A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes ...A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an evader.The confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 phases.Furthermore,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the evader.Finally,the nonlinear numerical simulations verify the performance of the game guidance strategy.展开更多
Computer simulations are utilized to investigate the dynamic behavior of self-propelled particles(SPPs)within a complex obstacle environment.The findings reveal that SPPs exhibit three distinct aggregation states with...Computer simulations are utilized to investigate the dynamic behavior of self-propelled particles(SPPs)within a complex obstacle environment.The findings reveal that SPPs exhibit three distinct aggregation states within the obstacle,each contingent on specific conditions.A phase diagram outlining the aggregation states concerning self-propulsion conditions is presented.The results illustrate a transition of SPPs from a dispersion state to a transition state as persistence time increases within the obstacle.Conversely,as the driving strength increases,self-propelled particles shift towards a cluster state.A systematic exploration of the interplay between driving strength,persistence time,and matching degree on the dynamic behavior of self-propelled particles is conducted.Furthermore,an analysis is performed on the spatial distribution of SPPs along the y-axis,capture rate,maximum capture probability,and mean-square displacement.The insights gained from this research make valuable contributions to understanding the capture and collection of active particles.展开更多
A mathematical model of obstacle limit surfaces for military airfield obstacle free space is established through airfield obstacle free space analysis.Based on the model,triangle mesh elevation model of military airfi...A mathematical model of obstacle limit surfaces for military airfield obstacle free space is established through airfield obstacle free space analysis.Based on the model,triangle mesh elevation model of military airfield obstacle free space is built by using the software-ArcGIS,and the 3-D display result is obtained.It is convenient to evaluate military airfield obstacle for superimposing digital elevation model（DEM）with military airfield topographic map.Thus it improves the efficiency greatly.It lays the foundation for the application of geographic information systems（GIS）in the management of military airfield obstacle free space.展开更多
A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also fa...A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.展开更多
A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The...A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.展开更多
Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reason...Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reasons.The paper mainly discusses the linguistic and non—linguistic obstacles in the process of listening and aims to help English learners find out their own shortcomings and put forward some corresponding solutions to improve learners' listening ability.展开更多
English reading,a key procedure of English learning and teaching in middle school,is an essential way of getting information from the globe and communicating with others.Therefore,efficient comprehension on reading ma...English reading,a key procedure of English learning and teaching in middle school,is an essential way of getting information from the globe and communicating with others.Therefore,efficient comprehension on reading materials will directly serve for accepting the information.And it is extremely important for middle school students to acquire certain reading ability.At present,great attention has been paid to the course of reading in the instruction of English by the Chinese Education Department.But middle school students'read ing ability is still much lower than the target they should reach because of a set of existing obstacles that prevent them from being effective English readers.What are these obstacles? How to break them down? This paper will first point out and then analyze the obstacles that af fect middle school students'reading ability from two aspects:linguistic obstacles(obstacles of lexicon,grammar and background knowl edge) and non-linguistic obstacles(obstacles of psychology,interest,skill,and habit).After demonstrating different obstacles,the paper also come up with some corresponding strategies in the hope of helping middle school students to be effective English readers.展开更多
This paper gives the local regularity result for solutions to obstacle problems of A-harmonic equation divA(x, ξu(x)) = 0, |A.(x,ξ)|≈|?|p-1, when 1 < p < n and the obstacle function (?)≥0.
