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Flexible planar micro supercapacitor diode
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作者 Yihui Ma Pei Tang +7 位作者 Zhenyuan Miao Wuyang Tan Qijun Wang Yuecong Chen Guosheng Li Qingyun Dou Xingbin Yan Lingling Shui 《Journal of Energy Chemistry》 SCIE EI CAS CSCD 2024年第6期429-435,I0011,共8页
Supercapacitor diode is a novel ion device that performs both supercapacitor energy storage and ion diode rectification functions.However,previously reported devices are limited by their large size and complex process... Supercapacitor diode is a novel ion device that performs both supercapacitor energy storage and ion diode rectification functions.However,previously reported devices are limited by their large size and complex processes.In this work,we demonstrate a screen-printed micro supercapacitor diode(MCAPode)that based on the insertion of a finger mode with spinel ZnCo_(2)O_(4) as cathode and activated carbon as anode for the first time,and featuring an excellent area specific capacitance(1.21 mF cm^(-2)at 10 mV s^(-1))and high rectification characteristics(rectification ratioⅠof 11.99 at 40 mV s^(-1)).Taking advantage of the ionic gel electrolyte,which provides excellent stability during repeated flexing and at high temperatures.In addition,MCAPode exhibits excellent electrochemical performance and rectification capability in"AND"and"OR"logic gates.These findings provide practical solutions for future expansion of micro supercapacitor diode applications. 展开更多
关键词 Micro devices Supercapacitor diodes Screen-printing RECTIFICATION Logic gates
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Bidirectional rotating direct-current triboelectric nanogenerator with self-adaptive mechanical switching for harvesting reciprocating motion
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作者 Donghan Lee Joonmin Chae +6 位作者 Sumin Cho Jong Woo Kim Awais Ahmad Mohammad Rezaul Karim Moonwoo La Sung Jea Park Dongwhi Choi 《International Journal of Extreme Manufacturing》 SCIE EI CAS CSCD 2024年第4期324-335,共12页
Amid the growing interest in triboelectric nanogenerators(TENGs)as novel energy-harvesting devices,several studies have focused on direct current(DC)TENGs to generate a stable DC output for operating electronic device... Amid the growing interest in triboelectric nanogenerators(TENGs)as novel energy-harvesting devices,several studies have focused on direct current(DC)TENGs to generate a stable DC output for operating electronic devices.However,owing to the working mechanisms of conventional DC TENGs,generating a stable DC output from reciprocating motion remains a challenge.Accordingly,we propose a bidirectional rotating DC TENG(BiR-TENG),which can generate DC outputs,regardless of the direction of rotation,from reciprocating motions.The distinct design of the BiR-TENG enables the mechanical rectification of the alternating current output into a rotational-direction-dependent DC output.Furthermore,it allows the conversion of the rotational-direction-dependent DC output into a unidirectional DC output by adapting the configurations depending on the rotational direction.Owing to these tailored design strategies and subsequent optimizations,the BiR-TENG could generate an effective unidirectional DC output.Applications of the BiR-TENG for the reciprocating motions of swinging doors and waves were demonstrated by harnessing this output.This study demonstrates the potential of the BiR-TENG design strategy as an effective and versatile solution for energy harvesting from reciprocating motions,highlighting the suitability of DC outputs as an energy source for electronic devices. 展开更多
关键词 direct-current triboelectric nanogenerator mechanical rectification self-adaptive mechanical design harvesting reciprocation motion
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Controllable thermal rectification design for buildings based on phase change composites
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作者 Hengbin Ding Xiaoshi Li +2 位作者 Tianhang Li Xiaoyong Zhao He Tian 《Journal of Semiconductors》 EI CAS CSCD 2024年第2期40-45,共6页
Phase-change material(PCM)is widely used in thermal management due to their unique thermal behavior.However,related research in thermal rectifier is mainly focused on exploring the principles at the fundamental device... Phase-change material(PCM)is widely used in thermal management due to their unique thermal behavior.However,related research in thermal rectifier is mainly focused on exploring the principles at the fundamental device level,which results in a gap to real applications.Here,we propose a controllable thermal rectification design towards building applications through the direct adhesion of composite thermal rectification material(TRM)based on PCM and reduced graphene oxide(rGO)aerogel to ordinary concrete walls(CWs).The design is evaluated in detail by combining experiments and finite element analysis.It is found that,TRM can regulate the temperature difference on both sides of the TRM/CWs system by thermal rectification.The difference in two directions reaches to 13.8 K at the heat flow of 80 W/m^(2).In addition,the larger the change of thermal conductivity before and after phase change of TRM is,the more effective it is for regulating temperature difference in two directions.The stated technology has a wide range of applications for the thermal energy control in buildings with specific temperature requirements. 展开更多
