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Correction to:Double Layer Composite Electrode Strategy for Efficient Perovskite Solar Cells with Excellent Reverse-Bias Stability

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Nano-Micro Letters 2023年第3期15卷 298-298页

作者： Jiang, Chaofan Zhou, Junjie Li, Hang Tan, Liguo Li, Minghao Tress, Wolfgang Ding, Liming Grätzel, Michael Yi, Chenyi State Key Laboratory of Power System Department of Electrical Engineering Tsinghua University Beijing People’s Republic of China Institute of Computational Physics (ICP) ZHAW School of Engineering Winterthur Switzerland Center for Excellence in Nanoscience (CAS) Key Laboratory of Nanosystem and Hierarchical Fabrication (CAS) National Center for Nanoscience and Technology Beijing People’s Republic of China Laboratory of Photonics and Interfaces Department of Chemistry and Chemical Engineering Swiss Federal Institute of Technology Lausanne Lausanne Switzerland

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License,which permits use,sharing,adaptation,distribution and reproduction in any medium or format,as long as you give appropriate credit to the original author(s)and the source,provide a link to the Creative Commons licence,and indicate if changes were *** images or other third party material in this article are included in the article’s Creative Commons licence,unless indicated otherwise in a credit line to the material.

关键词： Creative Strategy app

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Analysis and Comparison of the Displacement Amplifiers with a Generalized Mathematical Model 9

Analysis and Comparison of the Displacement Amplifiers with ...

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9th IEEE International Conference on Cyber technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Chen, Fangxin Li, Hongwei He, Wenhui Li, Wangyang Dong, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

The bridge-type amplifier and the lever-type amplifier are the two frequently used displacement amplifiers in the precision engineering. However, to the knowledge of the authors, the analysis and the performance comparison between the two amplifiers was not frequently reported, which is instrumental in realizing and selecting the displacement amplifiers in the practice application. To this end, the two types mechanisms are analyzed and compared with a compliance matrix based model. Via the analysis and comparison, some interesting results which are significant for the amplifiers are founded: 1). The amplification ratio is related to the input displacement when the elastic load is applied;2) The limited amplification ratio phenomenon is observed in the bridge-type mechanism but also the lever-type one;3) The comparison of the flexure hinges design for the two amplifiers are presented;4) The load capacity of the two amplifiers are first analyzed and compared in this paper. Finally, the accuracy of the modeling is verified by FEA simulation studies. © 2019 IEEE.

关键词： Hinges

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An adaptable robotic system for assembling irregular earphone parts on factory automation

An adaptable robotic system for assembling irregular earphon...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Guiwei Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Xu, Shuo Harbin Institue of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728163215

The assembly of earphone parts in electro acoustic factory automation is a challenging problem for industrial robots. The main difficulties come from the fact that conventional industrial robots perform poorly on rapid-updated earphone parts, which are characterized by small size, variety and irregular shapes. What's worse, the robot cannot adapt to the earphone parts with different poses effectively. In order to tackle above problems, an adaptable robotic system guided by the 3D laser triangulation sensor and six-axis F/T sensor is built in this paper. In addition, to reduce position errors caused by the 3D sensor accidently, an assembly strategy which is implemented by the admittance controller learned from human teaching, is proposed for assembling earphone parts. Specifically, AdaBoost-based GPR method is applied to derive the admittance gain, so that the controller perform effectively. A series of comparative experiments prove that the established system could demonstrate superior performance on the earphone parts with small size, variety and irregular shapes. Furthermore, it is also validated that the assembly strategy could be executed effectively on the earphone parts with different poses. © 2019 IEEE.