This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environment...This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.展开更多
The flapping-wing air vehicle(FWAV)is a kind of bio-inspired robot whose wings can flap up and down like bird and insect wings.A vision-based obstacle avoidance method for FWAVs is proposed in this paper.First,the Far...The flapping-wing air vehicle(FWAV)is a kind of bio-inspired robot whose wings can flap up and down like bird and insect wings.A vision-based obstacle avoidance method for FWAVs is proposed in this paper.First,the Farneback algorithm is used to calculate the optical flow field of the first-view video frames taken by the on-board image transmission camera.Based on the optical flow information,a fuzzy obstacle avoidance controller is then designed to generate the FWAV steering commands.Experimental results show that the proposed obstacle avoidance method can accurately identify obstacles and achieve obstacle avoidance for FWAVs.展开更多
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus...Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.展开更多
Obstacle avoidance becomes a very challenging task for an autonomous underwater vehicle(AUV)in an unknown underwater environment during exploration process.Successful control in such case may be achieved using the mod...Obstacle avoidance becomes a very challenging task for an autonomous underwater vehicle(AUV)in an unknown underwater environment during exploration process.Successful control in such case may be achieved using the model-based classical control techniques like PID and MPC but it required an accurate mathematical model of AUV and may fail due to parametric uncertainties,disturbance,or plant model mismatch.On the other hand,model-free reinforcement learning(RL)algorithm can be designed using actual behavior of AUV plant in an unknown environment and the learned control may not get affected by model uncertainties like a classical control approach.Unlike model-based control model-free RL based controller does not require to manually tune controller with the changing environment.A standard RL based one-step Q-learning based control can be utilized for obstacle avoidance but it has tendency to explore all possible actions at given state which may increase number of collision.Hence a modified Q-learning based control approach is proposed to deal with these problems in unknown environment.Furthermore,function approximation is utilized using neural network(NN)to overcome the continuous states and large statespace problems which arise in RL-based controller design.The proposed modified Q-learning algorithm is validated using MATLAB simulations by comparing it with standard Q-learning algorithm for single obstacle avoidance.Also,the same algorithm is utilized to deal with multiple obstacle avoidance problems.展开更多
AutoReaGas was used for the simulations of premixed gas/air mixtures explosion characteristics in obstacle-filled tubes with a cross-section of 0.2 m×0.2 m and the length of 28 m. Numerical analyses provide a qua...AutoReaGas was used for the simulations of premixed gas/air mixtures explosion characteristics in obstacle-filled tubes with a cross-section of 0.2 m×0.2 m and the length of 28 m. Numerical analyses provide a quantitative description of dependence of flame propagation speed and explosion overpressure on obstacles number, blockage ratio and interval distance. Computational results indicate that the obstacles play a significant role in determining the flame transmission speed and explosion overpressure in gas explosions. With the increase of blockage ratio, the explosion overpressure gradually rises. Nevertheless, the flame speed does not always increase along with increasing blockage ratio, but subsequently begins to decrease as the blockage ratio increases to some extend. Also, the interval distance between obstacles strongly influences flame behavior and explosion overpressure. When the obstacle interval distance is equal to inner diameter of the tube, the average flame speed in the obstacle zone and the peak overpressure in tube all reach maximum values.展开更多
To investigate the flame and overpressure characteristics of methane–air explosion with different obstacle configurations,an experimental study has been conducted,taking account of the number of obstacles,obstacle di...To investigate the flame and overpressure characteristics of methane–air explosion with different obstacle configurations,an experimental study has been conducted,taking account of the number of obstacles,obstacle distance from ignition source,and stream-wise and cross-wise obstacle positions.The results show that the flame speed and peak overpressure increase with the increasing number of obstacles,while the time to reach the peak is not fully determined by it.And the configuration having the farthest obstacle produces a higher overpressure and takes a longer time to reach the peak,but a slower flame propagation speed is obtained.Similar explosion characteristics are also observed in the configurations with two obstacles fixed at different stream-wise positions.Furthermore,the experimental results demonstrate that the peak overpressures and flame speeds in configurations with central or staggered obstacles are relatively higher,which should to be avoided in practical processes to minimize the risk associated with methane–air explosion.展开更多
Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to th...Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to the effect of stationary pedestrians(the elderly with slow speed,the injured,and the static evacuation guide)as obstacles at the exit on the evacuation process.This paper explores the influence of the presence of a stationary pedestrian as an obstacle at the exit on the evacuation from experiments and simulations.We use a software,Pathfinder,based on the agent-based model to study the effect of ratios of exit width(D)to distance(d)between the static pedestrian and the exit,the asymmetric structure by shifting the static pedestrian upward,and types of obstacles on evacuation.Results show that the evacuation time of scenes with a static pedestrian is longer than that of scenes with an obstacle due to the unexpected hindering effect of the static pedestrian.Different ratios of D/d have different effects on evacuation efficiency.Among the five D/d ratios in this paper,the evacuation efficiency is the largest when d is equal to 0.75D,and the existence of the static pedestrian has a positive impact on evacuation in this condition.The influence of the asymmetric structure of the static pedestrian on evacuation efficiency is affected by D/d.This study can provide a theoretical basis for crowd management and evacuation plan near the exit of complex buildings and facilities.展开更多
This paper obtain C-1,C-alpha- regularity of weak solutions to the p-Laplacian obstacle problem with C-1,C-beta-obstacle function under controllable growth conditions.
