In this paper, exhaustive analytical investigation based on analyzing the impact of the self-heating phenomenon on the power GaN HEMT performance is proposed. To do so, analytical models for the drain current, power dissipation and lattice temperature variation are developed in order to evaluate the device reliability against the self-heating effects (SHEs). The transistor thermal stability is systematically investigated with respect to the dependence on the buffer layer doping, mole fraction variation, and layer thickness. In this work, the electrical and thermal performance of power GaN HEMT structure is investigated. Also, device design parameters dependent characteristics on thermal stability and immunity are observed and analyzed. The obtained results provide new insight for bridging the gap between high power performances with thermal stability factor.

In this paper, exhaustive analytical investigation based on analyzing the impact of the self-heating phenomenon on the power GaN HEMT performance is proposed. To do so, analytical models for the drain current, power dissipation and lattice temperature variation are developed in order to evaluate the device reliability against the self-heating effects (SHEs). The transistor thermal stability is systematically investigated with respect to the dependence on the buffer layer doping, mole fraction variation, and layer thickness. In this work, the electrical and thermal performance of power GaN HEMT structure is investigated. Also, device design parameters dependent characteristics on thermal stability and immunity are observed and analyzed. The obtained results provide new insight for bridging the gap between high power performances with thermal stability factor.

In this paper, exhaustive analytical investigation based on analyzing the impact of the self-heating phenomenon on the power GaN HEMT performance is proposed. To do so, analytical models for the drain current, power dissipation and lattice temperature variation are developed in order to evaluate the device reliability against the self-heating effects (SHEs). The transistor thermal stability is systematically investigated with respect to the dependence on the buffer layer doping, mole fraction variation, and layer thickness. In this work, the electrical and thermal performance of power GaN HEMT structure is investigated. Also, device design parameters dependent characteristics on thermal stability and immunity are observed and analyzed. The obtained results provide new insight for bridging the gap between high power performances with thermal stability factor.

A concrete incorporation of mobile robots in more industrial applications depends mainly on their ability to navigate safely in industrial environments while fulfilling the assigned tasks. One of the important tasks in wheeled mobile robotics is trajectory tracking, which adds temporal constraints on the robot navigation. The employment of trajectory tracking strategies with obstacle avoidance capabilities is essential to avoid time waste and inefficiency in mobile robots industrial integration. In this paper, we present a navigation algorithm intended for differential drive mobile robots, that combines trajectory tracking with obstacle avoidance. Obstacle detection is accomplished using sonar range sensors and the navigation is found on kinematic control and vector field histogram approach. Demonstration with simulations in V-rep environment is presented where Pioneer3DX successfully avoided obstacles while tracking a trajectory.

A concrete incorporation of mobile robots in more industrial applications depends mainly on their ability to navigate safely in industrial environments while fulfilling the assigned tasks. One of the important tasks in wheeled mobile robotics is trajectory tracking, which adds temporal constraints on the robot navigation. The employment of trajectory tracking strategies with obstacle avoidance capabilities is essential to avoid time waste and inefficiency in mobile robots industrial integration. In this paper, we present a navigation algorithm intended for differential drive mobile robots, that combines trajectory tracking with obstacle avoidance. Obstacle detection is accomplished using sonar range sensors and the navigation is found on kinematic control and vector field histogram approach. Demonstration with simulations in V-rep environment is presented where Pioneer3DX successfully avoided obstacles while tracking a trajectory.

A concrete incorporation of mobile robots in more industrial applications depends mainly on their ability to navigate safely in industrial environments while fulfilling the assigned tasks. One of the important tasks in wheeled mobile robotics is trajectory tracking, which adds temporal constraints on the robot navigation. The employment of trajectory tracking strategies with obstacle avoidance capabilities is essential to avoid time waste and inefficiency in mobile robots industrial integration. In this paper, we present a navigation algorithm intended for differential drive mobile robots, that combines trajectory tracking with obstacle avoidance. Obstacle detection is accomplished using sonar range sensors and the navigation is found on kinematic control and vector field histogram approach. Demonstration with simulations in V-rep environment is presented where Pioneer3DX successfully avoided obstacles while tracking a trajectory.