Filter bank multicarrier quadrature amplitude modulation(FBMC-QAM)will encounter inter-ference and noise during the process of channel transmission.In order to suppress the interference in the communication system,cha...Filter bank multicarrier quadrature amplitude modulation(FBMC-QAM)will encounter inter-ference and noise during the process of channel transmission.In order to suppress the interference in the communication system,channel equalization is carried out at the receiver.Given that the con-ventional least mean square(LMS)equilibrium algorithm usually suffer from drawbacks such as the inability to converge quickly in large step sizes and poor stability in small step sizes when searching for optimal weights,in this paper,a design scheme for adaptive equalization with dynamic step size LMS optimization is proposed,which can further improve the convergence and error stability of the algorithm by calling the Sigmoid function and introducing three new parameters to control the range of step size values,adjust the steepness of step size,and reduce steady-state errors in small step sta-ges.Theoretical analysis and simulation results demonstrate that compared with the conventional LMS algorithm and the neural network-based residual deep neural network(Res-DNN)algorithm,the adopted dynamic step size LMS optimization scheme can not only obtain faster convergence speed,but also get smaller error values in the signal recovery process,thereby achieving better bit error rate(BER)performance.展开更多
An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,a...An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.展开更多
基金the National Natural Science Foundation of China(No.61601296,61701295)the Science and Technology Innovation Action Plan Project of Shanghai Science and Technology Commission(No.20511103500)the Talent Program of Shanghai University of Engineering Science(No.2018RC43).
文摘Filter bank multicarrier quadrature amplitude modulation(FBMC-QAM)will encounter inter-ference and noise during the process of channel transmission.In order to suppress the interference in the communication system,channel equalization is carried out at the receiver.Given that the con-ventional least mean square(LMS)equilibrium algorithm usually suffer from drawbacks such as the inability to converge quickly in large step sizes and poor stability in small step sizes when searching for optimal weights,in this paper,a design scheme for adaptive equalization with dynamic step size LMS optimization is proposed,which can further improve the convergence and error stability of the algorithm by calling the Sigmoid function and introducing three new parameters to control the range of step size values,adjust the steepness of step size,and reduce steady-state errors in small step sta-ges.Theoretical analysis and simulation results demonstrate that compared with the conventional LMS algorithm and the neural network-based residual deep neural network(Res-DNN)algorithm,the adopted dynamic step size LMS optimization scheme can not only obtain faster convergence speed,but also get smaller error values in the signal recovery process,thereby achieving better bit error rate(BER)performance.
基金supported by Foundation of key Laboratory of AI and Information Processing of Education Department of Guangxi(No.2022GXZDSY002)(Hechi University),Foundation of Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Nos.2022GKLACVTKF04,2023GKLACVTZZ06)。
文摘An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.
