In most communication systems, when transmitting or receiving a signal, some unwanted signals may get introduced into the communications, making the quality of the communication poor. This disturbance, referred to as ...
详细信息
ISBN:
(纸本)9798350361261;9798350361278
In most communication systems, when transmitting or receiving a signal, some unwanted signals may get introduced into the communications, making the quality of the communication poor. This disturbance, referred to as noise, can affect the reliability and quality of a digital communication system by corrupting or getting a message scrambled whenever it is transmitted. To prevent these errors, error-correction codes help detect and correct these errors arising during data transmission within digital communication systems. In communication systems, such error-correcting codes are essential for ensuring the efficient and reliable exchange of information over noisy channels like satellite links, optical fibers, and wireless networks. As such, the work presented in this paper delves into the issue of noisy data in communication systems and how error-correcting codes can be used to solve the problem. To achieve this, a review of different relevant literature by various scholars is done to present authentic and verifiable data on error-correcting codes for communication systems. On top of that, this paper introduces a novel approach by integrating advanced machine learning techniques, particularly artificial neural networks, to enhance the effectiveness and adaptability of error-correcting codes in diverse and dynamically changing communication environments, significantly surpassing traditional error correction methods.
This work presents a novel method to keep stable contact and balance while stepping over partial footholds for biped humanoid robots with flat feet. We exploit plantar tactile feedback to detect the geometry of the te...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
This work presents a novel method to keep stable contact and balance while stepping over partial footholds for biped humanoid robots with flat feet. We exploit plantar tactile feedback to detect the geometry of the terrain and reconstruct online the new supporting polygon after landing every step. Plantar tactile feedback detects early contacts to stop the swing foot motion. Then we compute the convex hull of the cluster of contact points detected by distributed normal force sensors over the foot soles. The centroid of the supporting polygon is then used for retargeting the reference ZMP and DCM positions. Finally, the supporting polygon is used to define constraints for ZMP balance feedback control. These methods were implemented in two biped humanoid robots running different walking controllers.
In order to improve coverage rate of wireless sensor network (WSN), improved lion swarm optimization algorithm (LSOA) is proposed to optimize node coverage in WSN. Firstly, node coverage model of WSN is studied. Secon...
详细信息
Edge computing has become a promising technology to mitigate the latency of various cloud services. Task scheduling in edge computing is challenging due to the heterogeneous devices and multiple tasks. This paper prop...
详细信息
ISBN:
(纸本)9798350381993;9798350382006
Edge computing has become a promising technology to mitigate the latency of various cloud services. Task scheduling in edge computing is challenging due to the heterogeneous devices and multiple tasks. This paper proposes an affinity-based scheduling algorithm to solve the multi-task scheduling problem with heterogeneous computing resources under edge computing. The algorithm uses a centralized scheduling strategy that takes into account the overall matching between intelligentcomputing tasks and heterogeneous resources from two aspects: resource affinity and system load balancing. It can adjust the weights among these aspects to meet different application requirements. The results show that the proposed algorithm can reduce the average response time by at least 10% and has a significant advantage regarding the system running time compared to the other comparative methods.
Low Earth orbit (LEO) satellite networks have attracted extensive research due to their potential to provide high-quality Internet access services. However, the existing TCP variants, which are designed for terrestria...
详细信息
ISBN:
(纸本)9798350339864
Low Earth orbit (LEO) satellite networks have attracted extensive research due to their potential to provide high-quality Internet access services. However, the existing TCP variants, which are designed for terrestrial networks, can hardly work in LEO satellite networks with characteristics such as error-prone, bandwidth variations, and link switching. To address these challenges, in this paper we present a new information-centric transport layer protocol LEOTP to guarantee reliable, high-throughput, and low-latency data transmission in LEO satellite networks. It leverages the idea of Information-Centric Networking (ICN) with a Request-Response transmission model and in-network caching. The connectionless transmission paradigm in LEOTP makes it resilient to dynamic topology changes. The caches equipped in intermediate nodes help to recover packet loss while the hop-by-hop congestion control mechanism provides a fast reaction to time-varying network conditions. We evaluate the performance of LEOTP in emulated Starlink constellation, which shows that it increases the throughput by 8%-12% with 40%-60% delay reduction compared with the state-of-the-art TCP variants in the transcontinental data transmission.
