Li_(1.5)Ga_(0.5)Ti_(1.5)PO_(4))_(3)(LGTP)is recognized as a promising solid electrolyte material for lithium ions.In this work,LGTP solid electrolyte materials were prepared under different process conditions to explo...Li_(1.5)Ga_(0.5)Ti_(1.5)PO_(4))_(3)(LGTP)is recognized as a promising solid electrolyte material for lithium ions.In this work,LGTP solid electrolyte materials were prepared under different process conditions to explore the effects of sintering temperature and holding time on relative density,phase composition,microstructure,bulk conductivity,and total conductivity.In the impedance test under frequency of 1-10^(6) Hz,the bulk conductivity of the samples increased with increasing sintering temperature,and the total conductivity first increased and then decreased.SEM results showed that the average grain size in the ceramics was controlled by the sintering temperature,which increased from(0.54±0.01)μm to(1.21±0.01)μm when the temperature changed from 750 to 950°C.The relative density of the ceramics increased and then decreased with increasing temperature as the porosity increased.The holding time had little effect on the grain size growth or sample density,but an extended holding time resulted in crack generation that served to reduce the conductivity of the solid electrolyte.展开更多
This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information...This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.展开更多
This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale...This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale disasters have occurred frequently in Japan. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips with two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site, etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot＇s position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation （NLT） Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in n/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.展开更多
Calcium copper titanate(CCTO)/polystyrenepolyethylene-polybutylene-poly styrene(SEBS)dielectric elastomers were prepared via blending method.A capacitive strain sensor using CCTO/SEBS as dielectric layer and polyanili...Calcium copper titanate(CCTO)/polystyrenepolyethylene-polybutylene-poly styrene(SEBS)dielectric elastomers were prepared via blending method.A capacitive strain sensor using CCTO/SEBS as dielectric layer and polyaniline-dodecylbenzensulfonic acid(PANI-DB S A)/SEBS as electrodes was designed and manufactured by thermoforming process.X-ray diffractometer(XRD),scanning electron microscopy(SEM)and Raman spectra analyses were carried out;no impurities were found in the composite and CCTO particles were well dispersed.The dielectric tests showed that the samples filled with 20 wt%CCTO have their permittivity improved by 70%.The capacitive strain sensors have a stabilized capacitance variety range at different strain ranges or stretch speeds,and could remain synchronized after 500-time-stretching,showing high reproducibility.展开更多
The high phase content of inorganic dielectric fillings will give a strong electric driving force and hard matrix. That is a contradiction in enhancing the electrodeformation of dielectric elastomers(DEs). Therefore, ...The high phase content of inorganic dielectric fillings will give a strong electric driving force and hard matrix. That is a contradiction in enhancing the electrodeformation of dielectric elastomers(DEs). Therefore, in this paper, by focusing on how to approach a balance between these and finding an effective way to tune the electric response of the DEs, the theoretical calculation and experimental investigation based on calcium copper titanate(CCTO)/poly(dimethyl siloxane)(PDMS) were carried out. It is found that CCTO with a smaller particle size shows a larger dielectric parameter. With smaller CCTO particle as the fillings, the fabricated elastomer composite would approach to a low modulus by a proper CCTO phase morphology in the matrix.展开更多
基金funded by the National Natural Science Foundation of China(Nos.51672310,51272288,51972344)。
文摘Li_(1.5)Ga_(0.5)Ti_(1.5)PO_(4))_(3)(LGTP)is recognized as a promising solid electrolyte material for lithium ions.In this work,LGTP solid electrolyte materials were prepared under different process conditions to explore the effects of sintering temperature and holding time on relative density,phase composition,microstructure,bulk conductivity,and total conductivity.In the impedance test under frequency of 1-10^(6) Hz,the bulk conductivity of the samples increased with increasing sintering temperature,and the total conductivity first increased and then decreased.SEM results showed that the average grain size in the ceramics was controlled by the sintering temperature,which increased from(0.54±0.01)μm to(1.21±0.01)μm when the temperature changed from 750 to 950°C.The relative density of the ceramics increased and then decreased with increasing temperature as the porosity increased.The holding time had little effect on the grain size growth or sample density,but an extended holding time resulted in crack generation that served to reduce the conductivity of the solid electrolyte.
文摘This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.
文摘This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale disasters have occurred frequently in Japan. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips with two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site, etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot＇s position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation （NLT） Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in n/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.
基金financially supported by the National Natural Science Foundation of China(No.51403181)。
文摘Calcium copper titanate(CCTO)/polystyrenepolyethylene-polybutylene-poly styrene(SEBS)dielectric elastomers were prepared via blending method.A capacitive strain sensor using CCTO/SEBS as dielectric layer and polyaniline-dodecylbenzensulfonic acid(PANI-DB S A)/SEBS as electrodes was designed and manufactured by thermoforming process.X-ray diffractometer(XRD),scanning electron microscopy(SEM)and Raman spectra analyses were carried out;no impurities were found in the composite and CCTO particles were well dispersed.The dielectric tests showed that the samples filled with 20 wt%CCTO have their permittivity improved by 70%.The capacitive strain sensors have a stabilized capacitance variety range at different strain ranges or stretch speeds,and could remain synchronized after 500-time-stretching,showing high reproducibility.
基金financially supported by the National Natural Science Foundation of China(Nos.51403181 and 51678292)the China Postdoctoral Science Foundation(Nos.2016T90512 and 2015M570483)the Scholarship of Jiangsu Government for Oversea Study and the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions(Chemistry)。
文摘The high phase content of inorganic dielectric fillings will give a strong electric driving force and hard matrix. That is a contradiction in enhancing the electrodeformation of dielectric elastomers(DEs). Therefore, in this paper, by focusing on how to approach a balance between these and finding an effective way to tune the electric response of the DEs, the theoretical calculation and experimental investigation based on calcium copper titanate(CCTO)/poly(dimethyl siloxane)(PDMS) were carried out. It is found that CCTO with a smaller particle size shows a larger dielectric parameter. With smaller CCTO particle as the fillings, the fabricated elastomer composite would approach to a low modulus by a proper CCTO phase morphology in the matrix.