关键词 phase change composites controllable thermal rectification building applications
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Bidirectional rectifier with gate voltage control based on Bi_(2)O_(2)Se/WSe_(2)heterojunction
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作者 Ruonan Li Fangchao Lu +3 位作者 Jiajun Deng Xingqiu Fu Wenjie Wang He Tian 《Journal of Semiconductors》 EI CAS CSCD 2024年第1期63-70,共8页
Two-dimensional(2D)WSe_(2)has received increasing attention due to its unique optical properties and bipolar behavior.Several WSe_(2)-based heterojunctions exhibit bidirectional rectification characteristics,but most ... Two-dimensional(2D)WSe_(2)has received increasing attention due to its unique optical properties and bipolar behavior.Several WSe_(2)-based heterojunctions exhibit bidirectional rectification characteristics,but most devices have a lower rectification ratio.In this work,the Bi_(2)O_(2)Se/WSe_(2)heterojunction prepared by us has a typeⅡband alignment,which can vastly suppress the channel current through the interface barrier so that the Bi_(2)O_(2)Se/WSe_(2)heterojunction device has a large rectification ratio of about 10^(5).Meanwhile,under different gate voltage modulation,the current on/off ratio of the device changes by nearly five orders of magnitude,and the maximum current on/off ratio is expected to be achieved 106.The photocurrent measurement reveals the behavior of recombination and space charge confinement,further verifying the bidirectional rectification behavior of heterojunctions,and it also exhibits excellent performance in light response.In the future,Bi_(2)O_(2)Se/WSe_(2)heterojunction field-effect transistors have great potential to reduce the volume of integrated circuits as a bidirectional controlled switching device. 展开更多
关键词 Bi_(2)O_(2)Se WSe_(2) HETEROJUNCTION bidirectional rectification optoelectronic devices
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Effect of flame rectification on corrosion property of Al-Zn-Mg alloy 被引量:1
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作者 李帅 郭丹 董红刚 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2017年第2期250-257,共8页
The corrosion resistance of Al?Zn?Mg alloy subjected to different times in flame rectification was investigated based on the exfoliation corrosion test. The results indicate that the flame rectification deteriorate... The corrosion resistance of Al?Zn?Mg alloy subjected to different times in flame rectification was investigated based on the exfoliation corrosion test. The results indicate that the flame rectification deteriorates the exfoliation corrosion resistance of Al?Zn?Mg alloy. The corrosion resistance of Al-Zn-Mg alloy is ranked in the following order: base metal〉two times〉three times〉one time of flame rectification. The exfoliation corrosion behavior was discussed based on the transformation of precipitates at grain boundaries and matrix. With increasing the number of times in flame rectification, the precipitate-free zones disappeared and the precipitates experienced dissolution and re-precipitation. The sample was seriously corroded after one time of flame rectification, because the precipitates at grain boundaries are more continuous than those in other samples. 展开更多
关键词 Al-Zn-Mg alloy flame rectification exfoliation corrosion re-precipitation
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Optical Rectification Induced by Al-Si Schottky Barrier Potential and Mechanism of Two-Photon Response
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作者 刘云龙 贾刚 +3 位作者 周志雄 陈占国 张晓婷 李海兰 《Journal of Semiconductors》 EI CAS CSCD 北大核心 2002年第8期805-808,共4页
By observing two-photon response and anisotropy of the light-induced voltage in Al-Si Schottky barrier potential,it is certified from the experimental and theoretical analysis that the built-in electric field generate... By observing two-photon response and anisotropy of the light-induced voltage in Al-Si Schottky barrier potential,it is certified from the experimental and theoretical analysis that the built-in electric field generated by the Schottky barrier potential will induce the phenomena of optical rectification in Si photodiode.Thus,it is deduced that there must be double-frequency absorption caused by phase-mismatch in the mechanism of two-photon response of Si photodiode.If the intensity of the built-in electric field is strong enough,the double-frequency absorption will be the main factor of the two-photon response,which is different from the conventional opinion that the two-photon response is just the two-photon absorption. 展开更多
