This paper presents a new method for mapping multi5floor buildings. The method combines laser range sensor for metric mapping and barometric pressure sensor for detecting floor transitions and map segmentation. We exploit the fact that the barometric pressure is a function of the elevation, and it varies between different floors. The method is tested with a real robot in a typical indoor environment, and the results show that physically consistent multi5floor representations are achievable.
AI G a t e I , I G a t e @ + W 5 0 + 0 , , : set / \ -I I \ 'I_ N?S'P:' /NOHset Nwell L ---J Abstract We proposed a low side N-channel Trench Lateral Power MOSFET (TLPM) in IEDM2002 [I].In this paper, a high side n-channel TLPM, which is isolated from the substrate, is proposed, fabricated and characterized for the first time. Fabricated high side TLPM devices exhibit a specific on-resistance of 17mn-mm2withabreakdownvoltageof21V.
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