Raptors are getting more attention from researchers because of their excellent flight abilities.And the excellent wing morphing ability is critical for raptors to achieve high maneuvering flight,which can be a good bi...Raptors are getting more attention from researchers because of their excellent flight abilities.And the excellent wing morphing ability is critical for raptors to achieve high maneuvering flight,which can be a good bionic inspiration for unmanned aerial vehicles(UAV)design.However,morphing wing motions of Falco peregrinus with multi postures cannot be consulted since such a motion database was nonexistent.This study aimed to provide data reference for future research in wing morphing kinetics.We used the computed tomography(CT)approach to obtain nine critical postures of the Falco peregrinus wing skeleton,followed with motion analysis of each joint and bone.Based on the obtained motion database,a six-bar kinematic model was proposed to regenerate wing motions with a high fidelity.展开更多
This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom ...This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is established.The first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design idea.The stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly bounded.The effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.展开更多
Plant populations at high elevation face extreme climatic conditions and resource limitations. The existence of distylous species at different elevations can help us investigate their adaptation to high altitudes, the...Plant populations at high elevation face extreme climatic conditions and resource limitations. The existence of distylous species at different elevations can help us investigate their adaptation to high altitudes, the evolution of their morphological characteristics, as well as their responses to limited resources. Here, 17 populations of Primula nivalis at different elevations were evaluated regarding variations in plant morphological characteristics, biomass allocation, and morphological plasticity in a heterogeneous environment. Our results demonstrate that heterogeneous environments can affect plant morphological characteristics and resource allocation in each sexual morph of these plants. Moreover,environmental variations reduced morphological plasticity in the two plant morphs, and the plasticity of long style(LS) plants was greater than that of short style(SS) plants. There were significant negative correlations between morphological characteristics and elevation, rainfall, temperature, and sunshine,and these are the main variables that affect morphological characteristics and resource allocation of both morphs of P. nivalis plants in heterogeneous environments. The morphological characteristics of P. nivalis plants transplanted from high to lower elevations were not significantly different in either population.LS plants had greater morphological plasticity and adaptability in heterogeneous environments than SS plants. Elevational gradients and heterogeneous environments differentiated both morphs of P. nivalis plants with regards to morphology as well as adaptations. LS plants showed a higher level of adaptability than SS plants.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.52175279,52075489,and 51705459)the Natural Science Foundation of Zhejiang Province,China(Grant Nos.LY20E050022 and LGG20E050017)。
文摘Raptors are getting more attention from researchers because of their excellent flight abilities.And the excellent wing morphing ability is critical for raptors to achieve high maneuvering flight,which can be a good bionic inspiration for unmanned aerial vehicles(UAV)design.However,morphing wing motions of Falco peregrinus with multi postures cannot be consulted since such a motion database was nonexistent.This study aimed to provide data reference for future research in wing morphing kinetics.We used the computed tomography(CT)approach to obtain nine critical postures of the Falco peregrinus wing skeleton,followed with motion analysis of each joint and bone.Based on the obtained motion database,a six-bar kinematic model was proposed to regenerate wing motions with a high fidelity.
基金funded by the National Natural Science Foundation of China(No.61573286)the Natural Science Foundation of Shaanxi Province(2019JM-163,2020JQ-218)+1 种基金the Fundamental Research Funds for the Central Universities(3102019ZDHKY07)supported by Shaanxi Province Key Laboratory of Flight Control and Simulation Technology。
文摘This paper proposes an adaptive neural control(ANC)method for the coupled nonlinear model of a novel type of embedded surface morphing aircraft which has a tiltable V-tail.A nonlinear model with sixdegrees-of-freedom is established.The first-order sliding mode differentiator(FSMD)is applied to the control scheme to avoid the problem of“differential explosion”.Radial basis function neural networks are introduced to estimate the uncertainty and external disturbance of the model,and an ANC controller is proposed based on this design idea.The stability of the proposed ANC controller is proved using Lyapunov theory,and the tracking error of the closed-loop system is semi-globally uniformly bounded.The effectiveness and robustness of the proposed method are verified by numerical simulations and hardware-in-the-loop(HIL)simulations.
基金partially supported by the National Natural Science Foundation of China (NSFC, 31400279, 31860121)Funded by the Scientific Research Program of the Higher Education Institution of Xinjiang (XJEDU2016I042)
文摘Plant populations at high elevation face extreme climatic conditions and resource limitations. The existence of distylous species at different elevations can help us investigate their adaptation to high altitudes, the evolution of their morphological characteristics, as well as their responses to limited resources. Here, 17 populations of Primula nivalis at different elevations were evaluated regarding variations in plant morphological characteristics, biomass allocation, and morphological plasticity in a heterogeneous environment. Our results demonstrate that heterogeneous environments can affect plant morphological characteristics and resource allocation in each sexual morph of these plants. Moreover,environmental variations reduced morphological plasticity in the two plant morphs, and the plasticity of long style(LS) plants was greater than that of short style(SS) plants. There were significant negative correlations between morphological characteristics and elevation, rainfall, temperature, and sunshine,and these are the main variables that affect morphological characteristics and resource allocation of both morphs of P. nivalis plants in heterogeneous environments. The morphological characteristics of P. nivalis plants transplanted from high to lower elevations were not significantly different in either population.LS plants had greater morphological plasticity and adaptability in heterogeneous environments than SS plants. Elevational gradients and heterogeneous environments differentiated both morphs of P. nivalis plants with regards to morphology as well as adaptations. LS plants showed a higher level of adaptability than SS plants.
