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Mercapto-functionalized scaffold improves perovskite buried interfaces for tandem photovoltaics

Nature communications 2025年第1期16卷 4917页

作者： Jianan Wang Shuaifeng Hu He Zhu Sanwan Liu Zhongyong Zhang Rui Chen Junke Wang Chenyang Shi Jiaqi Zhang Wentao Liu Xia Lei Bin Liu Yongyan Pan Fumeng Ren Hasan Raza Qisen Zhou Sibo Li Longbin Qiu Guanhaojie Zheng Xiaojun Qin Zhiguo Zhao Shuang Yang Neng Li Jingbai Li Atsushi Wakamiya Zonghao Liu Henry J Snaith Wei Chen Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China. Optics Valley Laboratory Hubei China. Clarendon Laboratory Department of Physics University of Oxford Oxford UK. Institute for Chemical Research Kyoto University Kyoto Japan. State Key Laboratory of Silicate Materials for Architectures Wuhan University of Technology Wuhan China. Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen China. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy Engineering SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen China. Shanghai Synchrotron Radiation Facility (SSRF) Zhangjiang Lab Shanghai Advanced Research Institute Chinese Academy of Sciences Shanghai China. Huaneng Clean Energy Research Institute Beijing China. School of Materials Science and Engineering East China University of Science and Technology Shanghai China. Hoffmann Institute of Advanced Materials Shenzhen Polytechnic University Shenzhen China. Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China. liuzonghao@***. Optics Valley Laboratory Hubei China. liuzonghao@***. Clarendon Laboratory Department of Physics University of Oxford Oxford UK. henry.snaith@physics.ox.ac.uk. Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China. wnlochenwei@***. Optics Valley Laboratory Hubei China. wnlochenwei@***.

Tandem photovoltaics hold great potential to surpass the efficiency limit of single-junction solar cells. Detrimental structural defects and chemical reactions at buried interfaces of subcells considerably impede the performance of integrated tandems. Here, we devise a mercapto-functionalized mesoporous silica layer as a superstructure at the buried interface to modulate the crystallisation, eliminate nanovoids, passivate defects, and suppress the oxidation of Sn(II) in the tin-lead perovskite films, contributing substantially to reduce charge carrier losses and improve stability in positive-intrinsic-negative structured devices. Consequently, the tin-lead perovskite single-junction cells show efficiency values of up to 23.7% with the best open-circuit voltage of 0.89 V. With the enhanced subcells, our double-junction tandems show efficiency values of 29.6% (certified 29.5% and steady-state 28.7%) and 24.7% on solar cells and 11.3 cm mini-modules, respectively. Encapsulated tandems maintain 90% of initial efficiency after 445 h of maximum power point tracking under simulated 1-sun illumination.

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Research on Position Sensorless Control of PMSM Based on Improved SMO

Research on Position Sensorless Control of PMSM Based on Imp...

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作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

The sliding mode observer（SMO） can effectively achieve the permanent magnet synchronous motor（PMSM） to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

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A novel hierarchical control strategy for biped robot walking on uneven terrain

A novel hierarchical control strategy for biped robot walkin...

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IEEE-RAS International Conference on Humanoid Robots

作者： Chencheng Dong Xuechao Chen Zhangguo Yu Zelin Huang Qingqing Li Qinqin Zhou Qiang Huang School of Mechantronical Engineering Beijing Institute of Technology Beijing China Bionic robot mechanism perception and control laboratory Beijing China Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

When position-controlled biped robot is blind walking on a uneven terrain at a high speed, huge foot contact impacts will be generated. However, traditional admitance control can't absorb the impact and stabilize the robot due to its slow response and Incompleteness. In this paper, we propose a control strategy including respectively designed swing leg control and support leg control with a new approach of control transition. For Swing leg control, double spring damping model is presented to optimize the admitance controller with faster response and better robustness, and a active foot height controller is also proposed to reduce the impact further. On the other hand, the control transition is accomplished by using a bionic fuzzy control. As a result, the foot contact impact can be reduced and the robot can blind walk fast on uneven terrain. Finally, the validity of the proposed strategy is confirmed by the simulation.