关键词： Controllers

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PAFL: Parameter-Authentication Federated Learning for Internet of Vehicles

PAFL: Parameter-Authentication Federated Learning for Intern...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Zejun Li Hao Wu Yueyue Dai Yunlong Lu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong University Beijing China Frontiers Science Center for Smart High-speed Railway System China Research Center of 6G Mobile Communications School of Cyber Science and Engineering Huazhong University of Science and Technology Wuhan China Collaborative Innovation Center of Railway Traffic Safety China

Federated learning is an emerging distributed learning paradigm which brings an efficient and privacy-preserving intelligent model for the Internet of Vehicles (IoV). Unfortunately, federated learning is vulnerable to abnormal model attacks as it is hard to authenticate model parameters. Abnormal local models may slow down the convergence rate, reduce the accuracy of global models, and even deliberately control the global model in the attackers' chosen way. Furthermore, an abnormal global model may deduce sensitive information about vehicles and hinder the execution of genuine tasks. Therefore, in this paper, we propose a parameter-authentication federated learning (PAFL) scheme that can protect privacy of vehicles, such as driving habits, and defend against abnormal model attacks simultane-ously. Concretely, we equip the federated learning framework with the zero knowledge proof and Pedersen commitment to prove and authenticate the reliability of model parameters. Security and privacy analysis, as well as performance evaluation show that the PAFL scheme can successfully detect abnormal models with higher detection rate and achieve more secure global aggregation than existing representative schemes.

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Comparative Study of Voltage Source Inverter Nonlinearity Compensation using different Signal Information for Table look up in PMSM Drives

Comparative Study of Voltage Source Inverter Nonlinearity Co...

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The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)

作者： J. Long M. Yang Y. Chen Q. Ni D. Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The inverter nonlinearity compensation has been studied by the researchers widely, however, due to the poor polarity detection ability of the discrete control system and unavoidable noises from current feedback, unideal compensation happens when the motor speed is low and the load is small. In order to tackle with this problem. This paper presents an inverter nonlinearity compensation method in permanent magnet synchronous motor (PMSM) drives. The overall process is achieved by voltage signal injection, the only requirements are stator resistance and the maximum current of a given motor. The corresponding voltage errors are saved in look up table (LUT) and being used together with field-oriented control (FOC). In addition, a comparative study when using phase current feedback, phase current reference and phase voltage reference for compensation voltages look-up in the already established LUT is conducted. A 750-W voltage-source inverter PMSM drive controlled by the FOC algorithm is used for experiment verification, the results show that the phase current reference is the most proper signal for compensation voltages look-up, especially around the current zero-crossing condition. The comparative study in this paper can be easily applied in the real industrial application with no hardware introduction and very little algorithm change.

关键词： stators machine vector control compensation synchronous motor drives invertors permanent magnet motors voltage-source convertors table lookup

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Dc voltage characteristics of controllable current source converter based on TPWM

Dc voltage characteristics of controllable current source co...

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2021 Annual Meeting of CSEE Study Committee of HVDC and Power Electronics (HVDC 2021)

作者： W. Zhang L. Chen B. Zhang X. Wei L. Qi C. Gao Z. He State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China State Key Laboratory of Advanced Transmission Technology Global Energy Interconnection Research Institute Co. Ltd. Beijing China

When the controlled current source converter is applied to HVDC transmission system composed by the pulse width modulated current source converter(PWM-CSC) and Line-Commutated Converter(LCC), the dc voltage at both ends of the converter does not match due to the bypass of the PWM-CSC. Based on the operating principle of PWM-CSC, this paper analyses the dc voltage characteristics of TPWM applied to the current source converter, and realizes the unit power factor operation of the system combined with the indirect current control and TPWM.

关键词： constant current sources power factor HVDC power transmission HVDC power convertors electric current control PWM power convertors

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Iterative learning Control of Trajectory Tracking of Robot Manipulator Based the SoC Platform Integrated Motor Drive and Motion Control

Iterative learning Control of Trajectory Tracking of Robot M...

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The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)

作者： Y. Sun M. Yang Y. Chen Q. Ni D. Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

With the development of SoC technology, the integration of FPGA+ARM has become the development direction of SoC. For the characteristics of integrated multi-axis motion control and motor drive, this paper selects Xilinx ZYNQ-7020 system-onchip (SOC) with integrated dual-core ARM CPU and FPGA as the hardware platform control chip, an arm core motor drive algorithm. Another ARM core completes the interactive function and motion control, and the FPGA to complete the multi-axis hardware current loop and improve the system bandwidth. The iterative learning control (ILC) technology is widely used in robots to reduce the trajectory error of robots performing repetitive tasks. Using P-type iterative learning ILC combined with feedback control , which can compensate for nonrepeating disturbance. Finally, analysis of experimental results shows that iterative learning control combined with feedback control can significantly improve tracking accuracy.

