High-pressure has been widely utilized to improve material performances such as thermal conductiv-ityκand interfacial thermal conductance G.Gallium arsenide(GaAs)as a functional semiconductor has attracted extensive ...High-pressure has been widely utilized to improve material performances such as thermal conductiv-ityκand interfacial thermal conductance G.Gallium arsenide(GaAs)as a functional semiconductor has attracted extensive attention in high-pressure studies for its technological importance and complex structure transitions.Thermal properties of GaAs under high pressure are urgent needs in physics but remain elusive.Herein,we systematically investigateκGaAs and G Al/GaAs of multi-structure up to -23 GPa.We conclude that:(1)in pressurization,phonon group velocity,lattice defects,and electrons play a central role inκGaAs in elastic,plastic,and metallization regions,respectively.The increased phonon density of states(PDOS)overlap,group velocity,and interfacial bonding enhances G Al/GaAs.(2)In depressurization,electrons remain the dominant factor on κ GaAs from 23 to 13.5 GPa.G Al/GaAs increases dramatically at -12 GPa due to the larger PDOS overlap.With decompressing to ambient,lattice defects including grain size reduction,arsenic vacancies,and partial amorphization reduce κ GaAs to a glass-like value.Remarkably,the released G Al/GaAs is 2.6 times higher than that of the initial.Thus our findings open a new dimension in synergistically realizing glass-like κ and enhancing G,which can facilitate thermoelectric performance and its potential engineering applications.展开更多
We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments.Our aim w...We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments.Our aim was to improve the kinematic performance of spherical robots.We developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in water.The robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion information.We designed three types of walking gait for the robot,with different stabilities and speeds.Furthermore,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable manner.As the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares algorithm.We proposed a generalized prediction control algorithm to achieve robust underwater motion control.To ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 System-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.展开更多
基金financially supported by the National Natural Science Foundation of China(Nos.51720105007,51976025,and 52206219)the Fundamental Research Funds for the Central Universities(No.DUT22ZD216).
文摘High-pressure has been widely utilized to improve material performances such as thermal conductiv-ityκand interfacial thermal conductance G.Gallium arsenide(GaAs)as a functional semiconductor has attracted extensive attention in high-pressure studies for its technological importance and complex structure transitions.Thermal properties of GaAs under high pressure are urgent needs in physics but remain elusive.Herein,we systematically investigateκGaAs and G Al/GaAs of multi-structure up to -23 GPa.We conclude that:(1)in pressurization,phonon group velocity,lattice defects,and electrons play a central role inκGaAs in elastic,plastic,and metallization regions,respectively.The increased phonon density of states(PDOS)overlap,group velocity,and interfacial bonding enhances G Al/GaAs.(2)In depressurization,electrons remain the dominant factor on κ GaAs from 23 to 13.5 GPa.G Al/GaAs increases dramatically at -12 GPa due to the larger PDOS overlap.With decompressing to ambient,lattice defects including grain size reduction,arsenic vacancies,and partial amorphization reduce κ GaAs to a glass-like value.Remarkably,the released G Al/GaAs is 2.6 times higher than that of the initial.Thus our findings open a new dimension in synergistically realizing glass-like κ and enhancing G,which can facilitate thermoelectric performance and its potential engineering applications.
基金National Natural Science Foundation of China(61773064,61503028).
文摘We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex environments.Our aim was to improve the kinematic performance of spherical robots.We developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in water.The robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion information.We designed three types of walking gait for the robot,with different stabilities and speeds.Furthermore,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable manner.As the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares algorithm.We proposed a generalized prediction control algorithm to achieve robust underwater motion control.To ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 System-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.
