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In order to accurately control the portable AUV, a dynamic modeling method based on computational fluid dynamics (CFD) and a improved Generalized Predictive Control (GPC) method were presented. First, the whole modeling process was described from two aspects: dynamic model derivation and model parameter identification. Second, the validity of the model and modeling method were tested by comparing...
Reusing Historical testcases play a crucial role in ensuring software testing quality. However, the diversity of historical testcases limits their potential uses. As a result, large amounts of human effort is required to write testcases for complex functional testings. In this paper, an effective framework is proposed to integrate and retrieve historical testcase bases with semantic analysis technologies...
In order to realize autonomous landing of the unmanned aerial vehicle (UAV) in power patrolling, a visual method vision based on Faster Regions with Convolutional Neural Network (Faster R-CNN) for UAVs is studied. In this paper, we design the landing sign of the combination of concentric circles and pentagon, and propose the Faster R-CNN recognition algorithm which can be used to identify the target...
This paper reports the electrostatic regulation of surface traction of a quadruped soft robot to improve its locomotion efficiency. The soft robot, containing five pneumatic channel networks (PneuNets) in different parts of its body, is actuated to achieve undulated locomotion. Electrostatic adhesion is applied to the bottom surface of each robot leg, by using a thin elastomeric adhesion pad embedded...
The rollover accidents under complex driving environments involving heavy-duty vehicles (HDVs) often lead to serious consequences. For predicting rollover accidents, a probabilistic assessment model is proposed. Firstly, a specific vehicle dynamic model is developed with some random parameters taking into account wind velocity and road curvature. Then, the SORM (Second Order Reliability Method) approximations...
In this paper, we proposed an optical encryption /decryption system based on all-optical shift register. The key used for encryption and decryption is an all-optical pseudorandom bit sequence (PRBS). By analysing the performance of the core functional unit of this system, which is composed of SOA-based logic XOR and all-optical clocked D flip-flops, we demonstrated the system's capability of producing...
A circularly-polarized (CP) microstrip antenna with both large impedance bandwidth and large circular polarization bandwidth is proposed. The antenna consists of two dual-mode nearly-square sub-patches that are each optimized to achieve maximum bandwidth. The two sub-patches are then used to construct an overall CP antenna.
To solve the problems of Signal-to-Noise Ratio (SNR) and multicollinearity when the Local Field Potential (LFP) signals is used for the decoding of animal motion intention, a feature reconstruction of LFP signals based on partial least squares regression (PLSR) in the neural information decoding study is proposed in this paper. Firstly, the feature information of LFP coding band is extracted based...
The research focuses on the compensation effect of the equivalent multi-sample rotation vector algorithm on the errors of cone motion. The rotation vector algorithm based on both five samples which eliminates the interval error caused by sampling by using the method of the fourth order polynomial fitting and single sample are adopted to compensate the errors in cone motion. The simulation results...
As a recently developed imaging technology, optical coherence tomography (OCT) has been widely used in medicine, biology as well as material science to acquire cross-sectional tomographic images with a high resolution at micrometer level. However, as a backreflected imaging method, the specificity of OCT for different subject structures is relatively low due to its speckle and other issues. On the...
Detecting the cellular-level morphological alterations of gastrointestinal (GI) tracts is critical for the early diagnosis of cancers. With the capability to obtain real-time cross-sectional images of the biological tissues at cellular resolution, micro-optical coherence tomography (μϋΟΤ) has become a potential tool for such purpose. However, clinical applications of μϋΟΤ are still limited by lack...
This paper reports the experimental investigation of the impact of vacuum chamber conditions (cleanliness level and vacuum pressure) of scanning electron microscopy (SEM) on the contact resistance of two-point in-situ nanoprobing. Using two typical types of conductive nanoprobe, two-point electrical nanoprobing is performed on silicon nanowires, during which changing trends of the nanoprobing contact...
Passive dynamic walking robot can walk with low energy consumption and exhibits human-like natural gait. However, because the walking performance greatly or fully depends on the mechanical structural parameters, their walking stability is quite low compared to active walking robot. In other words, proper mechanical parameters are one of the key factors to achieve stable walking for a passive dynamic...
The 4H-SiC ultraviolet detector of the MESFET structure with gain is proposed and simulated in this paper. The Schottky gate of MESFET is transparent or semi-transparent to allow more of the incident UV light to be absorbed in the device. The effect of the doping and thickness of the channel layer on the photocurrent of the 4H-SiC MESFET UV detector is simulated and the effect mechanism is analyzed...
In this work, we investigated the current collapse mechanism of AlGaN/GaN high-electron mobility transistors (HEMTs) with LPCVD Si3N4 passivation. With newly developed fast soft-switched current-DLTS techniques, we achieved current acquisition within 100 ns after each stress pulse and with high sampling rate up to 5 MSa/s. A single trap level (∼66 meV) and capture cross section On (−1.05×10−20 cm−2...
A modified water glass adhesive bonding method using spot pressing bonding technique (SPB) is proposed. The mechanism of water glass bonding is investigated, and the voids formation has been discussed. The combined method achieved low temperature adhesive bonding and minimized the influence of water molecules to bonding interface.
Intense THz excitation in topological insulator Bi2Se3 induces negative low-frequency conductivity and energy-dependent relaxation dynamics, different from high-energy pumping, which allows us to isolate intrinsic quasi-particle scattering dynamics inside the surface states.
A 30GSsps 6bit current-steering digital-to-analog converter (DAC) in SiGe BiCMOS technology is present in this paper. The DAC core works in a double-sampling way, which reduces the maximum clock frequency by half. In order to suppress the frequency spur induced by double-sampling, a duty cycle correction circuit is implemented. 24 high speed serial data receivers running up to 7.5Gbps per-lane and...
The fabrication of 1200V SiC MOSFET with developed nitrided gate oxide and self-aligned channel technology are reported. Post-oxidation annealing in nitrogen-contained ambient can effectively passivate defects at the SiC/SiO2 interface which is beneficial for the mobility improvement in SiC MOSFETs. The process of nitridation begins from the conduction band and extends to the mid-band-gap gradually...
Summary In automated microrobotic injection of mouse embryos, high-speed cell orientation control is important for avoiding damage of cellular organelles. This paper presents a visual servoing system for automated cell orientation control, which overcomes the limitations in state-of-the-art techniques for embryo immobilization and orientation. An in-house developed device is used for immobilizing...
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