Lead halide perovskites with good optoelectronic properties and high attenuation of high-energy radiation are great candidates for X-ray radiation detectors. Large area, dense, and thick films or wafers are a prerequisite for these applications. In this paper, a one-step heat-assisted high-pressure press method is developed to directly prepare a large (the largest has a diameter of 80 mm) and thickness- and shape-controlled phase-pure organic–inorganic hybrid CH3NH3PbI3 wafer of densely packed large microcrystals from raw powder materials. Meanwhile, this method uses no solvent to achieve essentially 100% material utilization. The obtained wafers show good ambipolar carrier mobilities of ∼20 cm2 V–1 s–1 and a μτ product as high as 3.84 × 10–4 cm2 V–1. Under an X-ray source using an acceleration voltage of 40 kV, the perovskite wafer-based X-ray detector shows an X-ray sensitivity as large as 1.22 × 105 μC Gyair –1 cm–2 under a 10 V bias, the highest reported for any perovskite material. The method provides a convenient strategy for producing large perovskite wafers with good optoelectronic properties, which will facilitate the development of large perovskite devices.

Many tracking problems in flocking are related to a single (virtual) leader with a constant velocity. In this paper, we investigate the problem of controlling a group of mobile autonomous agents to track multiple virtual leaders with varying velocities in the sense that agents with the same virtual leader attain the same velocity and track the corresponding leader. We propose a provablystable flocking algorithm. Moreover, we show that the position and velocity of the center of the mass of all agents will exponentially converge to weighted average position and velocity of the virtual leaders. Numerical simulations are worked out to illustrate theoretical results.

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The semi-global output consensus problem for multiagent systems depicted by discrete-time dynamics subject to external disturbances and input saturation over switching networks is investigated in this paper. Assume that only a small part of subsystems have directly received the output of the exosystem. The distributed consensus algorithms are proposed by adopting the low-gain state feedback and the modified algebraic Riccati equation. Then, the outputs of all subsystems can reach synchronization asymptotically with those of the exosystem by using the proposed consensus protocols on some preconditions. Both the connected switching networks and the jointly connected switching networks are considered for the semi-global output consensus problem, respectively. Some numerical simulation results are shown to validate the theoretical analysis.

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