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A Virtual Spring Method for the Multi-robot Path Planning and Formation Control
Zhenhua Pan,Di Wang,Hongbin Deng,Kewei Li 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
Path planning is a challenging and critical issue in robotics, which involves computing a collision-freepath between initial and target. The formation control ensures the robots’ collaborative working. To address thesetwo problems, an efficient virtual spring method for multi-robot path planning and formation control is proposed,and the interaction dynamic model is established to describe both logical and physical topology of the network. Based on the network model, the virtual spring method control law is designed, and aiming at the non-reachableand local minima problems, the virtual target search method is proposed. The robots can calculate an optimal pathto the target in the predefined formation based on the control law and the virtual target search method. Finally, aseries of simulation results confirm that the approaches proposed in this paper are feasible and efficient in the pathplanning and formation control for the multi-robot systems.
Yanjun Pan,Yang Li,Jinda Luo,Xianyou Wang,Zhenhua Yang 한국물리학회 2019 Current Applied Physics Vol.19 No.10
Tightly and vertically attached graphene nanosheets (GNS) on the surface of FeF3·0.33H2O is extremely desirable to substantially accelerate electron transport, promoting rate capability of FeF3·0.33H2O. Based on present experiment and calculated surface energies, firstly, it has confirmed that F-terminated FeF3·0.33H2O (002) surface (FeF3·0.33H2O (002)-F) is more stable than FeF-terminated FeF3·0.33H2O (002) surface (FeF3·0.33H2O (002)- FeF) when μF varies from −1.92 eV to −0.30 eV. Then, by analysis of the interfacial structure and adsorption energies, it was proposed that GNS is incline to stand vertically on the FeF3·0.33H2O (002) surface via C–F bond. However, structural stability of FeF3·0.33H2O/GNS heterostructure is gradually weakened with increasing the number of GNS layers. Therefore, we further reported the important role of optimal doping element (Hf) in strengthening the vertical adsorption behavior of GNS on FeF3·0.33H2O (002) surface via thorough doping element search. And it turns out interfacial structure with hexa-coordinate polyhedron consists of Hf, F and O atoms is formed by strong hybridization of atomic orbits, which induces the interaction between FeF3·0.33H2O (002) surface and GNS to be profoundly strengthened.
Kim Hee Won,Won Jung Yoon,Pan Zhenhua,Sohn Woon Yong 대한화학회 2022 Bulletin of the Korean Chemical Society Vol.43 No.6
We fabricated the hematite (α-Fe2O3) photoanode with Hf0.6Zr0.4O2 (HZO)- based cocatalysts prepared by two different types of the surface treatments, the overlayer coating, and the deposition of the nanoparticles. When the HZO nanoparticles were deposited, the current density at 1.23 VRHE was improved by about 31%, compared to that of the bare α-Fe2O3 film, with the cathodic shift of the onset potential. On the other hand, in the case of the HZO overlayer, the PEC performance drastically decreased. In this study, we revealed that HZO nanoparticles could act as a cocatalyst, while the overlayer treatment accelerated the surface recombination.