Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this uniq...Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this unique capability in robots remains a significant challenge.Here,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object recognition.The sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 cycles.The devised algorithm has universality and can accommodate a range of application scenarios.The tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%accuracy.This sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.展开更多
Photocatalysis and electrocatalysis have been essential parts of electrochemical processes for over half a century.Recent progress in the controllable synthesis of 2D nanomaterials has exhibited enhanced catalytic per...Photocatalysis and electrocatalysis have been essential parts of electrochemical processes for over half a century.Recent progress in the controllable synthesis of 2D nanomaterials has exhibited enhanced catalytic performance compared to bulk materials.This has led to significant interest in the exploitation of 2D nanomaterials for catalysis.There have been a variety of excellent reviews on 2D nanomaterials for catalysis,but related issues of differences and similarities between photocatalysis and electrocatalysis in 2D nanomaterials are still vacant.Here,we provide a comprehensive overview on the differences and similarities of photocatalysis and electrocatalysis in the latest 2D nanomaterials.Strategies and traps for performance enhancement of 2D nanocatalysts are highlighted,which point out the differences and similarities of series issues for photocatalysis and electrocatalysis.In addition,2D nanocatalysts and their catalytic applications are discussed.Finally,opportunities,challenges and development directions for 2D nanocatalysts are described.The intention of this review is to inspire and direct interest in this research realm for the creation of future 2D nanomaterials for photocatalysis and electrocatalysis.展开更多
Piezoelectric materials have been analyzed for over 100 years,due to their ability to convert mechanical vibrations into electric charge or electric fields into a mechanical strain for sensor,energy harvesting,and act...Piezoelectric materials have been analyzed for over 100 years,due to their ability to convert mechanical vibrations into electric charge or electric fields into a mechanical strain for sensor,energy harvesting,and actuator applications.A more recent development is the coupling of piezoelectricity and electro-chemistry,termed piezo-electro-chemistry,whereby the piezoelectrically induced electric charge or voltage under a mechanical stress can influence electro-chemical reactions.There is growing interest in such coupled systems,with a corresponding growth in the number of associated publications and patents.This review focuses on recent development of the piezo-electro-chemical coupling multiple systems based on various piezoelectric materials.It provides an overview of the basic characteristics of piezoelectric materials and comparison of operating conditions and their overall electro-chemical performance.The reported piezo-electro-chemical mechanisms are examined in detail.Comparisons are made between the ranges of material morphologies employed,and typical operating conditions are discussed.In addition,potential future directions and applications for the development of piezo-electro-chemical hybrid systems are described.This review provides a comprehensive overview of recent studies on how piezoelectric materials and devices have been applied to control electro-chemical processes,with an aim to inspire and direct future efforts in this emerging research field.展开更多
It is common for aircraft to encounter atmospheric turbulence in flight tests.Turbulence is usually modeled as stochastic process noise in the flight dynamics equations.In this paper,parameter estimation of nonlinear ...It is common for aircraft to encounter atmospheric turbulence in flight tests.Turbulence is usually modeled as stochastic process noise in the flight dynamics equations.In this paper,parameter estimation of nonlinear dynamic system with both process and measurement noise was studied,and a practical filter error method was proposed.The linearized Kalman filter of first-order approximation was used for state estimation,in which the filter gain,along with the system parameters and the initial states,constituted the parameter vector to be estimated.The unknown parameters and measurement noise covariance were estimated alternately by a relaxation iteration method,and the sensitivities of observations to unknown parameters were calculated by finite difference approximation.Some practical aspects of the method application were discussed.The proposed filter error method was validated by the flight simulation data of a research aircraft.Then,the method was applied to the flight tests of a subscale aircraft,and the aerodynamic stability and control derivatives were estimated.All the estimation results were compared with the results of the output error method to demonstrate the effectiveness of the approach.It is shown that the filter error method is superior to the output error method for flight tests in atmospheric turbulence.展开更多
