Bioinspired 4D Trajectory Generation for a UAS Rapid Point-to-Point Movement

A bioinspired trajectory generation approach for Unmanned Aerial System （UAS） rapid Point-to-Point （PTP） movement was presented. The approach was based on general tau theory developed by biologists from observing and studying the behavior of birds and some other animals. We applied the bioinspired approach to the rapid PTP movement problem of a rotary UAS and derived two different trajectory planning strategies, namely, the tau coupling strategy and the intrinsic tau gravity guidance strategy. Based on general tau theory, according to the dynamic model of UAS, we presented a new strategy named intrinsic tau jerk guidance which can fit the movement that the initial acceleration of the UAS is zero. With new strategies, flight trajectory generation examples with a UAS were presented. The kinematics and dynamics analyses of the UAS for rapid PTP movement were presented with simulation results which show that the generated trajectories were feasible.

Simultaneous Accelerator Parallelization and Point-to-Point Interconnect Insertion for Bus-Based Embedded SoCs

As performance requirements for bus-based embedded System-on-Chips(So Cs) increase, more and more on-chip application-specific hardware accelerators(e.g., filters, FFTs, JPEG encoders, GSMs, and AES encoders) are being integrated into their designs. These accelerators require system-level tradeoffs among performance, area, and scalability. Accelerator parallelization and Point-to-Point(P2P) interconnect insertion are two effective system-level adjustments. The former helps to boost the computing performance at the cost of area,while the latter provides higher bandwidth at the cost of routability. What’s more, they interact with each other. This paper proposes a design flow to optimize accelerator parallelization and P2 P interconnect insertion simultaneously.To explore the huge optimization space, we develop an effective algorithm, whose goal is to reduce total So C latency under the constraints of So C area and total P2 P wire length. Experimental results show that the performance difference between our proposed algorithm and the optimal results is only 2.33% on average, while the running time of the algorithm is less than 17 s.

Influence of Scalp Point-to-Point Acupuncture on Serum sICAM1 in Patients with Acute Cerebral Infarction

Objective： To study the influence of different methods on serum soluble intercellular adhesion molecule1 （sICAM1） in patients with acute cerebral infarction. Methods： Double antibody enzyme-linked immunoadsorbent assay was used. Results and Conclusion： Scalp point-to-point acupuncture has a significant reducing effect on abnormally elevated serum sICAM1 in patients with acute cerebral infarction. Its curative effect is superior to that of simple Western medicine. There is a significant difference between them （P〈 0,05）.

Impact of a new teaching model on the fine cosmetic suturing operation and quantitative assessment of the training effect on plastic surgeons

Background Traditional lecture-based teaching(TLT)has long been the primary method of teaching plastic suturing techniques and even surgical education.It has been challenging to adapt this approach to fit the educational objectives of plastic surgery,which is a very practical science.Additionally,it is mainly teacher-led,and the course content is teacher-driven,which has disadvantages such as difficulty in motivating students and disconnection from clinical practice.Therefore,we developed a video point-to-point teaching(VPT)method and teamwork-based teaching(TBT)to study the effect of the new teaching model on fine cosmetic suturing operation(FCSO)and training outcomes for plastic surgeons.Methods We selected 30 junior doctors from the Department of Plastic and Reconstructive Surgery of the Chinese PLA General Hospital.All trainees were randomly assigned to three groups:TLT,VPT,and TBT.All trainees had their performances photographed,and a senior attending physician was appointed as a rater.We rated the process and results of FCSO according to a uniform rubric following the double-blind principle to compare the effects of different teaching modes on the trainees’FCSO and differences in training outcomes.Results There was no significant effect of video recording on trainees’FCSO(P>0.05).The total scores of the first suturing in the three groups were as follows:TLT group(13.18±1.66),VPT group(13.63±1.97),and TBT group(13.50±2.26),with no significant difference among the groups(P>0.05),indicating that the starting level of the trainees in the three groups was basically the same.There was no significant difference(P>0.05)between the VPT(20.30±2.17)and TBT(20.38±2.29)groups,but both of these groups were significantly better than the TLT group(16.43±1.86,P<0.01).Conclusion The TBT and VPT methods are significantly better than TLT.However,the TBT method is more economical and optimal for teachers and better utilizes students’initiative in learning and operation,which improves the teaching level and training efficiency.

