Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.

Compositional modulation and surface stability in InGaP films: Understanding and controlling surface properties

We investigate the formation of compositional modulation and atomic ordering in InGaP films. Such bulk properties - as well as surface morphologies - present a strong dependence on growth parameters, mainly the V/III ratio. Our results indicate the importance of surface diffusion and, particularly, surface reconstruction for these processes. Most importantly from the application point of view, we show that the compositional modulation is not necessarily coupled to the surface instabilities, so that smooth InGaP films with periodic compositional variation could be obtained. This opens a new route for the generation of templates for quantum dot positioning and three-dimensional arrays of nanostructures. © 2007 American Institute of Physics.

Discrete wavelet transform signal analyzer

This paper addresses the problem of processing biological data, such as cardiac beats in the audio and ultrasonic range, and on calculating wavelet coefficients in real time, with the processor clock running at a frequency of present application-specified integrated circuits and field programmable gate array. The parallel filter architecture for discrete wavelet transform (DWT) has been improved, calculating the wavelet coefficients in real time with hardware reduced up to 60%. The new architecture, which also processes inverse DWT, is implemented with the Radix-2 or the Booth-Wallace constant multipliers. One integrated circuit signal analyzer in the ultrasonic range, including series memory register banks, is presented. © 2007 IEEE.

A true programmable HPF hybrid three-phase rectifier

In this paper is proposed and analyzed a digital hysteresis modulation using a FPGA (Field Programmable Gate Array) device and VHDL (Hardware Description Language), applied at a hybrid three-phase rectifier with almost unitary input power factor, composed by parallel SEPIC controlled single-phase rectifiers connected to each leg of a standard 6-pulses uncontrolled diode rectifier. The digital control allows a programmable THD (Total Harmonic Distortion) at the input currents, and it makes possible that the power rating of the switching-mode converters, connected in parallel, can be a small fraction of the total average output power, in order to obtain a compact converter, reduced input current THD and almost unitary input power factor. The proposed digital control, using a FPGA device and VHDL, offers an important flexibility for the associated control technique, in order to obtain a programmable PFC (Power Factor Correction) hybrid three-phase rectifier, in agreement with the international standards (IEC, and IEEE), which impose limits for the THD of the AC (Alternate Current) line input currents. Finally, the proposed control strategy is verified through experimental results from an implemented prototype. ©2008 IEEE.

Hybrid three-phase HPF rectifier with programmable input current THD, using FPGA device and VHDL language

In this paper is proposed and analyzed a digital hysteresis modulation using a FPGA (Field Programmable Gate Array) device and VHDL (Hardware Description Language), applied at a hybrid three-phase rectifier with almost unitary input power factor, composed by parallel SEPIC controlled single-phase rectifiers connected to each leg of a standard 6-pulses uncontrolled diode rectifier. The digital control allows a programmable THD (Total Harmonic Distortion) at the input currents, and it makes possible that the power rating of the switching-mode converters, connected in parallel, can be a small fraction of the total average output power, in order to obtain a compact converter, reduced input current THD and almost unitary input power factor. Finally, the proposed digital control, using a FPGA device and VHDL, offers an important flexibility for the associated control technique, in order to obtain a programmable PFC (Power Factor Correction) hybrid three-phase rectifier, in agreement with the international standards (IEC, and IEEE), which impose limits for the THD of the AC (Alternate Current) line input currents. The proposed strategy is verified by experiments. © 2008 IEEE.

Fine synchronization of the CMS muon drift-tube local trigger using cosmic rays

The CMS experiment uses self-triggering arrays of drift tubes in the barrel muon trigger to perform the identification of the correct bunch crossing. The identification is unique only if the trigger chain is correctly synchronized. In this paper, the synchronization performed during an extended cosmic ray run is described and the results are reported. The random arrival time of cosmic ray muons allowed several synchronization aspects to be studied and a simple method for the fine synchronization of the Drift Tube Local Trigger at LHC to be developed. © 2010 IOP Publishing Ltd and SISSA.

