Bistability (BS) and self-pulsation (SP) phenomena in silicon microring resonators (MRR) with intense CW light injection are studied. Several nonlinear optical effects including Kerr effect, two-photon absorption, free carrier absorption and free carrier dispersion are taken into account. The threshold optical intensity of BS and SP is derived from the coupled mode theory and a linear stability analysis method. The influences of MRR’s parameters (carrier lifetime, linear loss and radius) and light injection conditions (input power, wavelength detuning) on the characteristics of SP (modulation depth and oscillating frequency) are analyzed and discussed. It is shown that, SP occurs only if the carrier lifetime ranges from several ps to several-hundred ps and the input light intensity is higher than 10⁶W/cm². The modulation depth of SP can be as large as 8dB and the associated oscillating frequency is in the range from several GHz to beyond 10 GHz.

Optical bistability (BI) and self-pulsation (SP) in high-$Q$ silicon microring resonators (MRRs) induced by thermo-optical (TO) effect and other nonlinear effects are theoretically studied with coupled mode theory and linear stability analysis method. It is found that the boundaries for both BI and SP are mainly restricted by two counteracting effects: free carrier dispersion effect and TO effect. If the refractive index changes of a MRR caused by these two effects are on the same order of magnitude, the output power will exhibit much more complicated dependence on the input power and wavelength, namely, input-power-dependent multi-BI and multi-SP regions will exist at certain input wavelength range. The controllability of multi-BI and multi-SP phenomena by the input power and input wavelength could be very useful in all-optical nonlinear devices.

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Suitable trajectories with minimum execution time are essential for an industrial robot to enhance productivity in pick and place operations. A novel point-to-point trajectory planning algorithm (PTPA) is proposed to improve the motion efficiency of industrial robots. The jerk profile for a trajectory model is determined by five intervals and the jerk constraint. According to the kinematic constraints and two shape coefficients, a velocity threshold and three displacement thresholds are calculated for an individual joint to transfer the proposed jerk motion profile into four specific profiles. The optimal trajectory model of the joint is developed for the minimum-time and jerk-continuous trajectory via the performance evaluation with the input displacement and three displacement thresholds. Moreover, time-based motion synchronization for all joints is taken into account in PTPA to decrease unnecessary burdens on the actuators. The simulations illustrate that the execution time by PTPA is more efficient than that by other techniques. The experiments of a point-to-point application on a real six-axis industrial robot show that the absolute errors at the end of the motion for all joints are within 0.04°. These results prove that PTPA can be an effective point-to-point trajectory planner for industrial robots

Purpose: This paper aims to present an adaptive robust sliding mode tracking controller for a 6 degree-of-freedom industrial assembly robot with parametric uncertainties and external disturbances. The controller is used to achieve both stringent trajectory tracking, accurate parameter estimations and robustness against external disturbances.Design/methodology/approach: The controller is designed based on the combination of sliding mode control, adaptive and robust controls and hence has good adaptation and robustness abilities to parametric variations and uncertainties. The unknown parameter estimates are updated online based on a discontinuous projection adaptation law. The robotic dynamics is first formulated in both joint spaces and workspace of the robot’s end-effector. Then, the design procedure of the adaptive robust sliding mode tracking controller and the parameter update law is detailed.Findings: Comparative tests are also conducted to verify the effectiveness of the proposed controller, which show that the proposed controller achieves significantly better dynamic trajectory tracking performances as compared with conventional proportional derivative controller and sliding mode controller under the same conditions.Originality/value: This is a new innovation for industrial assembly robot to improve assembly automation.

An ultracompact polarization splitter–rotator based on an asymmetric directional coupler has been designed and analyzed. The device consists of one channel waveguide and one vertical slot waveguide, which couple to each other to form the asymmetric directional coupler. The coupling length is only 17.4 μm, and the polarization extinction ratio, with its largest value of 18 dB, is more than 15 dB in the operating wavelength range from 1515 to 1560 nm. The TM-to-TE conversion efficiency can reach up to 95% (0.02 dB) at 1550 nm wavelength.