Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and ...Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.展开更多
IntroductionAs theories of language and psychology have developed,new teaching approaches and methods haveemerged to accompany them.The appearance of these approaches and methods has not only met theneeds of contempor...IntroductionAs theories of language and psychology have developed,new teaching approaches and methods haveemerged to accompany them.The appearance of these approaches and methods has not only met theneeds of contemporary language teaching,but also aroused the interest of the second and foreign languageteachers.Though there have been many controversies among applied linguists and teachers,uniquecharacteristics of each method can be identified.Some methods have been adopted universally.others areconfined to limited areas.Whatever the situation may be.a general review of these approaches andmethods is necessary,in order to get some insights into their nature,strengths and weaknesses.The resultwill hopefully be more effective language teaching.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.60875064,61175102,51277018)
文摘Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.
文摘IntroductionAs theories of language and psychology have developed,new teaching approaches and methods haveemerged to accompany them.The appearance of these approaches and methods has not only met theneeds of contemporary language teaching,but also aroused the interest of the second and foreign languageteachers.Though there have been many controversies among applied linguists and teachers,uniquecharacteristics of each method can be identified.Some methods have been adopted universally.others areconfined to limited areas.Whatever the situation may be.a general review of these approaches andmethods is necessary,in order to get some insights into their nature,strengths and weaknesses.The resultwill hopefully be more effective language teaching.
