Carbon-impurity effects on electronic structures and oxygen-vacancy formation stability of Ta 2 O 5 resistive memories are investigated using the density-functional theory. Generalized gradient approximation with on-site Coulomb corrections is employed for the investigation. The unintentionally incorporated carbon can cause unwanted increase in the resistive off-state leakage current by extending the defect state region in the bandgap. The carbon impurities are found to be preferentially located in the neighborhood of the oxygen vacancies, and they reduce the oxygen-vacancy formation energy, which is predicted to have an influence on lowering the forming voltage.
The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.
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