N. Delgadillo, A. Kosarev, A. Torres, Y. Kudriavtsev
In a previous work [1], the deposition conditions that provided low optical absorption related to both band tail and deep localized states have been found for both materials Ge: H and Si1-YGeY: H. In this work phosphorous and boron doping of Ge: H films have been systematically studied. These films were deposited by low frequency (LF) plasma under the conditions for low density of localized states whit optimal hydrogen dilution. The deposition parameters were as follow: substrate temperature Ts= 300 °C, discharge frequency f= 110 kHz, pressure P= 0.6 Torr, power W= 300 W, and the flow gas for the films of Ge: H was, germane flow QGeH4= 50 sccm, hydrogen flow QH2=2500 sccm, the phosphine flow was varied in the range of QPH3 = 20 to 100 sccm providing phosphorous concentration in gas phase in the range of XP= 4 to 20 %. For boron we used the same conditions as before, but the B2H6 flow was varied in the range of QB2H6 = 3 to 20 sccm providing concentration in gas phase in the range of XB = 0.3 to 4 %. SIMS profiling was used for determining the composition of the doped films. The hydrogen bonding was studied by FTIR. The temperature dependence of conductivity measured in DC regime was performed in a vacuum thermostat in order to study carrier transport. Optical measurements provided optical gap, absorption and refraction index. The Phosphorous incorporation to the solid film demonstrated that for the doping conditions used in this work, we obtained a constant P concentratio. But for boron incorporation, the concentration of it in the solid films increases linearly with its concentration in the gas phase. The influence of the P and B doping on the hydrogen concentration, activation energy and conductivity of the films is also studied and presented.
{"title":"Phosphorous and Boron Incorporation and Its Effect on Electronic and Optical Properties of Ge:H Films Deposited by LF Plasma","authors":"N. Delgadillo, A. Kosarev, A. Torres, Y. Kudriavtsev","doi":"10.1109/CERMA.2010.81","DOIUrl":"https://doi.org/10.1109/CERMA.2010.81","url":null,"abstract":"In a previous work [1], the deposition conditions that provided low optical absorption related to both band tail and deep localized states have been found for both materials Ge: H and Si1-YGeY: H. In this work phosphorous and boron doping of Ge: H films have been systematically studied. These films were deposited by low frequency (LF) plasma under the conditions for low density of localized states whit optimal hydrogen dilution. The deposition parameters were as follow: substrate temperature Ts= 300 °C, discharge frequency f= 110 kHz, pressure P= 0.6 Torr, power W= 300 W, and the flow gas for the films of Ge: H was, germane flow QGeH4= 50 sccm, hydrogen flow QH2=2500 sccm, the phosphine flow was varied in the range of QPH3 = 20 to 100 sccm providing phosphorous concentration in gas phase in the range of XP= 4 to 20 %. For boron we used the same conditions as before, but the B2H6 flow was varied in the range of QB2H6 = 3 to 20 sccm providing concentration in gas phase in the range of XB = 0.3 to 4 %. SIMS profiling was used for determining the composition of the doped films. The hydrogen bonding was studied by FTIR. The temperature dependence of conductivity measured in DC regime was performed in a vacuum thermostat in order to study carrier transport. Optical measurements provided optical gap, absorption and refraction index. The Phosphorous incorporation to the solid film demonstrated that for the doping conditions used in this work, we obtained a constant P concentratio. But for boron incorporation, the concentration of it in the solid films increases linearly with its concentration in the gas phase. The influence of the P and B doping on the hydrogen concentration, activation energy and conductivity of the films is also studied and presented.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131402935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Y. Quiñonez, José Baca, J. de Lope, M. Ferre, R. Aracil
In this paper, a self-alignment approach based on cooperative behaviors is proposed for the docking process of modular mobile robots. Each cooperative behavior is modeled by means of artificial neural networks (ANN) to achieve a common goal. Based on RobMAT a modular robot system in the mobile configuration, two strategies are presented. For this purpose a robotic device simulator (Player) and a multi-robot simulation in 2D (Stage) are used. Experimental results display differences between both strategies and benefits in time execution.