Reading comprehension is important for both teacher and students in high school.And there is a phenomenon in stu dents when they do the reading comprehension.If word recognition is difficult,students use too much of t...Reading comprehension is important for both teacher and students in high school.And there is a phenomenon in stu dents when they do the reading comprehension.If word recognition is difficult,students use too much of their time to read and understand the individual words,which interferes with their ability to comprehend what is read and waste too much of their time in the examination.This makes the comprehension difficult for high school students.The paper focuses on the methods for teach ers to eliminate lexical obstacles to reading comprehension in high school.展开更多
The effect of lateral walls on fluid flow and heat transfer is investigated when a fluid passes a magnetic obstacle. The blockage ratio β that represents the ratio between the width of external magnet M y and the spa...The effect of lateral walls on fluid flow and heat transfer is investigated when a fluid passes a magnetic obstacle. The blockage ratio β that represents the ratio between the width of external magnet M y and the spanwise width L y is employed to depict the effect. The finite volume method （FVM） based on the PISO algorithm is applied for the blockage ratios of 0.2, 0.3, and 0.4. The results show that the value of Strouhal number St increases as the blockage ratio β increases, and for small β , the variation of St is very small when the interaction parameter and Reynolds number are increasing. Moreover, the cross-stream mixing induced by the magnetic obstacle can enhance the wall-heat transfer and the maximum value of the overall heat transfer increment is about 50.5%.展开更多
This paper is concerned with the inverse problem of scattering of time-harmonic acoustic waves by an inhomogeneous penetrable obstacle in a piecewise homogeneous medium. The well-posedness of the direct problem is fir...This paper is concerned with the inverse problem of scattering of time-harmonic acoustic waves by an inhomogeneous penetrable obstacle in a piecewise homogeneous medium. The well-posedness of the direct problem is first established by using the integral equation method. We then proceed to establish two tools that play important roles for the inverse problem： one is a mixed reciprocity relation and the other is a priori estimates of the solution on some part of the interfaces between the layered media. For the inverse problem, we prove in this paper that both the penetrable interfaces and the possible inside inhomogeneity can be uniquely determined from a knowledge of the far field pattern for incident plane waves.展开更多
The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the ...The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point （ZMP） trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.展开更多
基金supported by National Natural Science Foundation(NNSF)of China under(Grant No.62273119)。
文摘A differential game guidance scheme with obstacle avoidance,based on the formulation of a combined linear quadratic and norm-bounded differential game,is designed for a three-player engagement scenario,which includes a pursuer,an interceptor,and an evader.The confrontation between the players is divided into four phases(P1-P4)by introducing the switching time,and proposing different guidance strategies according to the phase where the static obstacle is located:the linear quadratic game method is employed to devise the guidance scheme for the energy optimization when the obstacle is located in the P1 and P3 stages;the norm-bounded differential game guidance strategy is presented to satisfy the acceleration constraint under the circumstance that the obstacle is located in the P2 and P4 phases.Furthermore,the radii of the static obstacle and the interceptor are taken as the design parameters to derive the combined guidance strategy through the dead-zone function,which guarantees that the pursuer avoids the static obstacle,and the interceptor,and attacks the evader.Finally,the nonlinear numerical simulations verify the performance of the game guidance strategy.
基金Project supported by the Natural Science Foundation of Shanxi Province,China(Grant Nos.202303021212148 and 202103021223245)。
文摘Computer simulations are utilized to investigate the dynamic behavior of self-propelled particles(SPPs)within a complex obstacle environment.The findings reveal that SPPs exhibit three distinct aggregation states within the obstacle,each contingent on specific conditions.A phase diagram outlining the aggregation states concerning self-propulsion conditions is presented.The results illustrate a transition of SPPs from a dispersion state to a transition state as persistence time increases within the obstacle.Conversely,as the driving strength increases,self-propelled particles shift towards a cluster state.A systematic exploration of the interplay between driving strength,persistence time,and matching degree on the dynamic behavior of self-propelled particles is conducted.Furthermore,an analysis is performed on the spatial distribution of SPPs along the y-axis,capture rate,maximum capture probability,and mean-square displacement.The insights gained from this research make valuable contributions to understanding the capture and collection of active particles.