关键词： Legged locomotion Foot Trajectory Springs Adaptation models Robot kinematics

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Author Correction: Ionic shape-morphing microrobotic end-effectors for environmentally adaptive targeting, releasing, and sampling

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Nature communications 2021年第1期12卷 1598页

作者： Zhiqiang Zheng Huaping Wang Lixin Dong Qing Shi Jianing Li Tao Sun Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology 100081 Beijing China. Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology 100081 Beijing China. wanghuaping@***. Department of Biomedical Engineering City University of Hong Kong 999077 Hong Kong China. Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education 100081 Beijing China. Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology 100081 Beijing China. Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology 100081 Beijing China. qhuang@***. Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education 100081 Beijing China. qhuang@***.

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Micro Channel for Analyzing Mechanical Adaption of Cancer Cell

Micro Channel for Analyzing Mechanical Adaption of Cancer Ce...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Pengyun Li Xiaoming Liu Xiaoqing Tang Masaru Kojima Jian Huang Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and the Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan Key Laboratory of Ministry of Education for Image Processing and Intelligent Control the School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

It was reported that cancer cells could biologically respond and adapt to the confined environment during migration in extracellular matrix (ECM). But it is not clearly studied that how cancer cells respond and adapt to confined environment in mechanical way. Thus, in this study, we designed and fabricated a kind of one-layer micro channel to mimic confined environment for analyzing mechanical adaption of cell. This micro channel could apply sequential mechanical stresses on a number of cells with high throughput, and the time of cells passing through five rows of micro channels were used to evaluate their adaptability to the sequential and confined space. In experiments, each cell suffered 20 times of mechanical stresses after passing through 20 squeezing channels arranged in 5 rows. We observed the sequential squeezing processes under microscope and investigated the passing time using a high-speed camera. The preliminary results indicated that cancer cells could pass through and adapt to the confined environment faster than normal cells.

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First-principles prediction of anisotropic superconductivity in the nodal-line semi-metal TlTaSe 2

Materials Today Quantum

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Materials Today Quantum 2025年 6卷

作者： Mukhtar Lawan Adam Ibrahim Buba Garba Sulaiman Muhammad Gana Bala Ismail Adamu Abba Alhaji Bala Abdulsalam Aji Suleiman Ahmad Hamisu Tijjani Hassan Darma Auwal Musa Abdulkadir S. Gidado School of Material Science and Engineering Anhui University Hefei 230601 People's Republic of China Information Materials and Intelligent Sensing Laboratory of Anhui Province Leibniz International Joint Research Center of Materials Sciences of Anhui Province Institutes of Physical Science and Information Technology Anhui University Hefei People's Republic of China Physics Department Bayero University Kano 700231 Nigeria Sorbonne Université CNRS IMPMC 4 Place Jussieu Paris 75252 France Department of Physics Federal University Gashua Gashua 671106 Nigeria Physics Department Federal University Dutse Jigawa 720101 Nigeria Aviation and Aeronautic Center for Advanced Integrated Robotics and Autonomous Systems Engineering and Technology University of South Africa Johannesburg 1710 South Africa Institute of Materials Science and Nanotechnology Bilkent University UNAM Ankara 06800 Türkiye Department of Engineering Fundamental Sciences Sivas University of Science and Technology Sivas 58000 Türkiye Physics Department King Abdulaziz University Jedda 21589 Saudi Arabia

Recent advances in topological quantum materials have spurred significant interest in exploring superconductors that also host nontrivial band topology, as these materials can serve as platforms for novel electronic phases and quantum technologies. TlTaSe 2 is one such non-centrosymmetric, quasi-two-dimensional semimetal with nodal-line topological features protected by mirror-reflection symmetry. In this study, we theoretically predict its superconducting properties using first-principles anisotropic Migdal–Eliashberg theory. Our results indicate that the states at the Fermi, are primarily Ta 5d and Tl 6p orbitals. Thus, exhibiting a multiband electronic structure. Notably, from our calculations, we find two distinct superconducting gaps of 2.15 meV and 4.5 meV on different Fermi surface sheets, arising from strongly anisotropic electron-phonon interactions predominantly involving in-plane vibrations of the Ta and Tl atoms. Using the Allen–Dynes-modified McMillan formula with a Coulomb pseudopotential μ* = 0.16, we predict a superconducting transition temperature Tc of 6.67 K. These findings underscore the significance of TlTaSe 2 as a candidate for topological superconductivity and provide insights into how the interplay between anisotropy, electron-phonon coupling, and nontrivial band topology can be explored for quantum computing and spintronics applications.

