Saturday, July 9, 2011

Design concept for optical fibers with enhanced SBS threshold

Abstract: We propose a criterion to predict the relative value of the stimulated Brillouin scattering (SBS) threshold in single-mode optical fibers with different refractive index profiles. We confirm our results by several representative measurements. We show that with the proper profile design one can achieve more than 3 dB increase in the SBS threshold compared to the standard single-mode optical fiber.





1. Introduction
SBS is a nonlinear effect caused by interaction between optical and acoustic waves (for an in- depth description see, e.g., [1]). For many fiber-optic applications it has a negative impact. For example, SBS has been shown to restrict performance of soliton-based long-haul transmission systems [2] and analog CATV systems [3]. In addition, SBS is an undesirable effect in the optical power delivery, high-power fiber lasers, and unrepeatered transmission where high input optical powers are required. Once the input power reaches some critical value, the amount of backscattered power increases quickly with the input power. The onset of SBS is determined by that critical input power which is called the SBS threshold (SBST) [4]. An increase in the SBST power which is highly desirable for many applications can be accomplished in several ways. For example, one can broaden the spectrum of the input signal using phase modulation to reduce its overlap with the narrow Brillouin gain spectrum [5] or impose a variation of fiber parameters such as stress [6], temperature [7], the core radius [8], or the Brillouin shift frequency [9, 10] along the fiber length. A more practical solution, however, is to control the Brillouin gain by the fiber design because fibers with different index profiles have different Brillouin gain spectra and therefore different SBS thresholds [11, 12, 13, 14].
In this paper we describe an approach to estimate the SBST power of a single-mode opti- cal fiber from its index profile. To study the acousto-optic interaction we use the approach of Refs. [1, 15]. We present a simple reasoning that allows us to deduce a single parameter, the acousto-optic effective area, that quantifies the SBST depending on the radial distribution of the core dopant concentration. We confirm our theoretical results by measurement of the SBST in several GeO2-doped silica fibers. The paper is organized as follows. In Section 2 we derive the expression for the acousto-optic effective area which unlike the commonly used optical effec- tive area determines the strength of the SBS process in optical fibers. We then calculate profiles of acoustic modes that are needed to evaluate the acousto-optic effective area (Section 3) and describe the calculation of SBST when input optical wave interacts with several acoustic modes (Section 4).









Andrey Kobyakov, Shiva Kumar, Dipak Q. Chowdhury, A. Boh Ruffin, Michael Sauer, and Scott R. Bickham
Corning Incorporated, Science and Technology Division, One Science Center Drive, SP-TD-01-1, Corning, NY 14831
KobyakovA@corning.com
Raj Mishra
Corning Incorporated, Corning Optical Fiber, 310 N. College Rd, MS-6 Wilmington, NC 28409


NUMERICAL ANALYSIS OF A SMALL ULTRA WIDEBAND MICROSTRIP-FED TAP MONOPOLE ANTENNA

Abstract—This paper presents a planar microstrip-fed tab monopole antenna for ultra wideband wireless communications applications. The impedance bandwidth of the antenna is improved by adding slit in one side of the mono pole, introducing at apered transition between the mono poleand the feedline,and adding two-step stair casenotchin the ground plane. Numerical analysis for the antenna dimensional parameters using Ansoft HFSS is performed and presented. The proposedantennahasasmallsizeof16×19mm,andprovidesan ultra wide bandwidth from 2.8 to 28 GHz with low VSWR level and good radiation characteristics to satisfy the requirements of the current and future wireless communications systems.


1. INTRODUCTION

From mobile telephones to wireless Internet access to networked appliance sand peripherals,there is anincreasing reliance on wireless communications to provide functionality for products and services.Therefore,the technologies for wireless communications always need further improvement to satisfy higher resolution and data requirements. That is why ultra wideband (UWB) communications systems covering 3.1 GHz to 10.6 GHz released by the Federal Communications Commission (FCC) in 2002 [1] are currently under development.However,thereisalwaysanincreasingdemandfor smallersize,andgreatercapacitiesandtransmissionspeeds,which will certainly require more operating bandwidth in the near future.
Inthelastfewyears,researchershaveinvestigatedseveralkindsof microstrip slot and printed antennas for UWB applications [2–15]. One
of the best antennas in the last decade is the tap monopole antenna. The planar tap monopole antennas have been adopted and studied extensively for UWB communications systems because of their many appealing features. These features include wide impedance bandwidth, simplestructure,smallsize,lowprofile,andomni-directionalradiation patterns.Numberofwidebandtapmonopoleconfigurations,suchas rectangular,elliptical,pentagonal,andhexagonalhasbeenproposed for UWB applications [5:15]. Wide impedance bandwidth of (1:1.7), (1:2.25),(1:2.87),(1:3.4),(1:3.5),(1:3.7),(1:3.75)and(1:10.7)for VSWR<2,andanantennasizeof20,24,20,23,16,26,30,andmore than52mmarereportedin[7–14],respectively.
Recently,wepresentedamodifiedprintedtapmonopoleantenna forUWBapplicationswithaslit,notchedgroundplane,andtapered transition between the tap monopole and the feed line with a very wideimpedancebandwidthof(1:7.9)[15].Inthispaper,wepresent numerical analysis of the antenna in [15] to show the effect of each dimensional parameter. The numerical analysis results in a much betterbandwidthof(1:10),withalowVSWRleveloflessthan1.75, andasmallsizeof16mm,whichissmallerthantheantennaspresented in [2–14]. The results in this paper are obtained from Ansoft HFSS simulations,whicharebasedontheFiniteElementMethod(FEM). Verification of the final results is performed using a FDTD based code designed by the author.


