The increasing complexity and size of configuration knowledge bases requres the provisionof advanced methods supporting the development of the actual configuration process and design reuse.A new framework to find a fe...The increasing complexity and size of configuration knowledge bases requres the provisionof advanced methods supporting the development of the actual configuration process and design reuse.A new framework to find a feasible and practical product configuration method is presented in masscustomization. The basic idea of the appoach is to integrate case-based reasoning (CBR) with a con-straint satisfaction problem(CSP). The similarity measure between a crisp and range is also given,which is common in case retrieves. Based on the configuration model, a product platform and customerneeds, case adaptation is carried out with the repair-based algorithm. Lastly, the methodology in theelevator configuration design domain is tested.展开更多
Optical filters with different configurations based on cholesteric liquid crystals (CLCs) are designed. The central wavelength from CLCs can be tuned by the electric field or temperature. For the electric field tuni...Optical filters with different configurations based on cholesteric liquid crystals (CLCs) are designed. The central wavelength from CLCs can be tuned by the electric field or temperature. For the electric field tuning, the ITO is designed with circular patterns, which can make the tunable range 18 nm. For the temperature tuning, two-layer- CLC configurations are used. The experimental results indicate that a deepened or broadened bandgap from the CLC can be achieved by different handedness or concentrations of chiral dopants. The spectrum study is carried out.展开更多
The high-energy consumption and high construction density of 5G base stations have greatly increased the demand for backup energy storage batteries.To maximize overall benefits for the investors and operators of base ...The high-energy consumption and high construction density of 5G base stations have greatly increased the demand for backup energy storage batteries.To maximize overall benefits for the investors and operators of base station energy storage,we proposed a bi-level optimization model for the operation of the energy storage,and the planning of 5G base stations considering the sleep mechanism.A multi-base station cooperative system composed of 5G acer stations was considered as the research object,and the outer goal was to maximize the net profit over the complete life cycle of the energy storage.Furthermore,the power and capacity of the energy storage configuration were optimized.The inner goal included the sleep mechanism of the base station,and the optimization of the energy storage charging and discharging strategy,for minimizing the daily electricity expenditure of the 5G base station system.Additionally,genetic algorithm and mixed integer programming were used to solve the bi-level optimization model,analyze the numerical example test comparison of the three types of batteries and the net income of the configuration,and finally verify the validity of the model.Furthermore,the sleep mechanism,the charging and discharging strategy for energy consumption,and the economic benefits for the operators were investigated to provide reference for the 5G base station energy storage configuration.展开更多
As for a double pyramidal central configuration in 6-body problems, the case when its base is a concave polygon is studied. By advancing several assumptions according to the definition of double pyramidal central conf...As for a double pyramidal central configuration in 6-body problems, the case when its base is a concave polygon is studied. By advancing several assumptions according to the definition of double pyramidal central configuration and deducing two theorems and two corollaries on this subject, the essential and sufficient conditions to form a double pyramidal central configuration with a concave quadrilateral base are demonstrated.展开更多
Based on some necessary conditions for double pyramidal central configurations with a concave pentagonal base, for any given ratio of masses, the existence and uniqueness of a class of double pyramidal central configu...Based on some necessary conditions for double pyramidal central configurations with a concave pentagonal base, for any given ratio of masses, the existence and uniqueness of a class of double pyramidal central configurations with a concave pentagonal base in 7-body problems are proved and the range of the ratio between radius and half-height is obtained, within which the 7 bodies involved form a central configuration or form uniquely a central configuration.展开更多
The title complex [Cu(tssb)2]2[(H3O)Cl]4H2O (C18H34Cl2CuN2O14S2) (tssb = tau- rine salicylaldehyde Schiff base) has been synthesized by the reaction of taurine salicylaldehyde Schiff base (tssb) and copper acetate in ...The title complex [Cu(tssb)2]2[(H3O)Cl]4H2O (C18H34Cl2CuN2O14S2) (tssb = tau- rine salicylaldehyde Schiff base) has been synthesized by the reaction of taurine salicylaldehyde Schiff base (tssb) and copper acetate in water-ethanol. Its single-crystal structure was determined by X-ray diffraction method. The crystal structure belongs to triclinic, space group P1 with a = 0.7407(1), b = 1.3329(3), c = 1.5736(3) nm, ?= 103.800(4), ?= 95.030(4), ?= 104.416(4)? Mr = 701.06, V = 1.4433(5) nm3, Z = 2, Dc = 1.613 g/cm3, = 1.153 mm-1 and F(000) = 726. The compound is an infinitely expanding three-dimensional network connected with hydrogen bonds. The Cu(Ⅱ) atom is coordinated by two nitrogen and two oxygen atoms to form a distorted planar coordination compound which adopts anti-configuration because two sulfonic acid groups are posi- tioned diagonally on a plane.展开更多
