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Safe Landing Analysis of a Quadrotor Aircraft With Two Legs 总被引:1,自引:0,他引:1
We proposed a multi-propeller multifunction aerial robot (MMAR) that is composed of a quadrotor with two legs. The legs can increase the function of the robot. We found that the legs can increase the safety region of the robot during the landing. To study the safety problem, the dynamics of MMAR interacting with environment should be solved. On the basis of the interaction dynamics, this paper investigates the velocity constraint for safe landing of MMAR. The investigation begins from the kinematics and dynamics of MMAR in flight mode. Then the impact dynamics of MMAR during landing is developed. Furthermore, the landing safety problem is formulated by a series of constraint equations which can give a safety region of the velocity during landing. The safety region can give the safe velocity of the aerial robot before landing. Finally, simulation examples are presented using the proposed methodology. In the examples, a detailed safety region of a simulated MMAR is constructed and shown. 相似文献
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Xinbo Guo Ning Li Yushu Xu Jianfu Zhao Fucai Cui Yimu Chen Xiaoyan Du Qinghai Song Guodong Zhang Xiao Cheng Xutang Tao Zhaolai Chen 《Advanced functional materials》2023,33(22):2213995
Metal halide perovskite single crystals are promising for diverse optoelectronic applications due to their outstanding properties. In comparison to the bulk, the crystal surface suffers from high defect density and is moisture sensitive; however, surface modification strategies of perovskite single crystals are relatively deficient. Herein, solar cells based on methylammonium lead triiodide (MAPbI3) thin single crystals are selected as a prototype to improve single-crystal perovskite devices by surface modification. The surface trap passivation and protection against moisture of MAPbI3 thin single crystals are achieved by one bifunctional molecule 3-mercaptopropyl(dimethoxy)methylsilane (MDMS). The sulfur atom of MDMS can coordinate with bare Pb2+ of MAPbI3 single crystals to reduce surface defect density and nonradiative recombination. As a result, the modified devices show a remarkable efficiency of 22.2%, which is the highest value for single-crystal MAPbI3 solar cells. Moreover, MDMS modification mitigates surface ion migration, leading to enhanced reverse-bias stability. Finally, the cross-link of silane molecules forms a protective layer on the crystal surface, which results in enhanced moisture stability of both materials and devices. This work provides an effective way for surface modification of perovskite single crystals, which is important for improving the performance of single-crystal perovskite solar cells, photodetectors, X-ray detectors, etc. 相似文献
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针对串并联电能质量补偿装置联合运行时潜在的谐波交互影响问题,以串联电压型补偿装置DVR、并联电流型补偿装置APF为例,分析延迟效应的非线性因素对电网残余谐波电流的影响。构建基于DVR与APF联合运行的简化等效阻抗模型,分析潜在并联谐振问题,并给出解决方案。针对常态化重要负荷的谐波补偿问题,对比分析单台式、阵列式APF等两类运行模式的特点及适用场合。针对模块化APF阵列运行损耗问题,提出了基于等损耗微增率补偿策略的集中控制模式,并开展了APF阵列的工程应用案例分析。 相似文献
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视频分割是目标识别的关键技术。论文在对现有算法的分析,尤其是对空间分割中K均值算法和时间分割中的背景登记算法分析的基础上,改进了K均值算法,提出了一种基于时空结合的符合人眼对颜色变化敏感因素的分割算法。其基本思想是对视频序列分别做时间和空间分割,然后根据贝叶斯分类法对上述分割结果进行区域合并,即二次分类,从而得到分割结果。实验结果表明,论文提出的分割算法在保证算法效率的前提下,提高了分割的精度。 相似文献
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江苏500 kV泰兴变电所做2号主变交流去磁试验时出现了异常现象,即B相升压至80%额定电压以上时,电流表指针停在58格处不动。如何判断B相升压至90%及100%额定电压下,电流值是递增还是递减呢?运用数据拟合技术给出了所求之值,并对该方法的正确性结合实测值及理论分析给予验证,对解决同类型的试验问题具有一定的借鉴作用。 相似文献
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Shigeo Asai Kunihito Koumoto Yushu Matsushita Eiji Yashima Masahiko Morinaga Kunihiko Takeda 《Science and Technology of Advanced Materials》2013,14(5):421-433
The center of excellence (COE) titled ‘The Creation of Nature-Guided Materials Processing’ has been established in Nagoya University as the 21st Century COE Program supported by Ministry of Education, Culture, Sports, Science and Technology. In the Nature COE, various activities on the education and research are being performed through learning the laws of nature, namely, methods of attaining ‘appearance of the maximum function under the minimum substance and energy consumption’, which the nature and living organisms have acquired through their evolution in long period. Together with such educational programs for PhD students as research incentive, oversea training, and external evaluation programs, an ‘Open-Cluster Program’ was originated for promoting researches proposed by research groups consisting of young researchers in and out of the university and also for fostering them.The researches are being advanced on materials used for living bodies, mimicking structures which nature or living bodies are forming, and producing materials by mimicking processes to form the structures observed in the nature or the living bodies. In this COE, these researches are conducted by four groups to extend the processes observed in the natural world to a new type of processing, that is, thoroughly examined and rationalized by plunging a scalpel of engineering and to establish a new academic field of materials science and engineering. 相似文献
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