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Simulation of Robot Manipulator Trajectory Optimization Design

Simulation of Robot Manipulator Trajectory Optimization Design

The robot trajectory has a significant effect on the robot's energy consumption, life expectancy and its working efficiency. For the robot trajectory optimization problem, domestic and foreign scholars have a lot of research. Gong Li used the genetic algorithm to improve the length of the manipulator [1], so that the dynamic performance of the robot was improved, but the method was too complicated and the use was very difficult. Wang Huifang used the B-spline to simulate the joint trajectory of the joint space [2] Dominate the sorting genetic algorithm to optimize the energy of the joint space and the impact of the joint. However, using the B-spline interpolation point, the larger the interpolation order, the larger the interpolation point and the interpolation order will lead to discontinuous, Wang Xin used the third-order polynomial to simulate the motion trajectory of the joint space [3] and used the classical genetic algorithm to optimize the time and energy of the joint motion, but the traditional genetic algorithm solution set was not enough To ensure that the end trajectory can correspond to the planning trajectory.
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Joint-space recipes for manipulator robots performing compliant motion tasks : trajectory-optimization, interpolation, and control

Joint-space recipes for manipulator robots performing compliant motion tasks : trajectory-optimization, interpolation, and control

Comparatively, boundary problem is much more complicated. Gregory and Yang [28] showed the discretized Euler-Lagrange equation for computing the resulting curve’s intermediate discretized points, and the equation is derived through pick- ing a special perturbation function z(t) whose integral and derivative’s integral is known. Levin et al. [40] obtained similar results as what Gregory and Yang have got, but their analysis is done by representing the whole cost function with the discretized y(t) (with which ˙ y(t) is approximated), then apply the Gauss-Newton algorithm to perform the optimization process (they somehow convert the overall cost function into a summation of plenty of quadratical forms).
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Design of an Apple-Picking End Effector

Design of an Apple-Picking End Effector

A motor-driven end effector with 9 degrees of freedom has been designed. Information of the joint position is transmitted to the potentiometer through gears to realize the position control for the finger joint. The maximum torque of the finger joint motor is verified by imposing a load on the end effector fingertip under the parabola-straight line angular velocity curve. The single-finger coordinate system and the whole-hand coordinate system are established for the end effector through the Denavit–Hartenberg (D-H) method. The forward kinematics and inverse kinematics analysis of the end effector are carried out. To realize the stationary motion of the end effector, the basic algorithms for the starting, stopping and accelerating of the finger joint is designed, based on the analysis of the grasping space using Monte Carlo method and the analysis of the angular displacement of motor using an isochronic interpolation algorithm. The control system is designed based on STM32F103RC to realize the stationary motion of the end effector. Using Tiny 6410, the remote wireless debugging system of the end effector is designed to realize independent control and remote wireless debugging of each joint motor.
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Image Interpolation by Pixel Level Data Dependent Triangulation on Android Platform

Image Interpolation by Pixel Level Data Dependent Triangulation on Android Platform

It is widely known that Polynomial-based interpolation techniques, such as bi-cubic or bilinear interpolation are implemented by a function, which could map a relationship between known pixels in low-resolution and unknown pixels in high-resolution[4-6].These algorithms are simple but fast ,they are apply to android. However, high-resolution image interpolated by these algorithms are too smooth, and edges are blurred.

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Parallel Hermite Interpolation on Extended Fibonacci Cubes

Parallel Hermite Interpolation on Extended Fibonacci Cubes

In curve fitting, interpolation is the process of replacing a continuous function by a polynomial that agrees with the function at specified number of data points. Using interpolation polynomial a prediction to a function value is made by an interpolating polynomial at new data point. In numerical analysis interpolation techniques are of great importance as they are used for modeling various scientific and engineering problems, via weather forecasting, portfolio management, air traffic prediction etc. Many numerical interpolation techniques are proposed in literature. Among which Hermite interpolation is one of the most widely used polynomial fitting techniques which is a special case of Birkhoff interpolation [1, 2]. In interpolation when the numbers of data points are large, uniprocessor environment involves a long computation and large storage space to carry out the computation. To get around these difficulties parallel computation is an obvious advantage.
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Floating Interpolation Stencil Topology-Based Ie-FFT Algorithm

