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高技术通讯 - 期刊列表
简明目录 摘要目录
2821  
  封面
 
  2017-9-13 15:34:51 [摘要] [HTML] [PDF]
2820  
  目录
 
  2017-9-13 15:30:45 [摘要] [HTML] [PDF]
2819  Lei Jingtao (雷静桃), Zhu Jianmin, Wu Jiandong
  Trajectory tracking control of the bionic joint of the musculoskeletal leg mechanism
  Abstract
Pneumatic artificial muscles (PAMs) have properties similar to biological muscles, which are widely used in robotics as actuators. It is difficult to achieve highprecision position control for robotics system driven by PAMs. A 3DOF musculoskeletal bionic leg mechanism is presented, which is driven by PAMs for quadruped robots. PAM is used to simulate the compliance of biological muscle. The kinematics of the leg swing is derived, and the foot desired trajectory is planned as the sinusoidal functions. The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints. A proportional integral derivative (PID) algorithm is presented for controlling the flexion/extension of the joint. The trajectory tracking results of joints and the PAM gas pressure are obtained. Experimental results show that the developed leg mechanism exhibits good biological properties.
Key words: musculoskeletal leg mechanism, swing, bionic joint, trajectory tracking, proportional integral derivative (PID) control
  2017-9-13 15:28:28 [摘要] [HTML] [PDF]
2818  Xu Yougen (徐友根), Yin Bingjie, Liu Zhiwen
  Robust adaptive beamforming for constant modulus signal of interest
  Abstract
It is required in the diagonally loaded robust adaptive beamforming the automatic determination of the loading level which is practically a challenging problem. A constant modulus restoral method is herein presented to choose the diagonal loading level adaptively for the extraction of a desired signal with constant modulus (a common feature of the phase modulation signals). By introducing the temporal smoothing technique, the proposed constant modulus restoral diagonally loaded robust adaptive beamformer provides increased capability compared with some existing robust adaptive beamformers in rejecting interferences and noise while protecting the signalofinterest. Simulation results are included to illustrate the performance of the proposed beamformer.
Key words: array signal processing, robust adaptive beamforming, diagonal loading, constant modulus
  2017-9-13 15:27:16 [摘要] [HTML] [PDF]
2817  Liu Yuzhe (刘宇哲), Wu Jun, Wang Liping, Zhao Jingshan, Wang Jinsong, Yu Guang
  A novel symmetrical 3DOF PKM and its performance comparison with 3PRS PKM
  Abstract
A novel symmetrical 3degreeoffreedom (DOF) parallel kinematic manipulator (PKM) is firstly presented, which is named 3P (Qu) RU. According to the structure feature, a double closed loop vector method is proposed to investigate this PKM.Based on this method, kinematic, velocity and error models of this manipulator are established respectively. Since3PRS PKM has been applied successfully in practice and its structure is similar to the 3P (Qu) RU PKM, corresponding models of a 3PRS PKM are given and a performance comparison study between them is investigated on workspace, manipulator dexterity, position error and error sensitivity. The comparison results reveal that the 3P (Qu) RU PKM has the advantage on velocity performance and the disadvantage on accuracy performance. This novel 3P (Qu) RU PKM is an available selection for a tool head of a hybrid machine tool and the analysis is greatly helpful for the further applications of this manipulator.
Key words: comparison study, parallel kinematic manipulator(PKM), kinematics, velocity, error
  2017-9-13 15:24:16 [摘要] [HTML] [PDF]
2816  Zhang Shaolin (张少林), Jing Fengshui, Wang Shuo
  A transition method based on Bezier curve for trajectory planning in cartesian space
  Abstract
In order to smooth the trajectory of a robot and reduce dwell time, a transition curve is introduced between two adjacent curves in threedimensional space. G2 continuity is guaranteed to transit smoothly. To minimize the amount of calculation, cubic and quartic Bezier curves are both analyzed. Furthermore, the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation. How to define the transition points for different curves is presented. A general move command interface is defined for receiving the curve limitations and transition parameters. Then, how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given. Different situations are discussed separately, including transition between two lines, transition between a line and a circle, and transition between two circles. Finally, the experiments are carried out on a six degree of freedom (DOF) industrial robot to validate the proposed method. Results of single transition and multiple transitions are presented. The trajectories in the joint space are also analyzed. The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.