This paper presents an extended object model for case-based reasoning (CBR) in product configuration design. In the extended object model, a few methods of knowledge expression are adopted, such as constraints, rule...This paper presents an extended object model for case-based reasoning (CBR) in product configuration design. In the extended object model, a few methods of knowledge expression are adopted, such as constraints, rules, objects, etc. On the basis of extended object model, case representation model for CBR is applied to product configuration design system. The product configuration knowledge can be represented by the extended object. The model can support all the processes of CBR in product configuration design, such as case representation, indexing, retrieving, and case revising. The presented model is an extension of the traditional object-oriented model by including the relationship class used to express the relation between the cases, constraints class used in the product configuration knowledge representation, index class used in ease retrieving, and solution class used in case revising. Therefore, the product configuration knowledge used in the product configuration design can be represented by using this model. In the end, a metering pump product configuration design system is developed on the basis of the proposed product configuration model to support customized products.展开更多
With the expansion of network services,large-scale networks have progressively become common.The network status changes rapidly in response to customer needs and configuration changes,so network configuration changes ...With the expansion of network services,large-scale networks have progressively become common.The network status changes rapidly in response to customer needs and configuration changes,so network configuration changes are also very frequent.However,no matter what changes,the network must ensure the correct conditions,such as isolating tenants from each other or guaranteeing essential services.Once changes occur,it is necessary to verify the after-changed network.Whereas,for the verification of large-scale network configuration changes,many current verifiers show poor efficiency.In order to solve the problem ofmultiple global verifications caused by frequent updates of local configurations in large networks,we present a fast configuration updates verification tool,FastCUV,for distributed control planes.FastCUV aims to enhance the efficiency of distributed control plane verification for medium and large networks while ensuring correctness.This paper presents a method to determine the network range affected by the configuration change.We present a flow model and graph structure to facilitate the design of verification algorithms and speed up verification.Our scheme verifies the network area affected by obtaining the change of the Forwarding Information Base(FIB)before and after.FastCUV supports rich network attributes,meanwhile,has high efficiency and correctness performance.After experimental verification and result analysis,our method outperforms the state-of-the-art method to a certain extent.展开更多
On some necessary conditions for double pyramidal central configurations with concave heptagon for any given ratio of masses, the existence and uniqueness of a class of double pyramidal central configurations with con...On some necessary conditions for double pyramidal central configurations with concave heptagon for any given ratio of masses, the existence and uniqueness of a class of double pyramidal central configurations with concave heptagon base for nine-body problems is proved in this paper, and the range of the ratio cr of the circularity radius of the heptagon to the half-height of the double pyramidal central configuration involved in this class configurations is obtained, which is in the interval (√3/3,1.099 600 679), and the configuration involved in the bodies with any σ∈ (√3/3, 1.099 600 679) can form a central configuration which is a uniquely central configuration is proved.展开更多
In the recent earthquakes, concrete structures have been severely damaged or collapsed, which has raised questions against the seismic adequacy of existing buildings. These existing reinforced concrete buildings need ...In the recent earthquakes, concrete structures have been severely damaged or collapsed, which has raised questions against the seismic adequacy of existing buildings. These existing reinforced concrete buildings need to be evaluated to determine the capacity to resist seismic loads. The behavior of a building during earthquakes depends critically on its overall shape, size and geometry. Conventional approach to earthquake resistant design of buildings depends upon providing the building with strength, stiffness and inelastic deformation capacity which are great enough to withstand a given level of earthquake-generated force. This is generally accomplished through the selection of an appropriate building configuration and the careful detailing of structural members. In this research, nonlinear pushover analysis has been used to evaluate the seismic performance of three buildings with three different plans having same area and height. This method determines the base shear capacity of the building and performance level of each part of building under varying intensity of seismic force. The results of effects of different plan on seismic response of buildings have been presented in terms of displacement, base shear and plastic hinge pattern.展开更多
