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An Assistive Robot Arm System for People with Disabilities : Availability of Motion Generation Tool
Hiroki Higa,Hideyuki Uehara,Katsuya Taira 대한전자공학회 2007 ITC-CSCC :International Technical Conference on Ci Vol.2007 No.7
An assistive robot arm for people with disabilities was described in this paper. The system is composed of a robot arm, PC, control device, and driver. To generate input signals for any motions of the assistive robot arm easily, we also made the motion generation tool which had five links and five variable resistors to detect changes in angles between each link, and the outputs of the variable resistors connected to the dc power supply were sampled by the PC through AD converter. Using the device, we obtained the motions of the eating commands. They were conducted by three experimental subjects and the experimental results showed that using the assistive robot arm system they could eat fried chickens properly.
Hettiarachchi, Ranga,Yokoyama, Mitsuo,Uehara, Hideyuki 통신위성우주산업연구회 2006 Joint Conference on Satellite Communications Vol.2006 No.-
In this paper, we propose a new interference cancellation technique of DS-CDMA for improving communication quality and increasing the number of simultaneous communication users for satellite communications. The DS-CDMA transmitter multiplies each user's signal by a distinct code. The detector receives a signal composed of the sum of all user's signals, which overlap in time and frequency. In a conventional DS-CDMA system, a user’s signal is detected by correlating the entire received signal with that user's code. However, multiple access interference (MAI) is a factor which limits the capacity and performance of the DS-CDMA system. Therefore, this paper proposes a new interference cancellation technique for DS-CDMA based on discovery of spreading codes of interference signals and maximum correlation detection.
A Time-Varying Modified MMSE Detector for Multirate CDMA Signals in Fast Rayleigh Fading Channels
Kilsoo Jeong,Mitsuo Yokoyama,Hideyuki Uehara 한국전자통신연구원 2007 ETRI Journal Vol.29 No.2
In this paper, we propose a time-varying modified minimum mean-squared error (MMSE) detector for the detection of higher data rate signals in a multirate asynchronous code-division multiple-access (CDMA) system which is signaled in a fast Rayleigh fading channel. The interference viewed by a higher data rate symbol will be periodic due to the presence of a lower data rate symbol which spans multiple higher data rate symbols. The detection is carried out on the basis of a modified MMSE criterion which incorporates differential detection and the ratio of channel coefficients in two consecutive observation intervals inherently compensating the fast variation of the channel due to fading. The numerical results obtained by the MMSE detector with time-varying detection show around 3 dB (M=2) and 6 dB (M=4) performance improvement at a BER of 10-3 in the AWGN channel, while introducing more computational complexity than the MMSE detector without time-varying detection. At a higher Eb/N0, the proposed scheme can achieve a BER of approximately 10-3 in the presence of fast channel variation which is an improvement over other schemes.