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Autonomous Robot Driving Decision Strategy Following Road Signs And Traffic Rules
Zheng-Hao Chong,Ling Yee,Albert Causo,I-Ming Chen 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
Autonomous robot driving decision strategy following road signs and traffic rules is described using simulation with a Turtlebot [1]. A fully autonomous robot driving strategy is presented, which follows human level logic in decision making. A vision-based autonomous vehicles navigation system for road vehicles includes three main parts: 1) road and traffic signs detection; 2) vehicle movement guidance system; and 3) decision making following human level logic. The first two modules have been studied independently for many years and obtained many good results using different solutions, but there is little research in fully integrated system with high level decision making to achieve fully autonomous robot navigation following road signs. It is valuable to study and apply this concept into a real system. A simulation world is built according to real environment scenario proving the concept of study.
Effects of Ohmic Area Etching on Buffer Breakdown Voltage of AlGaN/GaN HEMT
Chong Wang,Xiao-Xiao Wel,Meng-Di Zhao,Yun-Long He,Xue-Feng Zheng,Wei Mao,Xiao-Hua Ma,Jin-Cheng Zhang,Yue Hao 한국전기전자재료학회 2017 Transactions on Electrical and Electronic Material Vol.18 No.3
This study is on how ohmic area etching affects the buffer breakdown voltage of AlGaN/GaN HEMT. The surfacemorphology of the ohmic metal can be improved by whole etching on the ohmic area. The buffer breakdown voltagesof the samples with whole etching on the ohmic area were improved by the suppression of the metal spikes formedunder the ohmic contact regions during high-temperature annealing. The samples with selective etching on theohmic area were investigated for comparison. In addition, the buffer leakage currents were measured on the differentradii of the wafer, and the uniformity of the buffer leakage currents on the wafer were investigated by PL mappingmeasurement.
Effects of Ohmic Area Etching on Buffer Breakdown Voltage of AlGaN/GaN HEMT
Wang, Chong,Wel, Xiao-Xiao,Zhao, Meng-Di,He, Yun-Long,Zheng, Xue-Feng,Mao, Wei,Ma, Xiao-Hua,Zhang, Jin-Cheng,Hao, Yue The Korean Institute of Electrical and Electronic 2017 Transactions on Electrical and Electronic Material Vol.18 No.3
This study is on how ohmic area etching affects the buffer breakdown voltage of AlGaN/GaN HEMT. The surface morphology of the ohmic metal can be improved by whole etching on the ohmic area. The buffer breakdown voltages of the samples with whole etching on the ohmic area were improved by the suppression of the metal spikes formed under the ohmic contact regions during high-temperature annealing. The samples with selective etching on the ohmic area were investigated for comparison. In addition, the buffer leakage currents were measured on the different radii of the wafer, and the uniformity of the buffer leakage currents on the wafer were investigated by PL mapping measurement.
Task Prioritization for Automated Robotic Item Picking
Albert Causo,Zheng-Hao Chong,Ramamoorthy Luxman,Yuan Yik Kok,I-Ming Chen 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper describes a task scheduling method designed for a robotic picking system. The main goal of the system is to fulfill an order, ie, pick all the items in an order list and place them into the order bin, as fast as possible with the least number of unfulfilled items or errors. Picking an item on the list is considered as one task. The system will prioritize and schedule first the tasks with higher chances of being executed successfully. The probability for successful pick is computed from the vision data and grasping information. The items with higher chances of failure to be picked are pushed to the end of the queue. Forty experiments were conducted using randomly generated arrangement of items in a shelf and a randomly generated task order list. The test result shows that the strategy delivers an average fulfillment rate of 90% and an average fulfillment efficiency rate of 71%. The strategy described in this paper could be used to determine items that could be picked with human assistance instead of by robot alone.
Roasting and leaching process of iron sulfate to separate zinc and iron from blast furnace dust
Ruimeng Shi,Hao Wu,Huan Liu,Bixia Wang,Yuan She,Chong Zou,Jiangfeng Zheng,Qi Gao 한국화학공학회 2022 Korean Journal of Chemical Engineering Vol.39 No.5
The physical phase analysis and thermodynamic calculations of blast furnace dust were performed using Xraydiffraction fluorescence spectrometer, X-ray diffractometer, scanning electron microscope, energy spectrometer, andFactsage software. The leaching pattern and mechanism of zinc elements were studied by a roasting-leaching method. The results showed that the conversion of zinc ferrite to zinc sulfate could be realized when the roasting temperaturerange was 500-730 oC, which was convenient for zinc leaching. A better roasting condition could be obtained when theroasting temperature was 600 oC, roasting time was 60 min, and molar ratio of ferric sulfate was 1.2 : 1. Under theseconditions, the zinc and iron leaching rates were 84.57% and 24.51%, respectively, at a sulfuric acid concentration of110 gL1, liquid-solid ratio of 10 : 1 mLg1, leaching time of 60min, stirring speed of 400 rpm, and leaching temperatureof 80 oC. The leaching process of zinc from blast furnace dust sulfate roasting products agreed with the unreacted coremodel, and internal diffusion was the restrictive step. The kinetic equation of the leaching process was 12R/3(1R)2/3=0.47t, the apparent activation energy of the leaching reaction was 17.4 kJmol1, and the reaction order was 1.908.
High-Velocity Impact of Carbon/Epoxy Composite Laminates
Zhao, Gui Ping,Wang, Zheng Hao,Zhang, Jian Xin,Cho, Chong Du Trans Tech Publications, Ltd. 2007 Key Engineering Materials Vol.334-335 No.1
<P>The response of Carbon/epoxy composites under high velocity impact was investigated experimentally. The strain rate dependent behavior of T300 Carbon/epoxy matrix composite in tension is studied experimentally by split Hopkinson bar technique. Dynamic stress-strain plot was obtained and compared with the quasi-static tensile test results. The results of the study indicate that Carbon/epoxy composites are strain rate dependent materials. Stacking sequence has a significant effect on the material response. Tensile strength of the composites all increased with increasing strain rate. And failure strain decreased when strain rate increased.</P>