1Àx)BaTiO 3 -xBi(Mg 1/2 Ti 1/2 )O 3 [(1Àx)BT-xBMT] polycrystalline ceramics were obtained via solid-state processing techniques. The solubility limit for (1Àx)BT-xBMT was determined to be about x 5 0.07. A systematic structural change from the ferroelectric tetragonal phase to pseudocubic phase was observed at about x ! 0.05 at room temperature. Dielectric measurements revealed a gradual change from normal ferroelectric of pure BaTiO 3 to highly dispersive relaxor-like characteristics in the solid solution with 30-60 mol% Bi(Mg 1/2 Ti 1/2 )O 3 , showing low-temperature coefficients of capacitance over a wide temperature range. The properties of Nb 2 O 5 -doped 0.85BT-0.15BMT ceramics were investigated to better understand the formation mechanism of core-shell structure, for further improving the temperature stability of the dielectric behavior. 1 mol%rxr6 mol%, and (c) 10 molrxr60 mol% calcined at 10001C for 2 h.

We have measured the absolute integral cross sections (σ's) for H3O(+) formed by the reaction of rovibrationally selected H2O(+)(X(2)B1; v1 (+)v2 (+)v3 (+) = 000; N(+) K a (+) K c (+) = 000, 111, and 211) ion with H2 at the center-of-mass collision energy (Ecm) range of 0.03-10.00 eV. The σ(000), σ(111), and σ(211) values thus obtained reveal rotational enhancements at low Ecm < 0.50 eV, in agreement with the observation of the previous study of the H2O(+)(X(2)B1) + D2 reaction. This Communication presents important progress concerning the high-level ab initio quantum calculation of the potential energy surface for the H2O(+)(X(2)B1) + H2 (D2) reactions, which has provided valuable insight into the origin of the rotational enhancement effect. Governed by the charge and dipole-induced-multipole interactions, the calculation shows that H2 (D2) approaches the H end of H2O(+)(X(2)B1) in the long range, whereas chemical force in the short range favors the orientation of H2 (D2) toward the O side of H2O(+). The reorientation of H2O(+) reactant ion facilitated by rotational excitation thus promotes the H2O(+) + H2 (D2) reaction along the minimum energy pathway, rendering the observed rotational enhancement effects. The occurrence of this effect at low Ecm indicates that the long range charge and dipole-induced-multipole interactions of the colliding pair play a significant role in the dynamics of the exothermic H2O(+) + H2 (D2) reactions.

By employing the newly established vacuum ultraviolet (VUV) laser pulsed field ionization-photoion (PFI-PI) double quadrupole-double octopole ion guide apparatus, we have examined the translational, rotational, and vibrational energy effects on the chemical reactivity of water cation H2O(+)(X(2)B1) in the collision with deuterium molecule D2. The application of a novel electric-field pulsing scheme to the VUV laser PFI-PI ion source has enabled the preparation of a rovibrationally selected H2O(+)(X(2)B1; v1 (+)v2 (+)v3 (+); N(+) K a+Kc+) ion beam with not only high internal-state selectivity and high intensity but also high translational energy resolution. Despite the unfavorable Franck-Condon factors, we are able to prepare the excited vibrational states (v1 (+)v2 (+)v3 (+))=(100) and (020) along with the (000) ground vibrational state, for collisional studies, where v1 (+), v2 (+), and v3 (+) represent the symmetric stretching, bending, and asymmetric stretching modes of H2O(+)(X(2)B1). We show that a range of rotational levels from N(+) K a+Kc+ = 000 to 322, covering a rotational energy range of 0-200 cm(-1) of these vibrational states, can also be generated for absolute integral cross section (σ) measurements at center-of-mass collision energies (Ecms) from thermal energies to 10.00 eV. The Ecm dependences of the σ values are consistent with the prediction of the orbiting model, indicating that translational energy significantly hinders the chemical reactivity of H2O(+)(X(2)B1). Rotational enhancements are observed at Ecm < 0.30 eV for all the three vibrational states, (000), (100), and (020). While the σ values for (100) are found to be only slightly below those for (000), the σ values for (020) are lower than those for (000) and (100) by up to 20% at Ecm ≤ 0.20 eV, indicative of vibrational inhibition at low Ecm by excitation of the (020) mode. Rationalizations are proposed for the observed rotational enhancements and the bending vibrational inhibition. Rigorous theoretical calculations are needed to interpret the wealth of rovibrationally selected cross sections obtained in the present study.

To understand the dynamics of H3O(+) formation, we report a combined experimental-theoretical study of the rovibrationally state-selected ion-molecule reactions H2O(+)(X(2)B1; v1(+)v2(+)v3(+); NKa(+)Kc(+)(+)) + H2 (D2) → H3O(+) (H2DO(+)) + H (D), where (v1(+)v2(+)v3(+)) = (000), (020), and (100) and NKa(+)Kc(+)(+) = 000, 111, and 211. Both quantum dynamics and quasi-classical trajectory calculations were carried out on an accurate full-dimensional ab initio global potential energy surface, which involves nine degrees of freedom. The theoretical results are in good agreement with experimental measurements of the initial state specific integral cross-sections for the formation of H3O(+) (H2DO(+)) and thus provide valuable insights into the surprising rotational enhancement and vibrational inhibition effects in these prototypical ion-molecule reactions that play a key role in the interstellar generation of OH and H2O species.

