We demonstrate quasi-vertical GaN MOSFETs fabricated on SiC substrates. The GaN epitaxial layers were grown via MOCVD on 100 mm 4H-SiC wafers, with the device structure consisting of a 2.5 μm drift layer and a Mg doped p-GaN body. The fabricated transistors exhibit normally-off characteristics, with low off-state leakage behavior and an on/off ratio of over . The specific on-resistance was measured to be which compares favorably to devices fabricated on other foreign substrates. Our results demonstrate an alternative substrate for realizing vertical GaN devices, which potentially offers better material quality and thermal properties compared with other foreign substrate choices.
Consider the following scenario: a human guides multiple mobile manipulators to grasp a common payload. For subsequent high-performance autonomous manipulation of the payload by the mobile manipulator team, or for collaborative manipulation with the human, the robots should be able to discover where the other robots are attached to the payload, as well as the payload's mass and inertial properties. In this paper, we describe a method for the robots to autonomously discover this information. The robots cooperatively manipulate the payload, and the twist, twist derivative, and wrench data at their grasp frames are used to estimate the transformation matrices between the grasp frames, the location of the payload's center of mass, and the payload's inertia matrix. The method is validated experimentally with a team of three mobile cobots, or mocobots.
A combination of conventional cross sectional process and device simulations combined with top down and 3D device simulations have been used to design and optimise the integration of a 100 V Lateral DMOS (LDMOS) device for high side bridge applications. This combined simulation approach can streamline the device design process and gain important information about end effects which are lost from 2D cross sectional simulations. Design solutions to negate detrimental end effects are proposed and optimised by top down and 3D simulations and subsequently proven on tested silicon.
Algorithms for identifying Voronoi neighbors and constructing Voronoi regions are useful in many distributed robotics applications. Existing methods that perform these tasks using only the distances between robots assign coordinates to each potential neighbor before applying another algorithm to find the Voronoi neighbors. Our method finds the Voronoi neighbors more efficiently; identification occurs directly from inter-robot distances, without first assigning coordinates. We prove the algorithm's correctness, analyze its computational complexity, and demonstrate its effectiveness in the presence of noise via simulation with an experimentally validated sensor model.
For the first time in a single reference, this book provides the beginner with a coherent and logical introduction to the hardware and software of the PIC32, bringing together key material from the PIC32 Reference Manual, Data Sheets, XC32 C Compiler User's Guide, Assembler and Linker Guide, MIPS32 CPU manuals, and Harmony documentation. This book also trains you to use the Microchip documentation, allowing better life-long learning of the PIC32. The philosophy is to get you started quickly, but to emphasize fundamentals and to eliminate magic steps that prevent a deep understanding of how the software you write connects to the hardware.
Applications focus on mechatronics: microcontroller-controlled electromechanical systems incorporating sensors and actuators. To support a learn-by-doing approach, you can follow the examples throughout the book using the sample code and your PIC32 development board. The exercises at the end of each chapter help you put your new skills to practice.
Coverage includes:
A practical introduction to the C programming language
Getting up and running quickly with the PIC32
An exploration of the hardware architecture of the PIC32 and differences among PIC32 families
Fundamentals of embedded computing with the PIC32, including the build process, time- and memory-efficient programming, and interrupts
A peripheral reference, with extensive sample code covering digital input and output, counter/timers, PWM, analog input, input capture, watchdog timer, and communication by the parallel master port, SPI, I2C, CAN, USB, and UART
An introduction to the Microchip Harmony programming framework
Essential topics in mechatronics, including interfacing sensors to the PIC32, digital signal processing, theory of operation and control of brushed DC motors, motor sizing and gearing, and other actuators such as stepper motors, RC servos, and brushless DC motors
For more information on the book, and to download free sample code, please visit http://www.nu32.org
Extensive, freely downloadable sample code for the NU32 development board incorporating the PIC32MX795F512H microcontroller
Free online instructional videos to support many of the chapters
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