A novel identification method of aerodynamicmodels using a physics neural network,named the attitude dynamics network,which incorporates the attitude dynamics of an aircraft without any prior aerodynamic knowledge,is ...A novel identification method of aerodynamicmodels using a physics neural network,named the attitude dynamics network,which incorporates the attitude dynamics of an aircraft without any prior aerodynamic knowledge,is proposed.Then a learning controller,which combines feedback linearization with sliding mode control,is developed by introducing the learned aerodynamicmodels.The merit of the identification method is that the aerodynamicmodels can be learned end-to-end by the physics network directly from the flight data.Consequently,the paper uses an offline scheme and an online scheme to combine the identification process and the control process.In the offline scheme,learning the aerodynamic models and controlling the aircraft compose a cascade system,whereas the online scheme,similar to Learn-to-Fly,is a parallel system.Specifically,in the offline scheme,the physics neural network is trained by sufficient offline flight data,and then the trained network is substituted into the controller.The online scheme refers to the controller making the aircraft fly to generate flight data and sending these data to the deep network at the time of training,while the deep network provides the trained aerodynamic models to the controller at other times.Simulation results show that both under nominal and disturbance aerodynamic conditions,the network trained offline with a large amount of nominal data approximate the aerodynamicmodels well.Thus,the performance of the controller reaches a good level;for the online scheme,the predictive capability of the network increases and the performance of the controller improves with more training data.展开更多
Hydrogen evolution via photo-electro-chemical(PEC)co-catalysis is potential for solving energy crisis and environmental issues.The rapidly advances of fabrication and broad applications of polydopamine(PDA)and its der...Hydrogen evolution via photo-electro-chemical(PEC)co-catalysis is potential for solving energy crisis and environmental issues.The rapidly advances of fabrication and broad applications of polydopamine(PDA)and its derivatives have drawn intense attentions in recent years.Herein,an ultrathin PDA coating with nanometer accuracy was conformally grown on TiO_(2) nanotube arrays(NTAs)via electrochemical polymerization,in which the polymer provided a platform for further photoinduced assembly of CdS nanocrystals in the embedded mode.The optimized CdS@PDA/TiO_(2) NTAs hierarchical heterostructure as photoanode gave an excellent PEC performance and exhibited outstanding stability under light irradiation.The photocurrent density was heightened to 5.48 mA·cm^(–2),which was beneficial to H_(2) evolution with a rate of 20μmol·h^(–1)·cm^(–2).The improvement of PEC activity was ascribed to co-photosensitization,optimized carriers transfer,and transport route arised from CdS embedding,resulting to provide a persistent driving force for charge separation based on secure heterojunction of CdS/TiO_(2) glued by PDA.The improvement of PEC stability was due to the inhibition of CdS photocorrosion covered by PDA shelter.This advance boded well for the development of PEC field founded on multifunctional PDA.展开更多
基金the National Natural Science Foundation of China(Grant No.52072041)the Beijing Natural Science Foundation(Grant No.JQ21007)+2 种基金the University of Chinese Academy of Sciences(Grant No.Y8540XX2D2)the Robotics Rhino-Bird Focused Research Project(No.2020-01-002)the Tencent Robotics X Laboratory.
文摘Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this unique capability in robots remains a significant challenge.Here,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object recognition.The sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 cycles.The devised algorithm has universality and can accommodate a range of application scenarios.The tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%accuracy.This sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.
基金supported by the National Key R&D Project from Minister of Science and Technology in China(No.2016YFA0202701,No.2018YFB2200500)the National Natural Science Foundation of China(No.52072041,No.61604012,No.61974170)the University of Chinese Academy of Sciences(Grant No.Y8540XX2D2)。
文摘Photocatalysis and electrocatalysis have been essential parts of electrochemical processes for over half a century.Recent progress in the controllable synthesis of 2D nanomaterials has exhibited enhanced catalytic performance compared to bulk materials.This has led to significant interest in the exploitation of 2D nanomaterials for catalysis.There have been a variety of excellent reviews on 2D nanomaterials for catalysis,but related issues of differences and similarities between photocatalysis and electrocatalysis in 2D nanomaterials are still vacant.Here,we provide a comprehensive overview on the differences and similarities of photocatalysis and electrocatalysis in the latest 2D nanomaterials.Strategies and traps for performance enhancement of 2D nanocatalysts are highlighted,which point out the differences and similarities of series issues for photocatalysis and electrocatalysis.In addition,2D nanocatalysts and their catalytic applications are discussed.Finally,opportunities,challenges and development directions for 2D nanocatalysts are described.The intention of this review is to inspire and direct interest in this research realm for the creation of future 2D nanomaterials for photocatalysis and electrocatalysis.
