3D locomotion biomimetic robot fish with haptic feedback

This thesis developed a biomimetic robot fish and built a novel haptic robot fish system based on the kinematic modelling and three-dimentional computational fluid dynamic (CFD) hydrodynamic analysis. The most important contribution is the successful CFD simulation of the robot fish, supporting users in understanding the hydrodynamic properties around it

A new blind signal separation algorithm for instantaneous MIMO system

We address the problem of adaptive blind source separation (BSS) from instantaneous multi-input multi-output (MIMO) channels. In this paper, we propose a new constant modulus (CM)-based algorithm which employ nonlinear function as the de-correlation term. Moreover, it is shown by theoretical analysis that the proposed algorithm has less mean square error (MSE), i.e., better separation performance, in steady state than the cross-correlation and constant modulus algorithm (CC-CMA). Numerical simulations show the effectiveness of the proposed result.<br /

3D hydrodynamic analysis of a biomimetic robot fish

This paper presents a three-dimensional (3D) computational fluid dynamic simulation of a biomimetic robot fish. Fluent and user-defined function (UDF) is used to define the movement of the robot fish and the Dynamic Mesh is used to mimic the fish swimming in water. Hydrodynamic analysis is done in this paper too. The aim of this study is to get comparative data about hydrodynamic properties of those guidelines to improve the design, remote control and flexibility of the underwater robot fish

Multi-robot hunting in dynamic environments

This paper is concerned with multi-robot hunting in dynamic environments. A BCSLA approach is proposed to allow mobile robots to capture an intelligent evader. During the process of hunting, four states including dispersion-random-search, surrounding, catch and prediction are employed. In order to ensure each robot appropriate movement in each state, a series of strategies are developed in this paper. The dispersion-search strategy enables the robots to find the evader effectively. The leader-adjusting strategy aims to improve the hunting robots&rsquo; response to environmental changes and the outflank strategy is proposed for the hunting robots to force the evader to enter a besieging circle. The catch strategy is designed for shrinking the besieging circle to catch the evader. The predict strategy allows the robots to predict the evader&rsquo;s position when they lose the tracking information about the evader. A novel collision-free motion strategy is also presented in this paper, which is called the direction-optimization strategy. To test the effect of cooperative hunting, the target to be captured owns a safety-motion strategy, which helps it to escape being captured. The computer simulations support the rationality of the approach.<br /

Molecular epidemiology of measles viruses in China, 1995–2003

This report describes the genetic characterization of 297 wild-type measles viruses that were isolated in 24 provinces of China between 1995 and 2003. Phylogenetic analysis of the N gene sequences showed that all of the isolates belonged to genotype H1 except 3 isolates, which were genotype A. The nucleotide sequence and predicted amino acid homologies of the 294-genotype H1 strains were 94.7%–100% and 93.3%–100%, respectively. The genotype H1 isolates were divided into 2 clusters, which differed by approximately 2.9% at the nucleotide level. Viruses from both clusters were distributed throughout China with no apparent geographic restriction and multiple co-circulating lineages were present in many provinces. Even though other measles genotypes have been detected in countries that border China, this report shows that genotype H1 is widely distributed throughout the country and that China has a single, endemic genotype. This important baseline data will help to monitor the progress of measles control in China

Blind equalization of non-irreducible channels driven by MPSK signals

This paper deals with the problem of blind equalization of finite-impulse-response (FIR) and multiple-input multiple-output (MIMO) channels excited by M-ary phase shift keying (MPSK) signals. It is known that the algorithms based on the constant modulus (CM) criterion can equalize an FIR MIMO channel that is irreducible. The irreducible condition is restrictive since it requires that all source signals arrive at the receiving antennas simultaneously. In this paper, we show that the CM criterion can also be used to construct a zero-forcing equalizer for a channel that is non-irreducible. We also derive a lower bound for the order of the equalizer. The proposed result is validated by numerical simulations. <br /

A 3-D locomotion biomimetic robot fish with information relay

In this paper, a biomimetic robot fish is designed. It has a biomimetic tail to simulate the carangiform tail, a barycenter-adjustor for descending/ascending motions, multiple sensors, and it may communicate with the outside by an information relay system on water. Combining the movements of the tail and the structure for descending and ascending, the robot fish can simulate the swimming of real fish in water and a biomimetic motion library is established. Finally, the prototype and experiments are given.<br /