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Bioinspired Closed-loop CPG-based Control of a Robotic Manta for Autonomous Swimming

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Journal of Bionic Engineering 2024年第1期21卷 177-191页

作者： Yiwei Hao Yonghui Cao Yingzhuo Cao Xiong Mo Qiaogao Huang Lei Gong Guang Pan Yong Cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi'an 710072China Unmanned Vehicle innovation Center Ningbo Institute of NPUNingbo 315103China Key Laboratory of Unmanned Underwater Vehicle Technology of Ministry of industry and Information Technology Xi'an 710072China

Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral *** is still difficult for a robotic fish to swim autonomously in a confined area as a real ***,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding *** generate multiple swimming modes of the robotic manta and online switching of different modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw *** verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave *** experimental results show that the robotic manta can achieve forward swimming,backward swimming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic ***,the swimming ability of the robotic manta is verified by field tests.

关键词： Biomimetic robotic manta Central Pattern Generator Closed-loop control Backward swimming

Molecular packing tuning via chlorinated end group enables efficient binary organic solar cells over 18.5%

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Carbon Energy 2024年第3期6卷 196-203页

作者： Yafeng Li Zhenyu Chen Xingzheng Yan Ziyi Ge Zhejiang Business Technology institute NingboZhejiangChina Zhejiang Engineering Research Center for Energy Optoelectronic materials and Devices Ningbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingboZhejiangChina Center of materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijingChina

Designing novel nonfullerene acceptors(NFAs)is of vital importance for the development of organic solar cells(OSC).Modification on the side chain and end group are two powerful tools to construct efficient ***,based on the high-performance L8BO,we selected 3-ethylheptyl to substitute the inner chain of 2-ethylhexyl,obtaining the backbone of *** we introduced different halogen atoms of fluorine and chlorine on 2-(3-oxo-2,3-dihydro-1Hinden-1-ylidene)malononitrile end group(EG)to construct efficient NFAs named BON3-F and BON3-Cl,*** donor D18 was chosen to combine with two novel NFAs to construct OSC ***,D18:BON3-Cl-based device shows a remarkable power conversion efficiency(PCE)of 18.57%,with a high open-circuit voltage(V_(OC))of 0.907 V and an excellent fill factor(FF)of 80.44%,which is one of the highest binary PCE of devices based on D18 as the ***,BON3-F-based device shows a relatively lower PCE of 17.79%with a decreased FF of 79.05%.The better photovoltaic performance is mainly attributed to the red-shifted absorption,higher electron and hole mobilities,reduced charge recombination,and enhanced molecular packing in the D18:BON3-Cl ***,we performed stability tests on two binary systems;the D18:BON3-Cl and D18:BON3-F devices maintain 88.1%and 85.5%of their initial efficiencies after 169 h of storage at 85°C in an N2-filled glove box,*** work demonstrates the importance of selecting halogen atoms on EG and provides an efficient binary system of D18:BON3-Cl for further improvement of PCE.

关键词： binary organic solar cell chlorinated end group molecular packing

The Role of Renewable Protocatechol Acid in Epoxy Coating Modification: Significantly Improved Antibacterial and Adhesive Properties

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Chinese Journal of Polymer Science 2024年第1期42卷 63-72,I0008页

作者： Ming-Xuan Chen Jin-Yue Dai Li-Yue Zhang Shuai-Peng Wang Jing-Kai Liu Yong-Gang Wu Xin-Wu Ba Xiao-Qing Liu School of Chemistry and materials Science Hebei UniversityBaoding 071000China ningbo institute of materials Technology and Engineering Chinese Academy of SciencesNingbo 315201China Key Laboratory of Marine materials and Related Technologies Chinese Academy of SciencesNingbo 315201China

It is of great significance to design epoxy coatings with superior antibacterial properties and high adhesive properties, as well as excellent processing, superior durability, and high transparency. However, it is still a challenge because of the common complex design and synthesis. Herein, the bio-based monomer protocatechuic acid(PCA) was used as raw material, the catechol structure with high bonding and antibacterial properties was introduced into the flexible alkane segment of ethylene glycol diglycidyl ether(EGDE) through an efficient, and green method, and it was cured with isophorone diamine(IPDA) to prepare corresponding thermosets. The cured resins exhibited excellent allaround qualities, particularly in bonding and antibacterial. When 30% PCA was added to pure epoxy resin, the adhesion between substrate and coating increased from 4.40 MPa to 13.60 MPa and the antibacterial rate of coating against E. coli and S. aureus could approach 100%. All of this is due to the fact that the catechol structure present in PCA has the ability to interact with various substrates and alter the permeability of bacterial cell membranes. The architecture of this method offers a fresh approach to dealing with the issues of challenging raw material selection and complex synthesis techniques.

