Double actuation architectures for rendering variable impedance in compliant robots: A review

Novel compliant actuation systems have been developed in recent years for a variety of possible advantages, such as establishing a safe human–robot interaction, increasing energy efficiency, reducing the effects of impacts and even for the development of neuro-inspired robotic platforms to be used in human motor control studies.In this rapidly growing and transversal research field, systems involving more than one active element (typically motors) for each actuated degree of freedom are being investigated to allow separate position and impedance regulations. Considering the wide range of applications and the large number of different arrangements deriving from the combination of two active elements and passive elastic components, several actuation architectures have been devised.This paper reviews state-of-the-art rotary variable impedance units incorporating two separate motors. Existing devices are grouped in three main categories. A critical and comparative analysis of the most relevant features is carried out, also based on most representative prototypes. Recently proposed methodologies and evaluation criteria for design optimization are illustrated and perspectives on potential applications of double actuation systems are presented.     

MIMO systems with full and reduced hardware complexity

MIMO (multiple-input-multiple-output) systems propose enormous gains in the capacity of wireless systems without requiring more spectral resources. This paper first gives an overview of the use of MIMO for diversity and spatial multiplexing, and the use of channel state information in MIMO systems. It then explores the use of antenna selection as a means for the reduction of the hardware complexity. It is shown that the performance in a spatial-multiplexing application is almost as good as that of full-complexity systems as long as the number of RF chains is at least as large as the number of data streams.     

Antennas for next generation mobile communications

In future mobile communications many antennas will coexist on the device. This creates a number of problems related to bandwidth, efficiency, and correlation. Remedies are discussed in the paper, and attention is called to the promising area of adaptive matching, which also can solve problems related to the user.     

CMOS image sensors for sensor networks

We report on two generations of CMOS image sensors with digital output fabricated in a 0.6 μm CMOS process. The imagers embed an ALOHA MAC interface for unfettered self-timed pixel read-out targeted to energy-aware sensor network applications. Collision on the output is monitored using contention detector circuits. The image sensors present very high dynamic range and ultra-low power operation. This characteristics allow the sensor to operate in different lighting conditions and for years on the sensor network node power budget. Eugenio Culurciello (S’97–M’99) received the Ph.D. degree in Electrical and Computer Engineering in 2004 from Johns Hopkins University, Baltimore, MD. In July 2004 he joined the department of Electrical Engineering at Yale University, where he is currently an assistant professor. He founded and instrumented the E-Lab laboratory in 2004. His research interest is in analog and mixed-mode integrated circuits for biomedical applications, sensors and networks, biological sensors, Silicon on Insulator design and bio-inspired systems. Andreas G. Andreou received his Ph.D. in electrical engineering and computer science in 1986 from Johns Hopkins University. Between 1986 and 1989 he held post-doctoral fellow and associate research scientist positions in the Electrical and Computer engineering department while also a member of the professional staff at the Johns Hopkins Applied Physics Laboratory. Andreou became an assistant professor of Electrical and Computer engineering in 1989, associate professor in 1993 and professor in 1996. He is also a professor of Computer Science and of the Whitaker Biomedical Engineering Institute and director of the Institute’s Fabrication and Lithography Facility in Clark Hall. He is the co-founder of the Johns Hopkins University Center for Language and Speech Processing. Between 2001 and 2003 he was the founding director of the ABET accredited undergraduate Computer Engineering program. In 1996 and 1997 he was a visiting professor of the computation and neural systems program at the California Institute of Technology. In 1989 and 1991 he was awarded the R.W. Hart Prize for his work on mixed analog/digital integrated circuits for space applications. He is the recipient of the 1995 and 1997 Myril B. Reed Best Paper Award and the 2000 IEEE Circuits and Systems Society, Darlington Best Paper Award. During the summer of 2001 he was a visiting professor in the department of systems engineering and machine intelligence at Tohoku University. In 2006, Prof. Andreou was elected as an IEEE Fellow and a distinguished lecturer of the IEEE EDS society. Andreou’s research interests include sensors, micropower electronics, heterogeneous microsystems, and information processing in biological systems. He is a co-editor of the IEEE Press book: Low-Voltage/Low-Power Integrated Circuits and Systems, 1998 (translated in Japanese) and the Kluwer Academic Publishers book: Adaptive Resonance Theory Microchips, 1998. He is an associate editor of IEEE Transactions on Circuits and Systems I.     

