The environment modeling algorithm named rectangular decomposition, which is composed of cellular nodes and interleaving networks, is proposed. The principle of environment modeling is to divide the environment into i...The environment modeling algorithm named rectangular decomposition, which is composed of cellular nodes and interleaving networks, is proposed. The principle of environment modeling is to divide the environment into individual square sub-areas. Each sub-area is orientated by the central point of the sub-areas called a node. The rectangular map based on the square map can enlarge the square area side size to increase the coverage efficiency in the case of there being an adjacent obstacle. Based on this algorithm, a new coverage algorithm, which includes global path planning and local path planning, is introduced. In the global path planning, uncovered subspaces are found by using a special rule. A one-dimensional array P, which is used to obtain the searching priority of node in every direction, is defined as the search rule. The array P includes the condition of coverage towards the adjacent cells, the condition of connectivity and the priorities defined by the user in all eight directions. In the local path planning, every sub-area is covered by using template models according to the shape of the environment. The simulation experiments show that the coverage algorithm is simple, efficient and adapted for complex two- dimensional environments.展开更多
Mesh-free finite difference(FD)methods can improve the geometric flexibility of modeling without the need for lattice mapping or complex meshing process.Radial-basisfunction-generated FD is among the most commonly use...Mesh-free finite difference(FD)methods can improve the geometric flexibility of modeling without the need for lattice mapping or complex meshing process.Radial-basisfunction-generated FD is among the most commonly used mesh-free FD methods and can accurately simulate seismic wave propagation in the non-rectangular computational domain.In this paper,we propose a perfectly matched layer(PML)boundary condition for a meshfree FD solution of the elastic wave equation,which can be applied to the boundaries of the non-rectangular velocity model.The performance of the PML is,however,severely reduced for near-grazing incident waves and low-frequency waves.We thus also propose the complexfrequency-shifted PML(CFS-PML)boundary condition for a mesh-free FD solution of the elastic wave equation.For two PML boundary conditions,we derive unsplit time-domain expressions by constructing auxiliary differential equations,both of which require less memory and are easy for programming.Numerical experiments demonstrate that these two PML boundary conditions effectively eliminate artificial boundary reflections in mesh-free FD simulations.When compared with the PML boundary condition,the CFS-PML boundary condition results in better absorption for near-grazing incident waves and evanescent waves.展开更多
Circuits with switched current are described by an admittance matrix and seeking current transfers then means calculating the ratio of algebraic supplements of this matrix. As there are also graph methods of circuit a...Circuits with switched current are described by an admittance matrix and seeking current transfers then means calculating the ratio of algebraic supplements of this matrix. As there are also graph methods of circuit analysis in addition to algebraic methods, it is clearly possible in theory to carry out an analysis of the whole switched circuit in two-phase switching exclusively by the graph method as well. For this purpose it is possible to plot a Mason graph of a circuit, use transformation graphs to reduce Mason graphs for all the four phases of switching, and then plot a summary graph from the transformed graphs obtained this way. First the author draws nodes and possible branches, obtained by transformation graphs for transfers of EE （even-even） and OO （odd-odd） phases. In the next step, branches obtained by transformation graphs for EO and OE phase are drawn between these nodes, while their resulting transfer is 1 multiplied by z^1/2. This summary graph is extended by two branches from input node and to output node, the extended graph can then be interpreted by the Mason＇s relation to provide transparent current transfers. Therefore it is not necessary to compose a sum admittance matrix and to express this consequently in numbers, and so it is possible to reach the final result in a graphical way.展开更多
基金The National Natural Science Foundation of China(No.50475076)the National High Technology Research and Development Pro-gram of China(863Program)(No.2006AA04Z234)
文摘The environment modeling algorithm named rectangular decomposition, which is composed of cellular nodes and interleaving networks, is proposed. The principle of environment modeling is to divide the environment into individual square sub-areas. Each sub-area is orientated by the central point of the sub-areas called a node. The rectangular map based on the square map can enlarge the square area side size to increase the coverage efficiency in the case of there being an adjacent obstacle. Based on this algorithm, a new coverage algorithm, which includes global path planning and local path planning, is introduced. In the global path planning, uncovered subspaces are found by using a special rule. A one-dimensional array P, which is used to obtain the searching priority of node in every direction, is defined as the search rule. The array P includes the condition of coverage towards the adjacent cells, the condition of connectivity and the priorities defined by the user in all eight directions. In the local path planning, every sub-area is covered by using template models according to the shape of the environment. The simulation experiments show that the coverage algorithm is simple, efficient and adapted for complex two- dimensional environments.
基金supported by the National Science and Technology Major Project(2016ZX05006-002)the National Natural Science Foundation of China(Nos.41874153,41504097)
文摘Mesh-free finite difference(FD)methods can improve the geometric flexibility of modeling without the need for lattice mapping or complex meshing process.Radial-basisfunction-generated FD is among the most commonly used mesh-free FD methods and can accurately simulate seismic wave propagation in the non-rectangular computational domain.In this paper,we propose a perfectly matched layer(PML)boundary condition for a meshfree FD solution of the elastic wave equation,which can be applied to the boundaries of the non-rectangular velocity model.The performance of the PML is,however,severely reduced for near-grazing incident waves and low-frequency waves.We thus also propose the complexfrequency-shifted PML(CFS-PML)boundary condition for a mesh-free FD solution of the elastic wave equation.For two PML boundary conditions,we derive unsplit time-domain expressions by constructing auxiliary differential equations,both of which require less memory and are easy for programming.Numerical experiments demonstrate that these two PML boundary conditions effectively eliminate artificial boundary reflections in mesh-free FD simulations.When compared with the PML boundary condition,the CFS-PML boundary condition results in better absorption for near-grazing incident waves and evanescent waves.
文摘Circuits with switched current are described by an admittance matrix and seeking current transfers then means calculating the ratio of algebraic supplements of this matrix. As there are also graph methods of circuit analysis in addition to algebraic methods, it is clearly possible in theory to carry out an analysis of the whole switched circuit in two-phase switching exclusively by the graph method as well. For this purpose it is possible to plot a Mason graph of a circuit, use transformation graphs to reduce Mason graphs for all the four phases of switching, and then plot a summary graph from the transformed graphs obtained this way. First the author draws nodes and possible branches, obtained by transformation graphs for transfers of EE （even-even） and OO （odd-odd） phases. In the next step, branches obtained by transformation graphs for EO and OE phase are drawn between these nodes, while their resulting transfer is 1 multiplied by z^1/2. This summary graph is extended by two branches from input node and to output node, the extended graph can then be interpreted by the Mason＇s relation to provide transparent current transfers. Therefore it is not necessary to compose a sum admittance matrix and to express this consequently in numbers, and so it is possible to reach the final result in a graphical way.
