STUDY ON THE PROCESS of COPPER ELECTRODEPOSITION ON PLATINUM (111)

采用0.001MOl/lCuSO4＋0.5MOl/lH2SO4溶液体系，在PT单晶球电极作循环伏安曲线，得到Cu存在欠电位沉积和本体沉积两个阶段，利用电化学扫描隧道显微镜观察到在欠电位下Cu在PT（111）面上为单层平面生长，本体沉积为三维岛状生长，并随过电位升高，Cu的成核数目增加.用反射电子显微镜法也观察到高过电位时在PT（111）面上的岛状铜.证实了Cu在PT（111）面上的STrAnSkI—krASTAnOV生长机理C-V curves of copper electrodeposition on Pt(111) showed that there were two stages of underpotential and bulk deposition For copper electrodeposition process.Single layer growth at underpotential deposition and three dimensional nucleation growth at bulk deposition had been in situ observed by electrochemical scanning tunneling microscopy (ECSTM) at diFFerent potentials and times.The reFlection electron microscopy (REM) images also revealed three dimensional growth of Cu deposition at high overpotential.All of these results demonstrated Stranski-Krastanov growth mechanism of copper on Pt(111).国家自然科学基金!59471060;厦门大学固体表面物理化学国家重点实验室、中国科学院原子核分析研究室资

Space Docking for Reconfigurable Planetary Robot System

提出了以改装后的位置敏感传感器来引导机器人完成自动对接的方法,分析了具体工作原理。对可重构星球探测机器人在运动模式下完成对接的两种姿态进行了比较,分别用一般方法和改进后的规划方法计算出了对接工作空间,比较结果说明,机器人在运动模式下三角边着地有利于完成自动对接。对工作模式机器人在工作空间内的运动进行了静力学分析,分析结果表明,机器人在工作空间内可以自由运动。用VC和OpenGL搭建的平台对空间对接进行了仿真试验,试验结果验证了对接工作空间计算的正确性和完成空间自动对接的可能性

Space Docking for Reconfigurable Planetary Robot System

提出了以改装后的位置敏感传感器来引导机器人完成自动对接的方法,分析了具体工作原理。对可重构星球探测机器人在运动模式下完成对接的两种姿态进行了比较,分别用一般方法和改进后的规划方法计算出了对接工作空间,比较结果说明,机器人在运动模式下三角边着地有利于完成自动对接。对工作模式机器人在工作空间内的运动进行了静力学分析,分析结果表明,机器人在工作空间内可以自由运动。用VC和OpenGL搭建的平台对空间对接进行了仿真试验,试验结果验证了对接工作空间计算的正确性和完成空间自动对接的可能性

Crossing ditch for reconfigurable planetary robots

A new reconfigurable planetary robots system (RPRS) is introduced. The locomotion mechanism and crossing ditch ability by negotiation among child-robots are analyzed. Three configurations are introduced and their characteristics for crossing ditch compared. In order to cross the ditch whose width is broader than the length of the triangle wheel’s edge, a novel method based on the locomotion mechanism of the child-robot is proposed. This makes the two leading robots hold the first robot together with their velocities in opposite directions. Statics for the reconfigurable robot group are analyzed. The result shows that the motors can supply sufficient force moment to cross channel. Simulation experiments are carried out with VC and OPENGL