Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
Currently,the solid adsorbents with porous structure have been widely applied in CO_(2)capture.However,the unmodified MgO-ZrO_(2)adsorbents appeared to be low adsorption capacity of CO_(2).The solid adsorbent material...Currently,the solid adsorbents with porous structure have been widely applied in CO_(2)capture.However,the unmodified MgO-ZrO_(2)adsorbents appeared to be low adsorption capacity of CO_(2).The solid adsorbent materials were successfully synthesized by loading TEPA onto the pore MgO/ZrO_(2)carriers in the paper.The pore structure and surface characteristic of the samples were analyzed by using XRD,BET,FT-IR and SEM.The adsorbent materials exhibited microcrystalline state,and the crystallinity of all samples gradually decreased as the increase of TEPA content.The pore structure analysis indicated that the modification of MgO-ZrO_(2)adsorbents with TEPA led to the decrease of the specific surface areas,but the narrow micro-mesopore size distributions ranging from 1.8-12 nm in the adsorbents still were maintained.FT-IR spectrum results further verified the successful loading of TEPA.The adsorption capacity of the adsorbents for CO_(2)were tested by using an adsorption apparatus equipped with gas chromatography.The results indicated that when the TEPA loading reached 50%,the sample exhibited the maximum adsorption value for CO_(2),reaching 4.07 mmol/g under the operation condition of 75℃and atmospheric pressure.This result could be assigned to not only the base active sites but also the coexistence of both micropore and mesopore in the adsorbent.After three cycles tests for CO_(2)capture,the adsorption value of the sample for CO_(2)can also reached 95%of its original adsorption capacity,which verified the excellent cyclic operation stability.展开更多
The technology for green and macro-conversion of solid waste biomass to prepare high-quality activated carbon demands urgent development.This study proposes a technique for synthesizing carbon adsorbents using trace K...The technology for green and macro-conversion of solid waste biomass to prepare high-quality activated carbon demands urgent development.This study proposes a technique for synthesizing carbon adsorbents using trace KOH-catalyzed CO_(2) activation.Comprehensive investigations were conducted on three aspects:physicochemical structure evolution of biochar,mechanistic understanding of trace KOH-facilitated CO_(2) activation processes,and application characteristics for CO_(2) adsorption.Results demonstrate that biochar activated by trace KOH(<10%)and CO_(2) achieves comparable specific surface area(1244.09 m^(2)/g)to that obtained with 100%KOH activation(1425.10 m^(2)/g).The pore structure characteristics(specific surface area and pore volume)are governed by CO and CH4 generated through K-salt catalyzed reactions between CO_(2) and biochar.The optimal CO_(2) adsorption capacities of KBC adsorbent reached 4.70 mmol/g(0℃)and 7.25 mmol/g(25℃),representing the maximum values among comparable carbon adsorbents.The 5%KBC-CO_(2) sample exhibited CO_(2) adsorption capacities of 3.19 and 5.01 mmol/g under respective conditions,attaining current average performance levels.Notably,CO_(2)/N_(2) selectivity(85∶15,volume ratio)reached 64.71 at 0.02 bar with robust cycling stability.Molecular dynamics simulations revealed that oxygen-containing functional groups accelerate CO_(2) adsorption kinetics and enhance micropore storage capacity.This technical route offers simplicity,environmental compatibility,and scalability,providing critical references for large-scale preparation of high-quality carbon materials.展开更多
Adsorption by solid amine adsorbent is a promising technology for decarbonization of flue gas.However,adsorption properties of many solid amine adsorbents need to be enhanced,and it is necessary to further study the C...Adsorption by solid amine adsorbent is a promising technology for decarbonization of flue gas.However,adsorption properties of many solid amine adsorbents need to be enhanced,and it is necessary to further study the CO_(2)adsorption mechanism.A novel CO_(2)adsorbent with high capacity was obtained by grafting 3-aminopropyltriethoxysilane(APTES)on a micro-mesoporous composite molecular sieve ZSM-5/MCM-48 as the support,and then impregnated with tetraethylenepentamine(TEPA)or polyethyleneimine(PEI).The maximum adsorption capacity of APTES-ZSM-5/MCM-48-TEPA-60(A-ZM-T60),loaded with 60%(in mass)TEPA,for CO_(2)reaches 5.82 mmol·g^(-1) at 60℃in 15%(in volume)CO_(2).Carbamate,alkyl ammonium carbamate and carbonate are generated during the chemical adsorption,which is dominant for CO_(2)adsorption because of the reaction between CO_(2)and amino groups on the adsorbent,simultaneously accompanied by weak physical adsorption.All above data confirm that these composites display an outstanding adsorption performance with a bright future for CO_(2)capture from flue gas after desulfurization.展开更多
