A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configur...A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.展开更多
LAST year served as an important year todeepen China＇s relationship with Africa. Politically, the relations are at their highest level ever. So are the commercial ones, spurred by continued financing commitments, div...LAST year served as an important year todeepen China＇s relationship with Africa. Politically, the relations are at their highest level ever. So are the commercial ones, spurred by continued financing commitments, diversifying investment portfolios and bilateral merchandise trade,展开更多
As die size and complexity increase, accurate and efficient extraction of the critical area is essential for yield prediction. Aiming at eliminating the potential integration errors of the traditional shape shifting m...As die size and complexity increase, accurate and efficient extraction of the critical area is essential for yield prediction. Aiming at eliminating the potential integration errors of the traditional shape shifting method, an improved shape shifting method is proposed for Manhattan layouts. By mathematical analyses of the relevance of critical areas to defect sizes, the critical area for all defect sizes is modeled as a piecewise quadratic polynomial function of defect size, which can be obtained by extracting critical area for some certain defect sizes. Because the improved method calculates critical areas for all defect sizes instead of several discrete values with traditional shape shifting method, it eliminates the integration error of the average critical area. Experiments on industrial layouts show that the improved shape shifting method can improve the accuracy of the average critical area calculation by 24.3% or reduce about 59.7% computational expense compared with the traditional method.展开更多
A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot...A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.展开更多
The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for...The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.展开更多
Fifth generation(5G)wireless networks must meet the needs of emerging technologies like the Internet of Things(IoT),Vehicle-to-everything(V2X),Video on Demand(VoD)services,Device to Device communication(D2D)and many o...Fifth generation(5G)wireless networks must meet the needs of emerging technologies like the Internet of Things(IoT),Vehicle-to-everything(V2X),Video on Demand(VoD)services,Device to Device communication(D2D)and many other bandwidth-hungry multimedia applications that connect a huge number of devices.5G wireless networks demand better bandwidth efficiency,high data rates,low latency,and reduced spectral leakage.To meet these requirements,a suitable 5G waveform must be designed.In this work,a waveform namely Shaped Offset Quadrature Phase Shift Keying based Orthogonal Frequency Division Multiplexing(SOQPSK-OFDM)is proposed for 5G to provide bandwidth efficiency,reduced spectral leakage,and Bit Error Rate(BER).The proposed work is evaluated using a real-time Software Defined Radio(SDR)testbed-Wireless open Access Research Platform(WARP).Experimental and simulation results show that the proposed 5G waveform exhibits better BER performance and reduced Out of Band(OOB)radia-tion when compared with other waveforms like Offset Quadrature Phase Shift Key-ing(OQPSK)and Quadrature Phase Shift Keying(QPSK)based OFDM and a 5G waveform candidate Generalized Frequency Division Multiplexing(GFDM).BER analysis shows that the proposed SOQPSK-OFDM waveform attains a Signal to Noise Ratio(SNR)gain of 7.2 dB at a BER of 10�3,when compared with GFDM in a real-time indoor environment.An SNR gain of 8 and 6 dB is achieved by the proposed work for a BER of 10�4 when compared with QPSK-OFDM and OQPSK-OFDM signals,respectively.A significant reduction in OOB of nearly 15 dB is achieved by the proposed work SOQPSK-OFDM when compared to 16 Quadrature Amplitude Modulation(QAM)mapped OFDM.展开更多
The stabilizing and shifting of laser frequency are very important for the interaction between the laser and atoms. The modulation transfer spectroscopy for the 87Rb atom with D2 line transition F = 2 →F＇ = 3 is use...The stabilizing and shifting of laser frequency are very important for the interaction between the laser and atoms. The modulation transfer spectroscopy for the 87Rb atom with D2 line transition F = 2 →F＇ = 3 is used for stabilizing and shifting the frequency of the external cavity grating feedback diode laser. The resonant phase modulator with electro-optical effect is used to generate frequency sideband to lock the laser frequency. In the locking scheme, circularly polarized pump- and probe-beams are used. By optimizing the temperature of the vapor, the pump- and probe-beam intensity, the laser linewidth of 280 kHz is obtained. Furthermore, the magnetic field generated by a solenoid is added into the system. Therefore the system can achieve the frequency locking at any point in a range of hundreds of megahertz frequency shifting with very low power loss.展开更多
The relationship between phase shifts produced by two supersymmetric (SUSY) partner potentials has been examined critically. Phase shifts produced by two SUSY partner potentials bear a simple relation irrespective of ...The relationship between phase shifts produced by two supersymmetric (SUSY) partner potentials has been examined critically. Phase shifts produced by two SUSY partner potentials bear a simple relation irrespective of being shape invariant potential (SIP) or not (non-SIP). In general, the phase shift cannot be obtained algebraically, even for standard SIPs except the Coulomb potential.展开更多
基金This project is supported by National Hi-Tech Research and Development Program of China(863 Program, No.2001AA422360) Chinese Academy of Sciences Advanced Manufacturing Technology R&D Base Foundation, Chrna(No.F000112).
