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Distributed renewable energy generations bring to attention the grid-connected inverter with LCL filter, whose control performance can be largely influenced by filter parameter variations. This paper has proposed a “comprehensive-loop-search, pattern-recognition, key-parameter-scan” method to evaluate the parameter variation influence, especially grid-side inductance and filter capacitance variation,...
How to design a robotic hand for reproducing the move characteristics of human hand joints is a big challenge in robotics. In this paper, we present an approach to determine the actuation configuration based on the statistical results of hand joint angle in different grasps. A relationship between the basic statistical metrics and actuation configuration strategies is built. In this case, a novel...
This paper presents the development of the electrical simulator for the space station manipulator to support the design of the space manipulator's controller and the data communication verification between the space station and the manipulator. The assembly of the space manipulator model consists of the joint controller model, the joint dynamics model and the serial manipulator model. Besides, the...
Hadoop has two components namely HDFS and MapReduce. Hadoop stores user data based on space utilization of datanodes on the cluster rather than the processing capability of the datanodes. Furthermore Hadoop runs in a heterogeneous environment as all datanodes may not be homogeneous. For these reasons, workload imbalances will occur when jobs run in a Hadoop cluster resulting in poor performance. In...
This paper presents a new real-time localization method for indoor service robots based on camera and laser. First of all, it is proved that planar motion of an upward camera in the floor plane can be solved by only two matching points with equal depth. Then, a real-time indoor localization method is proposed accordingly using an upward fisheye camera mounted on the robot and two fixed laser pointers...
In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order...
Cross-matching in astronomy is a basic procedure for comprehensibly analyzing the relations among different celestial objects. The aim is to search celestial objects in different catalogs and to determine if they are the same object. Basically, cross-matching can be expressed as a join query statement. Since celestial catalogs usually contain billion of stars, the join operator must be carefully designed...
The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX real-time...
This paper presents the design and implementation of an embedded system kernel, namely Zinix, with functional modularity for multiprocessor platforms. Zinix supports system configuration of both homogeneous and heterogeneous multiprocessors with shared memory. Its design is based upon the concept of micro-kernel with emphasis on modular functionality and reusability in order to be flexible and suitable...
In this paper, we present a SIFT based Slope K method which is faster and more robust than the classical SIFT in landmark based localization. First, the slope k value can be used to erase mismatched feature points (outliers) of the two compared images. Second, the y position is determined by the slope k value. Therefore, the Slope K method is able to localizes about twice as more accurate as the classical...
It is still a challenging problem for tracking objects in complex visual situations, such as an object is occluded or the object's color features are very similar to its background. Therefore, a novel visual tracking algorithm is proposed for multiple cues fusion based on three common cues: color, target position prediction and motion continuity in this paper. Color feature is free of translation...
Primates demonstrate an outstanding ability of gaining a continuous tracking of target in cluttered environments after target disappears in the scene for a long time while it is still a challenge for artificial visual system to do so. Research in psychology indicates that selective visual attention with two attention selection processes is crucial to visual tracking. This paper presents a novel visual...
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