Halide substitution in phenethylammonium spacer cations (X‐PEA+, X = F, Cl, Br) is a facile strategy to improve the performance of PEA based perovskite solar cells (PSCs). However, the power conversion efficiency (PCE) of X‐PEA based quasi‐2D (Q‐2D) PSCs is still unsatisfactory and the underlying mechanisms are in debate. Here, the in‐depth study on the impact of halide substitution on the crystal orientation and multi‐phase distribution in PEA based perovskite films are reported. The halide substitution eliminates n = 1 2D perovskite and thus leads to the perpendicular crystal orientation. Furthermore, nucleation competition exists between small‐n and large‐n phases in PEA and X‐PEA based perovskites. This gives rise to the orderly distribution of different n‐phases in the PEA and F‐PEA based films, and random distribution in Cl‐PEA and Br‐PEA based films. As a result, (F‐PEA)2MA3Pb4I12 (MA = CH3NH3+, n = 4) based PSCs achieve a PCE of 18.10%, significantly higher than those of PEA (12.23%), Cl‐PEA (7.93%) and Br‐PEA (6.08%) based PSCs. Moreover, the F‐PEA based devices exhibit remarkably improved stability compared to their 3D counterparts.

Abstract-Tree-based path planners have been shown to be well suited to solve various high dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring Random Tree (RRT) path planning algorithm that is able to explore narrow passages or difficult areas more effectively. We show that both workspace obstacle information and C-space information can be used when deciding which direction to grow. The method includes many ways to grow the tree, some taking into account the obstacles in the environment. This planner works best in difficult areas when planning for free flying rigid or articulated robots. Indeed, whereas the standard RRT can face difficulties planning in a narrow passage, the tree based planner presented here works best in these areas.

This outbreak was caused by droplet transmission.

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