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Due to node mobility, the network topology of a mobile ad-hoc network (MANET) usually varies from full connection to intermittent connection, showing a connection diversity. There have been many well-known routing protocols for full connection and intermittent connection situations respectively. However, it is hard to find one-fit-to-all routing protocol suitable in all connection situations. In this...
This paper the adaptive backstepping control algorithm (ABCA) is proposed for dual-arm cooperative manipulators to achieve a precise trajectory tracking in the task space. Firstly the Lagrange function is employed to construct the dynamic mode of the upper part of the humanoid, the modified dynamic mode is obtained through decoupling the each joint. Secondly the modified dynamic is lower computation...
This paper realizes real-time precise point positioning and implements precision analysis on RTKLIB software based on Real Time Precise Point Positioning(RTPPP) model of broadcast ephemeris corrections via the real-time Ntrip streams, which contains state space representation(SSR) correction information provided by International GNSS Service (IGS). The static and dynamic experimental results show:...
In recent years, humanoid robots have received a lot of attention. Many types of humanoid robots have been developed. For humanoid robots, human-like torso features are essential in obtaining humanlike motion features. However, there is still no satisfied torso design among them with their limited kinematic or dynamic features. It is necessary to carry out a deep study of human torso with the aim...
Humanoid robots are considered to be ideal partner in future life for human beings, thus have great application prospects and attracted much attention. Bionics can bring researchers inspirations and lead to great achievements, for example, bipedal walking and dual-arm coordination have been made by bionics. Spine plays an important role in human body motion with unique structure and brilliant properties,...
The maturity of the smartphone and the World Wide Web (www) technologies have driven many social network applications which have facilitated people to share text and multimedia contents. The social networks that facilitate users to share the check-in (location visit) information are known as the location-based social networks (LBSN)s and provide various information for a recommendation problem that...
In space borne high resolution SAR images, the long metal cable may scatter as a bright spot similar with corner reflector scattering. This paper analyzed the magnitude and phase features of the line scatters in X band SAR images. The magnitude and pixel size of the line scatters varied in time series images, while the scatterers' center also shifting in range and azimuth direction. The phase of each...
Block adjustment can improve the accuracy of airborne InSAR data which covers large areas under the conditions of sparse control points, and it can improve the planar and vertical accuracy using a few of gound control points (GCPs). In this paper, we research the orthogonal decomposition of look vector model, three dimensional reconstruction model for airborne InSAR and the sensitivity equations at...
With the development of Chinese space technology, the structure of a spacecraft is increasingly complex. The conventional method of spacecraft assembly integration alignment test based on real cubic prism cannot realize the measurement of the installation angles of the equipment in spacecraft coordinate system due to the limitation of the equipment's installation position. This paper proposes a new...
With the rapid development of technology, acquiring and storing big data from various fields is no longer a problem. Instead, how to utilize the data becomes an important and hot research topic. Clustering is one of the important tasks for big data utility. However, there exists one well-known challenge for the task, i.e. it is difficult to incorporate prior information into the clustering results...
This paper studies the synchronization control of linear multi-agent systems with unmeasurable states, finite communication data rate and switching topologies. A class of adaptive quantized-observer based dynamic encoding-decoding schemes for information communication and a class of Certainty Equivalence principle based control protocols for synchronization are proposed for overcoming the uncertainties...
In this paper, a multi-bound-dependent fault tolerant attitude control scheme is achieved of flexible spacecraft with time delay and actuator failures. This designed control algorithm is delay-dependent and actuator effectiveness coefficient-dependent simultaneously. Moreover, it also is shown that the algorithm can not only guarantee the closed-loop system to be stable with attenuation level, but...
It is vital to cloud computing that the elastic control technology can dynamically adjust resources on demand by changing the size or number of virtual machines. It will improve the utilization and realize the cost savings. However, there are still some shortcomings for elastically scaling technology. On the one hand, the elastic scaling of resources will take some time, so changing resource requirements...
This paper presents a frequency reconfigurable hybrid with broad tuning bandwidth. It consists of a broadband hybrid and an electric adjustment network. The electric adjustment network is utlized with varactor diodes. Analytical design equations are derived. The proposed hybrid was simulated. The analytical results agree well with the simulated ones. Simulation results show that by varying capacitance...
Socket buffer (SKB) is the standard data structure for exchanging packets and their control information between NIC driver and protocol stack. The overhead of dynamic SKB management has been considered as the significant bottleneck in packet I/O. Some novel non-SKB mechanisms, such as DPDK, were thus proposed to solve the problem. However, these mechanisms usually cannot be widely adopted in the data...
In this paper, we design a fuzzy fault-tolerant tracking controller for the Mars Entry Vehicle (MEV) with the partial failure of actuator, external disturbance and input delays. Firstly, we divide the attitude system of MEV into slow subsystem and fast subsystem. By using the slow subsystem, we can get angular velocity and then choose this angular velocity as the reference angular velocity for the...
To improve the dexterity of multi-functional myoelectric prosthetic hand, more accurate hand gesture recognition based on surface electromyographic (sEMG) signal is needed. This paper evaluates two types of time-domain EMG features, one independent feature and one combined feature including four features. The selected features from eight subjects with 13 finger movements were tested with four decomposed...
Tactile displays have a wide range of applications in assistive technology, prosthetics, and rehabilitation. Vibrotactile stimulation shows potential to be integrated into wearable devices because of its small size, low power consumption, and relative fast responding speed. In this paper, experiments investigating vibrotactile minimal detectable level, just noticeable difference, and two point discrimination...
A fault diagnosis approach is developed for pneumatic valve used in intensified HEX/reactor system. The pneumatic valve is viewed as an actuator subsystem interconnected with process subsystem in series. A condition of invertibility of the cascade system has been derived in [18], characterizing that effects of faults occurred in actuator subsystem are distinguishable by the global output uniquely...
In this work, stochastic consensus of linear multi-agent systems with multiplicative measurement noises is investigated under undirected graphs. Based on the algebraic graph theory and the matrix theory, the consensus problem is converted into the stochastic stability problem of stochastic differential equations (SDEs) driven by multiplicative noises. Then by stochastic stability theorem for SDEs,...
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