A Remark on the Affine Coordinates for KdV Tau-Functions

We give a proof of an explicit formula for affine coodinates of points in the Sato’s infinite Grassmannian corresponding to tau-functions for the KdV hierarchy.

基于Coordinate Attention和空洞卷积的异物识别

在我国工厂的工业化生产中,带式运输机占有重要的地位,但是在其运输物料的过程中,常有木板、金属管、大型金属片等混入物料中,从而对带式运输机的传送带造成损毁,引起巨大的经济损失.为了检测出传送带上的不规则异物,设计了一种新的异物检测方法.针对传统异物检测方法中存在的对于图像特征提取能力不足以及网络感受野相对较小的问题,我们提出了一种基于coordinate attention和空洞卷积的单阶段异物识别方法.首先,网络利用coordinate attention机制,使网络更加关注图像的空间信息,并对图像中的重要特征进行了增强,增强了网络的性能;其次,在网络提取多尺度特征的部分,将原网络的静态卷积变为空洞卷积,有效减少了常规卷积造成的信息损失;除此之外,我们还使用了新的损失函数,进一步提高了网络的性能.实验结果证明,我们提出的网络能有效识别出传送带上的异物,较好地完成异物检测任务.

基于D-H参数的磁阻式球形电机动力学建模

三自由度球形电机的动力学模型是对转子运动过程的数学描述,在球形电机的闭环控制中用于计算转子从当前位置运动到期望位置时所需要的驱动转矩。以计算磁阻式球形电机驱动转矩为目标,提出一种动力学方程的建模方法。针对磁阻式球形电机的运动特征,将球形转子等效为三个串联旋转关节,推导出磁阻式球形电机基于D-H参数的动力学方程,再对方程中的未知参数进行辨识,最终模型的预测结果与仿真结果有较高的拟合度,试验验证了该模型在设定运动工况下的可靠性,为磁阻式球形电机驱动控制提供了理论基础。

基于D-H参数的六轴机器人运动学分析与仿真

将六轴协作机器人作为研究目标,对其进行了运动学分析,并通过D-H参数法实现了机器人的运动学研究与模拟,同时利用机器人的尺寸图与结构图建立连杆坐标系并形成了相关的参数表,在相同关节角度上分别通过正、逆运动理论与MATLAB模型中的方法实现了机器人末端的姿态计算与模型的正确性检验。通过蒙特卡洛算法可以计算出机器人的空间点云图,通过MATLAB工具包可以计算出机器人末端节点的位置、速度和加速度的拟合曲线。

Oxygen‑Coordinated Single Mn Sites for Efficient Electrocatalytic Nitrate Reduction to Ammonia

Electrocatalytic nitrate reduction reaction has attracted increasing attention due to its goal of low carbon emission and environmental protection.Here,we report an efficient NitRR catalyst composed of single Mn sites with atomically dispersed oxygen(O)coordination on bacterial cellulose-converted graphitic carbon(Mn-O-C).Evidence of the atomically dispersed Mn-(O-C_(2))_(4)moieties embedding in the exposed basal plane of carbon surface is confirmed by X-ray absorption spectroscopy.As a result,the as-synthesized Mn-O-C catalyst exhibits superior NitRR activity with an NH_(3)yield rate(RNH_(3))of 1476.9±62.6μg h^(−1)cm^(−2)at−0.7 V(vs.reversible hydrogen electrode,RHE)and a faradaic efficiency(FE)of 89.0±3.8%at−0.5 V(vs.RHE)under ambient conditions.Further,when evaluated with a practical flow cell,Mn-O-C shows a high RNH_(3)of 3706.7±552.0μg h^(−1)cm^(−2)at a current density of 100 mA cm−2,2.5 times of that in the H cell.The in situ FT-IR and Raman spectroscopic studies combined with theoretical calculations indicate that the Mn-(O-C_(2))_(4)sites not only effectively inhibit the competitive hydrogen evolution reaction,but also greatly promote the adsorption and activation of nitrate(NO_(3)^(−)),thus boosting both the FE and selectivity of NH_(3)over Mn-(O-C_(2))_(4)sites.

