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Device-to-Device (D2D) communication has been considered as a promising technique to provide better wireless services in local area. In this paper, we propose an improved intra-cluster D2D multicast protocol to enable data sharing among users. In our scheme, several D2D users take turns to multicast the corresponding packets. The sequence of packet transmissions is determined according to the data...
In order to realize the function of large scale photovoltaic access to the grid, and recycle the regenerative braking energy in traction system, a hybrid bidirectional interactive DC traction power supply system is proposed. Bidirectional AC-DC converters are adopted in the traction system to realize the bidirectional power flow with the grid. Solar power generation and electric vehicle (EV) charging...
In order to recycle the braking energy in traction system, provide convenience for the electric vehicle (EV) battery charging system, and take advantage of solar power generation, a new DC microgrid system is proposed. Photovoltaic and EV battery charging and discharging system are connected to the traction system via DC bus to form a ring DC microgrid. The maximum power point tracking control is...
At present, the test case generation technology of UML sequence diagram has been widely attention, and has achieved new development. In this paper, the method of generating test case which based on use case driven and UML sequence diagram was modeled.
A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments...
This paper proposes kinematic optimizations of 7R humanoid arms based on the joint parameterization and the self-optimizing method. Because self-motions of the redundant robots, inverse kinematic optimizations of joint limits avoidance are discussed in this paper. Firstly, the evaluation criterion of kinematic optimizations is defined, and the self-optimizing method is proposed. Then, inverse kinematics...
This paper proposes the optimal inverse kinematic solutions of a 7R humanoid arm using the reconfiguration method and the self-optimizing method. Firstly, based on analyses of the humanoid arm with offset wrist, the reconfiguration method is proposed. Given the specified hand pose in Cartesian space, a closed-loop robot is developed by virtually connecting two ends of the humanoid arm. And then, the...
This paper presents a multi-DOF and multisensory prosthetic hand (HIT V prosthetic hand) with five modular fingers. The hand has a total of 11 joints, which are actuated by 6 intrinsic DC motors. Each digit (2 joints, DIP and MCP, coupled) is driven separately by a motor within the proximal phalange, while the trapeziometacarpal (TM) joint of the thumb is specially devised with an additional actuation...
For achieving a closed-loop, bidirectional control over myoelectric prosthetic hands, adopting the electrical stimulation in the sensory feedback channel for providing electrotactile substitution is currently a big trend. However, the electrical pulses used for stimulation may spread to the EMG collection sites which significantly interferes the controlling stability. In this paper, a novel noise...
This paper presents a novel hand motion recognition method to achieve the volitional control of a multi-DOF prosthetic hand. Based on the principle that the pressure distributions on the surface of forearm caused by the muscular activities are different when different hand motions are performed, a human-machine interface (HMI) composed of 32 force sensitive resistor (FSR) sensors, measurement unit...
An arbitrary sampling rate conversion algorithm based on frequency domain filtering (FDF-ASRC) is proposed. The number of Fourier coefficients in FDF-ASRC is irrelevant to the symbol rate of interested signal. Applying the resampling algorithm to non-uniform channelization, a few modules of Fourier transform (FT) and inverse Fourier transform (IFT) can guarantee infinite channels in channelization...
Wildfire severity is widely used for measuring the effects of wildfire interference on the environment and ecosystems. Taken Zhalong national natural reserve(NNR) as a case study, through the application of an index called differenced Normalized Burn Ratio(dNBR) to measure wildfire severity and other RS and GIS spatial analysis tools, the relationships between the wildfire severity and potential environmental...
Program comprehension is a prerequisite in most software maintenance and evolution tasks. Given an unfamiliar system, it is difficult for practitioners to determine which software artifacts are relevant to the current task. Generally, there are a variety of packages in a Java software system. These packages often have different intents and different relationships between each other. Different information...
A vehicle and driver model from [1] is here integrated with a finite state model describing mode switches among spark-ignited (SI) combustion and the advanced combustion modes spark assisted compression ignition (SACI) and homogeneous charge compression ignition (HCCI). The model is used to quantify the influence of mode switch fuel penalties on drive cycle fuel economy considering the federal test...
Recognition of low probability of interception (LPI) radar signals is extremely important in electronic support measurement (ESM), or electronics intelligence (ELINT) systems. Polyphase codes including Frank, P1, P2, P3, and P4 code are a kind of LPI signals, which have been a new research hotspot in reconnaissance systems. In this paper, we propose a new recognition method for polyphase coded signals...
With the importance of unconventional oil and gas resources become increasingly apparent that these unconventional reservoirs identified as challenges facing the industry, this paper proposes a new application of geochemical elements with combining other logging to identify the matrix of unconventional reservoir. Verified by the actual log processing and interpretation of geochemical elements in the...
This paper firstly introduces the research status of gradient projection method (GPM) of redundant manipulator, then presents a 7-DOF (degree of freedom) redundant manipulator composes of a 3-DOF shoulder joint, a 1-DOF elbow joint, and a 3-DOF wrist joint. Different from many other 7-DOF redundant manipulators, shoulder and wrist joints of the manipulator presented in paper are not spherical joints...
A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. The HIT-Hand is a multisensory and integrated five fingered hand with in total 11 DOFs. The hand has five fingers and each of them can be driven individually by the embedded actuation and control system fitted in the palm. Each finger has 2 DOFs and two joints, the two joints are mechanically coupled by a cable...
Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping...
The paper considers the problem of reconstructing blocks-sparse signals. A new algorithm, called synthesized multitask compressive sensing (SMCS), is proposed. In contrast to existing methods that rely on the availability of the sparsity structure information, the SMCS algorithm resorts to the multitask compressive sensing (MCS) technique for signal recovery. The SMCS algorithm synthesizes new compressive...
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