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This paper presents a high level architecture for a robot, designed for item picking task for E-commerce fulfillment center. The architecture was designed to be modular and has features that allow the robot to operate in an E-commerce warehouse environment, where bin content changes over time. Our system was built upon the Robot Operating System (ROS), with the benefits of abstracting low level machine...
This paper proposes a single-stage high-power-factor asymmetrical half-bridge AC-DC converter for power factor correction. The proposed converter is developed by integrating an asymmetrical half-bridge DC-DC converter with a set of coupled inductors and a blocking diode to achieve the single-stage AC-DC conversion with the buck-boost type power factor correction. By using the coupled inductors, the...
The reconfigurable battery array (RBA) can generate different levels of dc voltage for the single phase multilevel inverter (MLI). However, it implies that each battery module inside the RBA will provide different level of energy for the output load. In this paper, single voltage sensing balance (SVSB) method is proposed to equalize the battery modules voltage of the RBA. The proposed SVSB method...
This paper describes a task scheduling method designed for a robotic picking system. The main goal of the system is to fulfill an order, ie, pick all the items in an order list and place them into the order bin, as fast as possible with the least number of unfulfilled items or errors. Picking an item on the list is considered as one task. The system will prioritize and schedule first the tasks with...
In this paper, we study multiuser detection for asynchronous uplink machine-to-machine systems with code division multiple access. We formulate the maximal logarithmic likelihood problem for asynchronous multiuser detection via joint channel gains, time delays and transmission symbols detection. We present the design for pilot sequence and propose an adaptive step-size method with low complexity to...
For long-distance transmissions, relay-aided transmission technique is a promising solution to improve the performance for the free-space optical (FSO) communications. In this paper, a serial decode-and-forward relay-aided FSO communication system is considered. In the system, the main noise is Gaussian noise, however, with a noise variance depending on the current signal strength. Moreover, a composite...
This paper investigates multiuser detection for an uplink asynchronous machine-to-machine system with massive number of machine type communication devices (MTCDs). The goal is to detect the device activity, time delay, channel gain and transmission data for a grant-free three-phase access scheme where each MTCD first transmits its pilot sequence, then remains silent for a period of time, and finally...
Recently, the physical-layer security, which exploits the channel characteristics in order to hide information from unauthorized receivers and does not reliance on the upper-layer encryption, has been proposed as a promising complement to the traditional security schemes. In this paper, the lower bounds on secrecy capacity for indoor visible light communications (VLC) are investigated. The noise is...
In vehicle-to-vehicle (V2V) communication underlaying cellular networks, interference between cellular users (CUEs) and V2V users (VUEs) can be severe. To address this issue, many studies focused on designing resource allocation schemes to mitigate uplink interference. Most of them investigated the instantaneous resource allocation. In this paper, however, we consider a highway scenario where CUEs'...
By adopting device-to-device (D2D) communications, user terminals (UTs) can work as relays to help the cell-edge UTs with poor channel conditions obtain better network access experiences. In this paper, we characterize the D2D-assisted relay performance in the context of a cellular uplink scenario, where the UTs close to BS can act as the full-duplex relays. To obtain the system performance metric...
Recently, the optical spatial modulation (OSM) technique has been proposed for visible light communication (VLC). However, its design flexibility is limited by the fact that the number of transmitters has to be a power of two, given that the number of bits mapped by the transmit antenna index at each time slot is required to be an integer. In the paper, to break the limitation on the required number...
Either in China or other countries, there are highway construction ordinances. These ordinances require contractors to make evaluation system and submit report of construction impact on environment. It is also required that contractors need to forecast and analyze air quality in construction and operation process. However, detailed analyze method and numerical requirements. This article calculates...
Sentinel lymph nodes (SLNs) are the first draining lymph nodes when metastatic cancer cells are spreading. Sentinel lymph node biopsy (SLNB), which is performed invasively, is the current standard treatment to determine whether the cancer cells are spreading or not. A non-invasive SLN imaging modality along with fine needle aspiration biopsy (FNAB) would be beneficial for staging the axillary lymph...
Recently, magnetomotive ultrasound (MMUS) imaging has been introduced to detect magnetic nanoparticles (MNPs) which are not able to be visualized by conventional B-mode ultrasound. However, to date, only forward-mode MMUS where the imaging object is placed in between an ultrasound probe and an electromagnet is implemented in the literature. Such a MMUS mode is not suitable for clinical use. To facilitate...
Recently, magnetomotive ultrasound (MMUS), which is capable of ultrasonic visualization of in vivo magnetic nanoparticle distribution challenging to conventional B-mode ultrasound, has shown its potential in extravascular ultrasound molecular imaging, magnetic nano-drug delivery monitoring, and sentinel lymph node identification. However, to date, only forward-mode MMUS where the imaging object is...
This paper describes the design and development of an automated construction quality assessment robot system (QuicaBot) for hollowness, crack, evenness, alignments and inclination problems. To the best of our knowledge, this work is the first attempt to pave the way towards a fully autonomous robotic system for post construction quality assessment of buildings. The main goal of the novel robot is...
This paper investigates the thermal performance of a three-phase 10kW flux-switching permanent magnet (FSPM) machine used as an integrated starter generator (ISG) for hybrid electric vehicles, where the temperature rise experiments are conducted under different operating conditions. Also, the thermal analysis of the FSPM machine is simplified into one-dimensional steady heat conduction with two heat...
According to the helicopter flight performance, a route planning method based on interfered fluid dynamic system is proposed for agricultural plant protection. The model of helicopter is used to determine the maximum lift, climb performance and front flight speed. The obstacle equivalent model is established, which is quantified into a disturbance matrix and the initial flow field is corrected to...
We consider the coordinated transmission in the downlink of user-centric virtual cell networks where a number of Remote Radio Heads (RRHs) form a virtual cell to serve every user equipment (UE). We introduce two cell formation schemes and design the precoders in order to optimize the sum data rate with fairness among users. The original non-convex weighted sum-rate maximization problem is converted...
Laser voltage imaging (LVI) and laser voltage probing (LVP) are laser stimulation techniques to verify a device under test (DUT) and have been widely used for scan chain circuit debugging and various frequency-dependent failure modes. In the case of complex logic failures in advanced technology nodes, defect localization continues to be a challenge in the failure analysis field. Dynamic electrical...
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