2篇
您的检索式：作者名="Fengyu Quan"
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| 1 | Natural Feature-based Visual Servoing for Grasping Target with an Aerial Manipulator显示文摘Aerial transportation and manipulation have attracted increasing attention in the unmanned aerial vehicle field,and visual servoing methodology is widely used to achieve the autonomous aerial grasping of a target object.However,the existing marker-based solutions pose a challenge to the practical application of target grasping owing to the difficulty in attaching markers on targets.To address this problem,this study proposes a novel image-based visual servoing controller based on natural features instead of artificial markers.The natural features are extracted from the target images and further processed to provide servoing feature points.A six degree-of-freedom(6-DoF)aerial manipulator system is proposed with differential kinematics deduced to achieve aerial grasping.Furthermore,a controller is designed when the target object is outside a manipulator's workspace by utilizing both the degrees-of-freedom of nnmanned aerial vehicle and manipulator joints.Thereafter,a weight matrix is used as basis to develop a multi-tasking visual servoing framework to integrate the controllers inside and outside the manipulator's workspace.Lastly,experimental results are provided to verify the effectiveness of the proposed approach. | Bin Luo Haoyao Chen Fengyu Quan Shiwu Zhang Yunhui Liu | 2020 | Journal of Bionic Engineering2020，17，2： | 4 |
| 2 | Biochar aerogel-based electrocatalyst towards efficient oxygen evolution in acidic media显示文摘The controllable synthesis of oxygen evolution reaction(OER)electrocatalyst is an urgent need to advance the develop-ment of sustainable energy conversion and storage.However,the OER efficiency in acidic media is seriously hindered by slow reaction kinetics.The traditional acidic OER electrocatalysts are more prone to be oxidized and corroded as results of unstable carrier structures and variable electronic states of active species.Herein,a high-performing biochar aerogel(BA)based electrocatalyst were realistically designed and synthetized via joint utilization of the terrestrial lignin and seaweed polysaccharide as carbon sources.Originating from the induction effect of'egg-box'structure in alginate and the self-template effect of lignosulfonate,the BA decorated with Ru/RuS_(2)particles was synthesized triumphantly.The as-synthesized electrocatalyst required a low overpotential of 228 mV to attain 10 mA cm^(−2)in 0.5 M H_(2)SO_(4)and exhibited a good stability for over 12,000 s.The good activity was strongly dependent on the assembled unique two-dimensional/three-dimensional(2D/3D)channels in carbon aerogels.Notably,the numerous defective sites at carbon could strongly interact with the Ru/RuS_(2)heterojunction for remarkably enhancing the catalytic activity and stability of whole catalytic system in acidic media.This work puts forward a novel and effective strategy towards the enhancement of the acidic OER process by rational regu-lations of the BA and the coupling effect in micro-interface. | Bin Hui Hongjiao Chen Chengfeng Zhou Liping Cai Kewei Zhang Fengyu Quan Dongjiang Yang | 2022 | Biochar2022，4，1： | 0 |
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