International Journal of Robotics and Automation Technology最新文献_第3页

Performance Characterization of Dual-Metal Triple- Gate-Dielectric (DM_TGD) Tunnel Field Effect Transistor (TFET) 双金属三栅介质(DM_TGD)隧道场效应晶体管(TFET)的性能表征

International Journal of Robotics and Automation Technology Pub Date : 2021-12-31 DOI: 10.31875/2409-9694.2021.08.8

Tan Chun Fui, Ajay Kumar Singh, Lim Way Soong

{"title":"Performance Characterization of Dual-Metal Triple- Gate-Dielectric (DM_TGD) Tunnel Field Effect Transistor (TFET)","authors":"Tan Chun Fui, Ajay Kumar Singh, Lim Way Soong","doi":"10.31875/2409-9694.2021.08.8","DOIUrl":"https://doi.org/10.31875/2409-9694.2021.08.8","url":null,"abstract":"Abstract: Since, Dual Metal Gate (DMG) technology alone is not enough to rectify the problem of low ON current and large ambipolar current in the TFET, therefore, a novel TFET structure, known as dual metal triple-gate-dielectric (DM_TGD) TFET, has been proposed. We have combined the dielectric and gate material work function engineering to enhance the performance of the conventional FET. In the proposed structure, the gate region is divided into three dielectric materials: TiO2/Al2O3/SiO2. This approach is chosen because high dielectric material alone near the source cannot improve the performance due to increase in fringing fields. This paper presents the detail processing of the proposed structure. We have evaluated and optimized the dc performance of the proposed N-DM_TGD TFET with the help of 2-D ATLAS simulator. The results were compared with those exhibited by dual metal hetero-gate-dielectric TFET, single metal hetero- gate-dielectric TFET and single metal triple-gate-dielectric TFET of identical dimensions. It has been observed that the DM_TGD device offers better transconductance (gm), lower subthreshold slope, lower ambipolar current and larger ON current.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123111025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Electrical Transport and Current Conduction Mechanisms in ZnO/Si Heterojunction Diode ZnO/Si异质结二极管的电输运和电流传导机制

International Journal of Robotics and Automation Technology Pub Date : 2021-12-30 DOI: 10.31875/2409-9694.2021.08.6

M. Benhaliliba

引用次数: 0

Novel Bio-inspired Inverse Kinematics for Fault-Tolerant Multilegged Robots 容错多足机器人的仿生逆运动学

International Journal of Robotics and Automation Technology Pub Date : 2021-12-30 DOI: 10.31875/2409-9694.2021.08.5

Ashwin Kumar, M. Kothari, S. Mitra

引用次数: 0

An Overview of Digital Twin Concept for Key Components of Renewable Energy Systems 可再生能源系统关键部件的数字孪生概念概述

International Journal of Robotics and Automation Technology Pub Date : 2021-12-20 DOI: 10.31875/2409-9694.2021.08.4

Qiying Li

{"title":"An Overview of Digital Twin Concept for Key Components of Renewable Energy Systems","authors":"Qiying Li","doi":"10.31875/2409-9694.2021.08.4","DOIUrl":"https://doi.org/10.31875/2409-9694.2021.08.4","url":null,"abstract":"Renewable energy (RE) is green and low-carbon energy, which can not only protect the environment, promote the technological diversification of the energy supply system, accelerate the adjustment of energy structure, but also has important significance for the sustainable development of economy. With the increasing complexity of the problems of renewable energy system asset management and ensuring the operational reliability of electric power equipment, it's necessary to establish remote, online, reliable monitoring and inspection techniques for the state evaluation of electrical equipment during the full life cycle. In order to meet these demands, the digital twin is a very suitable technology. In recent years, there are numerous scientific papers demonstrating DT's capabilities in virtual simulation, condition monitoring (CM), power optimization and fault diagnosis for RE generation systems, transmission and transformation equipment and storage systems. The majority of the research focusing on product design, maintenance of operation, condition monitoring and fault decision-making has provided many valuable contributions to academia and industrial fields. Nevertheless, all this valuable information is scattered over many literatures and it is lack of systematic generalization. In this article, different applications of DT technology in RE system are analyzed, advanced methods and theories are summarized comprehensively, and the development trend of DT technology in renewable energy system in the future is introduced.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131095624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Automatic Reconstruction of Building-Scale Indoor 3D Environment with a Deep-Reinforcement-Learning-Based Mobile Robot 基于深度强化学习的移动机器人自动重建建筑尺度室内三维环境