Experimental Comparison Between PID Control and Friction Compensation Control for a Class of Nonlinear System with Friction

A point to? point positioning control of systems with highly nonlinear frictions is studied. In view of variable frictions caused by the changes of load torque, an experimental comparison was made between the valve? controlled hydraulic motor servo system with PID control and that with friction compensation control. Experimental results show that the gross steady errors are caused by frictions when the system is controlled by the conventional proportional control algorithm. Although the errors can be reduced by introducing the integral control, the limit cycle oscillation and the long setting time are caused. The positioning error for a constant load torque can be eliminated by using fixed friction compensation, but poor positioning accuracy is caused by the same fixed friction compensation when the load torques varies greatly. The dynamic friction compensation based on the error and change in error measurements can significantly improve the position precision in a broad range of the changes of load torque.

Algebraic Method‑Based Point‑to‑Point Trajectory Planning of an Under‑Constrained Cable‑Suspended Parallel Robot with Variable Angle and Height Cable Mast

To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.

Synchronization Control of the Oppositely Driven System with Dual Asymmetric Cylinders

ＳｙｎｃｈｒｏｎｉｚａｔｉｏｎＣｏｎｔｒｏｌｏｆｔｈｅＯｐｐｏｓｉｔｅｌｙＤｒｉｖｅｎＳｙｓｔｅｍｗｉｔｈＤｕａｌＡｓｙｍｍｅｔｒｉｃＣｙｌｉｎｄｅｒｓＷＡＮＧＸｕａｎｙｉｎ；ＬＩＵＱｉｎｇｈｅ；ＷＵＳｈｅｎｇｌｉｎ（王宣银，刘庆和，吴盛林）（Ｄｅｐ...

Computational Analysis of Performance for Heterogeneous Integrated System with Test Automation

Heterogeneity is inevitable in enterprises due to their various input requirements. The usage of proprietary integration products results in the increased cost of enterprises. During the integration, the focus area has been found to often address only the functional requirements, while the non-functional requirements are side-stepped during the initial stages of a project. Moreover, the use of proprietary integration products and non-standards-based integration platform has given rise to an inflexible integration infrastructure resulting in adaptability concerns. Web services-based integration, based on open standards, is deemed to be the only feasible solution in such cases. This paper explains the performance analysis of enterprise integration in heterogeneous environments for the distributed and the transactional applications. The analysis presented in this paper is seen as a step towards making intelligent decisions well in advance when choosing the integration mechanism/products to address the functional as well as the non-functional requirements considering the future integration needs.

浅谈内部通话系统的发展及实践心得

探讨通话系统的下一站在哪里;有哪些关键的技术将被使用;他们又是如何被整合在一起的。此外,本文还将讨论Cable-agnostic传输、蜂窝网络通话系统和基于角色的配置等新概念。

Mode switch between SFN and PTP for multicast services in LTE networks

The multimedia broadcast and multicast services (MBMS) in 3GPP LTE is characterized by multicast broadcast single frequency network (MBSFN) operation. The multicast services are transmitted by single frequency network (SFN) mode, and the unicast services are delivered with point-to-point (PTP) mode. To minimize the demanded radio resources for multicast services in the LTE, a novel mode switch (MS) between SFN and PTP for multicast services is proposed. MS takes into account PTP mode for multicast services and the switch is based on the handover threshold. To solve the minimization problem, MS adapts the handover threshold with the difference in the demanded radio resources between SFN mode and PTP mode for multicast services. The simulation results show that the proposed MS achieves less demanded radio resources than SFN mode for all the multicast services.

