Path tracking control of a manipulator considering torquesaturation

When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator's dynamics and actuator's torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppressed and the manipulator may deviate from the desired path. In this paper, the author's propose a feedback control method for path tracking which takes the torque saturation into account. Based on the desired path, a coordinate system called path coordinates is defined. The path coordinates are composed of the component along the path and the components normal to the path. The equation of motion is described in terms of the path coordinates. Control of the components normal to the path is given priority in order to keep the motion of the manipulator on the path. Simulations of a two-degree-of-freedom manipulator show the effectiveness of this method     

A neural network control system with parallel adaptive enhancementsapplicable to nonlinear servomechanisms

In this paper, we present a technique for using an additional parallel neural network to provide adaptive enhancements to a basic fixed neural network-based nonlinear control system. This proposed parallel adaptive neural network control system is applicable to nonlinear dynamical systems of the type commonly encountered in many practical position control servomechanisms. Properties of the controller are discussed, and it is shown that if Gaussian radial basis function networks are used for the additional parallel neural network, uniformly stable adaptation is assured and the approximation error converges to zero asymptotically. In the paper, the effectiveness of the proposed parallel adaptive neural network control system is demonstrated in real-time implementation experiments for position control in a servomechanism with asymmetrical loading and changes in the load     

Optoelectronic integration of a GaAs/AlGaAs bistable field effecttransistor (BISFET) and LED

The bistable field effect transistor (BISFET) is a novel inversion-channel switching device exhibiting abrupt current transitions and hysteresis in its output characteristics. The semiconductor structure of the BISFET is compatible with a range of electronic and optoelectronic devices. In this work, integration of a BISFET with an LED is reported. Both devices have been implemented on a single semiconductor substrate using a single fabrication sequence. The BISFET is used to current drive the LED. Abrupt transitions and hysteresis are seen in the optical output from the circuit in the range of gate voltage from 1.75 V to 1.9 V     

Suppression of boron penetration in p+ polysilicon gateP-MOSFETs using low-temperature gate-oxide N2O anneal

It has been reported that high-temperature (~1100°C) N₂ O-annealed oxide can block boron penetration from poly-Si gates to the silicon substrate. However, this high-temperature step may be inappropriate for the low thermal budgets required of deep-submicron ULSI MOSFETs. Low-temperature (900~950°C) N₂O-annealed gate oxide is also a good barrier to boron penetration. For the first time, the change in channel doping profile due to compensation of arsenic and boron ionized impurities was resolved using MOS C-V measurement techniques. It was found that the higher the nitrogen concentration incorporated at Si/SiO₂ interface, the more effective is the suppression of boron penetration. The experimental results also suggest that, for 60~110 Å gate oxides, a certain amount of nitrogen (~2.2%) incorporated near the Si/SiO₂ interface is essential to effectively prevent boron diffusing into the underlying silicon substrate     

Enhancement of oxide break-up by implantation of fluorine inpoly-Si emitter contacted p+-n shallow junctionformation

In this study, it is demonstrated that the incorporation of fluorine can enhance poly-Si/Si interfacial oxide break-up in the poly-Si emitter contacted p⁺-n shallow junction formation. The annealing temperature for breaking up the poly-Si/Si interfacial oxide has been found to be as low as 900°C. As a result, the junction depth of the BF₂-implanted device is much larger than that of the boron-implanted device     

Enhanced high-frequency performance in a GaAs, self-aligned, n-JFETusing a carbon buried p-implant

C ion implantation has been employed, for the first time, to form the buried p-layer in GaAs, self-aligned, ion implanted JFETs. Comparable DC performance was seen for JFETs with C or Mg implants; however, C-backside JFETs showed superior high-frequency performance. High dose C-backside devices had a f_t of 28.3 GHz and a f_max of 43.2 GHz for a 0.5 μm gate length that were 28% and 46% higher, respectively, than comparable Mg-implanted JFETs. This enhancement is a result of the lower C_gs in the C-backside device resulting from he inherently low activation of the implanted C below the channel while the C still effectively compensated the tail of the Si-channel implant. This approach relaxes the trade-off between optimizing the DC and the AC performance for the buried p-implant in GaAs JFETs and MESFET's     

E-BAMA vs. RAMA [multiple access protocols]

The article presents a performance comparison of two random access protocols for wireless mobile signaling in which a single channel is dedicated to the signaling function, enhanced beacon assisted multiple access (E-BAMA) and resource auction multiple access (RAMA). Data traffic is transported separately on a set of orthogonal channels. The beacon assisted multiple access (BAMA) protocol was first presented as a method of providing mobility management functions, e.g., handover, while minimizing the processing burden placed on the mobile. In BAMA, throughout the duration of its call, an active user repeatedly and quasi-periodically broadcasts a beacon containing its ID using the Aloha protocol. Quasi-periodicity prevents a pair of users from repeatedly colliding with each other. When a base successfully receives the beacon and assigns a channel, it uses a separate downstream channel to send to the mobile an acknowledgement that contains the number of the assigned channel. The BAMA protocol includes a scheme to maintain lists of active mobiles in nearby cells and to exchange periodically these lists among the base-stations. The authors evaluate the capacity and delay performance of E-BAMA and RAMA. Then, they present a numerical comparison of the parameters. Finally, the results are summarized qualitatively. Some additional derivation is included in the appendix     

The NC-REN meets the North Carolina Information Highway

The North Carolina Research and Education Network (NC-REN), formerly known as CONCERT, is an existing video and data network, owned and operated by MCNC. NC-REN's purpose has been to provide network-based support for collaboration in the research community within the state since 1985. The first major application planned for the North Carolina Information Highway (NCIH) is an interactive video distance learning system. A secondary application proposed is the use of Switched Multimegabit Data Service (SMDS) as a means of providing data communications services over NCIH. The user community currently supported by NC-REN has come to expect high levels of service, reliability, interoperability and performance for data and video communications. MCNC is committed to see that NC-REN users receive service that is equal to or better than what is currently provided by the existing network. The prospect of migrating NC-REN-provided services to NCIH-provided transport has raised challenging technical and unique service issues     

ATM switching and CPE adaptation in the North Carolina InformationHighway

This article describes the approach which has been used to implement a sector of the information highway throughout the state of North Carolina, with specific attention focused on the functionality of the equipment that comprises the North Carolina Information Highway (NCIH). This implementation of this information highway is based on ATM technology, used in both the switching systems of the network and the customer premises equipment (CPE). The large ATM switching systems provide the extensive number of connections that are predicted for the information highway. Multiple services can also be supported on the ATM switches. The information streams for these different services can all be converted into ATM format using the appropriate ATM adaptation layer for transport through the ATM network. By being able to support multiple services, and transport them across common ATM facilities, the ATM switches offer the NCIH great flexibility in the applications that can be provided to the customers. Use of the ATM technology allows the NCIH to provide the backbone for various services. To provide the distance learning service application and other applications on the NCIH, ATM capabilities are also being provided in CPE on a service multiplexer     

Spread-spectrum communication techniques

Spread-spectrum modulation can be used in a radio system to reduce the likelihood of intercept, as well as providing some protection against jamming and interference. These antijam, anti-interference and low-probability-of-intercept properties are highly desirable in secured communication systems. In addition, spread-spectrum techniques have been proposed to combat spectral congestion by improving the efficiency of spectrum utilisation. Spread-spectrum techniques are also widely used in ranging systems and in local-area networks (LANs) or other multiple-access systems. In the present article, the three main spread-spectrum techniques are outlined and then applications of frequency-hopping systems and some of the techniques used are described