Indoor Autonomous Vehicle Navigation A Feasibility Study Based on Infrared Technology
|
|
- Leonard Wiggins
- 5 years ago
- Views:
Transcription
1 Concept Pper Indoor utonomous Vehicle Nvigtion Fesibility Study Bsed on Infrred Technology Ry-Shine Run Zhi-Yu Xio * ID Deprtment Electronics Engineering, Ntionl United University, Mioli, Tiwn; rsrun@nuu.edu.tw * Correspondence: xio830525x@gmil.com Received: 6 September 2017; ccepted: 8 Jnury 2018; Published: 10 Jnury 2018 bstrct: ppliction utonomous s hs grown drmticlly in recent yers. Not only hs ril-guided (RGV) been used widely in trditionl production lines, utomtic guided (GV) hs lso been incresingly used. Positioning pth plnning re two mjor functions utonomous s; however, re re mny wys to fulfill bove requirements. infrred remote control hs been hevily successfully used in home pplinces for decdes, which hs encourged us to pply this mture cost-effective technology to n utonomous. By decoding coded signl from infrred light-emitting diode (LED), which is equipped on ceiling, utonomous cn be positioned with n ccurcy less thn 50 mm. On or h, by chnging bem pttern infrred light from ceiling, n invisible route cn be produced on ground. Tht is to sy, insted trditionl ril-guided method, se invisible pths cn guide utonomous. We hve implemented prototype n utonomous system bsed on bove concept, with im creting simple relible pproch for nvigtion n indoor utonomous. Keywords: utonomous ; positioning; pth plnning; infrred; invisible route 1. Introduction Positioning is key technology tht enbles development indoor utonomous s. re re vrious kinds useful pproches, such s rdio frequency identifiction (RFID) [1 3], ZigBee, WiFi [4 7], hve been proved in mny reserch studies over pst yers. Recently, robotics compny (Mrvelmind Robotics: Sunnyvle, C, US) hs even lunched n Indoor GPS with ±2 cm precision bsed on sttionry ultrsonic becons united by rdio interfce in license-free b [8]. Indeed, most problems positioning could be solved by ny bove methods. However, this pper verifies cost-effective method utilizing infrred technology. Not only cn positioning test be ccomplished by mking use mture encoding technology infrred signl, pth plnning hs lso been demonstrted by use invisible route (described ltter). Eventully, bsed on infrred technology, simple method for nvigtion n indoor utonomous hs been presented in this rticle. 2. Methods 2.1. Mechnicl Since crrying bility is not n issue for this study, smll toy-like tricycle ws dopted s test, which is shown on left in 1. re re two wheels, which re driven by dc motors, one in front, one idler in bck. chssis is mde up trnsprent crylic bord tht cn be used s pylod spce for electronic system (shown on right in 1). ppl. Syst. Innov. 2018, 1, 4; doi: /si
2 ppl. Syst. Innov. 2018, 1, ppl. Syst. Innov. 2018, 1, ppl. Syst. Innov. 2018, 1, () (b) () (b) 1. () Test ; (b) electronic system. 1. () 1. () Test Test ; (b) (b) electronic system Electronic Electronic Electronic Most efforts hve been focused on electronic issues. block digrm electronic Most Most efforts efforts hve hve been been focused focused on on electronic issues. issues. block digrm electronic system for test is shown in 2. detils re described below. system system for for test test is shown is shown in in detils detils re re described below. below. H Bridge H Bridge Driver 1 Driver 1 PWM-1 PWM-1 MCU MCU PWM-2 PWM-2 H-Bridge H-Bridge Driver-1 DC DC DC DC MOTOR-1 Ultrsonic Infrred MOTOR-2 Sensor x 5x 5 Module x 3x 3 Power Power Bnk Bnk (5 (5 Volt) Volt) 2. block digrm electronic system. MCU: microcontroller. PWM: pulse block block digrm digrm electronic electronic system. system. MCU: MCU: microcontroller. PWM: pulse width width modultion. modultion. modultion Motion Motion Motion Control Control Control two two two dc dc dc motors, motors, motors, DC DC DC MOTOR-1 MOTOR 1 MOTOR 1 DC DC DC MOTOR-2, MOTOR 2, MOTOR 2, re re re driven driven by by by H-Bridge H Bridge H Bridge Driver-1 Driver 1 Driver 1 H-Bridge H Bridge H Bridge Driver-2, Driver 2, Driver 2, respectively, respectively, PWM-1 PWM 1 PWM 1 PWM-2 PWM 2 PWM 2 signls, signls, which which re re provided provided by by microcontroller (MCU), (MCU), re re designed designed to complete to complete motion motion control control test. test. By djusting By djusting microcontroller (MCU), re designed to complete motion control test. By djusting duty rtio duty rtio PWM signls ppropritely, PWM signls ppropritely, four bsic types motion four bsic (forwrd/bckwrd/left types motion duty rtio PWM signls ppropritely, four bsic types motion turn/right (forwrd/bckwrd/left turn) cn be conducted turn/right well. turn) cn H-Bridge be conducted driverwell. hs been pplied H Bridge indriver mny hs reserch been (forwrd/bckwrd/left turn/right turn) cn be conducted well. H Bridge driver hs been studies pplied [9,10]; in mny thus, reserch its detils studies re omitted [9,10]; thus, here. its On detils re or omitted h, here. test On or hs h, lso been test pplied in mny reserch studies [9,10]; thus, its detils re omitted here. On or h, test equipped with hs lso fivebeen ultrsonic equipped sensors with (SRF05) five ultrsonic for obstcle sensors detection. (SRF05) for obstcle detection. hs lso been equipped with five ultrsonic sensors (SRF05) for obstcle detection Infrred Infrred Module Module Infrred Module Infrred Module consists n n infrred LED n infrred receiver whichis is shown in Infrred Module consists n infrred LED n infrred receiver which is shown in in infrred LED cn be driven by generl purpose I/O I/O pin pin MCU to MCU trnsmit to trnsmit invisible light (wvelength infrred LED round cn be 900 driven nm). by However, generl to rise purpose noise I/O immunity pin MCU environmentl to trnsmit invisible invisible light (wvelength round 900 nm). However, to rise noise immunity environmentl light, light (wvelength signl round is 900 nm). However, by 38 KHz to rise noise immunity environmentl light, light, infrred signl is modulted by 38-KHz crrier (pulse trin). Furrmore, pulse distnce encoding infrred ( signl so is clled modulted Nippon by Electric 38 KHz Compny crrier (NEC) (pulse infrred trin). Furrmore, (IR) trnsmission pulse protocol) distnce encoding ( so clled Nippon Electric Compny (NEC) infrred (IR) trnsmission protocol) is doptedis encoding dopted ( s so clled protocol Nippon communiction, Electric Compny n (NEC) illustrtion infrred pulse (IR) distnce trnsmission encoding protocol) is shown is s protocol communiction, n illustrtion pulse distnce encoding shown 4. dopted in s 4. protocol communiction, n illustrtion pulse distnce encoding is shown in 4.
