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基于弹性带理论的多机吊挂避障方法
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作者 姬乐强 陈媛 +1 位作者 芦志明 聂顺鹏 《科学技术与工程》 2025年第25期10956-10963,共8页
针对多机吊挂飞行器在不同距离下规避障碍物的问题,提出了一种基于弹性带理论的避障算法以提高多机吊挂飞行器的避障能力。首先,设计吊挂飞行器的结构,分析单机吊挂飞行性能及四机组合构型的气动干扰;然后,利用弹性带算法进行实时路径规... 针对多机吊挂飞行器在不同距离下规避障碍物的问题,提出了一种基于弹性带理论的避障算法以提高多机吊挂飞行器的避障能力。首先,设计吊挂飞行器的结构,分析单机吊挂飞行性能及四机组合构型的气动干扰;然后,利用弹性带算法进行实时路径规划,以实现吊挂飞行器在远距离飞行中的有效避障;最后,通过执行应急避障策略,有效规避近距离的障碍物。通过在不同距离下进行多机吊挂飞行器的避障仿真实验,验证了该避障算法的可行性和有效性。 展开更多
关键词 飞行器 弹性带理论 吊挂 避障
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First-principles computational studies on Na^(+) diffusion in Li-doped P3-type NaMnO_(2) as cathode material for Na-ion batteries 被引量:3
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作者 ZHANG Yu LI Jie +3 位作者 ZHANG Hong-liang DU Ke ZHOU Xiang-yuan WANG Jing-kun 《Journal of Central South University》 SCIE EI CAS CSCD 2022年第9期2930-2939,共10页
Na-ion diffusion kinetics is a key factor that decided the charge/discharge rate of the electrode materials in Na-ion batteries.In this work,two extreme concentrations of NaMnO_(2) and Na_(2/3)Li_(1/6)Mn_(5/6)O_(2) ar... Na-ion diffusion kinetics is a key factor that decided the charge/discharge rate of the electrode materials in Na-ion batteries.In this work,two extreme concentrations of NaMnO_(2) and Na_(2/3)Li_(1/6)Mn_(5/6)O_(2) are considered,namely,the vacancy migration of Na ions in the fully intercalated and the migration of Na ions in the fully de-intercalated.The Na-vacancy and Na^(+)distribution in NaMnO_(2) migrated along oxygen dumbbell hop(ODH)and tetrahedral site hop(TSH),and the migration energy barriers were 0.374 and 0.296 eV,respectively.In NaLi_(1/6)Mn_(5/6)O_(2),the inhomogeneity of Li doping leads to the narrowing of the interlayer spacing by 0.9%and the increase of the energy barrier by 53.8%.On the other hand,due to the alleviation of Jahn-Teller effect of neighboring Mn,the bonding strength of Mn-O was enhanced,so that the energy barrier of path 2-3 in Mn-L1 and Mn-L2 was the lowest,which was 0.234 and 0.424 eV,respectively.In Na_(1/6)Li_(1/6)Mn_(5/6)O_(2),the migration energy barriers of Na-L2 and Na-L3 are 1.233 and 0.779 eV,respectively,because Li+migrates from the transition(TM)layer to the alkali metal(AM)layer with Na^(+)migration,which requires additional energy. 展开更多
关键词 density functional theory nudged elastic band diffusion kinetics Jahn-Teller distortion sodium migration
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