考虑运动受限的履带式移动机器人轨迹跟踪控制

针对履带式移动机器人的轨迹跟踪控制问题进行研究,首先,建立了履带式移动机器人的运动学模型和跟踪误差模型；其次,设计了转速有限时间控制和线速度滑模控制的轨迹跟踪控制律,并给出了考虑运动受限作用下的控制律修正表达式；最后,基于MATLAB对所提控制律进行仿真,对比分析了不考虑运动受限情况下跟踪控制效果;结果表明,设计的跟踪控制律能够实现履带式移动机器人对圆轨迹的有效跟踪,且考虑运动受限作用的控制律更加符合实际;文章研究分析了运动受限作用对于移动机器人轨迹跟踪控制的影响,分析结果对其他移动机器人的运动控制研究具有参考价值。     

Full rate constant matrix contraction method for obtaining branching ratio of unimolecular decomposition

The branching ratio of unimolecular decomposition can be evaluated by solving the rate equations. Recent advances in automated reaction path search methods have enabled efficient construction of the rate equations based on quantum chemical calculations. However, it is still difficult to solve the rate equations composed of hundreds or more elementary steps. This problem is especially serious when elementary steps that occur in highly different timescales coexist. In this article, we introduce an efficient approach to obtain the branching ratio from a given set of rate equations. It has been derived from a recently proposed rate constant matrix contraction (RCMC) method, and termed full‐RCMC (f‐RCMC). The f‐RCMC gives the branching ratio without solving the rate equations. Its performance was tested numerically for unimolecular decomposition of C₃H₅ and C₄H₅. Branching ratios obtained by the f‐RCMC precisely reproduced the values obtained by numerically solving the rate equations. It took about 95 h to solve the rate equations of C₄H₅ consisting of 234 elementary steps. In contrast, the f‐RCMC gave the branching ratio in less than 1 s. The f‐RCMC would thus be an efficient alternative of the conventional kinetic simulation approach. © 2016 Wiley Periodicals, Inc.     

Differential equation dynamical system based assessment model in GNSS interoperability

With the development of Global Navigation Satellite System (GNSS),the idea of GNSS interoperability is born and has become the focus of study in the field of satellite navigation.The popularity for GNSS to augment the interoperability with the existing ones necessitates the study of the assessment algorithm of this idea.In this paper,an assessment algorithm for interoperability comprehensive benefits based on the differential equation dynamical system is discussed.There are two important aspects in GNSS tha...     

The multi-attribute grey target decision method for attribute value within three-parameter interval grey number

Based on the grey system theory and methods, the grey-target decision-making problem is discussed, in which the attribute values are grey numbers and the maximum probability of the value of grey number is known. Firstly, the optimal effect vector is the positive bull’s-eye and positive bull’s-eye distance of each scheme is defined. Subjectively or objectively weighting method is integrated to determine the index weight and integrated optimization model of index weight is established. Finally, the critical effect vector is the negative bull’s-eye and negative bull’s-eye distance of each scheme is defined, then relative bull’s-eye distance and comprehensive the bull’s-eye distance of grey target decision-making are given. An example is also presented to illustrate the usefulness and effectiveness of the methods obtained in this paper and provides a new idea for grey target decision-making method research.     

Analysis of the multiple roots of the Lundberg fundamental equation in the PH (n) risk model

In the study of the Sparre Andersen risk model with phase‐type (n) inter‐claim times (PH (n) risk model), the distinct roots of the Lundberg fundamental equation in the right half of the complex plane and the linear independence of the eigenvectors related to the Lundberg matrix L_δ(s) play important roles. In this paper, we study the case where the Lundberg fundamental equation has multiple roots or the corresponding eigenvectors are linearly dependent in the PH (n) risk model. We show that the multiple roots of the Lundberg fundamental equation det[L_δ(s)] = 0 can be approximated by the distinct roots of the generalized Lundberg equation introduced in this paper and that the linearly dependent eigenvectors can be approximated by the corresponding linearly independent ones as well. Using this result we derive the expressions for the Gerber–Shiu penalty function. Two special cases of the generalized Erlang(n) risk model and a Coxian(3) risk model are discussed in detail, which illustrate the applicability of main results. Finally, we consider the PH(2) risk model and conclude that the roots of the Lundberg fundamental equation in the right half of the complex plane are distinct and that the corresponding eigenvectors are linearly independent. Copyright © 2011 John Wiley & Sons, Ltd.     

Effect of thickness of CdTe/Ge heterojunction photodetectors on optoelectronic properties

The influence of the thickness of CdTe/n-Ge heterojunction photodetectors on I–V curves was studied experimentally and theoretically. The thicknesses of the CdTe thin films were 110, 130, 150, and 200 nm. The power intensity of illumination was 150 mW/cm². Increasing the thickness led to an increase in photocurrent.     

Phase-field modeling of void evolution and swelling in materials under irradiation

Void swelling is an important phenomenon observed in both nuclear fuels and cladding materials in operating nuclear reactors. In this work we develop a phase-field model to simulate void evolution and void volume change in irradiated materials. Important material processes, including the generation of defects such as vacancies and self-interstitials, their diffusion and annihilation, and void nucleation and evolution, have been taken into account in this model. The thermodynamic and kinetic properties, such...     

THE GENERALIZED RIEMANN PROBLEM FOR A SCALAR NONCONVEX COMBUSTION MODEL-THE PERTURBATION ON INITIAL BINDING ENERGY

In this article,we study the generalized Riemann problem for a scalar nonconvex Chapman-Jouguet combustion model in a neighborhood of the origin (t ＞ 0) on the (x,t) plane.We focus our attention to the...     

Linear wave dispersion relation of a magnetized relativistic rectilinear electron beam-dielectric system

A general dispersion relation is derived for a relativistic rectilinear electron beam of arbitrary momentum distributions interacting with a dielectric in a guide magnetic field, on the basis of Maxwell equations and the relativistic Vlasov equation. The instability occurs when the beam velocity exceeds the wave phase velocity in the medium. The linear wave dispersion relation, growth rate, spatial growth rate are studied analytically for delta and Lorentzian distributions of beam momentums in detail. The results are of importance for a new kind of high-power microwave generation or amplification devices based on anomalous Doppler effect.     

Comments on “Modeling of chaotic motion of gyrostats in resistant environment on the base of dynamical systems with strange attractors” (Commun Nonlinear Sci Numer Simul 2011;16:3188-3202)

Extensive prior literature (not referenced in the paper) on links between mechanical gyrostats and nonlinear dynamical systems with strange attractors is called to the readers’ attention.