RESUMO
The ability to plan a multiple-target path that goes through places considered important is desirable for autonomous mobile robots that perform tasks in industrial environments. This characteristic is necessary for inspection robots that monitor the critical conditions of sectors in thermal, nuclear, and hydropower plants. This ability is also useful for applications such as service at home, victim rescue, museum guidance, land mine detection, and so forth. Multiple-target collision-free path planning is a topic that has not been very studied because of the complexity that it implies. Usually, this issue is left in second place because, commonly, it is solved by segmentation using the point-to-point strategy. Nevertheless, this approach exhibits a poor performance, in terms of path length, due to unnecessary turnings and redundant segments present in the found path. In this paper, a multiple-target method based on homotopy continuation capable to calculate a collision-free path in a single execution for complex environments is presented. This method exhibits a better performance, both in speed and efficiency, and robustness compared to the original Homotopic Path Planning Method (HPPM). Among the new schemes that improve their performance are the Double Spherical Tracking (DST), the dummy obstacle scheme, and a systematic criterion to a selection of repulsion parameter. The case studies show its effectiveness to find a solution path for office-like environments in just a few milliseconds, even if they have narrow corridors and hundreds of obstacles. Additionally, a comparison between the proposed method and sampling-based planning algorithms (SBP) with the best performance is presented. Furthermore, the results of case studies show that the proposed method exhibits a better performance than SBP algorithms for execution time, memory, and in some cases path length metrics. Finally, to validate the feasibility of the paths calculated by the proposed planner; two simulations using the pure-pursuit controlled and differential drive robot model contained in the Robotics System Toolbox of MATLAB are presented.
RESUMO
In this paper, the photoluminescence (PL) of hydrogenated amorphous silicon carbide (a-Si1-xCx:H) thin films obtained by Plasma Enhancement Chemical Vapor Deposition (PECVD) is reported. Strong PL is obtained after a fast annealing process for 60 s at temperatures of 200, 400, 600, and 800 °C. The thin films are characterized using Fourier Transform Infrared spectroscopy (FTIR), PL spectroscopy, and Energy-Dispersive X-ray Spectroscopy (EDS). According to the results of the structural characterization, it is deduced that a structural rearrangement of the amorphous matrix is carried out during the fast annealing process, which results in different degrees of oxidation on the a-Si1-xCx:H films. The PL peak position shifts towards higher energies as the temperature increases. The sample deposited with a silane/methane flux ratio of 37.5 at an Radio Frequency (RF) power of 6 W experiences an increase in PL intensity of more than nine times, with a displacement in the peak position from 2.5 eV to 2.87 eV, at 800 °C. From the PL analysis, we observe two emission bands: one centered in the near infrared and other in the visible range (with a blue peak). This study opens the possibility to use such thin films in the development of optoelectronics devices, with potential for application in solar cells.
RESUMO
In this work, we report the synthesis and purification of polyvinyl alcohol-polyaniline (PVAâ»PANI) copolymers at different aniline concentrations, and their molecular (¹H-NMR and FTIR), thermal (TGA/DTG/DSC), optical (UVâ»Vis-NIR), and microstructural (XRD and SEM) properties before and after activation with glutaraldehyde (GA) in order to obtain an active membrane. The PVAâ»PANI copolymers were synthesized by chemical oxidation of aniline using ammonium persulfate (APS) in an acidified (HCl) polyvinyl alcohol matrix. The obtained copolymers were purified by dialysis and the precipitationâ»redispersion method in order to eliminate undesired products and compare changes due to purification. PVAâ»PANI products were analyzed as gels, colloidal dispersions, and thin films. ¹H-NMR confirmed the molecular structure of PVAâ»PANI as the proposed skeletal formula, and FTIR of the obtained purified gels showed the characteristic functional groups of PVA gels with PANI nanoparticles. After exposing the material to a GA solution, the presence of the FTIR absorption bands at 1595 cm-1, 1650 cm-1, and 1717 cm-1 confirmed the activation of the material. FTIR and UVâ»Vis-NIR characterization showed an increase of the benzenoid section of PANI with GA exposure, which can be interpreted as a reduction of the polymer with the time of activation and concentration of the solution.