关键词 optical rectification double-frequency two-photon absorption
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Quick image-processing method of UAV without control points data in earthquake disaster area 被引量:15
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作者 LI Chang-chun1, ZHANG Guang-sheng1, LEI Tian-jie2, 3, GONG A-du2, 3 1. School of Surveying & Land Information Engineering, Henan Polytechnic University, Jiaozuo 454000, China 2. Key Laboratory of Environmental Change and Natural Disaster, Ministry of Education, Beijing Normal University, Beijing 100875, China 3. Ministry of Civil Affairs/Ministry of Education of China Academy of Disaster Reduction and Emergency Management, Beijing Normal University, Beijing 100875, China 《中国有色金属学会会刊:英文版》 CSCD 2011年第S3期523-528,共6页
The methods of unmanned aerial vehicles images splicing rapidly and rectifying without control points data, only using auxiliary data recorded by unmanned aerial vehicle (UAV) system, were researched. Two algorithms w... The methods of unmanned aerial vehicles images splicing rapidly and rectifying without control points data, only using auxiliary data recorded by unmanned aerial vehicle (UAV) system, were researched. Two algorithms were proposed, including UAV images auto- splicing rapidly after image blocking and UAV images rectifying based on pseudo center points of auxiliary data. When SIFT algorithm for UAV images splicing is applied, the accuracy is very high, but the efficiency is very low. The splicing efficiency is improved greatly based on SIFT algorithm after image blocking. The results show that rectifying accuracy is very high and has no visual dislocation when pseudo center points of auxiliary data is applied. 展开更多
关键词 unmanned AERIAL vehicles SIFT algorithm BLOCKING quickly SPLICING RECTIFICATION
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Relationship between rectification moment and angle of shield based on numerical simulation 被引量:9
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作者 孙伟 岳明 魏建 《Journal of Central South University》 SCIE EI CAS 2012年第2期517-521,共5页
The finite element method is used to simulate the rectification process of shield machine, to study the relationship between rectification moment and angle and to explore the influence laws of different soil parameter... The finite element method is used to simulate the rectification process of shield machine, to study the relationship between rectification moment and angle and to explore the influence laws of different soil parameters and buried depth on rectification moment. It is hoped that the reference value of rectification moment can be offered to operator, and theoretical foundation can be laid for future automatic rectification technology. The results show that the rectification moment and angle generally exhibit good linear behavior in clay layers with different soil parameters or buried depths, and then the concept of rectification coefficient, that is, the ratio of rectification angle to rectification moment, is proposed; different soil parameters and buried depths have different influences on rectification coefficient, in which elastic modulus has great influence but others have little influences; the simulations of rectification process are preformed in clay layers with different elastic modulus, and fitting results show that elastic modulus and rectification coefficient present the quadratic function relation. 展开更多
关键词 finite element method rectification moment rectification angle elastic modulus
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Sliding mode robust controller for automatic rectification of shield machine 被引量:8
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作者 岳明 孙伟 魏建 《Journal of Central South University》 SCIE EI CAS 2011年第2期536-541,共6页
According to the actual engineering problem that the precise load model of shield machine is difficult to achieve,a design method of sliding mode robust controller oriented to the automatic rectification of shield mac... According to the actual engineering problem that the precise load model of shield machine is difficult to achieve,a design method of sliding mode robust controller oriented to the automatic rectification of shield machine was proposed. Firstly,the nominal load model of shield machine and the ranges of model parameters were obtained by the soil mechanics parameters of certain geological conditions and the messages of the self-learning of shield machine by tunneling for previous segments. Based on this rectification mechanism model with known ranges of parameters,a sliding mode robust controller was proposed. Finally,the simulation analysis was developed to verify the effectiveness of the proposed controller. The simulation results show that the sliding mode robust controller can be implemented in the attitude rectification process of the shield machine and it has stronger robustness to overcome the soil disturbance. 展开更多
关键词 shield machine RECTIFICATION sliding mode ROBUST upper bound
