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Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.
Water infiltrated nanoporous glasses have a damping peak at about 1 Hz (4.6 nm pore size) and 6 Hz (8.8 nm pore size) at room temperature; their relaxation strengths are consistent with the damping mechanism in which water flows from the regions of compression to those of tension. However, the damping peaks disappear when water content is below 60% for the 4.6 urn pore size glass and 40% for the 8.8 urn pore size glass. These water contents correspond to about a 0.85 and 1.0 urn thick interfacial water layer on the internal surfaces of the nanoporous glasses. The adsorbed layer contributes only to the damping background. Finally, dependencies of relaxation time on sample thickness, bulk modulus and viscosity agree well with the predictions of the model.
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