSO算法与离散二进制粒子群(DPSO)算法和二进制蝙蝠算法(BBA)进行对比。实验结果表明,GBLSO算法是一种有效的求解MKP的新方法,在求解MKP时具有相对良好的收敛效率、较高的寻优精度和很好的鲁棒性。

高等教育培养成本核算方法研究

高等教育培养成本的核算对高等教育事业和整个社会经济的发展有着十分重要的意义。分析探讨使用传统成本法和作业成本法核算高等教育培养成本的原理和操作流程。研究结果表明,作业成本法可以将高校不同类别学生作为成本计算对象,成本动因清晰,成本数据更丰富,有利于成本控制、成本决策及资源优化配置,但将作业成本法完全应用到高等教育培养成本核算当中也面临计算复杂等实际问题。

Alkali metal salts doped pluronic block polymers as electron injection/transport layers for high performance polymer light-emitting diodes

A series of alkali metal salts doped pluronic block copolymer F127 were used as electron injection/transport layers (ETLs) for polymer light-emitting diodes with poly[2-(4-(3′,7′-dimethyloctyloxy)-phenyl)-p-phenylenevinylene] (P-PPV) as the emission layer. It was found that the electron transport capability of F127 can be effectively enhanced by doping with alkali metal salts. By using Li2CO3 (15%) doped F127 as ETL, the resulting device exhibited improved performance with a maximum luminous efficiency (LE) of 13.59 cd/A and a maximum brightness of 5529 cd/m2, while the device with undoped F127 as ETL only showed a maximum LE of 8.78 cd/A and a maximum brightness of 2952 cd/m2. The effects of the doping concentration, cations and anions of the alkali metal salts on the performance of the resulting devices were investigated. It was found that most of the alkali metal salt dopants can dramatically enhance the electron transport capability of F127 ETL and the performance of the resulting devices was greatly improved.

Two-dimensional like conjugated copolymers for high efficiency bulk-heterojunction solar cell application:Band gap and energy level engineering

Three two-dimensional like conjugated copolymers PFSDCN,PFSDTA and PFSDCNIO,which consist of alternating fluorene and triphenylamine main chain,and different pendant acceptor groups (malononitrile,1,3-diethtyl-2-thiobarbituric acid and 2-(1,2-dihydro-1-oxoinden-3-ylidene)malononitrile) with thiophene as π-bridge,have been designed,synthesized and characterized.The structure-property relationships of the two-dimensional like conjugated copolymers were systematically investigated.The absorption spectra,band gaps,and energy levels of the polymers were effectively tuned by simply attaching different acceptor groups.As the electron-withdrawing ability of the acceptors increased,the band gaps of the polymers were narrowed from 2.05 to 1.61 eV;meanwhile,the LUMO energy levels of the polymers decreased from -3.27 to -3.75 eV,whereas their relatively deep HOMO energy levels of ～-5.35 eV were preserved.BHJ solar cells were fabricated and characterized by using the three polymers as donor materials and the highest power conversion efficiency of 2.87% was achieved for the device based on PFSDTA:(6,6)-phenyl-C71-butyric acid methyl ester blend.

A novel crosslinkable electron injection/transporting material for solution processed polymer light-emitting diodes

A novel crosslinkable water/alcohol soluble conjugated polymer PFN-C containing oxetane groups and aminoalkyl groups in the side chains has been developed and used as highly efficient electron injection and transporting material for polymer light-emitting diodes (PLEDs). The unique solubility in polar solvents and crosslinkable ability of PFN-C render it a good can- didate for solution processed multilayer PLEDs. It was found that PFN-C can greatly enhance the electron injection from high work-function metal cathode, due to its pendant amino groups. As a result, PLEDs with PFN-C/Al cathode exhibited compara- ble device performance to the devices with Ba/Al cathode. The resulting green light-emitting device showed promising perfor- mance with a maximum luminance efficiency of 13.53 cd A-1.

小鼠脑血管的近红外二区光声成像

目的建立小鼠脑血管网络的近红外二区光声成像系统, 并探究光声波开启血脑屏障的可行性。方法使用1064 nm波长激光对不同浓度的纳米材料PATQ-T进行光声成像。暴露3~8周龄KM小鼠颅骨, 通过尾静脉注射将纳米材料打进小鼠体内, 在1064 nm的波长下对进行注射前后的脑血管网络进行成像, 然后用532 nm的激光产生光声波, 观察血脑屏障在光声波作用下的开启情况。结果近红外光声成像系统拥有较好横向分辨率, 约为80 μm。通过光声成像可以看到PATQ-T的光声信号强度随浓度的增加而增强。在1064 nm的波长下, PATQ-T显示了较好的光声增强效果。经光声波激发后, 在血管网络周围出现了明显的光声信号增强。结论通过光声成像技术可以对小鼠脑血管网络进行成像。光声波具有开启血脑屏障的作用。

Synthesis and optoelectronic properties of amino-functionalized carbazole-based conjugated polymers

A series of alcohol soluble amino-functionalized carbazole-based copolymers were synthesized via Suzuki coupling reaction. The pendent amino groups endow them high solubility in polar solvents, as well as efficient electron injection capability from high work-function metals. The relationships between the photophysical and electrochemical properties and the polymer backbone structure were systematically investigated. These alcohol-soluble carbazole-based copolymers were used as cathode interlayers between the high work-function metal A1 cathode and P-PPV emissive layer in polymer light-emitting diodes with device structure of ITO/PEDOT：PSS/P-PPV/interlayer/A1. The resulting devices exhibited improved performance due to the better electron injection/transporting ability of the designed copolymers from A1 cathode to the light-emitting layer.