Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degr...Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.展开更多
With the development of Guizhou’s economy and society, higher vocational medical education in Guizhou has developed rapidly, making it its mission to cultivate practical and skilled talents oriented to the grassroots...With the development of Guizhou’s economy and society, higher vocational medical education in Guizhou has developed rapidly, making it its mission to cultivate practical and skilled talents oriented to the grassroots and serving for frontline. However, due to the social environment, policy environment and insufficient funding, many difficulties and problems are faced. It is necessary to have a unified management throughout the province, rationally lay out higher vocational colleges and specialties, and promote the healthy and rapid development of medical higher vocational education in Guizhou with advanced concepts, proper policies, and sufficient funds in place, making higher vocational medical education in Guizhou enter a benign development period.展开更多
基金Supported by National Science-Technology Support Plan Projects of China (Grant No.2015BAK04B00)2015 Sino-German Postdoc Scholarship Program (Grant No.57165010)
文摘Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.
文摘With the development of Guizhou’s economy and society, higher vocational medical education in Guizhou has developed rapidly, making it its mission to cultivate practical and skilled talents oriented to the grassroots and serving for frontline. However, due to the social environment, policy environment and insufficient funding, many difficulties and problems are faced. It is necessary to have a unified management throughout the province, rationally lay out higher vocational colleges and specialties, and promote the healthy and rapid development of medical higher vocational education in Guizhou with advanced concepts, proper policies, and sufficient funds in place, making higher vocational medical education in Guizhou enter a benign development period.
