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In this paper, an enhanced linear inverted pendulum model (LIPM) and a gait planning algorithm are proposed. The LIPM is a widely used concept for gait reference generation, and it provides a simplified model for planning a center of mass trajectory when given a proper zero moment point trajectory. However, one of the assumptions of LIPM is that the legs of the robot are massless, so that the mass...
Under the condition that the accuracy of the air-borne platform is unknown, an affine transformation model made up of unknown parameters such as rotation, scale and translation is proposed for Synthetic Aperture Radar (SAR) image geometric correction. These parameters in this model have real physical meanings compared to that in the traditional polynomial models. Based on the characteristics of geometric...
This paper studies the problem of optimal power allocation towards maximizing the throughput of point-to-point wireless communication systems with energy harvesting. A novel energy-transferring approach is proposed to analyze the throughput maximization problem with causality constraints, in which we study the transfer energy rather than the water level widely used in the existing literature. The...
The design and development method of a stereo recording simulation software named “Virtual Stereo Recording” was introduced in the paper. The software can support simulations of four types of stereo microphone techniques. The sound image can be displayed, the important parameters can be output, and the stereo sound simulated by the software can be played as well. The mathematical models of the parameters...
Considering the variability of Synthetic Aperture Radar (SAR) imaging (different sensor, resolution) and complex condition of sea surface, the traditional single statistical model may be no longer a good choice to fit the distribution of actual sea clutter in SAR image. Based on the characteristic of Gamma distribution which is suitable to model uniform area, and G0 distribution which is adaptive...
In wireless sensor networks, sensor nodes are densely deployed for environmental monitoring, so the observation random data are highly correlated in space. This paper proposed a WSN data correlation model named OD Model based on spatial location according to the most universal mode of omnidirectional Boolean sensing. Both analysis and simulation results show that the accuracy estimation of OD Model...
In this paper, stochastic delay differential equation (SDDE) and its application on communications are discussed. Based on SDDE, a novel communication scheme-delay time modulation (DTM) is proposed. In this modulation scheme, the information signal is conveyed by the delay time of a delayed linear Langevin equation, which exhibits a linear relationship with the variance of the SDDE system output....
In this paper, we propose a new design method for amplifiers which can operate at two arbitrary frequencies. A novel three-section transformer is presented here, to match the complex frequency-dependent impedances of transistors at two bands. Analytical equations are derived to achieve the exact closed-form solutions of three-section transformers. An amplifier is fabricated as an example, and simulation...
A physical theory explaining the anisotropic dispersion of water and solutes in biological tissues is introduced based on the phenomena of Taylor dispersion, in which highly diffusive solutes cycle between flowing and stagnant regions in the tissue, enhancing dispersion in the direction of microvascular flow. An effective diffusion equation is derived, for which the coefficient of dispersion in the...
Introducing the efficient technology of flow distribution into ad hoc networks can balance the traffic load and improve the performance of networks. Most flow distribution algorithms only focus on the optimization of network routing and the control of congestion, while ignore the condition that low layer's communication links will also affect network traffic flow. In this paper, we propose a new flow...
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