Minimum-Energy Translational Trajectory Generation for Differential-Driven Wheeled Mobile Robots

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery energy up to 10% compared with loss-minimization control. Categories (3): Robot control, (5): RobotMotion Planning     

An accurate and practical buffer allocation model for the buffer cache based on marginal gains

A new dynamic buffer allocation strategy based on the notion of marginal gains is presented for the buffer cache that is used by the operating system to store frequently accessed disk blocks in main memory, and the performance of the proposed strategy is compared with those of previous allocation strategies. In the proposed strategy, marginal gain values are predicted by exploiting functions that approximate the expected number of buffer hits per unit time. Experimental results from both trace-driven simulation and an actual implementation in the FreeBSD operating system show that the proposed strategy accurately predicts the marginal gain values for various workloads resulting in significantly improved buffer hit ratios.     

An Area Optimization Method for Digital Filter Design

In this paper, we propose an efficient design method for area optimization in a digital filter. The conventional methods to reduce the number of adders in a filter have the problem of a long critical path delay caused by the deep logic depth of the filter due to adder sharing. Furthermore, there is such a disadvantage that they use the transposed direct form (TDF) filter which needs more registers than those of the direct form (DF) filter. In this paper, we present a hybrid structure of a TDF and DF based on the flattened coefficients method so that it can reduce the number of flip‐flops and full‐adders without additional critical path delay. We also propose a resource sharing method and sharing‐pattern searching algorithm to reduce the number of adders without deepening the logic depth. Simulation results show that the proposed structure can save the number of adders and registers by 22 and 26%, respectively, compared to the best one used in the past.     

Trenched‐Sinker LDMOSFET (TS‐LDMOS) Structure for 2 GHz Power Amplifiers

This paper proposes a new LDMOSFET structure with a trenched sinker for high‐power RF amplifiers. Using a low‐temperature, deep‐trench technology, we succeeded in drastically shrinking the sinker area to one‐third the size of the conventional diffusion‐type structure. The RF performance of the proposed device with a channel width of 5 mm showed a small signal gain of 16.5 dB and a maximum peak power of 32 dBm with a power‐added efficiency of 25% at 2 GHz. Furthermore, the trench sinker, which was applied to the guard ring to suppress coupling between inductors, showed an excellent blocking performance below ?40 dB at a frequency of up to 20 GHz. These results confirm that the proposed trenched sinker should be an effective technology both as a compact sinker for RF power devices and as a guard ring against coupling.     

Robust Space Time Receiver for CDMA-based Antenna Arrays

In this paper, we propose a new robust code division multiple access (CDMA) receiver of which weight vector is obtained by projecting the effective spatio-temporal signature waveform onto the signal subspace of the data covariance matrix. We verified our proposed algorithm by the field measured data obtained with a custom-built wideband CDMA test-bed. It will be shown that the proposed algorithm is robust to the signal mismatch.     

Considerations for polarization insensitive optical switching and modulation using strained InGaAs/InAlAs quantum well structure

It is shown that In/sub 1-x/Ga/sub x/As/In/sub 0.52/Al/sub 0.48/As MQW structures with the wells under tensile strain obtained by the appropriate selection of the Ga mole fraction and well size can achieve polarization-insensitive optical switching and modulation for a wide range of wavelengths between 1.0 and 1.6 mu m. For example, a change in refractive index of -0.5% at about 1.55 mu m will facilitate an intersectional angle of more than 10 degrees in a total internal reflection switch which can be readily fabricated. Hence, this material system is promising for long-wavelength polarization-insensitive semiconductor optoelectronic devices.<>     

纳米β-Ni(OH)2与球型Ni(OH)2的热性能比较研究

用配位沉淀法合成出纳米级Ni（OH）2，并对其进行XRD，TEM，DSC分析，分析结果表明，所得纳米β-Ni（OH）2为可用作电极材料的β-Ni（OH）2，粒径为30－40nm，且热分解温度比普通球镍低10℃左右，摩尔分解热比普通球镍低4－7kJ，从理论上分析了产生此现象的原因。     

Observer-based wheelbase preview control of active vehicle suspensions

Optimal observer-based wheelbase preview regulator problem is investigated for active vehicle suspension systems. It is shown that the problem reduces to the classical linear quadratic Gaussian problem, whose solution is well defined, by augmenting dynamics of system and road inputs. The resulting optimal controller is in the form of augmented state feedback controller and this augmented state is estimated by Kalman-Bucy filter using dynamics of the augmented system. Numerical examples of a half car model are given to verify the performance improvement achievable with the proposed controller.     

采用活性非均匀分布催化剂中变反应器的模拟计算

模拟计算表明:采用活性趋于表层的分布,可以较明显地提高国产中温变换催化剂的内表面利用率,有效地节省催化剂用量,而对“热点”温度没有多大影响。     

Theoretical foundation of the 80/20 rule

A rigorous analysis of the 80/20 rule is made using an index for the observed values of the variables. Three important findings are identified. First, a sufficient condition is provided for Burrell's inverse relationship between minimum holdings and average circulation rate. Second, an indexed version of Lotka's law is used to derive a sufficient condition for Egghe's finding on the 80/20 rule. Third, through the computer simulations of the Simon-Yule model of Lotka's law, we identify the entry rate of new holdings as well as the number of circulations when the entry rate is a decreasing function to be crucial factors for the pattern of the 80/20-type curve.