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Representing the reception condition directly, both Signal-to-noise ratio (SNR) and Doppler shift are important parameters in mobile channels, and therefore are widely used in system performance evaluations and adaptive applications. Accordingly, this paper investigates a frequency domain iterative estimator for SNR and Doppler shift in mobile communications, where the discrete cosine transform (DCT)...
Minimum time optimization trajectory planning problem which can generate smooth trajectory of joints of robot is still complex and difficult to solve. A novel hybrid cubic B-spline and convex optimization method was presented for trajectory planning of robotic manipulator in this paper. First, the first and second derivatives of path trajectory coordinates s, called pseudo-velocity and pseudo-acceleration...
When damage tolerance based design and analysis of crack growth process are carried out based on the experimental data, there exist great uncertainties for model parameters, if these parameters were considered to determined value, it will cause a large predicted error. Moreover, if the correlation between these parameters are ignored or not be considered, the scatter of parameters cannot be captured...
Spare parts are the fundamental basis for materiel usage and maintenance. Aiming at the limitation of maintenance strategy in spare part support, the compound maintenance strategy was introduced. Taking the compound maintenance task of periodic replacement with functional checks as example the relationship between spare part demand and maintenance cost was analyzed, and the joint optimization mathematical...
Circular truss antenna is a new form of satellite antenna, where is the key deployment trend to the satellite. The truss elements, including some key components such as Sync hinge joint, T hinge joint, and bars, are the basic units to build the circular truss. Failure mode, effects and criticality analysis (FMECA) for the key components of the circular truss is given in the paper.
This paper studies the problem of joint estimation of data and channels for orthogonal frequency-division multiplexing (OFDM) systems using variational inference. The proposed methods are used to combat imperfect channel estimation at the receiver since it can degrade system performance seriously. The proposed methods simplify the maximum a posteriori (MAP) scheme based on the theory of variational...
The financing problem has become a major obstacle constraining SMEs' development. In this paper, by comparing the existing financing manners, we consider that the Network Joint Guarantee Mode can solve the financing problem of SMEs well, and also can increase the loan repayment rate effectively. By analyzing the internal mechanisms of Network Joint Guarantee Mode, we think the reason why it can increase...
FES cycling is a safe and easy way for the rehabilitation of spinal cord injury (SCI) patients. In order to design an control system for FES cycling, this paper presents a control strategy of the cycling induced by FES. The control system is developed based on artificial neural networks and consists of two layers: the outer layer controls the FES cycling model dynamics and generates desired torque;...
This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector)...
An online identification approach for boundary condition identification of fluid-filled piping systems is developed. Considering the lateral vibration of the fluid-filled pipes, the method combines the traveling wave method and the BP (backpropagation) neural network to estimate the boundary parameters. The traveling wave method is used to generate the training samples that contain several lower natural...
The configuration characteristics and control system composition of inspection robot are firstly introduced. Then the planning method and the control process of crossing obstacles are discussed aiming at crossing obstacles automatically. Namely, with the method of hierarchical planning, the on-line planning is done from the behavior level using production system reasoning. The action sequence will...
We present a hybrid camera that combines the advantages of a high resolution camera and a high speed camera. Our hybrid camera consists of a pair of low-resolution high-speed (LRHS) cameras and a single high-resolution low-speed (HRLS) camera. The LRHS cameras are able to capture fast-motion with little motion blur. They also form a stereo pair and provide a low-resolution depth map. The HRLS camera...
The ultrasonic imaging guided radio frequency ablation surgery is an effective technique in liver tumour treatment. However, the traditional surgery imposes a constraint for surgeons to have high precision in their hand-eye coordination. This paper proposed an assisted medical robot system to reduce these requirements. For an effective surgery robot system, the trajectory planning and 3D ultrasonic...
One of the advantages of using two or more robot arms to perform the same task is the increased load carrying, handling, and manipulation capability. It is necessary to know the maximum force/moment that the robots can generate jointly at each point within their common workspace. This is the main subject of dynamic workspace analysis. In this paper, we develop a conceptually simple procedure to solve...
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