To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathem...To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.展开更多
The paper describes experiments on formation of a plasma channel with imbedded B-field for transporting high power ion beam. The plasma was generated with a 5-turn loop inductive antenna driven by an H-bridge type RF ...The paper describes experiments on formation of a plasma channel with imbedded B-field for transporting high power ion beam. The plasma was generated with a 5-turn loop inductive antenna driven by an H-bridge type RF generator. The azimuthal B-field in the channel of 0.5-1.5 kG was formed by a pulsed current from external capacitor bank. Control of the hydrogen gas pressure was provided by an electromagnetic puffvalve. The paper describes experimental devices and results on the generated plasma parameters as function of RF frequency, antenna voltage, pulse duration and puffgas pressure. When operating at-1 kG B-field, ambient gas pressure in the range of few -10 mTorr, and 5 kV antenna voltage at resonant frequency of 150 kHz, the plasma density range was （3-7）×10^12 cm3 with a temperature of a few eV.展开更多
基金Project(60475035) supported by the National Natural Science Foundation of China
文摘To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.
文摘The paper describes experiments on formation of a plasma channel with imbedded B-field for transporting high power ion beam. The plasma was generated with a 5-turn loop inductive antenna driven by an H-bridge type RF generator. The azimuthal B-field in the channel of 0.5-1.5 kG was formed by a pulsed current from external capacitor bank. Control of the hydrogen gas pressure was provided by an electromagnetic puffvalve. The paper describes experimental devices and results on the generated plasma parameters as function of RF frequency, antenna voltage, pulse duration and puffgas pressure. When operating at-1 kG B-field, ambient gas pressure in the range of few -10 mTorr, and 5 kV antenna voltage at resonant frequency of 150 kHz, the plasma density range was （3-7）×10^12 cm3 with a temperature of a few eV.
