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- 저자 : Yanming Gu (검색결과 2 건)
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Autogenous Shrinkage and Crack Resistance of Carbon Nanotubes Reinforced Cement‑Based Materials
Yanming Liu,Tao Shi,Yujing Zhao,Yuan Gu,Zhifang Zhao,Jiabin Chen,Bingmiao Zheng,Shichong Shi 한국콘크리트학회 2020 International Journal of Concrete Structures and M Vol.14 No.5
Cracking caused by shrinkage deformation of cement-based materials at early age is a major problem leading to material failure in restrained conditions. Carbon nanotubes (CNTs) are incorporated into cement-based materials, and the autogenous shrinkage and crack resistance of the new composite materials obtained by linear shrinkage and ring tests are studied to solve the destruction of the materials caused by the shrinkage of cement-based materials. The results showed that addition of CNTs significantly inhibited the autogenous shrinkage of cement-based materials with maximum reduction rate above 40%. CNTs also significantly improved the cracking resistance of cement-based materials. The optimal effect was noticed at CNTs content of 0.1 wt%. The incorporation of CNTs not only inhibits the autogenous shrinkage of cement-based materials, but also inhibits the drying shrinkage of cement-based materials to some extent. Therefore, carbon nanotubes have the potential to solve the destruction of materials caused by shrinkage of cement-based materials.
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Flight and Hover Control System Design for a Mini-quadrotor Based on Multi-sensors
Zhongli Ma,Huixin Li,Yanming Gu,Zuoyong Li,Qianqian Li 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.2
Mini-quadrotor is difficult to control in the air due to its small size and light weight. This paper presentsthe flight and hover control system for a mini-quadrotor, including design and simulation of calculations and controllers. Firstly, the attitude and position of the mini-quadrotor are obtained by distributed multi-sensors. Since attitudecalculation of aircraft needs a number of combined rotations and vectors transformed by rotation, quaternionsare applied to express the attitude model. About error compensation of gyroscope and accelerometer, IMU_Updataalgorithm of Mahony filter are applied and improved to realize data fusion [1]. In order to realize accurate hoveringat certain position, UWB (UltraWideband) are applied to gain positional information of mini-quadrotor and correctthe antenna delay caused sensor error by base station positioning. The discrete Kalman filter of original data is usedto achieve the optimized estimation of the airborne position. Px4flow optical flow sensor is able to gets velocityinformation and avoid the noise problem, which is caused by differential of position data. Then, the mathematicalmodel of a mini-quadrotor’s flight and hover control system can be established. Herein, integral items are solved bythe integral separation and integral limiting to mitigate the serious overshoot and oscillation of the system caused bythe cascade PID. Finally, the simulation of the attitude controller and position controller are applied with the MATLABSimulink library. The simulation result shows that the designed attitude controller and position controller canenable the mini-quadrotor to fly smoothly, move in all directions and hover.
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