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Polaron effect on the optical rectification in spherical quantum dots with electric field 被引量:5
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作者 冯振宇 闫祖威 《Chinese Physics B》 SCIE EI CAS CSCD 2016年第10期446-451,共6页
The polaron effect on the optical rectification in spherical quantum dots with a shallow hydrogenic impurity in the presence of electric field is theoretically investigated by taking into account the interactions of t... The polaron effect on the optical rectification in spherical quantum dots with a shallow hydrogenic impurity in the presence of electric field is theoretically investigated by taking into account the interactions of the electrons with both confined and surface optical phonons. Besides, the interaction between impurity and phonons is also considered. Numerical calculations are presented for typical Zn1-xCdxSe/ZnSe material. It is found that the polaronic effect or electric field leads to the redshifted resonant peaks of the optical rectification coefficients. It is also found that the peak values of the optical rectification coefficients with the polaronic effect are larger than without the polaronic effect, especially for smaller Cd concentrations or stronger electric field. 展开更多
关键词 polaron effect optical rectification spherical quantum dot
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Approximate Approaches to Geometric Corrections of High Resolution Satellite Imagery 被引量:3
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作者 SHIWenzhong AhmedShaker 《Geo-Spatial Information Science》 2004年第1期24-30,共7页
The exploitation of different non-rigorous mathematical models as opposed to the satellite rigorous models is discussed for geometric corrections and topographic/thematic maps pro duction of high-resolution satellite ... The exploitation of different non-rigorous mathematical models as opposed to the satellite rigorous models is discussed for geometric corrections and topographic/thematic maps pro duction of high-resolution satellite imagery (HRSI). Furthermore, this paper fo cuses on the effects of the number of GCPs and the terrain elevation difference within the area covered by the images on the obtained ground points accuracy. Fr om the research, it is obviously found that non-rigorous orientation and triang ulation models can be used successfully in most cases for 2D rectification and 3 D ground points determination without a camera model or the satellite ephemeris data. In addition, the accuracy up to the sub-pixel level in plane and about on e pixel in elevation can be achieved with a modest number of GCPs. 展开更多
关键词 remote sensing RECTIFICATION POLYNOMIALS HIGH-RESOLUTION
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Variable Tension Control for Discontinuous Tape Winding of Composites Based on Constant Extension Ratio 被引量:3
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作者 SHI Yaoyao YAN Long HE Xiaodong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第5期1022-1028,共7页
Discontinuous tape winding, which has obvious advantages in large extension ratio winding, is widely used in the molding of composites. Therefore, the research on technological parameters becomes the focus of many sch... Discontinuous tape winding, which has obvious advantages in large extension ratio winding, is widely used in the molding of composites. Therefore, the research on technological parameters becomes the focus of many scholars. However, how to accomplish the variable tension control is usually not fully considered. Accordingly, the constant extension ratio and the smoothness of winding process cannot be ensured. Aiming at the problem of tension control, this paper first gives a comparatively deep research on the control method and the interaction mechanism of tension, extension ratio, automatic lap and automatic rectification. Then, according to the winding process features, the mechanical device and the mathematical model of tension control system are established respectively. With regard to the characteristics of PID controller and fuzzy controller, the fuzzy self-tuning PID controller is designed. As a result, the variable tension control is realized during the winding and lapping process, and the constant extension ratio is guaranteed. Finally, a sample application is presented for demonstration. By presenting the variable tension control techniques for discontinuous tape winding, the constant extension ratio of tapes is achieved, the consecution and the automation degree of winding process is improved as well. Thus, the quality of wound products is guaranteed. 展开更多
关键词 tape winding tension control constant extension ratio automatic lap and rectification
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Impact of GCP distribution on the rectification accuracy of Landsat TM imagery in a coastal zone 被引量:2
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作者 ZHANG Ying ZHANG Dong +1 位作者 GU Yan TAO Fei 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2006年第4期14-22,共9页
