Two-dimensional(2D)moirématerials have attracted a lot of attention and opened a new research frontier of twistronics due to their novel physical properties.Although great progress has been achieved,the inability...Two-dimensional(2D)moirématerials have attracted a lot of attention and opened a new research frontier of twistronics due to their novel physical properties.Although great progress has been achieved,the inability to precisely and reproducibly manipulate the twist angle hinders the further development of twistronics.Here,we demonstrated an atomic force microscope(AFM)tip manipulation method to control the interlayer twist angle of epitaxial MoS_(2)/graphene heterostructure with an ultra-high accuracy better than 0.1°.Furthermore,conductive AFM and spectroscopic characterizations were conducted to show the effects of the twist angle on moirépattern wavelength,phonons and excitons.Our work provides a technique to precisely control the twist angle of 2D moirématerials,enabling the possibility to establish the phase diagrams of moiréphysics with twist angle.展开更多
First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and gene...First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and generalized inertial force according to screw theory.After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.展开更多
为了提高直捻机上纱机械臂的避障路径规划效率,提出一种动态目标圆采样结合回归机制的改进型双向快速扩展随机树算法(Dynamic-target-circle Sampling and Regression mechanism Bidirectional Rapidly-exploring Random Trees,DSRB-RRT...为了提高直捻机上纱机械臂的避障路径规划效率,提出一种动态目标圆采样结合回归机制的改进型双向快速扩展随机树算法(Dynamic-target-circle Sampling and Regression mechanism Bidirectional Rapidly-exploring Random Trees,DSRB-RRT)。为解决随机树盲目采样问题,提出了一种动态目标圆采样法,引导随机树在以目标为圆心的动态圆区域内进行采样;为解决随机树拓展速度慢,提出了一种变步长变概率法,根据障碍物信息自行改变拓展步长和偏置概率,加快随机树收敛;引入了回归机制防止随机树在区域内过度采样;算法生成路径后,裁剪路径中冗余节点来缩短路径长度,并用三次B样条曲线平滑优化路径。仿真结果表明,DSRB-RRT算法相比于加入目标偏置的RRT、BI-RRT和GS-RRT在不同障碍场景下的收敛效率更高,平均路径更短。在ROS系统中对上纱机械臂进行仿真,验证了DSRB-RRT算法的有效性,可以提高机械臂路径规划效率。展开更多
基金Project supported by the Natioanl Natural Science Foundation of China(Grant Nos.62122084,12074412,61888102,and 11834017)。
文摘Two-dimensional(2D)moirématerials have attracted a lot of attention and opened a new research frontier of twistronics due to their novel physical properties.Although great progress has been achieved,the inability to precisely and reproducibly manipulate the twist angle hinders the further development of twistronics.Here,we demonstrated an atomic force microscope(AFM)tip manipulation method to control the interlayer twist angle of epitaxial MoS_(2)/graphene heterostructure with an ultra-high accuracy better than 0.1°.Furthermore,conductive AFM and spectroscopic characterizations were conducted to show the effects of the twist angle on moirépattern wavelength,phonons and excitons.Our work provides a technique to precisely control the twist angle of 2D moirématerials,enabling the possibility to establish the phase diagrams of moiréphysics with twist angle.
文摘First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and generalized inertial force according to screw theory.After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.
文摘为了提高直捻机上纱机械臂的避障路径规划效率,提出一种动态目标圆采样结合回归机制的改进型双向快速扩展随机树算法(Dynamic-target-circle Sampling and Regression mechanism Bidirectional Rapidly-exploring Random Trees,DSRB-RRT)。为解决随机树盲目采样问题,提出了一种动态目标圆采样法,引导随机树在以目标为圆心的动态圆区域内进行采样;为解决随机树拓展速度慢,提出了一种变步长变概率法,根据障碍物信息自行改变拓展步长和偏置概率,加快随机树收敛;引入了回归机制防止随机树在区域内过度采样;算法生成路径后,裁剪路径中冗余节点来缩短路径长度,并用三次B样条曲线平滑优化路径。仿真结果表明,DSRB-RRT算法相比于加入目标偏置的RRT、BI-RRT和GS-RRT在不同障碍场景下的收敛效率更高,平均路径更短。在ROS系统中对上纱机械臂进行仿真,验证了DSRB-RRT算法的有效性,可以提高机械臂路径规划效率。
