The Fe0.1Ni0.9S2 catalyst can maintain its own metallic phase as a conductive channel for fast electron transfer and a thin layer of Fe0.1Ni0.9OOH serves as an active catalytic phase for the OER.

No abstract

In order to improve the performance in the practical engineering applications including so called low-speed video tracking and large-angle swing scanning imaging at the same time for a three-axis universal inertially stabilized platform (UISP), we propose an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) strategy subjected to the uncertain disturbances and input saturation constraints. First of all, a second-order dynamic model is established with uncertain disturbances and input saturation constraints. Secondly, a nonsingular fast terminal sliding mode controller (NTSMC) is constructed to ensure the system error converges to zero fast in a finite time; meanwhile, a novel reaching law based on a modified normal distribution function is designed to adjust the control gain. Thirdly, an adaptive control law is designed to online estimate the parameters of the lumped uncertain disturbances. Additionally, the stability of the control system is proved by Lyapunov theory. Finally, extensive comparative simulations and experiments are carried out, the results comprehensively show the effectiveness and superiority of the proposed control method, which can accelerate convergence, weaken the chattering, and has the better control accuracy and robust performance both in the low-speed tracking and large-angle swing scanning applications. Moreover, the exact dynamic model and the prior knowledge of the upper bounds of the disturbances are not required during the procedure of the controller design, which make it have more extensive application value in practical engineering.

The airborne area camera has received broad application in aerial reconnaissance, land resource surveying, environmental monitoring, photogrammetry mapping, and natural disaster information acquisition. A three-axis, inertially stabilized platform with a large rotation range for the roll axis is designed, which is based on the cantilever structure, in order to realize a large-angle sweep imaging function for airborne area cameras. An image attitude control algorithm in the inertial space is proposed, which can regulate the line of sight (LOS) as well as the image orientation. The area camera image motion calculation model and image motion compensation residual computing method are proposed, utilizing space position and velocity vector transformation mathematics and derivations. The variation of linear velocity of the image motion in the sensor frame is analyzed, and the changing laws of the maximum deviation of image motion with the image attitude are studied. Flight tests imply that the vertical imaging technique correctly regulates the LOS along the local geodetic vertical. The along-flight overlap rate is greater than 65%, which meets the stereo mapping requirement. The sweep imaging technique considerably enlarges the cross-flight angle of view. The LOS and image orientation during sweep imaging are correctly controlled, and gap-free coverage of the survey area is maintained. The image’s azimuth or roll deviation is less than 0.1°, and the image pitch deviation is less than 0.35°. The quality of the test images is superior. Black and white line pairs for evaluation can be clearly distinguished. The image’s motion is well compensated, and the image motion compensation residual is well constrained. These verify the validity of the proposed imaging technique and the image motion analysis model.