Supermedia-enhanced Internet-based telerobotics

This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However, when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay causes instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. This modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.     

Numerical Analysis of the Boundary Scattering Effect on Transport Properties in Bi-Sb Nanowires

In this study, we have numerically analyzed the transport properties of Bi-Sb nanowires, taking into account wire boundary scattering. Wire boundary scattering slightly decreased the Seebeck coefficient of Bi-Sb nanowires. This effect is due to the observation that boundary scattering and the mobility ratio of L-point electrons to T-point holes in the nanowires are smaller than those in bulk Bi-Sb because the wire boundary scattering suppresses the mobilities of L-point electrons and heavy holes. The largest Seebeck coefficient for all wire diameters was obtained when the Sb concentration was 5 at.%. The effective mass approached zero near 5 at.% Sb, and the small effective mass led to a large subband shift in each band. Thus, a small effective mass enhances the quantum effect at a fixed wire diameter, even if wire boundary scattering is taken into account.     

10-GHz 8.7-ps Pulse Generation From a Single-Mode Gain-Switched AlGaAs VCSEL at 850 nm

We have successfully generated a 10-GHz 8.7-ps pulse train at 850 nm by using a gain switching technique with a high-speed AlGaAs-based vertical-cavity surface-emitting laser (VCSEL). The VCSEL, which operates in a single transverse mode by employing an aluminum oxide aperture, has a modulation bandwidth of 6.3 GHz and a relaxation oscillation frequency at around 11.7 GHz. An error-free 10-Gb/s return-to-zero data modulation was demonstrated by using the generated 10-GHz pulse train.     

电致发光谱测量β-FeSi2-Si异质结载流子限制

设计了一种将β-FeSi2颗粒埋入非故意掺杂Si中的Si p-π-n二极管来确定β-FeSi2-Si异质结的能隙差.当二极管处于正向偏置时,通过Si n-p-结注入的电子扩散到β-FeSi2并由于Si与β-FeSi2之间的能隙差而受到限制,电荷在异质结的积累反过来阻挡了电子的继续扩散,将电子局域化在靠近Si n-p-结的p--Si区.少子的局域化减少了非辐射复合的途径,Si和β-FeSi2的发光增强,淬灭速率变慢,在室温低电流下仍可得到Si和β-FeSi2电致发光.Si和β-FeSi2发光强度的比率对温度的依存性表明同型异质结对电子限制能力的减弱符合热发射模型,由此确定出Si和β-FeSi2异质结导带带阶差为0.2eV.     

Improvement of inductive power collection in null-flux maglev system

In the superconducting maglev system it is important to develop a non-contact on-board power source without environmental pollution such as noise and exhaust gases; therefore, inductive power collection (IPC), which utilizes a harmonic magnetic field generated by ground coils in EDS, is being studied. However, alteration to a null-flux EDS that has a high drag ratio reduces the power collecting capacity in the IPC system. In addition, power collecting coils are located on the cryostat of the superconducting coil (SC), so eddy currents at the cryostat also reduce the power collecting capacity. Therefore, an exclusive SC type that locates the exclusive SCs and IPC and power collecting coils so as to face the upper and lower coils of ground coils, respectively, is examined; but we aim to improve the conventional type. After analyzing the influence of eddy currents at the cryostat in detail and improving the composition of the power collecting coil and cryostat, we found that the conventional type has the same capacity as the exclusive SC type. In order to prove the above-mentioned result, we measured the induced voltage of the new-type coils in a test run at Miyazaki test track and confirmed the output of this IPC system in a full-scale synthetic bench test with a PWM converter and magnetic field simulator. © 1998 Scripta Technica. Electr Eng Jpn, 122(2): 48–60, 1998     

Analysis of demand‐priority access using a priority queue with server vacations and message dependent switchover times

In this paper, we analyse the message waiting times in a local area network (LAN) that uses the demand‐priority access method. This is a priority‐based round‐robin arbitration method where the central controller (the repeater) polls its connected ports to determine which have transmission requests pending and the requests' priority classes. We model it as a 2‐priority M/G/1 queue with multiple server vacations and switchover time between service periods. The service discipline is nonpreemptive and the length of the switchover time is dependent upon the priority class of the preceding message served as well as that of the message to be served next. We provide an approximate analysis for the waiting times of both message classes and derive expressions for the Laplace–Stieltjes transforms (LST) of the stationary distributions and the mean waiting times. We conclude with numerical and simulation results to show the applicability and accuracy of the analytical model. This revised version was published online in June 2006 with corrections to the Cover Date.     

Reduction of false positives in lung nodule detection using a two-level neural classification

The authors have developed a neural-digital computer-aided diagnosis system, based on a parameterized two-level convolution neural network (CNN) architecture and on a special multilabel output encoding procedure. The developed architecture was trained, tested, and evaluated specifically on the problem of diagnosis of lung cancer nodules found on digitized chest radiographs. The system performs automatic "suspect" localization, feature extraction, and diagnosis of a particular pattern-class aimed at a high degree of "true-positive fraction" detection and low "false-positive fraction" detection. In this paper, the authors aim at the presentation of the two-level neural classification method in reducing false-positives in their system. They employed receiver operating characteristics (ROC) method with the area under the ROC curve (A(z)) as the performance index to evaluate all the simulation results. The two-level CNN showed superior performance (A(z)=0.93) to the single-level CNN (A(z)=0.85). The proposed two-level CNN architecture is proven to be promising and to be extensible, problem-independent, and therefore, applicable to other medical or difficult diagnostic tasks in two-dimensional (2-D) image environments.     

Realistic image synthesis of a deformable living thing based on motion understanding

This paper describes a system that can synthesize realistic sequential images of moving goldfish based on the image understanding result of real goldfish. To analyze and synthesize images in real-time, we have constructed a hardware system that consists of 32 paralell transputers with a high-speed visual-data interface called VIT (Visual Interface for Transpputer Network). The system is very flexible and powerful for various types of image processing because it can be extended according to the required computational cost. In the understanding process, we assume that the target object, a goldfish in this case, deforms its shape pliably in 3-D space and moves only in a two-dimensional direction. A modeling, called the Bone-Structured Solid Modeler, which is suitable for representing deformable objects such as living things, plays an important role in the understanding and synthesis processes of the deformable object. Three types of constraints for motion, namely, static, dynamic, and object, are utilized to verify the estimated pose and orientation of the object. In the motion synthesis process, realistic moving images are synthesized by controlling the model employing the motion understanding result. Simulation results are presented to show the effectiveness of the system. The technology discussed in this paper is expected to play a key role in the realization of future visual human interfaces.