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The development of an efficient and flexible guidance system is one of the most important aspects of studies on reusable space transportation systems such as winged rockets. We therefore propose a flight path generation method that uses a dynamic distributed genetic algorithm. This method dynamically divides and merges the individuals of some groups and thus maintains diversity in its optimization...
We consider the problem of rate allocation in frequency-selective 2-user Gaussian multiple access fading channels employing turbo equalization. The turbo equalization framework used in this paper contains a soft cancellation frequency domain minimum mean squared error equalizer and two a posteriori probability channel decoders. Using the relationship between the rate of any code and the area under...
We consider the problem of joint decoding of signals transmitted from two correlated sources at a destination. In order to achieve high spectral efficiency at a high range of the channel signal-to-noise power (SNR), a high transmission rate is required. In this paper, we design a class of codes for joint-decoding by exploiting bit interleaved coded modulation with iterative decoding (BICM-ID) technique...
Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called ??the divergent component of motion??. These techniques allow us to generate walking...
Bipedal running can easily result in a fall due to poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the divergent...
A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the...
Trajectories generated from approximate dynamics models can lead biped robots to fall down due to the difference of dynamics between the approximate dynamics model and the real robot. In this paper, we propose real time methods to compensate for the dynamics error using dynamics error compensation models. Our methods satisfy the horizontal ground reaction force and moment limits so that no slip is...
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