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Spatial distribution of acceptor-related recombination centers in Mg-doped GaN
Yang, Min,Ahn, Hyung-Soo,Yi, Sam-Nyung 한국해양대학교 산업기술연구소 2002 연구논문집 Vol.19 No.-
Inhomogeneous distribution of Mg-related recombination centers were investigated by cathodoluminescence (CL) and scanning electron microscopy (SEM). Spatially resolved monochromatic CL imaging and spectra measurement revealed that two distinct types of acceptor-related recombination centers were identified and preferentially distributed in different regions. We also found that 3.2eV emission was not fully quenched out even in case of highly Mg doped GaN.
Attitude Control for Astronaut Assisted Robot in the Space Station
Yangmin Li,Jinguo Liu,Qing Gao,Zhiwei Liu 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.4
Because of the limited working hours of astronauts in the space station, the in-cabin robot has high valuein the technological validation and scientific research. Based on this requirement, we proposed and designed an AstronautAssisted Robot(AAR) working in the space station. It can float in the space station cabin, fly autonomously,and hold a fixed position and/or posture. In addition, it also possesses environmental awareness capabilities andintelligence. Thus the AAR can assist astronauts to complete some special scientific experiments or technical tests. In this paper, the system architecture and experimental equipment of the AAR are designed firstly depending on thecharacteristics of space microgravity environment and the requirements of assisting astronauts missions. And then,the motion principles of the AAR are analyzed and the robot’s dynamic model is established by using the Newton- Euler algorithm. Since the attitude control of the robot is the basis for its free movement, the PID Neural Network(PIDNN) algorithm, which is a kind of intelligent control algorithm, is used to design the attitude controller ofthe AAR. Finally, the reasonability of the robot’s structural design and the availability of its attitude controllers areverified through the simulation experiments.