A modified particle filter for simultaneous robot localization and landmark tracking in an indoor environment

This paper presents the implementation of a modified particle filter for vision-based simultaneous localization and mapping of an autonomous robot in a structured indoor environment. Through this method, artificial landmarks such as multi-coloured cylinders can be tracked with a camera mounted on the robot, and the position of the robot can be estimated at the same time. Experimental results in simulation and in real environments show that this approach has advantages over the extended Kalman filter with ambiguous data association and various levels of odometric noise.

High temperature gas cleaning for advanced syngas utilization:Paper # 95

Biofuels and chemicals from biomass mean the gasification of biogenic feedstocks and the synthesis via methanol, dimethylester (DME) or Fischer-Tropsch products. To prevent the sensitive synthesis catalysts from poisoning the syngas must be free of tar and particulates. The trace concentrations of S-, C1-, N-species, alkali and heavy metals must be of the order of a few ppb. Moreover maximum conversion efficiency will be achieved performing the gas cleaning above the synthesis conditions. The concept of an innovative dry HTHP syngas cleaning is presented. Based on the HT particle filtration and suitable sorption and catalysis processes for the relevant contaminants a total concept will be derived, which leads to a syngas quality required for synthesis catalysts in only 2 combined stages. The experimental setup for the HT gas cleaning behind the 60 kWtherm entrained flow gasifier REGA of the institute is described. Results from HT filter experiments in pilot scale are presented. The performance of 2 natural minerals for HC1 and H2S sorption is discussed with respect to the parameters temperature, surface and residence time. Results from lab scale investigations on low temperature tar catalysts' performance (commercial and proprietary development) are discussed finally.

Chromatic dispersion effect in a microwave photonic filter using superstructured fiber Bragg grating and dispersive fiber

In this paper a microwave photonic filter using superstructured fiber Bragg grating and dispersive fiber is investigated. A theoretical model to describe the transfer function of the filter taking into consideration the spectral width of light source is established. Experiments are carried out to verify the theoretical analysis. Both theoretical and experimental results indicate that due to chromatic dispersion the source spectral width introduces an additional power penalty to the microwave photonic response of the filter.

Novel design of FBG-based composite double notch VSB filter for DWDM systems

This paper proposes a novel design of optical filters based on a cascade of tailored fiber Bragg gratings (FBGs) operating in the transmission regime. As an example of the application of the proposed general technique, ultranarrow optical vestigial sideband (VSB) filtering based on two FBGs operating in the transmission regime was examined. This design can be easily implemented by writing FBG-based filters for each wavelengthdivision-multiplexing channel before multiplexing. © 2006 IEEE.

Passive scene imaging of absorbing gases by narrowband dielectric filter modulation

This paper examines a method for locating within a scene a distribution of an absorbing gas using a passive imaging technique. An oscillatory modulation of the angle of a narrowband dielectric filter located in front of a camera imaging a scene, gives rise to an intensity modulation that differs in regions occupied by the absorbing gas. A preliminary low cost system has been constructed from readily available components which demonstrates how the location of gas within a scene can be implemented. Modelling of the system has been carried out, especially highlighting the transmission effects of the dielectric filter upon different regions of the image.

Chromatic dispersion effect in a microwave photonic filter using superstructured fiber Bragg grating and dispersive fiber

In this paper a microwave photonic filter using superstructured fiber Bragg grating and dispersive fiber is investigated. A theoretical model to describe the transfer function of the filter taking into consideration the spectral width of light source is established. Experiments are carried out to verify the theoretical analysis. Both theoretical and experimental results indicate that due to chromatic dispersion the source spectral width introduces an additional power penalty to the microwave photonic response of the filter. © 2005 Optical Society of America.

Analysis and improvement of performance in LCL filter-based PWM rectifier/inverter application using hybrid damping approach

A hybrid passive-active damping solution with improved system stability margin and enhanced dynamic performance is proposed for high power grid interactive converters. In grid connected active rectifier/inverter application, line side LCL filter improves the high frequency attenuation and makes the converter compatible with the stringent grid power quality regulations. Passive damping though offers a simple and reliable solution but it reduces overall converter efficiency. Active damping solutions do not increase the system losses but can guarantee the stable operation up to a certain speed of dynamic response which is limited by the maximum bandwidth of the current controller. This paper examines this limit and introduces a concept of hybrid passive-active damping solution with improved stability margin and high dynamic performance for line side LCL filter based active rectifier/inverter applications. A detailed design, analysis of the hybrid approach and trade-off between system losses and dynamic performance in grid connected applications are reported. Simulation and experimental results from a 10 kVA prototype demonstrate the effectiveness of the proposed solution. An analytical study on system stability and dynamic response with the variations of various controller and passive filter parameters is presented.

