The Experts below are selected from a list of 312 Experts worldwide ranked by ideXlab platform
Andy H. Park - One of the best experts on this subject based on the ideXlab platform.
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Closed-form inverse kinematic Joint Solution for humanoid robots
2010 IEEE RSJ International Conference on Intelligent Robots and Systems, 2010Co-Authors: Andy H. ParkAbstract:This paper focuses on developing a consistent methodology for deriving a closed-form inverse kinematic Joint Solution of a general humanoid robot. Most humanoid-robot researchers resort to iterative methods for inverse kinematics using the Jacobian matrix to avoid the difficulty of finding a closed-form Joint Solution. Since a closed-form Joint Solution, if available, has many advantages over iterative methods, we have developed a novel reverse decoupling mechanism method by viewing the kinematic chain of a limb of a humanoid robot in reverse order and then decoupling it into the positioning and orientation mechanisms, and finally utilizing the inverse transform technique in deriving a consistent Joint Solution for the humanoid robot. The proposed method presents a simple and efficient procedure for finding the Joint Solution for most of the existing humanoid robots. Extensive computer simulations of the proposed approach on a Hubo KHR-4 humanoid robot show that it can be applied easily to most humanoid robots with slight modifications.
Antonio Alfredo Ferreira Loureiro - One of the best experts on this subject based on the ideXlab platform.
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an energy efficient Joint localization and synchronization Solution for wireless sensor networks using unmanned aerial vehicle
Wireless Networks, 2015Co-Authors: Leandro Aparecido Villas, Guilherme Maia, Daniel L. Guidoni, Jó Ueyama, Richard W Pazzi, Antonio Alfredo Ferreira LoureiroAbstract:Localization and synchronization are fundamental services for many applications in wireless sensor networks (WSNs), since it is often required to know the sensor nodes' position and global time to relate a given event detection to a specific location and time. However, the localization and synchronization tasks are often performed after the sensor nodes' deployment on the sensor field. Since manual configuration of sensor nodes is usually an impractical activity, it is necessary to rely on specific algorithms to solve both localization and clock synchronization problems of sensor nodes. With this in mind, in this work we propose a Joint Solution for the problem of 3D localization and time synchronization in WSNs using an unmanned aerial vehicle (UAV). A UAV equipped with GPS flies over the sensor field broadcasting its geographical position. Therefore, sensor nodes are able to estimate their geographical position and global time without the need of equipping them with a GPS device. Through simulation experiments, we show that our proposed Joint Solution reduces time synchronization and localization errors as well as energy consumption when compared to Solutions found in the literature.
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DIVANet@MSWiM - A new Solution for the time-space localization problem in wireless sensor network using UAV
Proceedings of the third ACM international symposium on Design and analysis of intelligent vehicular networks and applications - DIVANet '13, 2013Co-Authors: Azzedine Boukerche, F.D. Cunha, Guilherme Maia, Daniel L. Guidoni, Leandro Aparecido Villas, Jó Ueyama, Antonio Alfredo Ferreira LoureiroAbstract:Services such as localization and synchronization are crucial for many applications in Wireless Sensor Networks (WSNs), given that it is commonly required to know the position and global time of the sensor nodes. Nevertheless, these tasks are often carried out after the sensor nodes have been deployed in the sensor location. Given that it is impractical to configure the sensor nodes manually, it is essential to rely on algorithms to overcome the problem of locating and synchronizing the clock of the sensor nodes. Hence, in this study we propose a Joint Solution for 3D localization and time synchronization in WSNs with the aid of an unmanned aerial vehicle (UAV). The UAV is geared with a GPS device and flies over the area covered by the sensor field where it broadcasts its geographical position. This means that the sensor nodes are able to estimate their geographical position without the need to be fitted with a GPS. By carrying out simulations, we show that our Joint Solution leads to a smaller number of errors in time-synchronization and localization than is the case with other proposals found in the literature.
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LCN - A Joint 3D localization and synchronization Solution for Wireless Sensor Networks using UAV
38th Annual IEEE Conference on Local Computer Networks, 2013Co-Authors: Leandro Aparecido Villas, Guilherme Maia, Daniel L. Guidoni, Azzedine Boukerche, Antonio Alfredo Ferreira LoureiroAbstract:Localization and synchronization are fundamental services in Wireless Sensor Networks (WSNs), since it is often required to know the position and the global time of sensor nodes to relate a given event detection to a specific location and time. However, the localization and synchronization tasks are often performed after the sensor nodes' deployment. Since manual configuration of sensor nodes is an impractical activity, it is necessary to rely on specialized algorithms to solve the localization and synchronization problems. With this in mind, in this work we propose a Joint Solution for the 3D localization and time synchronization in WSNs using an unmanned aerial vehicle (UAV). A UAV equipped with a GPS flies over the sensor field area broadcasting its geographical position. Therefore, sensor nodes are able to estimate their own geographical position and global time without the need of equipping them with a GPS device. By means of simulations, we show that our proposed Joint Solution leads to smaller time-synchronization and localization errors when compared to existing Solutions.
