Abstract:Human-robot interaction robot is currently the frontier and hotspot of the robotics research.While telepresence is core technique for the human-robot interaction.In this paper,we review the history of the telepresence telerobot technology,and illustrate its applications in areas of nuclear detection,space exploration,and tele-surgery.Then we analyze its four key techniques,namely sensing technique,force feedback and tactile display technique,control strategy under time delay,and modeling technique for virtual predictive environment.We briefly introduce the development of telepresence telerobot research and its applications in nuclear detection and rehabilitation therapy areas at Southeast University during the past two decades.At last,we point out the future research directions of the force telepresence telerobot.

Abstract:In an attempt to understand the land-atmosphere feed back invoked by urban and rural heterogeneous surface,the parameterized model of surface energy balance is used with both MODIS and AWS (Automatic Weather Station)meteorological data to calculate surface fluxes in this paper.Surface energy fluxes are analyzed in order to explain the detailed energy differences between urban and rural areas.The results show that the model is feasible and effective.The solution is approximately in agreement with the literature data.This,thereby,provides a useful method for researches on urban climate and environment.

Abstract:MOD11A2 and MOD13A2 (data of MODIS) are used to get surface temperature (TS),temperature difference between day and night (DST),normalized difference vegetation index (NDVI),enhanced vegetation index (EVI) to construct characteristic space of TS-NDVI,TS-EVI,DST-NDVI and DST-EVI in April (8th,18th and 28th),July (8th,18th and 28th) and October (8th,18th and 28th) of 2005 in Ningxia region.Temperature Vegetation Drought Index (TVDI),Temperature Enhanced Drought Index (TEDI),Difference Temperature Vegetation Drought Index (DTVDI) and Difference Temperature Enhanced Drought Index (DTEDI) are established according to characteristic space of TS-NDVI,TS-EVI,DST-NDVI and DST-EVI.These drought indexes are used as monitoring index to retrieve soil moisture in April,July and October of 2005 in Ningxia region.Correlation analysis between observed 10 cm soil moisture and retrieved data is conducted,and the result shows that DTEDI is best,and DTVDI is better than TVDI and TEDI in retrieval results of soil moisture in Ningxia region.

Abstract:An improved CASA(Carnegie ames stanford approach) model is used to estimate the terrestrial net primary productivity (NPP) in Three-river headwaters region.Results indicate that the NPP decreased from the southeast to the northwest,while the NPP in southestern area of Yellow River is higher than that of the Yangtze River.NPP shows a slightly downward trend during 2004—2008,with the maximum of 62.93 Tg·a^-1 in 2006,and minimum of 60.9 Tg·a^-1 in 2008.Seasonal variation of NPP is also prominent,which started to increase from May to July,then decreased gradually.The annual NPP of alpine meadow is 188.95 g·m^-2·a^-1,higher than that of aloine steppe of 129.41 g·m^-2·a^-1 in the region,while interannual variation of aloine steppe is increasing during 2004—2006.The analysis shows that temperature is the key factor controlling the terrestrial NPP in the region,followed by precipitation and total solar radiation.The NPP fluctuation in the higher elevations of this region is significantly related with temperature,with correlation coefficient being 0.8,while the correlation coefficient between NPP and precipitation is 0.7.

Abstract:Most of the intelligent methods for drop-size distribution parameters,including number density and particle size,are through measurement of shade,light intensity or scattering energy generated by rain droplets and subsequent retrieval estimation.In this paper,photomicrography and embedded technology are adopted to develop an embedded microscopic imager for automatic measurement of droplet spectrum.After calibration in geometric scale,the instrument is settled on the roof of meteorological building in Nanjing University of Information Science & Technology,and is tested for real-time droplet collection and measurement in the fog or drizzly days of Nov.1,Nov.4 and Oct.28,2011.Preliminary tests show that 2D images of fog and rain drops between 5μm and 300μm can be directly derived in real-time by the instrument.The drop-size distribution parameters of fog and rain within this context can be given after image processing,hence the histograms of their number density are drawn.This instrument is convenient to be used for field experiments with characteristics of small size and light weight.The equipped touch screen allows several researchers to observe sample and share information at the same time.That pictures are taken in real-time and saved in digital files is convenient for data processing and management.

Abstract:In this paper,the problem of state observation for a class of nonlinear differential-algebraic equation (DAE) subsystem is considered and a design scheme of initialized high gain observer is proposed.There are two steps for this observer design.Firstly,the equivalent transformation of the system is achieved by a nonlinear diffeomorphism transformation.Then for the equivalent system,an initialized state observer design is given to make observation error converge exponentially.Finally,a numerical simulation is presented and the simulation results verify the effectiveness of the proposed method.