New Concept for Calculating DC Harmonic Voltages and Currents in BTB HVDC Converters

This paper deals with a new concept for calculating DC harmonic voltages and currents of line- commutated HVDC systems. In contrast to the conventional method, this method is useful for BTB (Back-To-Back) HVDC systems without smoothing reactors or PTP (Point-To-Point) with very short transmission line. This method proposes a new direction for HVDC system design and analysis. The proposed method is applied to a 50 Hz/60 Hz BTB test system and a synchronized BTB test system. After simulation and verification, the new results are introduced.

Statistical Multiplexing of Homogeneous Streams results in Linear Bandwidth Gains

Statistical multiplexing of traffic streams results in reduced network bandwidth requirement. The resulting gain increases with the increase in the number of streams being multiplexed together. However, the exact shape of the gain curve, as more and more streams are multiplexed together, is not known. In this paper, we first present the generalized result that the statistical gain of combining homogeneous traffic streams, of any traffic type, is a linear function of the number of streams being multiplexed. That is, given a fixed Quality of Service (QoS) constraint, like percentile delay, D, the bandwidth requirement of n streams to satisfy the delay constraint D is n x R x c where R is the bandwidth requirement of a single stream that satisfies the constraint D and c e (0,1]. We present the linear bandwidth gain result, using an extensive simulation study for video traces, specifically, streaming video (IPTV traces) and interactive video (CISCO Telepresence traces). The linear bandwidth gain result is then verified using analytical tools from two different domains. First, we validate the linearity using Queueing Theory Analysis, specifically using Interrupted Poisson Process (IPP) and Markov Modulated Poisson Process (MMPP) modeling. Second, we formally prove the linear behavior using the Asymptotic Analysis of Algorithms, specifically, the Big-O analysis.

Kinematic mechanism and path planning of the Essboard

In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We first investigate the relationship between the tilt angles of the pedals and the wheel directions of the casters. This relationship reveals how to control the wheel directions by adjusting the tilt angles. Next, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different than that of the Snakeboard. Then we develop a path-planning algorithm for the Essboard to move from a start position to the goal, using a series of consecutively connected arcs, which are tangent to each other at the connected points. It is shown from a kinematic point of view that the path planning of the Essboard can be solved by a series of pairs of pedals' tilt angles. Three experiments are conducted to confirm the correctness of the main results. The results in this paper are a foundation for further study of the Essboard.

Third-order trajectory planning for high accuracy point-topoint motion

This article studies a third-order trajectory planning method for point-to-point motion.All available instances for third-order trajectory planning are first analyzed.To distinguish those,three criteria are presented relying on trajectory characteristics.Following that,a fast preprocessing approach considering the trajectory as a whole is given based on the criteria constructed and system constraints.Also,the time-optimality of the trajectory is obtained.The relevant formulas are derived with the combination of geometrical symmetry of trajectory and area method.As a result,an accurate algorithm and its implementation procedure are proposed.The experimental results show the effectiveness and precision of the proposed method.The presented algorithm has been applied in semiconductor manufacturing equipment successfully.

Means and verification of broadcast technology applied to laser transmission on horizontal link

At present, there has been great progress in the field of the point-to-point laser communication technology, in other words, the traditional laser communication technology has been advanced day by day. Furthermore, in order to search for an effective means of achieving localized laser broadcasting communication within a limited range, an effective method of horizontal link laser broadcasting communication is presented, and the corresponding verifiable broadcast communication system is designed. In addition, the laser broadcasting is systematically studied by one physical model built at the optimal distribution of optical power. First of all, the theoretical model of laser beam expansion and the theoretical model of parallel light curtain are made comparisons and analyzed from the angle of attenuation of optical power, and the optical power loss model of the parallel light curtain is established as a result. Secondly, combined with the theory of optical imaging transformation based on Gaussian beam, the field distribution of far field of parallel light curtain is simulated by one leading optical and illumination design software and the relation between the filed distribution of far field of light curtain and the distance of transmission is revealed. Finally, the superiority and feasibility of the parallel light curtain theory model are verified by field communication experiments in different information channels.