3 ppl. Syst. Innov. 2018, 1, ppl. Syst. Innov. 2018, 1, 1, ppl. Syst. Innov. 2018, 1, Infrred LED Infrred LED Infrred Receiver Infrred Receiver 3. infrred module: infrred LED infrred receiver infrred module: infrred LED infrred receiver. 3. infrred module: infrred LED infrred receiver timing timing illustrtion pulse pulse distnce encoding Positioning Positioning n for is in n n illustrtion illustrtion positioning positioning for for utonomous utonomous is is shown shown in in Two Two infrred LED lights re in in B) LED LED lights lights re equipped re equipped in different in different loctions loctions (sttions (sttions B) on ceiling, B) on which ceiling, will continuously which will s trnsmit continuously encoded trnsmit dt encoded s mentioned dt bove. s mentioned So, not bove. only will So, not utonomous only will utonomous know it it is is by wher it know is pproching wher it sttion is pproching by detecting sttion 38K-Hz by detecting pulse trin, 38K Hz utonomous pulse trin, utonomous cn cn lso lso tell tell which sttion it it is is by by decoding encoded infrred signl. s cn lso tell which sttion it is by decoding encoded infrred signl. s mtter course, mtter course, utonomous cn proceed to to vrious missions (ex. Pss through or utonomous cn proceed to vrious missions (ex. Pss through or Sty for 10 s ) by Sty for for s ) s ) by by ppropritely encoding infrred signl from ceiling. ppropritely encoding infrred signl from ceiling. Sttion B Ceiling Sttion Sttion B rrived Pss Pss through Sttion rrived Sty Sty for for s s illustrtion positioning for utonomous. 5. illustrtion positioning for utonomous Invisible Invisible Route Route Invisible Route Insted Insted trditionl trditionl ril guided ril guided (or (or line trcing) line trcing) method, method, this this reserch reserch hs hs dopted dopted simple simple Insted cost effective cost effective trditionl pproch pproch ril-guided for for pth pth (or plnning: plnning: line-trcing) invisible invisible method, route route this cused cused reserch by by n n hs infrred infrred dopted bem. bem. simple Precisely Precisely speking, speking, cost-effective re re pproch will will be be n n for invisible invisible pth plnning: light light zone zone produced produced invisible route on on cused ground ground by when when n infrred infrred infrred bem. Precisely projection speking, comes from re willceiling, be n invisible light outer zone contour produced on invisible ground light when zone becomes infrred projection comes from ceiling, outer contour invisible light zone becomes projection invisible comes route. from Furrmore, ceiling, normlly outer round contour type contour invisible will light be zone when becomes infrred invisible LED is invisible route. Furrmore, normlly round type contour will be when infrred LED is route. is equipped Furrmore, stlone normlly on ceiling. round type However, contour re will will be be when semi circulr infrredcontour LED istype equipped if n equipped stlone on ceiling. However, re will be semi circulr contour type if if n stlone pproprite on piece ceiling. crdbord However, is put reclose willto be semi-circulr infrred LED. contour From type top if n view, pproprite n illustrtion piece pproprite piece crdbord is is put close to to infrred LED. From top view, n illustrtion two types invisible route is shown in 6. two types invisible route is is shown in in 6. 6.
4 ppl. Syst. Innov. 2018, 1, crdbord is put close to infrred LED. From top view, n illustrtion two types invisible ppl. Syst. Innov. 2018, 1, route is shown in 6. ppl. Syst. Innov. 2018, 1, Stlone LED Stlone LED Crdbord Crdbord B B n n illustrtion different invisible routes. routes. 6. n illustrtion different invisible routes. dotted dotted line line rnge rnge in in 6 is 6 is so-clled so clled invisible invisible light zone. light Since zone. Since crdbord crdbord cn block cn dotted line rnge 6 is so clled invisible light zone. Since crdbord cn lmost block hlf lmost hlf infrred projection, infrred projection, it is not hrd it is to not imgine hrd to tht imgine semi-circulr tht semi circulr type contour type block lmost hlf infrred projection, it is not hrd to imgine tht semi circulr type will contour be produced will be byproduced this pproch. by this Obviously, pproch. Obviously, dimeter ( todimeter B) ( semi-circulr to B) portion semi circulr is contour will be produced by this pproch. Obviously, dimeter ( to B) semi circulr interesting portion is prt, interesting which needs prt, furr which explntion. needs furr explntion. portion is interesting prt, which needs furr explntion. n n illustrtion illustrtion invisible invisible line line trcing trcing nvigtion nvigtion is shown is shown in in 7. This 7. illustrtes This illustrtes test n illustrtion invisible line trcing nvigtion is shown in 7. This illustrtes test tht is equipped tht is equipped with two with infrred two infrred receivers receivers pssing through pssing through invisible light invisible zone, light it zone, is test tht is equipped with two infrred receivers pssing through invisible light zone, right on it is right trck on (see trck (see in 7). In in such condition, 7). In such one condition, infrred one receivers infrred will it is right on trck (see in 7). In such condition, one infrred receive receivers 38 will KHz receive crrier; however, 38 KHz crrier; orhowever, receiver gets nothing. or receiver No doubt, gets nothing. No only doubt, needs receivers will receive 38 KHz crrier; however, or receiver gets nothing. No doubt, to drive only twoneeds wheels to t drive sme two speed wheels to keep t on going sme speed right on to keep trck. on going Consider right nor on cse trck. only needs to drive two wheels t sme speed to keep on going right on trck. (see Consider b nor in cse 7), (see in which b in is going 7), deep in which into invisible light is going zone, deep both into Consider nor cse (see b in 7), in which is going deep into invisible two infrred light zone, sensors receive both 38two KHz infrred crrier. sensors Obviously, receive 38 KHz hscrrier. to djust Obviously, rtio invisible light zone, both two infrred sensors receive 38 KHz crrier. Obviously, speed hs two to wheels djust (mke rtio left speed turn) to be two bck wheels on trck. (mke left turn) to be bck on trck. hs to djust rtio speed two wheels (mke left turn) to be bck on trck. b b Infrred Receivers Infrred Receivers Wheel Wheel Wheel Wheel Idler Idler 7. n illustrtion invisible line trcing nvigtion. 7. n illustrtion invisible line trcing nvigtion. 7. n illustrtion invisible line trcing nvigtion Pth Pth Plnning Plnning Pth Plnning Bsiclly, Bsiclly, t lest t lest three three types types pth pth plnning plnning (left turn, (left go turn, stright, go stright, right turn) right re turn) needed re needed in order in for order nbsiclly, utonomous for n t utonomous lest three totypes complete to pth complete plnning mneuver. (left By mneuver. turn, cscding go stright, By multiple cscding right turn) bove multiple re semi-circulr needed bove in type order semi circulr invisible for n routes, type utonomous invisible simple routes, effective to simple complete method effective thtmneuver. fulfilled method By bsic tht cscding fulfilled requirement multiple bsic ws sserted requirement bove in this semi circulr ws reserch. sserted type in reltive invisible this reserch. position routes, djcent simple reltive infrred position effective LEDs, method djcent tht ngle infrred fulfilled inclintion LEDs, bsic requirement crdbord ngle close ws inclintion to sserted infrred this crdbord LED, reserch. re two close key to points reltive infrred position this method. LED, re djcent However, two key infrred points it is lso LEDs, esy this method. to underst However, ngle by inclintion it simple is lso esy geometricl to crdbord underst illustrtions close by to shown simple infrred geometricl LED, 8. re illustrtions two key points shown in this method. 8. However, it is lso esy to underst by simple geometricl illustrtions shown in 8.
