Background:Cross-sectional evidence and small-scale trials suggest positive effects of stair climbing on cardiometabolic disease and glucose regulation.However,few studies have examined the long-term association betwe...Background:Cross-sectional evidence and small-scale trials suggest positive effects of stair climbing on cardiometabolic disease and glucose regulation.However,few studies have examined the long-term association between stair climbing and the incidence of type 2 diabetes(T2D).We aimed to prospectively evaluate the association of stair climbing with T2D and assess modifications by genetic predisposition to T2D.Methods:We included 451,699 adults(mean age=56.3±8.1 years,mean±SD;55.2%females)without T2D at baseline in the UK Biobank and followed up to March 31,2021.Stair climbing information was collected through the touchscreen questionnaire.Genetic risk score for T2D consisted of 424 single nucleotide polymorphisms.Results:During a median follow up of 12.1 years,14,896 T2D cases were documented.Compared with participants who reported no stair climbing,those who climbed stairs regularly had a lower risk of incident T2D(10-50 steps/day:hazard ratio(HR)=0.95,95%confidence interval(95%CI):0.89-1.00;60-100 steps/day:HR=0.92,95%CI:0.87-0.98;110-150 steps/day:HR=0.86,95%CI:0.80-0.91;>150 steps/day:HR=0.93,95%CI:0.87-0.99,p for trend=0.0007).We observed a significant interaction between stair climbing and genetic risk score on the subsequent T2D risk(p for interaction=0.0004),where the risk of T2D showed a downward trend in subjects with low genetic risk and those who reported stair climbing activity of 110-150 steps/day appeared to have the lowest overall T2D risk among those with intermediate to high genetic risk.Conclusion:A higher number of stairs climbed at home was associated with lower T2D incidence risk,especially among individuals with a low genetic predisposition to T2D.These findings highlight that stair climbing,as incidental physical activity,offers a simple and low-cost complement to public health interventions for T2D prevention.展开更多
Staircase is an important means of vertical transportation. Staircase design exerts a great influence on the aesthetics, transportation efficiency, user comfort and experience level. In this paper, a survey on the sta...Staircase is an important means of vertical transportation. Staircase design exerts a great influence on the aesthetics, transportation efficiency, user comfort and experience level. In this paper, a survey on the staircase rotation preference was conducted, based on the environment behavior studies. Different user frequencies of a pair of scissors stairs in the 2nd teaching building of North China University of Technology were analyzed. The psychological effect was evaluated and quantified, and the user preference on the two staircase rotations was then withdrawn. The survey found that the type of staircase with clockwise upstairs was much more preferred (78%) than the other staircase rotation anti-clock upstairs. Considering different genders, the female shows a 66% higher preference inclination of this type of staircase rotation than the male. To improve the transportation efficiency of the staircase in case of fire, the result of this paper can be very constructive for the evacuation staircase rotation choice for the high-rise buildings.展开更多
As a physical model, the cellular automata (CA) model is widely used in many areas, such as stair evacuation. However, existing CA models do not consider evacuees' walk preferences nor psychological status, and the...As a physical model, the cellular automata (CA) model is widely used in many areas, such as stair evacuation. However, existing CA models do not consider evacuees' walk preferences nor psychological status, and the structure of the basic model is unapplicable for the stair structure. This paper is to improve the stair evacuation simulation by addressing these issues, and a new cellular automata model is established. Several evacuees' walk preference and how evacuee's psychology influences their behaviors are introduced into this model. Evacuees' speeds will be influenced by these features. To validate this simulation, two fire drills held in two high-rise buildings are video-recorded. It is found that the simulation results are similar to the fire drill results. The structure of this model is simple, and it is easy to further develop and utilize in different buildings with various kinds of occupants.展开更多
In most situations,staircase is the only egress to evacuate from high-rise buildings.The merging flow on the stair landing has a great influence on the evacuation efficiency.In this paper,we develop an improved cellul...In most situations,staircase is the only egress to evacuate from high-rise buildings.The merging flow on the stair landing has a great influence on the evacuation efficiency.In this paper,we develop an improved cellular automaton model to describe the merging behavior,and the model is validated by a series of real experiments.It is found that the flow rate of simulation results is similar to the drills,which means that the improved model is reasonable and can be used to describe the merging behavior on stairs.Furthermore,some scenarios with different door locations and building floor numbers are simulated by the model.The results show that(i)the best door location is next to the upward staircase;(ii)the total evacuation time and the building floor number are linearly related to each other;(iii)the pedestrians on upper floors have a negative influence on the evacuation flow rate.展开更多
