Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

A dispatching method for automated lifting vehicles in automated port container terminals

In automated container terminals, containers are transported from the marshalling yard to a ship and vice versa by automated vehicles. The automated vehicle type studied in this paper is an automated lifting vehicle (ALV) that is capable of lifting a container from the ground by itself. This study discusses how to dispatch ALVs by utilizing information about pickup and delivery locations and time in future delivery tasks. A mixed-integer programming model is provided for assigning optimal delivery tasks to ALVs. A procedure for converting buffer constraints into time window constraints and a heuristic algorithm for overcoming the excessive computational time required for solving the mathematical model are suggested. Numerical experiments are reported to compare the objective values and computational times by a heuristic algorithm with those by an optimizing method and to analyze the effects of dual cycle operation, number of ALVs, and buffer capacity on the performance of ALVs.     

Stability radius of implicit dynamic equations with constant coefficients on time scales

This paper deals with the stability radii of implicit dynamic equations on time scales when the structured perturbations act on both the coefficient of derivative and the right-hand side. Formulas of the stability radii are derived as a unification and generalization of some previous results. A special case where the real stability radius and the complex stability radius are equal is studied. Examples are derived to illustrate results.     

Linearization of RF Power Amplifiers in Wideband Communication Systems by Adaptive Indirect Learning Using RPEM Algorithm

Mobile Networks and Applications - This paper proposes a new approach of digital predistortion (DPD) technique based on the adaptive indirect learning architecture (ILA) by using a recursive...     

Second-Order optical non-linearities of {4-(dimethylamino) stilben z & e 4'-yl} dimesityl borane

Samples of {4-(dimethylamino) stilben Z & E 4'-yl} dimesityl borane (BNS) were synthesised and investigated for their non-linear optical properties. The results show that the quadratic hyperpolarisability of the Z-isomer is smaller than that of the E-isomer, the beta value found for the latter being as high as 60 × 10^?30 esu.     

End‐to‐end security‐reliability analysis of multi‐hop cognitive relaying protocol with TAS/SC‐based primary communication,total interference constraint and asymmetric fading channels

In this paper, we analyze the tradeoff between outage probability (OP) and intercept probability (IP) for a multi‐hop relaying scheme in cognitive radio (CR) networks. In the proposed protocol, a multi‐antenna primary transmitter (PT) communicates with a multi‐antenna primary receiver (PR), using transmit antenna selection (TAS) / selection combining (SC) technique, while a secondary source attempts to transmit its data to a secondary destination via a multi‐hop approach in presence of a secondary eavesdropper. The secondary transmitters such as source and relays have to adjust their transmit power to satisfy total interference constraint given by PR. We consider an asymmetric fading channel model, where the secondary channels are Rician fading, while the remaining ones experience the Rayleigh fading. Moreover, an optimal interference allocation method is proposed to minimize OP of the primary network. For the secondary network, we derive exact expressions of end‐to‐end OP and IP which are verified by Monte Carlo simulations.     

Throughput-based fair bandwidth allocation in OBS networks

Fair bandwidth allocation (FBA) has been studied in optical burst switching (OBS) networks, with the main idea being to map the max-min fairness in traditional IP networks to the fair-loss probability in OBS networks. This approach has proven to be fair in terms of the bandwidth allocation for differential connections, but the use of the ErlangB formula to calculate the theoretical loss probability has made this approach applicable only to Poisson flows. Furthermore, it is necessary to have a reasonable fairness measure to evaluate FBA models. This article proposes an approach involving throughput-based-FBA, called TFBA, and recommends a new fairness measure that is based on the ratio of the actual throughput to the allocated bandwidth. An analytical model for the performance of the output link with TFBA is also proposed.     

Compression artifacts reduction with multiscale tensor regularization

Multidimensional Systems and Signal Processing - We study a multiscale tensor regularization based JPEG decompression artifact removal in digital images. Structure tensor eigenvalues based robust...     

Rate-distortion optimized tree-structured compression algorithms for piecewise polynomial images.

This paper presents novel coding algorithms based on tree-structured segmentation, which achieve the correct asymptotic rate-distortion (R-D) behavior for a simple class of signals, known as piecewise polynomials, by using an R-D based prune and join scheme. For the one-dimensional case, our scheme is based on binary-tree segmentation of the signal. This scheme approximates the signal segments using polynomial models and utilizes an R-D optimal bit allocation strategy among the different signal segments. The scheme further encodes similar neighbors jointly to achieve the correct exponentially decaying R-D behavior (D(R) - c(o)2(-c1R)), thus improving over classic wavelet schemes. We also prove that the computational complexity of the scheme is of O(N log N). We then show the extension of this scheme to the two-dimensional case using a quadtree. This quadtree-coding scheme also achieves an exponentially decaying R-D behavior, for the polygonal image model composed of a white polygon-shaped object against a uniform black background, with low computational cost of O(N log N). Again, the key is an R-D optimized prune and join strategy. Finally, we conclude with numerical results, which show that the proposed quadtree-coding scheme outperforms JPEG2000 by about 1 dB for real images, like cameraman, at low rates of around 0.15 bpp.