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A schematic-based design model for microphone and circuit integration

A schematic-based design model for microphone and circuit in...

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International Microsystems, Packaging, Assembly and Circuits Technology (IMPACT)

作者： Jen-Yi Chen Shu-Sheng Lee Peter Chang Chun-Hsun Chu Tamal Mukherjee Gary K. Fedder Microsystems Technology Center Industrial Technology and Research Institute Taiwan Department of Systems and Naval Architecture Engineering National Taiwan Ocean University Taiwan Department of Electrical and Computer Engineering USA Carnegie Mellon University Pittsburgh PA USA The Robotics Institute Case Western Reserve University USA

The transistor-level elements for condenser microphone design have been implemented in an IC design environment. Arbitrary diaphragm shapes can be composed and simulated by using our basic elements. The sensitivity and frequency response are obtained by co-simulation with the microphone and the readout circuit using Cadence/Spectre reg simulator. The new model is capable of dealing with the multi-field coupling effects including acoustical, mechanical and electrostatic behavior. Comparing to the ANSYS static simulation by using shell63 elements, our design model gives matched results based on the same mesh condition. Both the finite element analysis and theoretical calculated natural frequency agree with the nodal simulation results. Co-simulation enables trade-off analysis between the acousto-electro-mechanical and electronic design parameters. Furthermore, this platform provides a unified design interface between mechanical and electrical engineers, which is critical for top-down design of monolithic microsystems.

关键词： Microphones Circuit simulation Shape Frequency response Coupling circuits Electrostatics Finite element methods Analytical models Acoustical engineering Design engineering

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Design of H_(infinity) Command and Control Loops for Unmanned Aerial Vehicles using Static Output-Feedback

Design of H_(infinity) Command and Control Loops for Unmanne...

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1-459

作者： J. Gadewadikar F. Lewis K. Subbarao Ben M. Chen Systems Research Institute Department of Advanced Technologies Alcorn State University USA Automation and Robotics Research Institute University of Texas Arlington Fort worth TX USA Mechanical and Aerospace Department University of Texas Arlington TX USA Department of Electrical & Computer Engineering National University of Singapore Singapore

The aim of this paper is to design a helicopter position control system with guaranteed performance that allows tracking control of Unmanned Aerial Vehicle positions -^sX, Y, Z, and yaw while preserving a structure that is generally accepted in the helicopter control community. The paper presents an approach for designing compensators for shaping the closed-loop inertial positions and yaw step response using H_(infinity) output-feedback design techniques. Simplified conditions are used which only require the solution of two coupled matrix design equations. H_(infinity) framework is utilized to pose the problem of stabilization as an outer position command loop and an inner control loop. Inner loop controls attitude rates along with roll and pitch and provides robustness and structure. This paper thereby presents a design for hover and station-keeping control of UAV helicopters. It is shown that the rotorcraft model can be first loop shaped to achieve desired characteristics about the hover operating condition. A numerically efficient solution algorithm to solve the H_(infinity) coupled design equations for both inner and outer loops is used. A major contribution is that an initial stabilizing gain is not needed. The efficacy of the control law and the disturbance accommodation properties are shown on a rotorcraft design example.

关键词： Helicopters Unmanned aerial vehicles Control systems Attitude control Riccati equations Vehicle dynamics Output feedback Linear matrix inequalities Shape control USA Councils

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A dual-stage robust vehicle detection and tracking for real-time traffic monitoring

A dual-stage robust vehicle detection and tracking for real-...

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ITSC 2006: 2006 IEEE Intelligent Transportation systems Conference

作者： Batista, Jorge Peixoto, Paulo Fernandes, Catarina Ribeiro, Miguel ISR-Institute of Systems and Robotics Department of Electrical Engineering and Computers University of Coimbra Coimbra Portugal

ISBN: (纸本)1424400945

This paper addresses the important problem of detecting and tracking vehicles in outdoor dynamic scenes as part of a real-time traffic surveillance system. The proposed solution is based on a dual-stage approach, using a pixel-level stage to extract foreground object from background scenes and a block-level stage to detect and track vehicles. The pixel-level stage combines a multi-background modelling with a dynamic thresholding, using a low-scale quasi-connected-components as a first stage for image object grouping/cleaning. The block-level performs a 8×8 block-region analysis defining a block energy function that is used to label the blocks belonging to different vehicles and track them over a stack of images. This approach has proven to be very helpful for occlusion reasoning. The proposed solution has the ability to overcame some of the most difficult problem that arise in outdoor scenes such as illumination variations, shadow-casts and waving movement resulting from trees and camera vibration. The performance and robustness of the proposed algorithm is shown using real highway traffic monitoring situations. © 2006 IEEE.