{"title":"Self-Alignment Approach Based on Cooperative Behaviors for the Docking Process of Modular Mobile Robots","authors":"Y. Quiñonez, José Baca, J. de Lope, M. Ferre, R. Aracil","doi":"10.1109/CERMA.2010.56","DOIUrl":"https://doi.org/10.1109/CERMA.2010.56","url":null,"abstract":"In this paper, a self-alignment approach based on cooperative behaviors is proposed for the docking process of modular mobile robots. Each cooperative behavior is modeled by means of artificial neural networks (ANN) to achieve a common goal. Based on RobMAT a modular robot system in the mobile configuration, two strategies are presented. For this purpose a robotic device simulator (Player) and a multi-robot simulation in 2D (Stage) are used. Experimental results display differences between both strategies and benefits in time execution.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131641508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Universal path planning is a major issue in order to facilitate the task required for autonomous systems. Distance transform (wavefront) algorithm is a good path planner and can be used to determine a path near to optimum. We present a new algorithm for universal path planning in exact cell decomposition, using a raster scan method for generating an exact euclidean distance transform (EEDT). This algorithm also find, for every cell in the map, the point sequence to the goal (path smoothing), without post processing. These point sequences are computing by visibility verification between cells.
{"title":"An Exact Euclidean Distance Transform for Universal Path Planning","authors":"J. C. Elizondo-Leal, G. Ramírez-Torres","doi":"10.1109/CERMA.2010.93","DOIUrl":"https://doi.org/10.1109/CERMA.2010.93","url":null,"abstract":"Universal path planning is a major issue in order to facilitate the task required for autonomous systems. Distance transform (wavefront) algorithm is a good path planner and can be used to determine a path near to optimum. We present a new algorithm for universal path planning in exact cell decomposition, using a raster scan method for generating an exact euclidean distance transform (EEDT). This algorithm also find, for every cell in the map, the point sequence to the goal (path smoothing), without post processing. These point sequences are computing by visibility verification between cells.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115040518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Juan C. Espinal, M. Ornelas, H. Puga, J. M. Carpio, J. A. Muñoz
A technique for 3D shape detection based on light line image processing and neural networks is presented. The technique consists in the projection of a laser light stripe over the object. The light line then is distorted by changes on the object surface. The relief of the object is obtained by measuring the displacement of the light line. A neural network is implemented with data from line displacements corresponding to known object heights. The neural network models the behavior of the displacement of the laser line over the objects. In this way, the parameters of the experimental setup are not used and the results are improved. The performance of the technique is evaluated with the rms error, which is calculated by using data from a Coordinate Measuring Machine and simulated data.
{"title":"3D Object Reconstruction Using Structured Light and Neural Networks","authors":"Juan C. Espinal, M. Ornelas, H. Puga, J. M. Carpio, J. A. Muñoz","doi":"10.1109/CERMA.2010.19","DOIUrl":"https://doi.org/10.1109/CERMA.2010.19","url":null,"abstract":"A technique for 3D shape detection based on light line image processing and neural networks is presented. The technique consists in the projection of a laser light stripe over the object. The light line then is distorted by changes on the object surface. The relief of the object is obtained by measuring the displacement of the light line. A neural network is implemented with data from line displacements corresponding to known object heights. The neural network models the behavior of the displacement of the laser line over the objects. In this way, the parameters of the experimental setup are not used and the results are improved. The performance of the technique is evaluated with the rms error, which is calculated by using data from a Coordinate Measuring Machine and simulated data.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115247122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Everyday people face road traffic congestions in big cities causing wastes in time, productivity and accidents. Several techniques from different fields in science and technology have been proposed for road management that deal with different ways of modeling traffic lights, policies, cars and coordination. Here we are restricting our attention to automated vehicles coordination approaches, which indeed make big assumptions on the technological infrastructure. Further, we follow an approach called "Flock Traffic Navigation", where vehicles group in "flocks", just like many animal species travel in nature, in order to increase efficiency and security. The present work deals with the use of the information about drivers' usual travel patterns. Clustering techniques are implemented based on that information to find ways of joining vehicles into flocks, receiving thus the advantages of Flock Traffic Navigation. We evaluate the advantages of grouping cars using the drivers' travel patterns and show the feasibility of our approach.
