This paper deals with trajectory tracking problem of a spherical mobile robot, BHQ-1. First, a desired velocity is obtained by proposing a PD controller based on the kinematics. Then a PD controller with an RBF (Radial Basis Function) neural network is proposed based on the desired velocity and the inexact dynamics. The weights of the RBF network are designed with an adaptive rule based on the tracking error, and hence the network can compensate the uncertainties of the dynamics more effectively. Stability is presented via Lyapunov Theory and simulation results are provided to illustrate the tracking performance.
In this paper, design problems on rotating cone reactor have been studied and dynamics problems have been analyzed in detail, kinematics differential equation of mixture in rotating cone reactor and simulation model has been established. Rotating cone reactor prototype which was established preliminarily has been optimized with simulation software. Dynamics analysis and simulation is of great significance in raising the efficiency of BIO-FUEL-OIL flash pyrolysis rotating cone reactor, control production process reliably, and even optimizing design value and physical dimension which is reasonable in design and reducing the cost of product development process.
Recently, Tseng proposed two group key agreement protocols which are claimed to be provably secure against passive attackers and impersonation attacks over authenticated channel. In each of these works, a security proof of the proposed protocol was presented. In this paper, we revisit Tseng’s security proof and show that the reduction in the proof is invalid. As the replacement, we give a new security proof.
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