文摘A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.
文摘LAST year served as an important year todeepen China＇s relationship with Africa. Politically, the relations are at their highest level ever. So are the commercial ones, spurred by continued financing commitments, diversifying investment portfolios and bilateral merchandise trade,
文摘As die size and complexity increase, accurate and efficient extraction of the critical area is essential for yield prediction. Aiming at eliminating the potential integration errors of the traditional shape shifting method, an improved shape shifting method is proposed for Manhattan layouts. By mathematical analyses of the relevance of critical areas to defect sizes, the critical area for all defect sizes is modeled as a piecewise quadratic polynomial function of defect size, which can be obtained by extracting critical area for some certain defect sizes. Because the improved method calculates critical areas for all defect sizes instead of several discrete values with traditional shape shifting method, it eliminates the integration error of the average critical area. Experiments on industrial layouts show that the improved shape shifting method can improve the accuracy of the average critical area calculation by 24.3% or reduce about 59.7% computational expense compared with the traditional method.
基金National Natural Science Foundation of China(No. 60375029)National Hi-tech Research and Development Program of China(863 Program,No.2006AA04Z254)
文摘A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.
基金Supported by National Key Technology R&D Program of China(Grant No.2014BAK12B01)
文摘The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.
文摘Fifth generation(5G)wireless networks must meet the needs of emerging technologies like the Internet of Things(IoT),Vehicle-to-everything(V2X),Video on Demand(VoD)services,Device to Device communication(D2D)and many other bandwidth-hungry multimedia applications that connect a huge number of devices.5G wireless networks demand better bandwidth efficiency,high data rates,low latency,and reduced spectral leakage.To meet these requirements,a suitable 5G waveform must be designed.In this work,a waveform namely Shaped Offset Quadrature Phase Shift Keying based Orthogonal Frequency Division Multiplexing(SOQPSK-OFDM)is proposed for 5G to provide bandwidth efficiency,reduced spectral leakage,and Bit Error Rate(BER).The proposed work is evaluated using a real-time Software Defined Radio(SDR)testbed-Wireless open Access Research Platform(WARP).Experimental and simulation results show that the proposed 5G waveform exhibits better BER performance and reduced Out of Band(OOB)radia-tion when compared with other waveforms like Offset Quadrature Phase Shift Key-ing(OQPSK)and Quadrature Phase Shift Keying(QPSK)based OFDM and a 5G waveform candidate Generalized Frequency Division Multiplexing(GFDM).BER analysis shows that the proposed SOQPSK-OFDM waveform attains a Signal to Noise Ratio(SNR)gain of 7.2 dB at a BER of 10�3,when compared with GFDM in a real-time indoor environment.An SNR gain of 8 and 6 dB is achieved by the proposed work for a BER of 10�4 when compared with QPSK-OFDM and OQPSK-OFDM signals,respectively.A significant reduction in OOB of nearly 15 dB is achieved by the proposed work SOQPSK-OFDM when compared to 16 Quadrature Amplitude Modulation(QAM)mapped OFDM.
基金Project supported by the National Natural Science Foundation of China(Grant No.11174249)the National Key Basic Research Program,China(Grant No.2013CB329501)+1 种基金the National High-Technology Research and Development Program of China(Grant No.2011AA060504)the Fundamental Research Funds for the Central Universities(Grant No.2014FZA3002)
文摘The stabilizing and shifting of laser frequency are very important for the interaction between the laser and atoms. The modulation transfer spectroscopy for the 87Rb atom with D2 line transition F = 2 →F＇ = 3 is used for stabilizing and shifting the frequency of the external cavity grating feedback diode laser. The resonant phase modulator with electro-optical effect is used to generate frequency sideband to lock the laser frequency. In the locking scheme, circularly polarized pump- and probe-beams are used. By optimizing the temperature of the vapor, the pump- and probe-beam intensity, the laser linewidth of 280 kHz is obtained. Furthermore, the magnetic field generated by a solenoid is added into the system. Therefore the system can achieve the frequency locking at any point in a range of hundreds of megahertz frequency shifting with very low power loss.
文摘The relationship between phase shifts produced by two supersymmetric (SUSY) partner potentials has been examined critically. Phase shifts produced by two SUSY partner potentials bear a simple relation irrespective of being shape invariant potential (SIP) or not (non-SIP). In general, the phase shift cannot be obtained algebraically, even for standard SIPs except the Coulomb potential.
