We study the kinetics of an irreversible aggregation model with removal term. We solve the mean-field rate equation to obtain the general solution of the cluster-mass distribution for the case with arbitrary time-dep...We study the kinetics of an irreversible aggregation model with removal term. We solve the mean-field rate equation to obtain the general solution of the cluster-mass distribution for the case with arbitrary time-dependent remora/probability P(t). In particular, we analyze the scaling properties of the cluster distribution in the case with P(t)=u(t+t0)^v and find that the cluster-mass distribution always obeys a scaling law. We also investigate the kinetic behavior of another simple system, in which the removal probability of a cluster is proportional to its mass, and the results indicate that for this system the scaring description of the cluster-mass distribution breaks down completely.展开更多
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
文摘We study the kinetics of an irreversible aggregation model with removal term. We solve the mean-field rate equation to obtain the general solution of the cluster-mass distribution for the case with arbitrary time-dependent remora/probability P(t). In particular, we analyze the scaling properties of the cluster distribution in the case with P(t)=u(t+t0)^v and find that the cluster-mass distribution always obeys a scaling law. We also investigate the kinetic behavior of another simple system, in which the removal probability of a cluster is proportional to its mass, and the results indicate that for this system the scaring description of the cluster-mass distribution breaks down completely.
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.
