Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

An evolutionary method for optimization of plate buckling resistance

Optimization of plate buckling resistance is very complicated, because the in-plane stress resultants in the prebuckled state of a plate are functions of thickness distribution. This paper discusses the problem of finding the optimum thickness distribution of isotropic plate structures, with a given volume and layout, that would maximise the buckling load. A simple numerical method using the finite-element analysis is presented to obtain the optimum thickness distribution. Optimum designs of compression-loaded rectangular plates with different boundary conditions and plate aspect ratios are obtained by using the proposed method. Optimum designs from earlier studies and the methods of buckling analysis used to attain these results are discussed and compared with the designs from the proposed method. This paper also examines the reliability of the optimality criterion generally used for plate buckling optimization, which is based on the uniform strain energy density.     

A methodology for modeling the distributions of medical images and their stochastic properties

The probabilistic distribution properties of a set of medical images are studied. It is shown that the generalized Gaussian function provides a good approximation to the distribution of AP chest radiographs. Based on this result and a goodness-of-fit test, a generalized Gaussian autoregressive model (GGAR) is proposed. Its properties and limitations are also discussed. It is expected that the GGAR model will be useful in describing the stochastic characteristics of some classes of medical images and in image data compression and other applications.     

Color quantitation through image processing in dermatology

Classical color models and their applications to computer vision are reviewed. The performances of color quantitation from digitized images are compared with those derived from a chromameter. The color quantitation obtained from either digitized color slides or directly digitized images is proved to be more efficient than the conventional visual assessment of observers. A methodology is proposed for determining the specific color indices which are needed in dermatology. An application of this methodology is developed for designing a blanching quantitation index in order to replace the visual assessment during McKenzie tests.     

Improvement on dynamic elastic interpolation technique for reconstructing 3-D objects from serial cross sections [biomedical application

An improved method for automatically reconstructing a three-dimensional object from serial cross sections is presented. The method improves the dynamic elastic contour interpolation technique. There are two major improvements: (1) in the case of branching that involves concave contours, instead of pairwise interpolation between the start contour and each goal contour, the goal image is considered globally and local constraints are imposed on the forces exerting upon the vertices; and (2) it takes the continuity of high-order derivatives into consideration and incorporates the schemes of spline theory, quadratic-variation-based surface interpolation, and finite-element-based multilevel surface interpolation to create smoother surfaces of the reconstructed object. Based on the output from the preliminary processing, two alternatives, a quadratic-variation-based surface interpolation algorithm and a finite-element-based multilevel surface interpolation algorithm, can be adopted to obtain the final surface representation     

Reconstruction of two-dimensional permittivity distribution using the distorted Born iterative method

The distorted Born iterative method (DBIM) is used to solve two-dimensional inverse scattering problems, thereby providing another general method to solve the two-dimensional imaging problem when the Born and the Rytov approximations break down. Numerical simulations are performed using the DBIM and the method proposed previously by the authors (Int. J. Imaging Syst. Technol., vol.1, no.1, p.100-8, 1989) called the Born iterative method (BIM) for several cases in which the conditions for the first-order Born approximation are not satisfied. The results show that each method has its advantages; the DBIM shows faster convergence rate compared to the BIM, while the BIM is more robust to noise contamination compared to the DBIM.     

Elimination of dislocations in heteroepitaxial MBE and RTCVD Ge x Si1-x grown on patterned Si substrates

We have grown Ge _x Si_1-x (0 <x < 0.20,1000–3000Å thick) on small growth areas etched in the Si substrate. Layers were grown using both molecular beam epitaxy (MBE) at 550° C and rapid thermal chemical vapor deposition (RTCVD) at 900° C. Electron beam induced current images (EBIC) (as well as defect etches and transmission electron microscopy) show that 2800Å-thick, MBE Ge_0.19Si_0.81 on 70-μm-wide mesas have zerothreading and nearly zero misfit dislocations. The Ge_0.19Si{0.81} grown on unpatterned, large areas is heavily dislocated. It is also evident from the images that heterogeneous nucleation of misfit dislocations is dominant in this composition range. 1000Å-thick, RTCVD Ge_0.14Si_0.86 films deposited on 70 μm-wide mesas are also nearly dislocation-free as shown by EBIC, whereas unpatterned areas are more heavily dislocated. Thus, despite the high growth temperatures, only heterogeneous nucleation of misfit dislocations occurs and patterning is still effective. Photoluminescence spectra from arrays of GeSi on Si mesas show that even when the interface dislocation density on the mesas is high, growth on small areas results in a lower dislocation density than growth on large areas.     

Inclusive production of vector mesons in π+ p interactions at 250 GeV/c

We report on a study of ρ⁰, ρ⁺, ω, \(\bar K^{*0} (892)\) andK ^*0 (892) inclusive production in π⁺ p interactions at 250 GeV/c, for ρ⁺, \(\bar K^{*0} (892)\) for the first time in a π⁺ p experiment. The data are compared withK ⁺ p data in the same experiment, with results of other experiments and with quark-parton models. Interesting differences are found between ρ^+,0 and ω production.     

Low noise 80–115 GHz quasiparticle mixer with small Nb/Al-Oxide/Nb tunnel junctions

Millimeter-wave characterization of a heterodyne receiver using (2 m²) Nb/Al-Ox/Nb Superconducting-Insulator-Superconducting (SIS) junctions arrays is reported. The fabrication of the Nb/Al-Ox/Nb SIS junction arrays as a heterodyne mixer is described. The leakage current of these junctions is below 2A at 4.2K and unmeasurable at 2.5K. The receiver gave a noise temperature Double Side Band (DSB) between 63K and 187K over the frequency range 80 to 115 GHz at the first conversion peak. The results are comparable to those obtained with SIS receivers using well researched lead junctions. Contrary to the lead junctions, our mixer using all Nb junctions have proven remarkably stable with respect to thermal cycling, characteristics which are required for space applications. To our knowledge, this is the most reliable low noise receiver operating in this frequency range.     

Stochastic algorithms with armijo stepsizes for minimization of functions

Stochastic algorithms for optimization problems, where function evaluations are done by Monte Carlo simulations, are presented. At each iteratex _i, they draw a predetermined numbern(i) of sample points from an underlying probability space; based on these sample points, they compute a feasible-descent direction, an Armijo stepsize, and the next iteratex _i+1. For an appropriate optimality function , corresponding to an optimality condition, it is shown that, ifn(i) , then (x _i) 0, whereJ is a set of integers whose upper density is zero. First, convergence is shown for a general algorithm prototype: then, a steepest-descent algorithm for unconstrained problems and a feasible-direction algorithm for problems with inequality constraints are developed. A numerical example is supplied.