2. ANTENNA GEOMETRY AND PARAMETERS

The geometry and parameters of the proposed broadband tap monopole antenna are depicted in Fig. 1. The antenna is printed on an FR4Epoxysubstratewitharelativedielectricconstant(εr)of4.4,a tangentialloss(tanσ)of0.02,athickness(h)of1.6mm,awidth(Ws) of 16 mm and a length (Ls ) of 19 mm. The basic antenna structure consistsofarectangularpatchwithanarrowslit,ataperedtransition, afeedline,andatruncatedgroundplanewithatwo-stepstaircase notch.
The rectangular patch has a width P1 and a height P2. A narrow slit of width S1 and depth S2 is cut on the patch’s right side and placed at a distance S3 away from the lower right corner of the patch. The slit is placed to create additional path for the surface current, which producesan additional resonance, andasaresult, increases the band width when the dimension sareproperly chosen,whichis proven in [15] by comparing VSWRs for antennas with and without slit. Additionally, because this slotis very narrow itdoes not disturb the existing resonances of the tap monopole.


A. A. Eldek
Department of Computer Engineering 
Jackson State University JSUBox17098,Jackson,MS39217-0198,USA

A Test of Vehicle-to-Grid (V2G) for Energy Storage and Frequency Regulation in the PJM System

Executive Summary
This report documents a practical demonstration of Vehicle-to-Grid power, providing real-time frequency regulation from an electric car. Vehicle-to-Grid (V2G) presents a mechanism to meet key requirements of the electric power system, using electric vehicles when they are parked and underutilized. While V2G is expected to have several applications, the most economic entry for this green innovation is the market for ancillary services (A/S). The highest value A/S is frequency regulation (in many ISOs, including PJM, this service is simply called “regulation” and we will use that term subsequently). In areas with deregulated electricity markets, regulation can have average values of $30-$45/MW per hour, with hourly rates fluctuating widely around that average.
A second market of interest is spinning reserves, or synchronous reserves, with values in the range of $10/MW per hour, but much less frequent dispatch. The primary revenue in both of these markets is for capacity rather than energy, and both markets are well suited for batteries as a storage resource because they require quick response times yet low total energy demand. Additionally, V2G can provide distribution system support when there is a concentration of parked V2G cars, along overload elements in the distribution system.
A later application, when parked V2G-capable cars are connected and aggregated in large numbers, would be to use them as dispersed energy storage for intermittent but renewable resources such as wind and solar. The results of the study show that V2G, in addition to providing valuable grid servies, could also prove to be a prominent application in the global transition to the emerging green and sustainable energy economy.
A fully functional, freeway-capable electric vehicle was used in this study. Its power electronics are designed to both drive the vehicle and allow for high-power exchange with the electric grid. We modified this vehicle by adding controls and logic to make it respond to the PJM real-time signal for regulation.
The data and resulting graphs show the ability of the car to provide regulation in addition to zero emission local commute driving. This is a technology proof of concept with a single vehicle. Current work is directed toward developing dispatch of about a half-dozen vehicles. To move from a technology demonstration to commercial application, the next step would be a business model development at the scale of 100 to 300 vehicles.
The report is comprised of six sections. Section I provides an introduction of the research initiative. Section II covers the infrastructural background concepts involved in V2G application for regulation. Section III calculates the commercial value of V2G as demonstrated by the existing ancillary service markets. Section IV reviews distribution issues, including service drop and distribution transformer power capacity. Section V describes the methodology used in the study. In Section VI, we present the experimental results of the test. Finally, in Section VII, we provide concluding remarks and the proposed future work that will be needed to make this green, sustainable and energy security/independence innovation a reality.