High resolution demodulation platform for large capacity hybrid WDM/FDM microstructures sensing system assisted by tunable FP filter

In this paper we proposed a demodulation scheme based on tunable FP filter for the WDM/FDM sensing system of the microstructure mentioned in the previous work. Simulation is done to prove the feasibility of demodulating the microstructure with the tunable FP filter. The experiments result showed high consistence with the simulation. And with the help of the high speed FPGA module and a high resolution AD/DA card, the system has achieved a very high resolution, up to 2.5 pm, and wavelength ranges 1520nm to 1590 nm.

All-analogue real-time broadband filter bank multicarrier optical communications system

This paper studies the key aspects of an optical link which transmits a broadband microwave filter bank multicarrier (FBMC) signal. The study is presented in the context of creating an all-analogue real-time multigigabit orthogonal frequency division multiplexing electro-optical transceiver for short range and high-capacity data center networks. Passive microwave filters are used to perform the pulse shaping of the bit streams, allowing an orthogonal transmission without the necessity of digital signal processing (DSP). Accordingly, a cyclic prefix that would cause a reduction in the net data rate is not required. An experiment consisting of three orthogonally spaced 2.7 Gbaud quadrature phase shift keyed subchannels demonstrates that the spectral efficiency of traditional DSP-less subcarrier multiplexed links can be potentially doubled. A sensitivity of -29.5 dBm is achieved in a 1-km link.

The Use of Almost Linear Phase IIR filters In DFT Modulated Filter Banks for Communication Systems

This paper is on the use and performance of M-path polyphase Infinite Impulse Response (IIR) filters for channelisation, conventionally where Finite Impulse Response (FIR) filters are preferred. This paper specifically focuses on the Discrete Fourier Transform (DFT) modulated filter banks, which are known to be an efficient choice for channelisation in communication systems. In this paper, the low-pass prototype filter for the DFT filter bank has been implemented using an M-path polyphase IIR filter and we show that the spikes present at the stopband can be avoided by making use of the guardbands between narrowband channels. It will be shown that the channelisation performance will not be affected when polyphase IIR filters are employed instead of their counterparts derived from FIR prototype filters. Detailed complexity and performance analysis of the proposed use will be given in this article.

Using augmented state Kalman filter to localize multi autonomous underwater vehicles

The present paper describes a system for the construction of visual maps ("mosaics") and motion estimation for a set of AUVs (Autonomous Underwater Vehicles). Robots are equipped with down-looking camera which is used to estimate their motion with respect to the seafloor and built an online mosaic. As the mosaic increases in size, a systematic bias is introduced in its alignment, resulting in an erroneous output. The theoretical concepts associated with the use of an Augmented State Kalman Filter (ASKF) were applied to optimally estimate both visual map and the fleet position.

Microfluidic Paper-based Devices For Bioanalytical Applications.

Paper has become increasingly recognized as a very interesting substrate for the construction of microfluidic devices, with potential application in a variety of areas, including health diagnosis, environmental monitoring, immunoassays and food safety. The aim of this review is to present a short history of analytical systems constructed from paper, summarize the main advantages and disadvantages of fabrication techniques, exploit alternative methods of detection such as colorimetric, electrochemical, photoelectrochemical, chemiluminescence and electrochemiluminescence, as well as to take a closer look at the novel achievements in the field of bioanalysis published during the last 2 years. Finally, the future trends for production of such devices are discussed.

Laser Printer Attribution: Exploring New Features And Beyond.

With a huge amount of printed documents nowadays, identifying their source is useful for criminal investigations and also to authenticate digital copies of a document. In this paper, we propose novel techniques for laser printer attribution. Our solutions do not need very high resolution scanning of the investigated document and explore the multidirectional, multiscale and low-level gradient texture patterns yielded by printing devices. The main contributions of this work are: (1) the description of printed areas using multidirectional and multiscale co-occurring texture patterns; (2) description of texture on low-level gradient areas by a convolution texture gradient filter that emphasizes textures in specific transition areas and (3) the analysis of printer patterns in segments of interest, which we call frames, instead of whole documents or only printed letters. We show by experiments in a well documented dataset that the proposed methods outperform techniques described in the literature and present near-perfect classification accuracy being very promising for deployment in real-world forensic investigations.

Triboelectric Effect As A New Strategy For Sealing And Controlling The Flow In Paper-based Devices.

We reported here for the first time that triboelectric charges on PET sheets can be used to seal and control the flow rate in paper-based devices. The proposed method exhibits simplicity and low cost, provides reversible sealing and minimizes the effect of sample evaporation.

Wavelets And Adaptive Grids For The Discontinuous Galerkin Method

In this paper, space adaptivity is introduced to control the error in the numerical solution of hyperbolic systems of conservation laws. The reference numerical scheme is a new version of the discontinuous Galerkin method, which uses an implicit diffusive term in the direction of the streamlines, for stability purposes. The decision whether to refine or to unrefine the grid in a certain location is taken according to the magnitude of wavelet coefficients, which are indicators of local smoothness of the numerical solution. Numerical solutions of the nonlinear Euler equations illustrate the efficiency of the method. © Springer 2005.