Lightweight design and encoderless control of a miniature direct drive linear delta robot

This paper presents the design, integration and experimental validation of a miniature light-weight delta robot targeted to be used for a variety of applications including the pick-place operations, high speed precise positioning and haptic implementations. The improvements brought by the new design contain; the use of a novel light-weight joint type replacing the conventional and heavy bearing structures and realization of encoderless position measurement algorithm based on hall effect sensor outputs of direct drive linear motors. The description of mechanical, electrical and software based improvements are followed by the derivation of a sliding mode controller to handle tracking of planar closed curves represented by elliptic fourier descriptors (EFDs). The new robot is tested in experiments and the validity of the improvements are verified for practical implementation

Model kompanzasyonlu birinci derece istatistikleri ile i-vektörlerin gürbüzlüğünün artırılması

Speaker recognition systems achieved significant improvements over the last decade, especially due to the performance of the i-vectors. Despite the achievements, mismatch between training and test data affects the recognition performance considerably. In this paper, a solution is offered to increase robustness against additive noises by inserting model compensation techniques within the i-vector extraction scheme. For stationary noises, the model compensation techniques produce highly robust systems. Parallel Model Compensation and Vector Taylor Series are considered as state-of-the-art model compensation techniques. Applying these methods to the first order statistics, a noisy total variability space training is aimed, which will reduce the mismatch resulted by additive noises. All other parts of the conventional i-vector scheme remain unchanged, such as total variability matrix training, reducing the i-vector dimensionality, scoring the i-vectors. The proposed method was tested with four different noise types with several signal to noise ratios (SNR) from -6 dB to 18 dB with 6 dB steps. High reductions in equal error rates were achieved with both methods, even at the lowest SNR levels. On average, the proposed approach produced more than 50% relative reduction in equal error rate.Konuşmacı tanıma sistemleri özellikle i-vektörlerin performansı sebebiyle son on yılda önemli gelişmeler elde etmiştir. Bu gelişmelere rağmen eğitim ve test verileri arasındaki uyumsuzluk tanıma performansını önemli ölçüde etkilemektedir. Bu çalışmada, model kompanzasyon yöntemleri i-vektör çıkarımı şemasına eklenerek toplanabilir gürültülere karşı gürbüzlüğü artıracak bir çözüm sunulmaktadır. Durağan gürültüler için model kompanzasyon teknikleri oldukça gürbüz sistemler üretir. Paralel Model Kompanzasyonu ve Vektör Taylor Serileri en gelişmiş model kompanzasyon tekniklerinden kabul edilmektedir. Bu metotlar birinci dereceden istatistiklere uygulanarak toplanabilir gürültülerden kaynaklanan uyumsuzluğu azaltacak gürültülü tüm değişkenlik uzayı eğitimi amaçlanmıştır. Tüm değişkenlik matrisin eğitimi, i-vektör boyutunun azaltılması, i-vektörlerin puanlanması gibi geleneksel i-vektör şemasının diğer tüm parçaları değişmeden kalmaktadır. Önerilen yöntem, 6 dB’lik adımlarla -6 dB’den 18 dB’ye kadar çeşitli sinyal-gürültü oranlarına (SNR) sahip dört farklı gürültü tipi ile test edilmiştir. Her iki yöntemle de en düşük SNR seviyelerinde bile eşit hata oranlarında yüksek azalmalar elde edilmiştir. Önerilen yaklaşım eşik hata oranında ortalama olarak %50’den fazla göreceli azalma sağlamıştır

A selectable-bandwidth 3.5 mW, 0.03 mm(2) self-oscillating Sigma Delta modulator with 71 dB dynamic range at 5 MHz and 65 dB at 10 MHz bandwidth

In this paper we present a dual-mode third order continuous time Sigma Delta modulator that combines noise shaping and pulse-width-modulation (PWM). In our 0.18 micro-m CMOS prototype chip the clock frequency equals 1 GHz, but the PWM carrier is only around 125 MHz. By adjusting the loop filter, the ADC bandwidth can be set to 5 or 10 MHz. In the 5 MHz mode the peak SNDR equals 64 dB and the dynamic range 71 dB. In the 10 MHz mode the peak SNDR equals 58 dB and the DR 65 dB. This performance is achieved at an attractively low silicon area of 0.03 mm^2 and a power consumption of 3.5 mW

