Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by ...Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function （RBF） neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.展开更多
By the flexible redefinition of frequency-occupation and frequency-collision event, the frequency-(collision) probability of hybrid(DS/FH) spread spectrum network is analyzed. This probability is based on the simultan...By the flexible redefinition of frequency-occupation and frequency-collision event, the frequency-(collision) probability of hybrid(DS/FH) spread spectrum network is analyzed. This probability is based on the simultaneous transmission number threshold and is discussed in synchronous and asynchronous circumstances respectively. And then, the network throughput based on the packet correct reception probability is analyzed. Two models which have finite and infinite population respectively is discussed. At last, the numerical results are given.展开更多
Nonlinear structures of lower hybrid wave in collision plasmas are studied using the two-fluid theory.The oscillatory shock wave is observed due to the effects of the electron-neutral collision and the density inhomog...Nonlinear structures of lower hybrid wave in collision plasmas are studied using the two-fluid theory.The oscillatory shock wave is observed due to the effects of the electron-neutral collision and the density inhomogeneity.In the cold electron limit,the oscillatory shock wave becomes the ordinary shock wave.In the collisionless limit,the dominated equation becomes Kd V equation and the lower hybrid solitons arise.The amplitude of the nonlinear structure is depressed by the plasma inhomogeneity,but is hardly affected by the electron-neutral collision.展开更多
基金Project supported by the Science and Technology Stress Projects of Hebei Province, China (Grant No 07213526)
文摘Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function （RBF） neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.
文摘By the flexible redefinition of frequency-occupation and frequency-collision event, the frequency-(collision) probability of hybrid(DS/FH) spread spectrum network is analyzed. This probability is based on the simultaneous transmission number threshold and is discussed in synchronous and asynchronous circumstances respectively. And then, the network throughput based on the packet correct reception probability is analyzed. Two models which have finite and infinite population respectively is discussed. At last, the numerical results are given.
基金Supported by National Natural Science Foundation of China under Grant Nos.11405001,11147163Key Project of Outstanding Young Talents of Anhui Province under Grant No.gxyq ZD2016146the Foundation of Anhui Educational Commission of China under Grant Nos.KJ2014A046,KJ2013B059
文摘Nonlinear structures of lower hybrid wave in collision plasmas are studied using the two-fluid theory.The oscillatory shock wave is observed due to the effects of the electron-neutral collision and the density inhomogeneity.In the cold electron limit,the oscillatory shock wave becomes the ordinary shock wave.In the collisionless limit,the dominated equation becomes Kd V equation and the lower hybrid solitons arise.The amplitude of the nonlinear structure is depressed by the plasma inhomogeneity,but is hardly affected by the electron-neutral collision.