{"title":"Clustering Drivers' Travel Patterns for the Flock Navigation Traffic Coordination Model","authors":"Gustavo López, R. Brena","doi":"10.1109/CERMA.2010.28","DOIUrl":"https://doi.org/10.1109/CERMA.2010.28","url":null,"abstract":"Everyday people face road traffic congestions in big cities causing wastes in time, productivity and accidents. Several techniques from different fields in science and technology have been proposed for road management that deal with different ways of modeling traffic lights, policies, cars and coordination. Here we are restricting our attention to automated vehicles coordination approaches, which indeed make big assumptions on the technological infrastructure. Further, we follow an approach called \"Flock Traffic Navigation\", where vehicles group in \"flocks\", just like many animal species travel in nature, in order to increase efficiency and security. The present work deals with the use of the information about drivers' usual travel patterns. Clustering techniques are implemented based on that information to find ways of joining vehicles into flocks, receiving thus the advantages of Flock Traffic Navigation. We evaluate the advantages of grouping cars using the drivers' travel patterns and show the feasibility of our approach.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128313856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Gnecchi, Fabian Ortega Vargas, V. H. O. Peregrino, Daniel Lorias Espinoza
Amongst the factors that benefit preventive treatment of cardiac patients are early detection and correct identification of cardiac arrhythmia patterns. However, in the State of Michoacán, Mexico, cardiac patients are seldom monitored as part of routine diagnostic in public health institutions due to the lack of ECG monitoring equipment. This paper describes the design and construction of an Ambulatory Electrocardiogram (ECG) Recorder, the ECGITM04. The ECG-ITM04 resulted from an initiative between Morelia Institute of Technology and the Michoacán State Public Health Secretariat to produce biopotential instrumentation for use as part of routine diagnostic in public health clinics. The 3-wire ECG monitoring device complies with several specifications: low-power consumption (battery operated), on-line graphics display, 7-days continuous data logger, patient electrical safety, minimal signal processing operations to facilitate the identification of cardiac arrhythmia patterns and a JTAG programming port so that the device can be updated without changing the data acquisition hardware.
{"title":"Design and Construction of a Continuous Ambulatory Electrocardiogram Recorder, Auxiliary in the Detection of Cardiac Arrhythmias","authors":"J. Gnecchi, Fabian Ortega Vargas, V. H. O. Peregrino, Daniel Lorias Espinoza","doi":"10.1109/CERMA.2010.124","DOIUrl":"https://doi.org/10.1109/CERMA.2010.124","url":null,"abstract":"Amongst the factors that benefit preventive treatment of cardiac patients are early detection and correct identification of cardiac arrhythmia patterns. However, in the State of Michoacán, Mexico, cardiac patients are seldom monitored as part of routine diagnostic in public health institutions due to the lack of ECG monitoring equipment. This paper describes the design and construction of an Ambulatory Electrocardiogram (ECG) Recorder, the ECGITM04. The ECG-ITM04 resulted from an initiative between Morelia Institute of Technology and the Michoacán State Public Health Secretariat to produce biopotential instrumentation for use as part of routine diagnostic in public health clinics. The 3-wire ECG monitoring device complies with several specifications: low-power consumption (battery operated), on-line graphics display, 7-days continuous data logger, patient electrical safety, minimal signal processing operations to facilitate the identification of cardiac arrhythmia patterns and a JTAG programming port so that the device can be updated without changing the data acquisition hardware.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"198 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121309251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The big difference between the technology of traditional broadcasting television and television using IP (Internet Protocol), is mainly the introduction of user interactivity in real time, transmitting information in a bidirectional manner. The launch of IPTV technology requires many functional elements that constitute a chain of contribution and full dissemination. This article presents the current situation of IPTV technology to facilitate the understanding of its technical aspects. It also describes various residential distribution scenarios for IPTV as well as considerations for the selection of domestic distribution mechanism.
