Abstract: This paper presents the results of a mechatronic design based on a 4-wheel omnidirectional mobile robot that can be used in indoor logistic applications. The low-level control has been selected using two open-source hardware (Raspberry Pi 3 Model B+ and Arduino Mega 2560) that control four industrial motors, four ultrasound sensors, four optical encoders, a vision system of two cameras, and a Hokuyo URG-04LX-UG01 laser scanner. Moreover, the system is powered with a lithium battery that can supply 24 V DC and a maximum current-hour of 20Ah.The Robot Operating System (ROS) has been implemented in the Raspberry Pi and the performance is evaluated with the selection of the sensors and hardware selected. The mechatronic system is evaluated and proposed safe modes of power distribution for controlling all the electronic devices based on different tests. Therefore, based on different performance results, some recommendations are indicated for using the Raspberry Pi and Arduino in terms of power, communication, and distribution of control for different devices. According to these recommendations, the selection of sensors is distributed in both real-time controllers (Arduino and Raspberry Pi). On the other hand, the drivers of the cameras have been implemented in Linux and a python program has been implemented to access the cameras. These cameras will be used for implementing a deep learning algorithm to recognize people and objects. In this way, the level of intelligence can be increased in combination with the maps that can be obtained from the laser scanner.
Abstract: Graphene and CdO with different stoichiometric ratios of Cd(CH₃COO)₂ and graphene samples were prepared by hydrothermal reaction. The crystalline phases of pure CdO and 3CdO:1graphene were identified by X-ray diffraction (XRD). The particle morphology was studied with SEM. Furthermore, impedance measurements were applied. Galvanostatic measurements for the cells were carried out using potential limits between 0.01 and 3 V vs. Li/Li⁺. The current cycling intensity was 10⁻⁴ A. The specific discharge capacity of 3CdO-1G cell was about 450 Ah.Kg⁻¹ up to more than 100 cycles.
Abstract: The dielectric properties and ionic conductivity of
novel "ceramic state" polymer electrolytes for high capacity lithium
battery are characterized by Radio frequency and Microwave
methods in two broad frequency ranges from 50 Hz to 20 KHz and 4
GHz to 40 GHz. This innovative solid polymer electrolyte which is
highly ionic conductive (10-3 S/cm at room temperature) from -40oC
to +150oC can be used in any battery application. Such polymer
exhibits properties more like a ceramic rather than polymer. The
various applied measurement methods produced accurate dielectric
results for comprehensive analysis of electrochemical properties and
ion transportation mechanism of this newly invented polymer
electrolyte. Two techniques and instruments employing air gap
measurement by Capacitance Bridge and in-waveguide measurement
by vector network analyzer are applied to measure the complex
dielectric spectra. The complex dielectric spectra are used to
determine the complex alternating current electrical conductivity and
thus the ionic conductivity.
Abstract: Li1.5Al0.5Ti1.5 (PO4)3(LATP) has received much
attention as a solid electrolyte for lithium batteries. In this study, the
LATP solid electrolyte is prepared by the co-precipitation method
using Li3PO4 as a Li source. The LATP is successfully prepared and
the Li ion conductivities of bulk (inner crystal) and total (inner crystal
and grain boundary) are 1.1 × 10-3 and 1.1 × 10-4 S cm-1, respectively.
These values are comparable to the reported values, in which Li2C2O4
is used as the Li source. It is conclude that the LATP solid electrolyte
can be prepared by the co-precipitation method using Li3PO4 as the Li
source and this procedure has an advantage in mass production over
previous procedure using Li2C2O4 because Li3PO4 is lower price
reagent compared with Li2C2O4.