Mobile robot localization using robust extended H-infinity filtering

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2009 Institution of Mechanical Engineers.In this paper, a novel methodology is provided for accurate localization of a mobile robot using autonomous navigation based on internal and external sensors. A new robust extended H∞ filter is developed to deal with the non-linear kinematic model of the robot and the non-linear distance measurements, together with process and measurement noises. The proposed filter relies on a two-step prediction-correction structure, which is similar to a Kalman filter. Simulations are provided to demonstrate the effectiveness of the proposed method.EPSRC, the Nuffield Foundation, and the Alexander von Humboldt Foundation

Secure thermal infrared communications using engineered blackbody radiation

The thermal (emitted) infrared frequency bands, from 20–40 THz and 60–100 THz, are best known for applications in thermography. This underused and unregulated part of the spectral range offers opportunities for the development of secure communications. The ‘THz Torch' concept was recently presented by the authors. This technology fundamentally exploits engineered blackbody radiation, by partitioning thermally-generated spectral noise power into pre-defined frequency channels; the energy in each channel is then independently pulsed modulated and multiplexing schemes are introduced to create a robust form of short-range secure communications in the far/mid infrared. To date, octave bandwidth (25–50 THz) single-channel links have been demonstrated with 380 bps speeds. Multi-channel ‘THz Torch' frequency division multiplexing (FDM) and frequency-hopping spread-spectrum (FHSS) schemes have been proposed, but only a slow 40 bps FDM scheme has been demonstrated experimentally. Here, we report a much faster 1,280 bps FDM implementation. In addition, an experimental proof-of-concept FHSS scheme is demonstrated for the first time, having a 320 bps data rate. With both 4-channel multiplexing schemes, measured bit error rates (BERs) of < 10(−6) are achieved over a distance of 2.5 cm. Our approach represents a new paradigm in the way niche secure communications can be established over short links

Investigations of the g factors and local structure for orthorhombic Cu^{2+}(1) site in fresh PrBa_{2}Cu_{3}O_{6+x} powders

The electron paramagnetic resonance (EPR) g factors g_x, g_y and g_z of the orthorhombic Cu^{2+}(1) site in fresh PrBa_{2}Cu_{3}O_{6+x} powders are theoretically investigated using the perturbation formulas of the g factors for a 3d^9 ion under orthorhombically elongated octahedra. The local orthorhombic distortion around the Cu^{2+}(1) site due to the Jahn-Teller effect is described by the orthorhombic field parameters from the superposition model. The [CuO6]^{10-} complex is found to experience an axial elongation of about 0.04 {\AA} along c axis and the relative bond length variation of about 0.09 {\AA} along a and b axes of the Jahn-Teller nature. The theoretical results of the g factors based on the above local structure are in reasonable agreement with the experimental data.Comment: 6 pages, 1 figur

Novel method for refinement of retained austenite in micro/nano-structured bainitic steels

A comparative study was conducted to assess the effects of two different heat treatments on the amount and morphology of the retained austenite in a micro/nano-structured bainitic steel. The heat treatments used in this work were two-stage bainitic transformation and bainitic-partitioning transformation. Both methods resulted in the generation of a multi-phase microstructure containing nanoscale bainitic ferrite, and/or fresh martensitic phases and much finer retained austenite. Both heat treatments were verified to be effective in refining the retained austenite in micro/nano-structured bainite and increasing the hardness. However, the bainitic transformation followed by partitioning cycle was proved to be a more viable approach than the two-stage bainitic transformation due to much shorter processing time, i.e. ∼2 h compared to ∼4 day, respectively

Phonon Squeezed States Generated by Second Order Raman Scattering

We study squeezed states of phonons, which allow a reduction in the quantum fluctuations of the atomic displacements to below the zero-point quantum noise level of coherent phonon states. We investigate the generation of squeezed phonon states using a second order Raman scattering process. We calculate the expectation values and fluctuations of both the atomic displacement and the lattice amplitude operators, as well as the effects of the phonon squeezed states on macroscopically measurable quantities, such as changes in the dielectric constant. These results are compared with recent experiments.Comment: 4 pages, REVTE

Density Matrix Renormalization Group study on incommensurate quantum Frenkel-Kontorova model

By using the density matrix renormalization group (DMRG) technique, the incommensurate quantum Frenkel-Kontorova model is investigated numerically. It is found that when the quantum fluctuation is strong enough, the \emph{g}-function featured by a saw-tooth map in the depinned state will show a different kind of behavior, similar to a standard map, but with reduced magnitude. The related position correlations are studied in details, which leads to a potentially interesting application to the recently well-explored phase transitions in cold atoms loaded in optical lattices.Comment: 11 figures, submitted to Phys. Rev.

Electromagnetic manipulation for anti-Zeno effect in an engineered quantum tunneling process

We investigate the quantum Zeno and anti-Zeno effects for the irreversible quantum tunneling from a quantum dot to a ring array of quantum dots. By modeling the total system with the Anderson-Fano-Lee model, it is found that the transition from the quantum Zeno effect to quantum anti-Zeno effect can happen as the magnetic flux and the gate voltage were adjusted.Comment: 6 pages, 5 figure