基于D-H法的农业采摘机器人运动协作控制系统设计

为提升农业采摘机器人运动协作控制性能,降低机器人碰撞概率,利用D-H法优化设计机器人运动协作控制系统;改装位置、力矩以及碰撞传感器设备,优化运动协作控制器与驱动器,调整系统通信模块结构,完成硬件系统的优化;利用D-H法构建农业采摘机器人数学模型,在该模型下,利用传感器设备实现机器人实时位姿的量化描述,通过机器人采摘流程的模拟,分配机器人运动协作任务,从位置和姿态等多个方面,确定运动协作控制目标,经过受力分析求解机器人实际作用力,最终通过控制量的计算,实现农业采摘机器人的运动协作控制功能;通过系统测试实验得出结论:所提方法控制下机器人位置、姿态角和作用力的控制误差分别为14 mm、0.2°和1.2 N,在优化设计系统控制下,机器人的碰撞次数得到明显降低。

A mixed-coordination electron trapping-enabled high-precision touch-sensitive screen for wearable devices

Touch-sensitive screens are crucial components of wearable devices.Materials such as reduced graphene oxide(rGO),carbon nanotubes(CNTs),and graphene offer promising solutions for flexible touch-sensitive screens.However,when stacked with flexible substrates to form multilayered capacitive touching sensors,these materials often suffer from substrate delamination in response to deformation;this is due to the materials having different Young’s modulus values.Delamination results in failure to offer accurate touch screen recognition.In this work,we demonstrate an induced charge-based mutual capacitive touching sensor capable of high-precision touch sensing.This is enabled by electron trapping and polarization effects related to mixed-coordinated bonding between copper nanoparticles and vertically grown graphene nanosheets.Here,we used an electron cyclotron resonance system to directly fabricate graphene-metal nanofilms(GMNFs)using carbon and copper,which are firmly adhered to flexible substrates.After being subjected to 3000 bending actions,we observed almost no change in touch sensitivity.The screen interaction system,which has a signal-to-noise ratio of 41.16 dB and resolution of 650 dpi,was tested using a handwritten Chinese character recognition trial and achieved an accuracy of 94.82%.Taken together,these results show the promise of touch-sensitive screens that use directly fabricated GMNFs for wearable devices.

Syntheses and catalytic performances of three coordination polymers with tetracarboxylate ligands

Three zincand cobaltcoordination polymers,namely{[Zn_(2)(μ_(6)-adip)(phen)_(2)]·4H_(2)O}_(n)(1),{[Co_(2)(μ_(6)-adip)(bipy)_(2)]·4H_(2)O}_(n)(2),and[Co_(2)(μ4-adip)(μ-bpa)_(2)]_(n)(3)have been constructed hydrothermally using H4adip(H4adip=5,5′-azanediyldiisophthalic acid),phen(phen=1,10-phenanthroline),bipy(bipy=2,2′-bipyridine),bpa(bpa=bis(4-pyridyl)amine),and zinc and cobalt chlorides at 160℃.The products were isolated as stable crystalline solids and were characterized by IR spectra,elemental analyses,thermogravimetric analyses,and single-crystal X-ray diffrac-tion analyses.Single-crystal X-ray diffraction analyses revealed that three compounds crystallize in the orthorhom-bic system Pnna(1 and 2)or P21212(3)space groups.All compounds exhibit 3D frameworks.The catalytic perfor-mances in the Henry reaction of these compounds were investigated.Compound 3 exhibited an effective catalytic activity in the Henry reaction at 70℃.CCDC:2339391,1;2339392,2;2339393,3.

Syntheses,crystal structures,and catalytic properties of three zinc(Ⅱ),cobalt(Ⅱ)and nickel(Ⅱ)coordination polymers constructed from 5⁃(4⁃carboxyphenoxy)nicotinic acid