5 ppl. Syst. Innov. 2018, 1, ppl. Syst. Innov. 2018, 1, ppl. Syst. Innov. 2018, 1, ppl. Syst. Innov. 2018, 1, Left Turn Left Left Turn Turn Go Stright Go Go Stright Stright Right Turn Right Right Turn Turn n n illustrtion illustrtion pth pth plnning. plnning n n illustrtion illustrtion pth pth plnning. plnning. 3. Results Discussion Results Results Discussion Discussion Experimentl Experimentl setups setups Experimentl Experimentl setups setups Using Using n n f shelf f--shelf internet internet protocol protocol (IP) (IP) cmer cmer with with night night vision, vision, pictures pictures (shown (shown in in n f shelf internet protocol (IP) cmer with night vision, pictures (shown Using 9) 9) n invisible f shelf invisible light light zone internet hve zone protocol been hve cptured been (IP) cmer cptured with with infrred with night vision, LEDs infrred tht pictures re LEDs equipped (shown tht 100 rein 9) invisible light zone been cptured with infrred LEDs tht re equipped 100 cm equipped (L) 9) cm cm invisible (L (Lb) ) bove light 75 cm zone ground, (Lhve b ) bove been respectively. cptured ground, It with is respectively. esy to infrred identify It is LEDs esy two tht to types identify re equipped invisible two 100 types cm (L) invisible 75 cm route (Lb) from bove pictures, ground, since respectively. shrp stright It is esy line to identify prt semi-circulr two types type invisible route cm (L) from 75 pictures, cm (Lb) since bove shrp ground, stright respectively. line prt It is esy semi circulr to identify type two contour types (shown invisible contour route from (shown pictures, on right since in shrp 9) stright is obviously line prt seen. Onsemi circulr or h, type rdii contour (shown on route from right in pictures, 9) since is obviously shrp seen. stright On line or prt h, rdii type two contour invisible (shown light two invisible on right light in zones re 9) round is obviously 60 cm (Rseen. ) On 45 cm (R or h, rdii two invisible light zones re right round in 60 cm 9) (R) is obviously 45 cm (Rb), respectively, or b ), respectively, h, reltionship rdii reltionship between two invisible between rdius light zones rdius re round height 60 for cm (R) infrred 45 cm projection (Rb), respectively, cn be explined with reltionship geometry between demonstrtion rdius zones height re for round infrred 60 cm (R) projection 45 cm cn (Rb), be explined respectively, with geometry reltionship demonstrtion between shown rdius in shown height in for 10. infrred projection cn be explined with geometry demonstrtion shown in height 10. for infrred projection cn be explined with geometry demonstrtion shown in Pictures invisible light zone Pictures invisible light zone. 9. Pictures invisible light zone. θ θ Lb Lb Lb L L L Rb Rb Rb R R R 10. reltionship between rdius height for infrred projection reltionship reltionship between between rdius rdius height height for for infrred infrred projection. projection. 10. reltionship between rdius height for infrred projection. view ngle θ test infrred LED cn be clculted by simple trigonometry below: view view ngle ngle θ test test infrred infrred LED LED cn cn be be clculted clculted by by simple simple trigonometry trigonometry below: below: tn(θ/2) = R/L = Rb/Lb (1) tn(θ/2) R/L Rb/Lb tn(θ/2) = (1) R/L = Rb/Lb (1) ccording to experiment dt mentioned bove, derived vlue θ is round 62 degrees ccording to experiment dt mentioned bove, derived vlue is round 62 degrees for both ccording cses, to this experiment is consistent dt with mentioned specifiction bove, (50~60 derived degrees) vlue θ IR is remote round control 62 degrees for for both both cses, cses, this this is is consistent consistent with with specifiction specifiction (50~60 (50~60 degrees) degrees) IR IR remote remote control control
6 ppl. Syst. Innov. 2018, 1, view ngle θ test infrred LED cn be clculted by simple trigonometry below: tn(θ/2) = R /L = R b /L b (1) ccording to experiment dt mentioned bove, derived vlue θ is round 62 degrees for both cses, this is consistent with specifiction (50~60 degrees) IR remote control ppl. generl ppl. Syst. Syst. Innov. home Innov. 2018, pplinces. 2018, 1, 1, lso, re re few videos cptured by bove IP cmer to demonstrte nvigtion test. n exmple semi-circulr type pth plnning is shown in generl generl home following home pplinces. seril pplinces. lso, frme pictures lso, re re re few videos cptured by bove IP cmer to ( re 11). re few videos re more cptured vivid results by tht bove cn beip wtched cmer into demonstrte nvigtion test. n exmple semi circulr type pth plnning demonstrte supplementry nvigtion mterils. test. n exmple semi circulr type pth plnning is is shown shown in in following following seril seril frme frme pictures pictures ( ( 11). 11) continuous continuous frme frme pictures pictures cptured cptured during during demonstrtion demonstrtion nvigtion. nvigtion. 11. continuous frme pictures cptured during demonstrtion nvigtion ccurcy ccurcy Positioning Positioning 3.2. ccurcy Positioning shows shows n n illustrtion illustrtion positioning positioning experiment. experiment. re re were were three three semi circulr semi circulr type invisible 12routes, shows nmed n illustrtion, B, C, respectively, positioningconctented experiment. into re stright were three line semi-circulr type invisible routes, nmed, B, C, respectively, conctented into stright line for for test. test. type infrred invisible signls routes, nmed sent to, B, invisible C, respectively, zones conctented B were not into encoded, stright however, line for test. infrred signls sent to invisible zones B were not encoded, however, infrred infrred signl signls sent sent to invisible to invisible zone C ws zones encoded Bs were n identifiction not encoded, however, sttion. On infrred infrred signl sent to invisible zone C ws encoded s n identifiction sttion. On or or signl h, to sent increse to invisible ccurcy zone C ws encoded positioning, s n identifiction third infrred receiver sttion. ws Onequipped or in h, h, to increse ccurcy positioning, third infrred receiver ws equipped in to rer increse test ccurcy (see positioning, 12). third infrred receiver ws equipped in rer test rer test (see 12). (see 12). Positioning Positioning Point Point C C B B third third 12. illustrtion positioning illustrtion illustrtion positioning. positioning. In In beginning, beginning, test test moved moved t norml t norml speed speed (greter (greter thn 20 thn cm/s) 20 through cm/s) invisible through routes In invisible beginning, routes B. However, B. it test However, begn to it slow moved begn down t to slow when norml down speed front when infrred (greter front receivers thn 20 cm/s) infrred detected through receivers encoded invisible detected identifiction routes encoded signl. B. However, identifiction n, signl. test it begn n, to continued slow down test to move when continued t reltively front infrred receivers detected encoded identifiction signl. n, test continued to to move move t slower t reltively speed (less reltively slower thn slower speed 10 cm/s) speed (less until (less thn thn cm/s) third receiver cm/s) until until detected third third receiver encoded receiver detected identifiction detected encoded signl, encoded identifiction n stopped identifiction signl, signl, n n stopped stopped immeditely immeditely t t positioning positioning point. point shows shows pictures pictures cptured cptured round round positioning positioning point. point. red red mrk mrk on on ruler ruler ws ws set set s s preset preset position position point. point.
7 ppl. Syst. Innov. 2018, 1, immeditely t positioning point. 13 shows pictures cptured round positioning point. red mrk 10 on ruler ws set s preset position point. ppl. Syst. Innov. 2018, 1, pictures cptured round positioning point. 13. pictures cptured round positioning point. Tble 1 shows dt Tble positioning 1. dt experiment. positioning xperiment. dt in fset row(s) indicte distnce from preset point. ccording to dt in Tble 1, mximum positioning devition is No round Offset 30 mm (mm) Tble 1. dt positioning experiment. Tble 1 shows dt positioning experiment. dt in fset row(s) indicte No distnce from preset point. ccording to dt in Tble 1, mximum positioning devition Offset (mm) is round 30 mm Trjectory nlysis Pth For semi circulr semi-circulr type invisible zone, light drk contrst dimeter mrgin is much stronger thn tht circulr rc mrgin. Tht is to sy, semi-circulr semi circulr type invisible zone is suitble for stright type guidnce. Idelly, trjectory utonomous shouldbe be stright line line when semi circulr semi-circulr type invisible routeis is pplied. Obviously, key problem is: How wide is line? 14 shows illustrtion trjectory nlysis pth. W is width cr body, which equls distnce between between two two front front wheels. wheels. S is S is spcing spcing between between two infrred two receivers infrred receivers in front. However, in front. However, D sts D forsts longitudinl for longitudinl dynmic rnge dynmic rnge trjectory. trjectory. detiled figure detiled is shown figure inis shown 15. in 15. D S W 14. n illustrtion trjectory nlysis pth.