Electrocatalytic carbon dioxide reduction is a promising technology for addressing global energy and environmental crises. However, its practical application faces two critical challenges: the complex and energy-inten...Electrocatalytic carbon dioxide reduction is a promising technology for addressing global energy and environmental crises. However, its practical application faces two critical challenges: the complex and energy-intensive process of separat-ing mixed reduction products and the economic viability of the carbon sources (reactants) used. To tackle these challenges simultaneously, solid-state electrolyte (SSE) reactors are emerging as a promising solution. In this review, we focus on the feasibility of applying SSE for tandem electrochemical CO_(2) capture and conversion. The configurations and fundamental principles of SSE reactors are first discussed, followed by an introduction to its applications in these two specific areas, along with case studies on the implementation of tandem electrolysis. In comparison to conventional H-type cell, flow cell and membrane electrode assembly cell reactors, SSE reactors incorporate gas diffusion electrodes and utilize a solid electro-lyte layer positioned between an anion exchange membrane (AEM) and a cation exchange membrane (CEM). A key inno-vation of this design is the sandwiched SSE layer, which enhances efficient ion transport and facilitates continuous product extraction through a stream of deionized water or humidified nitrogen, effectively separating ion conduction from product collection. During electrolysis, driven by an electric field and concentration gradient, electrochemically generated ions (e.g., HCOO- and CH3COO-) migrate through the AEM into the SSE layer, while protons produced from water oxidation at the anode traverse the CEM into the central chamber to maintain charge balance. Targeted products like HCOOH can form in the middle layer through ionic recombination and are efficiently carried away by the flowing medium through the porous SSE layer, in the absence of electrolyte salt impurities. As CO_(2)RR can generate a series of liquid products, advancements in catalyst discovery over the past several years have facilitated the industrial application of SSE for more efficient chemicals production. Also noteworthy, the cathode reduction reaction can readily consume protons from water, creating a highly al-kaline local environment. SSE reactors are thereby employed to capture acidic CO_(2), forming CO_(3)^(2-) from various gas sources including flue gases. Driven by the electric field, the formed CO_(3)^(2-) can traverse through the AEM and react with protons originating from the anode, thereby regenerating CO_(2). This CO_(2) can then be collected and utilized as a low-cost feedstock for downstream CO_(2) electrolysis. Based on this principle, several cell configurations have been proposed to enhance CO_(2) capture from diverse gas sources. Through the collaboration of two SSE units, tandem electrochemical CO_(2) capture and con-version has been successfully implemented. Finally, we offer insights into the future development of SSE reactors for prac-tical applications aimed at achieving carbon neutrality. We recommend that greater attention be focused on specific aspects, including the fundamental physicochemical properties of the SSE layer, the electrochemical engineering perspective related to ion and species fluxes and selectivity, and the systematic pairing of consecutive CO_(2) capture and conversion units. These efforts aim to further enhance the practical application of SSE reactors within the broader electrochemistry community.展开更多