关键词： Epoxy coatings Thermosets Catechol structure Antibacterial High adhesion

Effect of grain boundary diffusion of terbium on mode of mechanical fracture of sintered NdFeB magnets

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Journal of Rare Earths 2024年第4期42卷 696-704页

作者： Zexin Lu Tinghui Wang Jianjun Jiang Bizhang Zheng Lijing Yang Xingqi He Anli Lin Shengzhi Dong Zhenlun Song CAS Key Laboratory of Magnetic materials and Devices Zhejiang Province Key Laboratory of Magnetic Materials and Application TechnologyNingbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingbo315201China Faculty of Mechanical Engineering and Mechanics Ningbo UniversityNingbo315211China ningbo Xinqi Precision Magnetism Steel Co. Ltd..Ningbo315156China Center for Advanced Measurement Science National Institute of MetrologyBeijing102200China Division of Functional materials Central Iron&Steel Research InstituteBeijing100081China

Grain boundary diffusion process(GBDP)is a widely used method of increasing the coercivity of sintered NdFeB *** this study,the effects of the GBDP on the bending strength and microhardness of sintered NdFeB magnets and the fracture mode were *** show that the bending strength of magnets is reduced by pickling and heat treatment and greatly recove rs after heavy rare earth element(Tb)grain boundary *** pickling and the heat treatment cause a slight decrease in *** with the recovery of the bending strength,the hardness decreases after the *** fracture mode of bended magnets changes from intergranular to *** study helps in further improving the mechanical and magnetic properties of sintered NdFeB magnets.

关键词： Sintered NdFeB magnets Grain boundary diffusionprocess Bending strength Heavy rare earth element Coercivity

Structural Evolution of Ultra-High Molecular Weight Polyethylene Low-Entangled Films with Reserved Shish Crystals During Hot Stretching

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Chinese Journal of Polymer Science 2024年第8期42卷 1227-1242页

作者： Jia-Wei Gao Li Chen Ye-Shun Zhong Chao-Wei Xing Yi-Guo Li Zong-Bao Wang School of materials Science and Chemical Engineering Ningbo UniversityNingbo 315211China

Shish crystals are crucial to achieving high performance low-dimensional ultra-high molecular weight polyethylene(UHMWPE)***,high stretch and shear flow fields are necessary for the formation of shish *** this study,UHMWPE gel films with reserved shish crystals were prepared by gel molding,the structural evolution and properties of UHMWPE films stretched at temperatu res of 100,110,120and 130℃were investigated by in situ small-angle X-ray scattering(SAXS)/ultra-small-angle X-ray scattering(USAXS)/wide-angle X-ray diffraction(WAXD)measu rements as well as scanning electron microscopy(SEM)and differential scanning calorimetry(DSC)*** findings showed that the reserved shish crystals can facilitate the formation and structural evolution of shish-kebab crystals during the hot ***,the reserved shish crystals promote the structu ral evolution of UHMWPE films to a greater extent when stretched at 120 and 130℃,compared to 100 and 110℃,resulting in higher crystallinity,orientation,thermal properties,breaking strength and Young's *** pared to UHMWPE high-entangled films with reserved shish crystals prepared by compression molding,UHMWPE low-entangled films with reserved shish crystals prepared by gel molding are more effective in inducing the formation and evolution of shish-kebab crystals during the hot stretching,resulting in increased breaking strength and Young's modulus.