Section I: Introduction

With the increasing cost of petroleum and growing acceptance of global climate change as a critical environmental problem, policy makers, engineers and business leaders are searching for alternative energy solutions. Re-electrification of automobile transportation and enhancement of the existing power system grid is one such solution.
The electric power system is a complex and critical infrastructural system, yet it lacks energy storage capacity, so electricity must be simultaneously produced and consumed.1 Automobiles contain distributed energy storage; today, that storage is in the form of liquid fuel but we, and much of the industry, anticipate a shift to electricity.2 Both the power system and automobiles are designed to meet peak demands – peak electric use for the power system and the power to accelerate to full speed for the automobile. The actual level of utilization of both assets is far less than 100% most of the time, especially for local commute vehicles for individual urban families.
Although the electric power system industry has undergone restructuring, the fundamental engineering aspects of the system remain the same. The load and the generation in the system must be balanced at all times. To accomplish this real time balancing, several functions have been established to manage the system effectively.
With restructuring, some of the balancing functions, such as spinning reserve and regulation, have become marketed services. Other functions, such as voltage control and reactive power management, are at the distribution level and remain the responsibility of the local load-serving entity. Spinning reserve and regulation are termed ancillary services, abbreviated A/S, in well- established power markets such as PJM and other Regional Transmission Organizations (RTOs) or Independent System Operators (ISOs).
The biggest challenge with electric vehicles has been the battery that stores the energy needed to drive the vehicle, with challenges of both cost and lifetime. There has been significant research to improve both variables and it is anticipated that if adequate public policy is implemented, both costs will become competitive within four to seven years.* Now is the time to establish the business models for electric vehicle interaction with the grid, so that the business is developed and ready for rapid expansion as electric vehicles enter the market place in the coming years.
AC Propulsion of California has designed an electric drive system using mass-produced 18650 lithium-ion batteries and a patented power electronics unit that is ideally suited for Vehicle-to- Grid (V2G). They have also created electric and plug-in hybrid vehicles by converting existing gasoline vehicles. Other manufacturers, including global auto manufacturers such as Renault/Nissan, Mitsubishi Motors, and BMW, are producing all-electric vehicles for some markets and have announced full-scale production plans for all-electric vehicles.


Results from an Industry-University Research Partnership
Willett Kempton,* Victor Udo,Ken Huber,§ Kevin Komara,§ Steve Letendre,Scott Baker,* Doug Brunner,* & Nat Pearre*

Exploring the Black Box of Task-Technology Fit: The Case of Mobile Information Systems

Abstract
Task-technology fit has been developed as a diagnostic tool to determine whether information systems meet user needs, and has been demonstrated to have a positive impact on the effectiveness of various types of information systems, such as group support systems and management support systems. Despite empirical evidence for the relevance of task-technology fit to improve information system effectiveness, the theory of task-technology fit provides little guidance of how to determine and operationalize fit for particular combinations of task and technology. Consequently, the theoretical validity of the concept of task-technology fit remains limited as does its practical applicability. In this paper, we present the results of an inductive study to explore the concept and antecedents of fit for mobile information systems to support mobile professionals. We performed a content analysis of online user reviews of four mobile technology products with the objective to identify issues that are relevant to users. The mobile technology products include a cell-phone, two personal digital assistants (PDAs), and an ultra-light laptop. The identified issues can be grouped into four conceptual constructs: overall user evaluation, task-related fit, context-related fit, and technology performance, and are characterized by a lower level of abstraction than the level of abstraction deployed in previous research studies on task-technology fit. In order to improve our understanding about how to achieve fit for particular combinations of task, use context, and technology we performed several statistical analyses. (1) An exploratory factor analysis yielded five factors, each indeed including a different set of conceptual constructs; (2) a case-wise analysis indicated user-perceived strengths and limits of individual devices with respect to the five factors; and (3) the results of a multiple regression analysis provided insights about the extent to which the five factors were related with overall technology evaluation. The results presented in the current paper will serve as input for a larger survey.

Keywords: Task-technology fit, fit operationalization, mobile information systems, mobile professionals, use context, technology comparison, content analysis


