Research Update: Recent progress in the development of effective dielectrics for high-output triboelectric nanogenerator

A new energy generating device, triboelectric nanogenerator (TENG), was discovered in 2012 and thereafter, many applications such as portable power sources and self-powered, appropriate for portable electronic devices. So far, rapid development of device fabrication technologies and mechanical system designs significantly increased the instantaneous output power up to several tens of mW/cm2. This article provides a comprehensive review of effective dielectrics used so far in TENGs for further enhancement in output power, as well as the fundamental issues regarding the materials. Finally, we show some strategies for obtaining the properties that the materials should have as effective dielectrics.ope

DS-K3DOM: 3-D Dynamic Occupancy Mapping with Kernel Inference and Dempster-Shafer Evidential Theory

Occupancy mapping has been widely utilized to represent the surroundings for autonomous robots to perform tasks such as navigation and manipulation. While occupancy mapping in 2-D environments has been well-studied, there have been few approaches suitable for 3-D dynamic occupancy mapping which is essential for aerial robots. This paper presents a novel 3-D dynamic occupancy mapping algorithm called DSK3DOM. We first establish a Bayesian method to sequentially update occupancy maps for a stream of measurements based on the random finite set theory. Then, we approximate it with particles in the Dempster-Shafer domain to enable real time computation. Moreover, the algorithm applies kernel based inference with Dirichlet basic belief assignment to enable dense mapping from sparse measurements. The efficacy of the proposed algorithm is demonstrated through simulations and real experiments.Comment: 7 pages, 2 figures, submitted to ICRA 202