The problem of path planning is studied for t he case for a mobile robot moving in a known environment. An aggressive algorith m using a description of the obstacles based on a neural network is proposed. Th e algorit...The problem of path planning is studied for t he case for a mobile robot moving in a known environment. An aggressive algorith m using a description of the obstacles based on a neural network is proposed. Th e algorithm allows to construct an optimal path which is piecewise linear with c hanging directions of the obstacles and the calculation speed for the proposed a lgorithm is comparatively fast. Simulation results and an application to a car_l ike robot 'Khepera' show the effectiveness of the proposed algorithm.展开更多
Using a 1.5 layer nonlinear shallow-water reduced-gravity model, we executed numerical simulations to investigate the possibility of a western boundary current (WBC) path transition due to mesoscale eddies based on th...Using a 1.5 layer nonlinear shallow-water reduced-gravity model, we executed numerical simulations to investigate the possibility of a western boundary current (WBC) path transition due to mesoscale eddies based on the background of the Kuroshio intrusion into the South China Sea (SCS) from the Luzon Strait. Because the WBC existed different current states with respect to different wind stress control parameters, we chose three steady WBC states (loop current, eddy shedding and leaping) as the background flow field and simulated the path transition of the WBC due to mesoscale eddies. Our simulations indicated that either an anticyclonic or cyclonic eddy can lead to path transition of the WBC with different modes. The simulation results also show that the mesoscale eddies can lead to path transition of the WBC from loop and eddy shedding state to leaping state because of the hysteresis effect. The leaping state is relatively stable compared with the mesoscale eddies. Moreover, an anticyclonic eddy is more effective in producing the WBC path transition for the path transition than a cyclonic eddy. Our results may help to explain some phenomena observed regarding the path transition of the Kuroshio due to the mesoscale eddies at the Luzon Strait.展开更多
The MM5, which is the PSU/NCAR mesoscale nonhydrostatic limited-area ,nodel, and its adjoining modeling system are used in this paper. Taking T106 analysis data as background field the authors generate an optimal init...The MM5, which is the PSU/NCAR mesoscale nonhydrostatic limited-area ,nodel, and its adjoining modeling system are used in this paper. Taking T106 analysis data as background field the authors generate an optimal initial condition of a typhoon by using two bogus data assimilation schemes, and conduct some numerical simulating experiments. The results ofno.9608 typhoon (Gloria) show that the optimal initial tield have some dramatic improvements, such as inaccurate position of typhoon center, weaker typhoon circulation and incomplete inner structure of the typhoon, which are caused by shortage of data over the sea. Some improvements have been made in the track forecast. Through several comparing experiments, the initialization optimized by BDA scheme is found to be more reasonable than GFDL scheme and its typhoon track forrecast is better.展开更多
Using the wave model WAVEWATCH III(WW3), we simulated the generation and propagation of typhoon waves in the South China Sea and adjacent areas during the passage of typhoon Nesat(2011). In the domain 100°–145...Using the wave model WAVEWATCH III(WW3), we simulated the generation and propagation of typhoon waves in the South China Sea and adjacent areas during the passage of typhoon Nesat(2011). In the domain 100°–145°E and 0°–35°N, the model was forced by the cross-calibrated multi-platform(CCMP) wind fi elds of September 15 to October 5, 2011. We then validated the simulation results against wave radar data observed from an oil platform and altimeter data from the Jason-2 satellite. The simulated waves were characterized by fi ve points along track using the Spectrum Integration Method(SIM) and the Spectrum Partitioning Method(SPM), by which wind sea and swell components of the 1D and 2D wave spectra are separated. There was reasonable agreement between the model results and observations, although the WW3 wave model may underestimate swell wave height. Signifi cant wave heights are large along the typhoon track and are noticeably greater on the right of the track than on the left. Swells from the east are largely unable to enter the South China Sea because of the obstruction due to the Philippine Islands. During the initial stage and later period of the typhoon, swells at the fi ve points were generated by the propagation of waves that were created by typhoons Haitang and Nalgae. Of the two methods, the 2D SPM method is more accurate than the 1D SIM which overestimates the separation frequency under low winds, but the SIM method is more convenient because it does not require wind speed and wave direction. When the typhoon left the area, the wind sea fractions decreased rapidly. Under similar wind conditions, the points located in the South China Sea are affected less than those points situated in the open sea because of the infl uence of the complex internal topography of the South China Sea. The results reveal the characteristic wind sea and swell features of the South China Sea and adjacent areas in response to typhoon Nesat, and provide a reference for swell forecasting and offshore structural designs.展开更多