关键词： iterative methods manipulators field programmable gate arrays motion control feedback tracking motor drives system-on-chip control engineering computing iterative learning control machine control

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Trajectory Optimization of Aircraft for A Continuous Descent Continuous Procedure

Trajectory Optimization of Aircraft for A Continuous Descent...

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Chinese Automation Congress (CAC)

作者： Longbiao Ma Yungang Tian Yang Zhang Pei Chu State Key Laboratory of Air Traffic Management System and Technology Nanjing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In this paper, a Continuous Descent Continuous(CDO) trajectory optimization problem is considered. In this problem, the optimal trajectory of a CDO procedure is designed. First, the CDO trajectory optimization problem is formulated as multiple phase optimal control problems. Then, a trajectory optimization results for a CDO is given based on the pseudo spectral method, which guarantee the delay time costs, noise costs and fuel consumption minimum. Last, Simulations results and analysis are considered to verify effectiveness of the method.

关键词： Aircraft Fuels Optimization Delays Trajectory optimization Optimal control Noise measurement

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Non-Metal Single-Phosphorus-Atom Catalysis of Hydrogen Evolution

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Advanced Materials 2020年第52期132卷 23999-24007页

作者： Fu, Weiwei Wang, Yanwei Tian, Wu Zhang, Huijuan Li, Jian Wang, Shuangyin Wang, Yu The School of Chemistry and Chemical Engineering State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University 174 Shazheng Street Shapingba District Chongqing City400044 China The School of Electrical Engineering Chongqing University 174 Shazheng Street Shapingba District Chongqing City400044 China State Key Laboratory of Chem/Bio-Sensing and Chemometrics College of Chemistry and Chemical Engineering Hunan University Changsha Hunan410082 China

Non-metal-based single-atom catalysts (SACs) offer low cost, simple synthesis methods, and effective regulation for substrates Herein, we developed a simplified pressurized gas- assisted process, and report the first non-metal single-atom phosphorus with atomic-level dispersion on unique singlecrystal Mo2C hexagonal nanosheet arrays with a (001) plane supported by carbon sheet (SAP-Mo2C-CS). The SAP-Mo2C- CS is structurally stable and shows exceptional electrocatalytic activity for the hydrogen evolution reaction (HER). A so- called high-active „window" based on the active sites of P atoms and their adjacent Mo atoms gives a Δ GH. close to zero for hydrogen evolution, which is the most ideal AGH. reported so far. Mean while, the moderate d-band center value of SAP- MO2C-CS can be also used as an ideal standard value to evaluate the HER performance in non-metal-based SACs. © 2020 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

关键词： Catalysts

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A New Pressure-adsorption Climbing Robot Realized through Ducted Fan

A New Pressure-adsorption Climbing Robot Realized through Du...

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Artificial Intelligence and Information systems (ICAIIS), 2020 IEEE International Conference on

作者： Weijin Huang Hongzhe Jin Mingda Ge Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728165905

ISBN: (纸本)9781728165912

As an important part of the mobile robot, the rod-climbing robot is mainly responsible for reliably carrying cleaning and maintenance equipment. It overcomes the effect of gravity and is attached to high-rise rods such as pipes, utility poles, lighting poles, cable stays of bridge and lightning rods of substation. The tasks such as cleaning, detection, maintenance, etc. can be conducted more safely, efficiently and economically compared with manual work. Though, there exist some types of rod-climbing robots with different mechanical structures, their structures are too heavy or control is too complicated. This paper presents a new pressure-adsorption climbing robot, which is realized through ducted fan. Compared with the existed rod-climbing robots, the presented one have the advantages of simplified structure, easy control, small volume, light weight and strong adaptability. The feasibility of the new designed robot is experimentally verified.

关键词： Adsorption Fans Climbing robots Gears Wheels

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