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This paper provides a new approach to protection of multicast transmissions in optical networks. Namely, we introduce an enhanced version of p-cycles called Multicast Protecting p-Cycle (MPpC) designed to protect multicast flows and propose a new ILP (Integer Linear Program) formulation enabling a joint optimization of working and spare capacity in optical networks protected by MPpCs. In contrast...
A co-simulation on virtual prototype of a type of spot welding robot has been accomplished by combining MATLAB/Simulink with RecurDyn. The control algorithm is executed under MATLAB to generate command forces, which are then exported to RecurDyn environment and applied to actuators of the virtual prototype at each cycle of time. Dynamic control on joint angles was accomplished through the co-simulation...
In this paper, the driving manner and design method are discussed for the elbow joint of one kind of robot artificial limb. On the basis to satisfy ergonomics, some technical parameters required for the riving manner is make out for the elbow joint. In order to ensure implement for diverse requests, optimization design is adopted in this case. Based on the peculiarity of structure and movement, variables,...
In this paper we describe a joint methodology for exploiting multispectral and LIDAR data for the characterization of an urban area. The test site is the town of Uberlandia (Brazil). We first discuss the overall framework for 2D and 3D data fusion, and then introduce the approach investigated in this work. We then provide and discuss the mapping results obtained in our investigation. Finally, in order...
In order to obtain the maximum driving forces of hydraulic cylinders in the process of boom design, the solid model was built in Pro/E and then imported into ADAMS where the dynamic simulation model was established. Processes of the boom transforming from horizontal to typical poses were simulated and driving force variation curves of the hydraulic cylinders were generated. According to the results,...
We present our initial work on the design and implementation of an efficient channel assignment and routing architecture for multi-radio and multichannel wireless mesh networks (WMNs). Our proposed scheme is derived from the principle of Ant Colony Optimization (ACO) in which smart ants (agents) perform the routing and channel assignment to stochastically solve a dynamic network optimization problem...
MIMO, OFDMA and cooperative relaying are the key technologies in future wireless communication systems. However, under the usage of these technologies, resource allocation becomes a more crucial and challenging task. In multi-user MIMO-OFDMA relay-enhanced cellular networks, we formulate the optimal instantaneous resource allocation problem including user group selection, path selection, power allocation,...
We develop a new algorithm to segment the hippocampus from MR images. Our method uses a new classifier ensemble algorithm to correct segmentation errors produced by a multi-atlas based segmentation method. Our classifier ensemble algorithm searches for the maximum likelihood solution via gradient ascent optimization. Compared to the additive regression based algorithm, LogitBoost, our algorithm avoids...
A novel cross-layer routing protocol is presented for Decode-and-Forward multi-hop relaying systems which lead to optimal power allocation for a given power budget by maximizing the capacity of source to destination. The problem of rate maximization by jointly allocating power and selecting relays nodes with limited total power constraint of network nodes is formulated when the channel state information...
We consider the network with two kinds of traffic: inelastic and elastic traffic. The inelastic traffic requires fixed throughput, high priority while the elastic traffic has controllable rate and low priority. Giving the fixed rate of inelastic traffic, how to inject the elastic traffic into the network to achieve the maximum utility of elastic traffic is solved in this paper. The Lagrangian Duality...
Usually the bipedal robots use knee joints with only one degree of freedom. Several biomechanical researches have proved that the human knee joint is a complex joint with more than one degree of freedom. In the sagittal plane the human knee joint allows a rolling and a sliding of the thigh on the shin. In the case of a bipedal robot we propose a closed structure, called cross four-bar knee, which...
We present a novel method for designing controllers for robots with variable impedance actuators. We take an imitation learning approach, whereby we learn impedance modulation strategies from observations of behaviour (for example, that of humans) and transfer these to a robotic plant with very different actuators and dynamics. In contrast to previous approaches where impedance characteristics are...
Cognitive radio networks require fast and reliable spectrum sensing to achieve high network utilization by secondary users. Current optimization approaches to spectrum sensing to-date have focussed on maximizing aggregate throughput while considering only a single parameter variable pertinent to sensing, notably the threshold or duration, but not both. In this work, we consider joint minimization...
Design of a novel under-actuated finger was proposed in this paper. The coupled gesture-changeable finger overcomes disadvantages of two convenient kinds of under-actuated finger: coupled finger and self-adaptive finger. Decided by different grasping targets, the finger's operation process is divided into three kinds: coupled only process, self-adaptive only process and coupled self-adaptive process...
This paper considers finite-horizon optimal control for multi-agent systems subject to additive Gaussian-distributed stochastic disturbance and a chance constraint. The problem is particularly difficult when agents are coupled through a joint chance constraint, which limits the probability of constraint violation by any of the agents in the system. Although prior approaches can solve such a problem...
A learning mechanism based on Powell's optimization algorithm is proposed to optimize walking behavior of a passivity based biped robot. To this end, a passivity-based biped robot has been simulated in MSC ADAMS and a control policy inspired from humanoid walking is adopted for a stable walking of the robot. Linear controllers try to control the joints of robot in each walking phase to implement the...
In this paper, we present a method to perform tasks identification on a humanoid robot. The observed motion is compared to a set of candidate controllers that the robot might be executing. The more relevant candidate controllers are selected, and can be used as a description of the motion, or as a basis to replicate a similar motion on another robot. The analysis of the movements is based on the task-function...
We study joint rate control and resource allocation with QoS provisioning that maximizes the total utility of secondary users in cognitive radio networks. We formulate and decouple the original utility optimization problem into separable subproblems and then develop an algorithm that converges to optimal rate control and resource allocation. The proposed algorithm can operate on different time-scale...
We present a multi-contact motion planning method that generates dynamic joint trajectories for multi-body robots that satisfy a set of continuous constraints. We highlight two variants when it comes to generate a single-contact or a multi-contact motion: the presence of the continuous equality geometrical constraints and of the contact forces. In this work, we compute the free-flyer trajectory and...
Learning by observation is a useful goal for humanoid robots that strive for human-like motion. Over time the movements and actions of these robots are likely to require modification for different scenarios and environments. Therefore being able to `teach' the robot new tasks and motions without tedious programming is highly useful. The operational space formulation is a highly elegant robot manipulator...
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