A variable dimensional state space（VDSS） has been proposed to improve the re-planning time when the robotic systems operate in large unknown environments.VDSS is constructed by uniforming lattice state space and gri...A variable dimensional state space（VDSS） has been proposed to improve the re-planning time when the robotic systems operate in large unknown environments.VDSS is constructed by uniforming lattice state space and grid state space.In VDSS,the lattice state space is only used to construct search space in the local area which is a small circle area near the robot,and grid state space elsewhere.We have tested VDSS with up to 80 indoor and outdoor maps in simulation and on segbot robot platform.Through the simulation and segbot robot experiments,it shows that exploring on VDSS is significantly faster than exploring on lattice state space by Anytime Dynamic A＊（AD＊） planner and VDSS is feasible to be used on robotic systems.展开更多
- This paper discusses the application of fractal dimension and fractals in ocean engineering. To handle some ocean environment problems, the existing fractal method, in which the fractal dimension is a constant, can ...- This paper discusses the application of fractal dimension and fractals in ocean engineering. To handle some ocean environment problems, the existing fractal method, in which the fractal dimension is a constant, can be used. For some complicated problems in ocean engineering, this paper presents the concept of the variable dimension fractals (D = f(r)), i. e., the fractal dimension D is the function of characteristic scale r instead of a constant. By using variable dimension fractals, several deformation and stress states of offshore structures are described.展开更多
In order to monitor and forecast the deformation of the brick-concrete building, by taking a brick-concrete building as research object, fiber grating sensors were used to collect the monitoring data and double logari...In order to monitor and forecast the deformation of the brick-concrete building, by taking a brick-concrete building as research object, fiber grating sensors were used to collect the monitoring data and double logarithmic curve of limit value characteristic and monitoring data were obtained based on the fractal theory. Constant dimension fractal method cannot be used to analyze the data directly. With the method of variable dimension fractal, we accumulate data, and the double logarithmic curve is smooth. Piecewise fractal dimensions are close. The outer interpolation method is used to calculate the fractal dimension of the next point and then back calculate the vertical displacement. The relative errors are calculated by comparing the forecast values and monitoring values, and the maximum relative error is 5.76%. The result shows that the fractal theory is suitable to use in the forecast of the deformation and the accuracy is good.展开更多
The article presents an effort to create dimensionless scaling correlations of the overall bed porosity in the case of magnetically assisted fluidization in a tapered vessel with external transverse magnetic field. Th...The article presents an effort to create dimensionless scaling correlations of the overall bed porosity in the case of magnetically assisted fluidization in a tapered vessel with external transverse magnetic field. This is a stand of portion of new branch in the magnetically assisted fluidization recently created concerning employment of tapered vessels. Dimensional analysis based on ＂pressure transform＂ of the initial set of variables and involving the magnetic granular Bond number has been applied to develop scaling relationships of dimensionless groups representing ratios of pressures created by the fluid flow, gravity and the magnetic field over an elementary volume of the fluidized bed. Special attention has been paid on the existing data correlations developed for non-magnetic beds and the links to the new ones especially developed for tapered magnetic counterparts. A special dimensionless variable Xp = （Ar△Dbt）1/3√RgMQ combining Archimedes and Rosensweig numbers has been conceived for porosity correlation. Data correlations have been performed by power-law, exponential decay and asymptotic functions with analysis of their adequacies and accuracies of approximation.展开更多
In this paper a triangulation of continuous and arbitrary refinement of grid sizes is proposed for simplicial homotopy algorithms to compute zero points on a polytope P. The proposed algorithm generates a piecewise li...In this paper a triangulation of continuous and arbitrary refinement of grid sizes is proposed for simplicial homotopy algorithms to compute zero points on a polytope P. The proposed algorithm generates a piecewise linear path in P × [1,∞) from any chosen interior point x0 of P on level {1} to a solution of the underlying problem. The path is followed by making linear programming pivot steps in a linear system and replacement steps in the triangnlation.The starting point x0 is left in a direction to one vertex of P. The direction in which x0 leaves depends on the function value at x0 and the polytope P. Moreover, we also give a new equivalent form of the Brouwer fixed point theorem on polytopes. This form has many important applications in mathematical programming and the theory of differential equations.展开更多
基金Supported by the National Natural Science Foundation of China(90920304)
文摘A variable dimensional state space（VDSS） has been proposed to improve the re-planning time when the robotic systems operate in large unknown environments.VDSS is constructed by uniforming lattice state space and grid state space.In VDSS,the lattice state space is only used to construct search space in the local area which is a small circle area near the robot,and grid state space elsewhere.We have tested VDSS with up to 80 indoor and outdoor maps in simulation and on segbot robot platform.Through the simulation and segbot robot experiments,it shows that exploring on VDSS is significantly faster than exploring on lattice state space by Anytime Dynamic A＊（AD＊） planner and VDSS is feasible to be used on robotic systems.
文摘- This paper discusses the application of fractal dimension and fractals in ocean engineering. To handle some ocean environment problems, the existing fractal method, in which the fractal dimension is a constant, can be used. For some complicated problems in ocean engineering, this paper presents the concept of the variable dimension fractals (D = f(r)), i. e., the fractal dimension D is the function of characteristic scale r instead of a constant. By using variable dimension fractals, several deformation and stress states of offshore structures are described.
文摘In order to monitor and forecast the deformation of the brick-concrete building, by taking a brick-concrete building as research object, fiber grating sensors were used to collect the monitoring data and double logarithmic curve of limit value characteristic and monitoring data were obtained based on the fractal theory. Constant dimension fractal method cannot be used to analyze the data directly. With the method of variable dimension fractal, we accumulate data, and the double logarithmic curve is smooth. Piecewise fractal dimensions are close. The outer interpolation method is used to calculate the fractal dimension of the next point and then back calculate the vertical displacement. The relative errors are calculated by comparing the forecast values and monitoring values, and the maximum relative error is 5.76%. The result shows that the fractal theory is suitable to use in the forecast of the deformation and the accuracy is good.
文摘The article presents an effort to create dimensionless scaling correlations of the overall bed porosity in the case of magnetically assisted fluidization in a tapered vessel with external transverse magnetic field. This is a stand of portion of new branch in the magnetically assisted fluidization recently created concerning employment of tapered vessels. Dimensional analysis based on ＂pressure transform＂ of the initial set of variables and involving the magnetic granular Bond number has been applied to develop scaling relationships of dimensionless groups representing ratios of pressures created by the fluid flow, gravity and the magnetic field over an elementary volume of the fluidized bed. Special attention has been paid on the existing data correlations developed for non-magnetic beds and the links to the new ones especially developed for tapered magnetic counterparts. A special dimensionless variable Xp = （Ar△Dbt）1/3√RgMQ combining Archimedes and Rosensweig numbers has been conceived for porosity correlation. Data correlations have been performed by power-law, exponential decay and asymptotic functions with analysis of their adequacies and accuracies of approximation.
文摘In this paper a triangulation of continuous and arbitrary refinement of grid sizes is proposed for simplicial homotopy algorithms to compute zero points on a polytope P. The proposed algorithm generates a piecewise linear path in P × [1,∞) from any chosen interior point x0 of P on level {1} to a solution of the underlying problem. The path is followed by making linear programming pivot steps in a linear system and replacement steps in the triangnlation.The starting point x0 is left in a direction to one vertex of P. The direction in which x0 leaves depends on the function value at x0 and the polytope P. Moreover, we also give a new equivalent form of the Brouwer fixed point theorem on polytopes. This form has many important applications in mathematical programming and the theory of differential equations.