This study aimed to compare gait properties during level walking and during stair ascent and descent with varying loads. Fifteen healthy young men (mean age: 22.1 ± 1.6 years) walked while holding four different ...This study aimed to compare gait properties during level walking and during stair ascent and descent with varying loads. Fifteen healthy young men (mean age: 22.1 ± 1.6 years) walked while holding four different loads relative to each subject’s body mass (0, 20, 40 and 60% of body mass: BM) on their backs. Stance time, swing time, and double support times were selected as gait parameters. All parameters showed a maximal value during stair ascent and a minimum value during level walking. Stance and double support times increased significan- tly with each load during level walking and during stair ascent and descent. In conclusion, st- air ascent and descent creates more unstable movement than level walking regardless of the weight of the load. The effect of loads on gait increases with the weight of the load and becomes obvious once the load exceeds 60% of BM.展开更多
The prominent features of Li Bai's "The Jewel Stairs'Grievance" are precise diction;implicit meaning;an absent narrator;and a seamless unity of images and feelings.Pound's translation of it in Ca...The prominent features of Li Bai's "The Jewel Stairs'Grievance" are precise diction;implicit meaning;an absent narrator;and a seamless unity of images and feelings.Pound's translation of it in Cathay reveals some kind of connections between some Chinese poetic principals and Pound's individual poetics.展开更多
Stair matrices and their generalizations are introduced. The definitions and some properties of the matrices were first given by Lu Hao. This class of matrices provide bases of matrix splittings for iterative methods....Stair matrices and their generalizations are introduced. The definitions and some properties of the matrices were first given by Lu Hao. This class of matrices provide bases of matrix splittings for iterative methods. The remarkable feature of iterative methods based on the new class of matrices is that the methods are easily implemented for parallel computation. In particular, a generalization of the accelerated overrelaxation method (GAOR) is introduced. Some theories of the AOR method are extended to the generalized method to include a wide class of matrices. The convergence of the new method is derived for Hermitian positive definite matrices. Finally, some examples are given in order to show the superiority of the new method.展开更多
A new coordination compound, [(CuI)(Btd)]n (1, Btd = 2,1,3-benzothiadiazole), was obtained at room temperature by the reaction of 2,1,3-benzothiadiazole with CuI and KI saturated aqueous solution. It was charact...A new coordination compound, [(CuI)(Btd)]n (1, Btd = 2,1,3-benzothiadiazole), was obtained at room temperature by the reaction of 2,1,3-benzothiadiazole with CuI and KI saturated aqueous solution. It was characterized by elemental analysis, IR spectroscopy, single-crystal X-ray diffraction analysis and photoluminescence. The complex crystallizes in the triclinic Pi space group, with a = 4.1620(6), b = 10.4590(15), c = 10.5052(15) A, a = 69.310(2), β = 83.608(2), γ = 78.873(2)°, V = 419.30(10) A3, Z = 2, C6H4N2SCuI, Mr = 326.61, Dc = 2.587 g/cm^3, F(000) = 304 and/^(MoKa) = 6.464 mm-1. The final R = 0.0418 and wR = 0.0936 for 1451 observed reflections with 1 〉 2σ(I) and R = 0.0422 and wR = 0.0939 for all data. In the complex, the Cu atoms are coordinated by one nitrogen atom and three iodine atoms to form a double-stranded stair, and such stairs are further linked to build a 2D framework via C-H…I interactions.展开更多
Aim: Evaluating climbing stairs for prescription and implementation of physical activity regimes. Methods: Healthy females (F, n = 14), and males (M, n = 15) participated. By climbing 100 steps of stairs with 0.173 m ...Aim: Evaluating climbing stairs for prescription and implementation of physical activity regimes. Methods: Healthy females (F, n = 14), and males (M, n = 15) participated. By climbing 100 steps of stairs with 0.173 m height, Heart rate (HR) and oxygen uptake were measured throughout the floors;Blood pressure (BP) was measured at ground and the 5th floors only. Results: Energy increased from 2 to 7.6 was metabolic equivalents (METs = 3.5 ml O<sub>2</sub>/min.kg) at 17.3 m elevation in 2 min. at the 5th floor, and percent Heart Rate Reserve (%HRR) was 66.17% in F and 48.7% in M, proportional to their aerobic efforts. Average climbing efficiency was 15.8 ± 2.3% (n = 29). Aerobic capacity estimated dividing the highest work rate (17.3 Kg.m/2min.Kg × 0.00239 = 0.0207 Kcal/min.Kg), by fractional effort (F = 0.6617, M = 0.487) and fractional efficiency (0.158), at 5 Kcal/L O2 was 0.040 in F and 0.054 L O2/Kg.min in M. Minimum training intensity reached at the 3rd floor by F. In M the highest %HRR reached was 48.7% at the 5th floor, insufficient for training. Conclusions: Stairs used for submaximal evaluation of aerobic capacity and for target intensity prescription. Training, levels climbed, repetitions per day (if 5, 100 Kcal per day, ascending) and number of days/week are adjusted. Full regime requires up to 7.6 METs, a total of 532 and 140 MET.min/week ascending and descending, respectively. Intensities >7.6 MET, climbing rate should be >8.65 m/min. Limiting ascent to 1 (3.5 METs) or 2 (5.5 METs) floors or only descents (2 - 3 METs) may be used for unfit subjects. This method is useful for those with no access to sophisticated facilities.展开更多