Three zinc(Ⅱ),cobalt(Ⅱ),and nickel(Ⅱ)coordination polymers,namely[Zn(μ^(3-)cpna)(μ-dpea)_(0.5)]_(n)(1),[Co(μ^(3-)cpna)(μ-dpey)_(0.5)]_(n)(2),and[Ni(μ^(3-)cpna)(μ-dpey)_(0.5)(H_(2)O)]_(n)(3),have been constructed hydrothermally using H_(2)cpna(5-(4-carboxyphenoxy)nicotinic acid),dpea(1,2-di(4-pyridyl)ethane),dpey(1,2-di(4-pyridyl)ethylene),and zinc,cobalt,and nickel chlorides at 160℃.The products were isolated as stable crystalline solids and were characterized by IR spectra,elemental analyses,thermogravimetric analyses,and single-crystal X-ray diffraction analyses.Single-crystal X-ray diffraction analyses revealed that three compounds crystallize in the triclinic system,space group P1.Compounds 1-3 show 2D layer structures.The catalytic activities in the Knoevenagel condensation reaction of these compounds were investigated.Compounds 1 and 2 exhibit effective catalytic activities in the Knoevenagel condensa-tion reaction at room temperature.For this reaction,various parameters were optimized,followed by the investiga-tion of the substrate scope.CCDC:2335676,1;2335677,2;2335678,3.

Stochastic programming based coordinated expansion planning of generation,transmission,demand side resources,and energy storage considering the DC transmission system

With the increasing penetration of wind and solar energies,the accompanying uncertainty that propagates in the system places higher requirements on the expansion planning of power systems.A source-grid-load-storage coordinated expansion planning model based on stochastic programming was proposed to suppress the impact of wind and solar energy fluctuations.Multiple types of system components,including demand response service entities,converter stations,DC transmission systems,cascade hydropower stations,and other traditional components,have been extensively modeled.Moreover,energy storage systems are considered to improve the accommodation level of renewable energy and alleviate the influence of intermittence.Demand-response service entities from the load side are used to reduce and move the demand during peak load periods.The uncertainties in wind,solar energy,and loads were simulated using stochastic programming.Finally,the effectiveness of the proposed model is verified through numerical simulations.

Optimizing high-coordination shell of Co-based single-atom catalysts for efficient ORR and zinc-air batteries

Atom-level modulation of the coordination environment for single-atom catalysts(SACs)is considered as an effective strategy for elevating the catalytic performance.For the MNxsite,breaking the symmetrical geometry and charge distribution by introducing relatively weak electronegative atoms into the first/second shell is an efficient way,but it remains challenging for elucidating the underlying mechanism of interaction.Herein,a practical strategy was reported to rationally design single cobalt atoms coordinated with both phosphorus and nitrogen atoms in a hierarchically porous carbon derived from metal-organic frameworks.X-ray absorption spectrum reveals that atomically dispersed Co sites are coordinated with four N atoms in the first shell and varying numbers of P atoms in the second shell(denoted as Co-N/P-C).The prepared catalyst exhibits excellent oxygen reduction reaction(ORR)activity as well as zinc-air battery performance.The introduction of P atoms in the Co-SACs weakens the interaction between Co and N,significantly promoting the adsorption process of ^(*)OOH,resulting in the acceleration of reaction kinetics and reduction of thermodynamic barrier,responsible for the increased intrinsic activity.Our discovery provides insights into an ultimate design of single-atom catalysts with adjustable electrocatalytic activities for efficient electrochemical energy conversion.

Combination of Nitrogen-Rich Skeleton and Coordination Group:Synthesis of a High-Energy Primary Explosive Based on 1H-Tetrazole-5-Carbohydrazide

The high energy coordination compounds Cu(TZCA)_(2)(ClO_(4))_(2)(ECCs-1) was prepared by 1H-tetrazole-5-carbohydrazide(TZCA) with a high energy skeleton and a strong coordination ability group.At the same time,the reaction activity of the ligand was explored,and the single crystal structure of it and intermediate were obtained.The structures of all substances were characterized by IR and EA.And the structure and composition of ECCs-1 are confirmed by ESP,AC,SEM and ICP-OES.Physical and chemical properties tests show that ECCs-1 has an acceptable thermal stability(T_(d)=177℃) and extremely sensitive mechanical stimulation(IS=1 J,FS=5 N).The comprehensive performance test results show that ECCs-1 has excellent initiation ability.In addition,the decomposition mechanism of ECCs-1 is explored from two aspects of experiment and theoretical calculation.

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.