On the basis of researching on requirement product configuration in mass customization, the concept of product family requirement class (PFRC) and requirement-matching template are put forward. A case-based requirem...On the basis of researching on requirement product configuration in mass customization, the concept of product family requirement class (PFRC) and requirement-matching template are put forward. A case-based requirement product configuration (CB-RPC) model and corresponding requirement product model are established. The result of requirement product configuration is obtained by using the method of two-level similar matching. In addition, the effect of the method on requirement responding is analyzed. Finally, the model and the method given are applied in elevator industry, and have improved the enterorise's ability of rapid responding to customer's reouirements.展开更多
Because of the randomness of wind power and photovoltaic(PV)output of new energy bases,the problem of peak regulation capability and voltage stability of ultra-high voltage direct current(UHVDC)transmission lines,we p...Because of the randomness of wind power and photovoltaic(PV)output of new energy bases,the problem of peak regulation capability and voltage stability of ultra-high voltage direct current(UHVDC)transmission lines,we proposed an optimum allocation method of installed capacity of the solar-thermal power station based on chance constrained programming in this work.Firstly,we established the uncertainty model of wind power and PV based on the chance constrained planning theory.Then we used the K-medoids clusteringmethod to cluster the scenarios considering the actual operation scenarios throughout the year.Secondly,we established the optimal configuration model based on the objective function of the strongest transient voltage stability and the lowest overall cost of operation.Finally,by quantitative analysis of actual wind power and photovoltaic new energy base,this work verified the feasibility of the proposed method.As a result of the simulations,we found that using the optimal configuration method of solar-thermal power stations could ensure an accurate allocation of installed capacity.When the installed capacity of the solar-thermal power station is 1×106 kW,the transient voltage recovery index(TVRI)is 0.359,which has a strong voltage support capacity for the system.Based on the results of this work,the optimal configuration of the installed capacity of the solar-thermal power plant can improve peak shaving performance,transient voltage support capability,and new energy consumption while satisfying the Direct Current(DC)outgoing transmission premise.展开更多
We report an all-fiberized 30-W supercontinuum(SC) generation in a piece of ZrF4-BaF2-LaF3-AlF3-NaF(ZBLAN) fiber. The pump source is a thulium-doped fiber amplifier(TDFA) with broadband output spectrum spanning the 1....We report an all-fiberized 30-W supercontinuum(SC) generation in a piece of ZrF4-BaF2-LaF3-AlF3-NaF(ZBLAN) fiber. The pump source is a thulium-doped fiber amplifier(TDFA) with broadband output spectrum spanning the 1.9 to 2.6 μm region. The used ZBLAN fiber has a core diameter of 10 μm, and was directly fusion-spliced to the pigtail of the TDFA without using a traditional mode field adapter(MFA) or a piece of transition fiber. Such a low-loss and robust fusion splice joint, together with a robust AlF3-fiber-based endcap,enables efficient and high-power SC generation in the ZBLAN fiber. An SC with an average power up to 30.0 W and a spectral coverage of 1.9–3.35 μm with 20-dB bandwidth of 1.92–3.20 μm was obtained. Moreover, an SC with a broader spectrum was achieved by raising the pump pulse peak power(via reducing the duty ratio of the pump laser pulse). An SC with an output power of 27.4 W and a spectral coverage of 1.9–3.63 μm(with 20-dB bandwidth of 1.92–3.47 μm) was obtained, as well as an SC with output power of 24.8 W and a spectral coverage of 1.9–3.70 μm(with 20-dB bandwidth of 1.93–3.56 μm). The power conversion efficiency was measured as>69%. To the best of the authors’ knowledge, this research demonstrates the record output power of SC lasers based on ZBLAN fibers, paving the way for broadband and efficient multi-tens-of-watts SC generation in softglass fibers.展开更多
This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configura...This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning.展开更多
基金This project is supported by National Natural Science Foundation of China(No.50275133) and China Hi-tech Program CIMS Topic (No.2003-China(No.50275133) and China Hi-tech Program CIMS Topic (No.2003-AA411320). Received July 22, 2003
文摘The increasing complexity and size of configuration knowledge bases requres the provisionof advanced methods supporting the development of the actual configuration process and design reuse.A new framework to find a feasible and practical product configuration method is presented in masscustomization. The basic idea of the appoach is to integrate case-based reasoning (CBR) with a con-straint satisfaction problem(CSP). The similarity measure between a crisp and range is also given,which is common in case retrieves. Based on the configuration model, a product platform and customerneeds, case adaptation is carried out with the repair-based algorithm. Lastly, the methodology in theelevator configuration design domain is tested.