8 stright line when semi circulr type invisible route is pplied. Obviously, key problem is: How wide is line? 14 shows illustrtion trjectory nlysis pth. W is width cr body, which equls distnce between two front wheels. S is spcing between two infrred receivers in front. However, D sts for longitudinl dynmic rnge trjectory. detiled figure is shown in 15. ppl. Syst. Innov. 2018, 1, D S W 14. n illustrtion trjectory nlysis pth. ppl. Syst. Innov. 2018, 1, n illustrtion trjectory nlysis pth. Highest Level Lowest Level D 15. illustrtion longitudinl dynmic rnge trjectory. 15. illustrtion longitudinl dynmic rnge trjectory. pprently, D is highly positively correlted with S. Precisely speking, it cn be expressed pprently, in eqution D is highly below: positively correlted with S. Precisely speking, it cn be expressed in eqution below: D W < S (2) D W < S (2) In this cse, 165 mm 30 mm. Tble shows dt experiment. In this cse, W = 165 mm S = 30 mm. Tble 2 shows dt experiment. Tble 2. dt longitudinl dynmic rnge trjectory. Tble 2. dt longitudinl dynmic rnge trjectory. No Left No (mm) Right Left (mm) (mm) Right (mm) Tble 2 recorded 20 cruise trips test long invisible route t speed 10 cm/s. Tble 2 recorded 20 cruise trips test long invisible route t speed 10 cm/s. For ech trip, Left sts for lowest level tht left wheel reched. Similrly, Right sts For ech trip, Left sts for lowest level tht left wheel reched. Similrly, Right sts for highest level tht right wheel reched. ll dt were mesured in reltive for highest level tht right wheel reched. ll dt were mesured in reltive coordinte coordinte reference to fixed point (origin). finl effort ws to find out mximum reference to fixed point (origin). finl effort ws to find out mximum highest levels highest levels (which ws 268 mm in Tble 2), minimum lowest levels (which ws 93 mm in (which ws 268 mm in Tble 2), minimum lowest levels (which ws 93 mm in Tble 2). Tble 2). D i.e., so clled longitudinl dynmic rnge trjectory should be D i.e., so-clled longitudinl dynmic rnge trjectory should be difference between difference between two extreme vlues, which is: two extreme vlues, which is: D = = 175 (mm) (3) D = = 175 (mm) (3), D W = = 10 (mm) < S (30 mm) (4), D W = = 10 (mm) < S (30 mm) (4) In principle, result is consistent with bove discussion. However, obvious question is: is In principle, smller S result better? is consistent Indeed, with lrger S bove will discussion. led to However, reltively wider obvious stright question line is: is trjectory. smller But, S better? countereffect Indeed, might lrger rise S when will led to S reltively is smller wider thn stright threshold. line trjectory. 16 But, indictes countereffect trjectories might for rise different whensettings S is S. smller thn threshold. 16 indictes trjectories for different settings S. Highest Level Trjectory Lrger ʺSʺ Lowest Level verge Smller ʺSʺ verge Velocity 16. trjectories for different settings S.
9 , D W = = 10 (mm) < S (30 mm) (4) In principle, result is consistent with bove discussion. However, obvious question is: is smller S better? Indeed, lrger S will led to reltively wider stright line trjectory. But, countereffect might rise when S is smller thn threshold. 16 indictes trjectories for different settings S. ppl. Syst. Innov. 2018, 1, Highest Level Trjectory Lrger ʺSʺ Lowest Level verge Smller ʺSʺ verge Velocity 16. trjectories for different settings S. Not only would D D stop stop decresing, verge velocity test test could lso be be significntly reduced when S is smller thn threshold. In this reserch, by tril error, ~ ~2 4 cm is suitble S for for nvigtion on on invisible route. route. In In fct, fct, cruising speed is is nor point concern for for setting S. S. However, we we hve not not devoted too too much effort effort to to this this issue. issue. 4. Conclusions prototype n utonomous system bsed on mture infrred technology hs been implemented. lso, simple relible method positioning pth plnning for indoor nvigtion hs been proved on test. However, re is still much work left to improve nvigtion performnce in prcticl ppliction. For instnce, re must be more useful invisible contours infrred projection, which cn be produced by ingeniously processing crdbord. Furrmore, network tht could effectively mnge lots invisible routes, which my be intrictely linked toger, is nor key problem to be solved. We will continue to invest efforts in bove topics in ner future. Supplementry Mterils: videos this pper re vilble online t Conflicts Interest: uthors declre no conflict interest. References 1. Liu, R.; Koch,.; Zell,. Pth following with pssive UHF RFID received signl strength in unknown environments. In Proceedings Intelligent Robots Systems (IROS), Vilmour, Portugl, 7 12 October Liu, R.; Yuen, C.; Do, T.N.; Tn, U.X. Fusing Similrity-bsed Sequence Ded Reckoning for Indoor Positioning without Trining. IEEE Sens. J. 2017, 17, [CrossRef] 3. Liu, R.; Yuen, C.; Do, T.N.; Jio, D.; Liu, X.; Tn, U.X. Coopertive Reltive Positioning Mobile Users by Fusing IMU Intertil UWB Rnging Informtion. In Proceedings IEEE Interntionl Conference on Robotics utomtion (ICR 2017), Singpore, 29 My 3 June 2017; pp Ting, S.L.; Kwok, S.K.; Tsng,.H.C.; Ho, G.T.S. Study on Using Pssive RFID Tgs for Indoor Positioning. Int. J. Eng. Bus. Mng. 2011, 3, [CrossRef] 5. Weekly, K.; Zou, H.; Xie, L.; Ji, Q.S.; Byen,.M. Indoor occupnt positioning system using ctive RFID deployment prticle filters. In Proceedings 2014 IEEE Interntionl Conference on Distributed Computing in Sensor Systems, Mrin Del Rey, C, US, My Zho, Y.; Dong, L.; Wng, J.; Hu, B.; Fu, Y. Implementing indoor positioning system vi ZigBee devices. In Proceedings 42nd silomr Conference on Signls, Systems Computers, Pcific Grove, C, US, October Yng, C.; Sho, H.R. WiFi-bsed indoor positioning. IEEE Commun. Mg. 2015, 53, [CrossRef] 8. Mrvelmind Robotics. Precise (±2 cm) Indoor GPS: For utonomous Robots, Copters VR vilble online:
10 ppl. Syst. Innov. 2018, 1, Run, R.-S.; Yen, J.-C.; Tsi, C.-Y. Low Cost Implementtion GPS Guided Driverless Crs. In Proceedings 5th IEEE Conference on Industril Electronics pplictions (ICIE2010), Tichung, Tiwn, June Run, R.-S.; Chng, Y.-C.; Cheng, F.-C. Strightforwrd pproch utomtic Prking System- Trining-Recording-Ply Bck. In Proceedings 2012 IEEE Interntionl Symposium on Circuits & Systems (ISCS), Seoul, Kore, My by uthors. Licensee MDPI, Bsel, Switzerl. This rticle is n open ccess rticle distributed under terms conditions Cretive Commons ttribution (CC BY) license (
METHOD OF LOCATION USING SIGNALS OF UNKNOWN ORIGIN. Inventor: Brian L. Baskin
METHOD OF LOCATION USING SIGNALS OF UNKNOWN ORIGIN Inventor: Brin L. Bskin 1 ABSTRACT The present invention encompsses method of loction comprising: using plurlity of signl trnsceivers to receive one or
More informationA Novel Back EMF Zero Crossing Detection of Brushless DC Motor Based on PWM
A ovel Bck EMF Zero Crossing Detection of Brushless DC Motor Bsed on PWM Zhu Bo-peng Wei Hi-feng School of Electricl nd Informtion, Jingsu niversity of Science nd Technology, Zhenjing 1003 Chin) Abstrct:
More informationExercise 1-1. The Sine Wave EXERCISE OBJECTIVE DISCUSSION OUTLINE. Relationship between a rotating phasor and a sine wave DISCUSSION
Exercise 1-1 The Sine Wve EXERCISE OBJECTIVE When you hve completed this exercise, you will be fmilir with the notion of sine wve nd how it cn be expressed s phsor rotting round the center of circle. You
More informationMAXIMUM FLOWS IN FUZZY NETWORKS WITH FUNNEL-SHAPED NODES
MAXIMUM FLOWS IN FUZZY NETWORKS WITH FUNNEL-SHAPED NODES Romn V. Tyshchuk Informtion Systems Deprtment, AMI corportion, Donetsk, Ukrine E-mil: rt_science@hotmil.com 1 INTRODUCTION During the considertion
More informationSynchronous Machine Parameter Measurement
Synchronous Mchine Prmeter Mesurement 1 Synchronous Mchine Prmeter Mesurement Introduction Wound field synchronous mchines re mostly used for power genertion but lso re well suited for motor pplictions
More informationSynchronous Machine Parameter Measurement
Synchronous Mchine Prmeter Mesurement 1 Synchronous Mchine Prmeter Mesurement Introduction Wound field synchronous mchines re mostly used for power genertion but lso re well suited for motor pplictions
More informationCHAPTER 2 LITERATURE STUDY
CHAPTER LITERATURE STUDY. Introduction Multipliction involves two bsic opertions: the genertion of the prtil products nd their ccumultion. Therefore, there re two possible wys to speed up the multipliction:
More information& Y Connected resistors, Light emitting diode.