In this paper,an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed.Firstly,the affine system is used to build a dynamic model and analyze the state constraints.The midcourse ...In this paper,an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed.Firstly,the affine system is used to build a dynamic model and analyze the state constraints.The midcourse guidance problem is transformed into a continuous time optimization problem.Secondly,the problem is transformed into a discrete convex programming problem by affine control variable relaxation,Gaussian pseudospectral discretization and constraints linearization.Then,the off-line midcourse guidance trajectory is generated before midcourse guidance.It is used as the initial reference trajectory for online correction of midcourse guidance.An online guidance framework is used to eliminate the error caused by calculation of guidance instruction time.And the design of discrete points decreases with flight time to improve the solving efficiency.In addition,it is proposed that the terminal guidance capture is used innovatively space to judge the success of midcourse guidance.Numerical simulation shows the feasibility and effectiveness of the proposed method.展开更多
Carbon nanotubes(CNTs)have garnered significant attention in the fields of science,engineering,and medicine due to their numerous advantages.The initial step towards harnessing the potential of CNTs involves their mac...Carbon nanotubes(CNTs)have garnered significant attention in the fields of science,engineering,and medicine due to their numerous advantages.The initial step towards harnessing the potential of CNTs involves their macroscopic assembly.The present study employed a gentle and direct self-assembly technique,wherein controlled growth of CNT sheaths occurred on the metal wire’s surface,followed by etching of the remaining metal to obtain the hollow tubes composed of CNTs.By controlling the growth time and temperature,it is possible to alter the thickness of the CNTs sheath.After immersing in a solution containing 1 g/L of CNTs at 60℃ for 24 h,the resulting CNTs layer achieved a thickness of up to 60μm.These hollow CNTs tubes with varying inner diameters were prepared through surface reinforcement using polymers and sacrificing metal wires,thereby exhibiting exceptional attributes such as robustness,flexibility,air tightness,and high adsorption capacity that effectively capture CO_(2) from the gas mixture.展开更多
This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
To enhance the separation selectivity of Mg-MOF-74 towards CO_(2) in a CO_(2)/N_(2) mixture,a series of Mg-MOF-74 and Ni_(x)/Mg_(1-x)-MOF-74 adsorbents were prepared by solvothermal synthesis in this paper.It was foun...To enhance the separation selectivity of Mg-MOF-74 towards CO_(2) in a CO_(2)/N_(2) mixture,a series of Mg-MOF-74 and Ni_(x)/Mg_(1-x)-MOF-74 adsorbents were prepared by solvothermal synthesis in this paper.It was found that the adsorption capacity of Mg-MOF-74 for CO_(2) could be effectively increased by optimizing the amount of acetic acid.On this basis,the bimetal MOF-74 adsorbent was prepared by metal modification.The multi-component dynamic adsorption penetration analysis was utilized to examine the CO_(2) adsorption capacity and CO_(2)/N_(2) selectivity of the diverse adsorbent materials.The results showed that Ni0.11/Mg0.89-MOF-74 showed a CO_(2) adsorption capacity of 7.02 mmol/g under pure CO_(2) atmosphere and had a selectivity of 20.50 for CO_(2)/N_(2) under 15% CO_(2)/85%N_(2) conditions,which was 10.2% and 18.02% higher than that of Mg-MOF-74 respectively.Combining XPS,SEM and N_(2) adsorption-desorption characterization analysis,it was attributed to the effect of the more stable unsaturated metal sites Ni into the Mg-MOF-74 on the pore structure and the synergistic interaction between the two metals.Density Functional Theory(DFT)simulations revealed that the synergistic interaction between modulated the electrostatic potential strength and gradient of the material,which was more favorable for the adsorption of CO_(2) molecules with small diameters and large quadrupole moment.In addition,the Ni0.11/Mg0.89-MOF-74 showed commendable cyclic stability,underscoring its promising potential for practical applications.展开更多
在嵌入式平台下,高像素摄像头驱动的开发受到嵌入式处理器速度有限和系统资源有限的限制.为了更好地解决这一问题,本文基于PXA270嵌入式平台,使用Q u ick Capture接口技术,采用DMA描述符链的数据传送方式和双RAM池策略,并采用内存共享...在嵌入式平台下,高像素摄像头驱动的开发受到嵌入式处理器速度有限和系统资源有限的限制.为了更好地解决这一问题,本文基于PXA270嵌入式平台,使用Q u ick Capture接口技术,采用DMA描述符链的数据传送方式和双RAM池策略,并采用内存共享设计思想,降低了数据行走路径,在提高了数据传送速率的同时充分利用嵌入式系统的有限内存资源,降低了内存占用率,保证了获取高分辨率图像的要求.最终在YL-E270开发板上实现了分辨率为400万的CMO S摄像头驱动,通过实际测试,结果表明本文设计的高像素摄像头驱动程序具有良好的稳定性和性能,与低像素摄像头采集的文字图像相比,文字识别的正确率可提高17.5%,采用内存共享机制可减少21.5%内存占用率.展开更多
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金supported by Shanxi Provincial Key Research and Development Project(202102090301026)Graduate Education Innovation Project of Taiyuan University of Science and Technology(SY2023024)。
