3G中的QoS结构及无线资源分配策略

在3G（第3代移动通信系统）中，为了给不同类型的业务提供不同级别的端到端QoS，网络资源必须进行合理分配。QoS和资源分配是密不可分的，而无线资源分配显得尤为重要。文中提出了UMTS的QoS结构，分3部分对空中接口部分的QoS（即无线资源分配策略问题）进行了讨论：首先提出了一种RRA算法，接着讨论了W－CDMA和TD－CDMA系统的无线资源分配问题，最后讨论了下行链路及上行链路的呼叫允许控制（CAC）。     

CADRE: An Asynchronous Embedded DSP for Mobile Phone Applications

Asynchronous design techniques have a number of compelling features that make them suited for complex system on chip designs. However, it is necessary to develop practical and efficient design techniques to overcome the present shortage of commercial design tools. This paper describes the development of CADRE (Configurable Asynchronous DSP for Reduced Energy), a 750K transistor, high performance, low-power digital signal processor IP block intended for digital mobile phone chipsets. A short time period was available for the project, and so a methodology was developed that allowed high-level simulation of the design at the earliest possible stage within the conventional schematic entry environment and simulation tools used for later circuit-level performance and power consumption assessment. Initial modeling was based on C behavioral models of the various data and control components, with the many asynchronous control circuits required automatically generated from their specifications. This has enabled design options to be explored and unusual features of the design, such as the Register Bank which is designed to exploit data access patterns, are presented along with the power and performance results of the processor as a whole.     

Performance Evaluation of Packet Mobile Communications through Level Crossing Analysis

In this paper the performance of a packet mobile radio network is studied inthe presence of shadow fading outage intervals.Under quite general assumptions for the medium access protocol,the probability mass function of the sequence of packets that may be lostdue to an outage interval is derived. It is seen that long sequences of lostpackets are likely to occur for typical values of the mobile speed andshadowing correlation parameters.For delay constrained sources, e.g., voice, the analysis is mainly focused atderiving the probability function of the sequence of dropped packetsand the probability of dropping. For data sources, the delay statistic isalso derived. In the latter case, the effect of finite buffer length isaddressed. Simulation is used to verify the accuracy of approximations introduced in the analysis.     

空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。     

一种新的位置数据融合方法的研究

给出了一新的基于团队一致法的多传感器位置数据融合方法，该方法按传感器队中的每个成员的测量不确定性，构造团队期望效用函数（或密度），并基于该期望效用函数求得位置参数估计，其优点是可消除失效传感器和测量值为野值的传感器的影响，本文给出了仿真结果。     

基于移动Agent技术的QoS保障机制

介绍了移动Agent的基本特性。移动Agent可在异构的网络各个节点间自由地移动,它能感知网络的状态,监控系统并与其他Agent进行交互。IETF的IS模型采用了RSVP(ResourcereSerVationProtocol)协议对系统资源进行预留,从而达到一定程度上保障所需QoS的目的。QoS保障机制将移动agent技术与RSVP协议结合起来,通过资源预留和agent动态移动的实现可以达到更好地改善QoS的目的。     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

三维频率复用环境中的信道偏移指配方法

一种新的信道指配法－信道偏移指配方法正受到越来越多的重视，这种方法能在现有的频率资源条件下，较大地提高移动通信系统的容量。本文主要讨论了三维频率复用环境中的信道偏移指配方法，详细地分析了同频复用和相邻信道使用距离，定量地计量了信道偏移系统的频谱节约效率。本文最后还通过几个实例验证了所提算法的实用性。     

RS码频域编译码的计算机模拟

频域编译码是近年来由Ｂｌａｈｕｔ等人提出来的纠错码编译方法。本文介绍了在时域和频域编译ＲＳ码的基本方法，并给出了在移动信息道的简单分群Ｍａｒｋｏｖ模型下频域编译码的计算机模拟方法和结果。     

The Influence of Gravity on Trajectory Planning for Climbing Robots with Non-Rigid Legs

In this paper questions related to the occurrence of departures of a legged climbing robot from the given trajectory are considered. The basic idea of the paper is to show that, if there are slackness and non-rigidities, the legged climbing robot moving upon an inclined or vertical plane, departs systematically from the planned trajectory. It is demonstrated that these departures result from the gravity and are of systematic character. It is also shown how the inclusion of torsion effect changes substantially the nature of systematic errors arising from robot's movement along the inclined surface.