Stairs are an important structural component in the architectural space design.It not only serves as a link between landscapes,but also a highlight of the space.Interpretation of stairs can be carried out from the for...Stairs are an important structural component in the architectural space design.It not only serves as a link between landscapes,but also a highlight of the space.Interpretation of stairs can be carried out from the form and function of stairs.This paper mainly takes the outdoor stairs as the research object,which is a building component to solve the vertical traffic function of the building,and selects some stairs designs worldwide for the analysis.Focusing on architectural design,the study investigates the expression form of each component of the outdoor stairs,and explores the diversified designs of the stairs.The paper urges designers to pay close attention to the problems of stair design in essence,to deeply understand the forms and methods of stair expression,to expand the breadth of architectural design thinking,to pursue in-depth understanding of the inherent laws of building generation,and to improve the quality of architecture.展开更多
In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed ...In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed axis gear train or planetary gear train achieving flat-walking and stair-climbing functions. Crossing obstacle analysis obtains the maximum height and minimum width of obstacle which the wheelchair can cross. Stress-strain analysis in Solidworks simulation is performed to verify material strength.展开更多
Oxygen uptake plays a crucial role in the evaluation of endurance performance during exercise and is extensively utilized for metabolic assessment. This study records the oxygen uptake during the exercise phase (i.e.,...Oxygen uptake plays a crucial role in the evaluation of endurance performance during exercise and is extensively utilized for metabolic assessment. This study records the oxygen uptake during the exercise phase (i.e., ascending or descending) of the stair exercise, utilizing an experimental dataset that includes ten participants and covers various exercise periods. Based on the designed experiment protocol, a non-parametric modeling method with kernel-based regularization is generally applied to estimate the oxygen uptake changes during the switching stairs exercise, which closely resembles daily life activities. The modeling results indicate the effectiveness of the non-parametric modeling approach when compared to fixed-order models in terms of accuracy, stability, and compatibility. The influence of exercise duration on estimated fitness reveals that the model of the phase-oxygen uptake system is not time-invariant related to respiratory metabolism regulation and muscle fatigue. Consequently, it allows us to study the humans’ conversion mechanism at different metabolic rates and facilitates the standardization and development of exercise prescriptions.展开更多
Miniature jumping robots(MJRs)have difficulty executing autonomous movements in unstructured environments with obstacles because of their limited perception and computing resources.This study investigates the obstacle...Miniature jumping robots(MJRs)have difficulty executing autonomous movements in unstructured environments with obstacles because of their limited perception and computing resources.This study investigates the obstacle detection and autonomous stair climbing methods for MJRs.We propose an obstacle detection method based on a combination of attitude and distance detections,as well as MJRs’motion.A MEMS inertial sensor collects the yaw angle of the robot,and a ranging sensor senses the distance between the robot and the obstacle to estimate the size of the obstacle.We also propose an autonomous stair climbing algorithm based on the obstacle detection method.The robot can detect the height and width of stairs and its position relative to the stairs and then repeatedly jump to climb them step by step.Moreover,the height,width,and position are sent to a control terminal through a wireless sensor network to update the information regarding the MJR and stairs in a control interface.Furthermore,we conduct stair detection,modeling,and stair climbing experiments on the MJR and obtain acceptable precisions for autonomous obstacle negotiation.Thus,the proposed obstacle detection and stair climbing methods can enhance the locomotion capability of the MJR in environmental monitoring,search and rescue,etc.展开更多
