Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control sy...Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.展开更多
Fixed-Mobile Convergence (FMC) has become a hot topic in the telecom industry. Telecom operators are paying close attention to discovering a road of convergence based on their existing networks. However,there are no u...Fixed-Mobile Convergence (FMC) has become a hot topic in the telecom industry. Telecom operators are paying close attention to discovering a road of convergence based on their existing networks. However,there are no unified strategies regarding the implementation of FMC at present. This article analyzes the deployment of FMC strategies for different types of operators,as well as different network layers,while assessing the impact of FMC on the existing operating modes. The operators are suggested to take the existing network structure,operation and maintenance system and business modes into planning and find out their proper roads to network convergence.展开更多
NGN is the current hot topic of the fixed network development,while 3G is the trend of the mobile communication in the next few years. Since the emerging all-service operators will soon have new de- mands on communica...NGN is the current hot topic of the fixed network development,while 3G is the trend of the mobile communication in the next few years. Since the emerging all-service operators will soon have new de- mands on communication network technologies,it is foreseeable that mobile and fixed NGNs converge.The article mainly analyzes the solutions to the convergence of mobile and fixed NGNs,and points out that convergence is a long-term goal.展开更多
Fixed Mobile Convergence (FMC) is the focus of the future communications network development,on which the industry has kept strengthening its relevant research. However,before a large scale of implementation,there are...Fixed Mobile Convergence (FMC) is the focus of the future communications network development,on which the industry has kept strengthening its relevant research. However,before a large scale of implementation,there are still lots of key issues to be explored. The adoption of IP Multimedia Subsystem (IMS) architecture to replace the real-time services in the traditional application needs to solve the Quality of Service (QoS) problem in the IP domain,unify the method that the fixed and mobile users of the traditional circuit domain access IMS,complete the mapping of circuit domain service flow to IMS,guarantee the security of IMS bearer network,transform the traditional operation mode,and set up a new pattern adaptable to the convergence.展开更多
This paper introduces an open wireless architecture(OWA) terminal design,focusing on the open baseband processing platform to support different existing and future wireless communication standards through the multi-di...This paper introduces an open wireless architecture(OWA) terminal design,focusing on the open baseband processing platform to support different existing and future wireless communication standards through the multi-dimensional open baseband processing modules with open interface parameters and baseband management systems.The paper describes multi-layer open system architecture to maximize the system flexibility and minimize the terminal power consumption,so as to provide an integrated and converged next generation wireless and mobile communication terminal system.展开更多
This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot.First,the idea of two-phase attractors is introduced into the domain...This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot.First,the idea of two-phase attractors is introduced into the domain of sliding mode control,and a new fixed-time sliding surface is proposed.Then,according to this sliding surface,a new type of nonsingular fast terminal sliding mode control algorithm is designed for the omnidirectional mobile robot,which can realize a fast fixed-time convergence property.The stability of the control system is proven scrupulously,and a guideline for control-parameter tuning is expounded.Finally,experiments are implemented to test the trajectory-tracking performance of the robot.Experimental results demonstrate the superiority of the proposed sliding surface and the corresponding control scheme in comparison with benchmark controllers.展开更多
随着物联网(Internet of Things,IoT)的快速发展,许多行业都开始意识到5G技术与物联网的融合对推动行业变革和创新的重要性,5G作为一种新一代移动通信技术,具备更高的传输速率、更低的延迟和更大的连接能力,为物联网设备的无缝连接和大...随着物联网(Internet of Things,IoT)的快速发展,许多行业都开始意识到5G技术与物联网的融合对推动行业变革和创新的重要性,5G作为一种新一代移动通信技术,具备更高的传输速率、更低的延迟和更大的连接能力,为物联网设备的无缝连接和大规模部署提供了强有力的技术支持。基于此,详细介绍5G与物联网的技术融合,并探讨其在能源行业、工业物联网、电力行业和矿产行业等领域的应用,还将提出进一步促进5G与物联网技术融合的建议,以期推动技术和行业的快速发展。展开更多
Income mobility is a key issue for understanding the process of economic growth and distributional change.Some economists have used the concept of“pro-poor growth”to examine,with individual-level panel data,whether ...Income mobility is a key issue for understanding the process of economic growth and distributional change.Some economists have used the concept of“pro-poor growth”to examine,with individual-level panel data,whether the poor benefit more than the rich from economic growth by tracking the extent of income mobility among different population subgroups.There is also literature in macroeconomics on the measurement of convergence.This paper introduces population-weighted relative and absolute indices of mobility,convergence,and pro-poor growth;it also distinguishes between anonymous and nonanonymous approaches to these issues.The empirical analysis is based on Chinese panel data for the period 2010–2018.In both absolute and relative terms,income growth in China was greater for individuals with an initially lower income but only for lower income deciles in relative terms.There was also an overall increase in individual welfare from anonymous and nonanonymous perspectives,which was higher among younger individuals.The welfare of the poor did not increase more than that of the nonpoor.These results shed light on the evolution of income distribution in China during the past decade's rapid economic growth.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 61075081)State Key Laboratory of Robotics Technique and System Foundation,Harbin Institute of Technology,China(Grant No. SKIRS200802A02)
文摘Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.
