Coal bump is a dynamic process,thus it is necessary to reveal the process validly.2D-ball code is an efficient approach developed by the authors based on the basicDEM rationale proposed by Cundall.Numerical simulation...Coal bump is a dynamic process,thus it is necessary to reveal the process validly.2D-ball code is an efficient approach developed by the authors based on the basicDEM rationale proposed by Cundall.Numerical simulations show that the coal bump experiencesa process of energy accumulation,sudden release of energy and energy decrease.The stiffness of coal particles has a great influence on the coal bump morphosisand particle velocity.Generally,the larger the stiffness of particles,the longer the shootingoff period and the larger the bump velocity.This is in agreement with the results of laboratoryexperiment and in-situ studies.However,the stiffness of particles has an influence onthe quantity value energy and no influence on the releasing energy pattern of the coalbump.展开更多
为了提高水中机器人2D仿真平台斯诺克赛项的得分,基于URWPGSim 2D(underwater robot water polo game simulator2D)仿真平台,采用最短距离和最小旋转角度求和比较的方法,实验得出了机器鱼以不同速度行进时其偏转角度呈奇偶特征,以此研...为了提高水中机器人2D仿真平台斯诺克赛项的得分,基于URWPGSim 2D(underwater robot water polo game simulator2D)仿真平台,采用最短距离和最小旋转角度求和比较的方法,实验得出了机器鱼以不同速度行进时其偏转角度呈奇偶特征,以此研究了其比赛策略和带球算法。在策略上,确定了红球-粉球组合最优、红球进洞顺序为从左到右、红球进中上洞、粉球进左下洞。基于此,确定了一种基于曲线路径的带球算法,给出了中上洞、左下洞带球进洞路径规划,采用虚拟点位和距离阈值的模糊控制理论来实现算法。仿真结果表明:优化后的带球算法效率高,实际比赛效果好,所提出的比赛策略和带球算法可应用于水下机器人运动控制。展开更多
基金Supported by the National Natural Science Fundation of China(50534080,50674063)Taishan Scholar Engineering Construction Fund of Shandong Province of China(J06N04)
文摘Coal bump is a dynamic process,thus it is necessary to reveal the process validly.2D-ball code is an efficient approach developed by the authors based on the basicDEM rationale proposed by Cundall.Numerical simulations show that the coal bump experiencesa process of energy accumulation,sudden release of energy and energy decrease.The stiffness of coal particles has a great influence on the coal bump morphosisand particle velocity.Generally,the larger the stiffness of particles,the longer the shootingoff period and the larger the bump velocity.This is in agreement with the results of laboratoryexperiment and in-situ studies.However,the stiffness of particles has an influence onthe quantity value energy and no influence on the releasing energy pattern of the coalbump.
文摘为了提高水中机器人2D仿真平台斯诺克赛项的得分,基于URWPGSim 2D(underwater robot water polo game simulator2D)仿真平台,采用最短距离和最小旋转角度求和比较的方法,实验得出了机器鱼以不同速度行进时其偏转角度呈奇偶特征,以此研究了其比赛策略和带球算法。在策略上,确定了红球-粉球组合最优、红球进洞顺序为从左到右、红球进中上洞、粉球进左下洞。基于此,确定了一种基于曲线路径的带球算法,给出了中上洞、左下洞带球进洞路径规划,采用虚拟点位和距离阈值的模糊控制理论来实现算法。仿真结果表明:优化后的带球算法效率高,实际比赛效果好,所提出的比赛策略和带球算法可应用于水下机器人运动控制。