Abstract:A three-stage least squares identification algorithm is proposed for a dynamical adjusting model.At first,the dynamical adjusting model is transformed into a CAR model,and the parameters of the new CAR model are estimated,and then the system model parameters and noise model parameters are identified by using the estimated parameters of the new CAR model,respectively.The proposed method is simple in principle and effective in results.

Abstract:Wavelet transform is widely applied in signal processing,which can analyze time domain or frequency domain information.But the traditional wavelet transform depends on Fourier transform,and its realization is based on a large amount of convolution computation,leading to the low operation speed.This paper discusses the principles of second generation wavelet transform,and applies it to process the electroencephalo-graph (EEG).Lifting scheme is the key technique to construct the second generation wavelet transform.High-frequency information is determined by predicting,and the correct low-frequency information is obtained through update.Lifting scheme does not depend on the Fourier transform,thus greatly improves the speed of operation.By analyzing the basic principles of lifting scheme,we extracted the four rhythms of EEG through second generation wavelet transform,and got satisfactory results.

Abstract:The propagation characteristics of Ultra-WideBand(UWB) indoor signals are analyzed,and multi-path components are found to arrive in clusters.The general rule of channel model parameters is studied on the basis of measurement data.Results show that the arrival rate of cluster is far less than that of the diameter,while the attenuation coefficient of cluster is greater than that of the diameter.The parameters of IEEE 802.15.3a channel model are modified in the CM2 environment.Simulation results show that the modified CM2 channel model is superior to the original model,which can better reflect the clustering characteristics of multi-path component arrival.The fitting result indicates a good agreement between measurement data and the modified model.

Abstract:To improve the precision of image segmentation,a new method based on statistics and fractal dimension is proposed.This method can be used to segment natural images like tree,road and sky,furthermore,it can also be used in vision system of robot.The proposed method can be roughly divided into three steps,firstly,collect vast amount of Local Fractal Dimension(LFD) of tree,road and sky;secondly,analyze the LFD distribution characteristics of the three textures,which are mentioned above;finally,segment those three textures according to the distribution characteristics,and then,smooth and filter the image by using mathematical morphological methods.Compared with some other methods,experimental data show that this proposed method can improve the precision of segmentation by using LFD as the feature.

Abstract:This title describes the primary business information DAB and function of the transmission channel,presents a design module which is used in DAB transmitters to transport the text messages in main business information channel.Because of the demand of diversity,real-time and economy when transmitting text messages by DAB,we utilize adaptive packet mode transport mechanisms that is based on the MOT protocol transmission specification to improve the DAB transmitting system to send text messages(weather warning information,traffic information,etc.) flexibility and capacity utilization of sub-channels.Currently,the program has been achieved by the adaptive block coding software.

Abstract:Aiming at the slow convergence rate of constant modulus algorithm,a soft-decision blind equalization algorithm was proposed on the basis of orthogonal wavelet transform.The blind equalizer structure of orthogonal wavelet transform and characteristics of soft-decision blind equalization algorithm are analyzed.Then the de-correlation ability of orthogonal wavelet transform is utilized to reduce the signal autocorrelation,thus accelerate the convergence rate of proposed soft-decision algorithm.Simulation tests with underwater acoustic channel indicate that the proposed soft decision-directed blind equalization algorithm is improved in convergence rate compared with parallel soft decision equalization algorithm.

Abstract:In this paper,we study the existence of nontrivial periodic solutions for second order dynamical systems x+k²x=f(t,x)+e(t), here 0<k<π/T and f∈C((R/TZ)×R^N\{0},R^N) has a repulsive singularity at the origin.We do not need any coercivity conditions,therefore we can deal with the case of a strong singularity as well as the case of a weak singularity.The proof is based on a nonlinear alternative principle of Leray-Schauder.

Abstract:Finite difference WENO scheme of high order accuracy scheme has difficulty in dealing with the problem which has the flow over a complex geometry on structured mesh.While the ghost cell immersed boundary method is a novel and general technique for handling a flow with complex geometry without any special needs of computing mesh.We use the WENO scheme in conjunction with the ghost cell immersed boundary method to solve the above-mentioned problem on Cartesian mesh.Finally,the results of some classic numerical tests are given to verify the effectiveness of this proposed method.

Abstract:The typhoon events landed in Fujian province during 1996—2004 are investigated for ionospheric disturbance analysis.The ionospheric Total Electron Content(TEC) is chosen as evaluation index,and the reference region has same latitude but different longitude compared with research region.The TEC difference between research region and reference region is calculated,then the TEC disturbance response is analyzed hereby.The results show that in some regions the TEC is disturbed like being serrated when the typhoon speed reached maximum,and the disturbance disappears after a period of time.And negative correlation exists between the wind speed of typhoon and daily average TEC when the wind speed reaches maximum value.