Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation...Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.展开更多
This study investigates the effects of systematic errors in phase inversions on the success rate and number of iterations in the optimized quantum random-walk search algorithm. Using the geometric description of this ...This study investigates the effects of systematic errors in phase inversions on the success rate and number of iterations in the optimized quantum random-walk search algorithm. Using the geometric description of this algorithm, a model of the algorithm with phase errors is established, and the relationship between the success rate of the algorithm, the database size, the number of iterations, and the phase error is determined. For a given database size, we obtain both the maximum success rate of the algorithm and the required number of iterations when phase errors are present in the algorithm. Analyses and numerical simulations show that the optimized quantum random-walk search algorithm is more robust against phase errors than Grover＇s algorithm.展开更多
Numerical modeling is an important tool to study and predict the transport of oil spills. However, the accu- racy of numerical models is not always good enough to provide reliable information for oil spill transport. ...Numerical modeling is an important tool to study and predict the transport of oil spills. However, the accu- racy of numerical models is not always good enough to provide reliable information for oil spill transport. It is necessary to analyze and identify major error sources for the models. A case study was conducted to analyze error sources of a three-dimensional oil spill model that was used operationally for oil spill forecast- ing in the National Marine Environmental Forecasting Center （NMEFC）, the State Oceanic Administration, China. On June 4, 2011, oil from sea bed spilled into seawater in Penglai 19-3 region, the largest offshore oil field of China, and polluted an area of thousands of square kilometers in the Bohai Sea. Satellite remote sensing images were collected to locate oil slicks. By performing a series of model sensitivity experiments with different wind and current forcings and comparing the model results with the satellite images, it was identified that the major errors of the long-term simulation for oil spill transport were from the wind fields, and the wind-induced surface currents. An inverse model was developed to estimate the temporal variabil- ity of emission intensity at the oil spill source, which revealed the importance of the accuracy in oil spill source emission time function.展开更多
基金supported by National Natural Science Foundation of China (Grant Nos. 50675079,50875246)Program for Innovative Research Team (in Science and Technology) in University of Henan Province,China
文摘Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in movement.Since the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been explored.In order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile robot.The locus error of a robot body is measured,when robot moves along a given track.Error of driven joint variables is obtained by error calculation model in terms of the locus error of robot body.Error value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model modified.The model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error compensation.On the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is discussed.Moreover,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s locus.Take MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is studied.The actual locus errors of the robot body are measured before and after compensation in the test.According to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one time.The kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.
基金Project supported by the National Basic Research Program of China(Grant No.2013CB338002)
文摘This study investigates the effects of systematic errors in phase inversions on the success rate and number of iterations in the optimized quantum random-walk search algorithm. Using the geometric description of this algorithm, a model of the algorithm with phase errors is established, and the relationship between the success rate of the algorithm, the database size, the number of iterations, and the phase error is determined. For a given database size, we obtain both the maximum success rate of the algorithm and the required number of iterations when phase errors are present in the algorithm. Analyses and numerical simulations show that the optimized quantum random-walk search algorithm is more robust against phase errors than Grover＇s algorithm.
基金supported by Marine Industry Scientific Research Special Funds for Public Welfare Project "The development and application of fine-scale high precision comprehensive forecast system on the key protection coastal area",under contact No.201305031 and "The modular construction and application of marine forecasting operational system",under contact No.201205017
文摘Numerical modeling is an important tool to study and predict the transport of oil spills. However, the accu- racy of numerical models is not always good enough to provide reliable information for oil spill transport. It is necessary to analyze and identify major error sources for the models. A case study was conducted to analyze error sources of a three-dimensional oil spill model that was used operationally for oil spill forecast- ing in the National Marine Environmental Forecasting Center （NMEFC）, the State Oceanic Administration, China. On June 4, 2011, oil from sea bed spilled into seawater in Penglai 19-3 region, the largest offshore oil field of China, and polluted an area of thousands of square kilometers in the Bohai Sea. Satellite remote sensing images were collected to locate oil slicks. By performing a series of model sensitivity experiments with different wind and current forcings and comparing the model results with the satellite images, it was identified that the major errors of the long-term simulation for oil spill transport were from the wind fields, and the wind-induced surface currents. An inverse model was developed to estimate the temporal variabil- ity of emission intensity at the oil spill source, which revealed the importance of the accuracy in oil spill source emission time function.
