Crossing ditch for reconfigurable planetary robots

A new reconfigumble planetary robots system （RPRS） is introduced. The locomotion mechanism alld crossing ditch ability by negotiation among ckild-robots are analyzed. Three configurations are introduced and their characteristics for crossing ditch compared. In order to cross the ditch whose width is broader than the length of the triangle wheel＇ s edge, a novel method based on the locomotion mechanism of the child-robot is proposed. This makes the two leading robots hold the first robot together with their velocities in opposite directions. Statics for the reconfigurable robot group are analyzed. The result shows that the motors can supply sufficient force moment to cross channel. Simulation .experiments are carried out with VC and OPENGL.

A Study on The Multi-Antenna Geometrical Depolarization Channel Modeling

The traditional geometrical depolarization model that single transmitter to single receiver provides a simple method of polarization channel modeling. It can obtain the geometrical depolarization effect of each path if known the antenna configuration, the polarization field radiation pattern and the spatial distribution of scatters. With the development of communication technology, information transmission spectrum is more and more scarce. The original model provides only a single channel polarization state, so the information will be limited that the polarization state carries in the polarization modulation. The research is so significance that how to carries polarization modulation information by using multi-antenna polarization state. However, the present study shows that have no depolarization effect model for multi-antenna systems. In this paper, we propose a multi-antenna geometrical depolarization model. On the basis of a single antenna to calculate the depolarization effect of the model, and through simulation to analysis the main factors that influence the depolarization effect. This article provides a multi-antenna geometrical depolarization channel modeling that can applied to large-scale array antenna, and to some extent increase the speed of information transmission.

Three-dimensional ordered macroporous g-C_(3)N_(4)-Cu_(2)O-TiO_(2) heterojunction for enhanced hydrogen production

In this study,a g-C_(3)N_(4)-Cu_(2)O-TiO_(2) photocatalyst with a novel three-dimensional ordered macroporous(3DOM)structure was successfully prepared using a sacrificial template strategy and a photodeposition method.The influence of the special porous structure with cross pore channels on the photocatalytic properties of the as-prepared sample was studied in detail.Compared with the original photocatalyst(TiO_(2) with 3 wt%Pt),g-C_(3)N_(4)-Cu_(2)O-TiO_(2) exhibited a higher specific surface area and more active sites,thus accelerating the separation efficiency of the photogenerated electron-hole pair.Consequently,the as-prepared photocatalyst showed good photocatalytic performance,reaching a maximum hydrogen production rate of 12,108μmol g^(-1) h^(-1) and approximately five times higher than that of the pristine comparison sample.The enhanced photoactivity of the g-C_(3)N_(4)-Cu_(2)O-TiO_(2) heterojunction can be ascribed to its double p-n heterojunction and robust porous structure,where the photodeposited Cu_(2)O plays a synergistic catalytic role in the photocatalytic process and the outer clad g-C_(3)N_(4) layer prevents Cu_(2)O oxidation.Additionally,the possible photocatalytic mechanism was briefly discussed based on the experimental results.This work identifies viable pathways for developing low-cost heterojunction photocatalysts with highly efficient photocatalytic activity toward improved solar energy conversion.