Bilateral control of teleoperators with time delay

A control law for teleoperators is presented which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law has been implemented on a single-axis force-reflecting hand controller, and preliminary results are shown. To keep the presentation clear, a single-degree-of-freedom (DOF) linear time-invariant (LTI) teleoperator system is discussed. Nevertheless, results can be extended, without loss of generality, to an n-DOF nonlinear teleoperation system     

The integrated academic information management system at Columbia-Presbyterian Medical Center.

Over the past seven years, Columbia-Presbyterian Medical Center has been planning and implementing an integrated academic information management system. Accomplishments to date include establishing an institutional information architecture, installing a campus-wide network of workstations, recruiting the staff needed to develop and implement the system, and developing various applications. This paper presents the rationale and steps involved in these accomplishments, as well as data on use of the system so far.     

Radar detection of low-altitude targets in a maritime environment

Results from a unique analytical and experimental effort to assess low-altitude, short-range, radar detection capabilities in an evaporation ducting environment are presented. Within the horizon, the duct may shift the location of the last interference null several kilometers in range, which may cause nondetection at ranges where detection is expected and detection at ranges where detection is not expected. In addition, the evaporation duct may reduce the signal strength at ranges near the last interference peak so that detection of low-altitude, small-size, targets may not be possible until the target is much closer. At ranges near and beyond the horizon, radar signal strength depends both on the surface layer and on the mixed layer. To accurately model propagation in this region, knowledge of both surface layer and upper air meteorology Is required. An empirical model to merge the surface layer with the mixed layer has been developed. Comparisons of measured to calculated detection range indicate that the assumption of a standard atmosphere minimizes the variance of the difference between the detection ranges whereas ranges calculated using the measured surface meteorological conditions and a modified surface layer model minimizes the median of the difference     

Photoelectrocatalytic humic acid degradation kinetics and effect of pH,applied potential and inorganic ions

This study addresses the removal of humic acid (HA) dissolved in an aqueous medium by a photoelectrocatalytic process. UV₂₅₄ removal and the degradation of color (Vis₄₀₀) followed pseudo‐first order kinetics. Rate constants were 1.1 × 10^?1 min^?1, 8.3 × 10^?2 min^?1 and 2.49 × 10^?2 min^?1 (R² > 0.97) for UV₂₅₄ degradation and 1.7 × 10^?1 min^?1, 6.5 × 10^?2 min^?1 and 2.0 × 10^?2 min^?1 for color removal from 5 mg dm^?3, 10 mg dm^?3 and 25 mg dm^?3 HA respectively. Following a 2 h irradiation time, 96% of the color, 98% of the humic acid and 85% of the total organic carbon (TOC) was removed from an initial 25 mg dm^?3 HA solution in the photoanode cell. Photocatalytic removal on the same photoanode was also studied in order to compare the two methods of degradation. Results showed that the photoelectrocatalytic method was much more effective than the photocatalytic method especially at high pH values and with respect to UV₂₅₄ removal. The effect of other important reaction variables, eg pH, external potential and electrolyte concentration, on the photoelectrocatalytic HA degradation was also studied. Copyright © 2003 Society of Chemical Industry     

Occurrence of Lawn Care and Agricultural Pesticides in the Don River and Humber River Watersheds (1998–2002)

Between 1998 and 2002, surface water samples were collected from several sites in the Don River and Humber River watersheds, both tributaries to Lake Ontario, and analyzed for a variety of pesticides, including those used for urban lawn care. Analyses included 152 pesticide active ingredients and eight metabolites. Samples were collected during base flow periods (i.e., dry events) and rainfall events (i.e., wet events). The objectives of the study were to determine which pesticides were detectable, whether there was a difference in the detection frequency between the two watersheds and between upstream and downstream in each river, and whether precipitation influenced the frequency of detection. Eleven pesticides and one metabolite were detected in surface waters of the Don and Humber rivers or their tributaries, with approximately 72% of samples containing at least one pesticide attributable to lawn care use. The pesticides and pesticide metabolite detected in this study included 2,4-D, atrazine, bromacil, carbofuran, chlorpyrifos, cypermethrin, diazinon, dicamba, MECOPROP, metolachlor, metribuzin, and an atrazine metabolite (des-ethyl atrazine). Four pesticides exceeded federal or provincial water quality guidelines/objectives. Diazinon exceeded the provincial water quality objective in 28% of the samples taken. For the three other pesticides (atrazine, carbofuran and chlorpyrifos) exceedance of a water quality criteria occurred in less than 1% of the samples.     

The impact of multiple failure modes on estimating product field reliability

A difficulty in reliability modeling is how to capture the impact of all of the various reliability defect types. The general approach to optimizing burn-in that we describe in this article addresses a multiple-defect environment. The approach has four main parts: (i) modeling the product's failure rate distribution, (ii) establishing the Pareto distribution of reliability defects, (iii) assessing the kinetic information of each reliability defect, and (iv) estimating the DPPM under product use conditions. This article compares and contrasts the acceleration effects of various extrinsic defects found in 130- and 90-nm CMOS technology products.     

10Gbit/S以太网,RPR和MPLS协同工作:城域网的未来

随着数据业务的发展,目前在城域网领域出现了3种很有希望的新技术:MPLS(多协议标记交换)、10 Gbit/s以太网和弹性分组环(RPR).这三种技术都各自有着自己的特点和优点,然而仅仅采用某一项技术并不能解决网络中的全部问题,将这三种技术综合应用就成为一种必要,本文将简要分析这几种技术,及其它们综合起来协同工作的必要性和现实意义.     

Laser turn-on delay and chirp noise effects in Gb/sintensity-modulated direct-detection systems

This paper describes a new IM/DD optical transmission system simulation which incorporates the impact of laser diode stochastic turn-on effects on system performance. Using this simulation, experimentally observed error rate floors, due to inappropriate laser diode biasing, can be theoretically modelled and predicted, for the first time     

Dielectric measurements using a rational function model

A recently proposed rational function model for the aperture admittance of 50 ohm Teflon filled coaxial lines in contact with a homogeneous dielectric is experimentally validated. A calibration technique of the automatic network analyzer utilizing standard terminations and time domain gating is used. Uncertainties in the dielectric properties of reference liquids do not enter the calibration procedure. Experimental results for water and methanol are compared with estimated values. A model expression for the sensitivity of the probe is validated. The sensitivities of two coaxial line probes for the measurements made are determined. Results obtained using the new model are compared with those of other workers     

Forming the optimal union of multiple databases

Many organizations, best illustrated by libraries, have access to hundreds of databases possessing varying degrees of complimentary and overlapping records. While users may receive positive marginal benefits from data duplications, all databases and their services cannot be supported because of resource limitations. This paper attempts to conceptualize the problem of database collection in an environment of multiple databases, with differential content and performance characteristics, diverse users, and limited resources. It defines the database collection problem as a constrained zero-one integer programming problem and solves for the optimal combination or union of databases. Several extensions are shown, where special conditions are imposed on the relationships between databases and/or their availability.