Hongxing Wei

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This paper describes a behavior control method for intelligent wheelchair in uncertain environments. The intelligent wheelchair is introduced, and the model and principle of Partially Observable Decision Process (POMDP) are given. A hierarchical POMDP model is proposed, which decomposes the decision making process into a set of small ones that can be done(More)
ROS, an open-source robot operating system, is widely used and rapidly developed in the robotics community. However, running on Linux, ROS does not provide real-time guarantees, while real-time tasks are required inmany robot applications such as robotmotion control. This paper for the first time presents a real-time ROS architecture called RT-RTOS on(More)
In this paper, a body sensor network (BSN) based context aware QRS detection scheme is proposed. The algorithm uses the context information provided by the body sensor network to improve the QRS detection performance by dynamically selecting the leads with best SNR and taking advantage of the best features of two complementary detection algorithms. The(More)
This paper presents a novel self-assembly modular robot (Sambot) that also shares characteristics with self-reconfigurable and self-assembly and swarm robots. Each Sambot can move autonomously and connect with the others. Multiple Sambot can be self-assembled to form a robotic structure, which can be reconfigured into different configurable robots and can(More)
High-resolution, real-time data obtained by human motion tracking systems can be used for gait analysis, which helps better understanding the cause of many diseases for more effective treatments, such as rehabilitation for outpatients or recovery from lost motor functions after a stroke. In order to achieve real-time ambulatory human motion tracking with(More)
Self-assembly is a process during which pre-existing components are autonomously organized into some special patterns or structures without human intervention. In this paper, we propose a new control algorithm on distributed self-assembly which is implemented on the Sambot robot platform. A directional self-assembly control model is proposed, in which a(More)
This paper presents an inferring and training architecture for long-term and continuous daily activity monitoring using a wearable body sensor network. Energy efficiency and system adaptivity to wearers are two of the most important requirements of a body sensor network. This paper discusses a two-layered hidden Markov model (HMM) architecture for(More)
In this paper, a hybrid method based on A* algorithm and genetic algorithm in grid map is proposed to solve the optimum path planning for mobile robots. In our scheme, A* algorithm is utilized for searching a constrained shortest path quickly, and the global optimal path is obtained by using genetic algorithm to optimize the path. The method makes the path(More)
In this paper we present a new multi-OS architecture designed particularly for SMP platform that run RTOS and GPOS on different CPUs. No modification is needed on the GPOS side. With this architecture we can achieve high performance with little engineering cost. A prototype multi-OS called RGMP (RTOS and GPOS on Multi-Processor) has been implemented using(More)