Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging ...Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed controller.Simulation results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.展开更多
A fully integrated passive UHF RFID tag complying with the ISO 18000-6B protocol is presented, which includes an analog front-end, a baseband processor, and an EEPROM memory. To extend the communication range, a high ...A fully integrated passive UHF RFID tag complying with the ISO 18000-6B protocol is presented, which includes an analog front-end, a baseband processor, and an EEPROM memory. To extend the communication range, a high efficiency differential-drive CMOS rectifier is adopted. A novel high performance voltage limiter is used to provide a stable limiting voltage, with a 172 mV voltage variation against temperature variation and process dispersion. The dynamic band-enhancement technique is used in the regulator circuit to improve the regulating capacity. A rail-to-rail hysteresis comparator is adopted to demodulate the signal correctly in any condition. The whole transponder chip is implemented in a 0.18μm CMOS process, with a die size of 900 × 800 μm2. Our measurement results show that the total power consumption of the tag chip is only 6.8 μW, with a sensitivity of -13.5 dBm.展开更多
文摘Object servoing is becoming more and more important for service robots. Because of the nonholonomicconstraints of a differential-drive service robot and the possibly changed pose of amovable object, it is challenging to design an object servoing scheme for the differential-driveservice robot such that it can asymptotically park at a predefined relative pose to that of the movableobject. In this paper, a novel object servoing scheme is proposed for the differential-driveservice robots using switched control. Each relative online pose is first estimated by using featuresof the movable object, the estimated pose is an input of an object servoing friendly parkingcontroller. The linear velocity and angular speed are then determined by the proposed controller.Simulation results validate the performance of the proposed object servoing scheme. Due to itslow online computational cost, the proposed scheme can be applied for the real-time tasks ofdifferential-drive service robots to movable objects.
文摘A fully integrated passive UHF RFID tag complying with the ISO 18000-6B protocol is presented, which includes an analog front-end, a baseband processor, and an EEPROM memory. To extend the communication range, a high efficiency differential-drive CMOS rectifier is adopted. A novel high performance voltage limiter is used to provide a stable limiting voltage, with a 172 mV voltage variation against temperature variation and process dispersion. The dynamic band-enhancement technique is used in the regulator circuit to improve the regulating capacity. A rail-to-rail hysteresis comparator is adopted to demodulate the signal correctly in any condition. The whole transponder chip is implemented in a 0.18μm CMOS process, with a die size of 900 × 800 μm2. Our measurement results show that the total power consumption of the tag chip is only 6.8 μW, with a sensitivity of -13.5 dBm.