关键词： UHMWPE low-entangled films Reserved shish crystals Structural evolution Hot stretching

Highly efficient ternary organic solar cells with excellent open-circuit voltage and fill factor via precisely tuning molecular stacking and morphology

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Science China Chemistry 2024年第3期67卷 963-972页

作者： Dinghong Sun Zhenyu Chen Jianfeng Zhang Wei Song Jingyu Shi Jintao Zhu Yuanyuan Meng Fei Jin Shuncheng Yang Ziyi Ge Faculty of Electrical Engineering and Computer Science Ningbo UniversityNingbo 315211China Faculty of Material Science and Chemical Engineering Ningbo UniversityNingbo 315211China Zhejiang Provincial Engineering Research Center of Energy Optoelectronic materials and Devices Ningbo Institute of Materials Technology&EngineeringChinese Academy of SciencesNingbo 315201China Center of materials Science and Optoelectronics Engineering University of Chinese Academy of Sciences Beijing 100049China Department of Chemical and Environmental Engineering University of Nottingham NingboNingbo 315100China

The micro-morphology and molecular stacking play a key role in determining the charge transport process and nonradiative energy loss, thus impacting the performances of organic solar cells(OSCs). To address this issue, a non-fullerene acceptor PhC6-IC-F with alkylbenzene side-chain, possessing optimized molecular stacking, complementary absorption spectra and forming a cascade energy level alignment in the PM6:BTP-eC9 blend, is introduced as guest acceptor to improve efficiency of ternary OSCs. The bulky phenyl in the side-chain can regulate crystallinity and optimizing phase separation between receptors in ternary blend films, resulting in the optimal phase separations in the ternary films. As a result, high efficiencies of 18.33% as photovoltaic layer are obtained for PhC6-IC-F-based ternary devices with excellent fill factor(FF) of 78.92%. Impressively, the ternary system produces a significantly improved open circuit voltage(V_(oc)) of 0.857 V compared with the binary device,contributing to the reduced density of trap states and suppressed non-radiative recombination result in lower energy loss. This work demonstrates an effective approach for adjusting the aggregation, molecular packing and fine phase separation morphology to increase V_(oc) and FF, paving the way toward high-efficiency OSCs.

关键词： alkylbenzene side-chain morphology regulation ternary blends organic solar cells

Dynamic Crosslinked Phosphorescent Poly(vinyl alcohol)-Terpyridine Films with Enhanced Mechanical Properties and Tunable Shape Memory

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Chinese Journal of Polymer Science 2024年第10期42卷 1595-1601页

作者： Meng Wei Wei-Hao Feng Chen Yu Zhen-Yi Jiang Guang-Qiang Yin Wei Lu Tao Chen Key Laboratory of Advanced Marine materials Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences School of Chemical Sciences University of Chinese Academy of Sciences School of materials Science and Chemical Engineering.ningbo University

Achieving versatile room temperature phosphorescence （RTP） materials, especially with tunable mechanical properties and shape memory is attractive and essential but rarely reported. Here, a strategy was reported to realize multi-functional RTP films with multicolor fluorescence, ultralong afterglow, adjustable mechanical properties, and shape memory through the synergistic dynamic interaction of lanthanide（LnⅢ）-terpyridine coordination, borate ester bonds, and hydrogen bondings in a poly（vinyl alcohol）(PVA) matrix. By varying the amount of borax,the mechanical properties of the films could be finely controlled due to the change of crosslinking degree of dynamic borate ester bonds in *** assembly and disassembly of borate ester bonds upon the trigger of borax and acid were applied as reversible linkage to achieve programmable shape memory behavior. In addition, the films displayed both fascinating multicolor fluorescence and ultralong afterglow characteristics due to the presence of Ln III doping and confinement of terpyridine in PVA. This study provides a new avenue to impart modulable mechanical strength and shape memory to RTP materials.

关键词： Dynamic bonds Multicolor fluorescent Room temperature phosphorescence materials Shape memory Tunable mechanical properties

Electrocatalytic CO_(2) reduction to C_(2)H_(4): From lab to fab

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Journal of Energy Chemistry 2024年第3期90卷 540-564,I0012页

作者： Zeyu Guo Fabao Yang Xiaotong Li Huiwen Zhu Hainam Do Kam Loon Fow Jonathan D.Hirst Tao Wu Qiulin Ye Yaqi Peng Hao Bin Wu Angjian Wu Mengxia Xu Department of Chemical and Environmental Engineering and New Materials InstituteUniversity of Nottingham Ningbo ChinaNingbo 315100ZhejiangChina Key Laboratory of Carbonaceous Waste Processing and Process Intensification of Zhejiang Province University of Nottingham Ningbo ChinaNingbo 315100ZhejiangChina Nottingham ningbo China Beacons of Excellence Research and innovation institute University of Nottingham Ningbo ChinaNingbo 315100ZhejiangChina State Key Laboratory of Clean Energy Utilization Department of Energy EngineeringZhejiang UniversityHangzhou 310027ZhejiangChina institute for Composites Science innovation(InCSI)and State Key Laboratory of Silicon and Advanced Semiconductor materials School of Materials Science and EngineeringZhejiang UniversityHangzhou 310027ZhejiangChina School of Chemistry University of NottinghamUniversity ParkNottingham NG72RDUK Baima Lake Laboratory Hangzhou 310053ZhejiangChina