关键词： Vehicle locating systems

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Simultaneous Localization and Map Building by Integrating a Cache of Features

Simultaneous Localization and Map Building by Integrating a ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jorge Costa Filipe Dias Rui Araujo ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

Localization is an important problem in autonomous mobile robots navigation. To solve this problem, robots must also be able to learn, maintain and update models of their environments. This paper describes a full implementation of a simultaneous localization and map building (SLAM) method. SLAM is the problem of an autonomous vehicle starting at an unknown position which then incrementally builds a world map and estimates the robot absolute pose according to the map. An extended Kalman filter (EKF) is used for estimation and data fusion. For perception, the method combines an adaptive break point detector, first and second order analysis, and the RANSAC algorithm for robust fitting of laser scan data in order to extract a model composed of line segments and their uncertainty. A dynamic cache is proposed and introduced in the world model in order to speedup the map search in the measurement prediction and feature matching phases of SLAM. Experimental results of simulation and real-robot experiments with a Nomad 200 are presented demonstrating the effectiveness of the SLAM methods and improvements attained with the cache of feature method.

关键词： Simultaneous localization and mapping Mobile robots Navigation Remotely operated vehicles Algorithm design and analysis Robustness Laser fusion Laser modes Data mining Vehicle dynamics

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A Dual-Stage Robust Vehicle Detection and Tracking for Real-Time Traffic Monitoring

A Dual-Stage Robust Vehicle Detection and Tracking for Real-...

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International Conference on Intelligent Transportation

作者： J. Batista P. Peixoto C. Fernandes M. Ribeiro Department of Electrical Engineering and Computers ISR-Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper addresses the important problem of detecting and tracking vehicles in outdoor dynamic scenes as part of a real-time traffic surveillance system. The proposed solution is based on a dual-stage approach, using a pixel-level stage to extract foreground object from background scenes and a block-level stage to detect and track vehicles. The pixel-level stage combines a multi-background modelling with a dynamic thresholding, using a low-scale quasi-connected-components as a first stage for image object grouping/cleaning. The block-level performs a 8 times 8 block-region analysis defining a block energy function that is used to label the blocks belonging to different vehicles and track them over a stack of images. This approach has proven to be very helpful for occlusion reasoning. The proposed solution has the ability to overcome some of the most difficult problem that arise in outdoor scenes such as illumination variations, shadow-casts and waving movement resulting from trees and camera vibration. The performance and robustness of the proposed algorithm is shown using real highway traffic monitoring situations

关键词： Robustness Vehicle detection Monitoring Layout Vehicle dynamics Real time systems Traffic control Surveillance Object detection Pixel

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State Estimation of Continuous-Time systems with Implicit Outputs from Discrete Noisy Time-Delayed Measurements

State Estimation of Continuous-Time Systems with Implicit Ou...

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IEEE Conference on Decision and Control

作者： A. Pedro Aguiar Joao P. Hespanha ISR/IST Institute for Systems and Robotics Instituto Superior Technico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704

We address the state estimation of a class of continuous-time systems with implicit outputs, whose measurements arrive at discrete-time instants, are time-delayed, noisy, and may not be complete. The estimation problem is formulated in the deterministic H infin filtering setting by computing the value of the state that minimizes the induced L 2 -gain from disturbances and noise to estimation error, while remaining compatible with the past observations. To avoid weighting the distant past as much as the present, a forgetting factor is also introduced. We show that, under appropriate observability assumptions, the optimal estimate converges globally asymptotically to the true value of the state in the absence of noise and disturbance. In the presence of noise, the estimate converges to a neighborhood of the true value of the state. The estimation of position and attitude of an autonomous vehicle using measurements from an inertial measurement unit (IMU) and a monocular charged-coupled-device (CCD) camera attached to the vehicle illustrates these results. In the context of this application, the estimator can deal directly with the usual problems associated with vision systems such as noise, latency and intermittency of observations

关键词： State estimation Remotely operated vehicles Mobile robots Filtering Estimation error Observability Current measurement Position measurement Measurement units Charge coupled devices

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Path Generation, Path Following and Coordinated Control for TimeCritical Missions of Multiple UAVs

Path Generation, Path Following and Coordinated Control for ...

