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Browse Journal: IST Transactions of Robotics, Automation and Mechatronics-Theory and Applications


Year: Issue Number:

Paper No Title Abstract
11-10-002 The Measurement of MOS Gate Dielectric Capacitance-Voltage Parameter and its Application in Extracting Other Key Parameters Show Abstract PDF
  ZHANG Ping-chuan, LI Bu-yin
The parameters measurement of MOS gate is the most critical and challenging tasks for keeping the quality and reliability in any semiconductor fabrication. Usually, for this purpose, the traditional various current-voltage (I-V) characterization methods are used. This paper set forth a new method for measuring the MOS gate Dielectric Capacitance-Voltage (C-V) parameter which is quite different from I-V methods. Meanwhile the other key parameters such as Oxide thickness, Flat band capacitance and flat band voltage, Threshold voltage, Effective and total bulk oxide charge can be extracted from the measurement result. The results show that it is much more effective and helpful for maintaining the quality and reliability of MOS.
11-10-004 Developing a Fully Autonomous Ground Vehicle Show Abstract PDF
  Xijun Zhao; Haiou Liu; Yiming Man; Kai Liu; Weidong Deng; Huiyan Chen; Jianwei Gong; Guangming Xiong
This paper describes an Autonomous Ground Vehicle(AGV), which is capable of driving through urban scenarios and terrain environments, including its system architecture to hardware integration, environment perception and obstacle avoidance. Firstly, the underlying system architecture of the AGV is proposed based on hierarchical concept. Then, the hardware integration of the AGV is presented in detail. A simple speed control algorithm and intuitive automatic steering control algorithm are proposed to control the AGV with given speed and orientation. At last, software integration of environment perception, obstacle avoidance and path following are described respectively. The approaches presented in the paper are validated by real AGV experiments, and the results show that the AGV system has good performance and the approaches could be used when developing a similar AGV.
11-10-001 Design and Realization of Locomotion Simulation Platform for Environment Exploration Robots Show Abstract PDF
  Tuanjie Li; Zuowei Wang; Jurong Wei
We develop a 3D simulation platform for environment exploration robots including the wind-driven spherical robots, the wheeled rovers and the biped robots, in order to shorten the design time and improve the properties of the robots. The fractal algorithm and the virtual prototyping technology (VP) are employed to create the 3D large-area terrain and the function modules of the locomotion simulation platform including the 3D terrain construction, the 3D parametric modeling of the robots and random wind generation. The real-time displays of the analysis results are developed. This platform can efficiently analyze and evaluate the dynamic behaviors of the robots running on the complex terrain. Simultaneously, this platform can provide a simulation environment for other robots’ movements.
11-10-003 Distributed Discrete-time Formation Control of Multi-agent Systems with Time-varying Reference States Show Abstract PDF
  Xiaoyuan Luo, Nani Han and Xinping Guan
This paper investigates the distributed formation for discrete-time multi-agent systems with time-varying reference states in fixed directed communication topology. The multi-agent systems modeled as first-order and second-order equations are both considered. First, the protocol for the first-order system is proposed, under which the agents can be able to track the time-varying reference state while maintaining the desired formation. Then, we give a sufficient and necessary condition that the sampling period satisfies to ensure the stability and then study the quantitative bound of the tracking error. It is shown that the ultimate bound of the tracking error is proportional to the sampling period. The multi-agent system described as second-order equations is also developed by using the same way and the velocity consensus is concerned as well. Finally, the examples of four following agents tracking a virtual leader are employed to illustrate the effectiveness of the designed protocols.
 
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