Search Results (388)

Defining and tracking trajectories in complex environments for nonholonomic mobile robots are challenging due to the underactuated dynamics and nonintegrable velocity constraints of these robots, which preclude smooth, time-invariant feedback stabilization and yield uncontrollable linearizations around equilibrium points. As a result, maintaining structured motions such as ring-shaped limit cycles becomes particularly difficult under large initial deviations or external disturbances. In this paper, a control framework based on a dynamically generated reference trajectory is proposed, where the desired motion is defined by a modified Van der Pol oscillator. Unlike conventional approaches relying on predefined geometric paths, the proposed method embeds the target orbit into a dynamic auxiliary nonlinear system whose trajectories converge to a stable limit cycle, enabling local asymptotic convergence to the desired motion. A discontinuous robust control law is designed for a perturbed wheeled mobile robot, and the resulting closed-loop system is analyzed within the framework of solutions of systems with discontinuous right-hand sides. It is shown that the tracking error dynamics are uniformly and ultimately bounded with respect to matched disturbances and that, in the disturbance-free case, the tracking errors converge asymptotically to the origin. As a consequence, the robot’s trajectory converges to the invariant limit cycle of the reference dynamics, therebydriving the robot’s trajectory toward the invariant limit cycle of the reference dynamics. The simulation results demonstrate an improvement in the transient response relative to standard circular reference tracking. The experimental results further corroborate these findings, showing that the modified Van der Pol reference keeps the position tracking errors tightly bounded, while mitigating the large initial overshoot associated with the circular reference. Full article

A key component of VCO-ADCs is the ring oscillator, which determines the circuit and quantization noise of the converter. The input-referred thermal and flicker noise of a VCO-ADC stems from the VCO driver source and the VCO phase noise. On the other hand, quantization noise depends on the oscillation frequency of the VCO with respect to the sampling frequency. An optimal VCO-ADC design should balance oscillation frequency with flicker and thermal contributions of the VCO. In this paper, we show a simple modification of the conventional stages used in VCO-ADC ring oscillators. The modification consists of including two extra transistors in series, isolating the inverter from the power rails when switching. This modification allows one to significantly increase the oscillation frequency while having similar phase noise contributions compared to other ring oscillator architectures with the same area and power. Full article

Rapid, accurate, and scalable ion sensing technologies are highly desirable for future flexible healthcare and lab-on-a-chip applications. Here, we present a fully roll-to-roll (R2R) gravure-printed single-walled carbon nanotube complementary ring oscillator (SWCNT-cRO)-based microfluidic ion sensing platform fabricated on a flexible substrate. The proposed platform combines scalable printed complementary electronics with frequency-based ion sensing via electrostatically induced top-gating in aqueous microfluidic environments. The fabricated SWCNT-cRO devices exhibited stable oscillation characteristics, with a high device yield (>80%) and continuous manufacturing capability at a web speed of 5.4 m/min. Printable ethanolamine/zirconium acetylacetonate-based n-doping technology enabled complementary SWCNT transistor operation, while multilayer CYTOP/FG-3650 encapsulation ensured stable electrical operation under ionic aqueous conditions. After integration into a polydimethylsiloxane-based microfluidic channel, the oscillation frequency of the SWCNT-cRO was systematically modulated by Na⁺ concentration and pH. The sensing mechanism was based on electrostatically induced carrier modulation in n-type SWCNT transistors, resulting in variations in propagation delay and corresponding shifts in oscillation frequency. Compared with conventional ion-sensitive transistor platforms, the proposed approach offers scalable manufacturing, non-contact ion sensing, elimination of external reference electrodes, and direct compatibility with digital frequency-signal processing systems. This work establishes a promising strategy for future low-cost, disposable, and flexible microfluidic sensing platforms for wearable healthcare and lab-on-a-chip applications, ion sensing, and thin-film transistors. Full article

