基于人工协调场的多移动机器人实时协调避碰规划

为克服传统人工势场在动态未知环境下机器人避碰规划中存在的缺陷,提出人工协调场法(ACF).将场函数与机器人的风险状态相结合,给出并讨论了人工协调场的基本设计.基于人工协调场,考虑机器人的运动约束,实现了多机器人之间以及机器人与环境间的实时协调避碰,提出了一个多移动机器人无死锁实时避碰规划算法.理论分析和仿真试验证明所提方法的有效性.

复杂断块群四维应力场模型及油藏预测

This paper is belonging to Chinese Petrochemical Corporation's key project. Although it is difficult and great workload, it has important theoretical and practical value. Its targets is to establish 4 dimension stress fields of complex fault block groups, and then to predict the forming mechanism and distribution rule of petroleum pools, by applying the most advanced theories, methods and technology and the most sophisticated software in highly explored zones. By means of multi-discipline theories, methods, technologies and multi-source information, using computer with maximum efforts, investigating the strata framework, structure framework, petroleum pool forming mechanism and forming mode of complex fault block groups, several results have been achieved as following: The fastigiated mode of Xianhe complex fault block groups was established, pointed out the control function of pool accumulate in Xianhe complex fault block groups Xianhe fastigiated complex fault block groups are the results of combining stress of extending, slipping and reversing, which formed in early Shahejie stage, changed and perplexed during Dongying stage and that control the forming and destruction of petroleum pools. By measuring the earth stress and rock mechanics parameters in the research region, the model of 4 dimension stress field and potential fields of migrating fluids was established from ES3 stage to current, with their space distribution and time evolve and petroleum accumulate. The fault-sealing model in Xianhe complex fault block groups was established, which reveal the sealing mechanism of petroleum about control-fault, made for petroleum pool prediction in complex fault block. The petroleum pool forming mode and mechanism in complex fault block was established. Petroleum distribution were predicted in three stress inverse zones, and remaining oil were point out in the high points of 2 micro-structures and the region with strong fault-sealing capabilities. (6). A set of theories, technology and methods of complex fault block petroleum pool have been developed, bring on an improvement of the development geology theory in continental fault depression lake basin, good economic benefits have been obtained by applying on both east and west areas of our country.

Singlet-triplet transition in quantum dots confined by triangular and bowl-like potentials: the effect of electric fields

We theoretically investigate the energy spectra of two-electron two-dimensional (2e 2D) quantum dots (QDs) confined by triangular potentials and bowl-like potentials in a magnetic field by exact diagonalization in the framework of effective mass theory. An in-plane electric field is,found to contribute to the singlet-triplet transition of the ground state of the 2e 2D QDs confined by triangular or bowl-like potentials in a perpendicular magnetic field. The stronger the in-plane electric field, the smaller the magnetic field for the total spin of the ground states in the dot systems to change from S = 0 to S = 1. However, the influence of an in-plane electric field on the singlet-triplet transition of the ground state of two electrons in a triangular QD modulated by a perpendicular magnetic field is quite small because the triangular potential just deviates from the harmonic potential well slightly. We End that the strength of the perpendicular magnetic field needed for the spin singlet-triplet transition of the ground state of the QD confined by a bowl-like potential is reduced drastically by applying an in-plane electric field.

Coherent tunnelling in coupled quantum wells under a uniform magnetic fields

Coherent tunnelling is studied in framework of the effective mass approximation for an asymmetric coupled quantum well. The Hartree potential due to the electron-electron interaction is considered in our calculation. The effects of the longitudinal and transverse magnetic field on coherent tunnelling characteristics are discussed. It has been found that the external field plays an important role in modulating the electron states.

Energy spectrum and persistent currents in finite-width mesoscopic ring with radial potential barrier threading a magnetic flux through its hole

The energy spectrum and the persistent currents are calculated for a finite-width mesoscopic annulus with radial potential barrier, threading a magnetic flux through the hole of the ring. Owing to the presence of tunneling barrier, the coupling effect leads to the splitting of each radial energy subband of individual concentrical rings into two one. Thus, total currents and currents carried by single high-lying eigenstate as a function of magnetic flux exhibit complicated patterns. However, periodicity and antisymmetry of current curves in the flux still preserve.

Electronic states of InAs verfically-assembled quantum disks in magnetic fields and two-electron quantum-disk qubit

We have studied the single-electron and two-electron vertically-assembled quantum disks in an axial magnetic field using the effective mass approximation. The electron interaction is treated accurately by the direct diagonalization of the Hamiltonian matrix. We calculate the six criergy levels of single-electron quantum disks and the two lowest energy levels of two-electron quantum disks in an axial magnetic field. The change of the magnetic field as an effective potential strongly modifies the electronic structures. leading to splittings and crossings between levels The results demonstrate the switching between the around states with the total spins S = 0 and S = 1. The switching results in a qubit allowed to fabricate by current growth techniques.

Controllable negative and positive group delay in transmission through a single quantum well at finite magnetic fields

We investigate the controllable negative and positive group delay in transmission through a single quantum well at the finite longitudinal magnetic fields. It is shown that the magneto-coupling effect between the longitudinal motion component and the transverse Landau orbits plays an important role in the group delay. The group delay depends not only on the width of potential well and the incident energy, but also on the magnetic-field strengthen and the Landau quantum number. The results show that the group delay can be changed from positive to negative by the modulation of the magnetic field. These interesting phenomena may lead to the tunable quantum mechanical delay line. (c) 2007 Elsevier B.V. All rights reserved.

Electronic states and magnetotransport in quantum waveguides with nonuniform magnetic fields

The electronic states and magnetotransport properties of quantum waveguides (QW's) in the presence of nonuniform magnetic fields perpendicular to the QW plane are investigated theoretically. It is found that the magnetoconductance of those structures as a function of Fermi energy exhibits stepwise variation or square-wave-like oscillations, depending on the specific distributions (both in magnitude and direction) of nonuniform magnetic fields in QW's. We have investigated the dual magnetic strip structures and three magnetic strip structures. The character of the magnetotransport is closely related to the effective magnetic potential and the energy-dispersion spectrum of electron in the structures. It is found that dispersion relations seem to be combined by different sets of dispersion curves that belong to different individual magnetic subwaveguides. The magnetic effective potential leads to the coupling of states and the substantial distortion of the original dispersion curves at the interfaces in which the abrupt change of magnetic fields appears. Magnetic scattering states are created. Only in some three magnetic strip structures, these scattering states produce the dispersion relations with oscillation structures superimposed on the bulk Landau levels. It is the oscillatory behavior in dispersions that leads to the occurrence of square-wave-like modulations in conductance.

Equatorial pacific SSTA-related decadal variations of potential predictability of ENSO and interannual climate

Based on analysis of NCEP reanalysis data and SST indices of the recent 50 years, decadal changes of the potential predictability of ENSO and interannual climate anomalies were investigated. Autocorrelation of Nino3 SST anomalies (SSTA) and correlation between atmospheric anomalies fields and Nino3 SSTA exhibit obvious variation in different decades, which indicates that Nino3 SSTA-related potential predictability of ENSO and interannual climate anomalies has significant decadal changes. Time around 1977 is not only a shift point of climate on the interdecadal time scale but also a catastrophe point of potential predictability of ENSO and interannual climate. As a whole, ENSO and the PNA pattern in boreal winter are more predictable in 1980s than in 1960s and 1970s, while the Nino3 SSTA-related potential predictability of the Indian monsoon and the East Asian Monsoon is lower in 1980s than in 1960s and 1970s.