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A new Solution for the time-space localization problem in wireless sensor network using UAV
DIVANet 2013 - Proceedings of the 3rd ACM International Symposium on Design and Analysis of Intelligent Vehicular Networks and Applications, Co-locate, 2013Co-Authors: Azzedine Boukerche, F.D. Cunha, Guilherme Maia, Daniel L. Guidoni, Leandro Aparecido Villas, Jó Ueyama, Antonio Alfredo Ferreira LoureiroAbstract:Services such as localization and synchronization are crucial for many applications in Wireless Sensor Networks (WSNs), given that it is commonly required to know the position and global time of the sensor nodes. Nevertheless, these tasks are often carried out after the sensor nodes have been deployed in the sensor location. Given that it is impractical to configure the sensor nodes manually, it is essential to rely on algorithms to overcome the problem of locating and synchronizing the clock of the sensor nodes. Hence, in this study we propose a Joint Solution for 3D localization and time synchronization in WSNs with the aid of an unmanned aerial vehicle (UAV). The UAV is geared with a GPS device and flies over the area covered by the sensor field where it broadcasts its geographical position. This means that the sensor nodes are able to estimate their geographical position without the need to be fitted with a GPS. By carrying out simulations, we show that our Joint Solution leads to a smaller number of errors in time-synchronization and localization than is the case with other proposals found in the literature. © 2013 ACM.
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A Joint 3D localization and synchronization Solution for wireless sensor networks using UAV
Proceedings - Conference on Local Computer Networks, LCN, 2013Co-Authors: Leandro Aparecido Villas, Guilherme Maia, Daniel L. Guidoni, Azzedine Boukerche, Antonio Alfredo Ferreira LoureiroAbstract:Localization and synchronization are fundamental services in Wireless Sensor Networks (WSNs), since it is often required to know the position and the global time of sensor nodes to relate a given event detection to a specific location and time. However, the localization and synchronization tasks are often performed after the sensor nodes' deployment. Since manual configuration of sensor nodes is an impractical activity, it is necessary to rely on specialized algorithms to solve the localization and synchronization problems. With this in mind, in this work we propose a Joint Solution for the 3D localization and time synchronization in WSNs using an unmanned aerial vehicle (UAV). A UAV equipped with a GPS flies over the sensor field area broadcasting its geographical position. Therefore, sensor nodes are able to estimate their own geographical position and global time without the need of equipping them with a GPS device. By means of simulations, we show that our proposed Joint Solution leads to smaller time-synchronization and localization errors when compared to existing Solutions. © 2013 IEEE.
Bjorn Ottersten - One of the best experts on this subject based on the ideXlab platform.
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A Joint Solution for Scheduling and Precoding in Multiuser MISO Downlink Channels
IEEE Transactions on Wireless Communications, 2020Co-Authors: Ashok Bandi, Symeon Chatzinotas, Bhavani Shankar M. R, Bjorn OtterstenAbstract:The average performance of the MISO downlink channel, with a large number of users compared to transmit antennas of the base station, depends on the interference management which necessitates the Joint design of scheduling and precoding. Unlike the previous works which do not offer a truly Joint design, this paper focuses on formulating a problem amenable for the Joint update of scheduling and precoding. Novel optimization formulations are investigated to reveal the hidden difference of convex/ concave structure for three classical criteria (weighted sum rate, max-min signal-to-interference plus noise ratio, and power minimization) and associated constraints are considered. Thereafter, we propose a convex-concave procedure framework based iterative algorithm where scheduling and precoding variables are updated Jointly in each iteration. Finally, we show the superiority in performance of Joint Solution over the state-of-the-art designs through Monte-Carlo simulations.
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a Joint Solution for scheduling and precoding in multiuser miso downlink channels
arXiv: Signal Processing, 2019Co-Authors: Ashok Bandi, Bhavani Shankar Mysore R, Symeon Chatzinotas, Bjorn OtterstenAbstract:The long-term average performance of the MISO downlink channel, with a large number of users compared to transmit antennas of the BS, depends on the interference management which necessitates the Joint design problem of scheduling and precoding. Unlike the previous works which do not offer a truly Joint design, this paper focuses on formulating a problem amenable for the Joint update of scheduling and precoding. Novel optimization formulations are investigated to reveal the hidden difference of convex/ concave structure for three classical criteria (weighted sum rate, max-min SINR, and power minimization) and associated constraints are considered. Thereafter, we propose a convex-concave procedure framework based iterative algorithm where scheduling and precoding variables are updated Jointly in each iteration. Finally, we show the superiority in performance of Joint Solution over the state-of-the-art designs through Monte-Carlo simulations.
