Gecko-like robot（Geckobot）,an important branch of bionic robotics,is a robot that simulates gecko＇s capacity to climb walls and ceilings.The work environment of the traditional wall-climbing robot is greatly limite...Gecko-like robot（Geckobot）,an important branch of bionic robotics,is a robot that simulates gecko＇s capacity to climb walls and ceilings.The work environment of the traditional wall-climbing robot is greatly limited as the moving structure and adsorption principle of the robot have nothing to do with the real gecko.However,the adsorption principle and moving mode of the real gecko can provide a new way to break through the restrictions of the traditional wall-climbing robot.Inspired by the moving mechanism of geckos, this paper develops the Geckobot with motile body.Two types of Geckobots are addressed：one with compliant flat bar as the body,and the other with prismatic joint as the body.The compliant body not only resembles the moving mode of the real gecko body,but also simplifies the Geckobot＇s structure.The prismatic joint body is used to adapt the change of body length in ground-to-wall transition. The gait planning on the plane and the transition between perpendicular intersectional planes is discussed,with an emphasis on the analysis of the kinematics degree of freedom（DOF） and body posture.Central pattern generator（CPG） neural network is realized in LabVIEW and utilized to control Geckobot＇s movement.The CPG scheme in Lab VIEW is given,and how CPG is used to control Geckobot to turn or move forward is explored.Simulations are conducted in ADAMS to verify the feasibility of the structure design and gait planning and to acquire some parameters for practical Geckobot development.The experiment with Geckobot-Ⅰand Geckobot-Ⅱon their crawling capacity on the plane and the ground-to-wall transition finds that the robot can complete the crawling movement and ground-to-wall transition,verifying the feasibility of the structure design,gait planning and the CPG motion control.The Geckobot structure design approach,gait planning and the CPG motion control presented would be useful for the research on wall-climbing robots.展开更多
Many important metal resources, such as Ni （Cu, Co）, PGE, exist in magmatic sulfide deposits, are a hot spot in geological research. We divide the magmatic sulphide deposits in China into four types according to the...Many important metal resources, such as Ni （Cu, Co）, PGE, exist in magmatic sulfide deposits, are a hot spot in geological research. We divide the magmatic sulphide deposits in China into four types according to their tectonic setting, intruding mode, ore deposit mode, main metallogenic elements. The four types are as follows： （1） Small-intrusion deposits in paleo-continent; （2） Smallintrusion deposits in continental flood basalt; （3） Small-intrusion deposits in orogenic belt; and （4） The deposits associated with ophiolites. On the basis of the classification, we put forward that the main magmatic metallogenic type in China is small-intrusion metallogeny, and describe its characteristics from small intrusions related concept, three geologic settings, three volcanic-intrusive assemblages and metallogenic key factors. According to the experiences of prospecting at home and abroad, we point out that there is big potential in prospecting small-intrusion deposits, which need further study. At last, we indicate that small-intrusion metallogeny not only widely distributes in mafic-ultramafic intrusions, but also has an important economic value and scientific significance in intermediate-acid intrusions.展开更多
基金supported by National Natural Science Foundation of China(Grant No.60535020)National Natural Science Funds for Distinguished Young Scholars of China(Grant No.60525314)
文摘Gecko-like robot（Geckobot）,an important branch of bionic robotics,is a robot that simulates gecko＇s capacity to climb walls and ceilings.The work environment of the traditional wall-climbing robot is greatly limited as the moving structure and adsorption principle of the robot have nothing to do with the real gecko.However,the adsorption principle and moving mode of the real gecko can provide a new way to break through the restrictions of the traditional wall-climbing robot.Inspired by the moving mechanism of geckos, this paper develops the Geckobot with motile body.Two types of Geckobots are addressed：one with compliant flat bar as the body,and the other with prismatic joint as the body.The compliant body not only resembles the moving mode of the real gecko body,but also simplifies the Geckobot＇s structure.The prismatic joint body is used to adapt the change of body length in ground-to-wall transition. The gait planning on the plane and the transition between perpendicular intersectional planes is discussed,with an emphasis on the analysis of the kinematics degree of freedom（DOF） and body posture.Central pattern generator（CPG） neural network is realized in LabVIEW and utilized to control Geckobot＇s movement.The CPG scheme in Lab VIEW is given,and how CPG is used to control Geckobot to turn or move forward is explored.Simulations are conducted in ADAMS to verify the feasibility of the structure design and gait planning and to acquire some parameters for practical Geckobot development.The experiment with Geckobot-Ⅰand Geckobot-Ⅱon their crawling capacity on the plane and the ground-to-wall transition finds that the robot can complete the crawling movement and ground-to-wall transition,verifying the feasibility of the structure design,gait planning and the CPG motion control.The Geckobot structure design approach,gait planning and the CPG motion control presented would be useful for the research on wall-climbing robots.
文摘Many important metal resources, such as Ni （Cu, Co）, PGE, exist in magmatic sulfide deposits, are a hot spot in geological research. We divide the magmatic sulphide deposits in China into four types according to their tectonic setting, intruding mode, ore deposit mode, main metallogenic elements. The four types are as follows： （1） Small-intrusion deposits in paleo-continent; （2） Smallintrusion deposits in continental flood basalt; （3） Small-intrusion deposits in orogenic belt; and （4） The deposits associated with ophiolites. On the basis of the classification, we put forward that the main magmatic metallogenic type in China is small-intrusion metallogeny, and describe its characteristics from small intrusions related concept, three geologic settings, three volcanic-intrusive assemblages and metallogenic key factors. According to the experiences of prospecting at home and abroad, we point out that there is big potential in prospecting small-intrusion deposits, which need further study. At last, we indicate that small-intrusion metallogeny not only widely distributes in mafic-ultramafic intrusions, but also has an important economic value and scientific significance in intermediate-acid intrusions.