Acknowledgement
We thank Alfred Hubler for his invaluable feedback and guidance, as well as Chaiwat Baiwai and Ya (Tanya) Tang for their help during data collection and analysis. An abbreviated version has been accepted for presentation at the Fifth Workshop on e-Business (WeB 2006).
1. Introduction
As professionals, such as knowledge workers and managers, increasingly perform tasks outside of traditional office environments, mobile technology often provides critical support, in particular at the middle level of the organizational hierarchy, including midlevel executives, project managers, company and sales representatives, and field service workers (Computerworld 2003). Nevertheless, the requirements for the development and use of mobile information systems to support managerial tasks are not fully understood.
Research on technology innovation and diffusion has long pointed out the importance of matching information systems with the organizational tasks to be supported or automated (Kimberly 1981, Tornatzki and Klein 1982) as a precursor to system use and subsequent benefits. Goodhue and Thompson (1995) first coined the term of task-technology fit in their research quest to improve the assessment of information system success beyond self-reported user evaluations. Goodhue and Thompson (1995) conducted an empirical research study that investigated the support of tasks, such as managerial decision making, changing business processes, and routine tasks, with different scenarios of workstation-based information systems, in a mandatory use setting. The results show that, in addition to use, the fit between tasks and technology was an important factor that explains performance impacts of the systems. Zigurs and Buckland (1998) presented a theory of task-technology fit that matched the features of group support systems with the requirements of group tasks. Goodhue and Thompson’s work was later extended and integrated with the technology-acceptance model (Dishaw and Strong 1998, 1999, Mathieson and Keil 1998), while Staples and Seddon (2004) found evidence for the validity of Goodhue and Thompson’s (1995) model in voluntary, as well as mandatory use settings. Zigurs and Buckland’s (1998) framework has been applied and extended to gain further insights about the success factors of group work (Hollingshead, McGrath, O’Connor 1993; Murthy and Kerr 2000; Strauss and McGrath 1994). Recently, the theory of task-technology fit has been applied to mobile information systems (Gebauer, Gribbins, and Shaw 2006, Gebauer, Shaw, and Subramanyam 2006), emphasizing the role of the system use-context and technology maturity.
The theory of task-technology fit provides little guidance of how to operationalize fit, generally limiting the theoretical validity of the concept of task-technology fit as well as its practical applicability. In this paper, we explore the concept of fit of mobile technology in support of mobile professionals inductively. We seek to identify issues and requirements that are considered relevant by users as a basis to achieve fit between tasks, use-context, and mobile technology. With Gebauer, Gribbins, and Shaw (2006) and Gebauer, Shaw, and Subramanyam (2006), we assume that the theory of task-technology fit may help improve our understanding of the requirements of successful mobile information systems, yet that in order to successfully apply task-technology fit in a mobile environment the fit between technology and use context must be taken into consideration, in addition to the fit between technology and task. In the current research study, we applied an inductive research approach. We performed a content analysis of online user reviews of four mobile technology products, including a cell-phone, two personal digital assistants (PDAs), and an ultra-light laptop. Our analysis allowed us to identify a number of issues that can be grouped into four conceptual constructs: overall user evaluation, task-related fit, context-related fit, and technology performance. In addition, our list of user-relevant issues is characterized by a lower level of abstraction than the level of abstraction deployed in previous research studies. The results of our research study promise to be of value for the providers of mobile technology and services as well as for firms wanting to benefit from mobile technologies,
given that task-technology fit can be considered a pre-condition for actual use and performance impacts (Goodhue and Thompson 1995, Dishaw and Strong, 1998 and 1999). From a theoretical perspective, the results of our research study can contribute to strengthen the validity of the concept of task-technology fit, as well as to help generalize its applicability. In the following, we point out the underlying research streams, before we present and discuss the results of the empirical analysis.


Judith Gebauer
University of Illinois at Urbana-Champaign 
College of Business Department of Business Administration gebauer@uiuc.edu
Mark Ginsburg
Seventh Rank Associates
mark@seventhrank.com

Wakes of Innovation in Project Networks: The Case of Digital 3-D Representations in Architecture, Engineering, and Construction

Changes in the technologies of representation in a heterogeneous, distributed sociotechnical system, such as a large construction project, can instigate a complex pattern of innovations in technologies, practices, structures, and strategies. We studied the adoption of digital three-dimensional (3-D) representations in the building projects of the architect Frank O. Gehry, and observed that multiple, heterogeneous firms in those projects produced diverse innovations, each of which created a wake of innovation. Together, these multiple wakes of innovation produce a complex landscape of innovations with unpredictable peaks and valleys. Gehry’s adoption of digital 3-D representations disturbed the ecology of interactions and stimulated innovations in his project networks by: providing path-creating innovation trajectories in separate communities of practice, creating trading zones where communities could create knowledge about diverse innovations, and offering a means for intercalating innovations across heterogeneous communities. Our study suggests that changes in digital representations that are central to the functioning of a distributed system can engender multiple innovations in technologies, work practices, and knowledge across multiple communities, each of which is following its own distinctive tempo and trajectory.