Thermoelectric generator (TEG)-based energy harvesting (EH) has emerged as a promising solution for powering ultra-low-power electronic systems. However, the inherently low output voltage of miniature TEGs is often below a range of 40–100 mV under small temperature gradients, presenting a fundamental cold-start challenge for DC-DC boost converters, preventing fully autonomous operation without dedicated start-up circuitry. Although numerous start-up techniques have been reported, the existing literature lacks a focused, design-oriented review of circuit architecture specifically optimized for ultra-low-voltage TEG applications. This paper addresses this gap by introducing a unified classification framework and providing a structured, topology-oriented analysis of state-of-the-art start-up strategies for TEG-based EH systems. Reported techniques are organized into five categories: external energy assistance, mechanical switch-assisted techniques, multi-source EH, transformer-based architectures, and oscillator-driven DC-AC-DC conversion. Each category is comparatively evaluated in terms of start-up voltage, integration level, efficiency, and system autonomy. Among these, oscillator-based approaches, particularly ring oscillator (RO) architectures, emerge as the most viable pathway toward fully integrated and scalable implementations, owing to their CMOS compatibility and architectural flexibility. The review further discusses key design trade-offs, handover stability challenges, and practical limitations, and provides architectural insights to guide the development of next-generation autonomous TEG-powered platforms. Full article

Embedded Field-Programmable Gate Array (FPGA)-Advanced RISC Machine (ARM) systems used in industrial and Internet of Things (IoT) environments increasingly operate as network-connected edge devices. While such connectivity enables distributed processing and remote monitoring, it also exposes embedded vision nodes to security threats, including command injection, frame replay, data tampering, and abnormal communication traffic. This paper presents a hardware-assisted security architecture for an FPGA-ARM embedded vision system designed for high-speed image acquisition and network streaming. The proposed solution integrates several lightweight protection mechanisms directly into the FPGA processing pipeline, including frame replay detection, cyclic redundancy check (CRC)-based frame integrity verification, frame sequence monitoring, authenticated command execution, communication anomaly monitoring, and hardware-rooted trust primitives, such as a ring-oscillator physical unclonable function (PUF) and a pseudo-random generator. Optional secure communication is provided via a lightweight ASCON-authenticated encryption core. The architecture was implemented on a Cyclone V System-on-Chip (SoC) platform using an industrial Camera Link camera and evaluated in a low-latency image-acquisition setup operating at 100 fps, with data throughput exceeding 1 Gbps. Experimental results demonstrate that the proposed security architecture introduces only about 1.6% additional FPGA logic utilization while maintaining full real-time acquisition performance. The presented approach demonstrates that practical hardware-level security mechanisms can be integrated into FPGA-based embedded vision nodes with minimal architectural modifications and negligible performance overhead. Full article

Light-responsive hydrogel-based oscillators typically exhibit small oscillation amplitudes because solvent diffusion is intrinsically slow, and their dependence on external periodic light modulation further results in limited amplitude, poor stability, and insufficient autonomy. Inspired by the trigger and sliding mechanism of the ancient crossbow, this study introduces an innovative system that integrates a sliding-block mechanism with time-delay feedback, breaking from conventional approaches that rely on hydrogel inertia or external modulation, within a purely theoretical and simulation-based framework. By establishing a nonlinear dynamic model coupling solvent diffusion, photoisomerization, and optical attenuation, this research shows through numerical simulations that the system can exhibit two distinct modes under constant illumination: a stable state and a self-sustained oscillatory state. The model predicts that the oscillation frequency can be flexibly tuned by varying key parameters, including the crosslinking density, Flory–Huggins interaction parameters of the spiropyran and hydrophilic polymer, ring-opening reaction rate, light intensity, fraction of light-sensitive molecules, and sliding displacement, whereas the initial absorption coefficient has only a minor influence. The slider displacement is also identified as an effective means to regulate the oscillation amplitude. Furthermore, the expansion force at the container bottom is predicted to oscillate synchronously with the hydrogel’s volume change. This theoretical framework represents a paradigm shift from “static small deformation” to “dynamic large-amplitude oscillation”, significantly enhancing the mechanical responsiveness of the material. This work provides a novel and controllable strategy for the conceptual design of autonomous light-driven micromechanical systems. Full article

