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We present two prototypes of a gigabit transceiver ASIC, GBCR1 and GBCR2, both designed in a 65-nm CMOS technology for the ATLAS Inner Tracker Pixel Detector readout upgrade. The first prototype, GBCR1, has four upstream receiver channels and one downstream transmitter channel with pre-emphasis. Each upstream channel receives the data at 5.12 Gbps through a 5 meter AWG34 Twinax cable from an ASIC driver located on the pixel module and restores the signal from the high frequency loss due to the low mass cable. The signal is retimed by a recovered clock before it is sent to the optical transmitter VTRx+. The downstream driver is designed to transmit the 2.56 Gbps signal from lpGBT to the electronics on the pixel module over the same cable. The peak-peak jitter (throughout the paper jitter is always peak-peak unless specified) of the restored signal is 35.4 ps at the output of GBCR1, and 138 ps for the downstream channel at the cable ends. GBCR1 consumes 318 mW and is tested. The second prototype, GBCR2, has seven upstream channels and two downstream channels. Each upstream channel works at 1.28 Gbps to recover the data directly from the RD53B ASIC through a 1 meter custom FLEX cable followed by a 6 meter AWG34 Twinax cable. The equalized signal of each upstream channel is retimed by an input 1.28 GHz phase programmable clock. Compared with the signal at the FLEX input, the additional jitter of the equalized signal is about 80 ps when the retiming logic is o . When the retiming logic is on, the jitter is 50 ps at GBCR2 output, assuming the 1.28 GHz retiming clock is from lpGBT. The downstream is designed to transmit the 160 Mbps signal from lpGBT through the same cable connection to RD53B and the jitter is about 157 ps at the cable ends. GBCR2 consumes about 150 mW when the retiming logic is on. This design was submitted in November 2019., Comment: 7 pages, 15 figures

More and more, new ways of interaction between humans and robots are desired, something that allow us to program a robot in an intuitive way, quickly and with a high-level of abstraction from the robot language. In this paper is presented a CAD-based system that allows users with basic skills in CAD and without skills in robot programming to generate robot programs from a CAD model of a robotic cell. When the CAD model reproduces exactly the real scenario, the system presents a satisfactory performance. On the contrary, when the CAD model does not reproduce exactly the real scenario or the calibration process is poorly done, we are dealing with uncertain (unstructured environment). In order to minimize or eliminate the previously mentioned problems, it was introduced sensory feedback (force and torque sensing) in the robotic framework. By controlling the end-effector pose and specifying its relationship to the interaction/contact forces, robot programmers can ensure that the robot maneuvers in an unstructured environment, damping possible impacts and also increasing the tolerance to positioning errors from the calibration process. Fuzzy-PI reasoning was used as a force control technique. The effectiveness of the proposed approach was evaluated in a series of experiments., Comment: IEEE International Conference on Automation Science and Engineering, CASE 2010, pp. 362-367, Toronto, Canada, 2010

Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches to robot programming are required. The purpose of this paper is to present a robotic system that allows users to instruct and program a robot with a high-level of abstraction from the robot language. Design/methodology/approach - The paper presents in detail a robotic system that allows users, especially non-expert programmers, to instruct and program a robot just showing it what it should do, in an intuitive way. This is done using the two most natural human interfaces (gestures and speech), a force control system and several code generation techniques. Special attention will be given to the recognition of gestures, where the data extracted from a motion sensor (three-axis accelerometer) embedded in the Wii remote controller was used to capture human hand behaviours. Gestures (dynamic hand positions) as well as manual postures (static hand positions) are recognized using a statistical approach and artificial neural networks. Practical implications - The key contribution of this paper is that it offers a practical method to program robots by means of gestures and speech, improving work efficiency and saving time. Originality/value - This paper presents an alternative to the typical robot teaching process, extending the concept of human-robot interaction and co-worker scenario. Since most companies do not have engineering resources to make changes or add new functionalities to their robotic manufacturing systems, this system constitutes a major advantage for small- to medium-sized enterprises., Comment: Industrial Robot: An International Journal

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed., Comment: The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009. pp. 1192-1197, Toyama, Japan, 2009

New and more natural human-robot interfaces are of crucial interest to the evolution of robotics. This paper addresses continuous and real-time hand gesture spotting, i.e., gesture segmentation plus gesture recognition. Gesture patterns are recognized by using artificial neural networks (ANNs) specifically adapted to the process of controlling an industrial robot. Since in continuous gesture recognition the communicative gestures appear intermittently with the noncommunicative, we are proposing a new architecture with two ANNs in series to recognize both kinds of gesture. A data glove is used as interface technology. Experimental results demonstrated that the proposed solution presents high recognition rates (over 99% for a library of ten gestures and over 96% for a library of thirty gestures), low training and learning time and a good capacity to generalize from particular situations., Comment: 2013 IEEE International Conference on Robotics and Automation (ICRA) pp. 178-183, Karlsruhe, Germany, 2013

It is proposed a model of Kaluza Klein that does make the quantification of the electric charges without magnetic monopoles. This model of Kaluza Klein allows to calculate de radius of compactation proposed for Klein. The model is of Kaluza Klein, but it has consequences in the theory of the quantum strings, and it is possible to indicate a manner of to test the existence of the quantum strings.The model indicates that: if the quantum strings exist really, the cosmological variation of the fine structure constant would do quantum jumps. If this variation is continuous, the quantum strings does not exist.It is possible to the astronomers to decide this., Comment: 12 pages, no figures, LATEX of PCTEX 3.2

It is proposed a formalism of quantification of the electric charges in the Kaluza Klein theory of five dimensions and a explanation of the cause of the variation of the electromagnetic fine-structure constant in cosmological times.There is a formalism that eliminates the problem that impeached the KK theory to complete the unification of the electromagnetic and the gravitational fields. The complete unification of these two fields is obtained. The radius of compactation is determined as 70,238 lengths of Planck., Comment: 11 pages, no figures, LATEX (of PCTEX 3.2), change of content

Objective: To build on Achenbach, Rescorla, and Ivanova (2012) by (a) reporting new international findings for parent, teacher, and self-ratings on the Child Behavior Checklist, Youth Self-Report, and Teacher's Report Form; (b) testing the fit of syndrome models to new data from 17 societies, including previously underrepresented regions; (c) testing effects of society, gender, and age in 44 societies by integrating new and previous data; (d) testing cross-society correlations between mean item ratings; (e) describing the construction of multisociety norms; (f) illustrating clinical applications. Method: Confirmatory factor analyses (CFAs) of parent, teacher, and self-ratings, performed separately for each society; tests of societal, gender, and age effects on dimensional syndrome scales, "DSM"-oriented scales, Internalizing, Externalizing, and Total Problems scales; tests of agreement between low, medium, and high ratings of problem items across societies. Results: CFAs supported the tested syndrome models in all societies according to the primary fit index (Root Mean Square Error of Approximation [RMSEA]), but less consistently according to other indices; effect sizes were small-to-medium for societal differences in scale scores, but very small for gender, age, and interactions with society; items received similarly low, medium, or high ratings in different societies; problem scores from 44 societies fit three sets of multisociety norms. Conclusions: Statistically derived syndrome models fit parent, teacher, and self-ratings when tested individually in all 44 societies according to RMSEAs (but less consistently according to other indices). Small to medium differences in scale scores among societies supported the use of low-, medium-, and high-scoring norms in clinical assessment of individual children. (Contains 5 tables and 4 figures.)