The collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm

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.

Wavelet Multi-Resolution Interpolation Galerkin Method for Linear Singularly Perturbed Boundary Value Problems

In this study,a wavelet multi-resolution interpolation Galerkin method(WMIGM)is proposed to solve linear singularly perturbed boundary value problems.Unlike conventional wavelet schemes,the proposed algorithm can be readily extended to special node generation techniques,such as the Shishkin node.Such a wavelet method allows a high degree of local refinement of the nodal distribution to efficiently capture localized steep gradients.All the shape functions possess the Kronecker delta property,making the imposition of boundary conditions as easy as that in the finite element method.Four numerical examples are studied to demonstrate the validity and accuracy of the proposedwavelet method.The results showthat the use ofmodified Shishkin nodes can significantly reduce numerical oscillation near the boundary layer.Compared with many other methods,the proposed method possesses satisfactory accuracy and efficiency.The theoretical and numerical results demonstrate that the order of theε-uniform convergence of this wavelet method can reach 5.

Statistical Modeling with a Hidden Markov Tree and High-resolution Interpolation for Spaceborne Radar Reflectivity in the Wavelet Domain

With the increasing availability of precipitation radar data from space,enhancement of the resolution of spaceborne precipitation observations is important,particularly for hazard prediction and climate modeling at local scales relevant to extreme precipitation intensities and gradients.In this paper,the statistical characteristics of radar precipitation reflectivity data are studied and modeled using a hidden Markov tree(HMT)in the wavelet domain.Then,a high-resolution interpolation algorithm is proposed for spaceborne radar reflectivity using the HMT model as prior information.Owing to the small and transient storm elements embedded in the larger and slowly varying elements,the radar precipitation data exhibit distinct multiscale statistical properties,including a non-Gaussian structure and scale-to-scale dependency.An HMT model can capture well the statistical properties of radar precipitation,where the wavelet coefficients in each sub-band are characterized as a Gaussian mixture model(GMM),and the wavelet coefficients from the coarse scale to fine scale are described using a multiscale Markov process.The state probabilities of the GMM are determined using the expectation maximization method,and other parameters,for instance,the variance decay parameters in the HMT model are learned and estimated from high-resolution ground radar reflectivity images.Using the prior model,the wavelet coefficients at finer scales are estimated using local Wiener filtering.The interpolation algorithm is validated using data from the precipitation radar onboard the Tropical Rainfall Measurement Mission satellite,and the reconstructed results are found to be able to enhance the spatial resolution while optimally reproducing the local extremes and gradients.

Wavelet multiresolution interpolation Galerkin method for nonlinear boundary value problems with localized steep gradients

The wavelet multiresolution interpolation for continuous functions defined on a finite interval is developed in this study by using a simple alternative of transformation matrix.The wavelet multiresolution interpolation Galerkin method that applies this interpolation to represent the unknown function and nonlinear terms independently is proposed to solve the boundary value problems with the mixed Dirichlet-Robin boundary conditions and various nonlinearities,including transcendental ones,in which the discretization process is as simple as that in solving linear problems,and only common two-term connection coefficients are needed.All matrices are independent of unknown node values and lead to high efficiency in the calculation of the residual and Jacobian matrices needed in Newton’s method,which does not require numerical integration in the resulting nonlinear discrete system.The validity of the proposed method is examined through several nonlinear problems with interior or boundary layers.The results demonstrate that the proposed wavelet method shows excellent accuracy and stability against nonuniform grids,and high resolution of localized steep gradients can be achieved by using local refined multiresolution grids.In addition,Newton’s method converges rapidly in solving the nonlinear discrete system created by the proposed wavelet method,including the initial guess far from real solutions.

Scalable video object coding & QoS control for next generation space internet

The next generation space internet （NGSI） is based on all-IP-based mobile network that merges land-based network, sea-based network, sky-based network, spacebased network, deep space-based network together using existing assess network technologies. There are high signal propagation delays, high error rate, bandwidth variation and time-variety in NGSh In order to adapt to various space communication environment constraints and bandwidth variation, we propose a reduced dimension scalable video coding scheme based on CCSDS IDCS algorithm and quality of service （QoS） control method by cross layer design （CLD）. The experimental result shows that this new method has better performance than that of existing algorithms, and can be adaptive to the bandwidth variation dynamically.