基金supported by the National Key Research and Development Program of China(grant number 2020YFC2006300)the Young Scientists Fund of the National Natural Science Foundation of China(grant number 82103835)。
文摘Background:Cross-sectional evidence and small-scale trials suggest positive effects of stair climbing on cardiometabolic disease and glucose regulation.However,few studies have examined the long-term association between stair climbing and the incidence of type 2 diabetes(T2D).We aimed to prospectively evaluate the association of stair climbing with T2D and assess modifications by genetic predisposition to T2D.Methods:We included 451,699 adults(mean age=56.3±8.1 years,mean±SD;55.2%females)without T2D at baseline in the UK Biobank and followed up to March 31,2021.Stair climbing information was collected through the touchscreen questionnaire.Genetic risk score for T2D consisted of 424 single nucleotide polymorphisms.Results:During a median follow up of 12.1 years,14,896 T2D cases were documented.Compared with participants who reported no stair climbing,those who climbed stairs regularly had a lower risk of incident T2D(10-50 steps/day:hazard ratio(HR)=0.95,95%confidence interval(95%CI):0.89-1.00;60-100 steps/day:HR=0.92,95%CI:0.87-0.98;110-150 steps/day:HR=0.86,95%CI:0.80-0.91;>150 steps/day:HR=0.93,95%CI:0.87-0.99,p for trend=0.0007).We observed a significant interaction between stair climbing and genetic risk score on the subsequent T2D risk(p for interaction=0.0004),where the risk of T2D showed a downward trend in subjects with low genetic risk and those who reported stair climbing activity of 110-150 steps/day appeared to have the lowest overall T2D risk among those with intermediate to high genetic risk.Conclusion:A higher number of stairs climbed at home was associated with lower T2D incidence risk,especially among individuals with a low genetic predisposition to T2D.These findings highlight that stair climbing,as incidental physical activity,offers a simple and low-cost complement to public health interventions for T2D prevention.
文摘Staircase is an important means of vertical transportation. Staircase design exerts a great influence on the aesthetics, transportation efficiency, user comfort and experience level. In this paper, a survey on the staircase rotation preference was conducted, based on the environment behavior studies. Different user frequencies of a pair of scissors stairs in the 2nd teaching building of North China University of Technology were analyzed. The psychological effect was evaluated and quantified, and the user preference on the two staircase rotations was then withdrawn. The survey found that the type of staircase with clockwise upstairs was much more preferred (78%) than the other staircase rotation anti-clock upstairs. Considering different genders, the female shows a 66% higher preference inclination of this type of staircase rotation than the male. To improve the transportation efficiency of the staircase in case of fire, the result of this paper can be very constructive for the evacuation staircase rotation choice for the high-rise buildings.
基金Project supported by the National Basic Research Program of China(Grant No.2012CB719705)the National Natural Science Foundation of China(Grant Nos.91224008,91024032,and 71373139)
文摘As a physical model, the cellular automata (CA) model is widely used in many areas, such as stair evacuation. However, existing CA models do not consider evacuees' walk preferences nor psychological status, and the structure of the basic model is unapplicable for the stair structure. This paper is to improve the stair evacuation simulation by addressing these issues, and a new cellular automata model is established. Several evacuees' walk preference and how evacuee's psychology influences their behaviors are introduced into this model. Evacuees' speeds will be influenced by these features. To validate this simulation, two fire drills held in two high-rise buildings are video-recorded. It is found that the simulation results are similar to the fire drill results. The structure of this model is simple, and it is easy to further develop and utilize in different buildings with various kinds of occupants.
基金Project supported by the National Key Research and Development Program of China(Grant Nos.2017YFC0803300 and 2017YFC0820400)the National Natural Science Foundation of China(Grant No.71673163)
文摘In most situations,staircase is the only egress to evacuate from high-rise buildings.The merging flow on the stair landing has a great influence on the evacuation efficiency.In this paper,we develop an improved cellular automaton model to describe the merging behavior,and the model is validated by a series of real experiments.It is found that the flow rate of simulation results is similar to the drills,which means that the improved model is reasonable and can be used to describe the merging behavior on stairs.Furthermore,some scenarios with different door locations and building floor numbers are simulated by the model.The results show that(i)the best door location is next to the upward staircase;(ii)the total evacuation time and the building floor number are linearly related to each other;(iii)the pedestrians on upper floors have a negative influence on the evacuation flow rate.
