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The Driftless Electromigration Theory(Diffusion-Generation-Recombination-Trapping Theory) 被引量:4
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作者 薩支唐 揭斌斌 《Journal of Semiconductors》 EI CAS CSCD 北大核心 2008年第5期815-821,共7页
Electromigration is the transport of atoms in metal conductors at high electronic current-densities which creates voids in the conductors and increases the conductors' electrical resistance. It was delineated in 1961... Electromigration is the transport of atoms in metal conductors at high electronic current-densities which creates voids in the conductors and increases the conductors' electrical resistance. It was delineated in 1961 by Huntington; then modeled by the empirical electrical resistance formula derived by Black in 1969 to fit the dependences of the experimental electrical resistance and failure data on the electrical current density and temperature. Tan in 2007 reviewed 40-years' ap- plications of the empirical Black formula to conductor lines interconnecting transistors and other devices in silicon integrated circuits. Since the first Landauer theory in 1957,theorists have attempted for 50 years to justify the drift force or electron momentum transfer assumed by Black as some electron-wind force to impart on the metal atoms and ions to move them. Landauer concluded in 1989 that the electron wind force is untenable even considering the most fundamental and complete many-body quantum transport theory. A driftless or electron-windless atomic void model for metal conductor lines is reviewed in this article. It was developed in the mid-1980 and described in 1996 by Sah in a homework solution. This model accounts for all the current and temperature dependences of experimental resistance data fitted to the empiri- cal Black formula. Exact analytical solutions were obtained for the metal conductor line resistance or current, R (t)/R (0) = J(t)/J(0) = [1-2(t/τα)^1/α]^-1/2 ,in the bond-breaking limit with α = 1 to 2 and diffusion limit with α = 2 to 4,from low to high current densities, where τα is the characteristic time constant of the mechanism, containing bond breaking and diffusion rates and activation energies of the metal. 展开更多
关键词 ELECTROMIGRATION driftless void model empirical Black formula diffusion-generation-recombinationtrapping
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轮式移动机器人全局渐近镇定控制器设计 被引量:3
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作者 裴辛哲 裴润 刘志远 《系统仿真学报》 EI CAS CSCD 2003年第8期1101-1105,共5页
基于控制Lyapunov函数(Control Lyapunov Function,简称CLF)和一类性能指标,提出了一种轮式移动机器人(WMR)全局渐近镇定控制器的设计方法。采用CLF近似性能指标的值函数,获得了控制仿射无漂系统的镇定控制律表达式。然后将CLF与反步法... 基于控制Lyapunov函数(Control Lyapunov Function,简称CLF)和一类性能指标,提出了一种轮式移动机器人(WMR)全局渐近镇定控制器的设计方法。采用CLF近似性能指标的值函数,获得了控制仿射无漂系统的镇定控制律表达式。然后将CLF与反步法相结合,针对极坐标下WMR的动态模型,设计了一种渐近镇定控制器,解决了完美速度跟踪的问题。仿真结果验证了所提出控制律的有效性。 展开更多
关键词 轮式移动机器人 镇定 控制LYAPUNOV函数 控制仿射无漂系统 反步法
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基于动态反馈线性化的无漂移力学系统控制 被引量:2
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作者 晁红敏 胡跃明 《华南理工大学学报(自然科学版)》 EI CAS CSCD 北大核心 2000年第11期10-15,共6页
研究非完整无漂移力学系统的动态反馈线性化问题 .基于非线性系统的动态扩展思想 ,提出了一种关于无漂移力学控制系统的动态扩展算法 ,以提高系统可部分线性化的阶次或使系统完全实现线性化 ;然后将该算法应用于一典型非完整移动机器人... 研究非完整无漂移力学系统的动态反馈线性化问题 .基于非线性系统的动态扩展思想 ,提出了一种关于无漂移力学控制系统的动态扩展算法 ,以提高系统可部分线性化的阶次或使系统完全实现线性化 ;然后将该算法应用于一典型非完整移动机器人的输出跟踪控制问题 ,仿真结果表明了该方法的有效性 . 展开更多
关键词 无漂移力学系统 移动机器人 动态反馈线性化
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