Algorithms for acoustic localization based on microphone array in service robotics

This paper deals with the development of acoustic source localization algorithms for service robots working in real conditions. One of the main utilizations of these algorithms in a mobile robot is that the robot can localize a human operator and eventually interact with him/herself by means of verbal commands. The location of a speaking operator is detected with a microphone array based algorithm; localization information is passed to a navigation module which sets up a navigation mission using knowledge of the environment map. In fact, the system we have developed aims at integrating acoustic, odometric and collision sensors with the mobile robot control architecture. Good performance with real acoustic data have been obtained using neural network approach with spectral subtraction and a noise robust voice activity detector. The experiments show that the average absolute localization error is about 40 cm at 0 dB and about 10 cm at 10 dB of SNR for the named localization. Experimental results describing mobile robot performance in a talker following task are reported.     

Design,simulation and validation of a novel uncooled infrared focal plane array

This paper describes a novel single-layer bi-material cantilever microstructure without silicon (Si) substrate for focal plane array (FPA) application in uncooled optomechanical infrared imaging system (UOIIS). The UOIIS, responding to the radiate infrared (IR) source with spectral range from 8 to 14 μm, may receive an IR image through visible optical readout method. The temperature distribution of the IR source could be obtained by measuring the thermal–mechanical rotation angle distribution of every pixel in the cantilever array, which is consisted of two materials with mismatching thermal expansion coefficients. In order to obtain a high detection to the IR object, gold (Au) film is coated alternately on silicon nitride (SiN_x) film in the flection beams of the cantilevers. And a thermal–mechanical model for such cantilever microstructure is proposed. The thermal and thermal–mechanical coupling field characteristics of the cantilever array structure are optimized through numerical analysis method and simulated by using the finite element simulation method. The thermal–mechanical rotation angle simulated and thermal–mechanical sensitivity tested in the experiment are 2.459 × 10⁻³ and 3.322 × 10⁻⁴ rad/K, respectively, generally in good agreement with what the thermal–mechanical model and numerical analysis forecast, which offers an effective reference for FPA structure parameters design in UOIIS.     

Ultra high performance planar InGaAs PIN photodiodes for high speed optical fiber communication

This paper reports a front-illuminated planar InGaAs PIN photodiode with very low dark current, very low capacitance and very high responsivity on S-doped InP substrate. The presented device which has a thick absorption layer of 2.92 μm and a photosensitive area 73 μm in diameter exhibited the high performance of a very low capacitance of 0.47 pF, a very low dark current of 0.041 nA, a very high responsivity of 0.99 A/W (79% quantum efficiency) at λ = 1.55 μm, the 3 dB bandwidths of 6.89 GHz (−5 V), 7.48 GHz (−12 V) for bare chips and 4.48 GHz (−5 V), 5.02 GHz (−12 V) for the devices packaged in TO can, respectively. Furthermore, the developed PIN photodiodes possess high breakdown voltage of less than −25 V.     

A microtranslation table with scratch-drive actuators fabricated from silicon-on-insulator wafer

From a silicon-on-insulator (SOI) wafer, a microtranslation table with scratch-drive actuator (SDA) has been fabricated. The device Si layer of SOI wafer is etched to form the plate of SDA, which is partially connected to the handle Si substrate by the SiO₂ layer. Dicing the handle Si substrate, a microtranslation table with the SDA array has been fabricated. Placing the microtranslation table upside down on the other Si substrate on which a thin conductive film is patterned for the electrical connection, the microtranslation table is moved by the SDA without carrying a metal wire. The moving velocity of 45.5 μm/s has been obtained by applying the voltage of 120 V at the operating frequency of 500 Hz.     