基金Supported by the Science Research Foundation of Air Force Logistics Department(KJYZ09019)~~
文摘A mathematical model of obstacle limit surfaces for military airfield obstacle free space is established through airfield obstacle free space analysis.Based on the model,triangle mesh elevation model of military airfield obstacle free space is built by using the software-ArcGIS,and the 3-D display result is obtained.It is convenient to evaluate military airfield obstacle for superimposing digital elevation model（DEM）with military airfield topographic map.Thus it improves the efficiency greatly.It lays the foundation for the application of geographic information systems（GIS）in the management of military airfield obstacle free space.
基金Supported by the National Natural Science Foundation of China(61103157)
文摘A method of environment mapping using laser-based light detection and ranging （LIDAR） is proposed in this paper. This method not only has a good detection performance in a wide range of detection angles, but also facilitates the detection of dynamic and hollowed-out obstacles. Essentially using this method, an improved clustering algorithm based on fast search and discovery of density peaks （CBFD） is presented to extract various obstacles in the environment map. By comparing with other cluster algorithms, CBFD can obtain a favorable number of clusterings automatically. Furthermore, the experiments show that CBFD is better and more robust in functionality and performance than the K-means and iterative self-organizing data analysis techniques algorithm （ISODATA）.
文摘A robot intelligent path planning system RIPPS is developed, which can be utilized for a robot off line programming tool. The system consists of three parts: geometric modeler, kinematic modeler and path planer. The geometric modeler is used to construct the robot working environment cluttered with obstacles and the robot kinematic modeler to define robot manipulators by the input parameters. Giving robot start and the goal configurations, the path planer can produce a quasi optimal path. By transforming obstacles into the C space to form C obstacles, the path searching is performed in C space. The planning simulations are performed on a SGI workstation, the future research is to implement the planer on a commercial robot manipulators.
文摘Listening has been playing an essential role in daily communication.However,listening is the most difficult part and has been an obstacle in the process of learning English for most of learners for a variety of reasons.The paper mainly discusses the linguistic and non—linguistic obstacles in the process of listening and aims to help English learners find out their own shortcomings and put forward some corresponding solutions to improve learners' listening ability.
文摘English reading,a key procedure of English learning and teaching in middle school,is an essential way of getting information from the globe and communicating with others.Therefore,efficient comprehension on reading materials will directly serve for accepting the information.And it is extremely important for middle school students to acquire certain reading ability.At present,great attention has been paid to the course of reading in the instruction of English by the Chinese Education Department.But middle school students'read ing ability is still much lower than the target they should reach because of a set of existing obstacles that prevent them from being effective English readers.What are these obstacles? How to break them down? This paper will first point out and then analyze the obstacles that af fect middle school students'reading ability from two aspects:linguistic obstacles(obstacles of lexicon,grammar and background knowl edge) and non-linguistic obstacles(obstacles of psychology,interest,skill,and habit).After demonstrating different obstacles,the paper also come up with some corresponding strategies in the hope of helping middle school students to be effective English readers.
文摘This paper gives the local regularity result for solutions to obstacle problems of A-harmonic equation divA(x, ξu(x)) = 0, |A.(x,ξ)|≈|?|p-1, when 1 < p < n and the obstacle function (?)≥0.