基金Supported by the National Natural Science Foundation of China under Grant Nos 61107059,61308052 and 61077047the Fundamental Research Funds for the Central Universitiesthe 111 Project of the Harbin Engineering University under Grant No B13015
文摘Optical filters with different configurations based on cholesteric liquid crystals (CLCs) are designed. The central wavelength from CLCs can be tuned by the electric field or temperature. For the electric field tuning, the ITO is designed with circular patterns, which can make the tunable range 18 nm. For the temperature tuning, two-layer- CLC configurations are used. The experimental results indicate that a deepened or broadened bandgap from the CLC can be achieved by different handedness or concentrations of chiral dopants. The spectrum study is carried out.
基金supported by the State Grid Science and Technology Project(KJ21-1-56).
文摘The high-energy consumption and high construction density of 5G base stations have greatly increased the demand for backup energy storage batteries.To maximize overall benefits for the investors and operators of base station energy storage,we proposed a bi-level optimization model for the operation of the energy storage,and the planning of 5G base stations considering the sleep mechanism.A multi-base station cooperative system composed of 5G acer stations was considered as the research object,and the outer goal was to maximize the net profit over the complete life cycle of the energy storage.Furthermore,the power and capacity of the energy storage configuration were optimized.The inner goal included the sleep mechanism of the base station,and the optimization of the energy storage charging and discharging strategy,for minimizing the daily electricity expenditure of the 5G base station system.Additionally,genetic algorithm and mixed integer programming were used to solve the bi-level optimization model,analyze the numerical example test comparison of the three types of batteries and the net income of the configuration,and finally verify the validity of the model.Furthermore,the sleep mechanism,the charging and discharging strategy for energy consumption,and the economic benefits for the operators were investigated to provide reference for the 5G base station energy storage configuration.
基金Funded by the Natural Science Foundation of China (No. 19871096).
文摘As for a double pyramidal central configuration in 6-body problems, the case when its base is a concave polygon is studied. By advancing several assumptions according to the definition of double pyramidal central configuration and deducing two theorems and two corollaries on this subject, the essential and sufficient conditions to form a double pyramidal central configuration with a concave quadrilateral base are demonstrated.
基金Natural Science Foundation of China (No.19871096)
文摘Based on some necessary conditions for double pyramidal central configurations with a concave pentagonal base, for any given ratio of masses, the existence and uniqueness of a class of double pyramidal central configurations with a concave pentagonal base in 7-body problems are proved and the range of the ratio between radius and half-height is obtained, within which the 7 bodies involved form a central configuration or form uniquely a central configuration.
基金Supported by the NSF of Guangxi Province (No. 0339034) and the Science Research Foundation of Guangxi Universities
文摘The title complex [Cu(tssb)2]2[(H3O)Cl]4H2O (C18H34Cl2CuN2O14S2) (tssb = tau- rine salicylaldehyde Schiff base) has been synthesized by the reaction of taurine salicylaldehyde Schiff base (tssb) and copper acetate in water-ethanol. Its single-crystal structure was determined by X-ray diffraction method. The crystal structure belongs to triclinic, space group P1 with a = 0.7407(1), b = 1.3329(3), c = 1.5736(3) nm, ?= 103.800(4), ?= 95.030(4), ?= 104.416(4)? Mr = 701.06, V = 1.4433(5) nm3, Z = 2, Dc = 1.613 g/cm3, = 1.153 mm-1 and F(000) = 726. The compound is an infinitely expanding three-dimensional network connected with hydrogen bonds. The Cu(Ⅱ) atom is coordinated by two nitrogen and two oxygen atoms to form a distorted planar coordination compound which adopts anti-configuration because two sulfonic acid groups are posi- tioned diagonally on a plane.