{"title":"IPTV Technology and Its Distribution in Home Networks","authors":"A. A. Ramírez-Acosta, M. García-Vázquez","doi":"10.1109/CERMA.2010.106","DOIUrl":"https://doi.org/10.1109/CERMA.2010.106","url":null,"abstract":"The big difference between the technology of traditional broadcasting television and television using IP (Internet Protocol), is mainly the introduction of user interactivity in real time, transmitting information in a bidirectional manner. The launch of IPTV technology requires many functional elements that constitute a chain of contribution and full dissemination. This article presents the current situation of IPTV technology to facilitate the understanding of its technical aspects. It also describes various residential distribution scenarios for IPTV as well as considerations for the selection of domestic distribution mechanism.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125756055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
José Baca, M. Ferre, Matias Collar, Jose Fernandez, R. Aracil
The implementation of robotic cooperative tasks such as pushing an object toward a desired destination or manipulating an object using mobile robots or robotic arms requires motion coordination between the robot colony. When a robot is built by the union of several robots, such as modular robot systems, it is critical to have the complete coordination of each robot configuration within the colony and also overall robot coordination of the colony. The paper presents a demonstration of parallel motion for modular robot configurations through the combination of two types of communications, i.e., Inter-robot and Intra-robot communications. The two types of communications are described and implemented in a real modular robot system. Experiments are executed to show the performance of the robot colony synchronization.
{"title":"Synchronizing a Modular Robot Colony for Cooperative Tasks Based on Intra-Inter Robot Communications","authors":"José Baca, M. Ferre, Matias Collar, Jose Fernandez, R. Aracil","doi":"10.1109/CERMA.2010.111","DOIUrl":"https://doi.org/10.1109/CERMA.2010.111","url":null,"abstract":"The implementation of robotic cooperative tasks such as pushing an object toward a desired destination or manipulating an object using mobile robots or robotic arms requires motion coordination between the robot colony. When a robot is built by the union of several robots, such as modular robot systems, it is critical to have the complete coordination of each robot configuration within the colony and also overall robot coordination of the colony. The paper presents a demonstration of parallel motion for modular robot configurations through the combination of two types of communications, i.e., Inter-robot and Intra-robot communications. The two types of communications are described and implemented in a real modular robot system. Experiments are executed to show the performance of the robot colony synchronization.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125866684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Eduardo Patron, Raul Rivera, Arturo Serrano, Oscar Olivares
Transmission of real time videoconference sessions using wireless technologies presents important challenges. Channel impairments have a great effect in the quality of the video signal even in cases where emerging broadband technologies such as WiMax are used. This paper describes a proposal based on Cross-Layer-Design for reducing the data packet losses and its impact in the perceived quality of the received signal.
{"title":"Cross-Layer Design for Videoconferencing Applications in WiMAX 802.16e Networks","authors":"Eduardo Patron, Raul Rivera, Arturo Serrano, Oscar Olivares","doi":"10.1109/CERMA.2010.40","DOIUrl":"https://doi.org/10.1109/CERMA.2010.40","url":null,"abstract":"Transmission of real time videoconference sessions using wireless technologies presents important challenges. Channel impairments have a great effect in the quality of the video signal even in cases where emerging broadband technologies such as WiMax are used. This paper describes a proposal based on Cross-Layer-Design for reducing the data packet losses and its impact in the perceived quality of the received signal.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"53 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126847825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper we compare nine simulation alternatives which can be used for modeling and analysis the hardware components and processing tasks involved in processing a packet flow entering in a network node. In particular, we focus on the capabilities of these alternatives that can be employed for validating an analytical model based on Real-Time Calculus for the performance evaluation of the NIC’s buffer requirements at high-level abstraction.
{"title":"Comparing Simulation Alternatives for High-Level Abstraction Modeling of NIC's Buffer Requirements in a Network Node","authors":"G. R. Garay, M. León, R. Aguilar, V. Alarcón","doi":"10.1109/CERMA.2010.94","DOIUrl":"https://doi.org/10.1109/CERMA.2010.94","url":null,"abstract":"In this paper we compare nine simulation alternatives which can be used for modeling and analysis the hardware components and processing tasks involved in processing a packet flow entering in a network node. In particular, we focus on the capabilities of these alternatives that can be employed for validating an analytical model based on Real-Time Calculus for the performance evaluation of the NIC’s buffer requirements at high-level abstraction.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134142705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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