基金supported by the Ministry of Science and Technology of Thailand
文摘This paper describes path re-planning techniques and underwater obstacle avoidance for unmanned surface vehicle(USV) based on multi-beam forward looking sonar(FLS). Near-optimal paths in static and dynamic environments with underwater obstacles are computed using a numerical solution procedure based on an A* algorithm. The USV is modeled with a circular shape in 2 degrees of freedom(surge and yaw). In this paper, two-dimensional(2-D) underwater obstacle avoidance and the robust real-time path re-planning technique for actual USV using multi-beam FLS are developed. Our real-time path re-planning algorithm has been tested to regenerate the optimal path for several updated frames in the field of view of the sonar with a proper update frequency of the FLS. The performance of the proposed method was verified through simulations, and sea experiments. For simulations, the USV model can avoid both a single stationary obstacle, multiple stationary obstacles and moving obstacles with the near-optimal trajectory that are performed both in the vehicle and the world reference frame. For sea experiments, the proposed method for an underwater obstacle avoidance system is implemented with a USV test platform. The actual USV is automatically controlled and succeeded in its real-time avoidance against the stationary undersea obstacle in the field of view of the FLS together with the Global Positioning System(GPS) of the USV.
基金This work was supported in part by the National Natural Science Foundation of China(Nos.61803025,62073031)the Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities)(No.FRF-IDRY-19010)the Beijing Top Discipline for Artificial Intelligent Science and Engineering,University of Science and Technology Beijing.
文摘The flapping-wing air vehicle(FWAV)is a kind of bio-inspired robot whose wings can flap up and down like bird and insect wings.A vision-based obstacle avoidance method for FWAVs is proposed in this paper.First,the Farneback algorithm is used to calculate the optical flow field of the first-view video frames taken by the on-board image transmission camera.Based on the optical flow information,a fuzzy obstacle avoidance controller is then designed to generate the FWAV steering commands.Experimental results show that the proposed obstacle avoidance method can accurately identify obstacles and achieve obstacle avoidance for FWAVs.
基金supported by the National High Technology Research and Development Program of China(Grant No.2011AA040103)the Research Foundationof Shanghai Institute of Technology,China(Grant No.B504)
文摘Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
基金the support of Centre of Excellence (CoE) in Complex and Nonlinear dynamical system (CNDS), through TEQIP-II, VJTI, Mumbai, India
文摘Obstacle avoidance becomes a very challenging task for an autonomous underwater vehicle(AUV)in an unknown underwater environment during exploration process.Successful control in such case may be achieved using the model-based classical control techniques like PID and MPC but it required an accurate mathematical model of AUV and may fail due to parametric uncertainties,disturbance,or plant model mismatch.On the other hand,model-free reinforcement learning(RL)algorithm can be designed using actual behavior of AUV plant in an unknown environment and the learned control may not get affected by model uncertainties like a classical control approach.Unlike model-based control model-free RL based controller does not require to manually tune controller with the changing environment.A standard RL based one-step Q-learning based control can be utilized for obstacle avoidance but it has tendency to explore all possible actions at given state which may increase number of collision.Hence a modified Q-learning based control approach is proposed to deal with these problems in unknown environment.Furthermore,function approximation is utilized using neural network(NN)to overcome the continuous states and large statespace problems which arise in RL-based controller design.The proposed modified Q-learning algorithm is validated using MATLAB simulations by comparing it with standard Q-learning algorithm for single obstacle avoidance.Also,the same algorithm is utilized to deal with multiple obstacle avoidance problems.
文摘AutoReaGas was used for the simulations of premixed gas/air mixtures explosion characteristics in obstacle-filled tubes with a cross-section of 0.2 m×0.2 m and the length of 28 m. Numerical analyses provide a quantitative description of dependence of flame propagation speed and explosion overpressure on obstacles number, blockage ratio and interval distance. Computational results indicate that the obstacles play a significant role in determining the flame transmission speed and explosion overpressure in gas explosions. With the increase of blockage ratio, the explosion overpressure gradually rises. Nevertheless, the flame speed does not always increase along with increasing blockage ratio, but subsequently begins to decrease as the blockage ratio increases to some extend. Also, the interval distance between obstacles strongly influences flame behavior and explosion overpressure. When the obstacle interval distance is equal to inner diameter of the tube, the average flame speed in the obstacle zone and the peak overpressure in tube all reach maximum values.