Glaucoma detection using adaptive neuro-fuzzy inference system

Purpose. To develop an automated classifier based on adaptive neuro-fuzzy inference system (ANFIS) to differentiate between normal and glaucomatous eyes from the quantitative assessment of summary data reports of the Stratus optical coherence tomography (OCT) in Taiwan Chinese population.Methods. This observational non-interventional, cross-sectional, case–control study included one randomly selected eye from each of the 341 study participants (135 patients with glaucoma and 206 healthy controls). Measurements of glaucoma variables (retinal nerve fiber layer thickness and optic nerve head topography) were obtained by Stratus OCT. Decision making was performed in two stages: feature extraction using the orthogonal array and the selected variables were treated as the feeder to adaptive neuro-fuzzy inference system (ANFIS), which was trained with the back-propagation gradient descent method in combination with the least squares method. With the Stratus OCT parameters used as input, receiver operative characteristic (ROC) curves were generated by ANFIS to classify eyes as either glaucomatous or normal.Results. The mean deviation was −0.67 ± 0.62 dB in the normal group and −5.87 ± 6.48 dB in the glaucoma group (P < 0.0001). The inferior quadrant thickness was the best individual parameter for differentiating between normal and glaucomatous eyes (ROC area, 0.887). With ANFIS technique, the ROC area was increased to 0.925.Conclusions. With Stratus OCT parameters used as input, the results from ANFIS showed promise for discriminating between glaucomatous and normal eyes. ANFIS may be preferable since the output concludes the if–then rules and membership functions, which enhances the readability of the output.     

An intelligent strategy for checking the annual inspection status of motorcycles based on license plate recognition

License plate recognition techniques have been successfully applied to the management of stolen cars, management of parking lots and traffic flow control. This study proposes a license plate based strategy for checking the annual inspection status of motorcycles from images taken along the roadside and at designated inspection stations. Both a UMPC (Ultra Mobile Personal Computer) with a web camera and a desktop PC are used as hardware platforms. The license plate locations in images are identified by means of integrated horizontal and vertical projections that are scanned using a search window. Moreover, a character recovery method is exploited to enhance the success rate. Character recognition is achieved using both a back propagation artificial neural network and feature matching. The identified license plate can then be compared with entries in a database to check the inspection status of the motorcycle. Experiments yield a recognition rate of 95.7% and 93.9% based on roadside and inspection station test images, respectively. It takes less than 1 s on a UMPC (Celeron 900 MHz with 256 MB memory) and about 293 ms on a PC (Intel Pentium 4 3.0 GHz with 1 GB memory) to correctly recognize a license plate. Challenges associated with recognizing license plates from roadside and designated inspection stations images are also discussed.     

Silicon microphone development and application

This paper gives an overview of the development of Silicon microphones fabricated in a standard BiCMOS process line of Infineon. MEMS development results in reliable processes for high sensitivity poly-silicon membranes. Microphones with sensitivity up to −39 dB V/Pa at 2 V bias and a signal to noise ratio of up to 65 dB(A) are presented. The impact of packaging on the product design is described. As an example a directional microphone with cardioid response and backward noise suppression of 19 dB is described.     

An uncooled optically readable infrared imaging detector

This paper presents a design and fabrication of bi-material micro-cantilever array (focal plane array, FPA) made of silicon nitride (SiN_x) and gold (Au) for uncooled optical readout infrared (IR) imaging system, in which silicon (Si) substrate is removed. Compared with the conventional thermal imaging detectors where the FPA must be put in high vacuum, IR thermal images can be obtained even though the cantilever array is placed in the atmosphere. The reason is the elimination of air gap (∼2 μm) between the cantilever beam and substrate, which introduces the air conduction of high temperature gradient. The preliminary experimental results with the micro-cantilever array of 140 × 98 elements and a 12-bit charge-coupled device (CCD) indicate that objects at temperature of higher than 120 °C can be detected and the noise-equivalent temperature difference (NETD) is ∼7 K. Also, the experimental results are well accordant with the thermomechanical analysis of designed micro-cantilever array.     