Power quality improvement using passive shunt filter, TCR and TSC combination

Power system harmonics are a menace to electric power systems with disastrous consequences. The line current harmonics cause increase in losses, instability, and also voltage distortion. With the proliferation of the power electronics converters and increased use of magnetic, power lines have become highly polluted. Both passive and active filters have been used near harmonic producing loads or at the point of common coupling to block current harmonics. Shunt filters still dominate the harmonic compensation at medium/high voltage level, whereas active filters have been proclaimed for low/medium voltage ratings. With diverse applications involving reactive power together with harmonic compensation, passive filters are found suitable [41]. Passive filtering has been preferred for harmonic compensation in distribution systems due to low cost, simplicity, reliability, and control less operation [42]. The uncontrolled ac-dc converter suffers from operating problems of poor power factor, injection of harmonics into the ac mains, variations in dc link voltage of input ac supply, equipment overheating due to harmonic current absorption, voltage distortion due to the voltage drop caused by harmonic currents flowing through system impedances, interference on telephone and communication line etc. The circuit topologies such as passive filters, ac-dc converter, based improved power quality ac-dc converters are designed, modeled and implemented. The main emphasis of this investigation has been on a compactness of configurations, simplicity in control, reduction in rating of components, thus finally leading to saving in overall cost. Based on thesis considerations, a wide range of configurations of power quality mitigators are developed, which is expected to provide detailed exposure to design engineers to choose a particular configuration for a specific application under the given constraints of economy and desired performance. For bidirectional power flow applications, the current source converter is designed and simulated with R-L load. The necessary modeling and simulations are carried out in MATLAB environment using SIMULINK and power system block set toolboxes. The behavior of different configurations of passive tuned filters on power quality is studied. One of the way out to resolve the issue of reactive power would be using filters and TCR, TSC with combination in the power system. Installing a filter for nonlinear loads connected in power system would help in reducing the harmonic effect. The filters are widely used for reduction of harmonics. With the increase of nonlinear loads in the power system, more and more filters are required. The combinations of passive filters with TCR and TSC are also designed and analyzed to improve the power quality at ac mains. This scheme has resulted in improved power quality with overall reduced rating of passive components used in front end ac-dc converters with R-L load

Study and Application of Silence Model Adaptation for Use in Telephone Speech Recognition System

This paper addresses the problem of the mismatch between a silence model and background noises which often occurs in a telephone speech recognition system (SRS) application. At first, the use of parallel model combination (PMC) methods is studied with the respect to this application. Secondly, the effective adaptation of a silence model to various background noises is confirmed. Finally, an original method combining log-add PMC with a noise power spectral density estimation based on minimum statistics is proposed. The performed tests prove the benefit of the suggested method to the speech recognition results that is caused by the stability of speech vector selection under the influence of various background noises. The advantages can be seen in no extra voice activity detector and in a relatively low computational load

Multi-Type FACTS Controllers for Power System Compensation: A Case Study of the Nigerian 48-Bus, 330 kV System

Flexible alternating current transmission system (FACTS) devices have provided proficient answers to power system instabilities faced in the systems operations today with very little infrastructural investment fund. This paper investigates the effects of the installation of the combination of two kinds of FACTS controllers; static VAR compensator (SVC) and thyristor controlled series compensator (TCSC) compared with the installation of SVC or TCSC alone in the system. Voltage magnitude profile, active and reactive power losses of the three scenarios were achieved in the Nigerian 48-bus power system network using power system analysis toolbox (PSAT) in MATLAB environment. Simulation results obtained without and with FACTS devices optimally placed using voltage stability sensitivity factor (VSSF), revealed that the percentage decrease of the net real and reactive power losses of the combined SVC and TCSC was the highest at 31.917% whereas that of the standalone SVC and TCSC stood at 19.769% and 30.863% respectively. This shows that in addition to their capabilities to maintain acceptable voltage profile, the combination of SVC and TCSC has better compensating effect as they mitigate against power losses which was observed in their high percentage decrease in power losses compared to the standalone FACTS devices. Keywords: FACTS, optimum location, PSAT, SVC, TCSC, VSS