This paper presents a 2-GS/s voltage–time hybrid pipelined analog-to-digital converter (ADC) with a 14-bit digital output, implemented in a 28-nm CMOS process. To alleviate the gain–bandwidth–power trade-off in deeply scaled technologies, the proposed architecture employs a SHA-less front-end and a low-gain inverter-based push–pull RA for energy-efficient coarse quantization. The residue is then transferred to the time domain via a highly linear constant-current voltage-to-time converter (CC-VTC) and digitized by a four-channel time-interleaved gated-ring-oscillator (GRO) TDC. To recover dynamic linearity degraded by low-gain amplification and interleaving mismatches, a multiplier-less digital background calibration engine is implemented. Leveraging mean absolute value (MAV) statistics and dither-injected least-mean-squares (LMS) algorithms, it effectively compensates for inter-channel and interstage errors with minimal hardware overhead. The prototype occupies an active area of 0.16 mm². At 2 GS/s, the ADC achieves a Nyquist SNDR of 63.42 dB and an SFDR of 73.71 dB, corresponding to an ENOB of 10.24 bits. Consuming 86.9 mW from a 1-V supply, it achieves a Walden FoM of 35.9 fJ/conv.-step. Measurement results from multiple chips under a wide range of operating conditions verify the robustness of the proposed ADC. Full article

With the growing importance of personal information security, numerous methods have been proposed for data encryption. To ensure system safety, ciphers must be unpredictable and robust. In modern Rivest–Shamir–Adleman (RSA) encryption systems, two prime numbers are required for key generation, and their randomness and unpredictability are essential for security. In this study, we propose a secure system for generating the prime numbers used in RSA encryption. The inherent properties of chaotic systems are employed as a Pseudo Random Number Generator (PRNG), while a Ring Oscillator is utilized as a True Random Number Generator (TRNG). The Miller–Rabin algorithm is further applied to verify the primality of the numbers produced by the PRNG. The entire design is implemented on a Field Programmable Gate Array (FPGA) to achieve a fully hardware system. Full article

The Zeta-Minimizer Theorem establishes that the Riemann zeta function $\zeta \left(s\right)$ and the primes arise variationally as unique minimizers of a phase functional defined on a symmetric measure space $\left(X,\mu ,G\right)$ equipped with helical operators. Three fundamental axioms—strict concave entropy maximization (Axiom 1), spectral Gibbs minima with non-vanishing ground states (Axiom 2), and irreducible bounded oscillations with flux conservation (Axiom 3)—allow for the selection of the non-proper Archimedean conical helix as the sole topology satisfying all constraints. Primes emerge as indivisible minimal cycles in the associated representation graph $\Gamma$ (via Hilbert irreducibility and Maschke’s theorem), while the Euler product is recovered through the spectral Dirichlet mapping of the helical eigenvalues. The partial zeta product, $Z\left(s\right)=\prod _j{\displaystyle \frac{1}{1-p_j^{-s}}},s\in \mathbb{R}\left\{0\right\},$ constitutes the exact grand partition function of any finite subsystem. Numerical inversion of this product directly recovers the mixture frequency $s$ from any experimental compressibility factor $Z_{\mathrm{m}\mathrm{i}\mathrm{x}}$. Mole fractions $x_i\left(s\right)$, interaction parameters $\Delta \left(x_i\right)$, and the Lyapunov spectrum $\lambda \left(x_i\right)$ then follow deductively via the helical transfer matrix and the closed-form linear ODE for $\Delta$. Occupation numbers $N\left(x_i\right)$ attain sharp maxima precisely at Fibonacci ratios $F_r/F_{r+1}$, leading to the molecular prime-ID rule. For twelve representative purely binary (irreducible) systems spanning atomic noble gases, simple diatomics, polar molecules, and an aromatic ring, the residuals satisfy $|Z\left(s\right)-Z_{\mathrm{m}\mathrm{i}\mathrm{x}}|<1.5\times {10}^{-8}$. The resulting $\lambda \left(x_i\right)$ curves accurately reproduce critical points, liquid ranges, and thermodynamic anomalies with zero adjustable parameters. The Riemann Hypothesis follows rigorously as a theorem: the unique fixed point of the duality functor $s\mapsto 1-s$ that preserves the orthogonality condition $\sum {\mathrm{c}\mathrm{o}\mathrm{s}}^2{\theta }^k=1$ is $\mathrm{R}\mathrm{e}\left(s\right)=1/2$, enforced by Axiom 1 concavity and Axiom 3 irreducibility. The framework is fully deductive and parameter-free and extends naturally to arbitrary mixtures and multiplicities through the helical representation graph. It provides a variational unification of analytic number theory, spectral geometry, thermodynamic phase behavior, and the Riemann Hypothesis from first principles. Full article