Floating Interpolation Stencil Topology-Based Ie-FFT Algorithm

As well-known, a relative higher order interpolation technique and larger grid step are preferred for electrically large-scale problems, but it will result in large amount of near-interaction, especially for VIE, the memory and the CPU time required by the near-interaction dominate the total storage and CPU time. Thus, the CPU time and memory required in the IE-FFT algorithm are very expensive. To overcome these problems, a floating interpolation stencil topology used in AIM [6], P-FFT [15] is firstly applied into the IE-FFT method here to reduce the cost of near-interaction. In this case, the Green functions are projected by Lagrange interpolation polynomials associated with the interpolation Cartesian cell dependent on the location of the considered basis function support. The Cartesian cell assigned to a basis is a cell whose center is nearest to the center of the support of the original basis function. Because the new stencil makes the basis functions closer to the center of the interpolation Cartesian cells, the interpolation accuracy is improved especially for higher order interpolation case. In the other hand, the total cost of near-interaction is reduced greatly by avoiding direct storage and computation of plenty of matrix entries in traditional IE-FFT.
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A study in industrial robot programming

A study in industrial robot programming

There are four types of robot operation control included in this system which is joint interpolation, linear interpolation, circular interpolation and continuous path... a Joint interpol[r]

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Trilinear Interpolation Algorithm for Reconstruction of 3D MRI Brain Image

Trilinear Interpolation Algorithm for Reconstruction of 3D MRI Brain Image

Abstract Medical image processing to support doctors for exact diagnosis and early treatment plays an important role. In this paper, construction of a three-dimensional (3D) image from 2DMRI cortex images is proposed. In addition, the 3D image may represent the visual details of brain inside human cortex. The 2DMRI cortex images are pre-processed using the mean filer for removing multiplicative noises and the histogram equalization for enhancement is applied. In addition, the multilevel Otsu method is employed to separate brain part inside the human cortex and a proposed algorithm of the trilinear interpolation is utilized for the construction of a 3D image. Simulation results show that the effectiveness of the proposed approach and also it is a sharing information for developments of 3D image construction.
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Face Detection using Logit Boost Algorithm with YCbCr Color Space

Face Detection using Logit Boost Algorithm with YCbCr Color Space

The YCbCr color space has good performance of clustering, and the transformation from RGB to YCbCr is linear. The choice of color space is considered as the primary step in skin detection/classification. This is an orthogonal color space in which the color is represented with statistically independent components. Because luminance and chrominance components are explicitly separated, color spaces of this type (orthogonal) are a favourable choice for skin detection [7]. The luminance (Y) component is computed as a weighted sum of RGB values while the chrominance (Cb and Cr) components are computed by subtracting the luminance component from B and R values [8]. This is shown in below:
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Optimal Task Placement of a Serial Robot Manipulator for Manipulability and Mechanical Power Optimization

Optimal Task Placement of a Serial Robot Manipulator for Manipulability and Mechanical Power Optimization

With the aim of improving the robustness of the opti- mization process, the use of a global methodology is con- sidered. The tunneling algorithm (Levy [31,32]) is a heu- ristic methodology designed to find the global minimum of a function. It is composed of a sequence of cycles, each cycle consists of two phases: a minimization phase having the purpose of lowering the current function val- ue, and a tunneling phase that is devoted to finding a new initial point (other than the last minimum found) for the next minimization phase. This algorithm was first intro- duced by Levy [31], and the name derives from its gra- phic interpretation.
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Density Estimation in Infinite Dimensional Exponential Families

Density Estimation in Infinite Dimensional Exponential Families

In this paper, we consider an infinite dimensional exponential family P of probability den- sities, which are parametrized by functions in a reproducing kernel Hilbert space H , and show it to be quite rich in the sense that a broad class of densities on R d can be approxi- mated arbitrarily well in Kullback-Leibler (KL) divergence by elements in P. Motivated by this approximation property, the paper addresses the question of estimating an unknown density p 0 through an element in P. Standard techniques like maximum likelihood estima-

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Projection onto Convex Sets Method in Spacefrequency Domain for Super Resolution