文摘This study aimed to compare gait properties during level walking and during stair ascent and descent with varying loads. Fifteen healthy young men (mean age: 22.1 ± 1.6 years) walked while holding four different loads relative to each subject’s body mass (0, 20, 40 and 60% of body mass: BM) on their backs. Stance time, swing time, and double support times were selected as gait parameters. All parameters showed a maximal value during stair ascent and a minimum value during level walking. Stance and double support times increased significan- tly with each load during level walking and during stair ascent and descent. In conclusion, st- air ascent and descent creates more unstable movement than level walking regardless of the weight of the load. The effect of loads on gait increases with the weight of the load and becomes obvious once the load exceeds 60% of BM.
文摘The prominent features of Li Bai's "The Jewel Stairs'Grievance" are precise diction;implicit meaning;an absent narrator;and a seamless unity of images and feelings.Pound's translation of it in Cathay reveals some kind of connections between some Chinese poetic principals and Pound's individual poetics.
基金Project supported by the Natural Science Foundation of Liaoning Province of China (No.20022021)
文摘Stair matrices and their generalizations are introduced. The definitions and some properties of the matrices were first given by Lu Hao. This class of matrices provide bases of matrix splittings for iterative methods. The remarkable feature of iterative methods based on the new class of matrices is that the methods are easily implemented for parallel computation. In particular, a generalization of the accelerated overrelaxation method (GAOR) is introduced. Some theories of the AOR method are extended to the generalized method to include a wide class of matrices. The convergence of the new method is derived for Hermitian positive definite matrices. Finally, some examples are given in order to show the superiority of the new method.
基金Supported by the National Natural Science Foundation of China (61205184)the Department of Education of Zhejiang Province (Y201122207)+1 种基金Open Foundation of Zhejiang Provincial Top Key Academic Discipline of Applied Chemistry and Eco-Dyeing & Finishing Engineering (YR2012013)the Young Researchers Foundation of Zhejiang Provincial Top Key Academic Discipline of Applied Chemistry and Eco-Dyeing & Finishing Engineering (ZYG2012003)
文摘A new coordination compound, [(CuI)(Btd)]n (1, Btd = 2,1,3-benzothiadiazole), was obtained at room temperature by the reaction of 2,1,3-benzothiadiazole with CuI and KI saturated aqueous solution. It was characterized by elemental analysis, IR spectroscopy, single-crystal X-ray diffraction analysis and photoluminescence. The complex crystallizes in the triclinic Pi space group, with a = 4.1620(6), b = 10.4590(15), c = 10.5052(15) A, a = 69.310(2), β = 83.608(2), γ = 78.873(2)°, V = 419.30(10) A3, Z = 2, C6H4N2SCuI, Mr = 326.61, Dc = 2.587 g/cm^3, F(000) = 304 and/^(MoKa) = 6.464 mm-1. The final R = 0.0418 and wR = 0.0936 for 1451 observed reflections with 1 〉 2σ(I) and R = 0.0422 and wR = 0.0939 for all data. In the complex, the Cu atoms are coordinated by one nitrogen atom and three iodine atoms to form a double-stranded stair, and such stairs are further linked to build a 2D framework via C-H…I interactions.
文摘Aim: Evaluating climbing stairs for prescription and implementation of physical activity regimes. Methods: Healthy females (F, n = 14), and males (M, n = 15) participated. By climbing 100 steps of stairs with 0.173 m height, Heart rate (HR) and oxygen uptake were measured throughout the floors;Blood pressure (BP) was measured at ground and the 5th floors only. Results: Energy increased from 2 to 7.6 was metabolic equivalents (METs = 3.5 ml O<sub>2</sub>/min.kg) at 17.3 m elevation in 2 min. at the 5th floor, and percent Heart Rate Reserve (%HRR) was 66.17% in F and 48.7% in M, proportional to their aerobic efforts. Average climbing efficiency was 15.8 ± 2.3% (n = 29). Aerobic capacity estimated dividing the highest work rate (17.3 Kg.m/2min.Kg × 0.00239 = 0.0207 Kcal/min.Kg), by fractional effort (F = 0.6617, M = 0.487) and fractional efficiency (0.158), at 5 Kcal/L O2 was 0.040 in F and 0.054 L O2/Kg.min in M. Minimum training intensity reached at the 3rd floor by F. In M the highest %HRR reached was 48.7% at the 5th floor, insufficient for training. Conclusions: Stairs used for submaximal evaluation of aerobic capacity and for target intensity prescription. Training, levels climbed, repetitions per day (if 5, 100 Kcal per day, ascending) and number of days/week are adjusted. Full regime requires up to 7.6 METs, a total of 532 and 140 MET.min/week ascending and descending, respectively. Intensities >7.6 MET, climbing rate should be >8.65 m/min. Limiting ascent to 1 (3.5 METs) or 2 (5.5 METs) floors or only descents (2 - 3 METs) may be used for unfit subjects. This method is useful for those with no access to sophisticated facilities.