Fabrication and frequency response of dual-element ultrasonic transducer using PZT-5A thick film

Ultrasonic transducers based on PZT-5A thick films deposited onto polycrystalline Al₂O₃ substrates using screen-printing were successfully fabricated. Considering the relatively high sintering temperature of PZT-5A thick films and better impedance matching characteristics with PZT-5A, polished polycrystalline Al₂O₃ were used as substrates. For electrodes, high quality platinum (Pt) was deposited by a thin film process, because the surface state of electrodes greatly affects the quality of piezoelectric films. Applying Pt/PZT-5A/Pt/Al₂O₃ structures, dual-element ultrasonic transducers were assembled. The assembled transducers included a wear plate (normally alumina with 40.21 × 10⁶ kg/m² s of impedance), backing (tungsten carbide-epoxy), electrical matching, an epoxy glue layer, and a housing. The optimum measurement ranges of 5 and 10 MHz ultrasonic transducers were 2.51–300.2 and 2.50–250.1 mm, respectively. From the time and frequency response measurements of the assembled 10 MHz DEUTs, the value of −20 dB level waveform duration and the −6 dB bandwidth was 481.8 ns and 34.4%, respectively. Also, the measurement accuracies of both 5 and 10 MHz DEUTs assembled in this study were below 0.1 and 0.4%, respectively.     

Realization strategies of dedicated path protection: A bandwidth cost perspective

Communication networks have to provide a high level of availability and instantaneous recovery after failures in order to ensure sufficient survivability for mission-critical services. Currently, dedicated path protection (or 1 + 1) is implemented in backbone networks to provide the necessary resilience and instantaneous recovery against single link failures with remarkable simplicity. However, in order to satisfy strict availability requirements, connections also have to be resilient against Shared Risk Link Group (SRLG) failures. In addition, switching matrix reconfigurations have to be avoided after a failure in order to guarantee instantaneous recovery. For this purpose, there are several possible realization strategies improving the characteristics of traditional 1 + 1 path protection by lowering reserved bandwidth while conserving all its favorable properties. These methods either utilize diversity coding, network coding, or generalize the disjoint-path constraint of 1 + 1.In this paper, we consider the cost aspect of the traditional and the alternative 1 + 1 realization strategies. We evaluate the bandwidth cost of different schemes both analytically and empirically in realistic network topologies. As the more complex realizations lead to NP-complete problems even in the single link failure case, we propose both Integer Linear Programming (ILP) based optimal methods, as well as heuristic and meta-heuristic approaches to solve them. Our findings provide a tool and guidelines for service providers for selecting the path protection method with the lowest bandwidth cost for their network corresponding to a given level of reliability.     

Development of a novel micromirror based on surface micromaching technology

A novel 3 × 3 micromirror array is designed and successfully fabricated with multi-layer silicon surface micromaching technology. It is composed of bottom electrode, support part and mirror plate, in which a T type beam structure is used to support the mirror plate. It can provide mirror with the vertical movement and the rotation about two horizontal axes, thus enabling phase modulation and amplitude modulation for the incident light. The test results show that the maximum deflection length along the vertical direction of the mirror plate is 2 μm, while the rotation angle about X- and Y-axis are ±2.3° and ±1.45°, respectively.     

A magnetoelectric energy harvester and management circuit for wireless sensor network

This paper presents an electromagnetic energy harvesting scheme by using a composite magnetoelectric (ME) transducer and a power management circuit. In the transducer, the vibrating wave induced from the magnetostrictive Terfenol-D plate in dynamic magnetic field is converged by using an ultrasonic horn. Consequently more vibrating energy can be converted into electricity by the piezoelectric element. A switching capacitor network for storing electricity is developed. The output of the transducer charges the storage capacitors in parallel until the voltage across the capacitors arrives at the threshold, and then the capacitors are automatically switched to being in series. More capacitors can be employed in the capacitor network to further raise the output voltage in discharging. For the weak magnetic field environment, an active magnetic generator and a magnetic coil antenna under ground are used for producing an ac magnetic field of 0.2–1 Oe at a distance of 25–50 m. In combination with the supply management circuit, the electromagnetic energy harvester with a rather weak power output (about 20 μW) under an ac magnetic field of 1 Oe can supply power for wireless sensor nodes with power consumption of 75 mW at a duration of 620 ms.     

