In paper [1],it was shown that an explicit expression of the cardinal basis functions for two-point Hermite interpolation. This paper will show the explicit expression of Hermite interpolation under the Ball basis.
The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of co...The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.展开更多
Integrating land use type and other geographic information within spatial interpolation has been proposed as a solution to improve the performance and accuracy of soil nutrient mapping at the regional scale. This stud...Integrating land use type and other geographic information within spatial interpolation has been proposed as a solution to improve the performance and accuracy of soil nutrient mapping at the regional scale. This study developed a non-algorithm approach, i.e., applying inverse distance weighting （IDW） and ordinary kriging （OK）, to individual land use types rather than to the whole watershed, to determine if this improved the performance in mapping soil total C （TC）, total N （TN）, and total P （TP） in a 200-km2 urbanizing watershed in Southeast China. Four land use types were identified by visual interpretation as forest land, agricultural land, green land, and urban land. One hundred and fifty soil samples （0-10 cm） were taken according to land use type and patch size. Results showed that the non-algorithm approach, interpolation based on individual land use types, substantially improved the performance of IDW and OK for mapping TC, TN, and TP in the watershed. Root mean square errors were reduced by 3.9% for TC, 10.770 for TN, and 25.9% for TP by the application of IDW, while the improvements by OK were slightly lower as 0.9% for TC, 7.7% for TN, and 18.1% for TP. Interpolations based on individual land use types visually improved depiction of spatial patterns for TC, TN, and TP in the watershed relative to interpolations by the whole watershed. Substantial improvements might be expected with denser sampling points. We suggest that this non-algorithm approach might provide an alternative to algorithm-based approaches to depict watershed-scale nutrient patterns.展开更多
文摘In paper [1],it was shown that an explicit expression of the cardinal basis functions for two-point Hermite interpolation. This paper will show the explicit expression of Hermite interpolation under the Ball basis.
文摘The motion＇s generation consists in finding an analytic expression of a motion according to time. A Map road type planner or Cell decomposition provide to the motion generator some possible free crossing points of collision. The global trajectory＇s interpolation by a polynomial is generally not possible, because the degree of the polynomial increases with the number of crossing points which can generate vibrations or loops of the. trajectory. The solution consists in using polynomials in an inferior degree and to build the motion in pieces. The theoretical developments concern the motion＇s generation, the modeling of the vehicle, then the management of its redundancy steam-power. All these methods contribute to improve the robot precision （accuracy）. The authors are presenting the motion＇s generator which constructs into lines a continuous trajectory C2 while enabling the transformation of the crossing points into lines. The generator presented here as part of omnidirectional robot is adaptable to any kind of vehicle.
基金supported by the Knowledge Innovation Program of Chinese Academy of Sciences(No.KZCX2-YWJC402)the Hundred Talents Program of Chinese Academy of Sciences(No.A0815)+1 种基金the National Natural Science Foundation of China(No.41371474)supported by the Chinese Academy of Sciences Visiting Professorships for Senior International Scientists in 2011(No.2011T2Z18)
文摘Integrating land use type and other geographic information within spatial interpolation has been proposed as a solution to improve the performance and accuracy of soil nutrient mapping at the regional scale. This study developed a non-algorithm approach, i.e., applying inverse distance weighting （IDW） and ordinary kriging （OK）, to individual land use types rather than to the whole watershed, to determine if this improved the performance in mapping soil total C （TC）, total N （TN）, and total P （TP） in a 200-km2 urbanizing watershed in Southeast China. Four land use types were identified by visual interpretation as forest land, agricultural land, green land, and urban land. One hundred and fifty soil samples （0-10 cm） were taken according to land use type and patch size. Results showed that the non-algorithm approach, interpolation based on individual land use types, substantially improved the performance of IDW and OK for mapping TC, TN, and TP in the watershed. Root mean square errors were reduced by 3.9% for TC, 10.770 for TN, and 25.9% for TP by the application of IDW, while the improvements by OK were slightly lower as 0.9% for TC, 7.7% for TN, and 18.1% for TP. Interpolations based on individual land use types visually improved depiction of spatial patterns for TC, TN, and TP in the watershed relative to interpolations by the whole watershed. Substantial improvements might be expected with denser sampling points. We suggest that this non-algorithm approach might provide an alternative to algorithm-based approaches to depict watershed-scale nutrient patterns.
