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A methodology for the assessment of cell concentration, in the range 5–100 cells/μL, suitable for in vivo analysis of serous body fluids is presented in this work. This methodology is based on the quantitative analysis of ultrasound images obtained from cell suspensions and considers applicability criteria, such as short analysis times, moderate frequency, and absolute concentration estimation, all necessary to deal with the variability of tissues among different patients. Numerical simulations provided the framework to analyze the impact of echo overlapping and the polydispersion of scatterer sizes on the cell concentration estimation. The cell concentration range that can be analyzed as a function of the transducer and emitted waveform used was also discussed. Experiments were conducted to evaluate the performance of the method using 7-μm and 12-μm polystyrene particles in water suspensions in the 5–100 particles/μL range. A single scanning focused transducer working at a central frequency of 20 MHz was used to obtain ultrasound images. The method proposed to estimate the concentration proved to be robust for different particle sizes and variations of gain acquisition settings. The effect of tissues placed in the ultrasound path between the probe and the sample was also investigated using 3-mm-thick tissue mimics. Under this situation, the algorithm was robust for the concentration analysis of 12 μm particle suspensions, yet significant deviations were obtained for the smallest particles. [ABSTRACT FROM AUTHOR]

This article is focused on the design of a high-voltage (800 V) bidirectional boost converter with high efficiency at medium-low power levels. Triangular current mode (TCM) enhances the efficiency of the converter at low power, thanks to soft-switching operation, but it requires variable switching frequency and large current ripple through the inductor. The former can be implemented by using silicon carbide (SiC) mosfets and the latter can be minimized by using interleaved modules. At low power, TCM requires high switching frequency, a minimum negative inductor current, and a minimum deadtime to obtain zero voltage switching. These values vary for different input/output voltage ratios and must be properly selected to reduce deadtime losses, normally neglected in the literature since it is assumed that they have low impact. However, it can be relevant at high frequencies (especially for devices with high reverse conduction voltage drop, such as SiC mosfets). In this article, deadtime losses are included in the proposed losses models and the selection of optimum values of deadtime and minimum inductor current to minimize these deadtime losses are analytically evaluated and experimentally validated. [ABSTRACT FROM AUTHOR]

Recently, machine learning (ML) has attracted the attention of both researchers and practitioners to address several issues in the optical networking field. This trend has been mainly driven by the huge amount of available data (i.e., signal quality indicators, network alarms, etc.) and to the large number of optimization parameters which feature current optical networks (such as, modulation format, lightpath routes, transport wavelength, etc.). In this paper, we leverage the techniques from the ML discipline to efficiently accomplish the routing and wavelength assignment (RWA) for an input traffic matrix in an optical WDM network. Numerical results show that near-optimal RWA can be obtained with our approach, while reducing computational time up to 93% in comparison to a traditional optimization approach based on integer linear programming. Moreover, to further demonstrate the effectiveness of our approach, we deployed the ML classifier into an ONOS-based software defined optical network laboratory testbed, where we evaluate the performance of the overall RWA process in terms of computational time. [ABSTRACT FROM AUTHOR]

In this paper, the third quadrant behavior of a high-voltage superjunction mosfet (SJ-FET) in cascode configuration (CC) with a low-voltage silicon mosfet is deeply studied by means of an analytical model and experimental data. The third quadrant dynamic behavior of the SJ-CCs is compared to the standalone counterparts by evaluating their reverse recovery time (tRR), reverse recovery peak current (IRRM), and reverse recovery charge (QRR). An analytical model and experimental results show that the SJ-CC avoids or mitigates the activation of the SJ-FET body diode during the third quadrant operation. As a consequence, the SJ-CC strongly improves the widely used figure-of-merit RON·QRR, which considers the on-state resistance of the transistors (RON). In addition, the results obtained using an SJ-CC are similar or better than those achieved by SJ-FETs with enhanced reverse recovery (i.e., irradiated SJ-FETs). This paper also includes a comparison with commercial wide bandgap switches, concluding that the RON·QRR value provided by the SJ-CC is around eight times higher than that provided by a commercial GaN cascode. [ABSTRACT FROM AUTHOR]

This paper discusses the energization and start-up process of modular three-stage solid-state transformers (SSTs) based on a cascaded H-bridge topology. A key element of the SST is the auxiliary power supply (APS) feeding the auxiliary circuitry. Redundancy and simpler implementation can be achieved by powering the APSs from the dc-link capacitors of cells, but at the expense of a more challenging start-up process of the SST. The first step of this process must be performed before APSs are operative. This can result in undesired transient events (inrush currents, voltage sags in the capacitors voltages, etc.), which could prevent a proper start-up of the SST or even jeopardize the power devices or other elements. A simple strategy for the energization and start-up of SSTs using this APS structure is proposed. The method is valid for both grid-forming and grid-feeding operations of the SST, regardless of the energization port and without the addition of any extra circuitry. Simulation and experimental results are provided. [ABSTRACT FROM AUTHOR]

