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On the basis of recursive trees, we propose a new kind of deterministic recursive trees (DRT) with a feature that the initial state of recursive trees is a lattice with an arbitrary number of nodes. In the subsequent evolving step, existing nodes create finite nodes. We obtain analytical formulae for degree distribution and average path length. We also study mean first passage time (MFPT) between...
In our previous work, a node self-localization algorithm based on virtual central node (VCN) for wireless sensor network (WSN) is proposed. This method is adapted to WSN that anchor nodes present a uniform distribution in three dimensional spaces. During the localization process, by deducing a 3D special node, which is called virtual central node, unknown nodes can compute their own positions automatically...
Precision positioning performance is degraded by nonlinear effects of dynamic error and flexibility with harmonic drive systems. To compensate for dynamic error in the presence of nonlinear flexibility in high precision tracking, the nonlinear dynamic equation with dynamic error of harmonic drive is established by Lagrange method. Then, it is inverted to the state equation for control design. The...
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