Path integral Monte Carlo (PIMC) simulations are a powerful computational method to study interacting quantum systems at finite temperatures. In this work, PIMC has been applied to study the finite size effect of th...Path integral Monte Carlo (PIMC) simulations are a powerful computational method to study interacting quantum systems at finite temperatures. In this work, PIMC has been applied to study the finite size effect of the simulated systems of ^4He. We determine the energy as a function of temperature at saturated-vapor-pressure (SVP) conditions in the temperature range of T ∈ [1.0 K,4.0 K], and the equation of state (EOS) in the grmmd state For systems consisted of 32, 64 and 128 ^4He atoms, respectively, We find that the energy at SVP is influenced significantly by the size of the simulated system in the temperature range of T ∈ [2.1 K, 3.0 K] and the larger the system is, the better results are obtained in comparison with the experimental values; while the EOS appeared to be unrelated to it.展开更多
In this work, a novel numerical method is developed for simulating arbitrary crack growth in pipes with the idea of enriched shape functions which can represent the discontinuity independent of the mesh. The concept o...In this work, a novel numerical method is developed for simulating arbitrary crack growth in pipes with the idea of enriched shape functions which can represent the discontinuity independent of the mesh. The concept of the enriched shape functions is introduced into the continuum-based (CB) shell element. Due to the advantage of CB shell element, the shell thickness varia- tion and surface connection can be concerned during the deformation. The stress intensity factors of the crack in the CB shell element are calculated by using the 'equivalent domain integral' method for 3D arbitrary non-planar crack. The maximum en- ergy release rate is used as a propagation criterion. This method is proved able to capture arbitrary crack growth path in pipes which is independent of the element mesh. Numerical examples of different fracture patterns in pipes are presented here.展开更多
文摘The problem of path planning is studied for t he case for a mobile robot moving in a known environment. An aggressive algorith m using a description of the obstacles based on a neural network is proposed. Th e algorithm allows to construct an optimal path which is piecewise linear with c hanging directions of the obstacles and the calculation speed for the proposed a lgorithm is comparatively fast. Simulation results and an application to a car_l ike robot 'Khepera' show the effectiveness of the proposed algorithm.
基金Supported by the Knowledge Innovation Program of the Chinese Academy of Sciences (No. KZCX1-YW-12, KZCX2-YW-201)the National Natural Science Foundation of China (No. 90411013)the National High Technology Research and Development Program (863 Program) of China (No. 2007AA092201)
文摘Using a 1.5 layer nonlinear shallow-water reduced-gravity model, we executed numerical simulations to investigate the possibility of a western boundary current (WBC) path transition due to mesoscale eddies based on the background of the Kuroshio intrusion into the South China Sea (SCS) from the Luzon Strait. Because the WBC existed different current states with respect to different wind stress control parameters, we chose three steady WBC states (loop current, eddy shedding and leaping) as the background flow field and simulated the path transition of the WBC due to mesoscale eddies. Our simulations indicated that either an anticyclonic or cyclonic eddy can lead to path transition of the WBC with different modes. The simulation results also show that the mesoscale eddies can lead to path transition of the WBC from loop and eddy shedding state to leaping state because of the hysteresis effect. The leaping state is relatively stable compared with the mesoscale eddies. Moreover, an anticyclonic eddy is more effective in producing the WBC path transition for the path transition than a cyclonic eddy. Our results may help to explain some phenomena observed regarding the path transition of the Kuroshio due to the mesoscale eddies at the Luzon Strait.
