13896042
Posture control of a dual-crawler-driven robot
This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.
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.
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.
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.
17395966
Scene segmentation based on video structure and spectral methods
Scene is an important semantic unit for video analysis, retrieval and browsing. However, due to the lack of a generic algorithm, many studies focus on specific methods for certain video genes, e.g., news, sports, etc. In this paper, we propose a general framework for scene segmentation. First, we construct a graph, in which the elements encode the shot-to-shot coherent characteristics of a video clip based on visual similarity and temporal relation between shots. In this step, we only exploit the inherent property of video itself and it is independent of video genres. Second, spectral method is applied on the graph to group shots into scenes. The proposed method is not only simple but also effective to deal with organized features. Experimental results validate the robustness of our method on different kinds of videos.
16607650
Performance Analysis of Multi-channel DCA MAC Protocol in Cognitive Wireless Mesh Networks
The spectrum resource gets scared with the development of wireless communication. Users in cognitive wireless mesh network need to switch among multi-channels to communicate. In this paper, we propose a mathematical model of multi-channel DCA protocol in cognitive wireless mesh network. This model is based on Bernoulli and M/M/K queuing model. From the validation by compare simulation with analytical result, we can see our model and analysis is simple and accurate.
3197098
A Multi-Objective Hw-sw Co-Synthesis Algorithm Based on Quantum-Inspired Evolutionary Algorithm
Hardware–Software (HW–SW) co-synthesis is one of the key steps in modern embedded system design. Generally, HW–SW co-synthesis is to optimally allocate processors, assign tasks to processors, and schedule the processing of tasks to achieve a good balance among performance, cost, power consumption, etc. Hence, it is a typical multi-objective optimization problem. In this paper, a new multi-objective HW–SW co-synthesis algorithm based on the quantum-inspired evolutionary algorithm (MQEAC) is proposed. MQEAC utilizes multiple quantum probability amplitude vectors to model the promising areas of solution space. Meanwhile, this paper presents a new crossover operator to accelerate the convergence to the Pareto front and introduces a PE slot-filling strategy to improve the efficiency of scheduling. Experimental results show that the proposed algorithm can solve the typical multi-objective co-synthesis problems effectively and efficiently.
10205775
Kernel-based Global Folley-Sammon Discriminate Analysis
Kernel trick is a useful method dealing with the nonlinearity of patterns ' distribution, and widely used for non-linear pattern classification problem. Recently, many kernel-based Fisher discriminate methods were proposed, the features extracted by those methods are statistically uncorrelated, usually ineffectively when used in so called "small sample problem "(SSS), which exists in most FR tasks. To overcome this shortcoming, in this paper we present Kernel-based Global Folley-Sammon Discriminate Analysis (KGFS), it can be realized in three steps: firstly by combing kernel function, map data onto an implicit high-dimensional feature space, secondly construct orthogonal feature space there, finally calculate iterative global orthogonal discriminate vectors. Experiments have been done on ORL dataset. In terms of classification error rate performance, proposed kernel based method KGFS has a better performance than other three commonly used kernel-based methods, such as GDA, MGDAandKDDA.
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.