An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method, the simplified dynamic model of the robot is derived under some assumptions, Moreover, a Linear Quadratic Regulator (LQR) controller and Percentage Derivative (PD) controller are designed to implement the pose and velocity control of the robot respectively, Finally, the dynamic model and the controllers are validated through simulation study and prototype experiment.

The future trend is to integrate a constantly increasing number of services in the GMPLS/ASON networks. Some services have very high resilience requirements, while other services have lower ones. This scenario calls for frameworks capable of provisioning for multiple services in a cost efficient manner. This article proposes a differentiated-resilience provisioning scheme applied to the GMPLS/ASON networks, which is expected to be the near-and long-term network technology thanks, among other things, to the great bandwidth capacity offered by optical devices. Finally, a critical evaluation of the state-of-the-art and future challenges facing operators and designers is given. Our numerical results show that the differentiated resilience scenario has better performance than that of dedicated and shared protection and received connections in the differentiated-resilience are 31% higher than that of shared protection and are 60% higher than that of dedicated protection.

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