The global concerns of energy crisis and climate change,primarily caused by carbon dioxide(CO_(2)),are of utmost ***,the electrocatalytic CO_(2) reduction reaction(CO_(2)RR) to high value-added multi-carbon(C_(2+)) products driven by renewable electricity has emerged as a highly promising solution to alleviate energy shortages and achieve carbon *** these C_(2+) products,ethylene(C_(2)H_(4))holds particular importance in the petrochemical ***,this review aims to establish a connection between the fundamentals of electrocatalytic CO_(2) reduction reaction to ethylene(CO_(2)RRto-C_(2)H_(4)) in laboratory-scale research(lab) and its potential applications in industrial-level fabrication(fab).The review begins by summarizing the fundamental aspects,including the design strategies of high-performance Cu-based electrocatalysts and advanced electrolyzer ***,innovative and value-added techniques are presented to address the inherent challenges encountered during the implementations of CO_(2)RR-to-C_(2)H_(4) in industrial ***,case studies of the technoeconomic analysis of the CO_(2)RR-to-C_(2)H_(4) process are discussed,taking into factors such as costeffectiveness,scalability,and market *** review concludes by outlining the perspectives and challenges associated with scaling up the CO_(2)RR-to-C_(2)H_(4) *** insights presented in this review are expected to make a valuable contribution in advancing the CO_(2)RR-to-C_(2)H_(4) process from lab to fab.

关键词： CO_(2) electroreduction reaction Ethylene Gas diffusion electrode Machine learning Density functional theory Techno-economic analysis

Lightweight,Strong and High Heat-Resistant Poly(lactide acid)Foams via Microcellular Injection Molding with Self-Assembly Nucleating Agent

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Chinese Journal of Polymer Science 2024年第6期42卷 739-750页

作者： Xiao-Hu Bing Wen-Yu Ma Ming-Hui Wu Peng Gao Xiao Zhou Hai-Bin Luo Long Wang Wen-Ge Zheng School of materials Science and Engineering Shanghai UniversityShanghai200444China ningbo Key Lab of Polymer materials Ningbo Institute of Material Technology and EngineeringChinese Academy of SciencesNingbo315201China University of Chinese Academy of Sciences Beijing100049China

Poly(lactide acid)(PLA)foams have shown considerable promise as eco-friendly alternatives to nondegradable plastic foams,such as polystyrene(PS)***,PLA foam typically suffers from low heat-resistance and poor cellular structure stemming from its inherent slow crystallization rate and low melt *** this study,a high-performance PLA foam with well-defined cell morphology,exceptional strength and enhanced heat-resistance was successfully fabricated via a core-back microcellular injection molding(MIM)*** scanning calorimetry(DSC)results revealed that the added hydrazine-based nucleating agent(HNA)significantly increased the crystallization temperature and accelerated the crystallization process of ***,the addition of a 1.5 wt%of HNA led to a significant reduction in PLA’s cell size,from 43.5µm to 2.87µm,and a remarkable increase in cell density,from 1.08×10^(7)cells/cm^(3)to 2.15×10^(10)cells/cm^(3).This enhancement resulted in a final crystallinity of approximately 55.7%for the PLA blend foam,a marked improvement compared to the pure PLA ***,at 1.5 wt%HNA concentration,the tensile strength and tensile toughness of PLA blend foams demonstrated remarkable improvements of 136%and 463%,***,the Vicat softening temperature of PLA blend foam increased significantly to 134.8°C,whereas the pure PLA foam exhibited only about 59.7℃.These findings underscore the potential for the preparation of lightweight injection-molded PLA foam with enhanced toughness and heat-resistance,which offers a viable approach for the production of high-performance PLA foams suitable for large-scale applications.

关键词： Poly(lactide acid) Nucleating agent Microcellular injection molding Heat-resistance Toughness