& Y Connected resistors, Light emitting diode. Experiment # 02 Ojectives: To get some hndson experience with the physicl instruments. To investigte the equivlent resistors, nd Y connected resistors, nd
More informationTo provide data transmission in indoor
Hittite Journl of Science nd Engineering, 2018, 5 (1) 25-29 ISSN NUMBER: 2148-4171 DOI: 10.17350/HJSE19030000074 A New Demodultor For Inverse Pulse Position Modultion Technique Mehmet Sönmez Osmniye Korkut
More informationStudy on SLT calibration method of 2-port waveguide DUT
Interntionl Conference on Advnced Electronic cience nd Technology (AET 206) tudy on LT clibrtion method of 2-port wveguide DUT Wenqing Luo, Anyong Hu, Ki Liu nd Xi Chen chool of Electronics nd Informtion
More informationJoanna Towler, Roading Engineer, Professional Services, NZTA National Office Dave Bates, Operations Manager, NZTA National Office
. TECHNICA MEMOANDM To Cc repred By Endorsed By NZTA Network Mngement Consultnts nd Contrctors NZTA egionl Opertions Mngers nd Are Mngers Dve Btes, Opertions Mnger, NZTA Ntionl Office Jonn Towler, oding
More informationDiffraction and Interference. 6.1 Diffraction. Diffraction grating. Diffraction grating. Question. Use of a diffraction grating in a spectrometer
irction nd Intererence 6.1 irction irction grting Circulr dirction irction nd intererence re similr phenomen. Intererence is the eect o superposition o 2 coherent wves. irction is the superposition o mny
More informationMulti-beam antennas in a broadband wireless access system
Multi-em ntenns in rodnd wireless ccess system Ulrik Engström, Mrtin Johnsson, nders Derneryd nd jörn Johnnisson ntenn Reserch Center Ericsson Reserch Ericsson SE-4 84 Mölndl Sweden E-mil: ulrik.engstrom@ericsson.com,
More informationDomination and Independence on Square Chessboard
Engineering nd Technology Journl Vol. 5, Prt, No. 1, 017 A.A. Omrn Deprtment of Mthemtics, College of Eduction for Pure Science, University of bylon, bylon, Irq pure.hmed.omrn@uobby lon.edu.iq Domintion
More informationABB STOTZ-KONTAKT. ABB i-bus EIB Current Module SM/S Intelligent Installation Systems. User Manual SM/S In = 16 A AC Un = 230 V AC
User Mnul ntelligent nstlltion Systems A B 1 2 3 4 5 6 7 8 30 ma 30 ma n = AC Un = 230 V AC 30 ma 9 10 11 12 C ABB STOTZ-KONTAKT Appliction Softwre Current Vlue Threshold/1 Contents Pge 1 Device Chrcteristics...
More informationCS 135: Computer Architecture I. Boolean Algebra. Basic Logic Gates
Bsic Logic Gtes : Computer Architecture I Boolen Algebr Instructor: Prof. Bhgi Nrhri Dept. of Computer Science Course URL: www.ses.gwu.edu/~bhgiweb/cs35/ Digitl Logic Circuits We sw how we cn build the
More informationA Development of Earthing-Resistance-Estimation Instrument
A Development of Erthing-Resistnce-Estimtion Instrument HITOSHI KIJIMA Abstrct: - Whenever erth construction work is done, the implnted number nd depth of electrodes hve to be estimted in order to obtin
More informationEE Controls Lab #2: Implementing State-Transition Logic on a PLC
Objective: EE 44 - Controls Lb #2: Implementing Stte-rnsition Logic on PLC ssuming tht speed is not of essence, PLC's cn be used to implement stte trnsition logic. he dvntge of using PLC over using hrdwre
More informationApplication Note. Differential Amplifier
Appliction Note AN367 Differentil Amplifier Author: Dve n Ess Associted Project: Yes Associted Prt Fmily: CY8C9x66, CY8C7x43, CY8C4x3A PSoC Designer ersion: 4. SP3 Abstrct For mny sensing pplictions, desirble
More informationFirst Round Solutions Grades 4, 5, and 6
First Round Solutions Grdes 4, 5, nd 1) There re four bsic rectngles not mde up of smller ones There re three more rectngles mde up of two smller ones ech, two rectngles mde up of three smller ones ech,
More informationINSTITUTE OF AERONAUTICAL ENGINEERING (Autonomous) Dundigal, Hyderabad
Hll Ticket No Question Pper Code: AEC009 INSTITUTE OF AERONAUTICAL ENGINEERING (Autonomous) Dundigl, Hyderd - 500 043 MODEL QUESTION PAPER Four Yer B.Tech V Semester End Exmintions, Novemer - 2018 Regultions:
More informationMONOCHRONICLE STRAIGHT
UPDATED 09-2010 HYDROCARBON Hydrocrbon is poncho-style cowl in bulky-weight yrn, worked in the round. It ws designed to be s prcticl s it is stylish, with shping tht covers the neck nd shoulders nd the
More informationPolar Coordinates. July 30, 2014
Polr Coordintes July 3, 4 Sometimes it is more helpful to look t point in the xy-plne not in terms of how fr it is horizontlly nd verticlly (this would men looking t the Crtesin, or rectngulr, coordintes
More informationTriangles and parallelograms of equal area in an ellipse
1 Tringles nd prllelogrms of equl re in n ellipse Roert Buonpstore nd Thoms J Osler Mthemtics Deprtment RownUniversity Glssoro, NJ 0808 USA uonp0@studentsrownedu osler@rownedu Introduction In the pper
More informationInterference Cancellation Method without Feedback Amount for Three Users Interference Channel
Open Access Librry Journl 07, Volume, e57 ISSN Online: -97 ISSN Print: -9705 Interference Cncelltion Method without Feedbc Amount for Three Users Interference Chnnel Xini Tin, otin Zhng, Wenie Ji School
More informationSimulation of Transformer Based Z-Source Inverter to Obtain High Voltage Boost Ability
Interntionl Journl of cience, Engineering nd Technology Reserch (IJETR), olume 4, Issue 1, October 15 imultion of Trnsformer Bsed Z-ource Inverter to Obtin High oltge Boost Ability A.hnmugpriy 1, M.Ishwry
More informationThe Math Learning Center PO Box 12929, Salem, Oregon Math Learning Center
Resource Overview Quntile Mesure: Skill or Concept: 300Q Model the concept of ddition for sums to 10. (QT N 36) Model the concept of sutrction using numers less thn or equl to 10. (QT N 37) Write ddition
More informationGeometric quantities for polar curves
Roerto s Notes on Integrl Clculus Chpter 5: Bsic pplictions of integrtion Section 10 Geometric quntities for polr curves Wht you need to know lredy: How to use integrls to compute res nd lengths of regions
More informationHigh-speed Simulation of the GPRS Link Layer
989 High-speed Simultion of the GPRS Link Lyer J Gozlvez nd J Dunlop Deprtment of Electronic nd Electricl Engineering, University of Strthclyde 204 George St, Glsgow G-lXW, Scotlnd Tel: +44 4 548 206,
More informationExample. Check that the Jacobian of the transformation to spherical coordinates is
lss, given on Feb 3, 2, for Mth 3, Winter 2 Recll tht the fctor which ppers in chnge of vrible formul when integrting is the Jcobin, which is the determinnt of mtrix of first order prtil derivtives. Exmple.