Optical klystrons have been developed in storage ring free-electron lasers (FELs) as insertion devices to increase the FEL gain in a straight section with limited length. By adjusting the magnetic field in the dispersion section of the optical klystron to shift the relative delay between the electron bunch and FEL pulse from an integer multiple of the FEL wavelength, FELs can oscillate at two wavelengths. The electron density of the electron bunch that interacts with the FEL pulse in a small-signal regime is modulated at the FEL wavelength period. When the FEL oscillates simultaneously at two wavelengths, the electron density of the electron bunch beats through the modulation with two periods. This beat generates long-wavelength coherent edge radiation at a bending magnet located in the straight section containing the optical klystron. Difference-frequency waves induced by dual-wavelength ultraviolet free-electron lasers generate a high-intensity mid-infrared monochromatic beam. Our findings will lay the foundation for the development of the difference-frequency waves of soft X-rays and extreme ultraviolet light using hard X-ray FELs. Full article

This paper presents a novel dual-mode memristor-based ring oscillator designed for energy-efficient, wireless biomedical signal conditioning systems. The proposed architecture leverages a compact DTMOS memristor emulator, consisting of only two transistors and one capacitor, to replace the conventional NMOS pull-down devices in a three-stage PMOS ring oscillator. This integration enables two distinct operating modes within a single compact core: a fixed-frequency mode for stable clock generation and carrier synthesis, and a programmable chirp mode for frequency-modulated signal generation. The fixed-frequency mode achieves continuous tuning from 3.142 GHz to 4.017 GHz via varactor control, with an ultra-low power consumption of only 111 µW at 4.017 GHz. The chirp mode generates linear frequency sweeps starting from 0.8 GHz, with the sweep range independently controllable through the state capacitor value and the pulse width of the control signal (SW_Chirp). Designed in a standard 0.18 µm CMOS process, the oscillator exhibits a low phase noise of −87.82 dBc/Hz at a 1 MHz offset for the three-stage configuration, improving to −94.3 dBc/Hz for the five-stage design. The overall frequency coverage spans 0.8–4.017 GHz, representing a 133.6% fractional range. The calculated figure of merit (FoM) is −169.45 dBc/Hz. Experimental validation using a discrete CD4007 prototype confirms the oscillation principle, while comprehensive simulations demonstrate robust performance across process corners and temperature variations. With its zero-static-power memristor core, wide tunability, and dual-mode reconfigurability, the proposed oscillator is ideally suited for multi-standard wireless biomedical applications, including implantable telemetry, neural stimulation, ultra-wideband (UWB) transmitters, and non-contact vital sign monitoring. Full article

The Upper Colorado River Basin (UCRB), through the process of snow accumulation, to snowmelt, to streamflow runoff, provides a critical water source to approximately 40 million residents in the Southwestern United States. Given the importance of late fall–winter–early spring (October, November, December, January, February, March, or ONDJFM), cumulative precipitation, future estimates of ONDJFM cumulative precipitation, and potential drought occurrence would provide a benefit to water managers and planners. Previous research efforts successfully reconstructed (extended the period of record) the regional April 1st Snow Water Equivalent (SWE) in the UCRB using tree-ring chronologies and reconstructed climate (El Niño–Southern Oscillation or ENSO). The current research efforts differ by (a) incorporating future [Shared Socioeconomic Pathway (SSP) 5-8.5] predictions of ONDJFM cumulative precipitation (in lieu of April 1st SWE) at a single station location (Kendall R.S.) in the UCRB; (b) reconstructing ONDJFM cumulative precipitation (in lieu of April 1st SWE) using tree-ring chronologies and ENSO; and (c) evaluating an alternative reconstructed ENSO index. The reconstructed record, recent past observations, and future (SSP 5-8.5) ONDJFM cumulative precipitation were then combined to provide a paleo perspective of future drought. Results indicate that extreme ONDJFM cumulative precipitation drought periods projected for the ~2040s were exceeded in the reconstructed record. A pattern of alternating wet and dry conditions was also identified, consisting of a wet (pluvial) period in the 2030s, followed by drought conditions in the 2040s, and another wet period in the 2050s. Many of the extreme future wet (pluvial) periods exceeded those in the recent record and reconstructed record. Full article

