The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and t...The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.展开更多
At present we face a lot of environmental issues at both national and global levels. At the same time we will have to face severe environmental issues in the future. This is evident in forming the elements of earth, a...At present we face a lot of environmental issues at both national and global levels. At the same time we will have to face severe environmental issues in the future. This is evident in forming the elements of earth, air, and water which reflect the human influence on organic and inorganic life. So, it is timely significant to pay attention on environmental preservation and management. The main purpose of this study is to explore how the Buddhist teaching could be used for environmental preservation and management. Accordingly, this study introduces a suitable long term environmental preservation model. The other objectives of this study are to learn Buddhism for environmental preservation and management, to create a new model which combines man and environment together, to compare Buddhist thinking and modem man＇s thinking regarding environmental preservation and management through the above and, to motivate man to preserve environment in through both direct and indirect ways. This study was based on the question whether the Buddhist philosophical teaching could be utilized to solve today＇s environmental issues？ The hypothesis was that the Buddhist philosophical teaching could be utilized for environmental preservation and management. For this purpose, the teachings of Buddha, related to environmental preservation as found in ＂Suttapil;aka＂ and ＂Vinayapi!;aka＂ were studied. In order to address these conditions we have subjected randomly collected information for interpretation and comparative analysis in qualitative research methodology. The content that has been analyzed is compared with the ethical code related to the patterns of human behavior and its relation to conservation. This has also given way to building some models related to the Buddhist teaching of environmental preservation. The objective of Buddhist philosophy is to generate sensitivity in the mind, of human beings and persuade them to preserve organic and inorganic environment, based on the view ＂Man is a creation of the environment＂. The Buddhist philosophical process of environmental preservation includes preserving flora and fauna, water, air, soil as well as garbage disposal. These elements, along with ethics, can be used in effective environment preservation. This new model of environmental preservation directs human beings towards sustainable development with a realistic vision. The Buddhist teaching on environment civilizes man＇s physical and spiritual behaviors, with a view to lead human beings towards environmental preservation with a realistic perspective.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos.60473064 60773152 (国家自然科学基金)+2 种基金the National High-Tech Research and Development Plan of China under Grant No.2007AA01Z127 (国家高技术研究发展计划(863))the National Basic Research Program of China under Grant No.2005CB321805 (国家重点基础研究发展计划(973))the Key Technologies R&D Program of China under Grant No.2003BA904B02 (国家科技攻关计划)
文摘The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.
文摘At present we face a lot of environmental issues at both national and global levels. At the same time we will have to face severe environmental issues in the future. This is evident in forming the elements of earth, air, and water which reflect the human influence on organic and inorganic life. So, it is timely significant to pay attention on environmental preservation and management. The main purpose of this study is to explore how the Buddhist teaching could be used for environmental preservation and management. Accordingly, this study introduces a suitable long term environmental preservation model. The other objectives of this study are to learn Buddhism for environmental preservation and management, to create a new model which combines man and environment together, to compare Buddhist thinking and modem man＇s thinking regarding environmental preservation and management through the above and, to motivate man to preserve environment in through both direct and indirect ways. This study was based on the question whether the Buddhist philosophical teaching could be utilized to solve today＇s environmental issues？ The hypothesis was that the Buddhist philosophical teaching could be utilized for environmental preservation and management. For this purpose, the teachings of Buddha, related to environmental preservation as found in ＂Suttapil;aka＂ and ＂Vinayapi!;aka＂ were studied. In order to address these conditions we have subjected randomly collected information for interpretation and comparative analysis in qualitative research methodology. The content that has been analyzed is compared with the ethical code related to the patterns of human behavior and its relation to conservation. This has also given way to building some models related to the Buddhist teaching of environmental preservation. The objective of Buddhist philosophy is to generate sensitivity in the mind, of human beings and persuade them to preserve organic and inorganic environment, based on the view ＂Man is a creation of the environment＂. The Buddhist philosophical process of environmental preservation includes preserving flora and fauna, water, air, soil as well as garbage disposal. These elements, along with ethics, can be used in effective environment preservation. This new model of environmental preservation directs human beings towards sustainable development with a realistic vision. The Buddhist teaching on environment civilizes man＇s physical and spiritual behaviors, with a view to lead human beings towards environmental preservation with a realistic perspective.
