Array calibration with angularly dependent gain and phase uncertainties has long been a difficult problem. Although many array calibration methods have been reported extensively in the literature, they almost all assu...Array calibration with angularly dependent gain and phase uncertainties has long been a difficult problem. Although many array calibration methods have been reported extensively in the literature, they almost all assumed an angularly independent model for array uncertainties. Few calibration methods have been developed for the angularly dependent array uncertainties. A novel and efficient auto-calibration method for angularly dependent gain and phase uncertainties is proposed in this paper, which is called ISM (Instrumental Sensors Method). With the help of a few well-calibrated instrumental sensors, the ISM is able to achieve favorable and unambiguous direction-of-arrivals (DOAs) estimate and the corresponding angularly dependent gain and phase estimate simultaneously, even in the case of multiple non-disjoint sources. Since the mutual coupling and sensor position errors can all be described as angularly dependent gain/phase uncertainties, the ISM proposed still works in the presence of a combination of all these array perturbations. The ISM can be applied to arbitrary array geometries including linear arrays. The ISM is computationally efficient and requires only one-dimensional search, with no high-dimensional nonlinear search and convergence burden involved. Besides, no small error assumption is made, which is always an essential prerequisite for many existing array calibration techniques. The estimation performance of the ISM is analyzed theoretically and simulation results are provided to demonstrate the effectiveness and behavior of the proposed ISM.展开更多
A new method for array calibration of array gain and phase uncertainties, which severely degrade the performance of spatial spectrum estimation, is presented. The method is based on the idea of the instrumental sensor...A new method for array calibration of array gain and phase uncertainties, which severely degrade the performance of spatial spectrum estimation, is presented. The method is based on the idea of the instrumental sensors method （ISM）, two well-calibrated sensors are added into the original array. By applying the principle of estimation of signal parameters via rotational invariance techniques （ESPRIT）, the direction-of-arrivals （DOAs） and uncertainties can be estimated simultaneously through eigen-decomposition. Compared with the conventional ones, this new method has less computational complexity while has higher estimation precision, what＇s more, it can overcome the problem of ambiguity. Both theoretical analysis and computer simulations show the effectiveness of the proposed method.展开更多
The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mec...The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mechanics of the animals' locomotion. This study provides inspiration for the design of a control system for a bionics robot. The three-dimensional reaction forces of vertical surface-climbing geckos (Gekko gecko) were measured using a three-dimensional force-sensors-array. The behavior of gecko as it moved on a vertical surface was recorded with a high speed camera at 215 fps and the function of each foot of a gecko are discussed in this paper. The results showed that the gecko increased its velocity of movement mainly by increasing the stride frequency in the upward, downward and leftward direction and that the speed had no significant relationship to the attachment and detachment times. The feet above the center-of-mass play a key role in supporting the body, driving locomotion and balancing overturning etc. The movement behavior and foot function of geckos change correspondingly for different conditions, which results in safe and effective free vertical locomotion. This research will be helpful in designing gecko-like robots including the selection of gait planning and its control.展开更多
文摘Array calibration with angularly dependent gain and phase uncertainties has long been a difficult problem. Although many array calibration methods have been reported extensively in the literature, they almost all assumed an angularly independent model for array uncertainties. Few calibration methods have been developed for the angularly dependent array uncertainties. A novel and efficient auto-calibration method for angularly dependent gain and phase uncertainties is proposed in this paper, which is called ISM (Instrumental Sensors Method). With the help of a few well-calibrated instrumental sensors, the ISM is able to achieve favorable and unambiguous direction-of-arrivals (DOAs) estimate and the corresponding angularly dependent gain and phase estimate simultaneously, even in the case of multiple non-disjoint sources. Since the mutual coupling and sensor position errors can all be described as angularly dependent gain/phase uncertainties, the ISM proposed still works in the presence of a combination of all these array perturbations. The ISM can be applied to arbitrary array geometries including linear arrays. The ISM is computationally efficient and requires only one-dimensional search, with no high-dimensional nonlinear search and convergence burden involved. Besides, no small error assumption is made, which is always an essential prerequisite for many existing array calibration techniques. The estimation performance of the ISM is analyzed theoretically and simulation results are provided to demonstrate the effectiveness and behavior of the proposed ISM.
文摘A new method for array calibration of array gain and phase uncertainties, which severely degrade the performance of spatial spectrum estimation, is presented. The method is based on the idea of the instrumental sensors method （ISM）, two well-calibrated sensors are added into the original array. By applying the principle of estimation of signal parameters via rotational invariance techniques （ESPRIT）, the direction-of-arrivals （DOAs） and uncertainties can be estimated simultaneously through eigen-decomposition. Compared with the conventional ones, this new method has less computational complexity while has higher estimation precision, what＇s more, it can overcome the problem of ambiguity. Both theoretical analysis and computer simulations show the effectiveness of the proposed method.
基金supported by the Funding for Outstanding Doctoral Dissertation in Nanjing University of Aeronautics and Astronautics (BCXJ10-10)the National Hi-Tech Research & Development Program of China (2007AA04Z201)the National Natural Science Foundation of China (60910007, 50705043, 50975140 and 30700068)
文摘The study of the movement behavior of geckos on a vertical surface, including the measurement and recording of the reaction forces as they move in different directions, plays an important role in understanding the mechanics of the animals' locomotion. This study provides inspiration for the design of a control system for a bionics robot. The three-dimensional reaction forces of vertical surface-climbing geckos (Gekko gecko) were measured using a three-dimensional force-sensors-array. The behavior of gecko as it moved on a vertical surface was recorded with a high speed camera at 215 fps and the function of each foot of a gecko are discussed in this paper. The results showed that the gecko increased its velocity of movement mainly by increasing the stride frequency in the upward, downward and leftward direction and that the speed had no significant relationship to the attachment and detachment times. The feet above the center-of-mass play a key role in supporting the body, driving locomotion and balancing overturning etc. The movement behavior and foot function of geckos change correspondingly for different conditions, which results in safe and effective free vertical locomotion. This research will be helpful in designing gecko-like robots including the selection of gait planning and its control.
基金financial supports from the National Natural Science Foundation of China (61801525)the Independent Fund of the State Key Laboratory of Optoelectronic Materials and Technologies (Sun Yat-sen University,OEMT-2022-ZRC-05)+5 种基金the Opening Project of the State Key Laboratory of Polymer Materials Engineering (Sichuan University,sklpme2023-3-5)Shenzhen Science and Technology Program (JCYJ20220530161809020&JCYJ20220818100415033)the Foundation of the State Key Laboratory of Transducer Technology (SKT2301)the Young Top Talent of Fujian Young Eagle Program of Fujian Provincethe Natural Science Foundation of Fujian Province (2023J02013)the National Key R&D Program of China (2022YFB2802051)。