Key words: innovation; diffusion of innovation; innovation theory; IT-induced innovation; wakes of innovation; digital 3-D representation; intercalated innovations; trading zones; Frank Gehry; path creation; path dependency; distributed systems; architecture; engineering and construction


Introduction

We studied the adoption of digital 3-D representations in the design and construction projects of the architect, Frank O. Gehry, and observed that his adoption of digi- tal 3-D models as a primary representation gave rise to multiple and diverse wakes of innovation throughout his project networks. We use the image of a wake to depict an innovation as emerging in and traveling across an innovation space, much as a wake travels through water. Research on technology innovation and diffusion has put considerable effort into studying the wake of a single technology innovation in a typically homogeneous envi- ronment (Damanpour 1991, Swanson 1994, Zmud 1984, Rogers 1995, von Hippel and von Krogh 2003, Bijker 1995, Latour 1997, Williams and Edge 1996). However, in our study, firms involved in Frank Gehry’s project networks produced multiple and distinct innovations— each of which became a different wake of innovation. These multiple wakes overlapped on, intruded on, and interacted with each other in ways that formed a tur- bulent, self-propagating system of innovations—a com- plex, undulating surface of diverse innovations that fed back into the project, stimulating further innovations in a staccato fashion.
Frank Gehry’s accomplishments as an architect are well known, and he has received many distinguished, international awards in architecture, including the pro- fession’s highest accolade, the Pritzker Prize. However, his ability to spawn wakes of technology and process innovations in the tradition-bound architecture, engi- neering, and construction (AEC) industries is another important part of his legacy. Consider, for example, the following sample of the innovations during the design and construction of the Peter B. Lewis Building in Cleveland, Ohio (Figure 1).
In that one project:
(a) the structural engineering firm invented a new method for designing a steel roof with dramatically curved surfaces, which won an industry award for engi- neering innovation;
(b) the drywall contractor invented multiple patent- able ways to frame undulating wall surfaces, and began a new line of business, consulting on high-profile con- struction projects;
(c) the Cleveland fire marshal developed new tech- niques for modeling smoke evacuation, which were then presented at their national training academy;
(d) the specialty metal contractor invented a water- proof shingling system that dramatically reduced the thickness and cost of the roofing;
(e) the construction manager expanded its scope of work and begin providing location measurements to con- tractors, increasing its own risk, but reducing construc- tion time and construction errors; and
(f) the drywall contractor became the first American company to license a soundproof plaster system from Swiss developers, which created a new line of specialty business for them.
For all these innovations, there exist alternative, tra- ditional methods that the contractors, fire marshal, or construction manager could have employed. However, instead they invented a better way (less costly, more elegant, or more reliable) to accomplish their part of the overall project. Also, these innovations were car- ried forward into subsequent, non-Gehry projects by the innovating firms, thereby strengthening each individ- ual organization, as well as the AEC industries. Each innovation can be thought of as creating a wake in their respective community of practice, but in the Lewis Building project, they also served to influence each other as interacting wakes of innovation. Consider the follow- ing examples:
1. the new roof structure enabled the exterior and inte- rior surfaces of the building to directly coincide with each other—an unusual condition in a complexly shaped building;
2. the roofing shingle system enabled that parallelism between the interior and exterior surfaces to be carried out with extremely tight precision;
3. the precision requirement challenged the interior surface contractors to invent new, closer tolerance, curved surface construction techniques;
4. the curved interiors created a new challenge for the fire smoke evacuation studies, stimulating the invention of new models of air flows for extremely complex inte- rior surfaces


Richard J. Boland, Jr., Kalle Lyytinen 
Department of Information Systems, Case Western Reserve University, 10900 Euclid Avenue, Cleveland, Ohio 44106 {boland@case.edu, kalle@case.edu}

Youngjin Yoo Fox 
School of Business, Temple University, 1810 North 13th Street, Philadelphia, Pennsylvania 19122, youngjin.yoo@temple.edu



Thursday, July 7, 2011

Development of a collision avoidance system for a videoconferencing robot

Abstract
The work presented in this paper is about the development of a collision avoidance sys- tem for a mobile telepresence robot developed by the company Gira􏰢 technologies AB. The robot is designed to extend the length of time elderly can stay in their homes before requiring full-time sta􏰢ed care. The collision avoidance system is needed to help the user to avoid running in to objects or down a stairway. The design must be capable of being implemented at low cost, and should not look overtly "robotic" as this would not result in an appealing industrial design.
Herein, di􏰢erent techniques are presented and analyzed to 􏰣nd the best suitable solu- tion for the robot. In particular a lot of work is done in taking measurements to 􏰣nd the right characteristics for the sensors according di􏰢erent mounting angles, di􏰢erent objects and distances. A solution is chosen and calculations are made to 􏰣nd the best positions to place the sensors to get the best results.
A complete solution is presented and implemented in the current system and tested to work as expected.