文摘Currently,the solid adsorbents with porous structure have been widely applied in CO_(2)capture.However,the unmodified MgO-ZrO_(2)adsorbents appeared to be low adsorption capacity of CO_(2).The solid adsorbent materials were successfully synthesized by loading TEPA onto the pore MgO/ZrO_(2)carriers in the paper.The pore structure and surface characteristic of the samples were analyzed by using XRD,BET,FT-IR and SEM.The adsorbent materials exhibited microcrystalline state,and the crystallinity of all samples gradually decreased as the increase of TEPA content.The pore structure analysis indicated that the modification of MgO-ZrO_(2)adsorbents with TEPA led to the decrease of the specific surface areas,but the narrow micro-mesopore size distributions ranging from 1.8-12 nm in the adsorbents still were maintained.FT-IR spectrum results further verified the successful loading of TEPA.The adsorption capacity of the adsorbents for CO_(2)were tested by using an adsorption apparatus equipped with gas chromatography.The results indicated that when the TEPA loading reached 50%,the sample exhibited the maximum adsorption value for CO_(2),reaching 4.07 mmol/g under the operation condition of 75℃and atmospheric pressure.This result could be assigned to not only the base active sites but also the coexistence of both micropore and mesopore in the adsorbent.After three cycles tests for CO_(2)capture,the adsorption value of the sample for CO_(2)can also reached 95%of its original adsorption capacity,which verified the excellent cyclic operation stability.
基金supported by the National Natural Science Foundation of China(52376103,542B2081).
文摘The technology for green and macro-conversion of solid waste biomass to prepare high-quality activated carbon demands urgent development.This study proposes a technique for synthesizing carbon adsorbents using trace KOH-catalyzed CO_(2) activation.Comprehensive investigations were conducted on three aspects:physicochemical structure evolution of biochar,mechanistic understanding of trace KOH-facilitated CO_(2) activation processes,and application characteristics for CO_(2) adsorption.Results demonstrate that biochar activated by trace KOH(<10%)and CO_(2) achieves comparable specific surface area(1244.09 m^(2)/g)to that obtained with 100%KOH activation(1425.10 m^(2)/g).The pore structure characteristics(specific surface area and pore volume)are governed by CO and CH4 generated through K-salt catalyzed reactions between CO_(2) and biochar.The optimal CO_(2) adsorption capacities of KBC adsorbent reached 4.70 mmol/g(0℃)and 7.25 mmol/g(25℃),representing the maximum values among comparable carbon adsorbents.The 5%KBC-CO_(2) sample exhibited CO_(2) adsorption capacities of 3.19 and 5.01 mmol/g under respective conditions,attaining current average performance levels.Notably,CO_(2)/N_(2) selectivity(85∶15,volume ratio)reached 64.71 at 0.02 bar with robust cycling stability.Molecular dynamics simulations revealed that oxygen-containing functional groups accelerate CO_(2) adsorption kinetics and enhance micropore storage capacity.This technical route offers simplicity,environmental compatibility,and scalability,providing critical references for large-scale preparation of high-quality carbon materials.
基金National Natural Science Foundation of China(51966002)Natural Science Foundation of Guangxi Province(2020GXNSFAA159144)。
文摘Adsorption by solid amine adsorbent is a promising technology for decarbonization of flue gas.However,adsorption properties of many solid amine adsorbents need to be enhanced,and it is necessary to further study the CO_(2)adsorption mechanism.A novel CO_(2)adsorbent with high capacity was obtained by grafting 3-aminopropyltriethoxysilane(APTES)on a micro-mesoporous composite molecular sieve ZSM-5/MCM-48 as the support,and then impregnated with tetraethylenepentamine(TEPA)or polyethyleneimine(PEI).The maximum adsorption capacity of APTES-ZSM-5/MCM-48-TEPA-60(A-ZM-T60),loaded with 60%(in mass)TEPA,for CO_(2)reaches 5.82 mmol·g^(-1) at 60℃in 15%(in volume)CO_(2).Carbamate,alkyl ammonium carbamate and carbonate are generated during the chemical adsorption,which is dominant for CO_(2)adsorption because of the reaction between CO_(2)and amino groups on the adsorbent,simultaneously accompanied by weak physical adsorption.All above data confirm that these composites display an outstanding adsorption performance with a bright future for CO_(2)capture from flue gas after desulfurization.