The purpose is to explore the effect of the spatial distribution of ground control points (GCPs) on the accuracy of imagery rectification. Both area-distributed and linearly distributed GCPs were used to rectify a L... The purpose is to explore the effect of the spatial distribution of ground control points (GCPs) on the accuracy of imagery rectification. Both area-distributed and linearly distributed GCPs were used to rectify a Landsat TM image of a coastal zone. Rectification accuracy was checked against 99 independent points over the intertidal mudflats with no ground control. Results indicate that the root-mean-square error of residuals over these areas is several times larger than its GCPs-measured counterpart. If the GCPs are spatially dispersed over an area, residuals fluctuate but increase steadily with distance to the source of control in easting (R^2= 0. 827). in northing they fluctuate around 150 m until 15 km, beyond which they rise steadily at a small range of fluctuation. These residuals are less predictable from distance to the source of control than in easting (R^2= 0.517 ). If the GCPs are distributed along a control line, residuals rise with distance to it linearly and predictably (R^2 = 0. 877) in the direction perpendicular to it. In a direction parallel to it, the distance has little impact on rectification residuals. 展开更多
关键词 image rectification ground control point rectification residuals coastal zone
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Design of a High Efficiency Boost DC-DC Converter 被引量:3
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作者 高静 姚素英 +1 位作者 徐江涛 史再峰 《Transactions of Tianjin University》 EI CAS 2009年第5期350-354,共5页
An accurate circuit of PWM/PFM mode converting and a circuit of auto-adaptively adjusting dimension of power transistor are described.The duty cycle of the signal when the control mode converts can be gained accuratel... An accurate circuit of PWM/PFM mode converting and a circuit of auto-adaptively adjusting dimension of power transistor are described.The duty cycle of the signal when the control mode converts can be gained accurately by using ratios of currents and capacitances,and an optimal dimension of power transistor is derived with different loads.The converter is designed by 0.35μm standard CMOS technology.Simulation results indicate that the converter starts work at 0.8 V input voltage.Combined with synchronized rectification,the transfer efficiency is higher than 90%with full load range,and achieves 97.5%at rating output. 展开更多
关键词 control mode power transistor synchronized rectification EFFICIENCY
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NEW VERSATILE CAMERA CALIBRATION TECHNIQUE BASED ON LINEAR RECTIFICATION 被引量:2
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作者 PanFeng WangXuanyin 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2004年第4期507-510,共4页
A new versatile camera calibration technique for machine vision usingoff-the-shelf cameras is described. Aimed at the large distortion of the off-the-shelf cameras, anew camera distortion rectification technology base... A new versatile camera calibration technique for machine vision usingoff-the-shelf cameras is described. Aimed at the large distortion of the off-the-shelf cameras, anew camera distortion rectification technology based on line-rectification is proposed. Afull-camera-distortion model is introduced and a linear algorithm is provided to obtain thesolution. After the camera rectification intrinsic and extrinsic parameters are obtained based onthe relationship between the homograph and absolute conic. This technology needs neither ahigh-accuracy three-dimensional calibration block, nor a complicated translation or rotationplatform. Both simulations and experiments show that this method is effective and robust. 展开更多
关键词 Camera calibration Camera rectification Linear rectification
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Improved Mixed Integer Optimization Approach for Data Rectification with Gross Error Candidates 被引量:2
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作者 李笕列 荣冈 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2009年第2期226-231,共6页
Mixed integer linear programming (MILP) approach for simultaneous gross error detection and data reconciliation has been proved as an efficient way to adjust process data with material, energy, and other balance con... Mixed integer linear programming (MILP) approach for simultaneous gross error detection and data reconciliation has been proved as an efficient way to adjust process data with material, energy, and other balance constrains. But the efficiency will decrease significantly when this method is applled in a large-scale problem because there are too many binary variables involved. In this article, an improved method is proposed in order to gen- erate gross error candidates with reliability factors before data rectification. Candidates are used in the MILP objec- tive function to improve the efficiency and accuracy by reducing the number of binary variables and giving accurate weights for suspected gross errors candidates. Performance of this improved method is compared and discussed by applying the algorithm in a widely used industrial example. 展开更多