Projection onto Convex Sets Method in Spacefrequency Domain for Super Resolution

Abstract—The aim of super resolution is to get high resolution (HR) images/videos from low-resolution (LR) images/videos. The obtained HR images/videos are expected to be clear and have less artifacts. Projection Onto Convex Sets (POCS) in the space domain is a super resolution method. It results in edge oscillation and produces many artifacts. This paper introduces a POCS method in both the space and the frequency domain. Firstly, a frequency domain POCS method is proposed. Then it is combined with the space POCS and the space-frequency POCS is obtained. Compared with the common bilinear interpolation method and the existing POCS method in the space domain, our method may decrease the edge oscillation phenomena and raise the Peak Signal to Noise Ratio (PSNR).
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Simple Erosion Narrowing Score of the hands as a predictor of cervical spine subluxation in rheumatoid arthritis

Simple Erosion Narrowing Score of the hands as a predictor of cervical spine subluxation in rheumatoid arthritis

This study confirmed a correlation between the SENS of the hands and the prevalence of cervical spine subluxation in patients with RA. A higher prevalence of cervical spine subluxation was found with an increase in the SENS. The same results were obtained with the erosion and joint space narrowing scores of the hands when correlated with the prevalence of cervical spine subluxation separately. The SENS of the hands correlates with the prevalence of cervical spine subluxation in patients with RA, and may be used as a relatively reliable predictor of cervical spine subluxation in patients with RA, but SENS alone should not be the only predictive factor taken into account when making decisions regarding the imaging of the cervical spine in patients with RA. Other predictive factors of cervical spine subluxation such as biochemical markers, clinical features, patient demographics and treatment in conjunction with the SENS of the hands should be considered as well.
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A Linear Interpolation Based Algorithm for Path  Planning and Replanning on Girds

A Linear Interpolation Based Algorithm for Path Planning and Replanning on Girds

We selected the results in three kinds of environments (A: uniform cost grids with 10% obstacle cells. B: uni- form cost grids with 30% obstacle cells. C: non-uniform cost grids with 50% free space cells) and showed them in Table 1. Four performance measures were used here: the path cost, the total number of rhs-value updates (that is, updates of the rhs-values), the total number of vertex ex- pansions (updates of the g-values) and the runtime. Each value is a ratio of a performance measure of URFD* (or Field D*) to that of Delayed D* averaged over initial planning (or replanning) episodes. Note that in environ- ments with more free space the runtimes of initial plan- ning and replanning of Field D* drastically increased while those of URFD* increased much more stably. The performance in environments C shows the possibility that the number of updates of the rhs-values during replan- ning could be slightly larger than that of Field D* in some scenarios. However, since the number of vertices in the priority queue is limited by selectively processing locally underconsistent vertices, making the priority queue operations less expensive, the runtime of URFD* is still shorter than that of Field D* in those scenarios.
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An Adaptive LMMSE Interpolation Algorithm for Channel Estimation in LTE Advanced Systems

An Adaptive LMMSE Interpolation Algorithm for Channel Estimation in LTE Advanced Systems

A comparison of system error rates under different interpolation algorithms is shown in Figure 2. Among them, the "Linear" represents the linear interpolation algorithm, "Linear" represents the linear interpolation, "DFT" said interpolation algorithm based on DFT, "LMMSE" represents the ideal LMMSE interpolation algorithm, the "LMMSE_PDP" curve representing the performance of the improved LMMSE interpolation algorithm, and the curve of BER performance as a reference under ideal channel frequency response.
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Rainfall Rate Field Space-Time Interpolation Technique for North West Europe