International Journal of Robotics and Automation Technology Pub Date : 2021-11-29 DOI: 10.31875/2409-9694.2019.06.2

Menglong Yang, K. Nagao

{"title":"Automatic Reconstruction of Building-Scale Indoor 3D Environment with a Deep-Reinforcement-Learning-Based Mobile Robot","authors":"Menglong Yang, K. Nagao","doi":"10.31875/2409-9694.2019.06.2","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.2","url":null,"abstract":"The aim of this paper is to digitize the environments in which humans live, at low cost, and reconstruct highly accurate three-dimensional environments that are based on those in the real world. This three-dimensional content can be used such as for virtual reality environments and three-dimensional maps for automatic driving systems. In general, however, a three-dimensional environment must be carefully reconstructed by manually moving the sensors used to first scan the real environment on which the three-dimensional one is based. This is done so that every corner of an entire area can be measured, but time and costs increase as the area expands. Therefore, a system that creates three-dimensional content that is based on real-world large-scale buildings at low cost is proposed. This involves automatically scanning the indoors with a mobile robot that uses low-cost sensors and generating 3D point clouds. When the robot reaches an appropriate measurement position, it collects the three-dimensional data of shapes observable from that position by using a 3D sensor and 360-degree panoramic camera. The problem of determining an appropriate measurement position is called the “next best view problem,” and it is difficult to solve in a complicated indoor environment. To deal with this problem, a deep reinforcement learning method is employed. It combines reinforcement learning, with which an autonomous agent learns strategies for selecting behavior, and deep learning done using a neural network. As a result, 3D point cloud data can be generated with better quality than the conventional rule-based approach.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134245739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

A Versatile Personal Assistant Dedicated to B/VIP 专用于B/VIP的多功能个人助理

International Journal of Robotics and Automation Technology Pub Date : 2021-11-29 DOI: 10.31875/2409-9694.2019.06.4

Paul Costache, S. Riurean, S. Rosca

{"title":"A Versatile Personal Assistant Dedicated to B/VIP","authors":"Paul Costache, S. Riurean, S. Rosca","doi":"10.31875/2409-9694.2019.06.4","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.4","url":null,"abstract":"Today, there are different systems on the market that aim to help Blind or Visually Impaired People (B/VIP) to gain more independency and self-trust. From the classic white cane to various intelligent devices to guide people with vision problems, most of the systems are expensive, difficult to be used or with low efficiency. The subject is a very important one because, according to the World Health Organization, there are approximately 2.2 billion people in the world that have a vision impairment or blindness. Thus, the purpose of this work is to make a short survey on solutions available on the market, in order to develop a low-cost, efficient and easy-to-use system for both indoor and outdoor use. The versatile personal assistant dedicated to B/VIP aims to enhance their independence and also improved outdoor navigation. The smart warning system addressed here is an innovative device aiming to detect obstacles with the help of ultrasonic sensors and warning of their presence by means of a buzzer or vibration. The system, when used outdoor, also gives the possibility to send short message to the B/VIP’s own assistant, in the form of an SMS with the exact location of the B/VIP. Moreover, the SMS’ content can easily create the optimal route to the B/VIP’s location with the Google Maps support for a fast-time assistance.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123877907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Interventional Status Awareness Based Manipulating Strategy for Robotic Soft Endoscopy 基于介入状态感知的机器人软内镜操作策略

International Journal of Robotics and Automation Technology Pub Date : 2021-11-29 DOI: 10.31875/2409-9694.2019.06.1

