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2016 IEEE International Conference on automation Science and Engineering, CASE 2016

作者： Woods, Alexander C. Lay, Hung M. Ha, Quang P. Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada RenoNV89557 United States School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024094

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller. © 2016 IEEE.

关键词： Controllers

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A highly-efficient oxygen evolution electrode based on defective nickel-iron layered double hydroxide

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Science China. Materials 2018年第7期61卷 939-947页

作者： Xiong Xuya Cai Zhao Zhou Daojin Zhang Guoxin Zhang Qian Jia Yin Duan Xinxuan Xie Qixian Lai Shibin Xie Tianhui Li Yaping Sun Xiaoming Duan Xue Beijing University of Chemical Technology State Key Laboratory of Chemical Resource Engineering Beijing 100029 Department of Chemistry and Energy Sciences Institute Yale University 810 West Campus Drive USA West Haven CT 06516 College of Electrical Engineering and Automation Shandong University of Science and Technology Tsingtao 266590 College of Energy Beijing University of Chemical Technology Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing 100029

Exploring efficient and cost-effective electrocatalysts for oxygen evolution reaction (OER) is critical to water splitting. While nickel-iron layered double hydroxide (NiFe LDH) has been long recognized as a promising nonprecious electrocatalyst for OER, its intrinsic activity needs further improvement. Herein, we design a highly-efficient oxygen evolution electrode based on defective NiFe LDH nanoarray. By combing the merits of the modulated electronic structure, more exposed active sites, and the conductive electrode, the defective NiFe LDH electrocatalysts show a low onset potential of 1.40 V (vs. RHE). An overpotential of only 200 mV is required for 10 mA cm~(–2), which is 48 mV lower than that of pristine NiFe-LDH. Density functional theory plus U (DFT+U) calculations are further employed for the origin of this OER activity enhancement. We find the introduction of oxygen vacancies leads to a lower valance state of Fe and the narrowed bandgap, which means the electrons tend to be easily excited into the conduction band, resulting in the lowered reaction overpotential and enhanced OER performance.

关键词： oxygen evolution reaction layered double hydroxide oxygen vacancy electrocatalysis

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Random asynchronous iterations in distributed coordination algorithms

arXiv

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arXiv 2018年

作者： Chen, Yao Xia, Weiguo Cao, Ming Lü, Jinhu Department of Computer Science Southwestern University of Finance and Economics Chengdu611130 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China Faculty of Science and Engineering ENTEG University of Groningen Groningen9747 AG Netherlands School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Distributed coordination algorithms (DCA) carry out information processing processes among a group of networked agents without centralized information fusion. Though it is well known that DCA characterized by an SIA (stochastic, indecomposable, aperiodic) matrix generate consensus asymptotically via synchronous iterations, the dynamics of DCA with asynchronous iterations have not been studied extensively, especially when viewed as stochastic processes. This paper aims to show that for any given irreducible stochastic matrix, even non-SIA, the corresponding DCA lead to consensus successfully via random asynchronous iterations under a wide range of conditions on the transition probability. Particularly, the transition probability is neither required to be independent and identically distributed, nor characterized by a Markov chain. Copyright © 2018, The Authors. All rights reserved.

关键词： Stochastic systems

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Cooperative control of a nonuniform gantry crane with constrained tension

Cooperative control of a nonuniform gantry crane with constr...

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作者： He, Wei Ge, Shuzhi Sam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Department of Electrical and Computer Engineering National University of Singapore Singapore117576 Singapore Center for Robotics University of Electronic Science and Technology of China Chengdu611731 China

In this paper, the control problem is addressed for a hybrid PDE-ODE system that describes a nonuniform gantry crane system with constrained tension. A bottom payload hangs from the top gantry by connecting a flexible cable. The flexible cable is nonuniform due to the spatiotemporally varying tension applied to the system. The control objectives are: (i) to position the payload to the desired setpoint, (ii) to regulate the transverse deflection of the flexible cable, and (iii) to keep the tension values remaining in the constrained space. Cooperative control laws are proposed and the integral-barrier Lyapunov functions are employed for stability analysis of the closed-loop system. Adaption laws are developed for handling parametric uncertainties. The bounded stability is guaranteed through rigorous analysis without any simplification of the dynamics. In the end, numerical simulations are displayed to illustrate the performance of the proposed cooperative control. © 2016 Elsevier Ltd. All rights reserved.

关键词： Flexible structures

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Thin Films: Artificial Soft Elastic Media with Periodic Hard Inclusions for Tailoring Strain‐Sensitive Thin‐Film Responses (Adv. Mater. 40/2018)

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advanced Materials 2018年第40期30卷

作者： Junghwan Byun Seungjun Chung Yongtaek Hong Department of Mechanical and Aerospace Engineering Institute of Advanced Machines and Design Soft Robotics Research Center (SRRC) Seoul National University Seoul 08826 Republic of Korea Photo‐Electronic Hybrids Research Center Korea Institute of Science and Technology (KIST) Seoul 02792 Republic of Korea Department of Electrical and Computer Engineering Inter‐University Semiconductor Research Center (ISRC) Seoul National University Seoul 08826 Republic of Korea

