Modelling and control of a 2-DOF planar parallel manipulator for semiconductor packaging systems

A novel direct-drive planar parallel manipulator for high-speed and high-precision semiconductor packaging systems is presented. High precision kinematics design, significant redaction on moving mass and driving power of the actuators over traditional XY motion stages are the benefits of the proposed manipulator. The mathematical model of the manipulator is obtained using the Newton-Enter method and a practical model-based control design approach is employed to design the PID computed-torque controller. Experimental results demonstrate that the proposed planar parallel manipulator has significant improvements on motion performance in terms of positioning accuracy, settling time and stability when compared with traditional XY stages. This shows that the proposed planar parallel manipulator can provide a superior alternative for replacing traditional XY motion stages in high precision low-payload applications. © 2005 IEEE.published_or_final_versio

Kinematics optimization for high positioning accuracy of a 4-DOF parallel manipulator for semiconductor applications

The end-effector kinematics error of a manipulator is caused by variations in machining accuracy of linkages. In most manipulators, the structural design results in an error magnification from the linkage variation to the end-effector position. In this paper, an optimization approach for suppressing kinematics error magnification is considered for a 4-DOF parallel manipulator. Two objective functions are developed for characterizing the error magnification effect. The kinematic parameters are then determined by minimizing these objective functions. It is shown that the proposed approach can reduce the error magnification to such a degree that the magnification factor is reduced to close to one. This means that the end-effector kinematics error can be made to match the error tolerance allowed in the manufacturing of the linkages.published_or_final_versio

Emission characteristics of CO, NOx, SO2 and indications of biomass burning observed at a rural site in eastern China

Atmospheric O3, CO, SO2, and NO* y (NO* y ≈ NO + NO2 + PAN + organic nitrates + HNO3 + N2O5 + ⋯) were measured in 1999-2000 at a rural/agricultural site in the Yangtze Delta of China. In this paper we analyze the measurement results to show the emission characteristics of the measured gases and to infer relevant emission ratios. Positive correlations were found between CO and NO* y with a slope (Δ[CO]/Δ[NO* y]) of 36 (ppbv/ppbv) for the winter and nighttime measurements. The ratio is considerably larger than that (≈10 ppbv/ppbv) observed in the industrialized countries. The highest CO/NO* y ratio (30-40 ppbv/ppbv) occurred in September-December 1999 and June 2000. The good correlation between CO and the biomass burning tracer CH3Cl and the lack of correlation with the industrial tracer C2Cl4 suggests that the burning of biofuels and crop residues is a major source for the elevated CO and possibly for other trace gases as well. The average SO2 to NO* y ratio was 1.37 ppbv/ppbv, resulting from the use of relatively high-sulfur coals in China. The measured SO2/NO* y and ΔCO/ΔNO* y were compared with the respective ratios from the current emission inventories for the study region, which indicated a comparable SO2/NOx emission ratio but a large discrepancy for CO/NOx. The observed CO to NO* y ratio was more than 3 times the emission ratio derived from the inventories, indicating the need for further improvement of emission estimates for the rural/agricultural regions in China. Additional research will be needed to study the implications of rural emissions to atmospheric chemistry and climate on both regional and global scales.Department of Civil and Environmental Engineerin

Multithreaded self-scheduling: application of multithreading on loop scheduling for distributed shared memory multiprocessor

The 1st International Conference on Algorithms and Architectures for Parallel, Brisbane, Australia, 19-21 April 1995A new loop scheduling scheme called multithreaded self-scheduling (MSS) for distributed shared memory multiprocessor is proposed. Based on the principles of multithreading, MSS attempts to hide the remote memory access latencies by switching between multiple contexts of threads. Consequently, loops scheduled by using MSS can obtain better performance comparing to the single-thread approaches. In this paper, a series of simulation results corresponding to various parameter changes are presented, which provides a measure of the effectiveness of MSS under different boundary conditions and suggests the ways for further improvements.published_or_final_versio

Performance analysis of the doubly-linked list protocol family for distributed shared memory systems

The 2nd International Conference on Algorithms and Architectures for Parallel Processing, Singapore, 11-13 June 1996The doubly-linked list (DLL) protocol provides a memory efficient, scalable, high-performance and yet easy to implement method to maintain memory coherence in distributed shared memory (DSM) systems. In this paper, the performance analysis of the DLL family of protocols is presented. Theoretically, the DLL protocol with stable owners has the shortest remote memory access latency among the DLL protocol family. According to the simulated performance evaluation, the DLL-S protocol is 65.7% faster than the DDM algorithm for the linear equation solver; and is 16.5% faster for the matrix multiplier. From the trend of the performance figures, it is predicted that the improvement in performance due to the DLL-S protocol will be considerably greater when a larger number of processors are used, indicating that the DLL-S protocol is also the most scalable of the protocols tested.published_or_final_versio

