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Miaolei Zhou,Rui Xu,Qi Zhang,Ziying Wang,Yu Zhao 대한전기학회 2016 Journal of Electrical Engineering & Technology Vol.11 No.5
The hysteresis nonlinearity of magnetically controlled shape memory alloy actuator is an obstacle in the achievement of high positioning accuracy. To eliminate the influence of hysteresis nonlinearity, a PID hybrid control method which uses the inverse Prandtl-Ishlinskii model as a feedforward controller is proposed in this paper. The PID parameters are searched by particle swarm optimization with cross and heredity function. The simulation results show that when the influence of external disturbance is not considered, the positioning accuracy of open loop control method is 0.67%, and the positioning accuracy of PID hybrid control based on particle swarm optimization is 0.38%; when the influence of external disturbance is considered, the positioning accuracy of open loop control method is 3.29%, and the positioning accuracy of PID hybrid control based on particle swarm optimization is 1.65%. This indicates that the proposed control method can effectively eliminate the impact of hysteresis nonlinearity and external disturbances on the positioning accuracy.
Research of Autonomous Navigation Strategy for an Outdoor Mobile Robot
Miaolei Zhou,Shanbo He 보안공학연구지원센터 2014 International Journal of Control and Automation Vol.7 No.12
A kind of autonomous navigation strategy for an outdoor mobile robot is proposed in the real world environment. Encoder disk, electronic compass and GPS are used in the dead reckoning system of outdoor mobile robot. To reduce dead reckoning error, the extend Kalman filter method is adopted to realize data fusion from encoder disk and electronic compass. GPS receiver is used to correct the dead reckoning data to eliminate the accumulation error of the dead reckoning. Laser range finder is used to detect the obstacle and establish the environment map. Filed D* algorithm and DWA method are used to realize the obstacle avoidance and path planning. The experimental results show that the outdoor mobile robot can realize the autonomous navigation under the complex road condition.
Elucidating synthesis of noble metal nanoparticles/graphene oxide in freescavenger γ-irradiation
Jie Shi,Wanwei Jiang,Liangsen Liu,Miaolei Jing,Fengyan Li,Zhiwei Xu,Xing-xiang Zhang 한국물리학회 2019 Current Applied Physics Vol.19 No.7
Three representative noble metal (Ag, Au and Pt) nanoparticles decorated graphene oxide (NMNPs/GO) composites were fabricated via γ-irradiation without scavenger. The NMNPs/GO composites exhibited the pure and well-dispersed particles structure, which directly illustrated that the GO could be acted as scavenger to benefit reduction and growth of NMNPs. Compared with irradiated GO (IGO), the GO substrate of composites had the lower relative content of hydroxyl groups, meanwhile, the relative contents of carbonyl groups (Pt > Au > Ag) were increased with increasing valence of noble metal. Such results illustrated that the abundant hydroxyl groups could convert the hydrated electrons, hydroxyl and hydrogen radicals to promote the growth of NMNPs on the surface of GO. In addition, the Raman signals of Ag NPs/GO composites were significantly enhanced (6.18 fold more than pristine GO, respectively), exhibiting obvious surface-enhanced Raman scattering activity. Therefore, this paper revealed that the GO could convert the hydrated electrons and radicals to synthetizing NMNPs/GO composites during γ-ray irradiation.