Positioning and navigation technology is a new trend of research in mobile robot area.Existing researches focus on the indoor industrial problems,while many application fields are in the outdoor environment,which put ...Positioning and navigation technology is a new trend of research in mobile robot area.Existing researches focus on the indoor industrial problems,while many application fields are in the outdoor environment,which put forward higher requirements for sensor selection and navigation scheme.In this paper,a complete hybrid navigation system for a class of mobile robots with load tasks and docking tasks is presented.The work can realize large-range autonomous positioning and path planning for mobile robots in unstructured scenarios.The autonomous positioning is achieved by adopting suitable guidance methods to meet different application requirements and accuracy requirements in conditions of different distances.Based on the Bezier curve,a path planning scheme is proposed and a motion controller is designed to make the mobile robot follow the target path.The Kalman filter is established to process the guidance signals and control outputs of the motion controller.Finally,the autonomous positioning and docking experiment are carried out.The results of the research verify the effectiveness of the hybrid navigation,which can be used in autonomous warehousing logistics and multi-mobile robot system.展开更多
The products of graphs discussed in this paper are the following four kinds: the Cartesian product of graphs, the tensor product of graphs, the lexicographic product of graphs and the strong direct product of graphs. ...The products of graphs discussed in this paper are the following four kinds: the Cartesian product of graphs, the tensor product of graphs, the lexicographic product of graphs and the strong direct product of graphs. It is proved that:① If the graphs G 1 and G 2 are the connected graphs, then the Cartesian product, the lexicographic product and the strong direct product in the products of graphs, are the path positive graphs. ② If the tensor product is a path positive graph if and only if the graph G 1 and G 2 are the connected graphs, and the graph G 1 or G 2 has an odd cycle and max{ λ 1μ 1,λ nμ m}≥2 in which λ 1 and λ n [ or μ 1 and μ m] are maximum and minimum characteristic values of graph G 1 [ or G 2 ], respectively.展开更多
Deployment of nodes based on K-barrier coverage in an underground wireless sensor network is described. The network has automatic routing recovery by using a basic information table (BIT) for each node. An RSSI positi...Deployment of nodes based on K-barrier coverage in an underground wireless sensor network is described. The network has automatic routing recovery by using a basic information table (BIT) for each node. An RSSI positioning algorithm based on a path loss model in the coal mine is used to calculate the path loss in real time within the actual lane way environment. Simulation results show that the packet loss can be controlled to less than 15% by the routing recovery algorithm under special recovery circum- stances. The location precision is within 5 m, which greatly enhances performance compared to tradi- tional frequency location systems. This approach can meet the needs for accurate location underground.展开更多
An improvement strategy which controls the shift effort and the power summing planetary gear set of steering clutches and brakes have been proposed based on the dynamic model of synchroniser in order to decrease the w...An improvement strategy which controls the shift effort and the power summing planetary gear set of steering clutches and brakes have been proposed based on the dynamic model of synchroniser in order to decrease the wear of synchroniser inserts, make gear shift easy and reduce the shock noise for a positive independent mechanical split path transmission which attached an auto- matic shift system when shifting. A kinetics model for the process of synchroniser engagement is built and analyzed in the paper. Thus for optimizing the gear shift process which is divided into three phases a model reference fuzzy self-adaption system is adopted. Through a 6 000 km road experiment, the control strategy has proved feasible and dependable.展开更多
The authors prove a splitting formula for the Maslov-type indices of symplectic paths induced by the splitting of the nullity in weak symplectic Hilbert space.Then a direct proof of the iteration formulae for the Masl...The authors prove a splitting formula for the Maslov-type indices of symplectic paths induced by the splitting of the nullity in weak symplectic Hilbert space.Then a direct proof of the iteration formulae for the Maslov-type indices of symplectic paths is given.展开更多
文摘Positioning and navigation technology is a new trend of research in mobile robot area.Existing researches focus on the indoor industrial problems,while many application fields are in the outdoor environment,which put forward higher requirements for sensor selection and navigation scheme.In this paper,a complete hybrid navigation system for a class of mobile robots with load tasks and docking tasks is presented.The work can realize large-range autonomous positioning and path planning for mobile robots in unstructured scenarios.The autonomous positioning is achieved by adopting suitable guidance methods to meet different application requirements and accuracy requirements in conditions of different distances.Based on the Bezier curve,a path planning scheme is proposed and a motion controller is designed to make the mobile robot follow the target path.The Kalman filter is established to process the guidance signals and control outputs of the motion controller.Finally,the autonomous positioning and docking experiment are carried out.The results of the research verify the effectiveness of the hybrid navigation,which can be used in autonomous warehousing logistics and multi-mobile robot system.
文摘The products of graphs discussed in this paper are the following four kinds: the Cartesian product of graphs, the tensor product of graphs, the lexicographic product of graphs and the strong direct product of graphs. It is proved that:① If the graphs G 1 and G 2 are the connected graphs, then the Cartesian product, the lexicographic product and the strong direct product in the products of graphs, are the path positive graphs. ② If the tensor product is a path positive graph if and only if the graph G 1 and G 2 are the connected graphs, and the graph G 1 or G 2 has an odd cycle and max{ λ 1μ 1,λ nμ m}≥2 in which λ 1 and λ n [ or μ 1 and μ m] are maximum and minimum characteristic values of graph G 1 [ or G 2 ], respectively.
基金supported by the National Key Technology R&D Program of China (No. 2008BAH37B05095)
文摘Deployment of nodes based on K-barrier coverage in an underground wireless sensor network is described. The network has automatic routing recovery by using a basic information table (BIT) for each node. An RSSI positioning algorithm based on a path loss model in the coal mine is used to calculate the path loss in real time within the actual lane way environment. Simulation results show that the packet loss can be controlled to less than 15% by the routing recovery algorithm under special recovery circum- stances. The location precision is within 5 m, which greatly enhances performance compared to tradi- tional frequency location systems. This approach can meet the needs for accurate location underground.
文摘An improvement strategy which controls the shift effort and the power summing planetary gear set of steering clutches and brakes have been proposed based on the dynamic model of synchroniser in order to decrease the wear of synchroniser inserts, make gear shift easy and reduce the shock noise for a positive independent mechanical split path transmission which attached an auto- matic shift system when shifting. A kinetics model for the process of synchroniser engagement is built and analyzed in the paper. Thus for optimizing the gear shift process which is divided into three phases a model reference fuzzy self-adaption system is adopted. Through a 6 000 km road experiment, the control strategy has proved feasible and dependable.
基金supported by the National Natural Science Foundation of China(Nos.11221091,11471169)the Key Laboratory of Pure Mathematics and Combinatorics,the Ministry of Education of China
文摘The authors prove a splitting formula for the Maslov-type indices of symplectic paths induced by the splitting of the nullity in weak symplectic Hilbert space.Then a direct proof of the iteration formulae for the Maslov-type indices of symplectic paths is given.