Introduction
Collision avoidance systems are commonly used in diferent robot solutions to help an autonomous or remotely controlled robot to navigate through an area with diferent ob- stacles. In areas where obstacles are generally time-invarient, sensors often are used to create a map over the area that the robot later can navigate by. If the robot is going to be used in a dynamic area, especially if it is going to interact with people, it need a way to easily update the environment around itself to be able to avoid obstacles or stairways.
Gira􏰢 technologies AB is commercializing a remotely controlled videoconferencing robot for elder care known as the Gira􏰢. The task for this project is to design a collision avoid- ance system for the Gira􏰢. At this time safety is completely dependent on the skill of the person operating the Gira􏰢 and has no sensors at all helping the user. There are two main actions by the user that can cause harm to humans, the interior, or the robot itself. These actions are driving the robot over a precipice like a stairway and driving into obstacles at high speed.
There are several di􏰢erent solutions to create a collision avoidance system and in this report we are trying to 􏰣nd the best suitable solution for the Gira􏰢. Common techniques to locate objects are to use IR, ultrasonic, laser, vision or a combination of techniques. All the di􏰢erent possibilities mentioned are discussed in this report. Due to the require- ments from the company some of the solutions are rejected early on, but the solutions that ful􏰣ll the requirements are processed and the most suitable solution is selected for the Gira􏰢. The report also explains the basics of all techniques that are mentioned and the construction of a fully working system. The system is also integrated with the current hardware and software and fully tested to work properly.
The work is divided in-to three parts:
First, a background about the di􏰢erent techniques that are possible for our use is presented. The main goal is to ful􏰣ll the requirements that are stated by Gira􏰢 technologies AB.
Second, is to test di􏰢erent solutions to determine which system best suits the re- quirements and perform tests that will determine the pros and cons of each sensor system
Finally, integrate the complete system with current hardware and perform tests to verify that the system works properly.


Patrik Björkman pbn05003@student.mdh.se Lars Odens Hedman los05001@student.mdh.se
January 12, 2010
School of Innovation, Design and Engineering (IDT) Mälardalen University, Västerås, Sweden

Target Tracking For Robot Collaboration

Abstract
WAHIBA JOMAA.”Target Tracking for Robot Collaboration” Research Project Dissertation under the direction of Professor BAUDOIN.
Nowadays robots have reached a level of sophistication such that it is now productive to include robot-assisted search teams in urban search and rescue scenarios.
The perceptual interface to the human operator is often a video display that relays images from a camera on the robot. Research into issues concerned with human-robot interaction has suggested that if more intelligence were placed on the robot, it could lessen the load on the human operator and improve performance in the search task.
Within this thesis we focus on the relative performance in a search task in which the robot is controlled by a remote human operator.
The goal of this thesis is to enable the mobile robot CASTOR to follow an a priori defined target. This target can be any colored object (in the thesis a red one chosen). In the case of this application, the target object will be another (master) robot, called ROBUDEM. By implementing this robot following behavior, further robot collaboration tasks can be achieved.

Chapter 1: Teleoperation Overview 
I. Introduction
The major goals of robotics is to realize multipurpose service robots that can solve several complex tasks while acting within changing environments such as home infrastructure or outdoors. However robots still have neither creativity nor the ability to think. Therefore, robots will necessarily need to be supervised or directly teleoperated at some point. Teleoperation of robotic systems in hostile and unknown environment is of particular importance in that it aids or replaces the manipulator in handling difficult and possibly dangerous activities.

II. Definitions
The term teleoperation refers simply to the operation of a vehicle or system over a distance. Broadly, understanding all interaction with a mobile robot is part of this definition. Traditionally, teleoperation is divided into direct teleoperation and supervisory control. In direct teleoperation, the operator closes all control loops himself, where as in supervisory control a remarkable amount of the control is exercised by the teleoperator, i.e., the teleoperator is a robot.
The term teleoperation refers to direct teleoperation, while supervisory control is handled under human - robot interaction. Moreover, the term traditional teleoperation refers to direct teleoperation over a distance without a line of sight, but telepresence equipment is noticeable.
In today’s digital world, one has to note that even in the case of the direct teleoperation there usually exist control loops in the teleoperator. Typically these loops control the position or the velocity of the “directly” controlled actuators.

III. Introducing Teleoperated Robots
Many dangerous tasks are more and more expensive and painful for humans. To get to humans demining for example, it is rather slow, tedious, dangerous and expensive. The detection is not always reliable. Big effort is made to remove a single mine. Robots do not require such a complex infrastructure to perform this task. Indeed, a robot could be cheaper to achieve some messy tasks in more than one dangerous environment than a human being, in space a robot costs less than Human. Once a robotic system is successfully built and tested, it can be duplicated easily at reduced costs. Human, on the other hand, is priceless. Robots can be used to take over the most dangerous jobs. “Time is money”. Therefore Humans need time to be trained to accomplish some tasks and get some rest after wards. Robots are never tired and can be deployed 24 hours a day, provided there is enough energy.
Teleoperation platform allows a user to execute or to control remote tasks, i.e. without being present simultaneously where the action takes place. Tele-operation tries to minimize risks during dangerous works: spatial exploration, toxic device to operate...etc. It could also allow scientists to go where a human cannot: volcanoes, smart caves, mined areas...etc.
To help the user to accomplish such tasks, other users or an autonomous or teleautonomous robot could be used. Assistance robots complete human faculties and allow the system to take advantage over computer capacities to realize repetitive tasks, physically hard work, and to use at its best the expert dexterity to look, fall and react at the right time.