Micropatterned nanocomposite hydrogels for biosensing applications

This paper describes the use of Au nanoparticle (NP)-containing hydrogel microstructures in the development of electrochemical enzyme-based biosensors. To fabricate biosensors, AuNPs were conjugated with glucose oxidase (GOX) or horseradish peroxidase (HRP) molecules and were dispersed in the prepolymer solution of poly(ethylene glycol) diacrylate (PEG-DA). Vinylferrocene (VF) was also added into the prepolymer solution in order to lower operating potential of the biosensor and to prevent oxidation of interfering substances. The prepolymer solution was photolithographically patterned in alignment with an array of Au electrodes fabricated on glass. As a result, electrode arrays became functionalized with AuNP/GOX- or AuNP/HRP-carrying hydrogel microstructures. Performance of the biosensors was characterized by impedance spectroscopy, chronoapmerometry and cyclic voltammetry. Impedance measurements revealed that inclusion of Au nanoparticles improved conductivity of PEG hydrogel by a factor of 5. Importantly, biosensors based on AuNP-GOX complex exhibited high sensitivity to glucose (100μAmM -1cm -2) in the linear range from 0.1 to 10mM. The detection limit was estimated to be 3.7×10- 7M at a signal-to-noise ratio of 3. Biosensors with immobilized AuNP/HPR had a linear response from 0.5 to 5.0μM of hydrogen peroxide with sensitivity of 1.4mAmM -1cm -2. The method for fabricating nanoparticle-carrying hydrogel microstructures described in this paper should be widely applicable in the development of robust and sensitive electrochemical biosensors. © 2011 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Improving synthetic aperture image by image compounding in beamforming process

In this work, signal processing techniques are used to improve the quality of image based on multi-element synthetic aperture techniques. Using several apodization functions to obtain different side lobes distribution, a polarity function and a threshold criterium are used to develop an image compounding technique. The spatial diversity is increased using an additional array, which generates complementary information about the defects, improving the results of the proposed algorithm and producing high resolution and contrast images. The inspection of isotropic plate-like structures using linear arrays and Lamb waves is presented. Experimental results are shown for a 1-mm-thick isotropic aluminum plate with artificial defects using linear arrays formed by 30 piezoelectric elements, with the low dispersion symmetric mode S0 at the frequency of 330 kHz. © 2011 American Institute of Physics.

Main maximum power point tracking strategies intended for photovoltaics

This paper presents evaluations among the most usual MPPT techniques, doing meaningful comparisons with respect to the amount of energy extracted from the photovoltaic panel (PV) (Tracking Factor - TF) in relation to the available power, PV voltage ripple, dynamic response and use of sensors. Using MatLab/Simulink® and DSpace platforms, a digitally controlled boost DC-DC converter was implemented and connected to an Agilent Solar Array E4350B simulator in order to verify the analytical procedures. The main experimental results are presented and a contribution in the implementation of the IC algorithm is performed and called IC based on PI. Moreover, the dynamic response and the tracking factor are also evaluated using a Friendly User Interface, which is capable of online program power curves and compute the TF. Finally, a typical daily insulation is used in order to verify the experimental results for the main PV MPPT methods. © 2011 IEEE.

Visualizing the ac magnetic susceptibility of superconducting films via magneto-optical imaging

We have established a link between the global ac response and the local flux distribution of superconducting films by combining magnetic ac susceptibility, dc magnetization, and magneto-optical measurements. The investigated samples are three Nb films: a plain specimen, used as a reference sample, and other two films patterned with square arrays of antidots. At low temperatures and small ac amplitudes of the excitation field, the Meissner screening prevents penetration of flux into the sample. Above a certain ac drive threshold, flux avalanches are triggered during the first cycle of the ac excitation. The subsequent periodic removal, inversion, and rise of flux occurs essentially through the already-created dendrites, giving rise to an ac susceptibility signal weakly dependent on the applied field. The intradendrite flux oscillation is followed, at higher values of the excitation field, by a more drastic process consisting of creation of new dendrites and antidendrites. In this more invasive regime, the ac susceptibility shows a clear field dependence. At higher temperatures a smooth penetration occurs, and the flux profile is characteristic of a critical state. We have also shown that the regime dominated by vortex avalanches can be reliably identified by ac susceptibility measurements. © 2011 American Physical Society.

