あらまし 次世代移動無線通信では超高速パケットアクセスが主流になり,誤り訂正符号化と自動再送要求 (ARQ)を組み合わせたハイブリッド ARQ(HARQ)が重要な技術になると考えられる.直接拡散符号分割マルチアク セス(DS-CDMA)を対象に,平均 2 乗誤差最小(MMSE)規範に基づく周波数領域等化(FDE)を用いることで,よく知ら れた Rake 合成受信よりも優れた伝送特性が得られることが示されている.FDE を用いる場合にはブロック間干渉 (IBI)を避けるためにガードインターバル(GI)の挿入が必要であるが,これは伝送効率の低下を招く.そこで最近, GI の挿入を必要としないオーバーラップ FDE が提案された.筆者らは以前,オーバーラップ FDE を用いる DS-CDMA HARQ のスループット特性を明らかにしたが,これまでの検討では理想チャネル推定を仮定していた. ...

The purpose of this study was to examine the role of central command, generated prior to arbitrary motor execution, in cardiovascular and muscle blood flow regulation during exercise. Thirty two subjects performed 30 s of two-legged cycling or 1 min of one-legged cycling (66 ± 4% and 35% of the maximal exercise intensity, respectively), which was started arbitrarily or abruptly by a verbal cue ...

Measuring the ground reaction forces of a single leg is indispensable to understanding the dynamics of legged locomotion. Because of the technical state of the art, investigations are limited to animals with a body mass above 1 g. Here we present the design, fabrication, calibration and performance of a novel ultra-miniature force platform at the micronewton level. The sensor was built using th...

In this study we focus on bio-inspired legged locomotion concepts. A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locmotion results in a transition from copying nature to borrowing strategies for interacting with the physical world in design and control of bio-inspired legged robot...

1. Motivation Legged robots will need to be fast, robust and efficient for real world applications. In this research, we aim to design a high speed bipedal running robot on 3D environments based on active tail stabilization method, Raptor 2 robot. 2. State of the Art Many legged robots have been studied and developed so far, but only a few robots have achieved stable fast legged locomotion. In ...

In this paper, we develop a hybrid control approach for legged locomotion. We motivate the development of the control architecture using the results of a series of walking, running and obstacle climbing experiments conducted using a six legged robot called HEX. Our initial simulation results indicate the potential stability of the control approach, and our future analytical work should provide ...

This paper presents and empirically compares solutions to the problem of vision and self-localization on a legged robot. Specifically, given a series of visual images produced by a camera on-board the robot, how can the robot effectively use those images to determine its location over time? Legged robots, while generally more robust than wheeled robots to locomotion in various terrains (Wetterg...

Moral imperialism is expressed in attempts to impose moral standards from one particular culture, geopolitical region or culture onto other cultures, regions or countries. Examples of Direct Moral Imperialism can be seen in various recurrent events involving multi-centric clinical trials promoted by developed (central) countries in poor and developing (peripheral) countries, particularly projec...

Identification of forest burn severity is essential for fire assessments and a necessary procedure in modern management. Due to the low efficiency labor intensity current post-fire field survey China’s Forestry Standards, limitation temporal resolution satellite imagery, poor objectivity manual interpretations, new method automatic extraction based on small visible unmanned aerial vehicle (UAV)...

Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. Increasing the operation function of the robot is one of the hottest topics in this field. A novel six wheel-legged robot is designed in the form of leg structure, body structure and the combination between wheels and legs. The DOF of single leg and multi-legged close...