An approach to the identifiable parameters of a manipulator

This article deals with the minimal parameters of a manipulator in the least squares sense, so that the minimal parameters are equivalent to the identifiable parameters. The least squares concept is used to introduce terminology for the minimal linear combinations (MLCs) of the system parameters that define a set of linear combinations of the system parameters. The number of elements of the set is minimal, yet the set still completely determines the system. Furthermore, it is shown that the problem of finding a set of MLCs of a manipulator can be simplified to that of finding two individual sets of MLCs that determine the entries of the inertia matrix and the gravity load. Although the approach is applied to the inertia constants of composite bodies to obtain a set of MLCs identical to an earlier one, the result is newly interpreted in the least squares sense. The approach itself is a new method for finding the identifiable parameters of a manipulator, and it yields some new insight into the manipulator dynamics. The crucial feature is that a set of MLCs found by using the present approach is guaranteed to be identifiable. The earlier approaches always require an identification method to verify the results. An equivalence theorem is also presented that rigorously states the equivalence between the different sets of minimal parameters. © 1994 John Wiley & Sons, Inc.     

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Enhancement of power system data debugging using GSA-based data-mining technique

In this paper, a gap-statistic-algorithm (GSA)-based data-mining technique is applied to enhance the data debugging in power system operations. In the proposed approach, the GSA technique is embedded into a neural network frame in anticipation of improving the detection capability of bad data. Thanks to the clustering capability exhibited by GSA in which the number of clusters can be optimally determined, the proposed approach becomes highly effective to localize the group of abnormal data. This proposed approach has been tested through the data collected from different scenarios made on an IEEE 30-bus system and 118-bus systems. Test results reveal the feasibility of the method for the data diagnosis applications.     

Characterization of ultrashort optical pulses with third-harmonic-generation based triple autocorrelation

We present a method to obtain complete information of femtosecond pulses. By measuring triple-optical autocorrelation directly with third-harmonic generation, without spectral information, a temporal pulse shape can be obtained by analytical calculation without direction-of-time ambiguity. Combining the resulting optical pulse shape with its corresponding optical spectrum, the exact phase and color variations in time can all be recovered with a Gerchberg-Saxton algorithm through an iterative calculation with an O(n) complexity.     

Planar-shape prototype generation using a tree-based random greedy algorithm.

A prototype is representative of a set of similar objects. This paper proposes an approach that formulates the problem of prototype generation as finding the mean from a given set of objects, where the prototype solution must satisfy certain constraints. These constraints describe the important perceptual features of the sample shapes that the proposed prototype must retain. The contour prototype generated from a set of planar objects was used as an example of the approach, and the corners were used as the perceptual features to be preserved in the proposed prototype shape. However, finding a prototype solution for more than two contours is computationally intractable. A tree-based approach is therefore proposed in which an efficient greedy random algorithm is used to obtain a good approximation of the proposed prototype and analyze the expected complexity of the algorithm. The proposed prototype-generation process for hand-drawn patterns is described and discussed in this paper.     

Analysis of ATSC field test results in Taiwan

Field tests of the transmission performance of the ATSC DTV system have been conducted in Taiwan. The test results as well as comparisons against the NTSC system performance are reported and analyzed. From the measured results the reception characteristics of the DTV can be deduced and can provide guidelines for television stations to design the transmission system, schedule equipment deployment, plan service coverage areas, and improve the reception quality of the digital signal     

QRS feature extraction using linear prediction

This communication proposes a method called linear prediction (a high performant technique in digital speech processing) for analyzing digital ECG signals. There are several significant properties indicating that ECG signals have an important feature in the residual error signal obtained after processing by Durbin's linear prediction algorithm. This communication also indicates that the prediction order need not be more than two for fast arrhythmia detection. The ECG signal classification puts an emphasis on the residual error signal. For each ECG's QRS complex, the feature for recognition is obtained from a nonlinear transformation which transforms every residual error signal to a set of three states pulse-code train relative to the original ECG signal. The pulse-code train has the advantage of easy implementation in digital hardware circuits to achieve automated ECG diagnosis. The algorithm performs very well in feature extraction in arrhythmia detection. Using this method, our studies indicate that the PVC (premature ventricular contraction) detection has at least a 92 percent sensitivity for MIT/BIH arrhythmia database.     

Modeling phosphorus in the upper Etowah River basin: identifying sources under uncertainty.

The Uniform Covering by Probabilistic Rejection (UCPR) algorithm was used, in conjunction with the Soil and Water Assessment Tool (SWAT) model, to identify P loads from point source and nonpoint source polluters in the upper Etowah River basin (UERB) in Georgia. The key findings of the research are as follows. The mean absolute error was preferred over the root mean square error as a search criterion for the UCPR algorithm when water quality observations are scarce. The undocumented P load from point sources in the UERB was consistently estimated as about 43 kg/d by the proposed method; but the method was not able to identify the broiler litter application rate to the poultry/beef operation pastures. Point sources (both documented and undocumented), poultry/beef operation pastures, and forests are the three major contributors of P. During 1992-1996, on average they accounted for 36.4, 31.7, and 17.2% of P load from the UERB, respectively.     

OFDM-MIMO系统及其频率同步分析

多媒体业务对无线通信的带宽与品质提出了更高的要求，OFDM和MIMO由于满足了这一需求被越来越多的无线通信标准采用所为底层的调制和传输技术。频率同步问题是OFDM—MIMO物理层设计中正确解调的前提和基础，本文介绍了OFDM—MIMO的原理、特点和频率同步问题的研究现状。     

论国有企业激励机制和约束机制的设计

本文通过对建立国有企业激励机制和约束机制的过程中存在的问题进行分析，找出其产生的原因，并尝试提出国有企业激励和约束机制设计思路与对策。