Key words: transition method, Bezier curve, G2 continuity, transition constraint
  2017-9-13 15:22:08 [摘要] [HTML] [PDF]
2815  Hu Zhentao (胡振涛), Zhang Jin, Fu Chunling, Li Xian
  Maneuvering target tracking algorithm based on CDKF in observation bootstrapping strategy
  Abstract
The selection and optimization of model filters affect the precision of motion pattern identification and state estimation in maneuvering target tracking directly. Aiming at improving performance of model filters, a novel maneuvering target tracking algorithm based on central difference Kalman filter in observation bootstrapping strategy is proposed. The framework of interactive multiple model (IMM) is used to realize identification of motion pattern, and a central difference Kalman filter(CDKF) is selected as the model filter of IMM. Considering the advantage of multisensor fusion method in improving the stability and reliability of observation information, the hardware cost of the observation system for multiple sensors is adopted, meanwhile, according to the data assimilation technique in Ensemble Kalman filter(EnKF), a bootstrapping observation set is constructed by integrating the latest observation and the prior information of observation noise. On that basis, these bootstrapping observations are reasonably used to optimize the filtering performance of CDKF by means of weight fusion way. The object of new algorithm is to improve the tracking precision of observed target by the multisensor fusion method without increasing the number of physical sensors. The theoretical analysis and experimental results show the feasibility and efficiency of the proposed algorithm.
Key words: maneuvering target tracking, interacting multiple model (IMM), central difference Kalman filter (CDKF), bootstrapping observation
  2017-9-13 15:20:17 [摘要] [HTML] [PDF]
2814  Yan Jianen (闫健恩), Zhang Zhaoxin, Shen Yinghong
  A study on IPbased hierarchical routing strategy in network simulation
  Abstract
The intrinsic routing policy of NS2—a network simulation tool— based on flat or hierarchical address has the disadvantage such as small topology scale, high resource consumption, low efficiency and so on. This paper proposes an IPbased hierarchical routing strategy in network simulation to extend the topology scale and improve performance in simulating. Firstly, a stratification mechanism to identify IP address of nodes is described. Then, an algorithm of packet transmitting method (PTM) is presented for packet forwarding in the same subnet. Finally, algorithms of region partition (RP), routing computation based on region division (RCBRD) and routing distribution (RD) is proposed to implement regional segmentation, route calculation and route distribution for forwarding packets in different subnets respectively. The experiment results show that under the same condition, compared with plane address, the topology scale of the network simulation is extended two times and the consumption of time and memory during simulation is reduced by approximately 73% and 45.8% respectively. Compared with hierarchical address, the topology scale of the network simulation is expanded by more than 50%, and the consumption of time and memory is reduced by about 59.2% and 25% respectively. In addition, along with the growth of the node size, the proportion of reducing total simulation time and memory consumption would gradually increase.
Key words: network simulation, routing policy, plane routing, hierarchical routing
  2017-9-13 15:16:30 [摘要] [HTML] [PDF]
2813  Xu Dongfu (徐东甫), Pei Xinbiao, Bai Yue, Peng Cheng,Wu Ziyi, Xu Zhijun
  Altitude information fusion method and experiment for UAV
  Abstract
Altitude regulation is a fundamental problem in UAV (unmanned aerial vehicles) control to ensure hovering and autonomous navigation performance. However, data from altitude sensors may be unstable by interference. A digitalfilterbased improved adaptive Kalman method is proposed to improve accuracy and reliability of the altitude measurement information.A unique sensor data fusion structure is designed to make different sensors switch automatically in different environment. Simulation and experimental results show that an improved SageHusa adaptive extended Kalman filter (SHAEKF) is adopted in altitude data fusion which means that altitude error is limited to 1.5m in high altitude and 1.2m near the ground. This method is proved feasible and effective through hovering flight test and threedimensional track flight experiment.
Key words: unmanned aerial vehicles (UAV), altitude information fusion, multisensor, adaptive Kalman filter
  2017-9-13 15:14:38 [摘要] [HTML] [PDF]
2812  Yang Xiumei (杨秀梅), Wang Jiang, Wang Rui, Zhou Ting
  Closedform interference alignment with heterogeneous degrees of freedom
  Abstract
Interference alignment (IA) has been recognized as a promising technique for obtaining the optimal degrees of freedom (DOF) in interference networks. A closedform interference alignment design is proposed for threecell uplink transmissions with heterogeneous DOFs. By exploiting the heterogeneity of DOFs from different transmission links, full or partial interference alignment precoders are calculated at each base station (BS). Aided by information exchange among BSs, the precoders can be finally obtained for all transmission links. Comparing to existing IA methods, the proposed scheme has a closedform expression. Furthermore, there is no need to go through the iterative adaptation or jointly calculate the precoder and the equalizer. Simulation results show that the proposed design is able to achieve the optimal DOF performance with the advantage of perfect alignment capabilities.