A survey on wireless sensor network infrastructure for agriculture

The hybrid wireless sensor network is a promising application of wireless sensor networking techniques. The main difference between a hybrid WSN and a terrestrial wireless sensor network is the wireless underground sensor network, which communicates in the soil. In this paper, a hybrid wireless sensor network architecture is introduced. The framework to deploy and operate a hybrid WSN is developed. Experiments were conducted using a soil that was 50% sand, 35% silt, and 15% clay; it had a bulk density of 1.5 g/cm³ and a specific density of 2.6 cm^? 3. The experiment was conducted for several soil moistures (5, 10, 15, 20 and 25%) and three signal frequencies (433, 868 and 915 MHz). The results show that the radio signal path loss is smallest for low frequency signals and low moisture soils. Furthermore, the node deployment depth affected signal attenuation for the 433 MHz signal. The best node deployment depth for effective transmission in a wireless underground sensor network was determined.     

Fiber optics sensor for sub-nanometric displacement and wide bandwidth systems

In this paper, we report fiber optics sensor with sub-nanometric resolution and wide bandwidth. It relies on an increase of the reception fibers number and on low-noise electronics. Moreover, a reference channel has been implemented using a semi-reflective plate to eliminate the source fluctuations and the fiber sensor was isolated to limit external influence of temperature and pressure. Thus we achieve both a sub-nanometric resolution on a 400 ms integration time and a long-term drift as low as 40 nm h^?1. The setup has been also adapted to high speed applications by increasing the bandwidth up to 38 kHz. It can display a 28 nm peak-to-peak limit of resolution on an aluminized piezoactuator. It has been successfully used to test the resonance frequency of a vibrating plate actuated by two high-frequency prototypes of piezoactuators. These improvements lead to low cost fibers optic sensors interesting for non-contact displacement measurements with high sensitivity.     

Micromachined quartz resonator based infrared detector array

We report the fabrication and performance of a micromachined Y-cut quartz resonator based thermal infrared detector array. 1 mm diameter and 18 μm thick (90 MHz) inverted mesa configuration quartz resonator arrays with excellent resonance characteristics have been fabricated by RIE etching of quartz. Temperature sensitivity of 7.2 kHz/K was experimentally measured. Infrared calibration tests on the resonator array even without the use of infrared absorbers gave a responsivity of 14.3 MHz/W and an NEP of 326 nW. In this first report on the performance of the Y-cut quartz resonator infrared thermal detector array, the response time measurements were found to be limited by the slow measurement time of the impedance scans and the undesired heating of the quartz substrate. Most importantly, this initial work demonstrates the possibility of realizing infrared detector arrays for room temperature thermal imaging applications that can rival current state of the art in the field.     

Using artificial neural networks to invert 2D DC resistivity imaging data for high resistivity contrast regions: A MATLAB application

MATLAB is a high-level matrix/array language with control flow statements and functions. MATLAB has several useful toolboxes to solve complex problems in various fields of science, such as geophysics. In geophysics, the inversion of 2D DC resistivity imaging data is complex due to its non-linearity, especially for high resistivity contrast regions. In this paper, we investigate the applicability of MATLAB to design, train and test a newly developed artificial neural network in inverting 2D DC resistivity imaging data. We used resilient propagation to train the network. The model used to produce synthetic data is a homogeneous medium of 100 Ω m resistivity with an embedded anomalous body of 1000 Ω m. The location of the anomalous body was moved to different positions within the homogeneous model mesh elements. The synthetic data were generated using a finite element forward modeling code by means of the RES2DMOD. The network was trained using 21 datasets and tested on another 16 synthetic datasets, as well as on real field data. In field data acquisition, the cable covers 120 m between the first and the last take-out, with a 3 m x-spacing. Three different electrode spacings were measured, which gave a dataset of 330 data points. The interpreted result shows that the trained network was able to invert 2D electrical resistivity imaging data obtained by a Wenner–Schlumberger configuration rapidly and accurately.     