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Optoelectronic Devices: Thin Metallic Heat Sink for Interfacial Thermal Management in Biointegrated Optoelectronic Devices (Adv. Mater. Technol. 11/2018)

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advanced Materials Technologies 2018年第11期3卷

作者： Han Hee Jung Juwon Song Shuang Nie Han Na Jung Min Seok Kim Jae-Woong Jeong Young Min Song Jizhou Song Kyung-In Jang Department of Robotics Engineering Department of Information and Communication Engineering Brain Engineering Convergence Center Daegu Gyeongbuk Institute of Science and Technology Daegu 49288 Republic of Korea Department of Engineering Mechanics Soft Matter Research Center and Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Zhejiang University Hangzhou 310027 China School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology 123 Cheomdan-gwagiro Buk-gu Gwangju 61005 Republic of Korea School of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 34141 Republic of Korea

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Tuning Electronic Structure of NiFe Layered Double Hydroxides with Vanadium Doping toward High Efficient Electrocatalytic Water Oxidation

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advanced Energy Materials 2018年第15期8卷

作者： Pengsong Li Xinxuan Duan Yun Kuang Yaping Li Guoxin Zhang Wen Liu Xiaoming Sun State Key Laboratory of Chemical Resource Engineering College of Energy Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing University of Chemical Technology Beijing 100029 China Department of Chemistry Stanford University Stanford CA 94305 USA College of Electrical Engineering and Automation Shandong University of Science and Technology Tsingtao 266590 China

Binary NiFe layer double hydroxide (LDH) serves as a benchmark non‐noble metal electrocatalyst for the oxygen evolution reaction, however, it still needs a relatively high overpotential to achieve the threshold current density. Herein the catalyst's electronic structure is tuned by doping vanadium ions into the NiFe LDHs laminate forming ternary NiFeV LDHs to reduce the onset potential, achieving unprecedentedly efficient electrocatalysis for water oxidation. Only 1.42 V (vs reversible hydrogen electrode (RHE), ≈195 mV overpotential) is required to achieve catalytic current density of 20 mA cm −2 with a small Tafel slope of 42 mV dec −1 in 1 m KOH solution, which manifests the best of NiFe‐based catalysts reported till now. Electrochemical analysis and density functional theory +U simulation indicate that the high catalytic activity of NiFeV LDHs mainly attributes to the vanadium doping which can modify the electronic structure and narrow the bandgap thereby bring enhanced conductivity, facile electron transfer, and abundant active sites.

关键词： electronic structure layered double hydroxides vanadium doping water oxidation

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Conf Info

Conf Info

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IEEE International Conference on Cyber technology in automation, Control, and Intelligent Systems

作者： Tianyou Chai Bazmi Husain Han Ding Kai Wollenweber YuMing Zhang Wen Jung Li Hesheng Wang Aaron Ohta Guanglie Zhang Biao Zhang Zhi Han Lianqing Liu Heping Chen Center of Automation Northeastern University China ABB Group Switzerland School of Mechanical Science and Engineering Huazhong University of Science & Technology China Industrial IT Security TÜV SÜD Product Service GmbH Germany Electrical Engineering University of Kentucky Lexington Kentucky USA Biomedical Engineering City University of Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China University of Hawaii USA Shenzhen Academy of Robotics China US Corporate Research ABB Inc. CAS China Shenyang Institute of Automation CAS China Texas State University USA

Provides a listing of current committee members and society officers.

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Dynamic performance of different knee mechanisms with compliant joints

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Scientia Iranica 2016年第3期23卷 1055-1063页

作者： Ghaemi, N. Zohoor, H. Ghaemi, H. Department of Mechanical Engineering Babol Noshirvani University of Technology Babol Iran Center of Excellence in Design Robotics and Automation Sharif University of Technology The Academy of Sciences of IR Iran Department of Electrical and Electronics Engineering Mazandaran Institute of Technology Babol Iran

Loss of lower extremities has been one of the main problems in human life. Although most of the available knee devices are aesthetically acceptable, there is a necessity for lighter and more compact mechanisms, especially for younger amputees. This problem can be solved by the combining compliant mechanism design with traditional mechanism design methods. In this study, one group of the prosthetics that is known as the "compliant knee mechanisms" is evaluated. At first, the different knee mechanisms, such as four- and six-bar knee linkages are investigated to calculate the values of the control moments (actuator torque). Then, the suitable location (where the actuator torque is to be exerted) is determined to reduce the knee control moment. Finally, the compliant joints are employed to provide the improved designs. Furthermore, an optimization method is employed to determine the optimum values of stiffness instead of using an experimental technique. The obtained results show that use of the compliant joints in the knee mechanisms reduces the values of the control moments, signi cantly. In fact, the compliant members decrease the peak torques during the stance phase. Therefore, by applying a compliant joint, a higher energy efficiency and lighter knee mechanism can be achieved for ambulation. © 2016 Sharif University of technology. All rights reserved.

关键词： Mechanisms

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A Novel Extended Potential Field Controller for Use on Aerial Robots

A Novel Extended Potential Field Controller for Use on Aeria...

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IEEE International Conference on automation Science and Engineering

作者： Alexander C. Woods Hung M. La Quang P. Ha Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada Reno 89557 USA School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024100

关键词： Drones Navigation Robot sensing systems Target tracking Stability analysis

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