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The underactuated 2-dimensional translational Oscillator with rotational actuator (2DTORA) system consisting of an rotational proof-mass and two unactuated translational carts is an extension version of the TORA system which is a well-known benchmark for nonlinear control design. In this paper, dynamics of 2DTORA system is normalized and written in general affine form. And we apply fuzzy Lyapunov...
In frequency reuse one networks, the inter-cell interference (ICI) is severe especially for cell edge user equipments (UEs). Statistical information of ICI is helpful to design interference mitigation schemes. This paper proposes a statistical model for the uplink ICI in orthogonal frequency division multiple access (OFDMA) networks with power control. The distance-dependent attenuation and correlated...
Tail-biting codes are efficient coding techniques to eliminate the rate loss in conventional known-tail convolutional codes at a cost of increased complexity in decoders. In addition, tail-biting trellis representation of block codes makes the trellis-based maximum likelihood (ML) decoder desirable for implementation. Circular Viterbi algorithm (CVA) is introduced to decode the tail-biting codes for...
Location-based services (LBS) have been widely accepted by mobile users. Many LBS users have direction-aware search requirement that answers must be in the search direction. However to the best of our knowledge there is not yet any research available that investigates direction-aware search. A straightforward method first finds candidates without considering the direction constraint, and then generates...
A humanoid neck design with low motion noise yields a cable-driven parallel manipulator to imitate two axis rotational motion of a human neck. The fixed base and moving platform of the manipulator are connected by four cables and a column compression spring. The four cables are actuated separately, while the spring can support weight on the moving platform. Although similar manipulators exist in literature,...
two manipulators rigidly handling a flexible payload to track a predefined trajectory. The control law provides robustness against model parameters uncertainties and external disturbances. To suppress the elastic vibration, an adaptive optimal controller is designed. Implicit proof of the system stability is provided via Lyapunov Stability Theory. Finally, the cooperating control input is shown through...
Directing at the complex structure, cockamamie production technology and great operation difficulty of vertical roller mill, this paper constructs the fault expert system to guide and optimize the grinding process. First, the expert database is established with fuzzy cluster analysis, principal component analysis (PCA) and tendency analysis. With support vector machine (SVM) regression, the multiple...
To further understand the nitrogen removal mechanism in leachate treatment using aged-refuse-based bioreactor, 10 year aged refuse was used as adsorbent, ammonium chloride as adsorbate. The adsorption isotherms and thermodynamics, and adsorption mechanism were studied. The results show that: (1) The isothermal adsorption process of NH4+ on aged refuse can be fitted by Freundlich equations with a high...
The goal of this paper is to develop a needle insertion robotic system for ultrasound-guided minimally invasive surgery, which is composed of a robot, a surgical planning subsystem and a pose tracking device. In the surgery procedure, the target coordinate should be transformed from one coordinate frame to another coordinate frame through point-based registration. The point-based registration using...
By analyzing various current grid portal designing modules, we propose pluggable based-on-OSGi grid portal, called BOPGP, to guarantee grid portal independent of platforms. BOPGP is designed based on OSGi, encapsulating grid service into dynamically installed and uninstalled Bundle, which can enlarge and modify system functions. To better satisfy the users' requirement of on-demand computing, we also...
Increasing dependence on car-based travel has led to the daily occurrence of freeway congestions around the world. In order to improve the worse and worse traffic congestion situation and solve the problems brought with it, a new kind of effective, fast, and robust method should be presented. Ramp metering has been developed as a traffic management strategy to alleviate congestion on freeways. But,...
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