高尔夫球场景观中冒险型球道设计的对比研究

球道是整个球场的主体部分,可以说一个球场大部分的主题景观就是球道。本文通过对冒险型球道设计的文献以及典型案例的研究,分别选择国内外两个具有代表性的冒险型球道进行对比分析。通过对比发现球场景观中的冒险型球道设计可以给高尔夫爱好者带来更好的打球体验。同时也可以吸引到更多的人群来接触高尔夫运动,为高尔夫运动的推广起到良好促进作用。

Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot

Designed for planetary exploration,a spherical mobile robot BHQ-1 was briefly introduced.The mo-tion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quan-tities.Based on the model,the time- and energy-based optimal trajectory of BHQ-1 was planned withHamiltonian function. The effects of three key coefficients on the shape and direction of the planned tra-jectory were discussed by simulations.Experimental result of the robot ability in avoiding an obstacle waspresented to validate the trajectory planning method.

Cross-Layer Design and Ant-Colony Optimization Based Routing Algorithm for Low Earth Orbit Satellite Networks

To improve the robustness of the Low Earth Orbit(LEO) satellites networks and realise load balancing, a Cross-layer design and Ant-colony optimization based Load-balancing routing algorithm for LEO Satellite Networks(CAL-LSN) is proposed in this paper. In CALLSN, mobile agents are used to gather routing information actively. CAL-LSN can utilise the information of the physical layer to make routing decision during the route construction phase. In order to achieve load balancing, CALLSN makes use of a multi-objective optimization model. Meanwhile, how to take the value of some key parameters is discussed while designing the algorithm so as to improve the reliability. The performance is measured by the packet delivery rate, the end-to-end delay, the link utilization and delay jitter. Simulation results show that CAL-LSN performs well in balancing traffic load and increasing the packet delivery rate. Meanwhile, the end-to-end delay and delay jitter performance can meet the requirement of video transmission.

Design of Time-Domain Equalizer in Elastic Wave Earth Channel

In low-frequency elastic wave through-the-earth communication system,because of multipath transmission caused by characteristics of the layered earth,the time domain equalizer is different from other wireless communication systems.A modified LMS algorithm of variable step size is proposed based on improvement of traditional LMS.On the base of principle and simulation analysis,the improved Least Mean Square(LMS)algorithm is analyzed and the performances are compared between the improved LMS algorithm and traditional LMS algorithm.In the improved algorithm,the contradiction between convergence speed and the steady-state error is considered at the same time.Therefore,the improved algorithm has good convergence properties and channel-tracking performance.

Design and optimization of a trajectory for Moon departure Near Earth Asteroid exploration

The lunar probe often has some remaining fuel on completing the predefined Moon exploration mission and may carry out some additional tasks from the Moon orbit using the fuel.The possibility for the lunar probe to escape from the Moon and the Earth is analyzed.Design and optimization of the trajectory from the Moon orbit to the Near Earth Asteroids (NEAs) using the spacecraft's residual fuel is studied.At first,the semi-major axis,inclinations and the phase relations with the Earth of all the numbered NEAs are investigated to preliminarily select the possible targets.Based on the Sun-centered two-body problem,the launch window and the asteroid candidates are determined by calculating the minimum delta-v for two-impulse rendezvous mission and one-impulse flyby mission,respectively.For a precise designed trajectory,a full ephemeris dynamical model,which includes gravities of the Sun,the planets and the Moon,is adopted by reading the JPL ephemeris.The departure time,arrival time,burning time duration and thrust angles are set as variables to be designed and optimized.The optimization problem is solved via the Particle Swarm Optimization (PSO) algorithm.Moreover,two feasible NEA flyby missions are presented.

Necessary and sufficient conditions of the rendezvous between a single spacecraft and three non-coplanar Walker constellation satellites

The probability of the rendezvous between a single spacecraft and three non-coplanar constellation satellites is studied,and the necessary and sufficient conditions of the rendezvous without orbital maneuver are deduced.The rendezvous orbit design can be transformed into the patching of two spacecraft orbits,either of which can achieve the rendezvous with two satellites.Firstly,due to the precious quality of spherical geometry,the unique existence of the rendezvous orbit for two constellation satellites is proved.Then,according to the difference between equispaced and non-equispaced orbital planes of three satellites,the necessary and sufficient conditions are given respectively,and the calculating method of the spacecraft orbit is proposed.At last,the constraint conditions between two different rendezvous orbits is derived,while the relative position of two groups of objects are under specific distribution.The results can be applied to the rendezvous between a single spacecraft and multiple constellation satellites without orbital maneuver.