Field-effect bulk mobilities in polymer semiconductor films measured by sourcemeters.

Semiconducting polymers inherently exhibit polydispersity in terms of molecular structure and microscopic morphology, which often results in a broad distribution of energy levels for localized electronic states. Therefore, the bulk charge mobility strongly depends on the free charge density. In this study, we propose a method to measure the charge-density-dependent bulk mobility of conjugated polymer films with widely spread localized states using a conventional field-effect transistor configuration. The gate-induced variation of bulk charge density typically ranges within ±1018 cm-3; however, this range depends significantly on the energetic dispersion width of localized states. The field-effect bulk mobility and field-effect mobility near the semiconductor-dielectric interface along with their dependence on charge density can be simultaneously extracted from the transistor characteristics using various gate voltage ranges.

Mixed H2/H infinity design for a decentralized discrete variable structure control with application to mobile robots.

In this paper, a decentralized discrete variable structure control via mixed H2/H infinity design was developed. In the beginning, the H2-norm of output error and weighted control input was minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. In addition, a suitable selection of this weighted function (connected with frequency) could reduce the effect of disturbance on the control input. However, an output disturbance caused by the interactions among subsystems, modeling error, and external load deteriorated system performance or even brought about instability. In this situation, the H infinity-norm of weighted sensitivity between output disturbance and output error was minimized to attenuate the effect of output disturbance. Moreover, an appropriate selection of this weighted function (related to frequency) could reject the corresponding output disturbance. No solution of Diophantine equation was required; the computational advantage was especially dominated for low-order system. For further improving system performance, a switching control for every subsystem was designed. The proposed control (mixed H2/H infinity DDVSC) was a three-step design method. The stability of the overall system was verified by Lyapunov stability criterion. The simulations and experiments of mobile robot were carried out to evaluate the usefulness of the proposed method.