According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pr...According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.展开更多
Mobile agents provide a new method for the distributed computation. This paper presents the advantages of using mobile agents in a distributed virtual environment (DVE) system, and describes the architecture of hetero...Mobile agents provide a new method for the distributed computation. This paper presents the advantages of using mobile agents in a distributed virtual environment (DVE) system, and describes the architecture of heterogeneous computer's distributed virtual environment system (HCWES) designed to populate some mobile agents as well as stationary agents. Finally, the paper introduces how heterogeneous computer network communication is to be realized.展开更多
It is now possible to organize globally while worki ng locally: Information technologies like e-mail, the Internet, and video confere ncing to the desktop permit tight coordination of geographically dispersed worke rs...It is now possible to organize globally while worki ng locally: Information technologies like e-mail, the Internet, and video confere ncing to the desktop permit tight coordination of geographically dispersed worke rs across time zones and cultures. Companies are not limited to physical locatio ns for providing products and services. Networked information systems are allowi ng companies to coordinate their geographically distributed capabilities as virt ual organizations. In order for organizations to succeed, they must be able to r espond with agility in a geographically dispersed environment. The core for a vi rtual organization to increase the utilization rate of resources to the maxi mum and to make full use of the transient market opportunities lies in how to br ing the potential of information technology into play. Based on the philosophy o f agile manufacturing, this paper analyses the basic concepts and connotation of Virtual Organization Information systems(VOIS). VOIS is an information system composed of some independent information subsystems that are autonomous, collab orative and belong to umpty organizations respectively. VOIS support the operati on of virtual organization, and automate the information flow across organizatio nal boundaries. Such systems have capabilities as rapid construction, quick oper ation, and agile reengineering and swift adaptability. Differences between VOIS and traditional enterprise information systems are analyzed. On the basis of ana lyzing the structure of VOIS, an abstract hierarchical structure of VOIS is prop osed using object-oriented method. Reengineering ideology and methods of VOIS a re also explored in light of the three layers structure.展开更多
In order to improve resource utilization, it is necessary to integrate storage and data, and the emergence of cloud computing makes it possible. This paper analyzed the study of virtualization and cloud computing, pro...In order to improve resource utilization, it is necessary to integrate storage and data, and the emergence of cloud computing makes it possible. This paper analyzed the study of virtualization and cloud computing, proposed a new scheme based on virtualization, and established a shared storage platform, which made a good complement and perfected the centralized storage platform.展开更多
A new efficient adapting virtual intermediate instruction set,V-IIS,is designed and implemented towards the optimized dynamic binary translator (DBT) system.With the help of this powerful but previously little-studied...A new efficient adapting virtual intermediate instruction set,V-IIS,is designed and implemented towards the optimized dynamic binary translator (DBT) system.With the help of this powerful but previously little-studied component,DBTs can not only get rid of the dependence of machine(s),but also get better performance.From our systematical study and evaluation,experimental results demonstrate that if V-IIS is well designed,without affecting the other optimizing measures,this could make DBT's performance close to those who do not have intermediate instructions.This study is an important step towards the grand goal of high performance "multi-source" and "multi-target" dynamic binary translation.展开更多
The problem of track control is studied for a class of strict-feedback stochastic nonlinear systems in which unknown virtual control gain function is the main feature. First, the so-called stochastic LaSalle theory is...The problem of track control is studied for a class of strict-feedback stochastic nonlinear systems in which unknown virtual control gain function is the main feature. First, the so-called stochastic LaSalle theory is extended to some extent, and accordingly, the results of global ultimate boundedness for stochastic nonlinear systems are developed. Next, a new design scheme of fuzzy adaptive control is proposed. The advantage of it is that it does not require priori knowledge of virtual control gain function sign, which is usually demanded in many designs. At the same time, the track performance of closed-loop systems is improved by adaptive modifying the estimated error upper bound. By theoretical analysis, the signals of closed-loop systems are globally ultimately bounded in probability and the track error converges to a small residual set around the origin in 4th-power expectation.展开更多