Graduation Project Report (March ‐ June 2008) submitted in the fulfillment of the requirements for the degree of Engineer on Computer Sciences
Promoter: Professor Yvan BAUDOIN Supervisor: Ir. Geert DE CUBBER

UPnP Robot Middleware and its Application to Robots

AbstractThe UPnP (Universal Plug and Play) is a middleware that has many advantages for future robot in dynamic distributed computing environment such as loosely coupled programming architecture, late binding and automatic discovery of services. Recently we have developed a UPnP based robot middleware SDK for easy integration of robot S/W components. In this paper, we explain the functions of the UPnP based robot middleware SDK. We also present some experimental results of its application to real robots. Lastly we discuss the reason why the UPnP robot middleware is useful and effective in robot software integration.



I. INTRODUCTION
Nowadays robots are expanding their application area from industry to entertainments and services at home. NeCoRo of Omron[1] is an animal-shaped robot that has capability of giving fun and comfort to people by interacting and communicating with people. The Roomba of iRobot[2] is a robot that works as an automatic vacuum cleaner. It is reported that iRobot has been shipped more than 2 million Roombas[3]. Though the numbers of function of current commercial robots are limited, they are expected to be increased. As robot technologies are advanced, robots are getting more and more complex.
Robots with high functionalities require a lot of software components. Building large systems such as the robots using reusable software from various sources is not a straightforward task. It needs systematic development and integration methodology rather than monolithic development. Middleware helps the systematic integration, and increases the interoperability, portability, and flexibility of applications.
Recently the CORBA (Common Object Request Broker Architecture)[4] has been used as a middleware in several projects. Among them are the HRP(Humanoid Robotics Project)[5], the OROCOS(Open Robot Control Systems) project[6], and the Miro(Middleware for mobile robots) project[7]. They are all based on the CORBA technology.
In the previous paper[8], we proposed to use the UPnP (Universal Plug and Play)[9] as a robot middleware, and examined its possibility. The UPnP defines architecture for pervasive peer-to-peer network connectivity of intelligent appliances. It has many advantages over the CORBA such as small memory footprint. But, more important feature is that it is designed for operation in dynamic distributed computing environment. Here the dynamic environment means that computing devices can join and leave the network dynamically. It means that the components of a robot can be ‘plugged and played’ without any burden of configuration efforts with the UPnP.


Sang Chul Ahn, Jung-Woo Lee, Ki-Woong Lim, Heedong Ko, Yong-Moo Kwon and Hyoung-Gon Kim
Imaging Media Research Center, Korea Institute of Science and Technology 39-1 Hawolgok-dong, Sungbuk-gu, 136-791 Seoul, Korea {asc, ricow, lkw, ko, ymk, hgk}@imrc.kist.re.kr

RF Controlled Terrorist Fighting Robot

ABSTRACT

We cannot forget 26/11 when 101 people including nine foreigners and 14 policemen have lost their lives while about 300 people were injured in the worst terror attack seen in the country in which desperate men fired indiscriminately at people. Hence the objective of project is to minimize human casualties in terrorist attack. It has got two barrel turret through Bullet can be fired; radio camera in synchronization with the turret can rotate up and down, left and right up to a safe firing limit. Turret and camera mechanism has been installed on my previous spy robot vehicle, which has all the function like tank, turing to any angle on its axis, moving forward and reverse turning left and right, running instantly into reverse direction. This robot is radio operated, self powered, and has all the controls like a normal car. A pair of laser gun has been installed on it, so that it can fire on enemy remotely when required, this is not possible until a wireless camera is installed. Wireless camera will send real time video and audio signals which could be seen on a remote monitor and action can be taken accordingly. It can silently enter into enemy area and send us all the information through its’ tiny Camera eyes. It is designed for, fighting as well as suicide attack.



