Previous research on finite-time control focuses forcing a system state (vector) to converge within certain time moment, regardless of how each element converges. In the present work, we introduce problem with unique finite/fixed-time stability considerations, namely time-synchronized (TSS), where <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">at same time</i> , all elements origin, and fixed-TSS, upper bound synchronized settling is...

In this paper, we propose a framework to analyze the interactive behaviors of human and robot in physical interactions.Game theory is employed describe system under study, policy iteration adopted provide solution Nash equilibrium.The human's control objective estimated based on measured interaction force, it used adapt robot's such that human-robot coordination can be achieved.The validity proposed method verified through rigorous proof experimental studies.

Robot-assisted rehabilitation is a growing field that can provide an intensity, quality, and quantity of treatment exceed therapist-mediated rehabilitation. Several control algorithms have been implemented in robots to develop patient-cooperative strategy with the capacity understand intention user suitable training. In this paper, we present upper-limb motion pattern recognition method using surface electromyography (sEMG) signals support vector machine (SVM) robot, ReRobot, which was built...

We compare filter bank multicarrier (FBMC) and orthogonal frequency-division multiplexing (OFDM) in the uplink of a multiple access network. Our study reveals that high sensitivity OFDM to carrier frequency offset (CFO) among different users need for interference cancellation methods reduce this leads very complex yet not performance systems. In FBMC-based networks, on other hand, near-perfect is achieved without any cancellation, thanks excellent localized filters used realization FBMC

This paper addresses the nonlinear memory effects in response of typical illumination light emitting diodes (LEDs), order to enhance performance visible communication (VLC) systems. These LEDs have a limited bandwidth only several MHz. To reflect physical mechanisms quantum well, we describe LED transient by dynamic differential equation. Three different nonlinearity are relevant double hetero-structure LEDs, which result nonlinearities, that is, mixture nonlinearities and effects. Hitherto,...

In this paper, we study the problem of link adaptation based on adaptive modulation and coding for multiple antenna OFDM system in slow fading channel. Based extrinsic information transfer analysis, give an accurate packet error rate prediction with channel estimation errors. This method uses Gaussian approximation to characterize output detector decoder. We also discuss approaches searching selecting best scheme algorithm. Finally, performance proposed algorithm is studied IEEE 802.11n...

We present a multi-UAV Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures. In proposed sampling-based coverage path planning method, we formulate applications as multi-agent problem. By combining two NP-hard problems: Set Covering Problem (SCP) and Vehicle Routing (VRP), Set-Covering (SC-VRP) is formulated subsequently solved by modified Biased Random Key Genetic Algorithm (BRKGA) with novel, efficient encoding strategies local improvement...

This paper addresses the power penalty in a visible light communication (VLC) emitter that re-uses illumination emitting diodes (LEDs) for high-speed communications. We quantify effect of modulation depth two widely explored schemes VLC, namely orthogonal frequency division multiplexing (OFDM) and pulse amplitude (PAM). Extra is dissipated LED modulator due to such modulation. Two popular VLC transmitter topologies, Bias Tee Serial FET, are compared terms efficiency, extra energy per...

The sense of touch is arguably the first human to develop. Empowering robots with may augment their understanding interacted objects and environment beyond standard sensory modalities (e.g., vision). This paper investigates effect hybridizing sliding movements for tactile-based texture classification. We develop three machine-learning methods within a framework discriminate between surface textures; two use hand-engineered features, whilst third leverages convolutional recurrent neural...

Continuum manipulators have infinite degrees of freedom and high flexibility, making it challenging for accurate modeling control. Some common methods include mechanical strategy, neural network constant curvature assumption, etc. However, the inverse kinematics strategy is difficult to obtain while a using networks may not converge in some applications. For algorithm implementation, assumption used as basis design controller. When driving wire tight, linear controller under works well...

Teaching a robot to learn new knowledge is repetitive and tedious process. In order accelerate the process, we propose novel template-based approach for arm movement imitation. This algorithm selects previously observed path demonstrated by human generates in situation based on pairwise mapping of invariant feature locations present both scenes using combination minimum distortion energy strategies. One-Shot Learning capable not only simple point-to-point paths but also adapting more complex...