文摘Stairs are an important structural component in the architectural space design.It not only serves as a link between landscapes,but also a highlight of the space.Interpretation of stairs can be carried out from the form and function of stairs.This paper mainly takes the outdoor stairs as the research object,which is a building component to solve the vertical traffic function of the building,and selects some stairs designs worldwide for the analysis.Focusing on architectural design,the study investigates the expression form of each component of the outdoor stairs,and explores the diversified designs of the stairs.The paper urges designers to pay close attention to the problems of stair design in essence,to deeply understand the forms and methods of stair expression,to expand the breadth of architectural design thinking,to pursue in-depth understanding of the inherent laws of building generation,and to improve the quality of architecture.
基金Supported Special Topic of the Ministry of Education about Humanities and Social Sciences of China(12JDGC007)University Natural Science Research Projects of Anhui Province(KJ2011ZD01)Science and Technology Research Project of Anhui Province(1301022052)
文摘In order to achieve a wheelchair climb stairs function, this paper designs a star-wheel stair-climbing mechanism. Through the effect of the lock coupling, the star-wheel stair-climbing mechanism is formed to be fixed axis gear train or planetary gear train achieving flat-walking and stair-climbing functions. Crossing obstacle analysis obtains the maximum height and minimum width of obstacle which the wheelchair can cross. Stress-strain analysis in Solidworks simulation is performed to verify material strength.
基金supported by the National Natural Science Foundation of China(No.62103449)the Start-up Research Fund of Southeast University(RF1028623007)the Zhishan Youth Scholar Support Program of Southeast University(2242023R40044).
文摘Oxygen uptake plays a crucial role in the evaluation of endurance performance during exercise and is extensively utilized for metabolic assessment. This study records the oxygen uptake during the exercise phase (i.e., ascending or descending) of the stair exercise, utilizing an experimental dataset that includes ten participants and covers various exercise periods. Based on the designed experiment protocol, a non-parametric modeling method with kernel-based regularization is generally applied to estimate the oxygen uptake changes during the switching stairs exercise, which closely resembles daily life activities. The modeling results indicate the effectiveness of the non-parametric modeling approach when compared to fixed-order models in terms of accuracy, stability, and compatibility. The influence of exercise duration on estimated fitness reveals that the model of the phase-oxygen uptake system is not time-invariant related to respiratory metabolism regulation and muscle fatigue. Consequently, it allows us to study the humans’ conversion mechanism at different metabolic rates and facilitates the standardization and development of exercise prescriptions.
基金supported in part by the National Natural Science Foundation of China(61873066 and 62173090)the Zhi Shan Scholars Program of Southeast University,China(2242020R40096).
文摘Miniature jumping robots(MJRs)have difficulty executing autonomous movements in unstructured environments with obstacles because of their limited perception and computing resources.This study investigates the obstacle detection and autonomous stair climbing methods for MJRs.We propose an obstacle detection method based on a combination of attitude and distance detections,as well as MJRs’motion.A MEMS inertial sensor collects the yaw angle of the robot,and a ranging sensor senses the distance between the robot and the obstacle to estimate the size of the obstacle.We also propose an autonomous stair climbing algorithm based on the obstacle detection method.The robot can detect the height and width of stairs and its position relative to the stairs and then repeatedly jump to climb them step by step.Moreover,the height,width,and position are sent to a control terminal through a wireless sensor network to update the information regarding the MJR and stairs in a control interface.Furthermore,we conduct stair detection,modeling,and stair climbing experiments on the MJR and obtain acceptable precisions for autonomous obstacle negotiation.Thus,the proposed obstacle detection and stair climbing methods can enhance the locomotion capability of the MJR in environmental monitoring,search and rescue,etc.