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In order to solve the problem of efficient trajectory control of centimeter-scale robots with small size, a small jellyfish robot (JRT) is designed and developed, which is composed of an air chamber, a center of gravity adjustment device and a jellyfish-inspired thruster with a size of only ⌀6.8 cm × 5.3 cm. Its trajectory can be effectively controlled underwater through the coordination of the center of gravity adjustment device and jellyfish-inspired thruster. Underwater experiments verify the function of JRT swimming and hovering in the vertical direction, horizontal directional swimming, and horizontal ejection. By analyzing the force balance relationship and motion state data of JRT swimming in the vertical and horizontal directions, a trajectory control scheme is proposed. The speed of horizontal directional swimming can reach 1.7 cm/s, and the trajectory deviation is 0—3.4 cm, which shows that the JRT has a good trajectory control ability and is expected to be applied in underwater resource exploration, environmental monitoring, and other fields.

Antimony selenide (Sb2Se3) thin film solar cells were prepared by vapor transport deposition, and cesium chloride (CsCl2) solution was used to treat the upper interface of the device. Meanwhile, a series of characterizations of the thin film and the device were also performed. The study shows that the back contact treatment of CsCl2 solution can not only improve the carrier collection and reduce upper interface recombination of the device, but also optimize the crystallinity, surface roughness and optoelectronic performance of thin film. Based on the device structure of FTO/CdS/Sb2Se3/CsCl2/Au, a high-efficiency Sb2Se3 thin film solar cell with efficiency of 6.32% are obtained, which is 12% higher than that of the basic device. The research may provide some guidance to further development of Sb2 Se3 thin film solar cells and other similar types of semiconductor photovoltaic devices. [ABSTRACT FROM AUTHOR]