Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are nece...
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Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.
Static image is an important form of displaying a sketch, representing the appearance information of the sketch. And a stroke sequence composed of several points can also express the shape and contour information of t...
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How to collaboratively offload tasks between user devices,edge networks(ENs),and cloud data centers is an interesting and challenging research *** this paper,we investigate the offoading decision,analytical modeling,a...
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How to collaboratively offload tasks between user devices,edge networks(ENs),and cloud data centers is an interesting and challenging research *** this paper,we investigate the offoading decision,analytical modeling,and system parameter optimization problem in a collaborative cloud-edge device environment,aiming to trade off different performance *** to the differentiated delay requirements of tasks,we classify the tasks into delay-sensitive and delay-tolerant *** meet the delay requirements of delay-sensitive tasks and process as many delay-tolerant tasks as possible,we propose a cloud-edge device collaborative task offoading scheme,in which delay-sensitive and delay-tolerant tasks follow the access threshold policy and the loss policy,*** establish a four-dimensional continuous-time Markov chain as the system *** using the Gauss-Seidel method,we derive the stationary probability distribution of the system ***,we present the blocking rate of delay-sensitive tasks and the average delay of these two types of *** experiments are conducted and analyzed to evaluate the system performance,and numerical simulations are presented to evaluate and validate the effectiveness of the proposed task offloading ***,we optimize the access threshold in the EN buffer to obtain the minimum system cost with different proportions of delay-sensitive tasks.
In cognitive radio networks(CRNs),multiple secondary users may send out requests simultaneously and one secondary user may send out multiple requests at one time,i.e.,request arrivals usually show an aggregate ***,a s...
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In cognitive radio networks(CRNs),multiple secondary users may send out requests simultaneously and one secondary user may send out multiple requests at one time,i.e.,request arrivals usually show an aggregate ***,a secondary user packet waiting in the buffer may leave the system due to impatience before it is transmitted,and this impatient behavior inevitably has an impact on the system *** to investigate the influence of the aggregate behavior of requests and the likelihood of impatience on a dynamic spectrum allocation scheme in CRNs,in this paper a batch arrival queueing model with possible reneging and potential transmission interruption is *** constructing a Markov chain and presenting a transition rate matrix,the steady-state distribution of the queueing model along with a dynamic spectrum allocation scheme is derived to analyze the stochastic behavior of the ***,some important performance measures such as the loss rate,the balk rate and the average delay of secondary user packets are ***,system experiments are carried out to show the change trends of the performance measures with respect to batch arrival rates of secondary user packets for different impatience parameters,different batch sizes of secondary user packets,and different arrival rates of primary user ***,a pricing policy for secondary users is presented and the dynamic spectrum allocation scheme is socially optimized.
Video person re-identification is receiving academic interest. However, the practical application of the algorithm is hardly supported because of prohibitive annotated data. Hence, the study for unlabeled data will le...
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The Amodal Instance Segmentation (AIS) task aims to infer the visible and occluded regions of an object instance. Existing AIS methods typically focus on directly predicting visible and occluded regions or leveraging ...
The Amodal Instance Segmentation (AIS) task aims to infer the visible and occluded regions of an object instance. Existing AIS methods typically focus on directly predicting visible and occluded regions or leveraging prior knowledge to guide predictions. However, these methods often ignore the perception of occluded views, leading to inaccurate results. To address this issue and achieve high-quality AIS, we propose a boundary-aware Occlusion Perception Network (OPNet). OPNet consists of three main components: the Dynamic Feature Augmentation Pyramid (DFAP), the Dual-path Boundary Aware Module (DBAM), and the Shape-guide Refinement Module (SRM). Specifically, DBAM employs an occlusion-perception strategy to learn discriminative features with boundary information, enabling it to distinguish occlusion from multiple views. Additionally, DFAP and SRM optimize the results by enhancing feature aggregation and imposing geometric constraints. Experiments on the D2SA, KINS, and CWALT datasets show that OPNet significantly outperforms state-of-the-art AIS methods that without prior knowledge. Code is available at https://***/ZitengXue/OPNet.
Surface plasmon polaritons (SPPs) can produce a confined electromagnetic field near the metal–dielectric interface, allowing energy to be compressed into a scale smaller than the optical diffraction limit. The charac...
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With the growing popularity of API-driven multiservice application (mashup) development, the burgeoning web APIs have left developers drowning in the sea of web API selections. Matching developers with the most approp...
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Detecting Twitter Bots is crucial for maintaining the integrity of online discourse, safeguarding democratic processes, and preventing the spread of malicious propaganda. However, advanced Twitter Bots today often emp...
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As more and more service providers encapsulate and publish their data and services on the internet in the form of Web APIs, the number of Web APIs is ever-increasing. For this reason, Web API recommendation is gaining...
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