Improved Position Estimation Algorithm of Agricultural Mobile Robots Based on Multisensor Fusion and Autoencoder Neural Network.

High-precision position estimations of agricultural mobile robots (AMRs) are crucial for implementing control instructions. Although the global navigation satellite system (GNSS) and real-time kinematic GNSS (RTK-GNSS) provide high-precision positioning, the AMR accuracy decreases when the signals interfere with buildings or trees. An improved position estimation algorithm based on multisensor fusion and autoencoder neural network is proposed. The multisensor, RTK-GNSS, inertial-measurement-unit, and dual-rotary-encoder data are fused with Extended Kalman filter (EKF). To optimize the EKF noise matrix, the autoencoder and radial basis function (ARBF) neural network was used for modeling the state equation noise and EKF measurement equation. A multisensor AMR test platform was constructed for static experiments to estimate the circular error probability and twice-the-distance root-mean-squared criteria. Dynamic experiments were conducted on road, grass, and field environments. To validate the robustness of the proposed algorithm, abnormal working conditions of the sensors were tested on the road. The results showed that the positioning estimation accuracy was improved compared to the RTK-GNSS in all three environments. When the RTK-GNSS signal experienced interference or rotary encoders failed, the system could still improve the position estimation accuracy. The proposed system and optimization algorithm are thus significant for improving AMR position prediction performance.

Synthesis and characterization of a new poly(octathiophene) based copolymer for organic thin-film transistor.

A new poly(octathiophene) based copolymer was designed and synthesized by the palladium catalyzed Suzuki coupling reaction. The structure of the newly obtained copolymer was confirmed by 1H-NMR and IR. The number-average molecular weight (M(n)) of the polymer was 36,000 with a poly-dispersity index of 1.15. The polymer has good solubility in common solvents such as chloroform, toluene, chlorobenzene, dichlorobenzene and tetrahydrofuran at room temperature. The optical, thermal and electrochemical properties of the polymer were characterized by UV-vis absorption, TGA and DSC and cyclovoltametry, respectively. A thin film transistor using the new polymer as an organic semiconductor was found to exhibit typical p-channel FET characteristics with a hole mobility of 5 x 10(-4) cm2/Vs.

Flexible Visible-Blind Ultraviolet Photodetectors Based on ZnAl-Layered Double Hydroxide Nanosheet Scroll.

Visible-blind ultraviolet (UV) photodetectors have received a great deal of attention for realizing Internet of Things technologies as well as for monitoring the level of UV exposure to humans. Realizing next-generation flexible and visible-blind UV photodetectors requires development of new functional material systems with easy fabrication, selectively strong UV light absorption, environmental friendliness, and high stability regardless of ambient conditions. Herein, flexible visible-blind UV photodetectors are successfully fabricated on the basis of two-dimensional ZnAl-layered double hydroxide (LDH) nanosheets with scroll structures grown on flexible substrates. The ZnAl-LDH nanosheet scrolls exhibit highly resistive semiconducting properties with a band gap of 3.2 eV and work function of 3.64 eV. The photodetector based on the ZnAl-LDH shows photoresponse in the UV spectral range below 420 nm, indicating visible-blind spectral response. In addition, the UV photodetector shows a maximum responsivity of 17 mA/W under illumination with 365 nm light. Moreover, the flexible photodetector shows reproducible photoresponse even after 1000 bending cycles, which indicates the acceptable stability of the ZnAl-LDH nanosheet scrolls.

Ultrahigh-efficiency solution-processed simplified small-molecule organic light-emitting diodes using universal host materials.

Although solution processing of small-molecule organic light-emitting diodes (OLEDs) has been considered as a promising alternative to standard vacuum deposition requiring high material and processing cost, the devices have suffered from low luminous efficiency and difficulty of multilayer solution processing. Therefore, high efficiency should be achieved in simple-structured small-molecule OLEDs fabricated using a solution process. We report very efficient solution-processed simple-structured small-molecule OLEDs that use novel universal electron-transporting host materials based on tetraphenylsilane with pyridine moieties. These materials have wide band gaps, high triplet energy levels, and good solution processabilities; they provide balanced charge transport in a mixed-host emitting layer. Orange-red (~97.5 cd/A, ~35.5% photons per electron), green (~101.5 cd/A, ~29.0% photons per electron), and white (~74.2 cd/A, ~28.5% photons per electron) phosphorescent OLEDs exhibited the highest recorded electroluminescent efficiencies of solution-processed OLEDs reported to date. We also demonstrate a solution-processed flexible solid-state lighting device as a potential application of our devices.

Efficient diketopyrrolopyrrole-based small-molecule bulk-heterojunction solar cells with different electron-donating end-groups.

A series of small molecules that contained identical π-spacers (ethyne), a central diketopyrrolopyrrole (DPP) unit, and different aromatic electron-donating end-groups were synthesized and used in organic solar cells (OSCs) to study the effect of electron-donating groups on the device performance. The three compounds, DPP-A-Ph, DPP-A-Na, and DPP-A-An, possessed intense absorption bands that covered a wide range, from 350 to 750 nm, and relatively low HOMO energy levels, from -5.50 to -5.55 eV. DPP-A-An, which contained anthracene end-groups, demonstrated a stronger absorbance and a higher hole mobility than DPP-A-Ph, which contained phenyl groups, and DPP-A-Na, which contained naphthalene units. The power-conversion efficiencies (PCEs) of OSCs based on organic:PC71BM blends (1:1, w/w) with a processed DIO additive were 3.93% for DPP-A-An, 3.02% for DPP-Na, and 2.26% for DPP-A-Ph. These findings suggest that a DPP core that is functionalized with electron-donating capping groups constitutes a promising new class of solution-processable small molecules for OSC applications.