基金supported by the National Natural Science Foundation of China (Nos.51106044 and 51176021)the Research Foundation of Education Bureau of Henan Province of China (No.14A410007)
文摘To investigate the flame and overpressure characteristics of methane–air explosion with different obstacle configurations,an experimental study has been conducted,taking account of the number of obstacles,obstacle distance from ignition source,and stream-wise and cross-wise obstacle positions.The results show that the flame speed and peak overpressure increase with the increasing number of obstacles,while the time to reach the peak is not fully determined by it.And the configuration having the farthest obstacle produces a higher overpressure and takes a longer time to reach the peak,but a slower flame propagation speed is obtained.Similar explosion characteristics are also observed in the configurations with two obstacles fixed at different stream-wise positions.Furthermore,the experimental results demonstrate that the peak overpressures and flame speeds in configurations with central or staggered obstacles are relatively higher,which should to be avoided in practical processes to minimize the risk associated with methane–air explosion.
基金Project supported by the National Natural Science Foundation of China (Grant Nos.52104186,71904006,U1933105,and 72174189)the Fundamental Research Funds for the Central Universities (Grant Nos.DUT21JC01 and DUT2020TB03)the Fundamental Research Funds for the Central Universities (Grant No.WK2320000050)。
文摘Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to the effect of stationary pedestrians(the elderly with slow speed,the injured,and the static evacuation guide)as obstacles at the exit on the evacuation process.This paper explores the influence of the presence of a stationary pedestrian as an obstacle at the exit on the evacuation from experiments and simulations.We use a software,Pathfinder,based on the agent-based model to study the effect of ratios of exit width(D)to distance(d)between the static pedestrian and the exit,the asymmetric structure by shifting the static pedestrian upward,and types of obstacles on evacuation.Results show that the evacuation time of scenes with a static pedestrian is longer than that of scenes with an obstacle due to the unexpected hindering effect of the static pedestrian.Different ratios of D/d have different effects on evacuation efficiency.Among the five D/d ratios in this paper,the evacuation efficiency is the largest when d is equal to 0.75D,and the existence of the static pedestrian has a positive impact on evacuation in this condition.The influence of the asymmetric structure of the static pedestrian on evacuation efficiency is affected by D/d.This study can provide a theoretical basis for crowd management and evacuation plan near the exit of complex buildings and facilities.
文摘This paper obtain C-1,C-alpha- regularity of weak solutions to the p-Laplacian obstacle problem with C-1,C-beta-obstacle function under controllable growth conditions.
文摘Reading comprehension is important for both teacher and students in high school.And there is a phenomenon in stu dents when they do the reading comprehension.If word recognition is difficult,students use too much of their time to read and understand the individual words,which interferes with their ability to comprehend what is read and waste too much of their time in the examination.This makes the comprehension difficult for high school students.The paper focuses on the methods for teach ers to eliminate lexical obstacles to reading comprehension in high school.
基金the National Natural Science Foundation of China(Grant No.51176073)the Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20103218110027)the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD),China
文摘The effect of lateral walls on fluid flow and heat transfer is investigated when a fluid passes a magnetic obstacle. The blockage ratio β that represents the ratio between the width of external magnet M y and the spanwise width L y is employed to depict the effect. The finite volume method （FVM） based on the PISO algorithm is applied for the blockage ratios of 0.2, 0.3, and 0.4. The results show that the value of Strouhal number St increases as the blockage ratio β increases, and for small β , the variation of St is very small when the interaction parameter and Reynolds number are increasing. Moreover, the cross-stream mixing induced by the magnetic obstacle can enhance the wall-heat transfer and the maximum value of the overall heat transfer increment is about 50.5%.
基金the first author (XL) was supported by the China Postdoctoral Science Foundation (20100480494)the NSF of China (11101412)+1 种基金K.C. Wong Education Foundation, Hong Kongthe second author (BZ) was supported by the NSF of China (11071244,11161130002)
文摘This paper is concerned with the inverse problem of scattering of time-harmonic acoustic waves by an inhomogeneous penetrable obstacle in a piecewise homogeneous medium. The well-posedness of the direct problem is first established by using the integral equation method. We then proceed to establish two tools that play important roles for the inverse problem： one is a mixed reciprocity relation and the other is a priori estimates of the solution on some part of the interfaces between the layered media. For the inverse problem, we prove in this paper that both the penetrable interfaces and the possible inside inhomogeneity can be uniquely determined from a knowledge of the far field pattern for incident plane waves.
基金Sponsored by the National"863"Program Project (1020021300704)
文摘The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point （ZMP） trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.
