Autonomous and teleoperation control of a mobile robot

The present work proposes an autonomous tracking control system and a control structure to combine autonomous and teleoperation commands in a bicycle-type mobile robot. This compounded operation renders great flexibility to the control system of the mobile robot. For autonomous operation, a simple tracking controller that includes compensation of the robot dynamics is developed. This tracking control system is proved to be stable in the sense that it asymptotically reaches the tracking objective. Teleoperation with visual access to the robot’s workspace is integrated via a joystick with the autonomous operation of the robot. Simulations and experimental results on a prototype robot show the feasibility and performance of the proposed control system.     

Virtual-ground sensing techniques for a 49-ns/200-MHz access time 1.8-V 256-Mb 2-bit-per-cell flash memory

Fast and accurate read operation in 1.8-V 2-bit-per-cell virtual-ground flash memories requires techniques to substantially reduce the read margin loss due to the side-leakage current and the complementary-bit disturbance. The read margin loss caused by the combination effect of these two disturbance mechanisms is serious enough to eliminate the read margin window, which is already small when the power supply voltage is about 1.8 V and when a memory cell stores 2 bits. This paper introduces for the first time the sense current recovery technique to counteract the side-leakage current effect and the differential feedback cascoded bitline control technique to minimize the complementary-bit disturbance. A 1.8-V 256-Mb 2-bit-per-cell virtual-ground flash memory employing the two techniques has been integrated using 0.13-/spl mu/m CMOS technology. These two sensing techniques are essential for the memory to achieve 49-ns initial read access and 200-MHz internal burst read access. The die size is 52 mm/sup 2/ and the cell size is 0.121 /spl mu/m/sup 2/.     

PCC技术在移动数据业务运营中的应用

从现阶段移动数据业务运营面临的问题着手,通过对PCC技术及典型应用场景的介绍,提出了PCC技术在特殊场景下应用的部署建议,总结了PCC技术引入的总体原则和步骤。     

RPSF: a new QoS bandwidth request mechanism for the IEEE?802.16

The IEEE 802.16 standard is a Broadband Wireless Access (BWA) technology which offers Quality of Service (QoS) support to different types of applications. This standard defines the physical (PHY) and medium access control (MAC) layers. Its MAC layer defines different types of QoS mechanisms to support various types of applications, being the multicast polling one of these mechanisms. Under this mechanism, based on a contention process, every connection competes to gain access to the channel in order to place its bandwidth requests. In this paper, we propose a new signalling mechanism, called Requests Per Service Flow (RPSF), to reduce the contention phase in the frame. Additionally, we undertake a comparison of this new method with respect to other mechanisms. The simulation results show that our new proposal outperforms other mechanisms recently reported in the literature, in terms of throughput and end-to-end delay.     

Assessment of cracks in power plant components by means of the HIDA knowledge-based system (KBS)

An important integrating task in the framework of the HIDA project was the development and application of the knowledge-based system (KBS). The system enables to assess/predict cracks in high-temperature components of power plants operating under creep and/or fatigue conditions, according to the HIDA procedure developed through the other tasks of the project. The system encompasses a comprehensive material database comprising the proprieties of the materials tested within the HIDA project and which are necessary for the analysis. It also includes a library of different component geometries. The system is built in such a way that the data (e.g. material data, component geometry, etc.) necessary for a high temperature crack assessment can be directly entered by the user or selected from the existing databases within the KBS.The HIDA procedure has been integrated in the KBS in a modular sequence, each module enabling to undertake a step of calculation and/or analysis. This structure allows the user to either run the whole procedure or just perform one single step (e.g. check C^* values). In addition, new or alternative procedures can be used, either for the assessment as a whole, or just for single steps (e.g. C^*, 2-criteria diagram, etc.). The system was developed by MPA Stuttgart, as the HIDA KBS task leader, using ALIAS shell (ALIAS — advanced life assessment system) as a basis, and then tested and applied by industrial partners in the HIDA project.The paper describes the functionality and use of the system through reporting selected application cases (CT probe, pipes, pipe bends), and demonstrates the benefits/advantage of such system within the industry.     

Creep crack growth in P22 and P91 welds — overview from SOTA and HIDA projects

Creep crack growth (CCG) tests on two pressure vessel steels, P22 (2.25Cr1Mo) and P91 (9CrMoVNb) were carried out in two European Commission supported projects: SMT 2070 ‘SOTA’ and BE1702 ‘HIDA’.Tests in the SOTA project were conducted on the all-weld and cross-weld compact tension (CT) specimens; in the case of cross-weld specimens the electrical discharge machined (edm) notches were placed at various positions inside the HAZ to study the effect of notch position on CCG characteristics. These tests were conducted at 550°C (P22) and 600°C (P91).Tests in the HIDA project were carried out on the base metal and cross-weld CT specimens; in the case of cross-weld specimens the edm notches were placed in the centre of the HAZ. These tests were carried out at higher temperatures than those in the SOTA project i.e. at 565°C (P22) and 625°C (P91). In this project CCG tests were also carried out on large seam-welded pipes (feature specimens) with edm notches positioned in the base metal and in the centre of HAZ.The base and weld metals used in both projects were from the same cast/pedigree. This paper discusses the findings of the two projects and implications for crack growth in the weldments of these two steels.     

Comparative review of theoretical and experimental equations of state of orthorhombic boron γ-B<Subscript>28</Subscript>

Various theoretical and experimental 300 K equations of state of γ-B₂₈, a new ultrahard high pressure orthorhombic phase of boron, have been reviewed. Throughout analyses and critical comparisons, it has been shown that DFT-GGA is capable of describing the EOS of γ-B₂₈ very accurately and that the suggestion, in the literature, of an isostructural phase transformation in γ-B₂₈ at about 40 GPa is inconclusive.     

Analytical study of a solution-processed diode based on ZnO nanoparticles using multi-walled carbon nanotubes as Schottky contact

Journal of Materials Science: Materials in Electronics - The search for good electrodes processed by solution has interested several niches to produce printed solar cells, lighting emitting diodes,...