Modellierungs- und Simulationsverfahren für die optische Verbindungstechnik auf elektrischen Leiterplatten

Optical interconnection technology on the printed circuit board level is a key technology for future microelectronic equipment. The consideration of functional, technological, and economical requirements results in a hybrid solution, where electrical and optical interconnects are integrated into one substrate called electrical optical printed circuit board. The significant part of the entire design process for electrical optical printed circuit boards is marked by the design supporting modelling and simulation of optical interconnects. Based on an abstract model for an entire optical interconnect a simulation model for optical multimode-waveguides is presented, taking into account all significant waveguide properties. Apart from that, the modeling of active components (laser- and photo-diodes) is addressed.     

AlGaN/GaN HEMTs on SiC for high power broadband applications up to 40 GHz

An overview of properties and recent achievements for AlGaN/GaN high electron mobility transistors (HEMT) on semi-insulating SiC substrate is given towards high power and broadband applications up to a frequency of 40 GHz. Starting from epitaxial growth and process technology we present state-of-the-art power results obtained at the Fraunhofer Institute (IAF) from AlGaN/GaN HEMTs on SiC. Further, a one-stage 16 GHz MMIC power amplifier circuit with 1.6 W output power is presented. This result represents the first AlGaN/GaN MMIC on SiC fabricated in Europe.     

Elastodynamic parameters for dynamic interface fracture mechanics

Summary Dynamic extension of cracks running along curvilinear interfaces of brittle bimaterials subjected to mechanical crack surface loads and superimposed thermal strains acting along the ligament is considered. This paper especially addresses the provision and discussion of elastodynamic interface parameters in order to assess quantitatively the bimaterial fracture in view of the governing physical features: applied mechanical and thermal strain loading, existence of an interface, crack-tip velocity and curvature of the interface contour. By utilizing the linear theory of thermoelasticity and adopting Stroh's method of generalized complex potentials, from the corresponding boundary and continuity conditions vectorial Hilbert problems are derived. It is shown that the parameters of the eigenvalues and of the eigenvectors of the Hilbert problems can be interpreted as elastodynamic interface mechanics parameters reading (,v _p, _Hf , _Hf ). Generalized Dundurs parameters of dynamics (, ) and consequently an associated generalized Dundurs diagram of dynamics are proposed. While the aforementioned elastodynamic interface parameters (, ,v _p, _Hf , _Hf ) do not assume the interface to be damaged, interfaces with running interface cracks generally cause two additional interface parameters, denoted as bimaterial constants (, _Hf ), where the latter is specific to the curvature of the interface in conjunction with the velocity of the interface crack. However, the bimaterial constants (, _Hf ) can be traced back to interface parameters for an uncracked bimaterial, namely to (, _Hf ).     

Evaluation of advanced glycation end products and carbonyl compounds in patients with different conditions of oxidative stress

Advanced glycation end products (AGE) and dicarbonyl compounds accumulate in serum and tissues of patients with diabetes and chronic renal failure. Pentosidine, free pentosidine, glyoxal and methylglyoxal have been evaluated in plasma of diabetic patients with poor metabolic control at baseline and after the improvement of glycemic levels, and in plasma and peritoneal dialysate of patients with renal failure before and after 12 h of peritoneal dialysis. In diabetic patients, acceptable metabolic control was unable to normalize levels of pentosidine (after 2 and 10 months), glyoxal and methylglyoxal (after 2 months). In patients with end-stage renal disease, mean values of pentosidine, free pentosidine, glyoxal and methylglyoxal decreased in plasma after dialysis. No pentosidine or free pentosidine were present in the peritoneal dialysate at time 0, but were found after 12 h of peritoneal dialysis; glyoxal and methylglyoxal decreased after 12 h of dialysis. So, glyoxal and methylglyoxal, already present in the dialysis fluid, can react with the peritoneal matrix protein, giving a reason for the gradual loss of peritoneal membrane function often observed in patients undergoing long-term peritoneal dialysis.