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Full-Text Articles in Electrical and Computer Engineering
Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett
Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett
David Barrett
Perimeter patrol enhances the utility of autonomous surface vehicles (ASVs) by enabling many security and scientific missions, including harbor protection, water sampling, and geological survey. We present a novel approach to perimeter patrol that uses only two sensors: commercial off-the-shelf available marine radar and the heading information from a GPS. Our algorithm performs computer vision morphological operations on the radarimage to find a suitable path around shore and choose an appropriate next waypoint. Our method has proved robust to a variety of field conditions, allowing us to demonstrate the autonomous navigation of a 3.5 km perimeter lake.
Optimal Synthesis Of Mite Translinear Loops, Shyam Subramanian, David Anderson, Paul Hasler, Bradley Minch
Optimal Synthesis Of Mite Translinear Loops, Shyam Subramanian, David Anderson, Paul Hasler, Bradley Minch
Bradley Minch
A procedure for synthesizing multiple-input translinear element (MITE) networks that implement a given system of translinear-loop equations (STLE) is presented. The minimum number of MITEs required for implementing the STLE, which is equal to the number of current variables in the STLE, is attained. The number of input gates ofthe MITEs is minimal amongst those MITE networks that satisfy the STLE and have the minimum number of MITEs. The synthesized MITE networks have a unique operating point and, in many cases, the network is guaranteed to be stable in a particular sense. This synthesis procedure exploits the relationship between MITEproduct-of-power-law …
Programmable Multiple Input Translinear Elements, Haw-Jing Jo, Guillermo Serrano, Paul Hasler, David Anderson, Bradley Minch
Programmable Multiple Input Translinear Elements, Haw-Jing Jo, Guillermo Serrano, Paul Hasler, David Anderson, Bradley Minch
Bradley Minch
Large networks composed of multiple input translinear elements (MITEs) have been typically limited by the mismatches between individual MITEs. This paper presents the methodology that allows for such systems to be feasible through the application of floating-gate programming techniques. We introduce designs for a programmable MITE, and demonstrate the ability to systematically reduce offsets through accurate programming of example circuits.