Adaptive Finite-Time Model Estimation and Control for Manipulator Visual Servoing using Sliding Mode Control and Neural Networks

The image-based visual servoing without models of system is challenging since it is hard to fetch an accurate estimation of hand-eye relationship via merely visual measurement. Whereas, the accuracy of estimated hand-eye relationship expressed in local linear format with Jacobian matrix is important to whole system's performance. In this article, we proposed a finite-time controller as well as a Jacobian matrix estimator in a combination of online and offline way. The local linear formulation is formulated first. Then, we use a combination of online and offline method to boost the estimation of the highly coupled and nonlinear hand-eye relationship with data collected via depth camera. A neural network (NN) is pre-trained to give a relative reasonable initial estimation of Jacobian matrix. Then, an online updating method is carried out to modify the offline trained NN for a more accurate estimation. Moreover, sliding mode control algorithm is introduced to realize a finite-time controller. Compared with previous methods, our algorithm possesses better convergence speed. The proposed estimator possesses excellent performance in the accuracy of initial estimation and powerful tracking capabilities for time-varying estimation for Jacobian matrix compared with other data-driven estimators. The proposed scheme acquires the combination of neural network and finite-time control effect which drives a faster convergence speed compared with the exponentially converge ones. Another main feature of our algorithm is that the state signals in system is proved to be semi-global practical finite-time stable. Several experiments are carried out to validate proposed algorithm's performance.Comment: 24 pages, 10 figure

A Novel Uncalibrated Visual Servoing Controller Baesd on Model-Free Adaptive Control Method with Neural Network

Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional Position-based Visual Servoing (PBVS) requires a lot of calibration work, which is challenging for the nonspecialist to cope with. To cope with this situation, Uncalibrated Image-Based Visual Servoing (UIBVS) frees people from tedious calibration work. This work applied a model-free adaptive control (MFAC) method which means that the parameters of controller are updated in real time, bringing better ability of suppression changes of system and environment. An artificial intelligent neural network is applied in designs of controller and estimator for hand-eye relationship. The neural network is updated with the knowledge of the system input and output information in MFAC method. Inspired by "predictive model" and "receding-horizon" in Model Predictive Control (MPC) method and introducing similar structures into our algorithm, we realizes the uncalibrated visual servoing for both stationary targets and moving trajectories. Simulated experiments with a robotic manipulator will be carried out to validate the proposed algorithm.Comment: 16 pages, 8 figure

Charge-carrier balance for highly efficient inverted planar heterojunction perovskite solar cells

The charge-carrier balance strategy by interface engineering is employed to optimize the charge-carrier transport in inverted planar heterojunction perovskite solar cells. N,N-Dimethylformamide-treated poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) and poly(methyl methacrylate)-modified PCBM are utilized as the hole and electron selective contacts, respectively, leading to a high power conversion efficiency of 18.72%

Engineering of Electron-Selective Contact for Perovskite Solar Cells with Efficiency Exceeding 15%

The past 5 years have witnessed the rise of highly efficient organometal halide perovskite-based solar cells. In conventional perovskite solar cells, compact n-type metal oxide film is always required as a blocking layer on the transparent conducting oxide (TCO) substrate for efficient electron-selective contact. In this work, an interface engineering approach is demonstrated to avoid the deposition of compact n-type metal oxide blocking film. Alkali salt solution was used to modify the TCO surface to achieve the optimized interface energy level alignment, resulting in efficient electron-selective contact. A remarkable power conversion efficiency of 15.1% was achieved under AM 1.5G 100 mW·cm^–2 irradiation without the use of compact n-type metal oxide blocking layers

Charge-Carrier Balance for Highly Efficient Inverted Planar Heterojunction Perovskite Solar Cells

The charge-carrier balance strategy by interface engineering is employed to optimize the charge-carrier transport in inverted planar heterojunction perovskite solar cells. N,N-Dimethylformamide-treated poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) and poly(methyl methacrylate)-modified PCBM are utilized as the hole and electron selective contacts, respectively, leading to a high power conversion efficiency of 18.72%

Dual-Source Precursor Approach for Highly Efficient Inverted Planar Heterojunction Perovskite Solar Cells

The highest efficiencies reported for perovskite solar cells so far have been obtained mainly with methylammonium and formamidinium mixed cations. Currently, high-quality mixed-cation perovskite thin films are normally made by use of antisolvent protocols. However, the widely used “antisolvent”-assisted fabrication route suffers from challenges such as poor device reproducibility, toxic and hazardous organic solvent, and incompatibility with scalable fabrication process. Here, a simple dual-source precursor approach is developed to fabricate high-quality and mirror-like mixed-cation perovskite thin films without involving additional antisolvent process. By integrating the perovskite films into the planar heterojunction solar cells, a power conversion efficiency of 20.15% is achieved with negligible current density–voltage hysteresis. A stabilized power output approaching 20% is obtained at the maximum power point. These results shed light on fabricating highly efficient perovskite solar cells via a simple process, and pave the way for solar cell fabrication via scalable methods in the near future

Dual-Source Precursor Approach for Highly Efficient Inverted Planar Heterojunction Perovskite Solar Cells

The highest efficiencies reported for perovskite solar cells so far have been obtained mainly with methylammonium and formamidinium mixed cations. Currently, high-quality mixed-cation perovskite thin films are normally made by use of antisolvent protocols. However, the widely used “antisolvent”-assisted fabrication route suffers from challenges such as poor device reproducibility, toxic and hazardous organic solvent, and incompatibility with scalable fabrication process. Here, a simple dual-source precursor approach is developed to fabricate high-quality and mirror-like mixed-cation perovskite thin films without involving additional antisolvent process. By integrating the perovskite films into the planar heterojunction solar cells, a power conversion efficiency of 20.15% is achieved with negligible current density–voltage hysteresis. A stabilized power output approaching 20% is obtained at the maximum power point. These results shed light on fabricating highly efficient perovskite solar cells via a simple process, and pave the way for solar cell fabrication via scalable methods in the near future

Pinhole-Free Hybrid Perovskite Film with Arbitrarily-Shaped Micro-Patterns for Functional Optoelectronic Devices

In many optoelectronic applications, patterning is required for functional and/or aesthetic purposes. However, established photolithographic technique cannot be applied directly to the hybrid perovskites, which are considered as promising candidates for optoelectronic applications. In this work, a wettability-assisted photolithography (WAP) process, which employs photolithography and one-step solution process to deposit hybrid perovskite, was developed for fabricating patterned hybrid perovskite films. Uniform pinhole-free hybrid perovskite films with sharp-edged micropatterns of any shapes can be constructed through the WAP process. Semitransparent solar cells with an adjustable active layer average visible transmittance of a wide range from 20.0% to 100% and regular solar cells based on patterned CH₃NH₃PbI₃ perovskite films were fabricated to demonstrate that the WAP process was compatible with the manufacturing process of optoelectronic devices. With the widely equipped photolithographic facilities in the modern semiconductor industry, we believe the WAP process have a great potential in the industrial production of functionally or aesthetically patterned hybrid perovskite devices