Using a generic model of how active array imaging systems operate, a formal definition of the image as a projection of the reflected wave field onto the wave field emitted to probe the medium is proposed. This definition is applied to the case of imaging in homogeneous and isotropic media to which, by using the frequency-domain solution of the wave equation, the relationship between the calculated image, the emitted and received signals, the positions of the transducers, the speed of the waves used, and the reflectivity of the medium is shown at each point. Then, a general algorithm for the formation of images of a region in this kind of media is derived. Finally, using real and simulated ultrasound signals, images obtained with the proposed signal projection method are compared with those produced by the “de facto” standard delay and sum-based algorithms. [ABSTRACT FROM AUTHOR]

Superjunction MOSFETs in cascode configuration with low-voltage silicon MOSFETs are evaluated in this paper. The proposed structure combines the good switching performance provided by the cascode configuration with the benefits of the silicon technology such as its robustness, maturity, and low cost. This paper aims to explain and to demonstrate the reduction of switching losses of superjunction MOSFETs in cascode configuration with respect to their standalone counterparts (directly driven). A detailed simulation analysis of power loss contributions is carried out under hard-switching operation. Moreover, experimental evidence is provided using a boost converter (100–400 V) operating in continuous conduction mode for different switching frequencies (100–400 kHz) and output power levels (180–500 W). [ABSTRACT FROM AUTHOR]

A converter intended to be used for the interconnection of battery-based energy storage systems with the cells of a multilevel converter is addressed in this paper. High efficiency at light and medium loads is important in these applications and it can be achieved using soft switching techniques. Two control techniques with fixed and variable switching frequency are proposed and compared. The use of silicon carbide (SiC) mosfets provides a higher attainable switching frequency, which is especially interesting in variable frequency control techniques, allowing the operation at high voltages and high switching frequencies, with high efficiencies over a wide power range. A synchronous boost DC/DC converter rated for 400 to 800 V and 10 kW is designed and developed with SiC mosfets obtaining efficiencies higher than 97% from 100% to 3.5% of full load using a variable switching frequency (up to 200 kHz) control. Significant efficiency improvement is achieved at medium and light loads. [ABSTRACT FROM PUBLISHER]

Quasi-square wave mode with zero voltage switching (QSW-ZVS) is an operation mode in which the switching losses can be minimized. However, a large inductance current ripple is needed in this mode, which limits the maximum attainable power of the topology. A possible way to increase the power managed by a QSW-ZVS mode converter is to use a modular converter. An input parallel output parallel (IPOP) arrangement, in which the current can be shared among the modules, can increase the total power proportionally to the number of modules. This paper addresses two main proposals. The first one is a master–slave technique to extend the QSW-ZVS mode to an IPOP modular converter, achieving an interleaved solution which minimizes the total input current ripple and assures the current balance among the modules. The second one is a comparison of four different control techniques applied to the IPOP modular converter to improve the overall efficiency at light to medium load: balanced master–slave technique, master–slave with phase-shedding, asymmetrical master–slave, and burst mode (or hysteretic control). These four strategies are theoretically analyzed, experimentally validated and compared using a 150–400 V 2 kW modular IPOP prototype made up of four synchronous boost converter operating in QSW-ZVS mode. [ABSTRACT FROM PUBLISHER]

This paper presents an overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. This task is currently performed by human workers, and there is hope that robots can someday help increase efficiency and throughput while lowering cost. We report on a 28-question survey posed to the teams to learn about each team’s background, mechanism design, perception apparatus, planning, and control approach. We identify trends in this data, correlate it with each team’s success in the competition, and discuss observations and lessons learned based on survey results and the authors’ personal experiences during the challenge.

Note to Practitioners—Perception, motion planning, grasping, and robotic system engineering have reached a level of maturity that makes it possible to explore automating simple warehouse tasks in semistructured environments that involve high-mix, low-volume picking applications. This survey summarizes lessons learned from the first Amazon Picking Challenge, highlighting mechanism design, perception, and motion planning algorithms, as well as software engineering practices that were most successful in solving a simplified order fulfillment task. While the choice of mechanism mostly affects execution speed, the competition demonstrated the systems challenges of robotics and illustrated the importance of combining reactive control with deliberative planning. [ABSTRACT FROM AUTHOR]