基金supported by Scientific and Technological Projectin Liaoning Province of China (No. 2006219008-4)Fundamental Research Funds for the Central Universities (No. 090403005)
文摘This paper presents an extended object model for case-based reasoning (CBR) in product configuration design. In the extended object model, a few methods of knowledge expression are adopted, such as constraints, rules, objects, etc. On the basis of extended object model, case representation model for CBR is applied to product configuration design system. The product configuration knowledge can be represented by the extended object. The model can support all the processes of CBR in product configuration design, such as case representation, indexing, retrieving, and case revising. The presented model is an extension of the traditional object-oriented model by including the relationship class used to express the relation between the cases, constraints class used in the product configuration knowledge representation, index class used in ease retrieving, and solution class used in case revising. Therefore, the product configuration knowledge used in the product configuration design can be represented by using this model. In the end, a metering pump product configuration design system is developed on the basis of the proposed product configuration model to support customized products.
基金supported by the Fundamental Research Funds for the Central Universities(2021RC239)the Postdoctoral Science Foundation of China(2021 M690338)+3 种基金theHainan Provincial Natural Science Foundation of China(620RC562,2019RC096,620RC560)the Scientific Research Setup Fund of Hainan University(KYQD(ZR)1877)the Program of Hainan Association for Science and Technology Plans to Youth R&D Innovation(QCXM201910)the National Natural Science Foundation of China(61802092,62162021).
文摘With the expansion of network services,large-scale networks have progressively become common.The network status changes rapidly in response to customer needs and configuration changes,so network configuration changes are also very frequent.However,no matter what changes,the network must ensure the correct conditions,such as isolating tenants from each other or guaranteeing essential services.Once changes occur,it is necessary to verify the after-changed network.Whereas,for the verification of large-scale network configuration changes,many current verifiers show poor efficiency.In order to solve the problem ofmultiple global verifications caused by frequent updates of local configurations in large networks,we present a fast configuration updates verification tool,FastCUV,for distributed control planes.FastCUV aims to enhance the efficiency of distributed control plane verification for medium and large networks while ensuring correctness.This paper presents a method to determine the network range affected by the configuration change.We present a flow model and graph structure to facilitate the design of verification algorithms and speed up verification.Our scheme verifies the network area affected by obtaining the change of the Forwarding Information Base(FIB)before and after.FastCUV supports rich network attributes,meanwhile,has high efficiency and correctness performance.After experimental verification and result analysis,our method outperforms the state-of-the-art method to a certain extent.
基金Funded by NSF (Natural Science Foundation) of China (No. 10231010) and NSF of Chongqing Educational Committee (KJ051109, KJ06110X), NSF of Chongqing Science and Technology Committee, NSF of CQSXXY
文摘On some necessary conditions for double pyramidal central configurations with concave heptagon for any given ratio of masses, the existence and uniqueness of a class of double pyramidal central configurations with concave heptagon base for nine-body problems is proved in this paper, and the range of the ratio cr of the circularity radius of the heptagon to the half-height of the double pyramidal central configuration involved in this class configurations is obtained, which is in the interval (√3/3,1.099 600 679), and the configuration involved in the bodies with any σ∈ (√3/3, 1.099 600 679) can form a central configuration which is a uniquely central configuration is proved.
文摘In the recent earthquakes, concrete structures have been severely damaged or collapsed, which has raised questions against the seismic adequacy of existing buildings. These existing reinforced concrete buildings need to be evaluated to determine the capacity to resist seismic loads. The behavior of a building during earthquakes depends critically on its overall shape, size and geometry. Conventional approach to earthquake resistant design of buildings depends upon providing the building with strength, stiffness and inelastic deformation capacity which are great enough to withstand a given level of earthquake-generated force. This is generally accomplished through the selection of an appropriate building configuration and the careful detailing of structural members. In this research, nonlinear pushover analysis has been used to evaluate the seismic performance of three buildings with three different plans having same area and height. This method determines the base shear capacity of the building and performance level of each part of building under varying intensity of seismic force. The results of effects of different plan on seismic response of buildings have been presented in terms of displacement, base shear and plastic hinge pattern.