More informationDESIGN OF CONTINUOUS LAG COMPENSATORS
DESIGN OF CONTINUOUS LAG COMPENSATORS J. Pulusová, L. Körösi, M. Dúbrvská Institute of Robotics nd Cybernetics, Slovk University of Technology, Fculty of Electricl Engineering nd Informtion Technology
More information(1) Non-linear system
Liner vs. non-liner systems in impednce mesurements I INTRODUCTION Electrochemicl Impednce Spectroscopy (EIS) is n interesting tool devoted to the study of liner systems. However, electrochemicl systems
More informationUniversity of North Carolina-Charlotte Department of Electrical and Computer Engineering ECGR 4143/5195 Electrical Machinery Fall 2009
Problem 1: Using DC Mchine University o North Crolin-Chrlotte Deprtment o Electricl nd Computer Engineering ECGR 4143/5195 Electricl Mchinery Fll 2009 Problem Set 4 Due: Thursdy October 8 Suggested Reding:
More informationREVIEW, pages
REVIEW, pges 510 515 6.1 1. Point P(10, 4) is on the terminl rm of n ngle u in stndrd position. ) Determine the distnce of P from the origin. The distnce of P from the origin is r. r x 2 y 2 Substitute:
More informationThe Discussion of this exercise covers the following points:
Exercise 4 Bttery Chrging Methods EXERCISE OBJECTIVE When you hve completed this exercise, you will be fmilir with the different chrging methods nd chrge-control techniques commonly used when chrging Ni-MI
More informationMEASURE THE CHARACTERISTIC CURVES RELEVANT TO AN NPN TRANSISTOR
Electricity Electronics Bipolr Trnsistors MEASURE THE HARATERISTI URVES RELEVANT TO AN NPN TRANSISTOR Mesure the input chrcteristic, i.e. the bse current IB s function of the bse emitter voltge UBE. Mesure
More informationRedundancy Data Elimination Scheme Based on Stitching Technique in Image Senor Networks
Sensors & Trnsducers 204 by IFSA Publishing, S. L. http://www.sensorsportl.com Redundncy Dt Elimintion Scheme Bsed on Stitching Technique in Imge Senor Networks hunling Tng hongqing Technology nd Business
More information10.4 AREAS AND LENGTHS IN POLAR COORDINATES
65 CHAPTER PARAMETRIC EQUATINS AND PLAR CRDINATES.4 AREAS AND LENGTHS IN PLAR CRDINATES In this section we develop the formul for the re of region whose oundry is given y polr eqution. We need to use the
More informationElectronic Circuits I - Tutorial 03 Diode Applications I
Electronic Circuits I - Tutoril 03 Diode Applictions I -1 / 9 - T & F # Question 1 A diode cn conduct current in two directions with equl ese. F 2 When reverse-bised, diode idelly ppers s short. F 3 A
More informationLecture 16: Four Quadrant operation of DC Drive (or) TYPE E Four Quadrant chopper Fed Drive: Operation
Lecture 16: Four Qudrnt opertion of DC Drive (or) TYPE E Four Qudrnt chopper Fed Drive: Opertion The rmture current I is either positive or negtive (flow in to or wy from rmture) the rmture voltge is lso
More informationLecture 20. Intro to line integrals. Dan Nichols MATH 233, Spring 2018 University of Massachusetts.
Lecture 2 Intro to line integrls Dn Nichols nichols@mth.umss.edu MATH 233, Spring 218 University of Msschusetts April 12, 218 (2) onservtive vector fields We wnt to determine if F P (x, y), Q(x, y) is
More informationSOLVING TRIANGLES USING THE SINE AND COSINE RULES
Mthemtics Revision Guides - Solving Generl Tringles - Sine nd Cosine Rules Pge 1 of 17 M.K. HOME TUITION Mthemtics Revision Guides Level: GCSE Higher Tier SOLVING TRIANGLES USING THE SINE AND COSINE RULES
More informationCHAPTER 3 AMPLIFIER DESIGN TECHNIQUES
CHAPTER 3 AMPLIFIER DEIGN TECHNIQUE 3.0 Introduction olid-stte microwve mplifiers ply n importnt role in communiction where it hs different pplictions, including low noise, high gin, nd high power mplifiers.
More informationSpiral Tilings with C-curves
Spirl Tilings with -curves Using ombintorics to Augment Trdition hris K. Plmer 19 North Albny Avenue hicgo, Illinois, 0 chris@shdowfolds.com www.shdowfolds.com Abstrct Spirl tilings used by rtisns through
More informationSection 17.2: Line Integrals. 1 Objectives. 2 Assignments. 3 Maple Commands. 1. Compute line integrals in IR 2 and IR Read Section 17.
Section 7.: Line Integrls Objectives. ompute line integrls in IR nd IR 3. Assignments. Red Section 7.. Problems:,5,9,,3,7,,4 3. hllenge: 6,3,37 4. Red Section 7.3 3 Mple ommnds Mple cn ctully evlute line
More informationLATEST CALIBRATION OF GLONASS P-CODE TIME RECEIVERS
LATEST CALIBRATION OF GLONASS P-CODE TIME RECEIVERS A. Fos 1, J. Nwroci 2, nd W. Lewndowsi 3 1 Spce Reserch Centre of Polish Acdemy of Sciences, ul. Brtyc 18A, 00-716 Wrsw, Polnd; E-mil: fos@c.ww.pl; Tel.:
More informationImproving synchronized transfers in public transit networks using real-time tactics
Improving synchronized trnsfers in public trnsit networks using rel-time tctics Zhongjun Wu 1,2,3, Grhm Currie 3, Wei Wng 1,2 1 Jingsu Key Lbortory of Urbn ITS, Si Pi Lou 2#, Nnjing, 210096, Chin 2 School
More informationSolutions to exercise 1 in ETS052 Computer Communication
Solutions to exercise in TS52 Computer Communiction 23 Septemer, 23 If it occupies millisecond = 3 seconds, then second is occupied y 3 = 3 its = kps. kps If it occupies 2 microseconds = 2 6 seconds, then
More informationUnderstanding Basic Analog Ideal Op Amps
Appliction Report SLAA068A - April 2000 Understnding Bsic Anlog Idel Op Amps Ron Mncini Mixed Signl Products ABSTRACT This ppliction report develops the equtions for the idel opertionl mplifier (op mp).
More informationExperiment 3: Non-Ideal Operational Amplifiers
Experiment 3: Non-Idel Opertionl Amplifiers Fll 2009 Equivlent Circuits The bsic ssumptions for n idel opertionl mplifier re n infinite differentil gin ( d ), n infinite input resistnce (R i ), zero output
More informationOpen Access A Novel Parallel Current-sharing Control Method of Switch Power Supply
Send Orders for Reprints to reprints@enthmscience.e 170 The Open Electricl & Electronic Engineering Journl, 2014, 8, 170-177 Open Access A Novel Prllel Current-shring Control Method of Switch Power Supply
More informationCAL. NX15 DUO-DISPLAY QUARTZ
L. NX15 UO-ISPLY QURTZ l nlogue time disply l igitl time nd clendr l hronogrph l Tchymeter l t recll function l lrm l Illuminting light (Electroluminescent pnel) ENGLISH Illuminting light (TIME/LENR mode
More informationFoot-Pedal: Haptic Feedback Human Interface Bridging Sensational Gap between Remote Places
Foot-Pedl: Hptic Feedbck Humn Interfce Bridging Senstionl Gp between Remote Plces Mincheol Kim 1, De-Keun Yoon 2, Shin-Young Kim 1, Ji-Hi Cho 1, Kwng-Kyu Lee 1, Bum-Je You 1,3 1 Center of Humn-centered
More informationMagnetic monopole field exposed by electrons
Mgnetic monopole field exposed y electrons A. Béché, R. Vn Boxem, G. Vn Tendeloo, nd J. Vereeck EMAT, University of Antwerp, Groenenorgerln 171, 22 Antwerp, Belgium Opticl xis Opticl xis Needle Smple Needle
More informationDYE SOLUBILITY IN SUPERCRITICAL CARBON DIOXIDE FLUID
THERMAL SCIENCE, Yer 2015, Vol. 19, No. 4, pp. 1311-1315 1311 DYE SOLUBILITY IN SUPERCRITICAL CARBON DIOXIDE FLUID by Jun YAN, Li-Jiu ZHENG *, Bing DU, Yong-Fng QIAN, nd Fng YE Lioning Provincil Key Lbortory
More informationThis is a repository copy of Effect of power state on absorption cross section of personal computer components.