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of...
详细信息
ISBN:
(纸本)9798350377712;9798350377705
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for realizing dynamic locomotion and implements it on a novel point foot humanoid: ADAM. To this end, we close the loop between Hybrid Zero Dynamics (HZD) and Hybrid linear inverted pendulum (HLIP) based step length regulation. To leverage the full-order hybrid dynamics of the robot, walking gaits are first generated offline by utilizing HZD. These trajectories are stabilized online through the use of a HLIP based regulator. Finally, the planned trajectories are mapped into the full-order system using a task space controller incorporating inverse kinematics. The proposed method is verified through numerical simulations and hardware experiments on the humanoid robot ADAM marking the first humanoid point foot walking. Moreover, we experimentally demonstrate the robustness of the realized walking via the ability to track a desired reference speed, robustness to pushes, and locomotion on uneven terrain.
The lack of popularity of full state feedback control structure among power electronics engineers primarily stems from the inherent difficulty in imposing constraints on state variables. Multithreaded state controller...
详细信息
Using an artificial neural network and second-order fast non-singular terminal sliding mode controller (SOFNTSM), the study created a novel intelligentcontroller for a vehicle's longitudinal dynamics. The control...
详细信息
The field of speech emotion recognition (SER) aims to create scientifically rigorous systems that can reliably characterize emotional behaviors expressed in speech. A key aspect for building SER systems is to obtain e...
详细信息
ISBN:
(纸本)9798350327434
The field of speech emotion recognition (SER) aims to create scientifically rigorous systems that can reliably characterize emotional behaviors expressed in speech. A key aspect for building SER systems is to obtain emotional data that is both reliable and reproducible for practitioners. However, academic researchers encounter difficulties in accessing or collecting naturalistic large-scale, reliable emotional recordings. Also, the best practices for data collection are not necessarily described or shared when presenting emotional corpora. To address this issue, the paper proposes the creation of an affective naturalistic database consortium (AndC) that can encourage multidisciplinary cooperation among researchers and practitioners in the field of affective computing. This paper's contribution is twofold. First, it proposes the design of the AndC with a customizable-standard framework for intelligently-controlled emotional data collection. The focus is on leveraging naturalistic spontaneous recordings available on audio-sharing websites. Second, it presents as a case study the development of a naturalistic large-scale Taiwanese Mandarin podcast corpus using the customizable-standard intelligently-controlled framework. The AndC will enable research groups to effectively collect data using the provided pipeline and to contribute with alternative algorithms or data collection protocols.
This research focuses on the evolving field of hybrid computing, which combines traditional computing architectures with advanced computational paradigms like quantum computing, neuromorphic computing, or cloud-edge c...
详细信息
ISBN:
(纸本)9798331515911
This research focuses on the evolving field of hybrid computing, which combines traditional computing architectures with advanced computational paradigms like quantum computing, neuromorphic computing, or cloud-edge computing. Hybrid computing involves integrating multiple computing models or systems to leverage their complementary strengths. For example, combining classical computing with quantum or neuromorphic approaches to solve complex problems more efficiently. The goal is to enhance computational power, increase efficiency, and tackle problems that are difficult for traditional computing models alone. Emerging technologies, including quantum computing, machine learning, and AI, are driving the need for hybrid systems. These technologies enable the handling of more complex computations that classical systems struggle with, such as optimization, simulation, and cryptography. The integration of cloud and edge computing is also central to hybrid computing, enabling decentralized computation and processing closer to data sources. Combining different computing paradigms requires seamless communication and integration between systems, which is a significant technical challenge. Main challenging areas are scalability, software and hardware compatibility, energy efficiency and security. There is a need for standard protocols and frameworks to enable smoother integration of various computingsystems. New algorithms that can take advantage of hybrid architectures need to be developed. Depend on applications significant advancements in hardware, including quantum processors, neuromorphic chips, and integrated hybrid processors required. The rise of hybrid computing will also bring ethical concerns, such as the impact on jobs, privacy, and inequality in access to advanced technologies. The study concludes by emphasizing the transformative potential of hybrid computing while acknowledging the technical, economic, and societal hurdles that need to be overcome. It highlights
暂无评论