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As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot are designed to assisting maxillofacial surgery and one of the 6-DOF arm of the robot is controlled by Haptic device, which can improve surgical precision and reduce surgeon's strain for tele-robotic surgery. Firstly, overview of the...
Tagging technique is widely used to annotate objects in Web 2.0 applications. Tags can support web service understanding, categorizing and discovering, which are important tasks in a service-oriented software system. However, most of existing web services' tags are annotated manually. Manual tagging is time-consuming. In this paper, we propose a novel approach to tag web services automatically. Our...
Under low temperature in winter, the direct air-cooled condenser will freeze when the inside wall temperature of some regions comes up to freezing point. Based on the established models, this paper has studied the influencing rules of different factors to the tube's inside wall temperature, such as the fan speed, the turbine exhaust steam flow rate, the ambient temperature and the content of the non-condensable...
A parametric robust design scheme is proposed in this paper for a Pulse Forming Network (PFN) with nonlinear resistive loads (flashlamp). The second-order nonlinear circuit equation is converted into state equations and then solved numerically by Runge-Kutta method. According to the multi output performance requirements, a preferable design space regarding to the circuit parameters is obtained. Taking...
Future lunar exploration requires rovers to understand lunar environment and terrain characteristic. In order to assess the traction traversability of a lunar rover, it is necessary to make terrain parameter estimation with lunar rover's traveling information. The online estimation methods of terrain parameter attract increasing attention because of its rapidness and effectiveness. Taking full account...
Autonomous underwater vehicle (AUV) forms part of a huge group of undersea systems and plays a significant role for both commercial and military applications. Many different kinds of AUVs have been designed in recent years around the world. Sensors should be installed to navigate autonomously and map characters of the ocean for AUV. In this paper, we address the problem of orientation in the process...
This paper presents a promising application of Vehicle-Infrastructure Integration, in which arterial travel time are estimated in real-time. In this application, information collected through the V-I communication is utilized in concert with that collected by conventional point-based detectors. Two VII probe data (VPD) models have been developed and customized for the latest VII probe message standard...
In the present paper, we study the exact observability and exact detectability for stochastic Itô systems, which have state-dependent noises in both state equation and measurement equation. Some results for the exact observability and exact detectability are obtained, respectively. We also consider the problem of spectrum assignment and give a necessary and sufficient condition on ensuring all the...
A nonlinear estimate filter was designed for a dynamic positioning system. The global exponential stability of estimate filter was proven using Lyapunov methods. The main advantage of the nonlinear design to Kalman filter is that the kinematics equations of motion need not be linearized. The proposed estimate filter includes an estimation of both the low-frequency position and velocity of the ship...
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