Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this...Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field （APF） approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.展开更多
The paper focuses on physical contact.It depicts the expression and function of physical contact in nonverbal communication and makes a comparison of physical contact between China and other Countries so as to improve...The paper focuses on physical contact.It depicts the expression and function of physical contact in nonverbal communication and makes a comparison of physical contact between China and other Countries so as to improve the communication competence.展开更多
In the process of our growth, we need to be loved. Of course, love is mutual. So I learn how to love and how to care for others. Last time, I read a piece of news. A girl was standing in the street giving everyone a f...In the process of our growth, we need to be loved. Of course, love is mutual. So I learn how to love and how to care for others. Last time, I read a piece of news. A girl was standing in the street giving everyone a free hug. To avoid embarrassment, she wore a blindfold. Everybody goes to hug her. But I think she needs to be loved a little more.展开更多
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51205277,51475319 and51575736)the National Key R&D Program of China(Grant No.2016YFC0301100)Tianjin University Elite Scholar Program
文摘Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field （APF） approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.
文摘The paper focuses on physical contact.It depicts the expression and function of physical contact in nonverbal communication and makes a comparison of physical contact between China and other Countries so as to improve the communication competence.
文摘In the process of our growth, we need to be loved. Of course, love is mutual. So I learn how to love and how to care for others. Last time, I read a piece of news. A girl was standing in the street giving everyone a free hug. To avoid embarrassment, she wore a blindfold. Everybody goes to hug her. But I think she needs to be loved a little more.
