This paper presents a type system, called Location System (L-S), to control the interferences in the ambient-like calculi. The L-S allows well-behaved (non-interfering) processes to run in parallel if they do not acce...This paper presents a type system, called Location System (L-S), to control the interferences in the ambient-like calculi. The L-S allows well-behaved (non-interfering) processes to run in parallel if they do not access shared location during their execution life cycle. This approach is designed for a variant of Mobile Ambient (MA), called Safe Mobile Resources (SR), but it can be also used in other ambient-like calculi which are also discussed in this paper.展开更多
It is necessary for an MC-CDMA uplink receiver to employ MUD (multiuser detection) in a frequency selective fading channel. After analyzing the algorithm of PIC(parallel interference cancellation) MUD, a novel MUD sch...It is necessary for an MC-CDMA uplink receiver to employ MUD (multiuser detection) in a frequency selective fading channel. After analyzing the algorithm of PIC(parallel interference cancellation) MUD, a novel MUD scheme, Soft-PIC (soft parallel interference cancellation) is proposed. Based on the reliability of each detected user signal in the former stage, this Soft-PIC detection scheme substitutes a soft decision of the variable for the hard decision in PIC scheme. Compared with the PIC scheme, it can reconstruct the interference signals more accurately and eliminate MAI(multiple access interference) in a more efficient way.PIC is one of the most practical schemes in numerous multiuser detection technologies. However, Soft-PIC as an improved PIC scheme deserves further study.展开更多
In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF ...In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF or resolution of the discrete configuration space increases. So this paper presents the collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm. We made wavelet sample on the desired trajectory of the manipulator’s end-effector to do trajectory planning by use of the proposed wavelet interpolation formula, and then derived joint vectors from the trajectory information of the end-effector based on the fixed-attitude-restrained generalized Jacobian matrix of multi-arm coordinated motion, so as to control the manipulator to capture a static body along the desired collision-free trajectory. The method overcomes the shortcomings of the typical methods, and the desired trajectory of the end-effector can be any kind of complex nonlinear curve. The algorithm is simple and highly effective and the real trajectory is close to the desired trajectory. In simulation, the planar dual-arm three DOF space robot is used to demonstrate the proposed method, and it shows that the algorithm is feasible.展开更多
基金Project supported by the National Natural Science Foundation of China (No. 60173033) and the Shanghai Science and Technology Development Foundation (No. 03DZ15027), China
文摘This paper presents a type system, called Location System (L-S), to control the interferences in the ambient-like calculi. The L-S allows well-behaved (non-interfering) processes to run in parallel if they do not access shared location during their execution life cycle. This approach is designed for a variant of Mobile Ambient (MA), called Safe Mobile Resources (SR), but it can be also used in other ambient-like calculi which are also discussed in this paper.
文摘It is necessary for an MC-CDMA uplink receiver to employ MUD (multiuser detection) in a frequency selective fading channel. After analyzing the algorithm of PIC(parallel interference cancellation) MUD, a novel MUD scheme, Soft-PIC (soft parallel interference cancellation) is proposed. Based on the reliability of each detected user signal in the former stage, this Soft-PIC detection scheme substitutes a soft decision of the variable for the hard decision in PIC scheme. Compared with the PIC scheme, it can reconstruct the interference signals more accurately and eliminate MAI(multiple access interference) in a more efficient way.PIC is one of the most practical schemes in numerous multiuser detection technologies. However, Soft-PIC as an improved PIC scheme deserves further study.
文摘In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF or resolution of the discrete configuration space increases. So this paper presents the collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm. We made wavelet sample on the desired trajectory of the manipulator’s end-effector to do trajectory planning by use of the proposed wavelet interpolation formula, and then derived joint vectors from the trajectory information of the end-effector based on the fixed-attitude-restrained generalized Jacobian matrix of multi-arm coordinated motion, so as to control the manipulator to capture a static body along the desired collision-free trajectory. The method overcomes the shortcomings of the typical methods, and the desired trajectory of the end-effector can be any kind of complex nonlinear curve. The algorithm is simple and highly effective and the real trajectory is close to the desired trajectory. In simulation, the planar dual-arm three DOF space robot is used to demonstrate the proposed method, and it shows that the algorithm is feasible.