关键词： Quantum materials TlTaSe 2 Anisotropic superconducting gaps Electron-phonon coupling Nodal-line semimetal

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Corrigendum to "Do theta oscillations explain the somatosensory change detection mechanism?" Biol. Psychol. 143 (2019) April 103-112

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Biological psychology 2021年 159卷 107995页

作者： Zhilin Zhang Guoxin Guo Jian Zhang Chunlin Li Qiang Huang Ritsu Go Hidenao Fukuyama Shintaro Funahashi Tianyi Yan Jinglong Wu Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Psychiatry Graduate School of Medicine Kyoto University Kyoto Japan. School of Life Science Beijing Institute of Technology Beijing China. Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China. School of Biomedical Engineering Capital Medical University Beijing China. International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China. Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China. Research and Educational Unit of Leaders for Integrated Medical System Center for the Promotion of Interdisciplinary Education and Research Kyoto University Kyoto Japan. Advanced Research Institute for Multidisciplinary Science Beijing Institute of Technology Beijing China. School of Life Science Beijing Institute of Technology Beijing China. Electronic address: yantianyi@***.

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Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance

arXiv

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arXiv 2019年

作者： Klamt, Tobias Schwarz, Max Lenz, Christian Baccelliere, Lorenzo Buongiorno, Domenico Cichon, Torben Guardo, Antonio Di Droeschel, David Gabardi, Massimiliano Kamedula, Malgorzata Kashiri, Navvab Laurenzi, Arturo Leonardis, Daniele Muratore, Luca Pavlichenko, Dmytro Periyasamy, Arul Selvam Rodriguez, Diego Solazzi, Massimiliano Frisoli, Antonio Gustmann, Michael Roßmann, Jürgen Süss, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Bonn Germany PERCRO Laboratory TeCIP Institute Scuola Superiore Sant’Anna Pisa Italy Man-Machine Interaction RWTH Aachen University Aachen Germany Department of Advanced Robotics Italian Institute of Technology Genoa Italy Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torque-controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned. Copyright © 2019, The Authors. All rights reserved.

关键词： Visual communication

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Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots

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IFAC-PapersOnLine 2019年第15期52卷 67-72页

作者： Qun Lu Zhiqiang Miao Dan Zhang Li Yu Wenjun Ye Simon X. Yang Chun-Yi Su College of Electrical Engineering Yancheng Institute of Technology Yancheng 224003 China College of Electrical and Information Engineering Hunan University Changsha 410082 China College of Information Engineering Zhejiang University of Technology Hangzhou 310023 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada School of Automation Guangdong University of Technology Guangzhou 510006 China on leave from Concordia University Montreal QC H3G 1M8 Canada

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.

关键词： Distributed formation control nonholonomic mobile robots distributed formation control persistent exciting conditions

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The Research on Sensorless Control of Permanent Magnet Synchronous using SMC and SMO

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IOP Conference Series: Materials Science and engineering 2020年第1期717卷

作者： Li Daoqi Xiong Xinhong Zhang Guoqing Zhang Yanhui Zuo Rui Feng Wei School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China

This work proposes a way to achieve the sensorless control of permanent-magnet synchronous motor using sliding mode controller (SMC) and Sliding Mode Observer(SMO). In this Paper, the SMC is designed to replace the speed control loop PI controller from the original permanent magnet synchronous motor control system with the sliding mode variable structure control theory. Combined with the modified SMO, the 'SMC and modified SMO' motor control system is proposed. Compared with the 'PI and modified SMO' mode, the performance of the motor control is increased substantially, the interference torque speed attenuation is decreased by 87.5%, and the speed control error was also reduced by 67.7%. There is no overshoot with the reaction speed, and significant improvement in response speed, anti-interference performance, control accuracy and observation precision are achieved. Overall, both the system control and observation performance are significantly improved.

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