Variable dimensional state space based global path planning for mobile robot

A variable dimensional state space（VDSS） has been proposed to improve the re-planning time when the robotic systems operate in large unknown environments.VDSS is constructed by uniforming lattice state space and grid state space.In VDSS,the lattice state space is only used to construct search space in the local area which is a small circle area near the robot,and grid state space elsewhere.We have tested VDSS with up to 80 indoor and outdoor maps in simulation and on segbot robot platform.Through the simulation and segbot robot experiments,it shows that exploring on VDSS is significantly faster than exploring on lattice state space by Anytime Dynamic A＊（AD＊） planner and VDSS is feasible to be used on robotic systems.

An Initial Research on the Geometric Theory of Quasicrystal Structures

The geometric theory of quasicrystal structure is an important subject in quasicrystal research. The authors deduce the quasicrystal plane geometric lattices from the stereograms of quasicrystal space geometric lattice , and put them together to form the geometric lattices of quasicrystal structures . The general characteristics of quasicrystal geometric lattices , the relation between structural models and geometric lattices , and the relation formula (k=0 , 2 , 4 , 6 , 8, 10,12) of the symmetric axis between quasicrystal and crystal are discussed based on the quasicrystal space geometric lattices. This is of significant in quasicrystal research .

Is the Higgs Field a Positive and Negative Mass Planckion Condensate, and Does the LHC Produce Extreme Dark Energy?

Assuming a two-component, positive and negative mass, superfluid/supersolid for space (the Winterberg model), we model the Higgs field as a condensate made up of a positive and a negative mass, planckion pair. The connection is shown to be consistent (compatible) with the underlying field equations for each field, and the continuity equation is satisfied for both species of planckions, as well as for the Higgs field. An inherent length scale for space (the vacuum) emerges, which we estimate from previous work to be of the order of, l+ (0) = l- (0) = 5.032E-19 meters, for an undisturbed (unperturbed) vacuum. Thus we assume a lattice structure for space, made up of overlapping positive and negative mass wave functions, ψ+, and, ψ-, which together bind to form the Higgs field, giving it its rest mass of 125.35 Gev/c2 with a coherence length equal to its Compton wavelength. If the vacuum experiences an extreme disturbance, such as in a LHC pp collision, it is conjectured that severe dark energy results, on a localized level, with a partial disintegration of the Higgs force field in the surrounding space. The Higgs boson as a quantum excitation in this field results when the vacuum reestablishes itself, within 10-22 seconds, with positive and negative planckion mass number densities equalizing in the disturbed region. Using our fundamental equation relating the Higgs field, φ, to the planckion ψ+ and ψ- wave functions, we calculate the overall vacuum pressure (equal to vacuum energy density), as well as typical ψ+ and ψ- displacements from equilibrium within the vacuum.

Multiple super-resolution imaging in the second band of gradient lattice spacing photonic crystal flat lens

Based on the triangular lattice two-dimensional photonic crystal(PC), the lattice spacing along the transverse direction to propagation is altered, and a gradient PC(GPC) flat lens is designed. The band structures and equal frequency curves of the GPC are calculated;then, the imaging mechanism and feasibility are analyzed. The imaging characteristics of the GPC flat lens are investigated. It is observed that the GPC can achieve multiple types of super-resolution imaging for the point source. This GPC lens is allowed to be applied to imaging and other fields such as filtering and sensing.

Wind Pressure Distribution and Wind-induced Dynamic Response for Spatial Groined Latticed Vaults

The wind pressure distribution and wind-induced vibration responses of long-span spatial groined latticed vaults （SGLVs） were numerically simulated, which always are ones of the most important problems in the structural wind resistance design. Incompressible visco-fluid model was introduced, and the standard k - two equation model and semi-implicit method for pressure linked equation （SIMPLE） were used to describe the flow turbulence. Furthermore, the structural dynamic equation was set up, which is solved by Newmark-fl method. And several sort of wind-induced vibration coefficients such as the wind-induced vibration coefficient corresponding to the nodal displacement responses and wind loads were suggested. In the numerical simulation where the SGLV consisting of the cylindrical sectors with different curved surface was chosen as the example, the influence on the relative wind pressure distribution and structural wind-induced vibration responses of the closed or open SGLV caused by such parameters as the number of cylindrical sectors, structural curvature and the ratio of rise to span was investigated. Finally, some useful conclusions on the local wind pressure distribution on the structural surface and the wind-induced vibration coefficients of SGLV were developed.