Through examining the black trace by infrared ray electopult-receiver,to make the dolly run on the prearrange orbit.

Research of autonomous tracing in intelligent vehicle based on photoelectric sensor;

Present an effective method of computing for ray path tracing on any convex surface,based on the definition of short-cut line.

Mobile robot for welding ship decks with function of auto-searching weld line;

In order to establish a coordinate system for trajectory planning of posture adjustment accurately, the key part during auto-searching weld line——the calculation of entrance angle was investigated.

Diffraction ray tracing of GTD on the cone and cylinder;

A new method of NLOS acoustic passive location based on ray tracing is presented.

UTD method with the radiant source on convex surface is widely used in analyzing and designing of antennas mounted on electrically large targets and a creeping ray tracing algorithm of UTD method is given when the radiant point is on arbitrary convex surface.