The Greenland ice core from NorthGRIP （NGRIP） contains a proxy climate record across the Pleistocene-Holocene boundary of unprecedented clarity and resolution. Analysis of an array of physical and chemical parameter...The Greenland ice core from NorthGRIP （NGRIP） contains a proxy climate record across the Pleistocene-Holocene boundary of unprecedented clarity and resolution. Analysis of an array of physical and chemical parameters within the ice enables the base of the Holocene, as reflected in the first signs of climatic warming at the end of the Younger Dryas/Greenland Stadial 1 cold phase, to be located with a high degree of precision.展开更多
This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sens...This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sensors that provide a preview capability over a certain horizon. A two-level control framework is proposed for real-time implementation of the model predictive control （MPC） algorithm, where the high-level performs on-line optimization to generate the best possible local reference respect to various constraints and the low-level commands the vehicle to follow realistic trajectories generated by the high-level controller. The proposed control scheme is implemented on an indoor testbed through networks with satisfactory performance.展开更多
文摘The Greenland ice core from NorthGRIP （NGRIP） contains a proxy climate record across the Pleistocene-Holocene boundary of unprecedented clarity and resolution. Analysis of an array of physical and chemical parameters within the ice enables the base of the Holocene, as reflected in the first signs of climatic warming at the end of the Younger Dryas/Greenland Stadial 1 cold phase, to be located with a high degree of precision.
文摘This paper describes the design and experimental tests of a path planning and reference tracking algorithm for autonomous ground vehicles. The ground vehicles under consideration are equipped with forward looking sensors that provide a preview capability over a certain horizon. A two-level control framework is proposed for real-time implementation of the model predictive control （MPC） algorithm, where the high-level performs on-line optimization to generate the best possible local reference respect to various constraints and the low-level commands the vehicle to follow realistic trajectories generated by the high-level controller. The proposed control scheme is implemented on an indoor testbed through networks with satisfactory performance.
