17,161 research outputs found
A Guiding Vector-Field algorithm for path-following control of nonholonomic mobile robots
Full text linkIn this paper, we propose an algorithm for path-following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of a predefined smooth function. Using this function and the robot's kinematic model, we design a GVF, whose integral curves converge to the trajectory. A nonlinear motion controller is then proposed, which steers the robot along such an integral curve, bringing it to the desired path. We establish global convergence conditions for our algorithm and demonstrate its applicability and performance by experiments with wheeled robots.Accepted Author ManuscriptTeam Tamas Keviczk
Synchronization of Pulse-Coupled Oscillators and Clocks under Minimal Connectivity Assumptions
Full text linkPopulations of flashing fireflies, claps of applauding audience, cells of cardiac and circadian pacemakers reach synchrony via event-triggered interactions, referred to as pulse couplings. Synchronization via pulse coupling is widely used in wireless sensor networks, providing clock synchronization with parsimonious packet exchanges. In spite of serious attention paid to networks of pulse coupled oscillators, there is a lack of mathematical results, addressing networks with general communication topologies and general phase-response curves of the oscillators. The most general results of this type (Wang et al., 2012, 2015) establish synchronization of oscillators with a delay-advance phase-response curve over strongly connected networks. In this paper we extend this result by relaxing the connectivity condition to the existence of a root node (or a directed spanning tree) in the graph. This condition is also necessary for synchronization
Ben cao wan fang zhen xian
No full textV.1. 本草綱目藥品總目 : 卷五至五十二 / 蔡烈先輯 -- 瀕湖脉學 -- 奇經八脈攷 / 李時珍撰輯 -- 脉訣攷證 -- v.1-2. 本草綱目圖 : [三卷] -- v.3-10. 本草綱目 : 五十二卷 / 李時珍編輯 -- v.11-12. 本草綱目拾遺 : 十卷 / 趙學敏輯 -- v.12. 本草萬方鍼綫 : 八卷 / 蔡烈先輯.V.1. Ben cao gang mu yao pin zong mu : juan wu zhi wu shi er / Cai Liexian ji -- Bin hu mai xue -- Qi jing ba mai kao / Li Shizhen zhuan ji -- Mai jue kao zheng -- v.1-2. Ben cao gang mu tu : [san juan] -- v.3-10. Ben cao gang mu : wu shi er juan / Li Shizhen bian ji -- v.11-12. Ben cao gang mu shi yi : shi juan / Zhao Xuemin ji -- v.12. Ben cao wan fang zhen xian : ba juan / Cai Liexian ji.李時珍編輯 ; 吳毓昌較訂.綫裝.框13.3x9公分, 12行, 每行字數不等. 白口, 四周雙邊, 單黑魚尾. 版心上鐫題名, 中鐫卷次, 小題, 下鐫葉次.內封背頁牌記鐫"光緖戊子[1888]秋鴻寳齋石印"《中國中醫古籍總目》02511著錄.鈐"莊兆祥印"朱, 白文各一方.Xian zhuang.Kuang 13.3 x 9 gong fen, 12 hang, mei hang zi shu bu deng. Bai kou, si zhou shuang bian, dan hei yu wei. Ban xin shang juan ti ming, zhong juan juan ci, xiao ti, xia juan ye ci.Nei feng bei ye pai ji juan "Guangxu wu zi [1888] qiu Hong bao zhai shi yin"Detailed notes in vernacular field only.Li Shizhen bian ji ; Wu Yuchang jiao ding.Qian "Zhuang Zhaoxiang yin" zhu, bai wen ge yi fang
Ma Huan (original author), Wan Ming (ed.) Ming chaoben " Yingya shenglan " jiaozh
No full textPtak Roderich. Ma Huan (original author), Wan Ming (ed.) Ming chaoben " Yingya shenglan " jiaozh. In: Archipel, volume 71, 2006. Autour de la peinture à Java. Volume II. pp. 240-244
Du shu cao tang ming shi: si juan.
