Path Tracking Controller of Quadruped Robot for Obstacle Avoidance Using Potential Functions Method

This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller. [Keywords— Path tracking; back stepping; obstacles avoidance; potential functions; quadruped robot]

Development of Navigation Control Algorithm for AGV Using D* Search Algorithm

In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updated according to the changing of environment and obstacles. When the AGV finds some new map information such as new unknown obstacles, it adds the information to its map and re-plans a new shortest path from its current coordinates to the given goal coordinates. It repeats the process until it reaches the goal coordinates. This algorithm is verified through simulation and experiment. The simulation and experimental results show that the algorithm can be used to move the AGV successfully to reach the goal position while it avoids unknown moving and static obstacles. [Keywords— navigation control algorithm; Automatic Guided Vehicles (AGV); D* search algorithm

ISSI IS46DR16640B-25DBA25 DDR2 SDRAM Total Ionizing Dose Characterization Test Report

The purpose of this testing is to characterize the ISSI IS46DR16640B-25DBA25 parameter degradation for total dose response. This tests purpose is to evaluate and compare lot date codes for sensitivity. In the test, the device is exposed to both low dose and high dose rate (HDR) irradiations using gamma radiation. Device parameters such as leakage currents, quantity of upset bits or addresses, and overall chip and die health are investigated to determine which lot is more robust. These parameters directly affect the functionality of the memory within a system and may determine thresholds necessary to mitigate failure

OPTIMASS: A Package for the Minimization of Kinematic Mass Functions with Constraints

Reconstructed mass variables, such as $M_2$, $M_{2C}$, $M_T^\star$, and $M_{T2}^W$, play an essential role in searches for new physics at hadron colliders. The calculation of these variables generally involves constrained minimization in a large parameter space, which is numerically challenging. We provide a C++ code, OPTIMASS, which interfaces with the MINUIT library to perform this constrained minimization using the Augmented Lagrangian Method. The code can be applied to arbitrarily general event topologies and thus allows the user to significantly extend the existing set of kinematic variables. We describe this code and its physics motivation, and demonstrate its use in the analysis of the fully leptonic decay of pair-produced top quarks using the $M_2$ variables.Comment: 39 pages, 12 figures, (1) minor revision in section 3, (2) figure added in section 4.3, (3) reference added and (4) matched with published versio

Maximized performance of dye solar cells on plastic: a combined theoretical and experimental optimization approach

We demonstrate that a combined optimization approach based on the sequential alternation of theoretical analysis and experimental realization gives rise to plastic supported dye solar cells for which both light harvesting efficiency and electron collection are maximized. Rationalized configurations with optimized light trapping and charge extraction are realized to achieve photoanodes on plastic prepared at low temperature, showing a power conversion efficiency of 8.55% and a short circuit photocurrent of 16.11 mA cm 2, unprecedented for plastic based dye solar cell devices. Furthermore, the corresponding fully flexible designs present stable mechanical properties after several bending cycles, displaying 7.79% power conversion efficiency, an average broadband internal quantum efficiency above 90%, and a short circuit photocurrent of 15.94 mA cm 2, which is the largest reported value for bendable cells of this sort to dateEuropean Union 307081, 622533Ministerio de Economía y Competitividad MAT2014-54852-R, MAT2011–2359

AGV Trajectory Control Based on Laser Sensor Navigation

Autonomous Guided Vehicle Systems (AGVs) are used to transport goods and products in manufacturing fields where navigation can be done in a structured environment. In order to track the given trajectory, a tracking control based on Lyapunov stability theory is introduced. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. To apply Lyapunov\u27s theorem, the kinematic model of AGV is given. To recognize its position in indoor environment, in this paper, a laser sensor device NAV200 is used to detect the AGV position in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.[AGV Trajectory Control, Laser Sensor Navigation

Whole Genome Analysis of the Red-Crowned Crane Provides Insight into Avian Longevity

The red-crowned crane (Grus japonensis) is an endangered, large-bodied crane native to East Asia. It is a traditional symbol of longevity and its long lifespan has been confirmed both in captivity and in the wild. Lifespan in birds is known to be positively correlated with body size and negatively correlated with metabolic rate, though the genetic mechanisms for the red-crowned crane's long lifespan have not previously been investigated. Using whole genome sequencing and comparative evolutionary analyses against the grey-crowned crane and other avian genomes, including the long-lived common ostrich, we identified red-crowned crane candidate genes with known associations with longevity. Among these are positively selected genes in metabolism and immunity pathways (NDUFA5, NDUFA8, NUDT12, SOD3, CTH, RPA1, PHAX, HNMT, HS2ST1, PPCDC, PSTK CD8B, GP9, IL-9R, and PTPRC). Our analyses provide genetic evidence for low metabolic rate and longevity, accompanied by possible convergent adaptation signatures among distantly related large and long-lived birds. Finally, we identified low genetic diversity in the red-crowned crane, consistent with its listing as an endangered species, and this genome should provide a useful genetic resource for future conservation studies of this rare and iconic species

REST-FRAME UV SINGLE-EPOCH BLACK HOLE MASS ESTIMATES of LOW-LUMINOSITY AGNs at INTERMEDIATE REDSHIFTS

The ability to accurately derive black hole (BH) masses at progressively higher redshifts and over a wide range of continuum luminosities has become indispensable in the era of large-area extragalactic spectroscopic surveys. In this paper, we present an extension of existing comparisons between rest-frame UV and optical virial BH mass estimators to intermediate redshifts and luminosities comparable to the local Hβ reverberation-mapped active galactic nuclei (AGNs). We focus on the Mg ii, C iv, and C iii] broad emission lines and compare them to both Hα and Hβ. We use newly acquired near-infrared spectra from the Fiber-fed Multi-object Spectrograph instrument on the Subaru telescope for 89 broad-lined AGNs at redshifts between 0.3 and 3.5, complemented by data from the AGES survey. We employ two different prescriptions for measuring the emission line widths and compare the results. We confirm that Mg ii shows a tight correlation with Hα and Hβ, with a scatter of ~0.25 dex. The C iv and C iii] estimators, while showing larger scatter, are viable virial mass estimators after accounting for a trend with the UV-to-optical luminosity ratio. We find an intrinsic scatter of ~0.37 dex between Balmer and carbon virial estimators by combining our data set with previous high redshift measurements. This updated comparison spans a total of three decades in BH mass. We calculate a virial factor for C iv/C iii] $\mathrm{log}{f}_{{\rm{C}}{\rm{IV}}/{\rm{C}}{\rm{III}}]}=0.87$ with an estimated systematic uncertainty of ~0.4 dex and find excellent agreement between the local reverberation mapped AGN sample and our high-z sample