基金National Key Fundamental Research Project of China (40175012)
文摘The MM5, which is the PSU/NCAR mesoscale nonhydrostatic limited-area ,nodel, and its adjoining modeling system are used in this paper. Taking T106 analysis data as background field the authors generate an optimal initial condition of a typhoon by using two bogus data assimilation schemes, and conduct some numerical simulating experiments. The results ofno.9608 typhoon (Gloria) show that the optimal initial tield have some dramatic improvements, such as inaccurate position of typhoon center, weaker typhoon circulation and incomplete inner structure of the typhoon, which are caused by shortage of data over the sea. Some improvements have been made in the track forecast. Through several comparing experiments, the initialization optimized by BDA scheme is found to be more reasonable than GFDL scheme and its typhoon track forrecast is better.
基金Supported by the National High Technology Research and Development Program of China(863 Program)(No.2013AA122803)the Special Funds for Marine Commonweal Research(No.201305032)the ESA-MOST Dragon 3 Cooperation Program(No.10466)
文摘Using the wave model WAVEWATCH III(WW3), we simulated the generation and propagation of typhoon waves in the South China Sea and adjacent areas during the passage of typhoon Nesat(2011). In the domain 100°–145°E and 0°–35°N, the model was forced by the cross-calibrated multi-platform(CCMP) wind fi elds of September 15 to October 5, 2011. We then validated the simulation results against wave radar data observed from an oil platform and altimeter data from the Jason-2 satellite. The simulated waves were characterized by fi ve points along track using the Spectrum Integration Method(SIM) and the Spectrum Partitioning Method(SPM), by which wind sea and swell components of the 1D and 2D wave spectra are separated. There was reasonable agreement between the model results and observations, although the WW3 wave model may underestimate swell wave height. Signifi cant wave heights are large along the typhoon track and are noticeably greater on the right of the track than on the left. Swells from the east are largely unable to enter the South China Sea because of the obstruction due to the Philippine Islands. During the initial stage and later period of the typhoon, swells at the fi ve points were generated by the propagation of waves that were created by typhoons Haitang and Nalgae. Of the two methods, the 2D SPM method is more accurate than the 1D SIM which overestimates the separation frequency under low winds, but the SIM method is more convenient because it does not require wind speed and wave direction. When the typhoon left the area, the wind sea fractions decreased rapidly. Under similar wind conditions, the points located in the South China Sea are affected less than those points situated in the open sea because of the infl uence of the complex internal topography of the South China Sea. The results reveal the characteristic wind sea and swell features of the South China Sea and adjacent areas in response to typhoon Nesat, and provide a reference for swell forecasting and offshore structural designs.
基金National Natural Science Foundation of China and the China Academy of Engineering Physics under Grant No.10676025(NSAF)the Scientific Research Foundation for the Returned Overseas Chinese Scholars,the Ministry of Education
文摘Path integral Monte Carlo (PIMC) simulations are a powerful computational method to study interacting quantum systems at finite temperatures. In this work, PIMC has been applied to study the finite size effect of the simulated systems of ^4He. We determine the energy as a function of temperature at saturated-vapor-pressure (SVP) conditions in the temperature range of T ∈ [1.0 K,4.0 K], and the equation of state (EOS) in the grmmd state For systems consisted of 32, 64 and 128 ^4He atoms, respectively, We find that the energy at SVP is influenced significantly by the size of the simulated system in the temperature range of T ∈ [2.1 K, 3.0 K] and the larger the system is, the better results are obtained in comparison with the experimental values; while the EOS appeared to be unrelated to it.
基金supported by the National Natural Science Foundation of China (Grant No. 11011140335)
文摘In this work, a novel numerical method is developed for simulating arbitrary crack growth in pipes with the idea of enriched shape functions which can represent the discontinuity independent of the mesh. The concept of the enriched shape functions is introduced into the continuum-based (CB) shell element. Due to the advantage of CB shell element, the shell thickness varia- tion and surface connection can be concerned during the deformation. The stress intensity factors of the crack in the CB shell element are calculated by using the 'equivalent domain integral' method for 3D arbitrary non-planar crack. The maximum en- ergy release rate is used as a propagation criterion. This method is proved able to capture arbitrary crack growth path in pipes which is independent of the element mesh. Numerical examples of different fracture patterns in pipes are presented here.