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American Control Conference (ACC)

作者： I. Kaminer O. Yakimenko A. Pascoal R. Ghabcheloo Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA Institute for Systems and Robotics ISR and Department Electrical Engineering and Computers Instituto Superior Técnico Lisboa Portugal

The paper proposes a solution to the problem of coordinated control of multiple unmanned air vehicle (UAV) to ensure collision-free maneuvers under strict spatial and temporal constraints. First, a set of feasible trajectories are generated for all UAVs using a new direct method of optimal control that takes into account rules for collision avoidance. A by-product of this step yields, for each vehicle, a spatial path to be followed together with a nominal desired speed profile. Each vehicle is then made to execute a pure path following maneuver in three-dimensional space by resorting to a novel 3D algorithm. Finally, the speed profile for each vehicle is adjusted to enforce the temporal constraints that must be met in order to coordinate the fleet of vehicles. Simulations illustrate the potential of the methodology developed

关键词： Unmanned aerial vehicles Robot kinematics Space vehicles Optimal control Collision avoidance Motion control Mobile robots Robot control Orbital robotics Graph theory

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Output-feedback control for stabilization on SE(3)

Output-feedback control for stabilization on SE(3)

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IEEE Conference on Decision and Control

作者： Rita Cunha Carlos Silvestre Joao Hespanha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

This paper addresses the problem of stabilizing systems that evolve on SE(3). The proposed solution consists of an output-feedback controller that guarantees almost global asymptotic stability (GAS) of the desired equilibrium point, i.e. the point is stable and, except for a set of zero measure, all initial conditions converge to it. The output vector is formed by the position coordinates, expressed in the body frame, of a collection of landmarks fixed in the environment. The resulting closed-loop system exhibits the following properties: i) the position error is globally exponentially stable and ii) the norm of the angle-axis of the error rotation matrix is monotonically decreasing almost everywhere. Results are also provided that allow one to select landmark configurations so as to control how the position and orientation of the rigid body converge to their desired values

关键词： Control systems Asymptotic stability Quaternions Extraterrestrial measurements State feedback Error correction USA Councils US department of Transportation Kinematics Satellites

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Online tracking of migrating and proliferating cells imaged with phase-contrast microscopy

Online tracking of migrating and proliferating cells imaged ...

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2006 Conference on computer Vision and Pattern Recognition Workshops

作者： Li, Kang Miller, Eric D. Weiss, Lee E. Campbell, Phil G. Kanade, Takeo Department of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Department of Biomedical Engineering Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Institute for Complex Engineered Systems Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213

ISBN: (纸本)0769526462

Automated visual-tracking of cell population in vitro using phase-contrast time-lapse microscopy is vital for the quantitative and systematic study of cell behaviors, including spatiotemporal quantification of migration, proliferation, and apoptosis. The low image quality, high and varying density of the cell culture, and the complexity of cell behaviors pose many challenges to existing tracking techniques. This paper presents a fully-automated multi-target tracking system that can simultaneously track hundreds of cells and efficiently cope with these challenges. The approach exploits a fast topology-constrained level-set method in conjunction with a stochastic motion filter, with a careful formulation that makes it suitable for real-time tracking during acquisition. Our methodology was applied to human tissue cell tracking in vitro under various imaging conditions and yielded a 88.4% tracking accuracy. © 2006 IEEE.

关键词： Tracking (position)

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Coordinated path-following control of multiple underactuated autonomous vehicles in the presence of communication failures

Coordinated path-following control of multiple underactuated...

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IEEE Conference on Decision and Control

作者： Reza Ghabcheloo A. Pedro Aguiar Antonio Pascoal Carlos Silvestre Isaac Kaminer Joao Hespanha Department Electrical Engineering and Computers and the Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Mechanical and Astronautical Engineering Naval Postgraduate School Monterrey CA USA Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

This paper addresses the problem of steering a group of underactuated autonomous vehicles along given spatial paths, while holding a desired inter-vehicle formation pattern. For a general class of vehicles moving in either two or three-dimensional space, we show how Lyapunov-based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account. Path-following for each vehicle amounts to reducing an appropriately defined geometric error to a small neighborhood of the origin. Vehicle coordination is achieved by adjusting the speed of each vehicle along its path according to information on the positions of a subset of the other vehicles, as determined by the communications topology adopted. The system obtained by putting together the path-following and vehicle coordination strategies adopted takes a cascade form, where the former subsystem is input-to-state stable (ISS) with the error variables of the latter as inputs. Convergence and stability of the overall system are proved formally. The results are also extended to solve the problem of temporary communication failures. Using the concept of "brief instabilities" we show that for a given maximum failure rate, the coordinated path following system is stable and the errors converge to a small neighborhood of the origin. We illustrate our design procedure for underwater vehicles moving in three-dimensional space. Simulations results are presented and discussed

关键词： Communication system control Remotely operated vehicles Mobile robots Space vehicles Graph theory Distributed control Vehicle dynamics Constraint theory Network topology Communication networks

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