Key words: interference alignment (IA), heterogeneous DOFs, precoder design
  2017-9-13 15:12:27 [摘要] [HTML] [PDF]
2811  Li Wenfa (李文法), Wang Gongming, Li Ke, Huang Su
  Similarity measurement method of highdimensional data based on normalized net lattice subspace
  Abstract
The performance of conventional similarity measurement methods is affected seriously by the curse of dimensionality of highdimensional data. The reason is that data difference between sparse and noisy dimensionalities occupies a large proportion of the similarity, leading to the dissimilarities between any results. A similarity measurement method of highdimensional data based on normalized net lattice subspace is proposed. The data range of each dimension is divided into several intervals, and the components in different dimensions are mapped onto the corresponding interval. Only the component in the same or adjacent interval is used to calculate the similarity. To validate this method, three data types are used, and seven common similarity measurement methods are compared. The experimental result indicates that the relative difference of the method is increasing with the dimensionality and is approximately two or three orders of magnitude higher than the conventional method. In addition, the similarity range of this method in different dimensions is [0, 1], which is fit for similarity analysis after dimensionality reduction.
Key words: highdimensional data, the curse of dimensionality, similarity, normalization, subspace, NPsim
  2017-9-13 15:06:00 [摘要] [HTML] [PDF]
2810  Zhang Xiuxia (张秀霞), Tan Guangming, Chen Mingyu, Yao Erlin
  A case study of 3D RTMTTI algorithm on multicore and manycore platforms
  Abstract
3D reverse time migration in tiled transversly isotropic (3D RTMTTI) is the most precise model for complex seismic imaging. However, vast computing time of 3D RTMTTI prevents it from being widely used, which is addressed by providing parallel solutions for 3D RTMTTI on multicores and manycores. After data parallelism and memory optimization, the hot spot function of 3D RTMTTI gains 35.99X speedup on two Intel Xeon CPUs, 89.75X speedup on one Intel Xeon Phi, 89.92X speedup on one NVIDIA K20 GPU compared with serial CPU baseline. This study makes RTMTTI practical in industry. Since the computation pattern in RTM is stencil, the approaches also benefit a wide range of stencilbased applications.
Key words: 3D RTMTTI, Intel Xeon Phi, NVIDIA K20 GPU, stencil computing, manycore, multicore, seismic imaging
  2017-9-13 15:03:09 [摘要] [HTML] [PDF]
2809  Lydia Lazib, Zhao Yanyan, Qin Bing, Liu Ting
  Negation scope detection with a conditional random field model
  Abstract
Identifying negation cues and their scope in a text is an important subtask of information extraction that can benefit other natural language processing tasks, including but not limited to medical data mining, relation extraction, question answering and sentiment analysis. The tasks of negation cue and negation scope detection can be treated as sequence labelling problems. In this paper, a system is presented having two components: negation cue detection and negation scope detection. In the first phase, a conditional random field (CRF) model is trained to detect the negation cues using a lexicon of negation words and some lexical and contextual features. Then, another CRF model is trained to detect the scope of each negation cue identified in the first phase, using basic lexical and contextual features. These two models are trained and tested using the dataset distributed within the *Sem Shared Task 2012 on resolving the scope and focus of negation. Experimental results show that the system outperformed all the systems submitted to this shared task.
Key words: negation detection, negation cue detection, negation scope detection, natural language processing
  2017-9-13 14:59:19 [摘要] [HTML] [PDF]
2808  Wang Haiping (王海平), Zhang Hong, Wang Yong, Bing Jia
  Mining potential social relationship with active learning in LBSN
  Abstract
Rapid development of localbased social network (LBSN) makes it more convenient for researchers to carry out studies related to social network. Mining potential social relationship in LBSN is the most important one. Traditionally, researchers use topological relation of social network or telecommunication network to mine potential social relationship. But the effect is unsatisfactory as the network can not provide complete information of topological relation. In this work, a new model called PSRMAL is proposed for mining potential social relationships with LBSN. With the model, better performance is obtained and guaranteed, and experiments verify the effectiveness.
Key words: data preprocessing, feature fusion, active learning
  2017-9-13 14:57:02 [摘要] [HTML] [PDF]
2807  Guo Rui(郭锐), Shi Yu, Wang Chao, Tian Yaya, Zhao Jingyi
  Research on adaptive antirollover control of kiloton bridge transporting and laying vehicles
  Abstract
The SPMT construction method is a new rapid construction technology of large urban overpass with unblocked traffic, and unstability of SPMT construction method equipment cannot be accurately described due to the concrete beam size, irregular shape and complex transport conditions, which is called kiloton bridge transporting and laying vehicle. The antirollover performance of SPMT suspension system is studied, and vehicle side slip angle and load transfer rate (LTR) are regarded as the evaluation indexes. An active suspension adaptive antirollover control model of SPMT, in which roll stability affected by the structural parameters and control parameters, is built based on fuzzy PID, and the effectiveness of the control method is verified through real vehicle test.
Key words:kiloton bridge transporting and laying vehicle, SPMT construction method, active suspension, adaptive antirollover control
  2017-9-13 14:54:33 [摘要] [HTML] [PDF]
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