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In this paper, based on analyzing the detector characteristics of modified Gardner (mGA) timing error detector examined before, an extended non-carrier-blind detector is proposed for quadratic phase shift keying (QPSK) signals. The timing jitter performance of new detector is about 2dB–10dB better than that of mGA at low and high signal-to-noise(More)
This paper describes an experimental minimally invasive surgical robot evaluation platform, in which a Phantom Omni haptic device is used as the master controller and a 7 degree-of-freedom Barrett arm is utilized as the biomimetic surgery robot manipulator. Remote center of motion (RCM) can be implemented by mechanical constraint or by virtual constraint.(More)
A novel tribrachiation robot for power line inspection was introduced in this paper. The robot mainly contains a dual parallelogram frame with three arms and a movable payload. The frame structure is simple, but it can make each offline arm move in 3D space by cooperative control of only five motors. Special designed arm endows the robot strong ability to(More)
IEEE802.11 DCF (Distributed Coordination Function) protocol adopts binary exponential backoff (BEB) algorithm to reduce the probability of collision. However, when the network reaches saturation, throughput declines sharply with the increase of the number of stations (STAs) because of more collisions. In order to further avoid collisions and optimize the(More)
In this paper, we introduced various HPA models based on Volterra series and its simplified form and described an adaptive Look-up table (LUT) algorithm. The predistortion design and simulation were setup in signal processing worksystem (SPW) software. The simulation result shows that the proposed method can reduce the system bit error rate (BER) and(More)
Ethernet is widely used in social life. It has become an important infrastructure in the information society. Ethernet over synchronous digital hierarchy (SDH) is regarded as an economical and efficient scheme in the long-distance Ethernet interconnection. This paper considered the design of the Ethernet to E1 protocol converter, based on the frame(More)
Kinematic analysis and simulation of minimally invasive surgical robot (MISR) systems are critical for the control system design with remote center of motion (RCM) constraint. In this paper, a MISR system using bimanual manipulator is introduced. The system is simulated under a virtual reality (VR) environment to validate the dynamics and control. A new(More)
To improve the accuracy of parallel robots in an efficient and economical manner, a novel kinematic calibration method is proposed, based on the orientation constraint of keeping two attitude angles of the end-effector constant and the total least squares approach. The calibration is formulated as a nonlinear least squares minimization problem considering(More)