Reducing friction in the piston ring–cylinder liner contact is a key area for improving the efficiency of internal combustion engines. While tribological studies commonly focus on the top dead centre region using linear tribometers, the mid-stroke regime—with its higher sliding velocities—remains experimentally inaccessible to most conventional test methods. This study presents a rotating ring-on-liner tribometer that enables investigations at constant relative speed by transitioning the motion from oscillating to rotating. A cylindrical substitution geometry for the piston ring specimen is derived through a coupled elastohydrodynamic and asperity contact simulation approach to reproduce realistic load-sharing behaviour. Experimental results from starved lubrication tests demonstrate stable contact conditions with a low coefficient of variation in wear, confirming good reproducibility. Stepwise performed Stribeck tests at 40 °C and 100 °C reveal characteristic friction–velocity behaviour, including the transition from mixed to hydrodynamic lubrication. Although the test rig’s maximum sliding speed and steady-state thermal conditions differ from fired engine environments, the methodology closes an important gap between low-speed linear tribometers and complex floating-liner systems. The presented approach provides a flexible and robust platform for controlled parametric studies of ring-on-liner contacts under application-relevant lubrication regimes. Full article

Swarm is a three-satellite mission operated by the European Space Agency to monitor the Earth’s magnetic field. The China Seismo-Electromagnetic Satellite (CSES) is a satellite dedicated to studying the possible seismo-induced effects of earthquake activity on the ionosphere, operated by the China National Space Administration in cooperation with the Italian Space Agency. Such satellites are placed in Low Earth Orbit at an altitude ranging from 460 km to 510 km. We selected orbital combinations with the Swarm satellite in one hemisphere and CSES-01 in the opposite one to study the impact of magnetic pulsations on the ionospheric environment. The data have been filtered in the frequency range of Pi2 pulsations (period between 40 s and 150 s). Similar oscillations of a few nanoTeslas of the magnetic field intensity were detected by both satellites, sometimes in phase and at other times in counterphase. Detected oscillations could be explained by interactions between the Sun’s and Earth’s magnetic fields or the effect of a satellite crossing the auroral ring currents at the Northern and Southern Poles. This work supports the cross-validation of magnetic data from multiple satellite missions in Low Earth Orbit, such as Swarm and CSES. Our results confirm the scientific reliability of magnetic data acquired from the above-cited satellite missions. Full article

The 6.45 μm mid-infrared laser is highly promising for medical applications due to its efficient tissue ablation with minimal collateral damage. In this work, we demonstrate a stable and compact 10W-level, all-solid-state nanosecond laser source at 6.45 μm based on a Ho:YAG MOPA pumped ring-cavity ZnGeP2 optical parametric oscillator (ZGP OPO). The influence of spot size, phase-matching scheme, and crystal length on the output performance was systematically investigated. Using a 30 mm long Type I ZGP crystal, the system achieved optimal performance: a record-high average output power of 14.6 W at 6.45 μm with an optical-to-optical conversion efficiency of 17.57%, a peak power of 51.7 kW, and excellent power stability (1.45% fluctuation over 120 min at 11.7 W). To our knowledge, this represents the highest reported output power and conversion efficiency for an OPO in this spectral region, surpassing previous sources by an order of magnitude in average power and showing nearly double efficiency. This work provides a stable and reliable laser source tool for application research for techniques such as laser ablation. Full article