This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided ...
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This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations.
This paper presents a comprehensive metric to evaluate the link quality of scalable mobile sensor networks to maintain end-to-end communication links. The mobile nodes dynamically reconfigure themselves to maintain re...
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This paper presents a comprehensive metric to evaluate the link quality of scalable mobile sensor networks to maintain end-to-end communication links. The mobile nodes dynamically reconfigure themselves to maintain reliable end-to-end communication links. We present the empirical analysis and results of a link variability study for an indoor environment. All experiments are implemented on a mobile platform called PioMote team. Inspired by the Shannon-Hartley theorem, the analysis of three metrics is proposed, including received signal strength indicator (RSSI), active throughput, and packet loss rate (PLR). RSSI is adopted to reflect the basic performance of link quality in mobile sensor networks. Active throughput acting as a decaying threshold generator is used to estimate the critical point for smooth and stable communication. The metric PLR is adopted to reflect the cut-off point in end-to-end communication. The evaluation of link quality acts as feedback for the cooperative control of mobile nodes. The experimental results show the effectiveness of evaluation for link quality of scalable mobile sensor networks.
Wireless Capsule Endoscopy (WCE) is the first-line procedure in Obscure Gastrointestinal Bleeding (OGIB). However, a major problem associated with this new technology is that too many images need to be manually examin...
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Wireless Capsule Endoscopy (WCE) is the first-line procedure in Obscure Gastrointestinal Bleeding (OGIB). However, a major problem associated with this new technology is that too many images need to be manually examined by clinicians and the integrated software SBI has insufficient sensitivity and specificity. In this paper a method aimed for rapid detecting bleeding regions in the WCE video is proposed. As color features are most important clues for the clinician to judge the status of the gastrointestinal tract, the proposed technique mainly focuses on color features in RGB color spaces. The results obtained from comparative experiments on our image data sets show that this new technique is superior in detecting bleeding frames in the WCE video.
In this Letter, we investigate the number of measurement and communication rounds needed to implement certain tasks by local quantum operations and classical communication (LOCC), a relatively unexplored topic. To dem...
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In this Letter, we investigate the number of measurement and communication rounds needed to implement certain tasks by local quantum operations and classical communication (LOCC), a relatively unexplored topic. To demonstrate the possible strong dependence on the round number, we consider the problem of converting three-qubit entanglement into two-qubit form, specifically in the random distillation setting of [Phys. Rev. Lett. 98, 260501 (2007)]. We find that the number of LOCC rounds needed for a transformation can depend on the amount of entanglement distilled. In fact, for a wide range of transformations, the required number of rounds is infinite (unbounded). This represents the first concrete example of a task needing an infinite number of rounds to implement.
We propose a framework of robust approximate dynamic programming (robust-ADP), which is aimed at computing globally asymptotically stabilizing, suboptimal, control laws with robustness to dynamic uncertainties, via on...
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ISBN:
(纸本)9781612848006;9781612848013
We propose a framework of robust approximate dynamic programming (robust-ADP), which is aimed at computing globally asymptotically stabilizing, suboptimal, control laws with robustness to dynamic uncertainties, via on-line/off-line learning. The system studied in this paper is an interconnection of a linear model with fully measurable state and unknown dynamics, and a nonlinear system with unmeasured state and unknown system order and dynamics. Differently from other ADP schemes in the past literature, the robust-ADP framework allows for learning from an unknown environment in the presence of dynamic uncertainties. The main contribution of the paper is to show that robust optimal control problems can be solved by integration of ADP and small-gain techniques.
In this article we obtain results for the task of converting a single N-qubit W-class state (of the form x0|00...0〉+x1|10...0〉+⋯+xN|00...1〉) into maximum entanglement shared between two random parties. Previous studie...
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In this article we obtain results for the task of converting a single N-qubit W-class state (of the form x0|00...0〉+x1|10...0〉+⋯+xN|00...1〉) into maximum entanglement shared between two random parties. Previous studies in random distillation have not considered how the particular choice of target pairs affects the transformation, and here we develop a strategy for distilling into general configurations of target pairs. We completely solve the problem of determining the optimal distillation probability for all three-qubit configurations and most four-qubit configurations when x0=0. Our proof involves deriving new entanglement monotones defined on the set of four-qubit W-class states. As an additional application of our results, we present new upper bounds for converting a generic W-class state into the standard W state |WN〉=1N(|10...0〉+⋯+|00...1〉).
May metallic structural materials, such as stainless steels, are currently used in our surroundings. If external force is repeatedly added for many years, it is thought that fatigue damage accumulates in stainless ste...
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May metallic structural materials, such as stainless steels, are currently used in our surroundings. If external force is repeatedly added for many years, it is thought that fatigue damage accumulates in stainless steels. When excessive fatigue damage accumulates in these metals, there is a possibility that they are destroyed by fatigue damage accumulation. Therefore, it is important to know the amount of the fatigue damage they have suffered in order to prevent them from being destroyed. We are developing the fatigue evaluation method for stainless steels with a magnetic sensor composed of three pancake type coils. In this research, the inspection object is ferritic stainless steels such as SUS430. The method of fatigue evaluation for ferritic stainless steels uses the three coil type sensor, and shows a good correlation between the number of stress cycles and the output signal of the sensor, even though the correlation between the output signal and an added stress is not completely accurate. This paper describes the evaluation method of fatigue damage in ferritic stainless steel using a magnetic sensor composed of three pancake-type coils. [ABSTRACT FROM AUTHOR]
Patient monitor modules have various inputs for vital function measurement. We can practice many of these measurements with some students in the laboratory of biomedical engineering. However, invasive blood pressure (...
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Patient monitor modules have various inputs for vital function measurement. We can practice many of these measurements with some students in the laboratory of biomedical engineering. However, invasive blood pressure (IBP) measurement demonstration is impossible. This paper is dealing with design and realization of a programmable invasive blood pressure simulator. This device is able to generate programmable behavior of voltage signal with correspond to blood pressure curve. The user communication interface of the device allows choosing the type of generated signal by LCD and 4 push buttons. The wide spectrums of generated signals, which correspond to physiological or pathological blood pressure curves, are stored in a user programmable memory. The output connectors of the device can be directly connected to a patient monitor IBP module input. Invasive blood pressure measurement simulation for educational purposes and calibrating the patients monitors are the general usages of the developed device.
A wireless relay with multiple antennas is called a multiple-input- multiple-output (MIMO) switch if it forms a one-to-one mapping from the inputs (uplinks) to the outputs (downlinks). This paper studies the case with...
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In this paper we present the piecewise smooth model, simulation and numerical nonlinear analysis of a cam-follower impacting system, characterized by a cam with non-smooth profile - a discontinuous second derivate - a...
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In this paper we present the piecewise smooth model, simulation and numerical nonlinear analysis of a cam-follower impacting system, characterized by a cam with non-smooth profile - a discontinuous second derivate - and a follower modeled as a rod pendulum. The model include three main dynamical modes, free body mode, sliding mode and impacting mode. We will show the description of the algorithm to simulate cam-follower impacting systems. The algorithm was developed under an event driven strategy and implemented in Matlab. Regarding the numerical analysis we have studied the chattering accumulation of impacts coexistence of solutions, smooth and nonsmooth bifurcations and other nonlinear phenomena that this kind of systems can exhibit. Additionally, we build a bifurcation diagram under variation of cam rotation speed. The most notable phenomenon is the corner impact bifurcation. This one occur when the follower impact just at the discontinuity point of the cam. These results are a complement to other studies it have been done in cam-follower impacting systems. We are looking for an experimental verification as additional to the numerical validation of those phenomena mentioned before.
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