Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

An investigation of seated postural stability

Results of tests undertaken to identify which measures of seated posture control are most effective in two areas, distinguishing differences in the x and y direction control strategies for a given task and distinguishing differences in overall control strategies for pairs of different tasks, are presented. The test platform, calibration tests, test protocol, and data analysis method are described. The results of statistical analyses performed on the data are summarized     

An electrical network approach to the analysis of semiconductordevices

A simple electrical network is used to represent the five differential equations describing basic phenomena in one-dimensional semiconductor devices. Both standard and integrated approaches for solving transport equations are developed. Also, an electrical network equivalent for the nonlinear Poisson equation was derived. It allows students to better understand the physical phenomena and the process of computer simulation of such semiconductor devices     

A 56 mm twin aperture model dipole magnet for the large hadroncollider

A 56 mm twin aperture model dipole magnet for the large hadron collider has been built at CERN. The magnet design incorporates stainless steel collars and a special yoke structure to minimize saturation-induced field errors. The magnet has proved to be the most successful model prototype constructed so far. In the tests the design field of 10.0 Tesla was achieved with a record-short training. In this paper, the quench performance and the electromagnetic behavior of the magnet are presented and discussed     

Heading towards an advanced signalling system for multimedia,multiparty services in broadband ISDN

Introduction of the broadband integrated services digital network (B-ISDN) will enable network users to make use of advanced multimedia, multiparty services. With this aim in view, RACE II project R2044, MAGIC, is investigating long-term signalling requirements, architecture and protocols for B-ISDN. New service concepts are being developed in MAGIC which will provide more flexibility when compared to narrowband ISDN (N-ISDN). The service requirements and other signalling requirements, such as the separation between call and associated connections at the network-node interface, are used to determine the distribution of functions over the network. The signalling protocols which are used to exchange the signalling information are subsequently developed. These signalling protocols are simulated to prove the performance and the feasibility of call handling concepts