We explore both the synthesis of Cd-free blue quantum dots (QDs) with high-quality photoluminescence (PL) characteristics and the fabrication of high-efficiency QD light-emitting diodes (QLEDs). True blue (445 nm)-emissive, multishelled ZnSeTe QDs with a high PL quantum yield of 84% and a sharp bandwidth of 27 nm are prepared. To obtain a better electron transport layer (ETL) material, the surface of ZnMgO nanoparticles (NPs) is modified by additional Mg reaction, leading to the possible formation of a Mg­(OH)2 layer on the surface-modified ZnMgO (m-ZnMgO) NPs. The presence of a Mg­(OH)2 overlayer, the origin of the desirably reduced electron mobility, is supposedly responsible for the improved charge balance of the QD emissive layer (EML). The Mg­(OH)2 layer is further found to alleviate the emission quenching of the QD EML. Via combination of blue ZnSeTe QDs and m-ZnMgO NP ETL, highly bright, efficient blue QLEDs with the record luminance of 2904 cd/m2 and an external quantum efficiency of 9.5% are demonstrated.

Indium phosphide (InP) has been regarded as the most promising composition of visible quantum dot (QD) emitters for the application to next-generation display devices primarily because of its environmental benignity. Bright, sharp emissivity of InP QDs should be pursued for the realization of high-efficiency, wide-color gamut display devices. Photoluminescence (PL) performance of InP QDs has been greatly improved based on synthetic advances enabling the securement of core size homogeneity and the formation of exquisite core/shell heterostructure. Until now, high-quality fluorescent InP QDs have been attainable exclusively through the use of a hazardous phosphorus (P) precursor of tris(trimethylsilyl)phosphine ((TMS) 3 P) against green chemistry. In this work, we report a synthetic breakthrough of green InP QDs toward narrow, bright emissivity by using a much cheaper, safer P alternative of tris(dimethylamino)phosphine ((DMA) 3 P). For this, QD synthesis proceeds via a so-called two-step approach, where as-grown InP cores are subjected to a stepwise size fractionation process and then placed in the consecutive double shelling of a composition-gradient ZnSe x S 1−x inner and a ZnS outer shell. The chemical composition (x) of the ZnSe x S 1−x inner shell in the range of 0.09−0.36 is varied to explore its effects on PL quantum yield (QY), size, and blue excitation light absorptivity. Because of the effective core size fractionation and elaborately designed heterostructure, the resulting InP/ZnSe x S 1−x /ZnS QDs exhibit exceptional green (527 nm) PL features of a sharp line width of 37 nm and a high PL QY of 87%, which have not been achievable to date from non-(TMS) 3 P-based QDs, when an optimal inner shell composition is applied.

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In this paper differential kinematics was geometrically derived to be utilized in a calibration algorithm that improves the accuracy of the manipulation of a robot. Even though the mechanical components are manufactured and assembled precisely, small differences between the designed and the actual system always exist, due to both geometric and unmodelled errors. In order to resolve these problems, differential relationships between the model parameters and the end-effectorʹs posture were formulated. Subsequently, a derivative based estimation algorithm, such as an EKF (Extended Kalman Filter) manner, could be adopted to update the model parameters. The proposed algorithm includes joint flexibility, so is an advanced version of previous work, where a rigid joint model was adopted [1]. The effectiveness of the proposed algorithm was verified by a computer simulation with a 6 DOF manipulator robot.

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Abstract-This paper proposes a control method to absorb the landing force or the ground reaction force for a stable dynamic walking of a humanoid robot. Humanoid robot may become unstable during walking due to the impulsive contact force of the sudden landing of its foot. Therefore, a control method to decrease the landing force is required. In this paper, time-domain passivity control approach is applied for this purpose. Ground and the foot of the robot are modeled as two one-port network systems that are connected, and exchange energy with each other. The time-domain passivity controller with admittance causality is implemented, which has the landing force as input and foot's position to trim off the force as output. The proposed landing force controller can enhance the stability of the walking robot from simple computation. The small-sized humanoid robot, HanSaRam-VII that has 27 DOFs, is developed to verify the proposed scheme through dynamic walking experiments.

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