Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses...Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.展开更多
文章以无线传感器执行器网络(Wireless Sensor and Actuator Networks,WSAN)为研究对象,与纯粹传感器网络相比,融入执行器节点的无线传感器执行器网络有着明显的优势,WSAN节点协同特征将显著提升网络性能,可生存性、协作通信和拓扑控制...文章以无线传感器执行器网络(Wireless Sensor and Actuator Networks,WSAN)为研究对象,与纯粹传感器网络相比,融入执行器节点的无线传感器执行器网络有着明显的优势,WSAN节点协同特征将显著提升网络性能,可生存性、协作通信和拓扑控制等技术将使网络在受限节点性能下,促进WSAN在生命周期、网络质量、拓扑层次、功率控制等方面的优化。展开更多
A two-dimensional（2D） 44 topological ZnⅡ coordination polymer {[Zn2Cl2（L）（4bpy）2]}∞（H2L = anthracene-9,10-dicarboxylic acid, 4bpy = 4,4ˊ-bipyridine） based on binuclear [Zn2Cl2] nodes has been synthesized an...A two-dimensional（2D） 44 topological ZnⅡ coordination polymer {[Zn2Cl2（L）（4bpy）2]}∞（H2L = anthracene-9,10-dicarboxylic acid, 4bpy = 4,4ˊ-bipyridine） based on binuclear [Zn2Cl2] nodes has been synthesized and characterized by IR, elemental analysis, X-ray powder diffraction and single-crystal X-ray diffraction analysis. Moreover, the luminescent properties of the correspon- ding compound have been briefly investigated.展开更多
基金Project supported by the Key Research and Development Program of Zhejiang Province,China(No.2023C01174)。
文摘Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.
文摘文章以无线传感器执行器网络(Wireless Sensor and Actuator Networks,WSAN)为研究对象,与纯粹传感器网络相比,融入执行器节点的无线传感器执行器网络有着明显的优势,WSAN节点协同特征将显著提升网络性能,可生存性、协作通信和拓扑控制等技术将使网络在受限节点性能下,促进WSAN在生命周期、网络质量、拓扑层次、功率控制等方面的优化。
基金Supported by the key project of Science,the Technology Department of Henan province(No.112102210371)the science and technology research projects of Education Department of Henan province(No.12B150003)
文摘A two-dimensional（2D） 44 topological ZnⅡ coordination polymer {[Zn2Cl2（L）（4bpy）2]}∞（H2L = anthracene-9,10-dicarboxylic acid, 4bpy = 4,4ˊ-bipyridine） based on binuclear [Zn2Cl2] nodes has been synthesized and characterized by IR, elemental analysis, X-ray powder diffraction and single-crystal X-ray diffraction analysis. Moreover, the luminescent properties of the correspon- ding compound have been briefly investigated.
