Mobile robot localization with gyroscope and constrained Kalman filter

The odometry information used in mobile robot localization can contain a significant number of errors when robot experiences slippage. To offset the presence of these errors, the use of a low-cost gyroscope in conjunction with Kalman filtering methods has been considered by many researchers. However, results from conventional Kalman filtering methods that use a gyroscope with odometry can unfeasible because the parameters are estimated regardless of the physical constraints of the robot. In this paper, a novel constrained Kalman filtering method is proposed that estimates the parameters under the physical constraints using a general constrained optimization technique. The state observability is improved by additional state variables and the accuracy is also improved through the use of a nonapproximated Kalman filter design. Experimental results show that the proposed method effectively offsets the localization error while yielding feasible parameter estimation.     

POSS-based luminescent hybrid material for enhanced photo-emitting properties

In this present work, we have developed a novel POSS type monomer ligand “2,6-pyridinediamine-bis-(propanylheptaisobutyl POSS)” (PDC-POSS) and utilized in the preparation of potential luminescent hybrid complex Eu-PDC-POSS with an inner transition metal ion Eu³⁺. The solubility and photo-emitting properties of new Eu-PDC-POSS hybrid material were studied. The precursor PDC-POSS was synthesized by treating (3-aminopropyl)heptaisobutyl POSS with PDC (2,6-pyridinedicarboxylic acid chloride), and then coordinated with Eu³⁺ using europium nitrate to afford Eu-PDC-POSS hybrid material. The europium-doped hybrid material was characterized using fourier transform infrared spectroscopy, and scanning electron microscopy along with energy dispersive X-ray analysis. The photo emitting properties were studied using a fluorescence spectrophotometer in which, the results showed enhancement in red emission peak at 618 nm for Eu-PDC-POSS, when compared to that of a known solgel-based material Eu-PDC-solgel.     

Enhanced luminescence properties of YBO3:Eu phosphors by Li-doping

Different concentrations of Li-doped YBO₃:Eu³⁺ phosphors have been prepared by the conventional solid state reaction method and were characterized by X-ray diffraction, field emission scanning electron microscopy, photoluminescence excitation and emission measurements. An intense reddish orange emission is observed under UV excitation and the emitted radiation was dominated by an orange peak at 594 nm resulted from the ⁵D₀ → ⁷F₁ transitions of Eu³⁺ ions. The brightness of the YBO₃:Eu³⁺ phosphor was found greatly improved with Li-doping accompanied by slight improvement in the purity of the color which might be attributed to improvement in crystallinity, grain sizes and creation of oxygen vacancies with Li-doping. The observed results have been discussed in comparison with similar reported works.     

Optical properties of Eu2+-doped strontium borate glasses containing F- and Li+ ions

In this experiment, strontium borate glasses were prepared using the conventional quenching method in air atmosphere. Optical absorption, photoluminescence excitation and emission spectra, X-ray excited luminescence (XEL), and luminescence decay curve of the as-prepared glasses were investigated at room temperature. The as-prepared glasses had two kinds of Eu ions, i.e., Eu2 and Eu3 . Compared with the reported results of strontium borate glasses, Eu2 luminescence was enhanced in the studied strontium borate glasses coprepared with F- and Li ions. The coexisting of Li or F- in the borate glasses could create more negative defect VSr″ and stabilize Eu2 ions, which might act as donor of electrons;For the F- doping, the new center of B(O, F)4 (or BO3F) and BO2F2 units could be considered to be the distorted (BO4), which were needed as a rigid framework to stabilize the divalent rare earth ions.     

Synthesis and optical characterization of novel Sr3Ga2O6:Eu phosphor

Alkaline earth metal gallets have been identified as an important ceramic material. The crystal chemistry of many of these gallets is well explored; however, very rare studies regarding optical properties of rare earth (RE) ions doped in such gallets, particularly in Sr₃Ga₂O₆ host, have been carried out. The present study reports on synthesis and characterization of novel Sr₃Ga₂O₆:Eu³⁺ phosphors. The phosphors have been synthesized using a conventional solid state reaction method. Crystal structure, morphology and luminescence properties (excitation, emission and CIE coordinate) of these phosphors have been studied as a function of sintering temperature and Eu³⁺ concentration. X-ray diffraction study reveals that the phosphor sintered at low temperature (900 °C) contains an impurity phase which is removed at higher sintering temperatures and results into cubic crystalline phase of Sr₃Ga₂O₆. Particle size of the phosphor increases with an increase in sintering temperature which results to a red shift in the peak position of excitation band lying in a broad range from 250 to 370 nm. Optimum emission intensity is attained for 0.12 mol% concentration of Eu³⁺ ions; above this concentration, a quenching in emission intensity is observed.     