This is repository copy of Effect of power stte on bsorption cross section of personl computer components. White Rose Reserch Online URL for this pper: http://eprints.whiterose.c.uk/10547/ Version: Accepted
More informationJUMO Wtrans B Programmable Head Transmitter with Radio Transmission
Dt Sheet 707060 Seite 1/10 JUMO Wtrns B Progrmmble Hed Trnsmitter with Rdio Trnsmission Brief description The Wtrns B hed trnsmitter with wireless dt trnsmission is used in connection with Wtrns receiver
More informationLab 8. Speed Control of a D.C. motor. The Motor Drive
Lb 8. Speed Control of D.C. motor The Motor Drive Motor Speed Control Project 1. Generte PWM wveform 2. Amplify the wveform to drive the motor 3. Mesure motor speed 4. Mesure motor prmeters 5. Control
More informationSeven Sisters. Visit for video tutorials
Seven Sisters This imge is from www.quiltstudy.org. Plese visit this website for more informtion on Seven Sisters quilt ptterns. Visit www.blocloc.com for video tutorils 1 The Seven Sisters design cn be
More informationPB-735 HD DP. Industrial Line. Automatic punch and bind machine for books and calendars
PB-735 HD DP Automtic punch nd bind mchine for books nd clendrs A further step for the utomtion of double loop binding. A clever nd flexible mchine ble to punch nd bind in line up to 9/16. Using the best
More informationExperiment 3: Non-Ideal Operational Amplifiers
Experiment 3: Non-Idel Opertionl Amplifiers 9/11/06 Equivlent Circuits The bsic ssumptions for n idel opertionl mplifier re n infinite differentil gin ( d ), n infinite input resistnce (R i ), zero output
More informationThree-Phase Synchronous Machines The synchronous machine can be used to operate as: 1. Synchronous motors 2. Synchronous generators (Alternator)
Three-Phse Synchronous Mchines The synchronous mchine cn be used to operte s: 1. Synchronous motors 2. Synchronous genertors (Alterntor) Synchronous genertor is lso referred to s lterntor since it genertes
More information* TURNING SPACE ROLLED CURB SIDEWALK RAMP TYPE R (ROLLED SIDES) * TURNING SPACE ** RAMP
* MXIMUM TURNING SPCE IS 2.0% IN ECH DIRECTION OF TRVEL. MINIMUM DIMENSIONS 5' x 5'. SEE NOTES. ** MXIMUM RMP CROSS IS 2.0%, RUNNING 5% - 7% (8.3% MXIMUM). SEE NOTES. "NON-WLKING" RE * TURNING SPCE 24"
More informationTwo-layer slotted-waveguide antenna array with broad reflection/gain bandwidth at millimetre-wave frequencies
Two-lyer slotted-wveguide ntenn rry with rod reflection/gin ndwidth t millimetre-wve frequencies S.-S. Oh, J.-W. Lee, M.-S. Song nd Y.-S. Kim Astrct: A 24 24 slotted-wveguide rry ntenn is presented in
More informationInclined Plane Walking Compensation for a Humanoid Robot
Incline Plne Wlking Compenstion for Humnoi Robot Nttpong Kewlek n Thvi Mneewrn Institute of Fiel Robotics, King Mongkut's University of Technology Thonburi, Bngkok, Thiln (Tel : +662-4709339; E-mil: k.nttpong@hotmil.co.th,
More informationEstimation of Disk Slip Position Error for Mobile Hard Disk Drives
Estimtion of Disk Slip Position Error for Mobile Hrd Disk Drives Peiqi Pn,, Yong Xio, Zhe Zheng,. College of Informtion Engineering Shenyng University of Chemicl Technology Shenyng, Lioning, 4, P.. Chin.
More informationPostprint. This is the accepted version of a paper presented at IEEE PES General Meeting.
http://www.div-portl.org Postprint This is the ccepted version of pper presented t IEEE PES Generl Meeting. Cittion for the originl published pper: Mhmood, F., Hooshyr, H., Vnfretti, L. (217) Sensitivity
More informationUniversity of Dayton Research Institute Dayton, Ohio, Materials Laboratory Wright Patterson AFB, Ohio,
LEAKY PLATE WAVE INSPECTION OF BIAXIAL COMPOSITES Richrd W. Mrtin University of Dyton Reserch Institute Dyton, Ohio, 45469-0001 Dle E. Chimenti Mterils Lortory Wright Ptterson AFB, Ohio, 45433-6533 INTRODUCTION
More informationKyushu Institute of Technology
Title: Integrted Rescue Service Stellite (IRS-St) Primry Point of Contct (POC): Mohmed Ibrhim Co-uthors: Btsuren Amglnbt, Puline Fure, Kevin Chou Orgniztion:, 1-1 Sensui, Tobt, Kitkyushu 804-8550, Jpn
More informationc The scaffold pole EL is 8 m long. How far does it extend beyond the line JK?
