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Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable...
To improve the spectrum utilization efficiency, secondary users (SUs) in cognitive wireless networks should be able to not only detect the spectral holes in time and frequency domains, but also exploit the spatial spectrum opportunities for dynamic spectrum access. In this paper, accurate and robust tracking of mobile-primary user is formulated as a Bayesian filtering problem with the shadow-fading...
A novel robust detection algorithm based on goodness-of-fit test is proposed to achieve spectrum sensing for the small-scale primary users (SSPUs) including wireless microphones and mobile devices. In the proposed algorithm, a new test statistic is proposed to measure the non-Gaussianity of the power spectral density (PSD) of the received signals. Since the estimated PSD of the ambient Gauss noise...
A novel goodness-of-fit testing based spectrum sensing method is proposed to detect the small-scale primary users (SSPUs) such as wireless microphones and mobile devices. In the proposed method, a secondary user (SU) measures the non-Gaussianity of the spectrum of the received signal using a novel test statistic. Then, the absence and presence of SSPUs can be effectively distinguished by evaluate...
Currently, robust, invisible double digital watermarking technology becomes the most popular and challenging direction, it has aroused great concern in the international community in recent years. The single watermark algorithms always merely have single function. In order to overcome the drawbacks, a multi-purpose dual watermark algorithm based on wavelet transform and image partition is presented...
A global sliding mode variable structure controller based on exponential reaching law is adopted to Permanent magnet Synchronous Motor. First, the controller can ensure sliding behavior throughout an entire response, we can specify the demands on the capability of the system to achieve a desired performance. Moreover, the controller is based on exponential reaching law, which overcome the drawbacks...
Liver segmentation on computed tomography (CT) images is a challenging task due to the anatomic complexity and the imaging system noise. In this paper, we develop an improved level set segmentation method. Our region-based level-set approach has many advantages over the conventional active contour models. First, the improved model can get much smoother contour by adding a signed distance preserving...
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