7632071
Position-sensing based a new docking system of RPRS
Docking is an essential function for reconfigurable planetary robot system (RPRS), it supports almost all metamorphic characteristics of the system. This paper presents a space docking method for self-reconfigurable modular robot system. The method adopts a position sensory detector (PSD) to get the space geometrical relation between modular child robots. By using the kinematics and inverse kinematics modeling of the child robot, a docking control algorithm is developed to achieve space dock automatically. To validate the method, simulation experiments were done on a platform based on OPENGL, and the simulating results were given as well.
206544153
Analysis of creeping locomotion of a snake robot on a slope
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. To realize these snakes' noticeable features, we have developed a snake-like robot that has no any forward direction driving force. To enlarge the environment-adaptable ability of our robot, in this study we discuss the creeping locomotion of our snake-like robot on a slope. A computer simulator is presented for analysis of the creeping locomotion of our snake-like robot on a slope, and the environment-adaptable body shape for the creeping locomotion of the snake-like robot on slope is also derived through this simulator.
21075507
BP Networks Based Trajectory Planning and Inverse Kinematics of a Reconfigurable Mars Rover
The inverse kinematics of series manipulators presents an inherent complexity due to their various structures and kinematics constraints. To a novel reconfigurable Mars rover's arm, the inverse kinematics had been solved by numerical method combined with space geometry relations, but the complex calculating process can not be utilized in real-time control. In this paper, some actions in common use are programmed in the child rover, and the BP neural network was used to solve the inverse kinematics and trajectory planning. To a desired trajectory, some solutions by direct kinematics algorithms and geometry relations corresponding to the trajectory were used as the BP network's training data set, and the non-linear mapping from joint-variable space to operation-variable space was obtained with iterative training and learning method. The results show the output of training is consistent with the desired path, and the obtained reference trajectory is smooth.
152660
Gaits-transferable CPG controller for a snake-like robot
With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.
206600042
Multiagent Reinforcement Learning for a Planetary Exploration Multirobot System
In a planetary rover system called “SMC rover”, the motion coordination between robots is a key problem to be solved. Multiagent reinforcement learning methods for multirobot coordination strategy learning are investigated. A reinforcement learning based coordination mechanism is proposed for the exploration system. Four-robot climbing a slope is studied in detail as an instance. The actions of the robots are divided into two layers and realized respectively, which simplified the complexity of the climbing task. A Q-Learning based multirobot coordination strategy mechanism is proposed for the climbing mission. An OpenGL 3D simulation platform is used to verify the strategy and the learning results.
14083445
Network-based reconfiguration routes for a self-reconfigurable robot
This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named “AMOEBA-I” has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots’ configuration control and reconfiguration planning.
25955132
A new synchronization algorithm for VHDL-AMS simulation
VHDL-AMS is the Analog and Mixed-Signal Extensions to VHDL. The paper gives a brief overview of the added features to VHDL. A mixed-signal simulator has been developed based on VHDL-AMS. A new synchronization algorithm is adopted in the simulator. Using the new algorithm the analog kernel does not need to synchronize the digital kernel at each digital event time point. The efficiency of the new synchronization algorithm is tested by examples. Simulation results show the newly developed algorithm can speed up the simulation.
15998088
Understand behavior and performance of Real Coded Optimization Algorithms via NK-linkage model
Classical NK-landcape model was designed for analyzing optimization and evolution process in binary solution space, so it can not be used to analyze real coded optimization algorithms (RCOAs) directly, which work in continuous solution space directly. In this paper, the concept of NK-landscape model is extended to the continuous space, and a new NK-landscape model with continuous space is proposed. The new model is powerful and comprehensive with simple structure and flexible formula. Therefore, it can be used to construct test functions of various types of linkages for analyzing various performances of RCOAs. The feasibility of the proposed model is testified via experiments with 3 well-known RCOAs, ( i.e. covariance matrix adapting evolutionary strategy (CMA-ES), differential evolution (DE), neighborhood search differential evolution (NSDE)). The results show that the new model can reveal the merits and demerits of RCOAs effectively.
3451766
Attack LSB Matching Steganography by Counting Alteration Rate of the Number of Neighbourhood Gray Levels
In this paper, we propose a new method for attacking the LSB (least significant bit) matching based steganography. Different from the LSB substitution, the least two or more significant bit-planes of the cover image would be changed during the embedding in LSB matching steganography and thus the pairs of values do not exist in stego image. In our proposed method, we get an image by combining the least two significant bit-planes and divide it into 3x3 overlapped subimages. The subimages are grouped into four types, i.e. T 1,T 2, T 3 and T 4 according to the count of gray levels. Via embedding a random sequence by LSB matching and then computing the alteration rate of the number of elements in T 1, we find that normally the alteration rate is higher in cover image than in the corresponding stego image. This new finding is used as the discrimination rule in our method. Experimental results demonstrate that the proposed algorithm is efficient to detect the LSB matching stegonagraphy on uncompressed gray scale images.
12108467
Tracking Anomalous Behaviors of Name Servers by Mining DNS Traffic
This paper seeks to quantitatively understand the nature of the current threat towards the common name servers. A new tracking technique based on statistical model is proposed to locate the anomalous name servers by analyzing the real-world DNS traffic. After summarizing the attacks towards DNS, the detection method based on associative feature analysis is presented. Experiments are conducted which highlighting both the payload anomaly and the data flow anomaly, and the experimental results reveal the efficiency of our method in detecting the anomalous behaviors of name servers.
28617398
An Unbalanced Multiple Description Coding Scheme for Video Transmission Over Wireless Ad Hoc Networks