Emulating the essential synaptic behaviors using single synaptic transistor has attracted extensive attention for building the brain-inspired neuromorphic systems. However, few reports on synaptic transistors fabricated by solution processes have been reported. In this article, the indium oxide synaptic transistors based on polyimide substrates were fabricated by a nontoxic waterinducement method at a low temperature, and lithium perchlorate (LiClO 4 ) was dissolved in polyethylene oxide as the gate electrolyte. For water-inducement process, comparable electrical properties of the synaptic transistors can be achieved by prolonging the annealing time rather than high-temperature annealing with a relatively short time. The effect of the annealing time on the electrical performance of the electrolyte-gated transistors annealed at various temperatures was investigated. It is found that the electrolyte-gated-synaptic transistor on polyimide substrate annealed at 200 °C exhibits high electrical performance and good mechanical stability. Due to the ion migration relaxation dynamics in the polymer electrolyte, various important synaptic behaviors such as the excitatory postsynaptic current, paired-pulse facilitation, high-pass filtering characteristics, and long-term memory performance were successfully mimicked. The electrolyte-gated synaptic transistors based on solution-processed In 2 O 3 exhibit great potential in neuromorphological applications.
Robot will be used in the grinding industry widely to liberate human beings from harsh environments. In the grinding process, optimal trajectory planning will not only improve the processing quality but also improve the machining efficiency. The aims of this study are to propose a new algorithm and verify its efficiency in achieving the optimal trajectory planning of the grinding robot. An objective function has been defined terms of both time and jerk. Improved whale optimization algorithm (IWOA) is proposed based on whale optimization algorithm (WOA) and differential evolution algorithm (DE). Mutation operation and selection operation of DE are imitated in the part of initialization to process the population initialized by WOA, and then, the search tasks of WOA are performed. Motion with a constant velocity of the end-effector is considered during fine grinding. The continuity of acceleration and velocity will be achieved by minimizing jerk, and at the same time, smooth robot movement can be obtained. Cubic spline interpolation is implemented. A six-axis industrial robot is used for this research. Results show that optimal trajectory planning based on IWOA is more efficient than others. This method presented in this paper may have some indirect significance in robot business.
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