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In this paper we propose a novel method for ensuring stability of a skiing robot on a previously unknown ski slope. The method is based on a null-space velocity control algorithm, which is essential for achieving good behavior of redundant robotic systems. Using the pseudo-inverse, the task and the null-space motions are decoupled. For the skiing robot, the primary task is stability, the secondary...
In this paper, we investigate a joint resource allocation for a multiuser two-way OFDMA relay network. To reduce the computational complexity, we separate the joint resource allocation into two stages, subcarrier allocation and power allocation, and propose resource allocation schemes. In the proposed schemes, resources are allocated to the user-pairs and relays to maximize the achievable sum-rate...
Coordinated Multi-point Joint transmission with ideal channel state information can yield significant performance improvement due to coordinate inter-cell inferences, however the performance gains would be distinctly impacted with imperfect channel state information. In this paper, we show how downlink CoMP JT can be supported by an enhanced feedback method with reasonable feedback overhead. The feedback...
Master-slave motion mapping method based on time-varying coefficients is proposed for the dexterous hand driven by ultrasonic motors. In order to evaluate the performance of motion mapping qualitatively, Feature Point Sets(FPSs) of dexterous and human hands are built to describe the whole configurations of both in Cartesian space, and then, a cost function based on generalized Euclidean norm of FPS...
Past studies on Cooperative Multi-Point(CoMP) Processing/Base Station Cooperation (BSC) technique have shown its potential for system capacity improvement. However, many of the previous studies ignore a fact that in a network where multiple CoMP groups co-exist, the interference between CoMP groups would significantly decrease each of the CoMP groups' performance. To combat this Interference between...
This paper presents a method for automated extraction of MCP joints in infrared images of hands. Based on averaged anatomical structure and landmarks of human hands, three different models are proposed to estimate the regions of MCP joints of human hand: rectangle model, ellipse model and circle model. In addition, to evaluate the accuracy and validity of the three models, we propose a new way to...
We consider the problem of automatically recognizing a human face from its multi-view images with unconstrained poses and illuminations. We formulate the multi-view face recognition problem as that of classifying among several multi-input (views) regression models by using a novel joint dynamic sparse representation method which exploits jointly the inter-correlation among all the multi-view images...
In this paper, a new technique for hyperspectral image classification is proposed. Our approach relies on the sparse representation of a test sample with respect to all training samples in a feature space induced by a kernel function. Projecting the samples into the feature space and kernelizing the sparse representation improves the separability of the data and thus yields higher classification accuracy...
The main methods I used are documentation method, shooting and kinetic Biomechanics analysis method. And in the study I offer the take-off effect index in order to diagnose the take-off leg effect by considering training practice and drafts center of mass ascent angle index in takeoff support period, and did research on the two new indices definition and application. This papers provides reference...
This paper has a design and analysis on the dual-thumb pneumatic flexible robot hand base on the active flexible bending joints we have developed. The flexible joint is composed of four elongation artificial muscles with parallel arrangement. The robot hand has five multi-actuated fingers each with three flexible joints. To improve the flexibility and stability of grasp, the other four fingers are...
Functional motor impairment due to Parkinson's disease and other movement disorders are currently assessed with visual rating scales such as the Unified Parkinson's Disease Rating Scale (UPDRS). These methods rely on the subjective judgment of a rater to assign scores representing the extent of impairment while subjects perform prescribed activities. We describe a new model-based framework that uses...
In the present study, we investigated the motor control of reaching finger movement interfered by the inhibitory intention triggered by the stop-signal. In the experiment, the subject started the reaching movement of the index finger with the go-signal of a green LED and stopped the ongoing movement with the stop-signal of a red LED. The stop-signal delay (SSD) was set at 0, 100, 200, 300 and 400...
A biologically inspired control strategy is presented for producing more human-like movement in anthropomorphic manipulators when in contact with surfaces of varying contours. In preliminary experiments, 10 human subjects were asked to run their hands over several contoured surfaces and the hand motion profiles were recorded. It was observed that humans tended to minimize abduction of the fingers...
The paper addresses the optimal design of parallel manipulators based on multi-objective optimization. The objective functions used are: Global Conditioning Index (GCI), Global Payload Index (GPI), and Global Gradient Index (GGI). These indices are evaluated over a required workspace which is contained in the complete workspace of the parallel manipulator. The objective functions are optimized simultaneously...
The sIB algorithm is one of the popular clustering algorithms due to its superior scalability and efficiency. The CD-sIB algorithm is proposed to solve the problem that the sIB algorithm can not handle Non co-occurrence data. It proposes a feature construction method to extend the dataset attributes with a binary transformation. However, the CD-sIB algorithm treats all features evenly and sets weights...
A method for analyzing the urbanization process from multitemporal SPOT 5 panchromatic images is presented. A region-based local Mutual Information change indicator is proposed to perform the change analysis of large scenes. Experiments are conducted for mapping the urbanization of Tangshang, China, in between 2003 and 2008. The results show the efficiency of the change detection method.
In this article, the tail dependence coefficient of the multivariate elliptical distribution and its properties are obtained. Furthermore, some specific tail dependence coefficients (TDC) and regularly varying elliptical distribution are given. From these results, it is easy to see that the TDC is only determined by its tail index and the correlation coefficient of the multivariate elliptical distribution...
In wholesale electricity markets, unit commitment costs and capacity constraints create non-convexities which may bring about losses to some of the participating generation units. To keep the losing units in the market, a recovery mechanism that makes them whole is needed. In this paper, we present a recovery mechanism which compensates the units that incur cost-based losses with recovery payments,...
This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (∼>50mm). The exoskeleton includes a novel...
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