The flow on the Wiener space associated to a tangent process constructed by Cipriano and Cruzeiro, as well as by Gong and Zhang does not allow to recover Driver’s Cameron-Martin theorem on Riemannian path space. The ...The flow on the Wiener space associated to a tangent process constructed by Cipriano and Cruzeiro, as well as by Gong and Zhang does not allow to recover Driver’s Cameron-Martin theorem on Riemannian path space. The purpose of this work is to refine the method of the modified Picard iteration used in the previous work by Gong and Zhang and to try to recapture and extend the result of Driver. In this paper, we establish the existence and uniqueness of a flow associated to a Cameron-Martin type vector field on the path space over a Riemannian manifold.展开更多
We establish an integration by parts formula on the path space with reference measure P, the law of the(reflecting) diffusion process on manifolds with possible boundary carrying geometric flow, which leads to the sta...We establish an integration by parts formula on the path space with reference measure P, the law of the(reflecting) diffusion process on manifolds with possible boundary carrying geometric flow, which leads to the standard log-Sobolev inequality for the associated Dirichlet form. To this end, we first modify Hsu's multiplicative functionals to define the damp gradient operator, which links to quasi-invariant flows; and then establish the derivative formula for the associated inhomogeneous diffusion semigroup.展开更多
The authors extend the notion of statistical structure from Riemannian geometry to the general framework of path spaces endowed with a nonlinear connection and a generalized metric.Two particular cases of statistical ...The authors extend the notion of statistical structure from Riemannian geometry to the general framework of path spaces endowed with a nonlinear connection and a generalized metric.Two particular cases of statistical data are defined.The existence and uniqueness of a nonlinear connection corresponding to these classes is proved.Two Koszul tensors are introduced in accordance with the Riemannian approach.As applications,the authors treat the Finslerian (α,β)-metrics and the Beil metrics used in relativity and field theories while the support Riemannian metric is the Fisher-Rao metric of a statistical model.展开更多
Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environm...Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior environment.To address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles.First,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP formulation.Then,the avoidance task is modeled with linear constraints in RVCs.Some other constraints,such as kinematics,dynamics,and sensor range,are included.Last,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of human-in-the-loop.The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances.Therefore,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.展开更多
This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will sa...This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl （realtime application interface） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.展开更多
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 ...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
A multi-path routing algorithm based on network coding is proposed for combating long propagation delay and high bit error rate of space information networks. On the basis of traditional multi-path routing, the algori...A multi-path routing algorithm based on network coding is proposed for combating long propagation delay and high bit error rate of space information networks. On the basis of traditional multi-path routing, the algorithm uses a random linear network coding strategy to code data pack- ets. Code number is determined by the next hop link status and the number of current received packets sent by the upstream node together. The algorithm improves retransmission and cache mechanisms through using redundancy caused by network coding. Meanwhile, the algorithm also adopts the flow distribution strategy based on time delay to balance network load. Simulation results show that the proposed routing algorithm can effectively improve packet delivery rate, reduce packet delay, and enhance network performance.展开更多
This article uses the phase space path integral method to find the propagator for a particle with a force quadratic in velocity. Two specific canonical transformations has been used for this purpose.
The existence of space charge may be addressed as one of the reasons that could cause shielding failure of transmission lines. In order to study the effect of space charge on discharge propagation path, a new experime...The existence of space charge may be addressed as one of the reasons that could cause shielding failure of transmission lines. In order to study the effect of space charge on discharge propagation path, a new experimental system, including mainly DC high voltage generator, impulse voltage generator as well as rod-plane electrode, has been established. The space charge was generated around the rod by means of pre-applying DC high voltage, and the air gap dis- charge experiments were conducted with and without pre-applying DC high voltage, respectively. Meanwhile, high speed cameras worked simultaneously from the front and lateral side to record the discharge propagation path so as to obtain the curvature. After statistical analysis, it is shown that the curvature increases in the middle and lower portions of the propagation path when the effect of space charge is taken into account.展开更多
基金Supported by the National Natural Science Foundation of China(No.10601066)the financial support of the Fundamental Research Funds for Central Universitiesthe Research Funds of Renmin University of China(11XNI008)
文摘The flow on the Wiener space associated to a tangent process constructed by Cipriano and Cruzeiro, as well as by Gong and Zhang does not allow to recover Driver’s Cameron-Martin theorem on Riemannian path space. The purpose of this work is to refine the method of the modified Picard iteration used in the previous work by Gong and Zhang and to try to recapture and extend the result of Driver. In this paper, we establish the existence and uniqueness of a flow associated to a Cameron-Martin type vector field on the path space over a Riemannian manifold.