3 7. 7.2 Trigonometry in three dimensions Questions re trgeted t the grdes indicted The digrm shows the ck of truck used to crry scffold poles. L K G m J F C 0.8 m H E 3 m D 6.5 m Use Pythgors Theorem
More informationY9.ET1.3 Implementation of Secure Energy Management against Cyber/physical Attacks for FREEDM System
Y9.ET1.3 Implementtion of Secure Energy ngement ginst Cyber/physicl Attcks for FREED System Project Leder: Fculty: Students: Dr. Bruce cillin Dr. o-yuen Chow Jie Dun 1. Project Gols Develop resilient cyber-physicl
More informationEET 438a Automatic Control Systems Technology Laboratory 5 Control of a Separately Excited DC Machine
EE 438 Automtic Control Systems echnology bortory 5 Control of Seprtely Excited DC Mchine Objective: Apply proportionl controller to n electromechnicl system nd observe the effects tht feedbck control
More informationModule 9. DC Machines. Version 2 EE IIT, Kharagpur
Module 9 DC Mchines Version EE IIT, Khrgpur esson 40 osses, Efficiency nd Testing of D.C. Mchines Version EE IIT, Khrgpur Contents 40 osses, efficiency nd testing of D.C. mchines (esson-40) 4 40.1 Gols
More informationDesign and Modeling of Substrate Integrated Waveguide based Antenna to Study the Effect of Different Dielectric Materials
Design nd Modeling of Substrte Integrted Wveguide bsed Antenn to Study the Effect of Different Dielectric Mterils Jgmeet Kour 1, Gurpdm Singh 1, Sndeep Ary 2 1Deprtment of Electronics nd Communiction Engineering,
More informationEngineer-to-Engineer Note
Engineer-to-Engineer Note EE-236 Technicl notes on using Anlog Devices DSPs, processors nd development tools Contct our technicl support t dsp.support@nlog.com nd t dsptools.support@nlog.com Or visit our
More informationECE 274 Digital Logic. Digital Design. Datapath Components Shifters, Comparators, Counters, Multipliers Digital Design
ECE 27 Digitl Logic Shifters, Comprtors, Counters, Multipliers Digitl Design..7 Digitl Design Chpter : Slides to ccompny the textbook Digitl Design, First Edition, by Frnk Vhid, John Wiley nd Sons Publishers,
More informationINTRODUCTION TO TRIGONOMETRY AND ITS APPLICATIONS
CHAPTER 8 INTRODUCTION TO TRIGONOMETRY AND ITS APPLICATIONS (A) Min Concepts nd Results Trigonometric Rtios of the ngle A in tringle ABC right ngled t B re defined s: sine of A = sin A = side opposite
More informationAlgorithms for Memory Hierarchies Lecture 14
Algorithms for emory Hierrchies Lecture 4 Lecturer: Nodri Sitchinv Scribe: ichel Hmnn Prllelism nd Cche Obliviousness The combintion of prllelism nd cche obliviousness is n ongoing topic of reserch, in
More informationEnergy Harvesting Two-Way Channels With Decoding and Processing Costs
IEEE TRANSACTIONS ON GREEN COMMUNICATIONS AND NETWORKING, VOL., NO., MARCH 07 3 Energy Hrvesting Two-Wy Chnnels With Decoding nd Processing Costs Ahmed Arf, Student Member, IEEE, Abdulrhmn Bknin, Student
More informationDigital Design. Chapter 1: Introduction
Digitl Design Chpter : Introduction Slides to ccompny the textbook Digitl Design, with RTL Design, VHDL, nd Verilog, 2nd Edition, by, John Wiley nd Sons Publishers, 2. http://www.ddvhid.com Copyright 2
More informationArea-Time Efficient Digit-Serial-Serial Two s Complement Multiplier
Are-Time Efficient Digit-Seril-Seril Two s Complement Multiplier Essm Elsyed nd Htem M. El-Boghddi Computer Engineering Deprtment, Ciro University, Egypt Astrct - Multipliction is n importnt primitive
More informationMixed CMOS PTL Adders
Anis do XXVI Congresso d SBC WCOMPA l I Workshop de Computção e Aplicções 14 20 de julho de 2006 Cmpo Grnde, MS Mixed CMOS PTL Adders Déor Mott, Reginldo d N. Tvres Engenhri em Sistems Digitis Universidde
More informationCompared to generators DC MOTORS. Back e.m.f. Back e.m.f. Example. Example. The construction of a d.c. motor is the same as a d.c. generator.
Compred to genertors DC MOTORS Prepred by Engr. JP Timol Reference: Electricl nd Electronic Principles nd Technology The construction of d.c. motor is the sme s d.c. genertor. the generted e.m.f. is less
More informationSoft switched DC-DC PWM Converters
Soft switched DC-DC PWM Converters Mr.M. Prthp Rju (), Dr. A. Jy Lkshmi () Abstrct This pper presents n upgrded soft switching technique- zero current trnsition (ZCT), which gives better turn off chrcteristics
More informationTIME: 1 hour 30 minutes
UNIVERSITY OF AKRON DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING 4400: 34 INTRODUCTION TO COMMUNICATION SYSTEMS - Spring 07 SAMPLE FINAL EXAM TIME: hour 30 minutes INSTRUCTIONS: () Write your nme
More informationEngineer-to-Engineer Note
Engineer-to-Engineer Note EE-247 Technicl notes on using Anlog Devices DSPs, processors nd development tools Contct our technicl support t dsp.support@nlog.com nd t dsptools.support@nlog.com Or visit our
More informationA Comparative Analysis of Algorithms for Determining the Peak Position of a Stripe to Sub-pixel Accuracy
A Comprtive Anlysis of Algorithms for Determining the Pek Position of Stripe to Sub-pixel Accurcy D.K.Nidu R.B.Fisher Deprtment of Artificil Intelligence, University of Edinburgh 5 Forrest Hill, Edinburgh
More informationAbacaba-Dabacaba! by Michael Naylor Western Washington University
Abcb-Dbcb! by Michel Nylor Western Wshington University The Abcb structure shows up in n mzing vriety of plces. This rticle explores 10 surprising ides which ll shre this pttern, pth tht will tke us through
More informationSection 16.3 Double Integrals over General Regions
Section 6.3 Double Integrls over Generl egions Not ever region is rectngle In the lst two sections we considered the problem of integrting function of two vribles over rectngle. This sitution however is
More informationProducts no longer available
echnicl dt sheet otry ctutor F2-P(-O) ultifunctionl rotry ctutor with emergency control for 2 nd 3 wy control bll vlve orque Nm Nominl voltge C/DC 2 V Control: odulting DC... V or vrible Position feedbck
More informationA Simple Approach to Control the Time-constant of Microwave Integrators
5 VOL., NO.3, MA, A Simple Approch to Control the Time-constnt of Microwve Integrtors Dhrmendr K. Updhyy* nd Rkesh K. Singh NSIT, Division of Electronics & Communiction Engineering New Delhi-78, In Tel:
More informationEngineer-to-Engineer Note
Engineer-to-Engineer Note EE-297 Technicl notes on using Anlog Devices DSPs, processors nd development tools Visit our Web resources http://www.nlog.com/ee-notes nd http://www.nlog.com/processors or e-mil
More information9.4. ; 65. A family of curves has polar equations. ; 66. The astronomer Giovanni Cassini ( ) studied the family of curves with polar equations
54 CHAPTER 9 PARAMETRIC EQUATINS AND PLAR CRDINATES 49. r, 5. r sin 3, 5 54 Find the points on the given curve where the tngent line is horizontl or verticl. 5. r 3 cos 5. r e 53. r cos 54. r sin 55. Show
More informationA Slot-Asynchronous MAC Protocol Design for Blind Rendezvous in Cognitive Radio Networks
Globecom 04 - Wireless Networking Symposium A Slot-Asynchronous MAC Protocol Design for Blind Rendezvous in Cognitive Rdio Networks Xingy Liu nd Jing Xie Deprtment of Electricl nd Computer Engineering
More informationDesign and implementation of a high-speed bit-serial SFQ adder based on the binary decision diagram
INSTITUTE OFPHYSICS PUBLISHING Supercond. Sci. Technol. 16 (23) 1497 152 SUPERCONDUCTORSCIENCE AND TECHNOLOGY PII: S953-248(3)67111-3 Design nd implementtion of high-speed it-seril SFQ dder sed on the
More informationDataflow Language Model. DataFlow Models. Applications of Dataflow. Dataflow Languages. Kahn process networks. A Kahn Process (1)
The slides contin revisited mterils from: Peter Mrwedel, TU Dortmund Lothr Thiele, ETH Zurich Frnk Vhid, University of liforni, Riverside Dtflow Lnguge Model Drsticlly different wy of looking t computtion:
More informationArduino for Model Railroaders
Steve Mssikker Arduino for Model Rilroders Ornge Book Protocol 2 Full Description November 28 Tble of contents Dontors Documenttion Kit V.4-8 Pge 2 I wnt to tke the time to sincerely thnk you for your
More informationNetwork Theorems. Objectives 9.1 INTRODUCTION 9.2 SUPERPOSITION THEOREM
M09_BOYL3605_13_S_C09.indd Pge 359 24/11/14 1:59 PM f403 /204/PH01893/9780133923605_BOYLSTAD/BOYLSTAD_NTRO_CRCUT_ANALYSS13_S_978013... Network Theorems Ojectives Become fmilir with the superposition theorem
More informationSection 2.2 PWM converter driven DC motor drives
Section 2.2 PWM converter driven DC motor drives 2.2.1 Introduction Controlled power supply for electric drives re obtined mostly by converting the mins AC supply. Power electronic converter circuits employing
More informationStudy on Application of a Human-Robot Collaborative System Using Hand-Guiding in a Production Line
Study on Appliction of Humn-Robot Collbortive System Using Hnd-Guiding in Production Line FUJII Msku : Mnger, Control & Communiction Technology Deprment, Products Development Center, Corporte Reserch &
More information