Rainfall Rate Field Space-Time Interpolation Technique for North West Europe

Abstract—The ability to predict rain characteristics at small space-time scales is important, particularly in the planning, design, and deployment of wireless networks operating at frequencies above 10 GHz. For wide area networks, high space and time resolution rainfall data are often not available, and the cost of such measurements is prohibitive. This paper thus presents a new approach to address this problem using rain radar measurements to obtain rain estimates at finer resolutions than that available from the original measured data. This paper proposes three innovative methodologies: 1) the approach is not directly applied to measured rainfall rate data but focuses on the parameters of fitted lognormal distribution parameters and/or computed rain characteristics for each location; 2) to facilitate the application in wireless communication networks operating above 10 GHz, a set of databases and contour maps of rain parameters spanning North West Europe have been created. These conveniently and efficiently provide rain parameters for any location within the area under study; and 3) the proposed 3D space-time interpolation approach can extrapolate rain parameters at space-time resolutions that are shorter than those found in NIMROD radar databases. The results show that the approach presented in this paper can be used to provide { 1 km , 5 mins } space-time rain rate resolution from { 5 km , 15 mins } data for the whole North West Europe with error percentages of less than 4%. This is far superior to estimates provided by the International Telecommunication Union recommended model.
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Reconfiguration of Joint Locked Redundant Space Manipulator

Reconfiguration of Joint Locked Redundant Space Manipulator

These redundant robots have the preferred stance that they have joints more than the required DOF. The additional number of joints can be utilized for reconfiguration of robots on the off chance that when the activated joint fails. If there should be an occurrence of considered 6 DOF planar space robot, let number of dynamic and passive joints be 2 and 4, individually. Accepting that at once single disaster happens, the conceivable reconfiguration mixes will be 2

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Intra articular injection of mono iodoacetate induces osteoarthritis of the hip in rats

Intra articular injection of mono iodoacetate induces osteoarthritis of the hip in rats

injection of sodium pentobarbital (40 mg/kg) and treated aseptically throughout the experiments. A posterior ap- proach was used to expose the right hip in the lateral de- cubitus position. After removal of the hair, a 1.5–2.0 cm skin incision was made in the direction of the posterior line of the greater trochanter with the hip in neutral pos- ition (Fig. 1a). The superficial gluteus muscle was identi- fied and resected. Deeper than that, the obturator internus and externus muscles, and the sciatic nerve, were identi- fied. The obturator intermus and externus muscles were detached from the greater trochanter. The posterior as- pect of the capsule was exposed, protecting the sciatic nerve. The joint space was identified by passive motion of the limb (Fig. 1b). Then 25 μl of 1 % Pyoktanin Blue solu- tion (Kishida Chemical Company, Osaka) was injected into the joint using a 27G needle (Fig. 1c). We confirmed that the pigment was not leaked and stayed within the joint in all three rats (Fig. 1d). Thus we accepted this intra-articular injection technique to the rat hip joint for further study. The superficial gluteus muscle was sutured and the skin was closed.
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Hybrid Super Resolution using SWT and CT

Hybrid Super Resolution using SWT and CT

The proposed super resolution algorithm uses SWT sub bands for image registration and a curvelet transform based interpolation to form a single high resolution image. The two low resolution images are formed from the original image by half pixel shift of the original image in the vertical and horizontal directions. Then Stationary wavelet transform is applied on these low resolution images to form 8 sub bands. The four frequency components of each low resolution images are mapped on the high resolution grid respectively. Each high resolution grid is rotated 45 degrees to get better pixel correlation. Rotated grid is up sampled to generate space for missing pixel. Curvelet transform is applied to up sampled grid and interpolation is performed at the finest scale .Inverse Curvelet transform is applied to this interpolated curvelet coefficients. The interpolated grid is re-rotated back to its original orientation. Then inverse SWT is applied to these matrices to form the super resolved image
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On exact and approximate interpolation of sparse rational functions

On exact and approximate interpolation of sparse rational functions

The black box algorithm for separating the numerator from the denominator of a multivariate rational function can be combined with sparse multivariate polynomial interpolation algorithms to interpolate a sparse rational function. Ran- domization and early termination strategies are exploited to minimize the number of black box evaluations. In addi- tion, rational number coefficients are recovered from modu- lar images by rational vector recovery. The need for separate numerator and denominator size bounds is avoided via self- correction, and the modulus is minimized by use of lattice basis reduction, a process that can be applied to sparse ra- tional function vector recovery itself. Finally, one can deploy the sparse rational function interpolation algorithm in the hybrid symbolic-numeric setting when the black box for the rational function returns real and complex values with noise. We present and analyze five new algorithms for the above problems and demonstrate their effectiveness on a bench- mark implementation.
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