A Simple Parallel Algorithm for the Single-Source Shortest Path Problem on Planar Digraphs

We present a simple parallel algorithm for the single-source shortest path problem in planar digraphs with nonnegative real edge weights. The algorithm runs on the EREW PRAM model of parallel computation in O((n^2ε+n^1−ε) log n) time, performing O(n^1+ε log n) work for any 0<ε<1/2. The strength of the algorithm is its simplicity, making it easy to implement and presumable quite efficient in practice. The algorithm improves upon the work of all previous parallel algorithms. Our algorithm is based on a region decomposition of the input graph and uses a well-known parallel implementation of Dijkstra's algorithm. The logarithmic factor in both the work and the time can be eliminated by plugging in a less practical, sequential planar shortest path algorithm together with an improved parallel implementation of Dijkstra's algorithm.     

Electroactive polymer based microfluidic pump

A planar, valveless, microfluidic pump using electrostrictive poly(vinylidene fluoride-trifluoroethylene) [P(VDF-TrFE)] based polymer as the actuator material is presented. P(VDF-TrFE) thick films having a large electrostrictive strain ∼5–7% and high elastic energy density of 1 J/cm³ have been used in a unimorph diaphragm actuator configuration. The microfluidic pump was realized by integrating a nozzle/diffuser type fluidic mechanical-diode structure with the polymer microactuator. The P(VDF-TrFE) unimorph diaphragm actuator, 80 μm thick and 2.2 mm × 2.2 mm in lateral dimensions, showed an actuation deflection of 80 μm for an applied electric field of 90 MV/m. The microfluidic pump could pump methanol at a flow rate of 25 μl/min at 63 Hz with a backpressure of 350 Pa. The flow rate of this pump could be easily controlled by external electrical field. Two different sizes of nozzle/diffuser elements were studied and the pumping efficiency of these structures is 11 and 16%, respectively.     

Integrated chip-size antennas for wireless microsystems: Fabrication and design considerations

This paper reports on fabrication and design considerations of an integrated folded shorted-patch chip-size antenna for applications in short-range wireless microsystems and operating inside the 5–6 GHz ISM band. Antenna fabrication is based on wafer-level chip-scale packaging (WLCSP) techniques and consists of two adhesively bonded glass wafers with patterned metallization and through-wafer electrical interconnects. Via formation in glass substrates is identified as the key fabrication step. Various options for via formation are compared and from these, a 193 nm excimer laser ablation is selected for fabrication of the antenna demonstrator. The fabricated antenna has dimensions of 4 mm × 4 mm × 1 mm, measured operating frequency of 5.05 GHz with a bandwidth of ∼200 MHz at the return loss of −10 dB and a simulated radiation efficiency of 60% were achieved.     

A new discrete circuit for readout of resistive sensor arrays

In this paper, we present a method that simplifies the interconnect complexity of N × M resistive sensor arrays from N × M to N + M. In this method, we propose to use two sets of interconnection lines in row–column fashion with all the sensor elements having one of their ends connected to a row line and other end to a column line. This interconnection overloading results in crosstalk among all the elements. This crosstalk causes the spreading of information over the whole array. The proposed circuit in this method takes care of this effect by minimizing the crosstalk. The circuit makes use of the concept of virtual same potential at the inputs of an operational amplifier in negative feedback to obtain a sufficient isolation among various elements. We theoretically present the suitability of the method for small/moderate sized sensor arrays and experimentally verify the predicted behavior by lock-in-amplifier based measurements on a light dependent resistor (LDR) in a 4 × 4 resistor array. Finally, we present a successful implementation of this method on a 16 × 16 imaging array of LDR.