Electronic transitions of platinum monoboride

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Hierarchical motion estimation based on visual patterns for video coding

Block matching algorithms(BMAs) are often employed for motion estimation(ME) in video coding. Most conventional fast BMAs treat the ME problem as an optimization problem and suffer heavily from the problem of being trapped at local minima. The full search algorithm(FS), on the other hand, is very time-consuming. Few of them makes use of the information inherent in the images explicitly. We propose a new ME algorithm which can reduce the search range while guaranteeing global optimality in most cases, making use of the edge features. Microblock visual patterns are designed to extract edge information to guide block matching: searching is only carried out at places where the real match most likely happens. The motion field subsampling technique is further employed to get a hierarchical algorithm, which can further double the speed. The proposed algorithms obtain speeds about ten times faster than that of FS with comparable prediction quality.published_or_final_versio

The effect of normal and abnormal ageing on prospective memory showed increased cognitive conflict: a functional MRI study

INTRODUCTION: Prospective memory (PM) is memory for planned intention, which needs to be executed appropriately in the future. PM task is usually embedded in ongoing activities. The neural correlates of PM have not been elucidated. To date, no functional imaging study has been conducted to examine the relevant functional change of PM during the processes of ageing and ...published_or_final_versio

Application of ASK modulation for DC/DC converters control in DC distribution power system

Author name used in this publication: K. W. E. ChengAuthor name used in this publication: D. SutantoRefereed conference paper2004-2005 > Academic research: refereed > Refereed conference paperVersion of RecordPublishe

Declined frontal white matter integrity in Alzheimer’s disease: a diffusion tensor imaging study

INTRODUCTION: Previous studies on structural changes of Alzheimer’s disease (AD) have been focused on grey matter atrophy. There is a resurgence of interests on white matter integrity in this prominently increasing patient population. Diffusion tensor imaging (DTI) provides key information on the microstructural changes beyond macroscopic anatomical imaging by in-vivo tracing molecular diffusion in the brain, and the measured fractional anisotrophy (FA) value may represent axonal integrity of neuronal networks. Data of DTI from AD patients are limited, and the literature is controversial regarding whether the AD process has a greater impact on anterior versus posterior cerebral white matter. METHODS: Eighteen patients with mild AD and 16 age-matched healthy adults were recruited into the study. Demographic features of the two groups were comparable. Data of DTI were collected using a Philips 3.0T MRI scanner. Scan parameters were as follows: B0=800 s/mm2, FOV=224*224*140 mm, resolution=1.75*1.75*2 mm, non-collinear 15 directions was acquired. 3D T1 anatomy was also collected. We processed DTI data with DTI toolbox, and anatomical T1 data with VBM5 toolbox in SPM. Voxel-by-voxel analysis was applied to compare the difference in FA value, and volume of white matter of the normalised brain between the elderly and AD groups. RESULTS: Voxel-based analysis showed no significant difference in white matter volume between the two groups, but FA value was reduced greatly in the left anterior cingulate (−10,37,−3), right anterior cingulate (12,0,28), and left medial frontal lobe (−18,32,−12). Minor reduction was found in other brain regions such as body of the corpus callosum, right midbrain (12,−12,−6), right posterior corpus callosum (8,−44,2), and bilateral, especially right temporal lobe (36,−8,−20), upon right hippocampus. Coordinates (x,y,z) were labelled according to Talairach atlas. CONCLUSION: DTI could be valid and more sensitive than traditional T1 anatomy in detecting microscopic white matter lesions. Our data showed a greater decrement in FA value over the anterior than posterior brain regions, and this decrement was not due to white matter atrophy. Our findings are in line with the retrogenesis hypothesis which predicts reversed demyelination during the process of AD, as the frontal lobe fibres are myelinated relatively late during brain development. These results also support previous findings of our behavioural study that frontal lobe abnormality might be the neural basis for cognitive deficit in AD patients.published_or_final_versionThe 15th Medical Research Conference; Department of Medicine, The University of Hong Kong, Hong Kong, 16 January 2010. In Hong Kong Medical Journal, 2010, v. 16 suppl 1, p. 21, abstract no. 2