HW/SW for an intelligent transducer network based on IEEE 1451 standard

This work describes a hardware/software co-design system development, named IEEE 1451 platform, to be used in process automation. This platform intends to make easier the implementation of IEEE standards 1451.0, 1451.1, 1451.2 and 1451.5. The hardware was built using NIOS II processor resources on Alteras Cyclone II FPGA. The software was done using Java technology and C/C++ for the processors programming. This HW/SW system implements the IEEE 1451 based on a control module and supervisory software for industrial automation. © 2011 Elsevier B.V.

Point vibration measurements for the detection of shallow-buried objects

A major UK initiative, entitled 'Mapping the Underworld', is seeking to address the serious social, environmental and economic consequences arising from an inability to locate accurately and comprehensively the buried utility service infrastructure without resorting to extensive excavations. Mapping the Underworld aims to develop and prove the efficacy of a multi-sensor device for accurate remote buried utility service detection, location and, where possible, identification. One of the technologies to be incorporated in the device is low-frequency vibro-acoustics, and application of this technique for detecting buried infrastructure is currently being investigated. Here, the potential for making a number of simple point vibration measurements in order to detect shallow-buried objects, in particular plastic pipes, is explored. Point measurements can be made relatively quickly without the need for arrays of surface sensors, which can be expensive, time-consuming to deploy, and sometimes impractical in congested areas. At low frequencies, the ground behaves as a simple single-degree-of-freedom (mass-spring) system with a well-defined resonance, the frequency of which will depend on the density and elastic properties of the soil locally. This resonance will be altered by the presence of a buried object whose properties differ from the surrounding soil. It is this behavior which can be exploited in order to detect the presence of a buried object, provided it is buried at a sufficiently shallow depth. The theoretical background is described and preliminary measurements are made both on a dedicated buried pipe rig and on the ground over a domestic waste pipe. Preliminary findings suggest that, for shallow-buried pipes, a measurement of this kind could be a quick and useful adjunct to more conventional methods of buried pipe detection. © 2012 Elsevier Ltd. All rights reserved.

Anisotropy in the transport properties of type II superconducting films with periodic pinning

Using numerical simulations, we analyze the anisotropy effects in the critical currents and dynamical properties of vortices in a thin superconducting film submitted to hexagonal and Kagomé periodical pinning arrays. The calculations are performed at zero temperature, for transport currents parallel and perpendicular to the main axis of the lattice, and parallel to the diagonal axis of the rhombic unit cell. We show that the critical currents and dynamic properties are anisotropic for both pinning arrays and all directions of the transport current. The anisotropic effects are more significant just above the critical current and disappear with higher values of current and both pinning arrays. The dynamical phases for each case and a wide range of transport forces are analyzed. © 2012 Springer Science+Business Media, LLC.

Evaluation of the main MPPT techniques for photovoltaic applications

This paper presents evaluations among the most usual maximum power point tracking (MPPT) techniques, doing meaningful comparisons with respect to the amount of energy extracted from the photovoltaic (PV) panel [tracking factor (TF)] in relation to the available power, PV voltage ripple, dynamic response, and use of sensors. Using MatLab/Simulink and dSPACE platforms, a digitally controlled boost dc-dc converter was implemented and connected to an Agilent Solar Array E4350B simulator in order to verify the analytical procedures. The main experimental results are presented for conventional MPPT algorithms and improved MPPT algorithms named IC based on proportional-integral (PI) and perturb and observe based on PI. Moreover, the dynamic response and the TF are also evaluated using a user-friendly interface, which is capable of online program power profiles and computes the TF. Finally, a typical daily insulation is used in order to verify the experimental results for the main PV MPPT methods. © 2012 IEEE.

The effects of pinning on critical currents of superconducting films

Using molecular dynamics simulations, we analyze the effects of artificial periodic arrays of pinning sites on the critical current of superconducting thin films as a function of vortex density. We analyze two types of periodic pinning array: hexagonal and Kagomé. For the Kagome pinning network we make calculations using two directions of transport current: along and perpendicular to the main axis of the lattice. Our results show that the hexagonal pinning array presents higher critical currents than the Kagomé and random pinning configuration for all vortex densities. In addition, the Kagomé networks show anisotropy in their transport properties. © 2012 Springer Science+Business Media, LLC.