14553676
Design and Basic Experiments of a Shape-shifting Mobile Robot for Urban Search and Rescue
The recent natural and man-made devastations have urged the research on the urban search and rescue (USAR) robot systems. This paper presents a novel shape-shifting mobile robot system named as Amoeba II (A-II) for the urban search and rescue application. It has been designed with three degrees of freedom (DOFs) and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. The joint unit can transform the robot shape for getting high mobility. A-II robot not only can adapt to the environment but also can change its body corresponding to locus space. It behaves two states including the parallel state (named as II state) and the linear state (named as I state). The parallel state enables the robot with high mobility on rough ground. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave etc. Also, the joint unit can propel the robot to roll in sidewise direction. Especially, two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. Finally, the elementary experimental results validate the adaptation and its mobility
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.
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.
10605413
Center-configuration selection technique for the reconfigurable modular robot
The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the reconfigurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a novel center-configuration selection technique has been proposed for reconfigurable modular robots. Based on the similarities between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest center-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center-configuration selection example is provided with consideration of the adjacent configurations. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots.
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.
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.
5295208
Bit rate reduction of H.264/AVC video coding for mobile applications
The increasing use of mobile applications requires higher compression efficiency for video coding. However, in mobile applications, the capability of the processor is limited and the channel is unreliable. Since the emerging H.264/AVC video coding standard provides superior compression performance compared to all the existing video coding standards, many research efforts concentrate on the compression efficiency of intra-frame coding in H.264/AVC. In this paper, we propose a novel algorithm to reduce the bit rate compressed by H.264/AVC intra-frame coding. We focus on the method to code the intra-frame prediction modes. Our proposed method significantly reduces the bits used to code the modes and do not change the syntax of the bit stream. Experimental results demonstrate it is effective and efficient
36833558
Dielectric mismatch effect on coupled impurity states in a freestanding nanowire
We studied the coupled impurity states in a freestanding semiconductor nanowire (NW), within the effective mass approximation and including the effect of the dielectric mismatch, by using finite element method. Bonding and anti-bonding states are found and their energies converge with increasing distance di between the two impurities. The dependence of the binding energy on the wire radius R and the distance di between the two impurities is investigated, and we compare it with the result of a freestanding NW that contains a single impurity.
2307602
A Multi-Dimensional K-Anonymity Model for Hierarchical Data
For improving the usability of the anonymous result, it is important to comply with the hierarchical structure when generalizing quasi-identifying attributes with hierarchical characteristics. We propose an unrestricted multi-dimensional anonymization model which combines global recoding and local recoding methods. The bottom-up anonymization algorithm with the minimal coverage subgraph constraint and the anonymization metric are proposed. The experiment results justify the effectiveness and scalability of this model.
5261874
Integrating software into PRA
Probabilistic Risk Assessment is a technique to assess the probability of failure or success of a mission. Results provided by the risk assessment methodology are used to make decisions concerning choice of upgrades, scheduling of maintenance, decision to launch, etc. However, current PRA neglects the contribution of software to the risk of failure of the mission. This paper presents a framework for "Integrating Software into PRA", a methodology for systematic integration of the software contribution to risk in system failure analysis. In particular, we established a software-related failure mode taxonomy and a three-level PRA sub-model to account for the impact of software to the classical PRA structure. Application and validation of the taxonomy are discussed in this paper. Future research is also summarized.
14897836
A Location-free Algorithm of Energy-Efficient Connected Coverage for High Density Wireless Sensor Networks
One of the most serious concerns for wireless sensor networks (WSN) is energy. To obtain long lifetime, one potential method is deploying redundant sensors in the WSN and let each sensor switch its state between ACTIVE and OFF. At the same time, the WSN should meet various requirements of quality of service (QoS). This paper focuses on two important measurements of OoS: sensing coverage and network connectivity. Existing researches have provided many algorithms to schedule the nodes’ states for coverage preserving, including location-free ones. Our work differs from existing location-free algorithms in several key ways: (1). We propose a novel principle on coverage preserving that is suitable for location-free schemes; (2). Following the principle, a distributed, localized and location-free node scheduling algorithm, Stand Guard Algorithm (StanGA), is proposed for treating coverage and connectivity in a unified scheme. Under certain conditions, StanGA can guarantee network connectivity and any degree of sensing coverage. Simulation results show that StanGA is scalable and robust, and also show that StanGA outperforms existing location-free algorithms even when only coverage issue is considered.