We construct a new gating model and develop a new theory to study the escaping process of a ligand out of a spherical cavity with a puncture ~or gate! on the surface. The gate undulation can be regulated by any time-dependent function and the motion of the ligand inside the spherical cavity is mapped into a two-dimensional entropy potential surface. Hence the driving force of our model is entro...

In this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. It is assumed that the robot performs navigation in...