Rovibrationally selected ion-molecule collision study using the molecular beam vacuum ultraviolet laser pulsed A vacuum-ultraviolet laser pulsed field ionization-photoelectron study of sulfur monoxide (SO) and its cation (SO +

We report on the successful implementation of a high-resolution vacuum ultraviolet (VUV) laser pulsed field ionization-photoion (PFI-PI) detection method for the study of unimolecular dissociation of quantum-state- or energy-selected molecular ions. As a test case, we have determined the 0 K appearance energy (AE) for the formation of methylium, CH, from methane, CH, as AE(CH/CH) = 14.32271 ± 0.00013 eV. This value has a significantly smaller error limit, but is otherwise consistent with previous laboratory and/or synchrotron-based studies of this dissociative photoionization onset. Furthermore, the sum of the VUV laser PFI-PI spectra obtained for the parent CH ion and the fragment CH ions of methane is found to agree with the earlier VUV pulsed field ionization-photoelectron (VUV-PFI-PE) spectrum of methane, providing unambiguous validation of the previous interpretation that the sharp VUV-PFI-PE step observed at the AE(CH/CH) threshold ensues because of higher PFI detection efficiency for fragment CH than for parent CH. This, in turn, is a consequence of the underlying high-n Rydberg dissociation mechanism for the dissociative photoionization of CH, which was proposed in previous synchrotron-based VUV-PFI-PE and VUV-PFI-PEPICO studies of CH. The present highly accurate 0 K dissociative ionization threshold for CH can be utilized to derive accurate values for the bond dissociation energies of methane and methane cation. For methane, the straightforward application of sequential thermochemistry via the positive ion cycle leads to some ambiguity because of two competing VUV-PFI-PE literature values for the ionization energy of methyl radical. The ambiguity is successfully resolved by applying the Active Thermochemical Tables (ATcT) approach, resulting in D(H-CH) = 432.463 ± 0.027 kJ mol and D(H-CH) = 164.701 ± 0.038 kJ mol.

Aiming at human-robot collaboration in manufacturing, the operator's safety is the primary issue during the manufacturing operations. This paper presents a deep reinforcement learning approach to realize the real-time collision-free motion planning of an industrial robot for human-robot collaboration. Firstly, the safe human-robot collaboration manufacturing problem is formulated into a Markov decision process, and the mathematical expression of the reward function design problem is given. The goal is that the robot can autonomously learn a policy to reduce the accumulated risk and assure the task completion time during human-robot collaboration. To transform our optimization object into a reward function to guide the robot to learn the expected behaviour, a reward function optimizing approach based on the deterministic policy gradient is proposed to learn a parameterized intrinsic reward function. The reward function for the agent to learn the policy is the sum of the intrinsic reward function and the extrinsic reward function. Then, a deep reinforcement learning algorithm intrinsic reward-deep deterministic policy gradient (IRDDPG), which is the combination of the DDPG algorithm and the reward function optimizing approach, is proposed to learn the expected collision avoidance policy. Finally, the proposed algorithm is tested in a simulation environment, and the results show that the industrial robot can learn the expected policy to achieve the safety assurance for industrial human-robot collaboration without missing the original target. Moreover, the reward function optimizing approach can help make up for the designed reward function and improve policy performance.

Using the vacuum ultraviolet laser pulsed field ionization-photoion source, together with the double-quadrupole–double-octopole mass spectrometer developed in our laboratory, we have investigated the state-selected ion–molecule reaction ; v + = 0–2, N+ = 0–9) + C2H2, achieving high internal-state selectivity and high kinetic energy resolution for reactant ions. The charge transfer (CT) and hydrogen-atom transfer (HT) channels, which lead to the respective formation of product and N2H+ ions, are observed. The vibrationally selected absolute integral cross sections for the CT [σ CT(v +)] and HT [[σ HT(v +)] channels obtained in the center-of-mass collision energy (E cm) range of 0.03–10.00 eV reveal opposite E cm dependences. The σ CT(v +) is found to increase as E cm is decreased, and is consistent with the long-range exothermic CT mechanism, whereas the E cm enhancement observed for the σ HT(v +) suggests effective coupling of kinetic energy to internal energy, enhancing the formation of N2H+. The σ HT(v +) curve exhibits a step at E cm = 0.70–1.00 eV, suggesting the involvement of the excited state in the HT reaction. Contrary to the strong E cm dependences for σ CT(v +) and σ HT(v +), the effect of vibrational excitation of on both the CT and HT channels is marginal. The branching ratios and cross sections for the CT and HT channels determined in the present study are useful for modeling the atmospheric compositions of Saturn's largest moon, Titan. These cross sections and branching ratios are also valuable for benchmarking theoretical calculations on chemical dynamics of the titled reaction.