基金supported by the National Key R&D Project from Minister of Science and Technology in China (No. 2016YFA0202701)the National Natural Science Foundation of China (No. 51472055)+4 种基金External Cooperation Program of BIC, Chinese Academy of Sciences (No. 121411KYS820150028)the 2015 Annual Beijing Talents Fund (No. 2015000021223ZK32)Qingdao National Laboratory for Marine Science and Technology (No. 2017ASKJ01)the University of Chinese Academy of Sciences (Grant No. Y8540XX2D2)the ‘thousands talents’ program for the pioneer researcher and his innovation team, China。
文摘Piezoelectric materials have been analyzed for over 100 years,due to their ability to convert mechanical vibrations into electric charge or electric fields into a mechanical strain for sensor,energy harvesting,and actuator applications.A more recent development is the coupling of piezoelectricity and electro-chemistry,termed piezo-electro-chemistry,whereby the piezoelectrically induced electric charge or voltage under a mechanical stress can influence electro-chemical reactions.There is growing interest in such coupled systems,with a corresponding growth in the number of associated publications and patents.This review focuses on recent development of the piezo-electro-chemical coupling multiple systems based on various piezoelectric materials.It provides an overview of the basic characteristics of piezoelectric materials and comparison of operating conditions and their overall electro-chemical performance.The reported piezo-electro-chemical mechanisms are examined in detail.Comparisons are made between the ranges of material morphologies employed,and typical operating conditions are discussed.In addition,potential future directions and applications for the development of piezo-electro-chemical hybrid systems are described.This review provides a comprehensive overview of recent studies on how piezoelectric materials and devices have been applied to control electro-chemical processes,with an aim to inspire and direct future efforts in this emerging research field.
基金supported by the National Natural Science Foundation of China(No.11802325)。
文摘It is common for aircraft to encounter atmospheric turbulence in flight tests.Turbulence is usually modeled as stochastic process noise in the flight dynamics equations.In this paper,parameter estimation of nonlinear dynamic system with both process and measurement noise was studied,and a practical filter error method was proposed.The linearized Kalman filter of first-order approximation was used for state estimation,in which the filter gain,along with the system parameters and the initial states,constituted the parameter vector to be estimated.The unknown parameters and measurement noise covariance were estimated alternately by a relaxation iteration method,and the sensitivities of observations to unknown parameters were calculated by finite difference approximation.Some practical aspects of the method application were discussed.The proposed filter error method was validated by the flight simulation data of a research aircraft.Then,the method was applied to the flight tests of a subscale aircraft,and the aerodynamic stability and control derivatives were estimated.All the estimation results were compared with the results of the output error method to demonstrate the effectiveness of the approach.It is shown that the filter error method is superior to the output error method for flight tests in atmospheric turbulence.
文摘A novel identification method of aerodynamicmodels using a physics neural network,named the attitude dynamics network,which incorporates the attitude dynamics of an aircraft without any prior aerodynamic knowledge,is proposed.Then a learning controller,which combines feedback linearization with sliding mode control,is developed by introducing the learned aerodynamicmodels.The merit of the identification method is that the aerodynamicmodels can be learned end-to-end by the physics network directly from the flight data.Consequently,the paper uses an offline scheme and an online scheme to combine the identification process and the control process.In the offline scheme,learning the aerodynamic models and controlling the aircraft compose a cascade system,whereas the online scheme,similar to Learn-to-Fly,is a parallel system.Specifically,in the offline scheme,the physics neural network is trained by sufficient offline flight data,and then the trained network is substituted into the controller.The online scheme refers to the controller making the aircraft fly to generate flight data and sending these data to the deep network at the time of training,while the deep network provides the trained aerodynamic models to the controller at other times.Simulation results show that both under nominal and disturbance aerodynamic conditions,the network trained offline with a large amount of nominal data approximate the aerodynamicmodels well.Thus,the performance of the controller reaches a good level;for the online scheme,the predictive capability of the network increases and the performance of the controller improves with more training data.
基金supported by the National Natural Science Foundation of China(U1908227,52072041,and 51962023)the Beijing Natural Science Foundation(No.JQ21007)the University of Chinese Academy of Sciences(No.Y8540XX2D2).
文摘Hydrogen evolution via photo-electro-chemical(PEC)co-catalysis is potential for solving energy crisis and environmental issues.The rapidly advances of fabrication and broad applications of polydopamine(PDA)and its derivatives have drawn intense attentions in recent years.Herein,an ultrathin PDA coating with nanometer accuracy was conformally grown on TiO_(2) nanotube arrays(NTAs)via electrochemical polymerization,in which the polymer provided a platform for further photoinduced assembly of CdS nanocrystals in the embedded mode.The optimized CdS@PDA/TiO_(2) NTAs hierarchical heterostructure as photoanode gave an excellent PEC performance and exhibited outstanding stability under light irradiation.The photocurrent density was heightened to 5.48 mA·cm^(–2),which was beneficial to H_(2) evolution with a rate of 20μmol·h^(–1)·cm^(–2).The improvement of PEC activity was ascribed to co-photosensitization,optimized carriers transfer,and transport route arised from CdS embedding,resulting to provide a persistent driving force for charge separation based on secure heterojunction of CdS/TiO_(2) glued by PDA.The improvement of PEC stability was due to the inhibition of CdS photocorrosion covered by PDA shelter.This advance boded well for the development of PEC field founded on multifunctional PDA.
