38198465
Control of a 3-dimensional snake-like robot
Biological snakes' diverse locomotion modes and physiology make them supremely adapted for environment. The special structure of snakes and their unique movement offer them peculiar ability of climbing and moving even in some ill-conditioned environments such as on the marshland or in narrow tubes. In this paper, we first discuss the controllability of a 3-dimensional snake-like robot, and then show the controllability of the robot by computer simulation.
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.
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.
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.
8006585
Linear Transceiver Design for Multiuser MIMO Downlink
An iterative linear transceiver design scheme under sum mean squared error minimization criterion is proposed. By modifying the structure of transceiver, the complex computation of Lagrangian multiplier within traditional MMSE transceiver design can be effectively obviated, and thus the whole system complexity can be greatly reduced. Because the Lagrangian multiplier has analytical solution, transmit preceding matrix also has closed-form solution, and can be solved easily with fixed- point iterations. The receiver filter is worked out independently with MMSE criterion at each terminal, and the downlink signaling of each receive filter from base station is not necessary- Simulations demonstrate that the proposed scheme is effective.
1252893
A Configurable Web Service Performance Testing Framework
More and more softwares based on web service technologies are developed. Before their releases on the Internet, it is necessary to evaluate these systems' performance, especially their response time under different workload pressures. However, existing performance testing benchmarks and tools for web service applications are difficult to adapt to various user-specific testing purposes. This paper proposes a configurable web service performance testing framework which contains client module, application server module and database module. Client module, by using the network cooperation method that one central client drives several other clients, adapts to a great number of concurrent customers to request web services. Application server module contains web services under testing and external supporting web services, each of which is configured as a plug-in. The process to realize mixed ratio of web service interactions is similar to dealing cards and adapts to different commercial application characteristics. In database module, the data model including table and attribute dependence can be customized, and the data scale initialization can be resized according to the topology of above dependence. As such, this framework allows testers to dynamically define their data model, customize their scale of database, configure their transaction characteristics, deploy their application strategies and confirm their performance metrics..
20021213
Trust and Privacy in Dissemination Control
Dissemination control is concerned with controlling electronic resources even after they have been delivered to a legitimate recipient. This paper proposes a secure resource dissemination system framework in which resource providers and recipients are interacted mutually in an anonymous, accountable, and trustworthy way, while security constraints on diverse resources can be continuously protected along resource distribution. We specify the three-party context-aware trust management and privacy protection mechanism based on part behavior using Dempster-Shafer (D-S) theory. We also discuss main logic functions and procedures in the resource dissemination and usage transaction process.
38238585
Exploiting multi-scale support vector regression for image compression
Unlike traditional neural networks that require predefined topology of the network, support vector regression (SVR) approach can model the data within the given level of accuracy with only a small subset of the training data, which are called support vectors (SVs). This property of sparsity has been exploited as the basis for image compression. In this paper, for still image compression, we propose a multi-scale support vector regression (MS-SVR) approach, which can model the images with steep variations and smooth variations very well resulting in good performance. We test our proposed MS-SVR based algorithm on some standard images. The experimental results verify that the proposed MS-SVR achieves better performance than standard SVR. And in a wide range of compression ratio, MS-SVR is very close to JPEG in terms of peak signal-to-noise ratio (PSNR) but exhibits better subjective quality. Furthermore, MS-SVR even outperforms JPEG on both PSNR and subjective quality when the compression ratio is higher enough, for example 25:1 for Lena image. Even when compared with JPEG-2000, the results show greatly similar trend as those in JPEG experiments, except that the compression ratio is a bit higher where our proposed MS-SVR will outperform JPEG-2000.
17891437
Call admission control for voice/data integrated cellular networks: performance analysis and comparative study
In this paper, we propose a new call admission control scheme called dual threshold bandwidth reservation, or DTBR scheme. The main novelty is that it builds upon a complete sharing approach, in which the channels in each cell are shared among the different traffic types and multiple thresholds are used to meet the specific quality-of-service (QoS) requirements. We present a detailed comparative study based on mathematical and simulation models, and quantitatively demonstrate that the DTBR is capable of providing the QoS guarantee for each type of traffic, while at the same time leading to much better channel efficiency. We further show that the DTBR scheme with elastic data service can offer both service guarantee and service differentiation for voice and data services, and enhance the bandwidth utilization.