Comparative study on the redundancy of mobile single- and dual-arm robots

A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.

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A Novel Two-Level Rate Control Algorithm Based on Visual Attention for 360-Degree Video for Versatile Video Coding Standard

10.21203/rs.3.rs-102968/v1 ◽

2020 ◽

Author(s):

Hoda Roodaki

Keyword(s):

Visual Attention ◽

Video Coding ◽

Rate Control ◽

Control Algorithm ◽

Perceptual Quality ◽

Motion Models ◽

Proper Number ◽

Rate Control Algorithm ◽

Motion Complexity

Abstract 360-degree video is providing users with an interactive experience to explore the scenes freely. But, because only a small portion of the entire video, called viewport, is watched at every point in time, transmitting the entire video is bandwidth-consuming. Since, the perceptual quality of such video mainly depends on the quality of the viewport, more bandwidth should be assigned to these important parts of the scene. Hence, understanding how people observe and explore 360-degree content is essential. In this paper, we propose a new Two-level rate control algorithm which tries to allocate more bits for encoding the viewport parts of a 360-degree video. The head and eye movements of the observers is used to investigate the visual attention of people to detect the viewports. Then, a Coding Tree Unit (CTU) level rate assignment approach is proposed to assign a proper number of bits to each CTU of the viewport and non-viewport parts. It is assumed that higher motion complexity results in higher bitrates of the encoded video. So, we propose to assign the proper number of bits to each CTU according to its motion complexity. Another novel part of our proposed approach is proposing a new metric to parameterize the motion complexity of each CTU using the high-order motion models in Versatile Video Coding (VVC) standard. Experimental results show that our proposed rate control, on average, achieves 58.27% reduction in bitrate in the Bjøntegaard-Bitrate scales, compared to the standard VCC standard. Furthermore, the proposed scheme provides a significantly better subjective viewing quality compared to the-state-of-the-art methods.

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