关键词 data rectification gross error detection graphic theory Bayesian method
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Rectification of magnetic force tracker using neural network inaugmented reality system 被引量:2
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作者 丰艳 陈一民 《Journal of Shanghai University(English Edition)》 CAS 2006年第5期431-435,共5页
Nonlinear errors always exist in data obtained from tracker in augmented reality (AR), which badly influence the effect of AR. This paper proposes to rectify the errors using BP neural network. As BP neural network ... Nonlinear errors always exist in data obtained from tracker in augmented reality (AR), which badly influence the effect of AR. This paper proposes to rectify the errors using BP neural network. As BP neural network is prone to getting into local extrema and convergence is slow, genetic algorithm is employed to optimize the initial weights and threshold of neural network. This paper discusses how to set the crucial parameters in the algorithm. Experimental results show that the method ensures that the neural network achieves global convergence quickly and correctly. Tracking precision of AR system is improved after the tracker is rectified, and the third dimension of AR system is enhanced. 展开更多
关键词 BP neural network genetic algorithm augmented reality(AR) magnetic force tracker rectification.
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The First Principle Study on the Rectification of Molecular Junctions Based on the Alkyl-chain-modified Phenyl Benzothiophene Derivative 被引量:2
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作者 Fuzhou 350007 China) 《Chinese Journal of Structural Chemistry》 SCIE CAS CSCD 2018年第7期1037-1044,共8页
Using density functional theory(DFT) combined with nonequilibrium Green's function investigates the electron-transport properties of several molecular junctions based on the PBTDT-CH=NH molecule, which is modified ... Using density functional theory(DFT) combined with nonequilibrium Green's function investigates the electron-transport properties of several molecular junctions based on the PBTDT-CH=NH molecule, which is modified by one to four alkyl groups forming PBTDT-(CH2)nCH=NH. The electronic structures of the isolated molecules(thiol-ended PBTDT-(CH2)nCH=N) have been investigated before the electron-transport calculations are performed. The asymmetric current-voltage characteristics have been obtained for the molecular junctions. Rectifying performance of Au/S-PBTDT-CH=N-S/Au molecular junction can be regulated by introducing alkyl chain. The N3 molecular junction exhibits the best rectifying effect. Its maximum rectifying ratio is 878, which is 80 times more than that of the molecular junction based on the original N molecular junction. The current-voltage(I-V) curves of all the sandwich systems in this work are illustrated by transmission spectra and molecular projection density analysis. 展开更多
关键词 the first principle phenyl benzothiophene alkyl chain RECTIFICATION
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Ratchet transport of overdamped particles in superimposed driven lattices 被引量:1
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作者 Shu-Na Huang Wei-Jing Zhu +2 位作者 Xiao-Qun Huang Bao-Quan Ai Feng-Guo Li 《Chinese Physics B》 SCIE EI CAS CSCD 2019年第4期108-112,共5页
Ratchet transport of overdamped particles is investigated in superimposed driven lattices using Langevin dynamics simulations. It is found that noise can strongly affect the transport of the particles. When lattices d... Ratchet transport of overdamped particles is investigated in superimposed driven lattices using Langevin dynamics simulations. It is found that noise can strongly affect the transport of the particles. When lattices driving dominates the transport, the noise acts as a disturbance of the directed transport and slows down the average velocity of the particles.When the driving phase has less impact on particle transport, Gaussian white noise can play a positive role. By simply modulating these two parameters, we can control efficiency and the direction of the directed currents. 展开更多
关键词 GAUSSIAN WHITE noise superimposed DRIVEN LATTICES RECTIFICATION
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Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face 被引量:1
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作者 Chengjun Shao Jianfeng Liao +1 位作者 Zhitao Liu Hongye Su 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2019年第2期168-179,共12页
Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load ... Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly. 展开更多
关键词 Open type HARD rock TBM INHOMOGENEOUS load Position and POSTURE RECTIFICATION Indirect adaptive robust control
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