基金supported by the National Natural Science Foundation of Zhejiang University of Technology(Grant No.2014X2011)the Starting-up Research Fund supplied by Zhejiang University of Technology(Grant No.1009007329)
文摘We establish an integration by parts formula on the path space with reference measure P, the law of the(reflecting) diffusion process on manifolds with possible boundary carrying geometric flow, which leads to the standard log-Sobolev inequality for the associated Dirichlet form. To this end, we first modify Hsu's multiplicative functionals to define the damp gradient operator, which links to quasi-invariant flows; and then establish the derivative formula for the associated inhomogeneous diffusion semigroup.
基金Project supported by the Romanian National Authority for Scientific Research,CNCS UEFISCDI(No.PN-II-ID-PCE-2012-4-0131)
文摘The authors extend the notion of statistical structure from Riemannian geometry to the general framework of path spaces endowed with a nonlinear connection and a generalized metric.Two particular cases of statistical data are defined.The existence and uniqueness of a nonlinear connection corresponding to these classes is proved.Two Koszul tensors are introduced in accordance with the Riemannian approach.As applications,the authors treat the Finslerian (α,β)-metrics and the Beil metrics used in relativity and field theories while the support Riemannian metric is the Fisher-Rao metric of a statistical model.
基金supported by National Natural Science Foundation of China (Grant Nos. 61035005,61075087)Hubei Provincial Natural Science Foundation of China (Grant No. 2010CDA005)Hubei Provincial Education Department Foundation of China (Grant No.Q20111105)
文摘Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior environment.To address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles.First,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP formulation.Then,the avoidance task is modeled with linear constraints in RVCs.Some other constraints,such as kinematics,dynamics,and sensor range,are included.Last,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of human-in-the-loop.The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances.Therefore,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.
基金supported by National Program on Key Basic Research Project(973 Program,No.2013CB733103)the Program for New Century Excellent Talents in University(No.NCET-10-0058)
文摘This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl （realtime application interface） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.
基金Project supported in part by the National Natural Science Foundation of China (Grant No. 19631060)Beijing Normal University and the State Education Commission of China.
文摘Under certain curvature condition, the existence of spectral gap is proved on path spaces with infinite time-interval.
基金Supported by National Natural Science Foundation of China（60873032, 61105095, 61203361） Doctoral Program Foundation of Ministry of Education of China （20100142110020）+3 种基金 the Specialized Research Fund for the Doctoral Program of Higher Education of China （20100073120020） Postdoctoral Science Foundation of China （2012M511095） Shanghai Municipal Natural Science Foundation （11ZR1418400） Shanghai Postdoctoral Science Foundation（12R21414200）
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.
基金supported by the National Natural Science Foundation of China (No. 60929003)
文摘A multi-path routing algorithm based on network coding is proposed for combating long propagation delay and high bit error rate of space information networks. On the basis of traditional multi-path routing, the algorithm uses a random linear network coding strategy to code data pack- ets. Code number is determined by the next hop link status and the number of current received packets sent by the upstream node together. The algorithm improves retransmission and cache mechanisms through using redundancy caused by network coding. Meanwhile, the algorithm also adopts the flow distribution strategy based on time delay to balance network load. Simulation results show that the proposed routing algorithm can effectively improve packet delivery rate, reduce packet delay, and enhance network performance.
文摘This article uses the phase space path integral method to find the propagator for a particle with a force quadratic in velocity. Two specific canonical transformations has been used for this purpose.
文摘The existence of space charge may be addressed as one of the reasons that could cause shielding failure of transmission lines. In order to study the effect of space charge on discharge propagation path, a new experimental system, including mainly DC high voltage generator, impulse voltage generator as well as rod-plane electrode, has been established. The space charge was generated around the rod by means of pre-applying DC high voltage, and the air gap dis- charge experiments were conducted with and without pre-applying DC high voltage, respectively. Meanwhile, high speed cameras worked simultaneously from the front and lateral side to record the discharge propagation path so as to obtain the curvature. After statistical analysis, it is shown that the curvature increases in the middle and lower portions of the propagation path when the effect of space charge is taken into account.
