A mechanical effect is one of the important reasons for plant diversity, whose phenotype is crooked branch. Parametric curve equation, or skeleton extraction from image or video, or interactive design is often used to...
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Based on psychological attribution theory, this paper presents a domain-independent computational model to automate social causality and responsibility judgment according to an agent's causal knowledge and observa...
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OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interfer...
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ISBN:
(纸本)9781479982981
OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interference (ICI) caused by the transmitter/receiver motion and ocean waves. In this paper, we propose a novel ICI countermeasure. The key idea is to inactivate partial subcarriers according to index modulation and meanwhile transmit signals with opposite polarity on two adjacent active subcarriers for ICI self cancellation. Simulation results validate that the proposed scheme achieves much better bit error rate (BER) performance than many existing schemes in UWA communications.
A docking approach for child robot suitable for marsupial robot was designed in this paper. The mother robot obtained the posture of child robot relative to the docking entrance by visual perception to instruct the ch...
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A docking approach for child robot suitable for marsupial robot was designed in this paper. The mother robot obtained the posture of child robot relative to the docking entrance by visual perception to instruct the child robot. In each of left, right and back sides of child robot, there was a color symbol with two colors arranged vertically. The mother robot extracted the color borderline of each symbol it observed in a way of connection growing, and then the position information of corresponding color symbol in image as well as the length ratio could be acquired to guide the motion of child robot. Finally, the child robot entered the docking station in an appropriate posture. This approach was verified by experimental results.
A motion control method for mobile robot based on sub-regions evaluation in local sensing environment was proposed. Firstly, the local environment was divided into multiple sub-regions based on the sensing information...
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A motion control method for mobile robot based on sub-regions evaluation in local sensing environment was proposed. Firstly, the local environment was divided into multiple sub-regions based on the sensing information provided by laser range finder. Then, each sub-region was evaluated by considering the distance influence factor, as well as visual guide and memory-based judgment. Finally, the optimal sub-region adapted to current environment will be used for motion decision of mobile robot. Experimental results show that the proposed method is capable of dividing sensing environment into multiple sub-regions and producing the optimal sub-region adapted to current environment. Motion control for robot was realized and the effectiveness of the proposed method was verified.
An object grasping method based on fuzzy approaching for a mobile manipulator with an Eye-in-Hand CMOS (complementary metal-oxide-semiconductor transistor) camera was proposed. The approaching guidance identifier with...
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An object grasping method based on fuzzy approaching for a mobile manipulator with an Eye-in-Hand CMOS (complementary metal-oxide-semiconductor transistor) camera was proposed. The approaching guidance identifier with double cross was recognized by the mobile manipulator, and the angle between the line from mobile platform to the center of the identifier and its heading direction were served as the inputs of fuzzy controller. A double input and single output fuzzy controller was designed to regulate the direction of the mobile platform for smooth approaching. When the object (a red cylinder with double black lines) was in the workspace of manipulator, the mobile platform stops and the object was grasped by the manipulator with its joint angles solved based on inverse kinematics. Experiments results show the validity of the proposed approach.
A robotic fish propelling itself by two long fins was designed and implemented from the inspiration of stingrays. The yaw control of this robotic fish was studied. The dynamic model was studied based on the stress ana...
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A robotic fish propelling itself by two long fins was designed and implemented from the inspiration of stingrays. The yaw control of this robotic fish was studied. The dynamic model was studied based on the stress analysis of the robotic fish. A yaw controller was designed based on the active disturbance rejection control (ADRC) technique. The model error and external disturbance were unified into a total system disturbance, which was estimated by an extended state observer. By compensating the total system disturbance in the control signal, the yaw control system was simplified to a typical second order cascade integral system which could be easily controlled by use of a more effective nonlinear feedback control. The ADRC based yaw controller was verified through simulations showing that the designed controller can effectively control the yaw angle of the robotic fish and has good dynamic and static characteristics.
One of the most difficult challenges in automatic face recognition is computing facial similarity between two images captured in different modalities, called heterogeneous face recognition. In this paper, we propose a...
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A vast amount of complex spatio-temporal brain data, such as EEG-, have been accumulated. Technological advances in many disciplines rely on the proper analysis, understanding and utilisation of these data. In order t...
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In order to investigate the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, this paper proposes an FES-assisted training strategy combined with impedance co...
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ISBN:
(纸本)9781479927456
In order to investigate the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, this paper proposes an FES-assisted training strategy combined with impedance control for our self-made exoskeleton lower limb rehabilitation robot. This control strategy is carried out in a leg press task. Through impedance control, an active compliance of the robot is established, and the patient's voluntary effort to accomplish the task is inspired. During the training process, the patient's related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen aiming to induce a desired active torque which is proportional to the voluntary effort of the patient. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. The feasibility of this control strategy has been verified in Matlab.
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