A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can...A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.展开更多
Polymer solar cells(PSCs) were fabricated by combining a diketopyrrolopyrrole-based terpolymer(PTBT-HTID-DPP) as the electron donor, and [6,6]-phenyl C_(61) butyric acid methyl ester(PC_(61)BM) as the electron accepto...Polymer solar cells(PSCs) were fabricated by combining a diketopyrrolopyrrole-based terpolymer(PTBT-HTID-DPP) as the electron donor, and [6,6]-phenyl C_(61) butyric acid methyl ester(PC_(61)BM) as the electron acceptor, and the power conversion efficiency(PCE) of 4.31% has been achieved under AM 1.5 G(100 m W cm^(-2)) illumination condition via optimizing the polymer/PC_(61)BM ratio, the variety of solvent and the spin-coating speed. The impact of the spin-coating speed on the photovoltaic performance of the PSCs has been investigated by revealing the effects of the spin-coating speed on the morphology and the absorption spectra of the polymer/PC_(61)BM blend films. When the thickness of the blend films are adjusted by spin-coating a fixed concentration with different spin-coating speeds, the blend film prepared at a lower spin-coating speed shows a stronger absorption per unit thickness, and the correspond device shows higher IPCE value in the longer-wavelength region. Under the conditions of similar thickness, the blend film prepared at a lower spin-coating speed forms a more uniform microphase separation and smaller domain size which leads to a higher absorption intensity per unit thickness of the blend film in long wavenumber band, a larger short-circuit current density(J_(sc)) and a higher power conversion efficiency(PCE) of the PSC device. Noteworthily, it was found that spin-coating speed is not only a way to control the thickness of active layer but also an influencing factor on morphology and photovoltaic performance for the diketopyrrolopyrrole-based terpolymer.展开更多
Spin-polarized density functional theory （DPT） calculations are carried out to determine the site preference of H adsorption on Pd（100） surface and subsurface, We carefully scrutinize the energy difference between...Spin-polarized density functional theory （DPT） calculations are carried out to determine the site preference of H adsorption on Pd（100） surface and subsurface, We carefully scrutinize the energy difference between different patterns at θ=0.50 ML and confirm the LEED observation that surface adsorption can form c（2×2） ordering structure. On the contrary, we disclose that p（2×1） structure become more favorable than c（2×2） for subsurface adsorption. These site preferences are rationalized via an analysis of the layer and orbital resolved density of states. Furthermore, we propose that the interstitial charge as a key factor determining the preferred H adsorbed site.展开更多
基金Supported by the National High Technology Research and Development Programme of China（2006AA04Z220）； the National Natural Science Foundation of China（60705027）；Partially Supported by Progranl for Changjiang SchoLars and Innovative Research Team in University（PCSIRT）（IRT0423）.
文摘A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
基金supported by the National Natural Science Foundation of China (51573153)the Natural Science Foundation of Hunan Province of China (2015JJ2141)+1 种基金the Scientific Research Foundation of the State Education Ministry for the Returned Overseas Chinese Scholars (2014–1685)the Scientific Research Fund of Hunan Provincial Education Department (15A180)
文摘Polymer solar cells(PSCs) were fabricated by combining a diketopyrrolopyrrole-based terpolymer(PTBT-HTID-DPP) as the electron donor, and [6,6]-phenyl C_(61) butyric acid methyl ester(PC_(61)BM) as the electron acceptor, and the power conversion efficiency(PCE) of 4.31% has been achieved under AM 1.5 G(100 m W cm^(-2)) illumination condition via optimizing the polymer/PC_(61)BM ratio, the variety of solvent and the spin-coating speed. The impact of the spin-coating speed on the photovoltaic performance of the PSCs has been investigated by revealing the effects of the spin-coating speed on the morphology and the absorption spectra of the polymer/PC_(61)BM blend films. When the thickness of the blend films are adjusted by spin-coating a fixed concentration with different spin-coating speeds, the blend film prepared at a lower spin-coating speed shows a stronger absorption per unit thickness, and the correspond device shows higher IPCE value in the longer-wavelength region. Under the conditions of similar thickness, the blend film prepared at a lower spin-coating speed forms a more uniform microphase separation and smaller domain size which leads to a higher absorption intensity per unit thickness of the blend film in long wavenumber band, a larger short-circuit current density(J_(sc)) and a higher power conversion efficiency(PCE) of the PSC device. Noteworthily, it was found that spin-coating speed is not only a way to control the thickness of active layer but also an influencing factor on morphology and photovoltaic performance for the diketopyrrolopyrrole-based terpolymer.
基金supported by the National Nature Science Foundation of China(21131005,20925103,21373167,21033006,21133004,21333008)the Fundamental Research Funds of Central Universities
文摘Spin-polarized density functional theory （DPT） calculations are carried out to determine the site preference of H adsorption on Pd（100） surface and subsurface, We carefully scrutinize the energy difference between different patterns at θ=0.50 ML and confirm the LEED observation that surface adsorption can form c（2×2） ordering structure. On the contrary, we disclose that p（2×1） structure become more favorable than c（2×2） for subsurface adsorption. These site preferences are rationalized via an analysis of the layer and orbital resolved density of states. Furthermore, we propose that the interstitial charge as a key factor determining the preferred H adsorbed site.
