The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints.Compared with the method of changing the mobility by physical locking joints,the geometric constrai...The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints.Compared with the method of changing the mobility by physical locking joints,the geometric constraint has good controllability,and the constructed parallel mechanism has more configurations and wider application range.This paper presents a reconfigurable axis(rA)joint inspired and evolved from Rubik’s Cubes,which have a unique feature of geometric and physical constraint of axes of joint.The effectiveness of the rA joint in the construction of the limb is analyzed,resulting in a change in mobility and topology of the parallel mechanism.The rA joint makes the angle among the three axes inside the groove changed arbitrarily.This change in mobility is completed by the case illustrated by a 3(rA)P(rA)reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations,pure rotations.The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors,leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint.The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases.The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.展开更多
准循环重复累积(Quasi⁃Cyclic Repeat Accumulate,QC⁃RA)码具有准循环低密度奇偶校验(Low Density Parity Check,LDPC)码的优点,同时能实现差分编码且为系统码,非常适用于编码协作系统,文中研究采用QC⁃RA码的编码协作系统。首先,提出基...准循环重复累积(Quasi⁃Cyclic Repeat Accumulate,QC⁃RA)码具有准循环低密度奇偶校验(Low Density Parity Check,LDPC)码的优点,同时能实现差分编码且为系统码,非常适用于编码协作系统,文中研究采用QC⁃RA码的编码协作系统。首先,提出基于最大公约数(Greatest Common Divisor,GCD)定理的QC⁃RA码构造方法;然后,进一步基于GCD定理联合构造编码协作系统信源节点与中继节点采用的QC⁃RA码,并从理论上证明基于该联合构造方法得到的编码协作系统QC⁃RA码无girth⁃4、girth⁃6环。仿真结果表明,采用QC⁃RA码的编码协作系统相对于点对点系统具有明显的性能增益;同时,与采用大列重构造QC⁃RA的编码协作相比,采用文中基于GCD定理联合构造的QC⁃RA码的编码协作误码率性能更加优异。展开更多
为解决编码协作系统中继节点的能量受限问题,研究了面向能量收集的编码协作系统。首先,提出了面向能量收集的重复积累(repeat-accumulate,RA)编码协作方案,分析了系统的中断概率;其次,推导出了对应于信源节点与协作中继采用的RA码的联...为解决编码协作系统中继节点的能量受限问题,研究了面向能量收集的编码协作系统。首先,提出了面向能量收集的重复积累(repeat-accumulate,RA)编码协作方案,分析了系统的中断概率;其次,推导出了对应于信源节点与协作中继采用的RA码的联合校验矩阵,并通过联合设计,消除了该矩阵中所有两种类型的girth-4环。理论分析与仿真结果表明,与传统非能量收集的点对点系统比,所提方案大大降低了系统中断概率。与采用随机低密度奇偶检验码(low density parity-check,LDPC)码的编码协作方案相比,采用联合设计RA码的系统误码性能更为优越。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51775052)Natural Science Basic Research Plan in Shaanxi Province of China(Grant No.2019JM-181)Beijing Municipal Key Laboratory of Spaceground Interconnection and Convergence of China.
文摘The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints.Compared with the method of changing the mobility by physical locking joints,the geometric constraint has good controllability,and the constructed parallel mechanism has more configurations and wider application range.This paper presents a reconfigurable axis(rA)joint inspired and evolved from Rubik’s Cubes,which have a unique feature of geometric and physical constraint of axes of joint.The effectiveness of the rA joint in the construction of the limb is analyzed,resulting in a change in mobility and topology of the parallel mechanism.The rA joint makes the angle among the three axes inside the groove changed arbitrarily.This change in mobility is completed by the case illustrated by a 3(rA)P(rA)reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations,pure rotations.The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors,leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint.The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases.The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.
文摘准循环重复累积(Quasi⁃Cyclic Repeat Accumulate,QC⁃RA)码具有准循环低密度奇偶校验(Low Density Parity Check,LDPC)码的优点,同时能实现差分编码且为系统码,非常适用于编码协作系统,文中研究采用QC⁃RA码的编码协作系统。首先,提出基于最大公约数(Greatest Common Divisor,GCD)定理的QC⁃RA码构造方法;然后,进一步基于GCD定理联合构造编码协作系统信源节点与中继节点采用的QC⁃RA码,并从理论上证明基于该联合构造方法得到的编码协作系统QC⁃RA码无girth⁃4、girth⁃6环。仿真结果表明,采用QC⁃RA码的编码协作系统相对于点对点系统具有明显的性能增益;同时,与采用大列重构造QC⁃RA的编码协作相比,采用文中基于GCD定理联合构造的QC⁃RA码的编码协作误码率性能更加优异。
文摘为解决编码协作系统中继节点的能量受限问题,研究了面向能量收集的编码协作系统。首先,提出了面向能量收集的重复积累(repeat-accumulate,RA)编码协作方案,分析了系统的中断概率;其次,推导出了对应于信源节点与协作中继采用的RA码的联合校验矩阵,并通过联合设计,消除了该矩阵中所有两种类型的girth-4环。理论分析与仿真结果表明,与传统非能量收集的点对点系统比,所提方案大大降低了系统中断概率。与采用随机低密度奇偶检验码(low density parity-check,LDPC)码的编码协作方案相比,采用联合设计RA码的系统误码性能更为优越。
