一种并行的软判决引导常数模盲均衡算法

介绍了一种常数模与软判决引导结合的盲均衡算法CMA SDD。该算法克服了CMA收敛速度慢、稳态误差大的缺点,同时可以纠正相位偏转。仿真表明,在高信噪比(SNR)条件下,两种算法的稳态均方误差相近,而CMA SDD算法的收敛速度更快;在低信噪比条件下,CMA SDD算法可以获得更快的收敛速度和更低的稳态均方误差。     

平面阴影算法研究与实现

阴影对提升图形的真实感具有重要意义。探讨了平面阴影生成算法，针对平面阴影算法在实际应用中的缺点，利用OpenGL的模板缓冲技术实现阴影裁剪，利用基于截锥体的裁剪矩阵消除假影和反影现象，并利用OpenGL累积缓冲技术实现软阴影。较好解决了平面阴影算法的缺点，程序计算量小、效率高，图形的真实感和场景的可视化效果得以提升，达到良好的效果。     

一种支持宏分集策略的软分数频率复用方法

在3GPP2 AIE的框架标准中同时要求采用频率复用和宏分集，但是现有的频率复用方法是无法支持宏分集策略的．鉴于此，在软分数频率复用方法的基础上，基于可拓集合思想，通过建立可用频段与研究区域之间的物元模型，得到了一种能够在小区边缘支持宏分集的软分数频率复用方法．研究表明该频率复用方法在有效降低小区干扰的同时提高了频率利用率，同时小区边缘用户由于小区间干扰的协调以及宏分集策略带来的增益，性能得到了较大提高．仿真结果表明该方法有效地提高了小区边缘的平均容量。     

结构性对软土压缩特性的影响

针对同一地段的50个原状土样的试验数据进行统计分析,得出孔隙比、含水量、密度、干密度是影响软土压缩特性的重要因素。通过原状土和重塑土一维固结压缩试验,对固结系数、压缩系数、压缩模量进行分析,得出结构性对软土压缩特性有较大的影响。同时给出了压缩特性的微观行为。     

采用软磁复合材料设计高速爪极式永磁电机

软磁复合材料适合用于制造结构复杂的小型永磁电机。在三维有限元分析的基础上，进行了以软磁复合材料为定子铁心的三相爪极式永磁电机的优化设计以及参数计算和性能分析；得到的结果对该种材料的应用具有一定参考价值。     

Force estimation via physical properties of air cushion for the control of a human-cooperative robot: basic experiments

For the control of a human-cooperative robot (HCR) using a soft material, we aim to verify, in this study, the usefulness of force estimation via physical properties of an air cushion. First, the physical model of the air cushion was represented by an air cylinder with a piston, which is subject to constraint by nonlinear elasticity. Second, the elastic properties of the air cushion were examined under the assumption that it can be formulated by a function of pneumatic pressure. The force applied to the air cushion was next estimated on the basis of the physical model, and the HCR was successfully controlled according to the estimated force.     

Modeling,Sensing, and Interpretation of Viscoelastic Contact Interface

Soft robotics is important in the next generation of robots because of the rapidly increasing need for robotics in biomedical applications and the advantages of providing a soft interface for interaction with the physical environment in service robots and other applications. It is indispensable to understand the fundamental behavior of such contact interface, typically viscoelastic, in order to accurately predict the actual elastic and temporal responses of the contact and to successfully control it. Viscoelasticity is a phenomenon of time-dependent strain and/or stress in soft materials. It is therefore important to model such behavior and to study the effects of such time-dependent strain and stress on stability and behavior at the contact interface. The contribution of this paper is the introduction of a novel latency model, which is a nonlinear model with differential equations that govern viscoelastic materials. Latency model describes various features of viscoelastic materials, such as stress relaxation and strain creep. The theoretical modeling was supported by experimental results in which we found two types of relaxation. Type I relaxation is well documented in existing literature but Type II relaxation has not been elaborated previously with the physical insights provided in this paper. The proposed theory can unify both types of time-dependent relaxation responses for modeling, sensing, and interpretation of viscoelastic contact interface.     

Selection of manipulator system for multiple-goal task by evaluating task completion time and cost with computational time constraints

The focus of this study is on the problem of manipulator system selection for a multiple-goal task by evaluating task completion time and cost with computational time constraints. An approach integrating system selection, structural configuration design, layout design, motion planning, and relative cost calculation is proposed to solve this problem within a reasonable computational time. In the proposed approach, multiple-objective particle swarm optimization (MOPSO) is utilized to search for the appropriate manipulator system with appropriate structural configuration from a set of candidate systems. Particle swarm optimization (PSO) and the nearest neighborhood algorithm are employed in layout design and motion planning due to their high convergence speed. Three methods involving a random search algorithm are compared to the proposed approach through a simulation. The simulation is done with a set of tasks and the result shows the effectiveness of the proposed approach.     

'Toy problem' as the benchmark test for teleoperation systems

A unified hand/arm master–slave system was developed to conduct dexterous tasks by teleoperation. Both the master and the slave consist of a two-fingered hand and a 3-d.o.f. planer manipulator. The system is also aimed at investigating the bottleneck of autonomous robotic manipulation systems. To evaluate the performance of individual teleoperation systems all over the world under equal conditions, we propose toy block assembling (LEGO® blocks) as the benchmark test for teleoperation systems. Using our hand/arm master-slave system, we announce the measured completion time for assembling some block structures, expecting other research group to try the same task in the future.