Fuzzy PID Control of Space Manipulator for Both Ground Alignment and Space Applications

Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential(PID)control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control,the control performance of the fuzzy PID is more effective for manipulator trajectory control.

Two-dimensional Nb_(3)Cl_(8)memristor based on desorption and adsorption of O_(2)molecules

As a novel two-dimensional(2D)semiconductor material with biocompatibility and ferromagnetic properties,Nb_(3)Cl_(8)exhibits a great prospect in the field of implantable electrical equipment.In this work,the effects of the light illumination and the gate voltage on the desorption of O_(2)molecules from Nb_(3)Cl_(8)were systemically investigated via the in situ electrical transport characterization in the vacuum environment.The experimental results showed that the light illumination and the negative gate voltage could enhance the desorption of oxygen molecules while the positive gate voltage could promote the re-adsorption of O_(2).The multi-bit storage function was demonstrated via adjusting the p-doping effect caused by oxygen adsorption.A novel mechanism of optical writing and electrical erasing in this Nb_(3)Cl_(8)memristor was proposed,which was in coincidence with the expected results of the control experiment in air.These results shed light on the great potential of Nb_(3)Cl_(8)in high-density data storage,neuromorphic,wearable applications and implantable devices application.