基金This work was supported by the National Key R&D Program of China(2022YFB4102000 and 2022YFA1505100)the NSFC(22472038)the Shanghai Science and Technology Innovation Action Plan(22dz1205500).
文摘Electrocatalytic carbon dioxide reduction is a promising technology for addressing global energy and environmental crises. However, its practical application faces two critical challenges: the complex and energy-intensive process of separat-ing mixed reduction products and the economic viability of the carbon sources (reactants) used. To tackle these challenges simultaneously, solid-state electrolyte (SSE) reactors are emerging as a promising solution. In this review, we focus on the feasibility of applying SSE for tandem electrochemical CO_(2) capture and conversion. The configurations and fundamental principles of SSE reactors are first discussed, followed by an introduction to its applications in these two specific areas, along with case studies on the implementation of tandem electrolysis. In comparison to conventional H-type cell, flow cell and membrane electrode assembly cell reactors, SSE reactors incorporate gas diffusion electrodes and utilize a solid electro-lyte layer positioned between an anion exchange membrane (AEM) and a cation exchange membrane (CEM). A key inno-vation of this design is the sandwiched SSE layer, which enhances efficient ion transport and facilitates continuous product extraction through a stream of deionized water or humidified nitrogen, effectively separating ion conduction from product collection. During electrolysis, driven by an electric field and concentration gradient, electrochemically generated ions (e.g., HCOO- and CH3COO-) migrate through the AEM into the SSE layer, while protons produced from water oxidation at the anode traverse the CEM into the central chamber to maintain charge balance. Targeted products like HCOOH can form in the middle layer through ionic recombination and are efficiently carried away by the flowing medium through the porous SSE layer, in the absence of electrolyte salt impurities. As CO_(2)RR can generate a series of liquid products, advancements in catalyst discovery over the past several years have facilitated the industrial application of SSE for more efficient chemicals production. Also noteworthy, the cathode reduction reaction can readily consume protons from water, creating a highly al-kaline local environment. SSE reactors are thereby employed to capture acidic CO_(2), forming CO_(3)^(2-) from various gas sources including flue gases. Driven by the electric field, the formed CO_(3)^(2-) can traverse through the AEM and react with protons originating from the anode, thereby regenerating CO_(2). This CO_(2) can then be collected and utilized as a low-cost feedstock for downstream CO_(2) electrolysis. Based on this principle, several cell configurations have been proposed to enhance CO_(2) capture from diverse gas sources. Through the collaboration of two SSE units, tandem electrochemical CO_(2) capture and con-version has been successfully implemented. Finally, we offer insights into the future development of SSE reactors for prac-tical applications aimed at achieving carbon neutrality. We recommend that greater attention be focused on specific aspects, including the fundamental physicochemical properties of the SSE layer, the electrochemical engineering perspective related to ion and species fluxes and selectivity, and the systematic pairing of consecutive CO_(2) capture and conversion units. These efforts aim to further enhance the practical application of SSE reactors within the broader electrochemistry community.
文摘In this paper,an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed.Firstly,the affine system is used to build a dynamic model and analyze the state constraints.The midcourse guidance problem is transformed into a continuous time optimization problem.Secondly,the problem is transformed into a discrete convex programming problem by affine control variable relaxation,Gaussian pseudospectral discretization and constraints linearization.Then,the off-line midcourse guidance trajectory is generated before midcourse guidance.It is used as the initial reference trajectory for online correction of midcourse guidance.An online guidance framework is used to eliminate the error caused by calculation of guidance instruction time.And the design of discrete points decreases with flight time to improve the solving efficiency.In addition,it is proposed that the terminal guidance capture is used innovatively space to judge the success of midcourse guidance.Numerical simulation shows the feasibility and effectiveness of the proposed method.
