An estimate-and-forward(EF) scheme for single-input single-output(SISO) and multiple-input multiple-output(MIMO) full-duplex two-way relay networks is proposed and analyzed. The relay estimates the received signal fro...
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An estimate-and-forward(EF) scheme for single-input single-output(SISO) and multiple-input multiple-output(MIMO) full-duplex two-way relay networks is proposed and analyzed. The relay estimates the received signal from two terminal nodes by a minimum mean squared error(MMSE) estimation and forwards a scaled version of the MMSE estimate to the destination. The proposed EF outperforms conventional amplify-and-forward(AF) and decode-and-forward(DF) across all signal-to-noise ratio(SNR) region. Because its computational complexity is high for relays with a large number of antennas(large MIMO) and/or high order constellations, an approximate EF scheme, called list EF, are thus proposed to reduce the computational complexity. The proposed list EF computes a candidate list for the MMSE estimate by using a sphere decoder, and it approaches the performance of the exact EF relay at a negligible performance loss. The proposed forwarding approach also could be used to other relay networks, such as half-duplex, one-way or massive MIMO relay networks.
As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve ...
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This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve highperformance attitude control in the absence of dist...
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Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear p...
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The state estimation of general nonlinear systems is investigated through a parameter-dependent approach. This paper adopts the polytopic approximation for the nonlinear systems, which facilitates the application of a...
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This paper presents an adaptive robust dynamic surface control (ARDSC) algorithm for the position control of DC torque motors which are modeled as third-order nonlinear systems with parametric and nonlinear uncertaint...
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作者:
Zheng ZhiPeng ZhihongChen JieSchool of Automation
Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 School of Automation
Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081
This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model an...
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This paper presents two aggregation strategies in convex intersection region for the distributed mobile sensor network (MSN) with heterogeneous dynamics. First, the authors analyze individual local perception model and dynamics model, set the intersection of all the local perceptions as the region of interest (ROI). The MSN consists of sensors with first-order dynamics and second-order dynamics. Then, the authors design a control strategy to ensure that individuals aggregate at a point in the ROI relying on their local perceptions and the locations of neighbors within their communication scope. The authors describe this situation of aggregation as rendezvous. In addition, the authors introduce artificial potential field to make sensors deploy dispersedly in a bounded range near the ROI, which the authors call dispersed deployment. Finally, the authors prove the stability of the proposed strategies and validate the theoretical results by simulations. This research is applied for the cooperative deployment and data collection of mobile platforms with different dynamics under the condition of inaccurate perception.
Accurate real-time estimation plays an important role in smart grids. Although various filtering algorithms, such as unscented Kalman filter (UKF), have been proposed for phasor measurement unit (PMU), they occupy hug...
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Worldwide competition and diverse demand of customers pose great challenges to manufacturing enterprises. How to organize production to achieve high productivity and low cost becomes their primary task. In the mean ti...
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Worldwide competition and diverse demand of customers pose great challenges to manufacturing enterprises. How to organize production to achieve high productivity and low cost becomes their primary task. In the mean time, the rapid pace of technology innovation has contributed to the development of new types of flexible automation. Hence, increasing manufacturing enterprises convert to multi-product and small-batch production, a manufacturing strategy that brings increased output, reduced costs, and quick response to the market. A distinctive feature of small-batch production is that the system operates mainly in the transient states. Transient states may have a significant impact on manufacturing systems. It is therefore necessary to estimate the dynamic performance of systems. As the assembly system is a typical class of production systems, in this paper, we focus on the problem of dynamic performance prediction of the assembly systems that produce small batches of different types of products. And the system is assumed to be characterized with Bernoulli reliability machines, finite buffers, and changeovers. A mathematical model based on Markovian analysis is first derived and then, the analytical formulas for performance evaluation of three-machine assembly systems are given. Moreover, a novel approach based on decomposition and aggregation is proposed to predict dynamic performance of large-scale assembly systems that consist of multiple component lines and additional processing machines located downstream of the assemble machine. The proposed approach is validated to be highly accurate and computationally efficient when compared to Monte Carlo simulation.
For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different p...
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ISBN:
(纸本)9781538629185
For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position(motor-side position 9 and link-side position q) feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.
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