Achieving an ion-homogenizing and corrosion-resisting interface through nitro-coordination chemistry for stable zinc metal anodes

Suppression of uncontrollable dendrite growth and water-induced side reactions of Zn metal anodes is crucial for achieving long-lasting cycling stability and facilitating the practical implementations of aqueous Zn-metal batteries.To address these challenges,we report in this study a functional nitro-cellulose interfacial layer(NCIL)on the surface of Zn anodes enlightened by a nitro-coordination chemistry strategy.The NCIL exhibits strong zincophilicity and superior coordination capability with Zn^(2+)due to the highly electronegative and highly nucleophilic nature of the nitro functional group.This characteristic facilitates a rapid Zn-ion desolvation process and homogeneous Zn plating,effectively preventing H_(2) evolution and dendrite formation.Additionally,the negatively charged surface of NCIL acts as a shield,repelling SO_(4)^(2-)anions and inhibiting corrosive reactions on the Zn surface.Remarkably,reversible and stable Zn plating/stripping is achieved for over 5100 h at a current density of 1 mA cm^(-2),which is nearly 30 times longer than that of bare Zn anodes.Furthermore,the Zn/V_(2)O_(5) full cells with the functional interface layer deliver a high-capacity retention of 80.3%for over 10,000 cycles at 5 A g^(-1).This research offers valuable insights for the rational development of advanced protective interface layers in order to achieve ultra-long-lifeZnmetal batteries.

Polar-coordinate line-projection light-curing continuous 3D printing for tubular structures

3D printing techniques offer an effective method in fabricating complex radially multi-material structures.However,it is challenging for complex and delicate radially multi-material model geometries without supporting structures,such as tissue vessels and tubular graft,among others.In this work,we tackle these challenges by developing a polar digital light processing technique which uses a rod as the printing platform.The 3D model fabrication is accomplished through line projection.The rotation and translation of the rod are synchronized to project and illuminate the photosensitive material volume.By controlling the distance between the rod and the printing window,we achieved the printing of tubular structures with a minimum wall thickness as thin as 50 micrometers.By controlling the width of fine slits at the printing window,we achieved the printing of structures with a minimum feature size of 10 micrometers.Our process accomplished the fabrication of thin-walled tubular graft structure with a thickness of only 100 micrometers and lengths of several centimeters within a timeframe of just 100 s.Additionally,it enables the printing of axial multi-material structures,thereby achieving adjustable mechanical strength.This method is conducive to rapid customization of tubular grafts and the manufacturing of tubular components in fields such as dentistry,aerospace,and more.

A coordinated operation method of wind-PV-hydrogenstorage multi-agent energy system

Wind-photovoltaic(PV)-hydrogen-storage multi-agent energy systems are expected to play an important role in promoting renewable power utilization and decarbonization.In this study,a coordinated operation method was proposed for a wind-PVhydrogen-storage multi-agent energy system.First,a coordinated operation model was formulated for each agent considering peer-to-peer power trading.Second,a coordinated operation interactive framework for a multi-agent energy system was proposed based on the theory of the alternating direction method of multipliers.Third,a distributed interactive algorithm was proposed to protect the privacy of each agent and solve coordinated operation strategies.Finally,the effectiveness of the proposed coordinated operation method was tested on multi-agent energy systems with different structures,and the operational revenues of the wind power,PV,hydrogen,and energy storage agents of the proposed coordinated operation model were improved by approximately 59.19%,233.28%,16.75%,and 145.56%,respectively,compared with the independent operation model.

Coupling Coordination Analysis of Cropland Intensification and Agroecosystem Services:Evidence from Loess Plateau in Shaanxi Province,China

One of the greatest challenges in the agroecosystem is to improve cropland intensification while preserving agroecosystem services.While many studies have investigated the effect of cropland intensification on agroecosystem service,the interactive coupling and coordination among these factors remain largely unexplored.In view of this,this study performed a case study of the Loess Plateau in Shaanxi Province,China and constructed comprehensive evaluation models to quantify the cropland intensification and agroecosystem service in this area.Balance analysis and the coupling coordination degree model were used to evaluate the interactive relationship between cropland intensification and agroecosystem service,and statistical analysis and spatial autocorrelation were used to analyze the spatial characteristics and potential mechanism of the coupling coordination.Results show that both the cropland intensification and agroecosystem service in the study area were relatively low yet gradually increased from 2000 to 2020.Agroecosystem service lag was identified as the dominant unbalanced development type.Improving the supply capacity of agroecosystem services plays a key role in the balanced development of cropland in the Loess Plateau.The coupling coordination degree between cropland intensification and agroecosystem service ranges from basic coordination to serious incoordination.Therefore,cropland intensification practices in the area should be optimized to enhance this coordination degree.An upward trend was also observed in the coupling coordination degree from2000 to 2020.The withdrawal of marginal cropland in the Grain for Green program is one of the most important reasons for this trend,especially for the northern region.Around 83.6%of the high-high clusters are concentrated in the southern region of the Loess Plateau,whereas 70.5%of the low-low clusters are distributed in the northern region.These clustering characteristics are mainly attributed to the environmental suitability of these areas for agriculture and their degree of economic development.

