Important state parameters, such as torque and angle obtained from the servo control and drive system, can reflect the operating condition of the equipment. However, there are two problems with the information obtained through the network from the control and drive system: the low sampling rate, which does not meet the sampling theorem and the nonuniformity of the sampling points. By combing equivalent sampling and nonuniform signal reconstruction theory, this paper proposes a reconstruction method for signal obtained from servo system in periodic reciprocating motion. Equivalent sampling combines the low rate and nonuniform samples from multiple periods into one single period, so that the equivalent sampling rate is far increased. Then, the nonuniform samples with high density are further resampled to meet the reconstruction conditions. This step can avoid the amplitude error in the reconstructed signal and increase the possibility of successful reconstruction. Finally, the reconstruction formula derived from basis theory is applied to recover the signal. This method has been successfully verified by the simulation signal of the robot swing process and the actual current signal collected on the robot arm testbed.

Reconstruction of Periodic Band Limited Signals from Non-Uniform Samples with Sub-Nyquist Sampling Rate.

In this paper, we propose a reconstruction approach for a multiple-sinusoidal signal. The signal reconstruction requires a small number of samples and is based on a sub-Nyquist sampling scheme with dual rate channels. In the proposed sampling scheme, the samples are grouped into multiple cosets. To obtain enough different cosets to reconstruct a signal, the sampling rates of channels are required to be relative coprime. For each coset, the Whittaker-Shannon interpolation formula is employed to construct the relation between the sub-Nyquist samples and the original signal, which is used to construct the measurement matrix. Since the multiple-sinusoidal signal is sparse in the frequency domain, compressed sensing theory can be adopted to reconstruct the signal. Simulation results are reported to demonstrate the feasibility and effectiveness of the proposed approach.

Compressed sensing based sub-Nyquist sampling of multiple sinusoids with dual rate channels

Compressive sensing has the ability of reconstruction of signal/image from the compressive measurements which are sensed with a much lower number of samples than a minimum requirement by Nyquist sampling theorem. The random acquisition is widely suggested and used for compressive sensing. In the random acquisition, the randomness of the sparsity structure has been deployed for compressive sampling of the signal/image. The article goes through all the literature up to date and collects the main methods, and simply described the way each of them randomly applies the compressive sensing. This article is a comprehensive review of random acquisition techniques in compressive sensing. Theses techniques have reviews under the main categories of (1) random demodulator, (2) random convolution, (3) modulated wideband converter model, (4) compressive multiplexer diagram, (5) random equivalent sampling, (6) random modulation pre-integration, (7) quadrature analog-to-information converter, (8) randomly triggered modulated-wideband compressive sensing (RT-MWCS).

Random Acquisition in Compressive Sensing: A Comprehensive Overview

During the measurement of dynamic transient signals, a high sampling frequency brings great challenges to the analog-to-digital converter (ADC) and testing system. To address these issues, a high precision measurement method for dynamic transient signals is first proposed in this paper. The characteristics of dynamic transient signals are analyzed first. On the basis of this, a random sampling method combining compressed sensing (CS) with spline polynomial interpolation (SPI) is put forward. The fusion of the two algorithms can effectively reduce the quantity of sampling and observation points to reduce the requirement of the ADC and testing system for transient signal measurement and to improve the observation efficiency of the existing uniform sampling. Finally, a Machete hammer test platform for dynamic transient signals is established. A series of simulation and experimental results validate that the error of data reconstruction using the random sampling method combining CS with SPI is not greater than 5.1%.

High precision measurement method for dynamic transient signal based on compressed sensing and spline polynomial interpolation.

The random equivalent sampling (RES) is a sampling approach that can be applied to capture high speed repetitive signals with a sampling rate that is much lower than the Nyquist rate. However, the uneven random distribution of the time interval between the excitation pulse and the signal degrades the signal reconstruction performance. For sparse multiband signal sampling, the compressed sensing (CS) based signal reconstruction algorithm can tease out the band supports with overwhelming probability and reduce the impact of uneven random distribution in RES. In this paper, the mathematical model of RES behavior is constructed in the frequency domain. Based on the constructed mathematical model, the band supports of signal can be determined. Experimental results demonstrate that, for a signal with unknown sparse multiband, the proposed CS-based signal reconstruction algorithm is feasible, and the CS reconstruction algorithm outperforms the traditional RES signal reconstruction method.

C. J. Liu

Papers

Multiband signal reconstruction for random equivalent sampling.