Project Systems Engineering for Developing Space Robots

Space robots possess unique distinguishing features unlike general robots on earth, due to the particular environments in space. The developing of various practical space robots promoting the improvement of space science and technology is a complex man-machine-environment engineering problem. This paper analyses from the systems engineering viewpoint the space robot system in the scope of the architecture of robotics discipline, space environment characteristics, man-machine-environment system of space robots, the general methodology of project systems engineering and the process of space robot systems engineering.

Modified projective synchronization with complex scaling factors of uncertain real chaos and complex chaos

To increase the variety and security of communication, we present the definitions of modified projective synchronization with complex scaling factors （CMPS） of real chaotic systems and complex chaotic systems, where complex scaling factors establish a link between real chaos and complex chaos. Considering all situations of unknown parameters and pseudo-gradient condition, we design adaptive CMPS schemes based on the speed-gradient method for the real drive chaotic system and complex response chaotic system and for the complex drive chaotic system and the real response chaotic system, respectively. The convergence factors and dynamical control strength are added to regulate the convergence speed and increase robustness. Numerical simulations verify the feasibility and effectiveness of the presented schemes.

Wavelet-Based Mixed-Resolution Coding Approach Incorporating with SPT for the Stereo Image

With the advances of display technology, three-dimensional(3-D) imaging systems are becoming increasingly popular. One way of stimulating 3-D perception is to use stereo pairs, a pair of images of the same scene acquired from different perspectives. Since there is an inherent redundancy between the images of a stereo pairs, data compression algorithms should be employed to represent stereo pairs efficiently. The proposed techniques generally use block-based disparity compensation. In order to get the higher compression ratio, this paper employs the wavelet-based mixed-resolution coding technique to incorporate with SPT-based disparity-compensation to compress the stereo image data. The mixed-resolution coding is a perceptually justified technique that is achieved by presenting one eye with a low-resolution image and the other with a high-resolution image. Psychophysical experiments show that the stereo image pairs with one high-resolution image and one low-resolution image provide almost the same stereo depth to that of a stereo image with two high-resolution images. By combining the mixed-resolution coding and SPT-based disparity-compensation techniques, one reference (left) high-resolution image can be compressed by a hierarchical wavelet transform followed by vector quantization and Huffman encoder. After two level wavelet decompositions, for the low-resolution right image and low-resolution left image, subspace projection technique using the fixed block size disparity compensation estimation is used. At the decoder, the low-resolution right subimage is estimated using the disparity from the low-resolution left subimage. A full-size reconstruction is obtained by upsampling a factor of 4 and reconstructing with the synthesis low pass filter. Finally, experimental results are presented, which show that our scheme achieves a PSNR gain (about 0.92dB) as compared to the current block-based disparity compensation coding techniques.