A comparison of losses in small (<1 kW) drives using sine and space vector pulse width modulation schemes

this paper quantifies effects of using three different pulse width modulation (PWM) schemes on the losses in the inverter and induction motor of a 1 kW drive. Direct measurements of losses have been made with a calorimeter. Results show that for the inverter, discontinuous PWM excitation reduces losses by up to 15% compared to sine and symmetrical space vector PWM methods. However, at a low modulation index the greater harmonic content with discontinuous PWM increased motor losses by nearly 20%. This study demonstrates the importance of careful choice of modulation scheme to achieve high overall drive efficiency. © 2005 IEEE.

Deliberation in the motor system: reflex gains track evolving evidence leading to a decision.

Both decision making and sensorimotor control require real-time processing of noisy information streams. Historically these processes were thought to operate sequentially: cognitive processing leads to a decision, and the outcome is passed to the motor system to be converted into action. Recently, it has been suggested that the decision process may provide a continuous flow of information to the motor system, allowing it to prepare in a graded fashion for the probable outcome. Such continuous flow is supported by electrophysiology in nonhuman primates. Here we provide direct evidence for the continuous flow of an evolving decision variable to the motor system in humans. Subjects viewed a dynamic random dot display and were asked to indicate their decision about direction by moving a handle to one of two targets. We probed the state of the motor system by perturbing the arm at random times during decision formation. Reflex gains were modulated by the strength and duration of motion, reflecting the accumulated evidence in support of the evolving decision. The magnitude and variance of these gains tracked a decision variable that explained the subject's decision accuracy. The findings support a continuous process linking the evolving computations associated with decision making and sensorimotor control.

Displacement and mixing ventilation driven by opposing wind and buoyancy

The effect of an opposing wind on the stratification and flow produced by a buoyant plume rising from a heat source on the floor of a ventilated enclosure is investigated. Ventilation openings located at high level on the windward side of the enclosure and at low level on the leeward side allow a wind-driven flow from high to low level, opposite to the buoyancy-driven flow. One of two stable steady flow regimes is established depending on a dimensionless parameter F that characterizes the relative magnitudes of the wind-driven and buoyancy-driven velocities within the enclosure, and on the time history of the flow. A third, unstable steady flow solution is identified. For small opposing winds (small F) a steady, two-layer stratification and displacement ventilation is established. Exterior fluid enters through the lower leeward openings and buoyant interior fluid leaves through the upper windward openings. As the wind speed increases, the opposing wind may cause a reversal in the flow direction. In this case, cool exterior fluid enters through the high windward openings and mixes the interior fluid, which exits through the leeward openings. There are now two possibilities. If the rate of heat input by the source exceeds the rate of heat loss through the leeward openings, the temperature of the interior increases and this flow reversal is only maintained temporarily. The buoyancy force increases with time, the flow reverts to its original direction, and steady two-layer displacement ventilation is re-established and maintained. In this regime, the increase in wind speed increases the depth and temperature of the warm upper layer, and reduces the ventilation flow rate. If, on the other hand, the heat loss exceeds the heat input, the interior cools and the buoyancy-driven flow decreases. The reversed flow is maintained, the stratification is destroyed and mixing ventilation occurs. Further increases in wind speed increase the ventilation rate and decrease the interior temperature. The transitions between the two ventilation flow patterns exhibit hysteresis. The change from displacement ventilation to mixing ventilation occurs at a higher F than the transition from mixing to displacement. Further, we find that the transition from mixing to displacement ventilation occurs at a fixed value of F, whereas the transition from displacement to mixing flow is dependent on the details of the time history of the flow and the geometry of the openings, and is not determined solely by the value of F. Theoretical models that predic t the steady stratification profiles and flow rates for the displacement and mixing ventilation, and the transitions between them, are presented and compared with measurements from laboratory experiments. The transition between these ventilation patterns completely changes the internal environment, and we discuss some of the implications for the natural ventilation of buildings. © 2004 Cambridge University Press.

Free-space locomotion with thread formation

The paper presents a new concept of locomotion for wheeled or legged robots through an object-free space. The concept is inspired by the behaviour of spiders forming silk threads to move in 3D space. The approach provides the possibility of variation in thread diameter by deforming source material, therefore it is useful for a wider coverage of payload by mobile robots. As a case study, we propose a technology for descending locomotion through a free space with inverted formation of threads in variable diameters. Inverted thread formation is enabled with source material thermoplastic adhesive (TPA) through thermally-induced phase transition. To demonstrate the feasibility of the technology, we have designed and prototyped a 300-gram wheeled robot that can supply and deform TPA into a thread and descend with the thread from an existing hanging structure. Experiment results suggest repeatable inverted thread formation with a diameter range of 1.1-4.5 mm, and a locomotion speed of 0.73 cm per minute with a power consumption of 2.5 W. © 2013 IEEE.

Analysis and performance assessment of 6-pulse inverter-fed 3-phase and 6-phase induction machines

The paper describes a model for a 6-phase induction motor driven by an inverter operating in a 6-pulse (square wave) mode. The model is implemented and performance, in terms of torque, current, efficiency and pulsating torque, compared to the performance of a 3-phase motor (both sine and 6-pulse supplied). The models are verified experimentally, in particular the efficiency performance, and it is illustrated that the improvement in inverter efficiency when in 6-pulse operating mode may improve the performance of the overall system. © 2005 IEEE.

3D multi-car tracking based on monocular video

We propose a system that can reliably track multiple cars in congested traffic environments. Our system's key basis is the implementation of a sequential Monte Carlo algorithm, which introduces robustness against problems arising due to the proximity between vehicles. By directly modelling occlusions and collisions between cars we obtain promising results on an urban traffic dataset. Extensions to this initial framework are also suggested. © 2010 IEEE.

On the transition from finite-volume negatively buoyant releases to continuous fountains

An experimental investigation to identify the source conditions that distinguish finite-volume negatively buoyant fluid projectile behaviour from fountain behaviour in quiescent environments of uniform density is described. Finite-volume releases are governed by their source Froude number Fr D and the aspect ratio L/D of the release, where L denotes the length of the column of fluid dispensed vertically from the nozzle of diameter D. We establish the influence of L/D on the peak rise heights of a release formed by dispensing saline solution into fresh water for 0source conditions for which a flow may be regarded, in terms of the initial rise height attained, as either finite-volume or continuous flux. The critical aspect ratio (L/D) f, for a given Fr D, which when exceeded no longer influenced release behaviour, led to the determination of Fr D, (L/D) f paired source conditions that give rise to solely Froude-number-dependent, i.e. fountain-like, behaviour. As such, we make the link between finite-volume releases and continuous fountains. The Fr D(L/D) f pairs led us directly to the classification of a Fr D, L/D space from which source conditions giving rise to either negatively buoyant projectiles or fountains may be readily identified. The variation of (L/D) f with Fr D corresponds closely to established fountain regimes of very weak, weak and forced fountains. Moreover, our results indicate that the formation or otherwise of a primary vortex, as fluid is ejected, has a profound influence on the length of the dispensed fluid column that is necessary to achieve rise heights equal to fountain rise heights. © 2012 Cambridge University Press.