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Comparative measurements with high-pressure spark gaps (gas pressure: 0.2–0.9 MPa nitrogen, gap spacing 5 mm) are presented, one with a regular Bruce-profile polished graphite cathode (diameter 25 mm, thickness 8 mm) and the other with a microarray graphite cathode of equal dimensions. By microstructuring, a V-type graphite microarray is created by purpose-developed laser treatment of a plane graphite electrode. The microarray graphite cathode brings more initial plasma and then produces more initial electrons. It is beneficial for electron emission, which improves the stability of the switch breakdown. The experimental results are achieved at a gas pressure of 0.9 MPa and a 200-kV voltage pulse applied to the switch. With these parameters, the mean breakdown voltage is 91.7 kV, the minimum is 91.4 kV, and the mean relative standard deviation in breakdown voltage of the first 100 shots is 0.4%. Compared to a plane graphite cathode, the mean breakdown voltage is about 10% lower, and the mean relative standard deviation is reduced by more than 90%. The main result can be stated that microarray graphite cathodes are a suitable choice as electrodes for low-jitter high-pressure spark gaps. [ABSTRACT FROM AUTHOR]

Autonomous Unmanned Ground Vehicles (UGVs) require a reliable navigation system that works in all environments. However, indoor navigation remains a challenge because the existing satellite-based navigation systems such as the Global Positioning System (GPS) are mostly unavailable indoors. In this paper, a tightly-coupled integrated navigation system that integrates two dimensional (2D) Light Detection and Ranging (LiDAR), Inertial Navigation System (INS), and odometry is introduced. An efficient LiDAR-based line features detection/tracking algorithm is proposed to estimate the relative changes in orientation and displacement of the vehicle. Furthermore, an error model of INS/odometry system is derived. LiDAR-estimated orientation/position changes are fused by an Extended Kalman Filter (EKF) with those predicted by INS/odometry using the developed error model. Errors estimated by EKF are used to correct the position and orientation of the vehicle and to compensate for sensor errors. The proposed system is verified through simulation and real experiment on an UGV equipped with LiDAR, MEMS-based IMU, and encoder. Both simulation and experimental results showed that sensor errors are accurately estimated and the drifts of INS are significantly reduced leading to navigation performance of sub-metre accuracy. [ABSTRACT FROM PUBLISHER]

The Tesla-type pulsed power generator based on transformer oil is limited by volume and weight, which affects its suitability for mobile platforms. In this paper, a double-width pulse forming line (PFL) based on high-energy-density liquid medium Midel 7131 was designed, and a compact, high-repetitive pulsed power generator was developed. The structural and electrical parameters of the PFL with an outer diameter of 1000 mm were optimized to achieve the highest output power with a fixed load impedance of 60 Ω. This generator employed a double-width forming line, which has an output pulse width of four times of the electrical length of its external line, significantly increasing the output pulse width and making the system more compact. The generator could be finally enveloped with a size of 4 × 1.5 × 1.5 m3 and a weight of 4.7 tons. The experiment showed that the generator could operate reliably under the conditions of 15-GW peak power, 50-ns pulse width, 50-Hz repetition rate, and <1% voltage jitter. The X-band relatively backward wave oscillator driven by this generator yielded a favorable microwave, which demonstrated the high-power driving capability of the generator., (© 2024 Author(s). Published under an exclusive license by AIP Publishing.)