Virtual environments for Internet-based robots. I. Modeling a dynamic environment

In the context of using virtual environments (VEs) in Internet-based teleoperation, this paper addresses the issue of parameter acquisition for single-image-based modeling of VEs. By studying the properties of basic three-dimensional features such as point sets and edge corners, a parameter-searching method was developed that employs virtual objects as feature-matching templates. This approach is particularly valuable if the environment is subject to unpredictable change.     

On the validity of the amphoteric-defect model in gallium arsenide and a criterion for Fermi-level pinning by defects

Using the theoretically calculated point-defect total-energy values of Baraff and Schlüter in GaAs, anamphoteric-defect model has been proposed by Walukiewicz to explain a large number of experimental results. The suggested amphoteric-defect system consists of two point-defect species capable of transforming into each other: the doubly negatively charged Ga vacancyV _Ga ^2– and the triply positively charged defect complex (AS_Ga+V _As)³⁺, with As_Ga being the antisite defect of an As atom occupying a Ga site andV _As being an As vacancy. When present in sufficiently high concentrations, the amphoteric defect systemV _Ga ^2– /(As_Ga+V _As)³⁺ is supposed to be able to pin the GaAs Fermi level at approximately theE _v +0.6 eV level position, which requires that the net free energy of theV _Ga/(As_Ga+V _As) defect system to be minimum at the same Fermi-level position. We have carried out a quantitative study of the net energy of this defect system in accordance with the individual point-defect total-energy results of Baraff and Schlüter, and found that the minimum net defect-system-energy position is located at about theE _v +1.2 eV level position instead of the neededE _v +0.6 eV position. Therefore, the validity of the amphoteric-defect model is in doubt. We have proposed a simple criterion for determining the Fermi-level pinning position in the deeper part of the GaAs band gap due to two oppositely charged point-defect species, which should be useful in the future.     

Dynamic oxide voltage relaxation spectroscopy

A new method for trap characterization of oxidized silicon is described. The Dynamic Oxide Voltage Relaxation Spectroscopy (DOVRS) is an improved version of the formerly proposed Oxide Voltage Relaxation Spectroscopy (OVRS) technique which applies a periodic long duration constant current for tunneling injection. It has been demonstrated that the new technique can be used not only to separate and identify the oxide trap from interface trap, but also to separate and determine the centroid from the oxide trap density generated in the MOS system by the tunneling current stress. In the pulse constant current mode, the OVRS measurement can be completed instead of using the double current-voltage technique. Thus the new method results in more accurate and quicker measurements of the oxide trap centroid. Analytical expressions for computing the paramaters of the interface and oxide traps are derived. The effect of the channel carrier mobility on the spectroscopy is also considered. Two types of oxide and two types of interface traps were observed at a pulse constant Fowler-Nordheim current stress by the new method of DOVRS     

Low-temperature growth of silicon-boron layer as solid diffusionsource for polysilicon contacted p+-n shallow junction

A new material, Si-B, is proposed as a solid diffusion source for fabrication of poly-Si contacted p⁺-n shallow junctions. The junction depth of the Si-B source diode has been measured and compared with that of a BF₂⁺-implanted poly-Si source diode. It was found that the Si-B source diode had a much shallower junction and was less sensitive to thermal budget than the BF₂⁺ source diode. This was attributed to the smaller surface concentration and diffusivity of boron in the silicon in Si-B source diodes. Regarding electrical characteristics of diodes with a junction depth over 500 Å, a forward ideality factor of better than 1.01 over 8 decades and a reverse-current density lower than 0.5 nA/cm² at -5 V were obtained. As the junction depth shrank to 300 Å, the ideality factor and reverse current density of diodes increased slightly to 1.05 and 1.16 nA/cm², respectively. These results demonstrated that a uniform ultrashallow p⁺-n junction can be obtained by using a thin Si-B layer as a diffusion source     

产生特殊聚焦图形的二元光学元件

通过面积编码将伽博（Gabor)波带片的透过率函数的余弦分布等效为二元分布，研制了能产生各种特殊聚焦图形的二元光学元件。根据透镜聚焦的物理原理制作的二元振幅型波带片可以方便地产生多种聚焦线，给出了相应的实验结果，并讨论了改善聚焦效果的优化条件。     

反向驱动的异质结有机薄膜电致发光

成功制备了结构为ITO／PDDOPV／PPQ／Al的异质结聚合物发光二极管。该器件在正反向偏压下均可发光。在正向偏压下的光发射主要来自PDDOPV，但在反向偏压下的光发射则包括来自PPQ的蓝光发射和PDDOPV的黄光发射。蓝光强度与黄光强度的比值随着反向偏压的增加而增加，当反向直流电压分别为22V、24V、26V、28V时，其电致发光光谱中PPQ与PDDOPV的峰高比IPPQ／IPDDOPV分别为1．092、1．329、1．605、2．046。换句话说，该器件的发光颜色是压控可调的，这对实现彩色显示是极为有利的。分析了在反向偏压下的发光机理以及IPPQ／IPDDOPV受电压控制的原因。     

Horizontal Connection and Horizontal Mean Curvature in Carnot Groups

In this paper we give a geometric interpretation of the notion of the horizontal mean curvature which is introduced by Danielli Garofalo-Nhieu and Pauls who recently introduced sub- Riemannian minimal surfaces in Carnot groups. This will be done by introducing a natural nonholonomic connection which is the restriction （projection） of the natural Riemannian connection on the horizontal bundle. For this nonholonomic connection and （intrinsic） regular hypersurfaces we introduce the notions of the horizontal second fundamental form and the horizontal shape operator. It turns out that the horizontal mean curvature is the trace of the horizontal shape operator.     

A MINI MULTI-GAS DETECTION SYSTEM BASED ON INFRARED PRINCIPLE

To counter the problems of gas accidents in coal mines, family safety resulted from using gas, a new infrared detection system with integration and miniaturization has been developed. The infrared detection optics principle used in developing this system is mainly analyzed. The idea that multi gas detection is introduced and guided through analyzing single gas detection is got across. Through researching the design of cell structure, the cell with integration and miniaturization has been devised. The way of data transmission on Controller Area Network (CAN) bus is explained. By taking Single-Chip Microcomputer (SCM) as intelligence handling, the functional block diagram of gas detection system is designed with its hardware and software system analyzed and devised. This system designed has reached the technology requirement of lower power consumption, mini-volume, big measure range, and able to realize multi-gas detection.     

A Hybrid Multiobjective Evolutionary Algorithm for Solving Vehicle Routing Problem with Time Windows

Vehicle routing problem with time windows (VRPTW) involves the routing of a set of vehicles with limited capacity from a central depot to a set of geographically dispersed customers with known demands and predefined time windows. The problem is solved by optimizing routes for the vehicles so as to meet all given constraints as well as to minimize the objectives of traveling distance and number of vehicles. This paper proposes a hybrid multiobjective evolutionary algorithm (HMOEA) that incorporates various heuristics for local exploitation in the evolutionary search and the concept of Pareto's optimality for solving multiobjective optimization in VRPTW. The proposed HMOEA is featured with specialized genetic operators and variable-length chromosome representation to accommodate the sequence-oriented optimization in VRPTW. Unlike existing VRPTW approaches that often aggregate multiple criteria and constraints into a compromise function, the proposed HMOEA optimizes all routing constraints and objectives simultaneously, which improves the routing solutions in many aspects, such as lower routing cost, wider scattering area and better convergence trace. The HMOEA is applied to solve the benchmark Solomon's 56 VRPTW 100-customer instances, which yields 20 routing solutions better than or competitive as compared to the best solutions published in literature.