Interference alignment (IA) has emerged as a promising technique for the interference channel that guarantees a constant degree-of-freedom (DoF) gain for each user. Although successive interference cancellation (SIC) is known to achieve the sum capacity of the MAC channel, the DoF allocation to the users depends on the decoding order, e.g., the first few users get zero DoF, while the last users...

Compliance in jumping robots improves gait stability and enables energy-efficient locomotion. Here, 3D printable auxetic tubular springs from thermoplastic polyurethane (TPU) for rapid sustainable hopping are developed. Because the have negative Poisson's ratios, they become stiffer as compression proceeds theoretically stores 35.2% more energy than a linear spring with same stiffness. As stres...

Aiming at the difficulty of debugging exoskeleton control system driven by a hydraulic cylinder, research method nonlinear strategy for with 1 degree freedom (DOF) joint is proposed. Based on hardware-in-the-loop (HIL) simulation, this establishes dynamic model 1-DOF exoskeleton, constructs HIL simulation test platform based Linux real-time kernel patch, and studies system. The effects PID algo...

ABSTRACT Finding singular configurations (singularities) of manipulators is obviously important, because these configurations are the ones where the instantaneous kinematics becomes indeterminate. In this paper, singularities of a three degree-of-freedom (DOF) fully parallel planar manipulator are analyzed with the aid of two Jacobian matrices which are expressed through instantaneous centers o...

This paper is concerned with the derivative feedback control of a 2-degree-of-freedom (2-DOF) torsional bar with parameter perturbations. The time-delay is introduced into the controller and the maximum allowed time-delay bound is estimated by employing a discretized Lyapunov functional method. It is shown, through a numerical example with simulation results, that suitably introducing time-dela...

In this paper, a carangiform robotic fish with 4-DoF (degree of freedom) tail has been developed. The robotic fish has capability of swimming under two modes that are radio control and autonomous swimming. Experiments were conducted to investigate the influences of characteristic parameters including the frequency, the amplitude, the wave length, the phase difference and the coefficient on forw...

In this paper, we present a novel cylindrical deployable structure and variations of its design with the following characteristics: 1. Flat-foldable: The shape flattens into a compact 2D configuration. 2. Rigid-foldable: Each element does not deform throughout the transformation. 3. One-DOF: The mechanism has exactly one degree of freedom. 4. Thick: Facets can be substituted with thick or multi...

We propose an event-driven algorithm for the control of simple robot assembly problems based on noncooperative game theory. We examine rigorously the simplest setting — three bodies with one degree of freedom and offer extensive simulations for the 2 DOF extension. The initial analysis and the accompanying simulations suggest that this approach may indeed, offer an attractive means of building ...