The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.Accord...The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.展开更多
In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was estab...In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.展开更多
In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mecha...In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.展开更多
Going beyond the analytical model of the holistic state in rule of law discussion, we can classify the rule of law into national and local levels based on the stages and increments of its execution. The phenomenon of ...Going beyond the analytical model of the holistic state in rule of law discussion, we can classify the rule of law into national and local levels based on the stages and increments of its execution. The phenomenon of the local rule of law reflects the stages and incremental progress of building a rule of law China. It has a realistic foundation in society and a profound basis in legal theory. Comprehensively advancing the rule of law in China necessitates giving encouragement and support to construction of the rule of law at the local level. The attempts and experiments of local government enable us to explore and innovate the developmental model of the socialist rule of law with Chinese characteristics. The rule of law at the local level is embodied in three dimensions: "text--action---concept." Assessment mechanisms and indicators for the local construction of the rule of law should also be established in accordance with this framework. The building of the rule of law at the local level should be synchronized with assessment of the rule of law. We need to optimize top-level design, conduct evaluations of local legislation, improve local rule of law work performance assessment and use a nile of law index to assess the local rule of law in an overall manner.展开更多
Multi-agent systems arise from diverse fields in natural and artificial systems, and a basic problem is to understand how locally interacting agents lead to collective behaviors (e.g., synchronization) of the overal...Multi-agent systems arise from diverse fields in natural and artificial systems, and a basic problem is to understand how locally interacting agents lead to collective behaviors (e.g., synchronization) of the overall system. In this paper, we will consider a basic class of multi-agent systems that are described by a simplification of the well-known Vicsek model. This model looks simple, but the rigorous theoretical analysis is quite complicated, because there are strong nonlinear interactions among the agents in the model. In fact, most of the existing results on synchronization need to impose a certain connectivity condition on the global behaviors of the agents' trajectories (or on the closed-loop dynamic neighborhood graphs), which are quite hard to verify in general. In this paper, by introducing a probabilistic framework to this problem, we will provide a complete and rigorous proof for the fact that the overall multi-agent system will synchronize with large probability as long as the number of agents is large enough. The proof is based on a detailed analysis of both the dynamical properties of the nonlinear system evolution and the asymptotic properties of the spectrum of random geometric graphs.展开更多
The authors extend the Gazi's swarm model with local neighbor rules and the dynamic communication topology, and study its aggregation properties. Results of analysis show that all agents in the models aggregate and e...The authors extend the Gazi's swarm model with local neighbor rules and the dynamic communication topology, and study its aggregation properties. Results of analysis show that all agents in the models aggregate and eventually form a cohesive cluster of finite size around the swarm center or the appointed point. Finally, simulations are provided to testify some of the results. Models in the paper are more applicable to the reality for the advantage that each agent only needs the partial information of the entire dynamic system when making motion decision.展开更多
基金The National Natural Science Foundation of China(No.50305021)
文摘The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No. 2006AA04Z245)the Program for Changjiang Scholars and Innovative Research Team in University(Grant No. IRT0423)
文摘In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.
基金Supported by the National High Technology Research and Development Programme of China (No. 2006AA04Z245)by the Progran for Changjiang Scholars and Innovative Research Team in University of China (PCSIRT) (IRT0423)
文摘In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.
基金the research results of"Research on the Sinification,Modernization and Populrization of Marxist Jurisprudential Theory,"a key project of the National Social Science Foundation(10AFX001)
文摘Going beyond the analytical model of the holistic state in rule of law discussion, we can classify the rule of law into national and local levels based on the stages and increments of its execution. The phenomenon of the local rule of law reflects the stages and incremental progress of building a rule of law China. It has a realistic foundation in society and a profound basis in legal theory. Comprehensively advancing the rule of law in China necessitates giving encouragement and support to construction of the rule of law at the local level. The attempts and experiments of local government enable us to explore and innovate the developmental model of the socialist rule of law with Chinese characteristics. The rule of law at the local level is embodied in three dimensions: "text--action---concept." Assessment mechanisms and indicators for the local construction of the rule of law should also be established in accordance with this framework. The building of the rule of law at the local level should be synchronized with assessment of the rule of law. We need to optimize top-level design, conduct evaluations of local legislation, improve local rule of law work performance assessment and use a nile of law index to assess the local rule of law in an overall manner.
基金The research is supported by National Natural Science Foundation of China under the Grants No. 60221301 and No. 60334040.Acknowledgement The authors would like to thank Prof. Feng TIAN and Dr. Mei LU for providing the proof of Lemma 6 in Appendix B. We would also like to thank Ms. Zhixin Liu for valuable discussions.
文摘Multi-agent systems arise from diverse fields in natural and artificial systems, and a basic problem is to understand how locally interacting agents lead to collective behaviors (e.g., synchronization) of the overall system. In this paper, we will consider a basic class of multi-agent systems that are described by a simplification of the well-known Vicsek model. This model looks simple, but the rigorous theoretical analysis is quite complicated, because there are strong nonlinear interactions among the agents in the model. In fact, most of the existing results on synchronization need to impose a certain connectivity condition on the global behaviors of the agents' trajectories (or on the closed-loop dynamic neighborhood graphs), which are quite hard to verify in general. In this paper, by introducing a probabilistic framework to this problem, we will provide a complete and rigorous proof for the fact that the overall multi-agent system will synchronize with large probability as long as the number of agents is large enough. The proof is based on a detailed analysis of both the dynamical properties of the nonlinear system evolution and the asymptotic properties of the spectrum of random geometric graphs.
基金Project Operation and Simulation of Emergency Response Logistics Network in the System of Anti-bioterrorism supported by the National Natural Science Foundation of China under Grant No.70671021.
文摘The authors extend the Gazi's swarm model with local neighbor rules and the dynamic communication topology, and study its aggregation properties. Results of analysis show that all agents in the models aggregate and eventually form a cohesive cluster of finite size around the swarm center or the appointed point. Finally, simulations are provided to testify some of the results. Models in the paper are more applicable to the reality for the advantage that each agent only needs the partial information of the entire dynamic system when making motion decision.