This survey presents a comprehensive review of vari-ous methods and algorithms related to passing-through control of multi-robot systems in cluttered environments.Numerous studies have investigated this area,and we id...This survey presents a comprehensive review of vari-ous methods and algorithms related to passing-through control of multi-robot systems in cluttered environments.Numerous studies have investigated this area,and we identify several avenues for enhancing existing methods.This survey describes some models of robots and commonly considered control objec-tives,followed by an in-depth analysis of four types of algo-rithms that can be employed for passing-through control:leader-follower formation control,multi-robot trajectory planning,con-trol-based methods,and virtual tube planning and control.Fur-thermore,we conduct a comparative analysis of these tech-niques and provide some subjective and general evaluations.展开更多
This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars...This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars,the trajec-tory planning scheme based on optimal virtual tube methods,and the controller structure based on dynamics.The proposed system focuses on utilizing a compact and lightweight quadro-tor with sensors to achieve navigation that conforms to the direction of urban roads with high computational efficiency and safety.Our work is an application of millimeter-wave radars and virtual tube planning for obstacle avoidance in navigation.The validness and effectiveness of the proposed system are verified by experiments.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative trans...How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube.展开更多
基金Project(50474052) supported by the National Natural Science Foundation of China
文摘According to the virtual prototyping technology and the theory of dynamics of multi-rigid-body system, a virtual prototyping of ocean mining vehicle was constructed by using 3-dimensional entity modeling software ((Pro/E),) automatic dynamic analysis of mechanical systems(ADAMS) and advanced visual software(AVS). After 32 new modules were developed with C++ at AVS platform, the interface problems of the 3 types of software were solved effectively and a visual environment for ocean mining subsystem was constructed. Based on the similarity (theory) and similarity experiments, the validity and reliability of the virtual prototyping were verified. By using the (constructed) virtual prototyping, the relevant parameters, such as cutting depth, rotation speed of roller,marching speed of mining vehicle can be adjusted one by one. After repeatable virtual tests and analysis its corresponding dynamic characteristics, the structure parameter of mining vehicle and the parameter of mining process can be optimized fast and accurately. The experiment and simulation results show that, under the controlled mining parameters, 4 function expressions between the average force of single pick,average torque,average cutting power,energy consumption ratio and cutting depth are obtained. The maximum force of a single pick is less than (11090N) and the maximum torque of the roller is less than 3600N·m.
文摘Mobile agents provide a new method for the distributed computation. This paper presents the advantages of using mobile agents in a distributed virtual environment (DVE) system, and describes the architecture of heterogeneous computer's distributed virtual environment system (HCWES) designed to populate some mobile agents as well as stationary agents. Finally, the paper introduces how heterogeneous computer network communication is to be realized.
文摘It is now possible to organize globally while worki ng locally: Information technologies like e-mail, the Internet, and video confere ncing to the desktop permit tight coordination of geographically dispersed worke rs across time zones and cultures. Companies are not limited to physical locatio ns for providing products and services. Networked information systems are allowi ng companies to coordinate their geographically distributed capabilities as virt ual organizations. In order for organizations to succeed, they must be able to r espond with agility in a geographically dispersed environment. The core for a vi rtual organization to increase the utilization rate of resources to the maxi mum and to make full use of the transient market opportunities lies in how to br ing the potential of information technology into play. Based on the philosophy o f agile manufacturing, this paper analyses the basic concepts and connotation of Virtual Organization Information systems(VOIS). VOIS is an information system composed of some independent information subsystems that are autonomous, collab orative and belong to umpty organizations respectively. VOIS support the operati on of virtual organization, and automate the information flow across organizatio nal boundaries. Such systems have capabilities as rapid construction, quick oper ation, and agile reengineering and swift adaptability. Differences between VOIS and traditional enterprise information systems are analyzed. On the basis of ana lyzing the structure of VOIS, an abstract hierarchical structure of VOIS is prop osed using object-oriented method. Reengineering ideology and methods of VOIS a re also explored in light of the three layers structure.