基金Project(ZCLTGS24B0101)supported by Zhejiang Provincial Natural Science Foundation of ChinaProject(Y202250501)supported by Scientific Research Fund of Zhejiang Provincial Education Department,ChinaProject supported by SRT Research Project of Jiaxing Nanhu University,China。
文摘Carbon nanotubes(CNTs)have garnered significant attention in the fields of science,engineering,and medicine due to their numerous advantages.The initial step towards harnessing the potential of CNTs involves their macroscopic assembly.The present study employed a gentle and direct self-assembly technique,wherein controlled growth of CNT sheaths occurred on the metal wire’s surface,followed by etching of the remaining metal to obtain the hollow tubes composed of CNTs.By controlling the growth time and temperature,it is possible to alter the thickness of the CNTs sheath.After immersing in a solution containing 1 g/L of CNTs at 60℃ for 24 h,the resulting CNTs layer achieved a thickness of up to 60μm.These hollow CNTs tubes with varying inner diameters were prepared through surface reinforcement using polymers and sacrificing metal wires,thereby exhibiting exceptional attributes such as robustness,flexibility,air tightness,and high adsorption capacity that effectively capture CO_(2) from the gas mixture.
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
基金supported by National Natural Science Foundation of China(U23A20100)the Strategic Priority Research Program(A)of the Chinese Academy of Sciences(XDA0390404)+5 种基金ICC CAS SCJC-DT-2023-03,the Foundation of State Key Laboratory of Coal Conversion(J24-25-619)Youth Innovation Promotion Association CAS(2018209,2020179)Key R&D Program of Shanxi Province(202102090301008,202202090301013)the special fund for S&T Innovation Team of Shanxi Province(202204051001012)Project of International Cooperation and Exchange NSFC-RFBR(22011530069)Tianjin Science and Technology Plan Project(22YFYSHZ00290)。
文摘To enhance the separation selectivity of Mg-MOF-74 towards CO_(2) in a CO_(2)/N_(2) mixture,a series of Mg-MOF-74 and Ni_(x)/Mg_(1-x)-MOF-74 adsorbents were prepared by solvothermal synthesis in this paper.It was found that the adsorption capacity of Mg-MOF-74 for CO_(2) could be effectively increased by optimizing the amount of acetic acid.On this basis,the bimetal MOF-74 adsorbent was prepared by metal modification.The multi-component dynamic adsorption penetration analysis was utilized to examine the CO_(2) adsorption capacity and CO_(2)/N_(2) selectivity of the diverse adsorbent materials.The results showed that Ni0.11/Mg0.89-MOF-74 showed a CO_(2) adsorption capacity of 7.02 mmol/g under pure CO_(2) atmosphere and had a selectivity of 20.50 for CO_(2)/N_(2) under 15% CO_(2)/85%N_(2) conditions,which was 10.2% and 18.02% higher than that of Mg-MOF-74 respectively.Combining XPS,SEM and N_(2) adsorption-desorption characterization analysis,it was attributed to the effect of the more stable unsaturated metal sites Ni into the Mg-MOF-74 on the pore structure and the synergistic interaction between the two metals.Density Functional Theory(DFT)simulations revealed that the synergistic interaction between modulated the electrostatic potential strength and gradient of the material,which was more favorable for the adsorption of CO_(2) molecules with small diameters and large quadrupole moment.In addition,the Ni0.11/Mg0.89-MOF-74 showed commendable cyclic stability,underscoring its promising potential for practical applications.
文摘在嵌入式平台下,高像素摄像头驱动的开发受到嵌入式处理器速度有限和系统资源有限的限制.为了更好地解决这一问题,本文基于PXA270嵌入式平台,使用Q u ick Capture接口技术,采用DMA描述符链的数据传送方式和双RAM池策略,并采用内存共享设计思想,降低了数据行走路径,在提高了数据传送速率的同时充分利用嵌入式系统的有限内存资源,降低了内存占用率,保证了获取高分辨率图像的要求.最终在YL-E270开发板上实现了分辨率为400万的CMO S摄像头驱动,通过实际测试,结果表明本文设计的高像素摄像头驱动程序具有良好的稳定性和性能,与低像素摄像头采集的文字图像相比,文字识别的正确率可提高17.5%,采用内存共享机制可减少21.5%内存占用率.