Unraveling the coordination behavior and transformation mechanism of Cr^(3+) in Fe–Cr redox flow battery electrolytes

Currently,the iron chromium redox flow battery(ICRFB)has become a research hotspot in the energy storage field owing to its low cost and easily-scaled-up.However,the activity of electrolyte is still ambiguous due to its complicated solution environment.Herein,we performed a pioneering investigation on the coordination behavior and transformation mechanism of Cr^(3+)in electrolyte and prediction of impurity ions impact through quantum chemistry computations.Based on the structure and symmetry of electrostatic potential distribution,the activity of different Cr^(3+)complex ions is confirmed as[Cr(H2O)5Cl]^(2+)>[Cr(H2O)4Cl2]+>[Cr(H2O)6]^(3+).The transformation mechanism between[Cr(H2O)6]^(3+)and[Cr(H2O)5Cl]^(2+)is revealed.We find the metal impurity ions(especially Mg^(2+))can exacerbate the electrolyte deactivation by reducing the transformation energy barrier from[Cr(H2O)5Cl]^(2+)(24.38 kcal mol^(−1))to[Cr(H2O)6]^(3+)(16.23 kcal mol^(−1)).The solvent radial distribution and mean square displacement in different solvent environments are discussed and we conclude that the coordination configuration limits the diffusivity of Cr^(3+).This work provides new insights into the activity of electrolyte,laying a fundamental sense for the electrolyte in ICRFB.

Coupling and coordination relationship of tourism inclusive green growth system:Evidence from Shandong Province

Sustainable growth is a prerequisite for high-quality development,and inclusive green growth is regarded as an important way to realize sustainable growth.This paper constructs a tourism inclusive green growth index(IGGI)system based on the 2018 Asian Development Bank IGGI.Using Shandong Province from 2017 to 2019,the entropy weight method is utilized to explore the degree of coupling and coordination among the subsystems of tourism inclusive green growth.The study shows that:(1)the tourism IGGI continues to grow;(2)in the tourism inclusive green growth system,the social equity subsystem shows a trend of steady improvement;and(3)in the system,there is a slight discordance between the economic growth subsystem and the environmental sustainability subsystem.The study aims to provide the scientific basis for the high-quality development of tourism and theoretical support for the field of tourism and environmental sustainability.

Coordination Mechanism and Empirical Research on Marine Science Technology Innovation and Marine Eco-civilization:A Case Study of Coastal Areas of China

Marine science technology innovation provides power and guarantees for marine eco-civilization construction,which provides direction and material support for marine science technology innovation.Therefore,the coordinated development of the two is of great significance to the marine economy sustainable development in China’s coastal areas.On the basis of clarifying the connotations of marine science technology innovation and marine eco-civilization in China’s coastal areas from 2006 to 2019,the mechanism for their coordinated development was analysed.A comprehensive indicator system based on the connotation of the two was constructed,and the coordinated development relationship was empirically tested using the coupled coordination model and the panel vector autoregressive(PVAR)model.The results show that:1)the level of China’s coastal marine science technology innovation continues to improve,gradually forming the core of the development of marine science technology innovation in the north,east and south of Shandong,Shanghai and Guangdong;the level of marine eco-civilization development fluctuating upward trend,showing obvious spatial differentiation characteristics.2)The degree of coordination of marine science technology innovation and marine eco-civilization is growing over time.There is no causal relationship between marine science technology innovation and marine eco-civilization in the northern marine economic circle,but there is a two-way causal relationship between the two in the eastern and southern marine economic circles.3)Marine eco-civilization shows a significant positive and continuous impact on marine science technology innovation,and marine science technology innovation shows a long-term,continuous,fluctuating,and lagging impact on marine eco-civilization.The overall role of marine eco-civilization on marine science technology innovation is dominant,and there are significant differences in the impact effects of the two major marine economic circles.