Inductive proximity sensor with a flat coil and a new differential relaxation oscillator

A high-sensitivity flat-coil inductive proximity sensor microsystem has been realized and successfully tested. The flat coil, made with CMOS-compatible post processes, is connected to a versatile differential relaxation oscillator electronic interface. In this new and simple interface, the excitation, the signal extraction and amplification are assured by only one operational amplifier. Experimental results on the microsystem confirm that large output frequency variations occur when a metallic target approaches the sensor.     

Experimental evaluation of a multivariable adaptive nonlinear predictive controller

A new multivariable adaptive nonlinear predictive controller is designed using a general nonlinear input-output model and variable transformations. The controller is similar in form to typical linear predictive controllers can be tuned analogously or by specifying a single parameters for each controlled variable. In addition, the design procedure is computationally efficient. The new controller is compared to a multi-loop proportional-integral (PI) controller with one-way static decoupling and to an adaptive linear predictive controller through tests on a simulated nonlinear distillation column. The new controller performed well in an experimental application to a multicomponent distillation column.     

Relaxation phenomena caused by equilibration of point defects

Relaxation phenomena due to equilibration of point defects in metals are reviewed. The relaxation effect in specific heat observed in tungsten and platinum confirms that in both cases the nonlinear increase in the high-temperature specific heat has to be attributed to point-defect formation. Relaxation phenomena observed by measurements of electrical resistivity and positron annihilation are also considered. The comparison of the data seems to be favorable for the conclusion that all the phenomena are of one origin.     

Low-Power Adaptive Biased Integrated Amplifiers

In this paper the author will present the working principle and the applications of a novel adaptive biasing topology, designed to decrease the stand-by power dissipation without affecting the transient performance of low-power amplifiers. The proposed circuit, whose principle and circuit topology can be implemented both in CMOS and in bipolar standard technologies, gives a biasing current whose value depends on the applied input differential voltage and can be set according to the requested transient performance constraints. The adaptive architecture can be utilized in the design of high-efficient low-power operational amplifiers, for the biasing of both the input stage (where the input source current is dynamically increased) and the output stage (where the output current can be controlled and limited). These amplifiers show a very good behaviour, evaluated in terms of two efficiency factors, if compared with those of other adaptive solutions and class-AB topologies, proposed in the literature. Simulation results and also measurements on a chip prototype, fabricated in a standard CMOS technology, are finally presented.     

Gas diffusion and dielectric studies of polystyrene‐fullerene compositions

Polystyrene‐fullerene compositions containing up to 0.45 mol % (3 wt %) fullerene C₆₀ were investigated. It was established that the addition of fullerene to polystyrene (PS) leads to an increase of molecular packing density and so influences the transport of small molecules through the polymer films. Gas diffusion through films of PS‐fullerene compositions is slower than through PS films, and gas separating properties of compositions are higher. Dielectric studies showed that the fullerene is distributed as clusters in the polymer matrix of solid composition prepared from a toluene solution of PS and fullerene. Heating without air to the temperature higher than PS glass transition leads to increasing relaxation time of α‐transition in PS of compositions containing >0.15 mol % (1 wt %) fullerene. This effect is caused by rather strong interaction of PS chains via fullerene molecules entered into the PS‐fullerene complex. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 85: 2946–2951, 2002     

图像处理中自适应数学形态学的研究

实际图像处理中当视场的变化引起目标变形时,固定大小的形态学算子很难达到较好的处理效果。研究了利用距离变换自适应地调整结构元大小的方法,即根据图像的不同位置来调整结构元素的大小,从而实现图像的形态学运算,并由此推导出了快速计算方法,最后测试了这种新算法的有效性。实验结果表明,该算法取得了较为理想的效果。     

垂直腔激光器中弛豫振荡频率的优化控制

从垂直腔面发射的半导体激光器（VCSELs）的结构出发，利用增益与载流子密度的广义对数关系，借助小信号分析法，推出了直接调制情形下驰豫振荡频率的严格解析关系。分析指出，量子阱器件的光子寿命并非越短越好，欲提高VCSELs的驰豫振荡频率，除了增加注入电流，提高微分增益等基本途径外，控制器件的结构参数可使驰豫振荡频率达到极大值。同时，自发辐射因子的可控性，以及降低稳态载流子密度，也都是提高VCSELs驰豫振荡频率和拓宽调制带宽的有效措施。     

Lyapunov‐stable discrete‐time model reference adaptive control

Discrete‐time model reference adaptive control (MRAC) is considered with both least squares and projection algorithm parameter identification. For both cases complete Lyapunov proofs are given for stability and convergence. The results extend the approach of Johansson (Int. J. Control 1989; 50 (3):859–869) to include Lyapunov stability for MRAC when the normalized projection algorithm is used for parameter identification. Copyright © 2005 John Wiley & Sons, Ltd.     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225