基金This project is supported by National Basic Research Program of China (973 Program, No.2004CB719402)National Natural Science Foundation of China(No.50475072, No.50275133)National Hi-tech Research and Development Program of China(863 Program, No.2003-AA411320).
文摘On the basis of researching on requirement product configuration in mass customization, the concept of product family requirement class (PFRC) and requirement-matching template are put forward. A case-based requirement product configuration (CB-RPC) model and corresponding requirement product model are established. The result of requirement product configuration is obtained by using the method of two-level similar matching. In addition, the effect of the method on requirement responding is analyzed. Finally, the model and the method given are applied in elevator industry, and have improved the enterorise's ability of rapid responding to customer's reouirements.
基金funded by Major Science and Technology Projects in Gansu Province(19ZD2GA003).
文摘Because of the randomness of wind power and photovoltaic(PV)output of new energy bases,the problem of peak regulation capability and voltage stability of ultra-high voltage direct current(UHVDC)transmission lines,we proposed an optimum allocation method of installed capacity of the solar-thermal power station based on chance constrained programming in this work.Firstly,we established the uncertainty model of wind power and PV based on the chance constrained planning theory.Then we used the K-medoids clusteringmethod to cluster the scenarios considering the actual operation scenarios throughout the year.Secondly,we established the optimal configuration model based on the objective function of the strongest transient voltage stability and the lowest overall cost of operation.Finally,by quantitative analysis of actual wind power and photovoltaic new energy base,this work verified the feasibility of the proposed method.As a result of the simulations,we found that using the optimal configuration method of solar-thermal power stations could ensure an accurate allocation of installed capacity.When the installed capacity of the solar-thermal power station is 1×106 kW,the transient voltage recovery index(TVRI)is 0.359,which has a strong voltage support capacity for the system.Based on the results of this work,the optimal configuration of the installed capacity of the solar-thermal power plant can improve peak shaving performance,transient voltage support capability,and new energy consumption while satisfying the Direct Current(DC)outgoing transmission premise.
基金National Natural Science Foundation of China(NSFC)(61235008,61405254,61435009)
文摘We report an all-fiberized 30-W supercontinuum(SC) generation in a piece of ZrF4-BaF2-LaF3-AlF3-NaF(ZBLAN) fiber. The pump source is a thulium-doped fiber amplifier(TDFA) with broadband output spectrum spanning the 1.9 to 2.6 μm region. The used ZBLAN fiber has a core diameter of 10 μm, and was directly fusion-spliced to the pigtail of the TDFA without using a traditional mode field adapter(MFA) or a piece of transition fiber. Such a low-loss and robust fusion splice joint, together with a robust AlF3-fiber-based endcap,enables efficient and high-power SC generation in the ZBLAN fiber. An SC with an average power up to 30.0 W and a spectral coverage of 1.9–3.35 μm with 20-dB bandwidth of 1.92–3.20 μm was obtained. Moreover, an SC with a broader spectrum was achieved by raising the pump pulse peak power(via reducing the duty ratio of the pump laser pulse). An SC with an output power of 27.4 W and a spectral coverage of 1.9–3.63 μm(with 20-dB bandwidth of 1.92–3.47 μm) was obtained, as well as an SC with output power of 24.8 W and a spectral coverage of 1.9–3.70 μm(with 20-dB bandwidth of 1.93–3.56 μm). The power conversion efficiency was measured as>69%. To the best of the authors’ knowledge, this research demonstrates the record output power of SC lasers based on ZBLAN fibers, paving the way for broadband and efficient multi-tens-of-watts SC generation in softglass fibers.
基金the National Natural Science Foundation of China (Grant No.60705029)the National High-Technology (863 Program) (Grant No.2007AA041502-5)+1 种基金Advanced Manufacturing Technology R&D Base Foundation of Chinese Academy of Sciences (Grant No.07F1240101)the CAS President’s Award Winner Foundation
文摘This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named "AMOEBA-I" has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots' configuration control and reconfiguration planning.