Wei Jiang, Yuanyuan Zhou, Tao Yu, Xiao He, Li-Hua Peng, Yunsheng Yang, Zhidong Wang, Hao Liu

{"title":"Interventional Status Awareness Based Manipulating Strategy for Robotic Soft Endoscopy","authors":"Wei Jiang, Yuanyuan Zhou, Tao Yu, Xiao He, Li-Hua Peng, Yunsheng Yang, Zhidong Wang, Hao Liu","doi":"10.31875/2409-9694.2019.06.1","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.1","url":null,"abstract":"Traditional soft endoscopy is operated with naked eyes and use of hands. Robotic soft endoscopy frees the hands of endoscopists, which reduces the labor-intensity and complexity of operation and improves the operational accuracy of endoscope, but it’s hardly to be reliably performed because the operator lacks of situational awareness of endoscopic interventional status when the hands are detached from the endoscope. This paper first presents a method to perceive the interventional status of endoscope based on image processing, the interventional status includes insertion length and velocity. A manipulating strategy was designed according to the perceived endoscope interventional status and construction parameters of dual robotic arms in order to achieve reliable interventional endoscopy. Human phantom experiments are carried out to verify the effectiveness and feasibility of the proposed interventional status awareness method and manipulating strategy. The results show that the robotic soft endoscopy can be well performed with the ability of interventional status awareness and coordinated manipulation of dual arms. The perceived insertion length indicates the position of the tip of endoscope in human body and the designed manipulating strategy is effective in endoscopic shape retention and torque transmission.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133606488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling and Control of Underactuated Three-Dimensional Overhead Crane Systems 欠驱动三维桥式起重机系统建模与控制

International Journal of Robotics and Automation Technology Pub Date : 2021-11-29 DOI: 10.31875/2409-9694.2019.06.10

M. Mahmoud, Nezar M. Alyazidi, Abdalrahman M. Hassanine

引用次数: 0

Adaptive Structures and Biomimetic Robots – A Perspective 自适应结构和仿生机器人-展望

International Journal of Robotics and Automation Technology Pub Date : 2021-11-29 DOI: 10.31875/2409-9694.2020.07.6

A. Concilio, I. Dimino, S. Ameduri, R. Pecor

{"title":"Adaptive Structures and Biomimetic Robots – A Perspective","authors":"A. Concilio, I. Dimino, S. Ameduri, R. Pecor","doi":"10.31875/2409-9694.2020.07.6","DOIUrl":"https://doi.org/10.31875/2409-9694.2020.07.6","url":null,"abstract":"This paper gives an overview of some recent full-scale demonstrations of morphing devices capable of providing innovative capabilities to general systems in changing shape and improving performance significantly during operations. In aeronautics, large progress has been observed over the last few years, meaning that this technology is rapidly transitioning from laboratory scale to high TRL demonstrators. The most advanced concepts already proved to withstand loads with minimal deformation while having the capability to change their geometry to attain additional benefits with respect to their original mission. In the same way, robotics has become one of the most prominent technological trends of the current century. The rapid increase in their use and development has significantly changed our society by gradually replacing a large share of human jobs. Such an evolution is also rapidly accelerating, as technological advances in automation, engineering, artificial intelligence, and machine learning converge. Since both domains involve the integration of actuators, sensors and controllers and face integrity challenges in harsh environments, they may be seen somehow related and probably share a common future. In this article, the authors propose an original view of a possible future scenario that is likely to consider a unique development path for research on adaptive structures and robotics.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115132521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Framework for Fully Automated Home using IoT Reliable Protocol Stack and Smart Gateway 一个使用物联网可靠协议栈和智能网关的全自动家庭框架

International Journal of Robotics and Automation Technology Pub Date : 2021-11-29 DOI: 10.31875/2409-9694.2020.07.7

P. C. P. Kumar, P. Prasanth, P. Hemalatha, Karthik J Kulakarni

引用次数: 0