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This paper proposes a vertical transition between microstrip line and substrate integrated waveguide (SIW) on multilayer low-temperature co-fired ceramic (LTCC) as well as its equivalent circuit model. The transition structure is realized by a shorted via between microstrip line and the bottom of SIW. The equivalent model is derived by calculating the input impedance in waveguide and the simulation...
A dual passband filter using both microstrip and CPW resonators is proposed. The CPW resonators are embedded into the microstrip resonators to miniaturize the filter size. The cross coupling between the input and output resonators is introduced to exhibit a pair of transmission zeros in the two sides of the pass band, thus increasing the selectivity. An experiment has done for this filter, and the...
A compact branch-line coupler is proposed in this paper. The quarter-wavelength transmission lines are equivalent to the couplings between resonators. Thus, the conventional branch-line coupler can be transformed into a coupled-resonator network. With the proposed miniaturized resonators and coupling structure, the circuit size can be reduced by 50% and a 4% fractional bandwidth can be achieved.
This paper proposes a four-pole quasi-elliptic waveguide filter using multilayer low-temperature cofired ceramic (LTCC) technology. The cavities of the filter can be stacked vertically, while a pair of through hole vias are used to realize the cross coupling path for the quasi-elliptic response. Thus, the circuit size can be reduced by the overlap of the cavity resonators. The proposed filter has...
This paper proposes a vertically stacked substrate integrated folded-waveguide (SIFW) filter in a multilayer low- temperature cofired ceramic (LTCC) structure. The folded waveguide resonators are used to miniaturize the circuit size. The vertical metal walls of the resonators are realized by closely spaced metal filled vias. A four-pole Chebyshev waveguide filter has been designed and fabricated....
A low-voltage, low-power CMOS analogue multiplier designed in a modified bridged-triode scheme (MBTS) using current conveyors is presented. It operates with a supply voltage of plusmn1 V, the total harmonic distortion is less than three percent, the input operating swing is up to 1 Vpp, and the bandwidth is more than 100 MHz. Static power dissipation is 6.11 mW.
Superbot consists of Lego-like but autonomous robotic modules that can reconfigure into different systems for different tasks. Examples of configurable systems include rolling tracks or wheels (for efficient travel), spiders or centipedes (for climbing), snakes (for burrowing in ground), and climbers (for inspection and repair in space). This video shows several configurations and behaviors that are...
This paper proposes a new cross coupling structure of a vertically stacked waveguide filter in a multilayer low-temperature co-fire ceramic technology. The filter is excited by open-ended microstrip lines. Adjacent cavities are coupled vertically by narrow slots. Cross coupling for quasi-elliptic response is realized by through vias and short-circuited CPW feed line. From the results, the circuit...
Self-reconfigurable robots are modular robots that can autonomously change their shape and size to meet specific operational demands. Recently, there has been a great interest in using self-reconfigurable robots in applications such as reconnaissance, rescue missions, and space applications. Designing and controlling self-reconfigurable robots is a difficult task. Hence, the research has primarily...
We present a distributed controller for the center of mass of a modular robot. This is useful for locomotion of a modular robot over uneven and unknown terrain. By controlling the center of mass, a robot can prevent itself from falling over. We present a distributed and decentralized algorithm that computes the mass properties of the robot. Additionally, each module also computes the mass properties...
Much work on self-reconfigurable robotics has been focused on motion planning and physical reconfiguration of the robot. Using the Superbot self-reconfigurable robot, we focus on the details of realizing locomotion gaits given that a single robot topology can be realized in a large number of different ways. That is, each module in the robot topology has 4 symmetric orientations that are functional...
This paper presents the design of an experimental system for assembly applications in space. The prototypical application is the assembly of mechanical trusses. The system used an air-hockey table to simulate a frictionless two-dimensional space. Assembly robots fly on the surface finding, gathering and assembling the relevant parts to perform the construction. The system design involved building...
As a kind of mobile data service, mobile micro-payment service has approached people's lives. It becomes the focus and will be a field where mobile operators compete. According to hard-core technology of RFID (radio frequency identification) and aiming at condition of micro-payment system. This paper makes a plan for micro-payment system of optimization design based on RFID as well as elaborates the...
This paper presents a modular and reconfigurable robot for multiple locomotion modes based on reconfigurable modules. Each mode consists of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recover ability from failures. The paper demonstrates this solution by the Superbot robot that combines advantages from MTRAN, CONRO and others. Experimental results, both...
In this paper, we present a general mathematical foundation of hormone-inspired control for the self-reconfigurable robotic system. Problem considered here is the lack of a mathematical description to analyze and explain the dynamic behavior of self-reconfigurable robots. In the global level, the idea of virtual disconnection is developed to abstract the low level module control away from the high...
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