文摘Fixed-Mobile Convergence (FMC) has become a hot topic in the telecom industry. Telecom operators are paying close attention to discovering a road of convergence based on their existing networks. However,there are no unified strategies regarding the implementation of FMC at present. This article analyzes the deployment of FMC strategies for different types of operators,as well as different network layers,while assessing the impact of FMC on the existing operating modes. The operators are suggested to take the existing network structure,operation and maintenance system and business modes into planning and find out their proper roads to network convergence.
文摘NGN is the current hot topic of the fixed network development,while 3G is the trend of the mobile communication in the next few years. Since the emerging all-service operators will soon have new de- mands on communication network technologies,it is foreseeable that mobile and fixed NGNs converge.The article mainly analyzes the solutions to the convergence of mobile and fixed NGNs,and points out that convergence is a long-term goal.
文摘Fixed Mobile Convergence (FMC) is the focus of the future communications network development,on which the industry has kept strengthening its relevant research. However,before a large scale of implementation,there are still lots of key issues to be explored. The adoption of IP Multimedia Subsystem (IMS) architecture to replace the real-time services in the traditional application needs to solve the Quality of Service (QoS) problem in the IP domain,unify the method that the fixed and mobile users of the traditional circuit domain access IMS,complete the mapping of circuit domain service flow to IMS,guarantee the security of IMS bearer network,transform the traditional operation mode,and set up a new pattern adaptable to the convergence.
文摘This paper introduces an open wireless architecture(OWA) terminal design,focusing on the open baseband processing platform to support different existing and future wireless communication standards through the multi-dimensional open baseband processing modules with open interface parameters and baseband management systems.The paper describes multi-layer open system architecture to maximize the system flexibility and minimize the terminal power consumption,so as to provide an integrated and converged next generation wireless and mobile communication terminal system.
基金supported by the National Natural Science Foundation of China(62003305)the Natural Science Foundation of Zhejiang Province(LQ21F030015)+1 种基金the Key Research and Development Program of Zhejiang Province(2022C03029)the Public Welfare Application Research Project of Huzhou City(2022GZ15).
文摘This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot.First,the idea of two-phase attractors is introduced into the domain of sliding mode control,and a new fixed-time sliding surface is proposed.Then,according to this sliding surface,a new type of nonsingular fast terminal sliding mode control algorithm is designed for the omnidirectional mobile robot,which can realize a fast fixed-time convergence property.The stability of the control system is proven scrupulously,and a guideline for control-parameter tuning is expounded.Finally,experiments are implemented to test the trajectory-tracking performance of the robot.Experimental results demonstrate the superiority of the proposed sliding surface and the corresponding control scheme in comparison with benchmark controllers.
文摘随着物联网(Internet of Things,IoT)的快速发展,许多行业都开始意识到5G技术与物联网的融合对推动行业变革和创新的重要性,5G作为一种新一代移动通信技术,具备更高的传输速率、更低的延迟和更大的连接能力,为物联网设备的无缝连接和大规模部署提供了强有力的技术支持。基于此,详细介绍5G与物联网的技术融合,并探讨其在能源行业、工业物联网、电力行业和矿产行业等领域的应用,还将提出进一步促进5G与物联网技术融合的建议,以期推动技术和行业的快速发展。
基金A previous version of this paper was presented by Jacques Silber at the Western Economic Association International(WEAI)15th International Conference,which took place on March 21–24,2019,at Keio University,Tokyo,Japan.Jacques Silber is grateful to the participants in his session,in particular to Peter Phelps,for their very useful comments.He is also grateful for the comments he received at seminars that he gave at the Asian Growth Research Institute in Kitakyushu and at Kyoto University,and at the Encuentro de Economia Publica(Barcelona,January 23–24,2020)Elena Bárcena-Martín acknowledges financial aid from Grant PID2020-115429GB-I00 funded by MCIN/AEI/10.13039/501100011033Yuan Zhang acknowledges financial aid from the Natural Science Foundation of China(No.72173026).
文摘Income mobility is a key issue for understanding the process of economic growth and distributional change.Some economists have used the concept of“pro-poor growth”to examine,with individual-level panel data,whether the poor benefit more than the rich from economic growth by tracking the extent of income mobility among different population subgroups.There is also literature in macroeconomics on the measurement of convergence.This paper introduces population-weighted relative and absolute indices of mobility,convergence,and pro-poor growth;it also distinguishes between anonymous and nonanonymous approaches to these issues.The empirical analysis is based on Chinese panel data for the period 2010–2018.In both absolute and relative terms,income growth in China was greater for individuals with an initially lower income but only for lower income deciles in relative terms.There was also an overall increase in individual welfare from anonymous and nonanonymous perspectives,which was higher among younger individuals.The welfare of the poor did not increase more than that of the nonpoor.These results shed light on the evolution of income distribution in China during the past decade's rapid economic growth.
