This paper attempts to uncover one possible method for the IMR (indoor mobile robot) to perform indoor exploration associated with SLAM (simultaneous localization and mapping) using LiDAR. Specifically, the IMR is required to construct a map when it has landed on an unexplored floor of a building. We had implemented the e-SLAM (exploration-based SLAM) using the coordinate transformation and the navigation prediction techniques to achieve that purpose in the engineering school building which consists of many 100-m² labs, corridors, elevator waiting space and the lobby. We first derive the LiDAR mesh for the orthogonal walls and filter out the static furniture and dynamic humans in the same space as the IMR. Then, we define the LiDAR pose frame including the translation and rotation from the orthogonal walls. According to the MSC (most significant corner) obtained from the intersection of the orthogonal walls, we calculate the displacement of the IMR. The orientation of the IMR is calculated from the alignment of orthogonal walls in the consecutive LiDAR pose frames, which is also assisted by the LQE (linear quadratic estimation) method. All the computation can be done in a single processor machine in real-time. The e-SLAM technique leads to a potential for the in-house service robot to start operation without having pre-scan LiDAR maps, which can save the installation time of the service robot. In this study, we use only the LiDAR and compared our result with the IMU to verify the consistency between the two navigation sensors in the experiments. The scenario of the experiment consists of rooms, corridors, elevators, and the lobby, which is common to most office buildings.

Indoor mobile robot (IMR) motion control for e-SLAM techniques with limited sensors, i.e., only LiDAR, is proposed in this research. The path was initially generated from simple floor plans constructed by the IMR exploration. The path planning starts from the vertices which can be traveled through, proceeds to the velocity planning on both cornering and linear motion, and reaches the interpolated discrete points joining the vertices. The IMR recognizes its location and environment gradually from the LiDAR data. The study imposes the upper rings of the LiDAR image to perform localization while the lower rings are for obstacle detection. The IMR must travel through a series of featured vertices and perform the path planning further generating an integrated LiDAR image. A considerable challenge is that the LiDAR data are the only source to be compared with the path planned according to the floor map. Certain changes still need to be adapted into, for example, the distance precision with relevance to the floor map and the IMR deviation in order to avoid obstacles on the path. The LiDAR setting and IMR speed regulation account for a critical issue. The study contributed to integrating a step-by-step procedure of implementing path planning and motion control using solely the LiDAR data along with the integration of various pieces of software. The control strategy is thus improved while experimenting with various proportional control gains for position, orientation, and velocity of the LiDAR in the IMR.

This paper introduces an interactive music tempo control with closed-loop heart rate feedback to yield a sportsperson with better physio-psychological states. A total of 23 participants (13 men, 10 women; 16–32 years, mean = 20.04 years) who are professionals or school team members further guide a sportsperson to amend their physical tempo to harmonize their psychological and physical states. The self-tuning mechanism between the surroundings and the human can be amplified using interactive music tempo control. The experiments showed that listening to interactive music had a significant effect on the heart rate and rating of perceived exertion (RPE) of the basketball player compared to those listening to asynchronous music or no music during exercise (p < 0.01). Synchronized interactive music allows athletes to increase their heart rate and decrease RPE during exercise and does not require a multitude of preplanned playlists. All self-selected songs can be converted into sports-oriented music using algorithms. The algorithms of synchronous and asynchronous modes in this study can be adjusted and applied to other sports fields or recovery after exercise. In the future, other musical parameters should be adjusted in real-time based on physiological signals, such as tonality, beats, chords, and orchestration.

In this paper, we develop a variable-frequency pulse width modulation (VFPWM) circuit for input control of 6.78-MHz resonant wireless power transfer (WPT) systems. The zero-voltage switching control relies on the adjustments of both duty cycle and switching frequency for the class-E amplifier used in the WPT as the power transmission unit. High-frequency pulse wave modulation integrated circuits exist, but some have insufficiently high frequency or unfavorable resolution for duty cycle tuning. The novelty of this work is the VFPWM circuit design that we put together. A voltage-controlled oscillator (VCO) of radio frequency and capacitor-coupled difference amplifiers are used to simultaneously perform the frequency and duty cycle tuning required in resonant WPT applications. Different circuit topologies of VFPWM are compared analytically and numerically. The most favorable circuit topology, enabling independent control of the frequency and duty cycle, is employed in experiments. The experimental results demonstrate the validity of the novel VFPWM, which is capable of operating at 6.78-MHz and has a duty ratio adjustable from 20% to 45% of the range applicable in the resonant WPT applications.

This paper attempts to describe a laser diode driver circuit using the depletion mode gallium nitride high electron mobility transistor (D-mode GaN HEMT) to generate nanosecond pulses at a repetition rate up to 10 MHz from the vertical-cavity surface-emitting laser (VCSEL). The feature of this driver circuit is a large instantaneous laser power output designed in the most efficient way. The design specifications include a pulse duration between 10 ns and 100 ns and a peak power up to above 100 W. The pulsed laser diode driver uses the D-mode GaN HEMT, which has very small C_oss difference between turn-on and turn-off states. The analysis is according to a laser diode model that is adjusted to match the VCSEL, made in National Yang Ming Chiao Tung University (NYCU). A design guide is summarized from the derivations and analysis of the proposed laser diode driver. According to the design guide, we selected the capacitor, resistor, and diode components to achieve 10 ns to 100 ns pulse duration for laser lighting. The experiment demonstrated that the maximum power-to-light efficiency can be as high as 86% and the maximum peak power can be 150 W, which matches the specifications of certain applications such as light detection and ranging (LiDAR).