To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated vehicle at a speed of 3 m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according to the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of Cauchy robust, the weights are identified. Finally, -infinity control controller is designed to control steering angle. The results of hardware-in-the-loop simulation show that lateral position deviation, heading angle deviation, and steering angle of the vehicle can be controlled, respectively, at 0.024 m, 0.08 rad, and 0.21 rad. All the deviations are asymptotically stable, and error control is in less than 2%. The method is demonstrated to be effective and reliable in path tracking for the underground vehicles.
Subtle modification of the electron-withdrawing end group (A) of small-molecule acceptors (SMAs) plays an important role in regulating structure, optoelectronic properties, and device performance. To obtain SMAs for nonhalogenated solvent-processing devices, we develop two A−D−A SMAs (IT-ClBr and IT-FBr) based on indacenodithieno[3,2-b]thiophene (D) by employing hybrid dihalogenated 1,1-dicyanomethylene-3-indanone (IC-ClBr and IC-FBr) as A groups. The effects of hybrid dihalogenated end groups on the solubility, photoelectrochemical properties, morphology, and device performance were investigated by comprehensively comparing with similar SMAs (IT-4F and IT-4Cl) using nonhybrid dihalogenated IC as A groups. Absorption spectra of IT-ClBr and IT-FBr are similar to that of IT-4Cl but red-shifted relative to that of IT-4F. Hybrid dihalogenation results in enhancing absorption ability and elevating the lowest unoccupied molecular orbitals (LUMOs) of the corresponding SMAs, which is beneficial to increasing short-circuit current density (J sc ) and open-circuit voltage (V oc ), respectively. Furthermore, the solubility of IT-ClBr and IT-FBr in nonhalogenated solvents o-xylene (o-XY) can be improved, which makes it possible to fabricate devices with environmentally friendly nonhalogenated solvents. Using polymer PM6 as donor material, IT-FBr-based polymer solar cells (PSCs) present a higher power conversion efficiency (PCE) of 12.02% compared to IT-ClBr (PCE = 10.79%) with o-XY as the solvent and 0.5 vol % 1,8-diiodoactane (DIO) as the additive, owing to the increased V oc and fill factor (FF), which is also comparable to that of IT-4Cl (PCE = 12.14%). More importantly, the PCE can be further improved up to 12.35% when 1 vol % 2-methylnaphthalene (2-MN) replaced DIO as the additive, which is obviously superior to that of IT-4F (PCE = 10.11%). The enhanced efficiency could be attributed to the improved solubility in the nonhalogenated solvent and optimal miscibility between SMAs and the polymer donor (PM6). This finding suggests that hybrid dihalogenation on end groups is a feasible strategy to tailor the solubility, crystallinity, and miscibility of SMAs, thereby improving the morphology and device performance of PSCs fabricated with eco-friendly solvents and additives.
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