基金Supported by the National Natural Science Foundation of Heilongjiang Province (G201206)
文摘In order to improve resource utilization, it is necessary to integrate storage and data, and the emergence of cloud computing makes it possible. This paper analyzed the study of virtualization and cloud computing, proposed a new scheme based on virtualization, and established a shared storage platform, which made a good complement and perfected the centralized storage platform.
基金Projects(12R21414600)supported by Shanghai Municipal Science and Technology Commission,China
文摘A new efficient adapting virtual intermediate instruction set,V-IIS,is designed and implemented towards the optimized dynamic binary translator (DBT) system.With the help of this powerful but previously little-studied component,DBTs can not only get rid of the dependence of machine(s),but also get better performance.From our systematical study and evaluation,experimental results demonstrate that if V-IIS is well designed,without affecting the other optimizing measures,this could make DBT's performance close to those who do not have intermediate instructions.This study is an important step towards the grand goal of high performance "multi-source" and "multi-target" dynamic binary translation.
基金Supported by National Natural Science Foundation of P. R. China (60572070, 60325311, 60534010) Natural Science Foundation of Liaoning Province (20022030)
文摘The problem of track control is studied for a class of strict-feedback stochastic nonlinear systems in which unknown virtual control gain function is the main feature. First, the so-called stochastic LaSalle theory is extended to some extent, and accordingly, the results of global ultimate boundedness for stochastic nonlinear systems are developed. Next, a new design scheme of fuzzy adaptive control is proposed. The advantage of it is that it does not require priori knowledge of virtual control gain function sign, which is usually demanded in many designs. At the same time, the track performance of closed-loop systems is improved by adaptive modifying the estimated error upper bound. By theoretical analysis, the signals of closed-loop systems are globally ultimately bounded in probability and the track error converges to a small residual set around the origin in 4th-power expectation.
文摘This survey presents a comprehensive review of vari-ous methods and algorithms related to passing-through control of multi-robot systems in cluttered environments.Numerous studies have investigated this area,and we identify several avenues for enhancing existing methods.This survey describes some models of robots and commonly considered control objec-tives,followed by an in-depth analysis of four types of algo-rithms that can be employed for passing-through control:leader-follower formation control,multi-robot trajectory planning,con-trol-based methods,and virtual tube planning and control.Fur-thermore,we conduct a comparative analysis of these tech-niques and provide some subjective and general evaluations.
基金supported by the National Key Research and Development Program of China(2022YFA1004703)the National Natural Science Foundation of China(62088101).
文摘This paper presents a quadcopter system for naviga-tion in outdoor urban environments.The main contributions include the hardware design,the establishment of global occu-pancy grid maps based on millimeter-wave radars,the trajec-tory planning scheme based on optimal virtual tube methods,and the controller structure based on dynamics.The proposed system focuses on utilizing a compact and lightweight quadro-tor with sensors to achieve navigation that conforms to the direction of urban roads with high computational efficiency and safety.Our work is an application of millimeter-wave radars and virtual tube planning for obstacle avoidance in navigation.The validness and effectiveness of the proposed system are verified by experiments.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
基金supported by the National Natural Science Foundation of China(6237338661973327).
文摘How multi-unmanned aerial vehicles(UAVs)carrying a payload pass an obstacle-dense environment is practically important.Up to now,there have been few results on safe motion planning for the multi-UAVs cooperative transportation system(CTS)to pass through such an environment.The prob-lem is challenging because it is difficult to analyze and explicitly take into account the swing motion of the payload in planning.In this paper,a modeling method of virtual tube is proposed by fus-ing the advantages of the existing modeling algorithm for regu-lar virtual tube and the expansion environment method.The pro-posed method can not only generate a safe and smooth tube for UAVs,but also ensure the payload stays away from the dense obstacles.Simulation results show the effectiveness of the method and the safety of the planned tube.