Effect of sintering atmosphere and lithium ion co-doping on photoluminescence properties of NaCaPO4:Eu phosphor

This paper reports on the photoluminescence properties of Na_1−yLi_yCa_1−xPO₄:_xEu²⁺ phosphors synthesized by a solid state reaction method. The prepared phosphors have been thoroughly characterized by means of X-ray diffraction (XRD), Field-emission scanning electron microscopy (FE-SEM), Fourier transform infrared spectrum (FTIR), Raman spectrum, Thermo gravimetric and differential thermal analysis (TG–DTA) and photoluminescent spectral measurements. The structure of Na_1−yLi_yCa_1−xPO_4:xEu²⁺ phosphors were found to be orthorhombic in nature with a sphere-like morphology and having the particle size in micrometer range. The excitation spectra of NaCaPO₄:Eu²⁺ phosphors revealed a broad excitation band having its maximum intensity at 373 nm and ranging from 250 m to 450 nm. Incidentally, it matches well with the ultraviolet (UV) radiation of light-emitting diodes (LEDs). Upon 373 nm excitation, these phosphors exhibited intense bluish-green emission band centered at 505 nm. The effect of sintering atmospheres and co-doping of lithium ions on the photoluminescence properties of the NaCaPO₄:Eu²⁺ phosphors were studied and explained suitably. The obtained results indicate that the prepared NaCaPO₄:Eu²⁺ phosphors are promising bluish-green candidates for the phosphor-converted white LED applications.     

Regulation of Phosphor's Color Gamut Area Using Mesoporous Silicate Source—A New Paradigm for the Solid‐State Lighting Segment

The inception of phosphors provoked the need of highly efficient lighting sources for the conceivable next generation applications. In this regards, a striking characteristic material namely the mesoporous silica (MPS) and their series that are quite distinct to each other in their physical properties have been synthesized by adopting a cooperative self‐assemble strategy. Utilizing it, the development of high‐performance Sr_1?xCa_1?yEu_x+ySiO₄ phosphor was traversed using a simple wet‐solid phase process. Systematic investigations on morphological, structural, and few other physical properties were carried out. The derived results are intriguing with a crystal clear alteration in the phosphor morphology when MPS has been used as a silicate source. Subsequent luminescence studies displayed its efficient yellow‐emitting property covering the red spectral components, along with good thermal luminescence stability. Perhaps, the designed prototype LEDs yielded a color correlation temperature (CCT) < 5000 K and color rendering index (CRI) > 80. Therefore, it directs the way for the fabrication of potential warm white LEDs with a long‐lived emission efficacy and high thermal luminescence stability.     

Citric based sol-gel synthesis and luminescence characteristics of CaLa2ZnO5:Euphosphors for blue LED excited white LEDs

A novel class of orange-red phosphors namely CaLa₂ZnO₅ (CLZ) doped with Eu³⁺ ions were prepared by adopting citrate based sol-gel method. Those were thoroughly characterized by means of XRD, SEM, Tg-DTA, photoluminescent (PL) spectral profiles. PL studies reveal that its emission intensity strongly depends on sintering temperature as well as the dopant ion (Eu³⁺) concentration. Eu³⁺ ion doped CaLa₂ZnO₅ phosphor has a strong excitation at 468 nm, which correspond to the popular emission line from a GaN based blue light-emitting diode (LED) chip. The influence of the preparation method on the luminescence property was studied by comparing the emission performance of phosphors prepared by sol-gel and solid-state reaction methods along with a commercial red phosphor Y₂O₂S:Eu³⁺. Thus, the intense red emission (⁵D₀ → ⁷F₂) of the Eu³⁺ doped CLZ phosphors under blue excitation suggests them to be a potential candidate for the production of white light by blue LEDs.     

Monocular SLAM with undelayed initialization for an indoor robot

This paper presents a new feature initialization method for monocular EKF SLAM (Extended Kalman Filter Simultaneous Localization and Mapping) which utilizes a 3D measurement model in the camera frame rather than 2D pixel coordinates in the image plane. The key idea is to regard a camera as a range and bearing sensor, of which the range information contains numerous uncertainties. 2D pixel coordinates of measurement are converted to 3D points in the camera frame with an assumed depth. The element of the measurement noise covariance corresponding to the depth of the feature is set to a very high value. And it is shown that the proposed measurement model has very little linearization error, which can be critical for the EKF performance. Furthermore, this paper proposes an EKF SLAM system that combines odometry, a low-cost gyro, and low frame rate (1–2 Hz) monocular vision. Low frame rate is crucial for reducing the price of the processor. This system combination is cost-effective enough to be commercialized for a real vacuum cleaning application. Simulations and experimental results show the efficacy of the proposed method with computational efficiency in indoor environments.