No full text順德簡朝亮述."排印留版存讀書草堂, 上海中華書局承印"--Title page verso.Shunde Jian Zhaoliang shu."Pai yin liu ban cun Du shu cao tang, Shanghai Zhonghua shu ju cheng yin"--Title page verso
Modulus Consensus in Discrete-Time Signed Networks and Properties of Special Recurrent Inequalities (I)
No full textRecently the dynamics of signed networks, where the ties among the agents can be both positive (attractive) or negative (repulsive) have attracted substantial attention of the research community. Examples of such networks are models of opinion dynamics over signed graphs. It has been shown that under mild connectivity assumptions these protocols provide the convergence of opinions in absolute value, whereas their signs may differ. This “modulus consensus” may correspond to the bipartite consensus (the opinions split into two clusters, converging to two opposite values) or the asymptotic stability of the system (the opinions always converge to zero). In this paper, we demonstrate that the phenomenon of modulus consensus in a signed network is a manifestation of a more general, regarding the solutions of special recurrent inequalities, associated to conventional first-order consensus algorithms. Although such a recurrent inequality does not provide the uniqueness of a solution, it can be shown that, under some natural assumptions, each of its bounded solutions has a limit and, moreover, converges to consensus. A similar property has previously been established for special continuous-time differential inequalities in [1]. Besides analysis of signed networks, we link the consensus properties of recurrent inequalities to the convergence properties of distributed optimization algorithms and stability properties of substochastic matrices
Yu yi cao
No full textV.1-4. 醫門法律 : 六卷 -- v.5-6. 尚論篇 : 四卷, 卷首 -- v.7. 尚論後篇 : 四卷 -- v.8. 寓意草.V.1-4. Yi men fa lü : liu juan -- v.5-6. Shang lun pian : si juan, juan shou -- v.7. Shang lun hou pian : si juan -- v.8. Yu yi cao.[喻昌著 ; 陳守誠重梓].綫裝.框15.6x11.3公分, 12行40字. 白口, 四周單邊, 對黑魚尾. 版心上鐫題名, 中鐫卷次及小題, 下鐫葉次.書名背頁牌記刻"光緖二十年[1894]上海圖書集成印書局印"三題合刻疑為"喻氏醫書三種", 《中國叢書綜錄》(p.721)及《中國中醫古籍總目》(13137)著錄. 原書書根題為"醫門法律".鈐"莊兆祥印"Xian zhuang.Kuang 15.6 x 11.3 gong fen, 12 hang 40 zi. Bai kou, si zhou dan bian, dui hei yu wei. Ban xin shang juan ti ming, zhong juan juan ci ji xiao ti, xia juan ye ci.Detailed notes in vernacular field only.Detailed notes in vernacular field only.[Yu Chang zhu ; Chen Shoucheng chong zi].Qian "Zhuang Zhaoxiang yin
Who is the Real Author of A Dream of Red Mansions
Full text linkHu Shi considers that the author of A Dream of Red Mansions is Cao Xueqin of Qing Dynasty. The opinion in this paper is that the author of the novel A Dream of Red Mansions is Emperor Jianwen, Zhu Yunwen,of the Great Ming Empire(大明帝国建文帝朱允炆). And “Cao Xueqin”(曹雪芹)in the novel is，in fact, Zhu Yunwen(朱允炆).
Paragavialidium emeiensis Zheng & Cao 2011
No full textParagavialidium emeiensis Zheng & Cao, 2011 Type locality: SC China: Sichuan: Emei Mt.Published as part of Muhammad, Amira Aqilah, Tan, Ming Kai, Abdullah, Nurul Ashikin, Azirun, Mohammad Sofian, Bhaskar, Dhaneesh & Skejo, Josip, 2018, An annotated catalogue of the pygmy grasshoppers of the tribe Scelimenini Bolívar, 1887 (Orthoptera: Tetrigidae) with two new Scelimena species from the Malay Peninsula and Sumatra, pp. 1-70 in Zootaxa 4485 (1) on page 37, DOI: 10.11646/zootaxa.4485.1.1, http://zenodo.org/record/143795
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