This paper is focused on a high-voltage (400 to 800 V) bidirectional converter, which is intended to be used for the interconnection of battery-based energy-storage systems with the cells of a modular multilevel converter, providing distributed energy-storage capability to a solid-state transformer. This converter must have a high efficiency at medium and light load and also a low current ripple due to the charging and discharging processes. This work takes advantage of the use of SiC MOSFETs into a synchronous boost converter to accomplish the previous requirements. First, the adoption of a variable-switching frequency control to keep the efficiency high is analyzed, and second, the use of a modular converter with different control techniques to provide a current ripple reduction is also addressed in this study. An input-parallel–output-parallel synchronous boost converter, made up with three modules (3 kW per module), is used to validate experimentally the advantages of the use of SiC MOSFETs and to compare different control techniques. [ABSTRACT FROM PUBLISHER]

This article analyzes two modular power converter concepts, cascaded H-bridges (CHB) and modular multilevel converter (MMC) topologies, with special attention to the latter design. Both concepts have some characteristics in common and can provide the required functionalities for power electronic transformers (PETs). This analysis will cover aspects like the number of required cells, characteristics of the power devices, functionalities, and potential uses. [ABSTRACT FROM PUBLISHER]

Automated grasping has a long history of research that is increasing due to interest from industry. One grand challenge for robotics is Universal Picking: the ability to robustly grasp a broad variety of objects in diverse environments for applications from warehouses to assembly lines to homes. Although many researchers now openly share code and data, it is challenging to compare and/or reproduce experimental results to identify which aspects of which approaches work best due to variations in assumptions and experimental protocols, e.g., sensors, lighting, robot arms, grippers, and objects. [ABSTRACT FROM AUTHOR]

This paper describes a modular architecture based on the dual-active bridge (DAB) converter in input-series–output-parallel (ISOP) connection. This work is focused on the input voltage sharing to ensure a proper operation of each module by means of an active control of input and output voltages. A small-signal model of the modular architecture is proposed and a decoupled control loops’ scheme is used to implement the control strategy. An experimental setup has been built in order to validate the model of the DAB converter in ISOP connection and the proposed control strategy, taking different operating conditions and constructive parameter values into account. [ABSTRACT FROM AUTHOR]

Envelope tracking (ET) is a technique designed to enhance the efficiency of radio frequency power amplifiers (RF PA). It is based on providing the voltage to the RF PA with variations that mimic the shape of the envelope of the communication signal that the RF PA is processing. As the bandwidth of these signals can be around several megahertz, the switching frequency of the switching mode power supply designed for ET applications has to be very high. The good switching characteristics of Gallium Nitride devices makes them suitable for this application. This paper presents two multiphase converters to be used as envelope modulators in envelope tracking applications. [ABSTRACT FROM AUTHOR]

This paper addresses the performance of the bidirectional dual active bridge (DAB) converter. One of the advantages of the DAB is the possibility to achieve the zero-voltage switching (ZVS) operation in all the switches of this converter. However, the ZVS operation range can be lost for light loads, especially if high voltage is required in at least one of the DAB ports and the phase-shift control is used to regulate the power processed by the converter. Theoretically simple averaged and small-signal models are presented for the DAB converter. Using the study presented in this paper, the boundaries of the ZVS operation can be easily evaluated. The proposed models and analysis of the ZVS boundaries allow the proposal and evaluation of two different design strategies with different purposes: on the one hand, increasing the ZVS operation range and, on the other, improving efficiency at full load. Moreover, some techniques are presented for increasing the ZVS operation range and improving the efficiency of the DAB at full load (both using phase-shift control) employing the aforementioned analysis to obtain certain design criteria and conclusions. Finally, the proposed models, design strategies, and techniques to improve the performance of the DAB are experimentally tested using a 1-kW prototype with input and output voltages of 48 and 400 V, respectively. [ABSTRACT FROM AUTHOR]

The articles in this special section focus on the open-source movement taking over the robotics industry. Open source systems have already revolutionized a number of industries by empowering end users to contribute to the products that they need and want and by fueling grass-roots development and continual improvement of projects in completely new areas. While there have been innumerable successes in software and electronics hardware, open mechanical hardware is taking longer to catch on. There are a number of likely reasons for this, including the complexity, expense, and time associated with fabricating mechanical components as well as the challenge and reliability of assembling the wide range of mechanical and electronic components required to produce a fully functional system. In comparison with open-source software efforts, open hardware has numerous additional practical challenges associated with dissemination and evolution of the product driven by end users. However, rapid fabrication technologies have improved to the point of being able to produce parts that are strong, robust, and precise enough for practical robotic systems, and the pricing of the systems and supplies have lowered to the point that many of these machines are available in fabrication facilities at most universities. [ABSTRACT FROM AUTHOR]