This paper presents a new analysis of the illumination and communication performance for visible light (VLC) with variable pulse position modulation (VPPM). In particular, it addresses extra power losses due to data if traditional buck converter LED driver is adapted VLC. We compare VLC systems using two previously proposed schemes in aspects efficiency, power, rate BER.

Dynamic Movement Primitives (DMPs) are a generic approach for trajectory modeling in an attractor land-scape based on differential dynamical systems. DMPs guarantee stability and convergence properties of learned trajectories, scale well to high dimensional data. In this paper, we propose DMP+, modified formulation which, while preserving the desirable original, 1) achieves lower mean square error (MSE) with equal number kernels, 2) allows trajectories be efficiently by updating subset...

Robots are increasingly expected to manipulate objects, of which properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object manipulation. Object packing is one the challenging tasks in robot In this work, a new visuo-tactile feedback-based manipulation planning framework for proposed, makes use on-the-fly multisensory feedback and an attention-guided deep affordance model as states well reinforcement learning (DRL) pipeline....

This paper addresses the power penalty in an illumination LED caused by visible light communication (VLC). study models extra consumption of taking into account convex relation between dissipated electrical versus current on one hand and concave output luminous flux other hand. The ratio to input power, which is known efficacy, analyzed considering various recombination mechanisms their dependency temperature. As examples, rapid fluctuations induced Pulse Amplitude Modulation (PAM)...

The visible light communication (VLC) can provide data transmission via the illumination emitting diodes (LED). This paper introduces a new model to analyze bit error rate (BER) of binary phase modulation in VLC for an arbitrary depth and duty cycle while taking into account both Gaussian signal-dependent shot noise. impact driver design on BER its ripple have not been considered detail before. We compare two different LED schemes, namely directly adapting control loop shunting. address...

Touch is arguably the most important sensing modality in physical interactions. However, tactile has been largely under-explored robotics applications owing to complexity making perceptual inferences until recent advancements machine learning or deep particular. perception strongly influenced by both its temporal dimension similar audition and spatial vision. While cues can be learned episodically, compete against system's re-sponse/reaction time provide accurate inferences. In this paper,...

This paper studies carrier frequency offset (CFO) estimation in the uplink of multi-user multiple-input multiple-output (MIMO) orthogonal division multiplexing (OFDM) systems. Conventional maximum likelihood estimator requires computational complexity that increases exponentially with number users. To reduce complexity, we propose a sub-optimal algorithm using constant amplitude zero autocorrelation (CAZAC) training sequences. The proposed only linearly In this algorithm, different CFOs from...

Filter bank multicarrier (FBMC) systems have recently been proposed as superior alternative to the conventional orthogonal frequency division multiplexing, for certain applications. In this letter, we suggest a new preamble FBMC and it develop near maximum likelihood joint channel, carrier frequency, timing phase estimation method. The performance of our design over those already in literature is shown through computer simulations.

The global trend of population ageing has magnified the shortage qualified staff in elderly care industry. This study evaluates feasibility and user experience introducing robots services. A robot instructor was being benchmarked against a human administering two types activities with 41 participants. results show that more effective better preferred by users over on instructing physical exercise, while reaching similar level effectiveness acceptance information delivery. Additionally,...

We present our study on the signal properties of a Walsh Hadamard transformed (WHT) OFDM system, i.e., an system with WHT implemented before modulation. Starting from linear algebraic model, we first derive probability density function transmitted signal. Then show that WHT-OFDM has lower clipping than conventional OFDM, especially for medium FFT sizes. further illustrate analog domain spectral regrowth is also lower. Finally analysis power and it frequency spreading property. This results...

Statistical modeling for the statistics of polarimetric synthetic aperture radar (SAR) data is a critical factor in SAR processing. In this letter, we utilize complex Wishart-generalized Gamma (WGΓ) distribution to model multilook data, which Wishart and generalized speckle texture components, respectively. Moreover, derive closed-form expression WGΓ based on product propose parameter estimation technique letter. We perform experiments acquired by AIRSAR ESAR verify superiority effectiveness...