Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
We discuss the definition and effectiveness of a Padé-type approximation to 2π-periodic finite Baire measures on [-π,π]. In the first two sections we recall the definitions and basic properties of the Padr...We discuss the definition and effectiveness of a Padé-type approximation to 2π-periodic finite Baire measures on [-π,π]. In the first two sections we recall the definitions and basic properties of the Padré-type approximants to harmonic functions in the unit disk and to L p -functions on the unit circle. Section 3 deals with the extension of these definitions and properties to a finite 2π-periodic Baire measure. Finally, section 4 is devoted to a study of the convergence of a sequence of such approximants, in the weak star topology of measures.展开更多
Introduction The use of supercritical fluids such as supercritical CO<sub>2</sub>（scCO<sub>2</sub>） has provided a ’clean’ and effective alternative to traditional methods of protein delive...Introduction The use of supercritical fluids such as supercritical CO<sub>2</sub>（scCO<sub>2</sub>） has provided a ’clean’ and effective alternative to traditional methods of protein delivery systems.Here。展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
文摘We discuss the definition and effectiveness of a Padé-type approximation to 2π-periodic finite Baire measures on [-π,π]. In the first two sections we recall the definitions and basic properties of the Padré-type approximants to harmonic functions in the unit disk and to L p -functions on the unit circle. Section 3 deals with the extension of these definitions and properties to a finite 2π-periodic Baire measure. Finally, section 4 is devoted to a study of the convergence of a sequence of such approximants, in the weak star topology of measures.
文摘Introduction The use of supercritical fluids such as supercritical CO<sub>2</sub>（scCO<sub>2</sub>） has provided a ’clean’ and effective alternative to traditional methods of protein delivery systems.Here。
