(1-x)CoTiNb2O8-x ZnNb2O6 microwave dielectric ceramics were prepared via the conventional solid-state reaction route with the aim of reducing thetf value and improving the thermal stability.The phase composition and t...(1-x)CoTiNb2O8-x ZnNb2O6 microwave dielectric ceramics were prepared via the conventional solid-state reaction route with the aim of reducing thetf value and improving the thermal stability.The phase composition and the microstructure were investigated using X-ray diffraction,Raman spectra,and scanning electron microscopy.A set of phase transitions which were induced by composition had been confirmed via the sequence:rutile structure→coexistence of rutile and columbite phase→columbite phase.For(1-x)CoTiNb2O8-x ZnNb2O6 microwave dielectric ceramics,the addition of ZnNb2O6 content(x=0–1)led to the decrease ofer from 62.98 to 23.94.As a result of the high Q×?of ZnNb2O6 ceramics,the increase of ZnNb2O6 content also led to the lower sintering temperatures and the higher Q×?values.Thetf value was reduced from+108.04(x=0)to–49.31 ppm/℃(x=1).Among them,high density 0.5CoTiNb2O8-0.5ZnNb2O6 ceramics were obtained at 1175℃with excellent microwave dielectric properties of εr 39.2,Q×? 40013 GHz,and tf+3.57 ppm/℃.展开更多
Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm...Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated extensively.However,robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying.In this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant capability.Then,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic arms.The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis.Finally,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.展开更多
基金financially supported by the National Natural Science Foundation of China (No. 51772022)
文摘(1-x)CoTiNb2O8-x ZnNb2O6 microwave dielectric ceramics were prepared via the conventional solid-state reaction route with the aim of reducing thetf value and improving the thermal stability.The phase composition and the microstructure were investigated using X-ray diffraction,Raman spectra,and scanning electron microscopy.A set of phase transitions which were induced by composition had been confirmed via the sequence:rutile structure→coexistence of rutile and columbite phase→columbite phase.For(1-x)CoTiNb2O8-x ZnNb2O6 microwave dielectric ceramics,the addition of ZnNb2O6 content(x=0–1)led to the decrease ofer from 62.98 to 23.94.As a result of the high Q×?of ZnNb2O6 ceramics,the increase of ZnNb2O6 content also led to the lower sintering temperatures and the higher Q×?values.Thetf value was reduced from+108.04(x=0)to–49.31 ppm/℃(x=1).Among them,high density 0.5CoTiNb2O8-0.5ZnNb2O6 ceramics were obtained at 1175℃with excellent microwave dielectric properties of εr 39.2,Q×? 40013 GHz,and tf+3.57 ppm/℃.
基金supported by the National Natural Science Foundation of China(62173352,62103112)the Guangdong Basic and Applied Basic Research Foundation(2021A1515012314)+1 种基金the Open Project of Shenzhen Institute of Artificial Intelligence and Robotics for Society(AC01202005006)the Key-Area Research and Development Program of Guangzhou(202007030004)。
文摘Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks efficiently.As a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated extensively.However,robust model-free control of robotic arms in the presence of noise interference remains a problem worth studying.In this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant capability.Then,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic arms.The finite-time convergence and robustness of the proposed control scheme are proven by theoretical analysis.Finally,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.