Xiao Yang Zhou - One of the best experts on this subject based on the ideXlab platform.
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High-Order Modes Analysis of Complex Plasmonic Surface Using the Field-Network Joint Solution
IEEE Access, 2019Co-Authors: Hao Chi Zhang, Xiao Yang Zhou, Cheng QianAbstract:The plasmonic surface is made of metallic surface with deep sub-wavelength decorations, which are designed to mimic the surface plasmon polaritons at lower frequency. Recently, high-order modes in some special structures are analyzed. In order to analyze the dispersion problem of high-order modes of complex lossless structures faster and simpler, a convenient and simple method using the average input wave impedance obtained by a field-network Joint Solution is proposed. Meanwhile, based on Forster's reactance theorem, high-order modes of the complex structure always exist. Then, the dispersion curves of the high-order modes calculated using proposed method are in perfect match with the simulated results, which can verify the effectiveness and correctness of the proposed method. Additionally, the simulated and experimentally measured electric field distribution of high-order modes have great agreement. Using the proposed method, one can quickly obtain dispersion curve of a plasmonic structure to verify or estimate structure design. Hence, the proposed method may make a big step forward for obtaining the special dispersion relations.
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Dispersion Analysis of Deep-Subwavelength-Decorated Metallic Surface Using Field-Network Joint Solution
IEEE Transactions on Antennas and Propagation, 2018Co-Authors: Hao Chi Zhang, Pei Hang He, Wen Xuan Tang, Asad Aziz, Jie Xu, Xiao Yang ZhouAbstract:Due to the abilities of remarkable field confinements and enhancements, plasmonic surfaces supporting spoof surface plasmon polaritons (SPPs) are important artificial structures with many potential applications. In this paper, we propose analytical derivation to the dispersion formulation of metallic surface with complicated subwavelength decorations using a field-network Joint Solution, which offers a new scheme to obtain the dispersion relations of plasmonic surfaces. Based on the proposed method, we could predict not only the dispersion relationship between the frequency and wavenumber but also the approximate near-field distribution on the plasmonic surface rapidly and accurately. As an example, we analyze a series of complex-decorated metallic plasmonic surfaces, with comparisons to the full-wave simulation and experiment. The analytical, numerical, and experimental results show that these plasmonic surfaces support electromagnetic surface modes that are similar to the SPPs at the optical frequency. Meanwhile, the calculated dispersion curve and field form have great matching to the simulation and measured results.
Ales Leonardis - One of the best experts on this subject based on the ideXlab platform.
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IROS - Task-relevant grasp selection: A Joint Solution to planning grasps and manipulative motion trajectories
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: M E Amir Ghalamzan, Nikos Mavrakis, Marek Kopicki, Rustam Stolkin, Ales LeonardisAbstract:This paper addresses the problem of Jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however Joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed Jointly and a Solution that takes both into consideration is proposed. To do so, a manipulation capability index is defined, which is a function of both the task execution waypoints and the object grasping contact points. We build on recent state-of-the-art grasp-learning methods, to show how this index can be combined with a likelihood function computed by a probabilistic model of grasp selection, enabling the planning of grasps which have a high likelihood of being stable, but which also maximise the robot's capability to deliver a desired post-grasp task trajectory. We also show how this paradigm can be extended, from a single arm and hand, to enable efficient grasping and manipulation with a bi-manual robot. We demonstrate the effectiveness of the approach using experiments on a simulated as well as a real robot.
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Task-relevant grasp selection: A Joint Solution to planning grasps and manipulative motion trajectories
2016 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2016Co-Authors: Amir Ghalamzan M. E., Nikos Mavrakis, Marek Kopicki, Rustam Stolkin, Ales LeonardisAbstract:This paper addresses the problem of Jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however Joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed Jointly and a Solution that takes both into consideration is proposed. To do so, a manipulation capability index is defined, which is a function of both the task execution waypoints and the object grasping contact points. We build on recent state-of-the-art grasp-learning methods, to show how this index can be combined with a likelihood function computed by a probabilistic model of grasp selection, enabling the planning of grasps which have a high likelihood of being stable, but which also maximise the robot's capability to deliver a desired post-grasp task trajectory. We also show how this paradigm can be extended, from a single arm and hand, to enable efficient grasping and manipulation with a bi-manual robot. We demonstrate the effectiveness of the approach using experiments on a simulated as well as a real robot.
