This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system...This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method.展开更多
We analyze systematically the effective order parameters in nuclear shape phase transition both in experiments and in the interacting boson model.We find that energy ratios and B(E2)ratios can distinguish the first fr...We analyze systematically the effective order parameters in nuclear shape phase transition both in experiments and in the interacting boson model.We find that energy ratios and B(E2)ratios can distinguish the first from the second-order phase transition in theory above a certain boson number N(about 50),but in experiments,only those quantities,such as E(L1+)/E(02+)and B(E2;(L+2)1→L1)/B(E2;21→01),etc.,of which the monotonous transitional behavior in the second-order phase transition is broken in the first order phase transition independent of N,are qualified as the effective order parameters.By implementing the originally proposed effective order parameters and the new ones,we find that the isotones with neutron number Nn=62 are a trajectory of the second order phase transition.In addition,we predict that the transitional behavior of isomer shifts of Xe,Ba isotopes and Nn=62 isotones is approximately monotonous due to the finiteness of nuclear system.展开更多
基金the National Natural Science Foundation of China (No. 60675041)the Program for New Century Excellent Talents in University (No. NCET-06-0398)
文摘This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system’s internal and external constraints. Task plan and coordination are then transformed as trajectory solving problem in the state space, by which the realizable conditions for the given task are discussed. If the task is realizable, the optimal strategy for task execution could be investigated and obtained in state space. Otherwise, it could be transformed to be realizable via adjusting the system configuration and/or task constraint, and the transformation condition could also be determined. This contributes to design, plan, and coordination of the robotic tasks. Experiments of the manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method.
基金supported by the National Natural Science Foundation of China(Grant Nos.10425521,10935001,11005056 and 11075052)the Major State Basic Research Development Program(Grant No.G2007CB815000)
文摘We analyze systematically the effective order parameters in nuclear shape phase transition both in experiments and in the interacting boson model.We find that energy ratios and B(E2)ratios can distinguish the first from the second-order phase transition in theory above a certain boson number N(about 50),but in experiments,only those quantities,such as E(L1+)/E(02+)and B(E2;(L+2)1→L1)/B(E2;21→01),etc.,of which the monotonous transitional behavior in the second-order phase transition is broken in the first order phase transition independent of N,are qualified as the effective order parameters.By implementing the originally proposed effective order parameters and the new ones,we find that the isotones with neutron number Nn=62 are a trajectory of the second order phase transition.In addition,we predict that the transitional behavior of isomer shifts of Xe,Ba isotopes and Nn=62 isotones is approximately monotonous due to the finiteness of nuclear system.