1. INTRODUCTION
The global focus on terrorism and security may have geared up following the 9/11 attacks in the USA. The risk of terrorist attack can perhaps never be eliminated, but sensible steps can be taken to reduce the risk. The issue here is how seriously do the governments take the threat of terrorism...Post-Limburg, we cannot continue to hope for the best and ignore the lessons. Our Prime Minister Manmohan Singh also mentioned in a speech last year that Indian soldiers will soon have robots assisting them to counter terrorist attack. We are yet to hear more on that thought.
The word “robot” was first used in a 1921 play titled R.U.R.: Rossum’s Universal Robots, by Czechoslovakian writer Karel Capek. Robot is a Czech word meaning “worker.”
Merriam-Webster defines robot as “a machine that looks like a human being and perform various complex acts; a device that automatically performs complicated, often repetitive tasks; a mechanism guided by automatic controls.”
ISO describes a robot as “an automatically controlled reprogrammable, multipurpose manipulator programmable in three or more axes, which may be either fixed in place or mobile for use in industrial automation applications. “
Yet, all these definition do give us a rough idea about what comprises a robot, which needs to sense the outside world and act accordingly. There are motors, pulleys,
gears, gearbox, levers, chains, and many more mechanical systems, enabling locomotion. There are sound, light, magnetic field and other sensors that help the robot collect information about its environment. There are microcontrollers powered by powerful software that help the robot make sense environmental data captured and tell it what to do next. There are microphones, speakers, displays, etc that help the robot interact with humans.


Abhinav Kumar Singh1, Nilaya Mitash Shanker2 & Anand Prakash Yadav3
Department of Electronics & Communication Engg., SRMCEM, UPTU, Lucknow, India Email: 1abhinavstar_1988@yahoo.co.in, 2nilaymitashshankar@gmail.com, 3anandecsrm061988@gmail.com

Transmission simulation of coherent optical OFDM signals in WDM systems

Abstract: In this letter, we first present the theoretical basis for coherent optical OFDM systems in direct up/down conversion architecture. We then demonstrate the transmission performance through simulation for WDM systems with coherent optical OFDM (CO-OFDM) including the fiber nonlinearity effect. The results show that the system Q of the WDM channels at 10 Gb/s is over 13.0 dB for a transmission up to 4800 km of standard-single-mode-fiber (SSMF) without dispersion compensation. A novel technique of partial carrier filling (PCF) for improving the non- linearity performance of the transmission is also presented. The system Q of the WDM channels with a filling factor of 50 % at 10 Gb/s is improved from 15.1 dB to 16.8 dB for a transmission up to 3200 km of SSMF without dispersion compensation.

1. Introduction
Orthogonal frequency division multiplexing (OFDM) has been widely employed into numerous digital standards for broad-range of applications such as digital audio/video broadcasting and wireline/wireless communication systems [1]. Recently it has been shown that OFDM can be applied in optical long haul transmission systems and had many advantages over conventional single-carrier modulation format [2-4]. Many key merits of the OFDM techniques have been studied and proven in the communications industry. Firstly, the frequency spectra of OFDM subcarriers are partially overlapped, resulting in high spectral efficiency. Secondly, the channel dispersion of the transmission system is easily estimated and removed, and thirdly, the signal processing in the OFDM transceiver can take advantage of the efficient algorithm of FFT/IFFT with low computation complexity. Recently, an equivalent optical-domain multi-carrier format, called coherent optical OFDM (CO-OFDM) has been proposed for long haul transmission [2]. In the mean time, incoherent optical OFDM (IO-OFDM) has also been proposed independently, and has been shown to have similar dispersion tolerance with a much simpler detection scheme [3]. However, the CO-OFDM is superior to IO-OFDM in spectral efficiency, OSNR requirement, and PMD insensitivity. It is well-known that OFDM is generally susceptible to nonlinearity and phase noise owing to high peak to average power ratio (PAPR) [1]. Therefore it is critical to investigate and improve the CO-OFDM system transmission performance including fiber nonlinearity, in order to ascertain its suitability for optical transmission. In this letter, we intend to answer two important questions for CO-OFDM WDM system, (i) what is the achievable system Q value ?, and (ii) what is the optimal launch power at various transmission distances ?. We first present the theoretical basis for coherent optical OFDM systems in direct up/down conversion architecture. We then demonstrate the transmission performance through simulation for WDM systems with coherent optical OFDM (CO-OFDM) including the fiber nonlinearity effect. The results show that the system Q of the WDM channels at 10 Gb/s is over 13.0 dB for a transmission up to 4800 km of standard-single-mode-fiber (SSMF) without dispersion compensation. A novel technique of partial carrier filling (PCF) for improving the non- linearity performance of the transmission is also presented. The system Q of the WDM channels with a filling factor of 50 % at 10 Gb/s is improved from 15.1 dB to 16.8 dB for a transmission up to 3200 km of SSMF without dispersion compensation.

Hongchun Bao and William Shieh
ARC Special Research Centre for Ultra-Broadband Information Networks, Department of Electrical and Electronic Engineering, University of Melbourne, Melbourne VIC 3010, Australia h.bao@ee.unimelb.edu.au; w.shieh@ee.unimelb.edu.au