关于Semigroups of Linear Operators and Applications to Partial Differential Equations的两个注解

Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques.] This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.

http://www.gbv.de/dms/hebis-darmstadt/toc/120387220.pdf

Introduction to Autonomous Mobile Robots

5. M. Green, J. Schwarz, and E. Witten, Superstring theory, Cambridge Univ. Press, 1987. 6. J. Isenberg, P. Yasskin, and P. Green, Non-self-dual gauge fields, Phys. Lett. 78B (1978), 462-464. 7. B. Kostant, Graded manifolds, graded Lie theory, and prequantization, Differential Geometric Methods in Mathematicas Physics, Lecture Notes in Math., vol. 570, SpringerVerlag, Berlin and New York, 1977. 8. C. LeBrun, Thickenings and gauge fields, Class. Quantum Grav. 3 (1986), 1039-1059. 9. , Thickenings and conformai gravity, preprint, 1989. 10. C. LeBrun and M. Rothstein, Moduli of super Riemann surfaces, Commun. Math. Phys. 117(1988), 159-176. 11. Y. Manin, Critical dimensions of string theories and the dualizing sheaf on the moduli space of (super) curves, Funct. Anal. Appl. 20 (1987), 244-245. 12. R. Penrose and W. Rindler, Spinors and space-time, V.2, spinor and twistor methods in space-time geometry, Cambridge Univ. Press, 1986. 13. R. Ward, On self-dual gauge fields, Phys. Lett. 61A (1977), 81-82. 14. E. Witten, An interpretation of classical Yang-Mills theory, Phys. Lett. 77NB (1978), 394-398. 15. , Twistor-like transform in ten dimensions, Nucl. Phys. B266 (1986), 245-264. 16. , Physics and geometry, Proc. Internat. Congr. Math., Berkeley, 1986, pp. 267302, Amer. Math. Soc, Providence, R.I., 1987.

Infinite-Dimensional Dynamical Systems in Mechanics and Physics (Roger Temam)

Constructive safety using control barrier functions

This paper presents a survey on research using fixed-point theorems and semigroup theory to study the controllability of nonlinear systems and functional integrodifferential systems in Banach spaces. Also discussed is the use of this technique in K-controllability and boundary controllability problems for nonlinear systems and integro-differential systems in abstract spaces.

Controllability of nonlinear systems in Banach spaces: a survey

Identification problems for the damped Klein-Gordon equations

We study the identification and identifiability problems for heat conduction in a nonhomogeneous rod. The identifiability results are established for two different sets of observations. Given a sequence of distributed type observations, the identifiability is proved for conductivities in a piecewise smooth class of functions. In the case of observations taken at finitely many points the identifiability is established for piecewise constant conductivities. Such conductivities can be uniquely identified using the proposed marching algorithm.

Identifiability of Piecewise Constant Conductivity in a Heat Conduction Process

Design of large span roof structures requires an analysis of static and dynamic behavior of shallow arches under various loads. In this paper the exact solution is established when the initial shape and the load are given by a linear combination of sinusoidal functions. The load is assumed to be time-independent. Then, the asymptotic stability of the arch is analyzed. For the one-dimensional solutions the arch is shown to have at most three equilibria. The arch motion exhibits a snap-through motion. In the two-dimensional case the location and the stability of equilibria is established under various conditions on the load-free shape, and the load parameters. An interesting phenomenon of a zigzag pattern of the critical pairs is discovered and studied numerically.

Stability of shallow arches under constant load

The ‘findpath problem’ a well-known problem in robotics, is the problem of finding a path for a moving solid among other solid obstacles. In this paper, a solution is proposed for the two-dimensional case where two point masses are required to move to designated areas or targets located in the horizontal plane while avoiding moving or stationary planar objects. The main tool used to solve the problem is the 'second or direct method of Liapunov', a powerful mathematical tool usually associated with the stability analysis of nonlinear systems. The theory developed from solving the two-dimensional findpath problem is then applied to the problem of cooperation between two planar robot arms. Computer simulations show the effectiveness of the proposed method

Junhong Ha

Papers

Identification problems for the damped Klein-Gordon equations

Identifiability of Piecewise Constant Conductivity in a Heat Conduction Process

Stability of shallow arches under constant load

A solution to the two-dimensional findpath problem

Gâteaux differentiability of solution mappings for semilinear second-order evolution equations