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为了提高群体机器人系统的整体性能,受生物系统中普遍存在的交哺现象的启发,在原来多机器人系统的基本行为的基础上,提出了一种引入交哺行为的多机器人协作机制。机器人依靠有限的感知能力和局部交互功能,以自组织方式执行目标搜集任务。机器人的内部状态变量反映其执行任务的情况以及对环境和其他机器人的评价。比较机器人的内部状态变量,可以判断是否需要交哺和交哺的方向性。主要目的是减少机器人之间的冲突,降低系统能量消耗的同时,提高机器人搜集目标的效率。最后通过计算机仿真实验以及与其他多机器人协作方法比较,分析该方法对提高系统性能的有效性。 相似文献
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Magnetocaloric effect and magnetic properties of La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4 and its hydride La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4H1.6 were investigated. The Curie temperature of La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4 was increased by hydrogen absorption. XRD patterns showed that the structure of La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4H1.6 remained NaZn13-type. The Curie temperature (TC) of the sample was increased from 174 K to 331 K. The homogeneity of the hydrogen absorption for La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4H1.6 was proven very well by the random measurement of DSC. The magnetic entropy △SM of La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4H1.6 had peak at 326 K. The peak value of-△SM-was 12.3 and 7.8 J/(kg.K) under magnetic field change of 0-2 T and 0-1 T,respectively,which was comparable with Gd5Si2Ge2. The negative slope and inflection point of the Arrott curve indicated that the first-order magnetic transition of La0.9Ce0.1(Fe0.99Mn0.01)11.6Si1.4 was reserved after hydrogen absorption. 相似文献
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