Threshold voltage (V<sub>TH</sub>) is the most evocative aspect of MOSFET operation. It is the crucial device constraint to model on-off transition characteristics. Precise V<sub>TH</sub> value...Threshold voltage (V<sub>TH</sub>) is the most evocative aspect of MOSFET operation. It is the crucial device constraint to model on-off transition characteristics. Precise V<sub>TH</sub> value of the device is extracted and evaluated by several estimation techniques. However, these assessed values of V<sub>TH</sub> diverge from the exact values due to various short channel effects (SCEs) and non-idealities present in the device. Numerous prevalent V<sub>TH</sub> extraction methods are discussed. All the results are verified by extensive 2-D TCAD simulation and confirmed through analytical results at 10-nm technology node. Aim of this research paper is to explore and present a comparative study of largely applied threshold extraction methods for bulk driven nano-MOSFETs especially at 10-nm technology node along with various sub 45-nm technology nodes. Application of the threshold extraction methods to implement noise analysis is briefly presented to infer the most appropriate extraction method at nanometer technology nodes.展开更多
Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It be...Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom.As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.展开更多
Aiming at the surrounding rock control problem of mining and preparation entries in Xingdong mine with large mining depth, and the comprehensive control countermeasures including high pre-stress cable truss system, th...Aiming at the surrounding rock control problem of mining and preparation entries in Xingdong mine with large mining depth, and the comprehensive control countermeasures including high pre-stress cable truss system, this study put forward powerful anchor support system and anchor cable adaption technology to surrounding rock deformation. Furthermore, the control measures possess the supporting performance with ‘‘primary rigid-following flexible-new rigid, and primary resistance-following yield-new resistance'', which suits deep roadway surrounding rock control. The mechanical model of truss anchor supporting roof beams was established, and the inverted arch deflection produced by the cable pre-stress with stress increment effect and roof beam deflection were obtained. And then the system working mechanism was illustrated. Finally, the surrounding rock support parameters were determined by means of comprehensive methods, and put into practice. The results show that surrounding rock deformation realized secondary stability after three months. The roadway sides convergence value was less than 245mm, and roof subsidence was less than 124mm. In addition, there was no expansion and renovation during service period.展开更多
文摘Threshold voltage (V<sub>TH</sub>) is the most evocative aspect of MOSFET operation. It is the crucial device constraint to model on-off transition characteristics. Precise V<sub>TH</sub> value of the device is extracted and evaluated by several estimation techniques. However, these assessed values of V<sub>TH</sub> diverge from the exact values due to various short channel effects (SCEs) and non-idealities present in the device. Numerous prevalent V<sub>TH</sub> extraction methods are discussed. All the results are verified by extensive 2-D TCAD simulation and confirmed through analytical results at 10-nm technology node. Aim of this research paper is to explore and present a comparative study of largely applied threshold extraction methods for bulk driven nano-MOSFETs especially at 10-nm technology node along with various sub 45-nm technology nodes. Application of the threshold extraction methods to implement noise analysis is briefly presented to infer the most appropriate extraction method at nanometer technology nodes.
基金supported by the National Science Fund for Distinguished Young Scholars of China(51225503)the National Natural Science Foundation of China(61603076)the Fundamental Research Funds for the Central Universities(ZYGX2016J116)
文摘Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom.As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.
基金provided by the National Natural Science Foundation of China(No.51234005)National Basic Research Program of China under Grant(No.2010CB226802)Fundamental Research Funds for the Central Universities(No.2010QZ06)
文摘Aiming at the surrounding rock control problem of mining and preparation entries in Xingdong mine with large mining depth, and the comprehensive control countermeasures including high pre-stress cable truss system, this study put forward powerful anchor support system and anchor cable adaption technology to surrounding rock deformation. Furthermore, the control measures possess the supporting performance with ‘‘primary rigid-following flexible-new rigid, and primary resistance-following yield-new resistance'', which suits deep roadway surrounding rock control. The mechanical model of truss anchor supporting roof beams was established, and the inverted arch deflection produced by the cable pre-stress with stress increment effect and roof beam deflection were obtained. And then the system working mechanism was illustrated. Finally, the surrounding rock support parameters were determined by means of comprehensive methods, and put into practice. The results show that surrounding rock deformation realized secondary stability after three months. The roadway sides convergence value was less than 245mm, and roof subsidence was less than 124mm. In addition, there was no expansion and renovation during service period.
