To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mec...To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.展开更多
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
识别城市多中心空间结构,描述不同职能中心的空间集聚特征,刻画沈阳市中心城区制造业郊区化扩散趋势,为沈阳市中心城区产业结构转型升级和城市空间组织营造提供参考。基于不同职能的兴趣点(point of interest, POI)数据的城市职能分类基...识别城市多中心空间结构,描述不同职能中心的空间集聚特征,刻画沈阳市中心城区制造业郊区化扩散趋势,为沈阳市中心城区产业结构转型升级和城市空间组织营造提供参考。基于不同职能的兴趣点(point of interest, POI)数据的城市职能分类基准,采用ArcGIS10.7、GeoDa1.12和Crimestat3.3软件,运用核密度分析、空间热点聚类、标准差椭圆、空间自相关等方法,识别2020年城市多中心空间结构,测度不同功能类型设施的空间关联性,分析1998年、2008年和2020年制造业集聚特征。研究表明:1)2020年,城市空间结构表现为“多个中心、圈层放射”,通过“一主四副”的城市规划引导,大致形成了3个等级的城市中心体系,基本符合2011—2020年沈阳市城市总体规划。除了主城区的集聚组团式的单中心之外,各个副城也都形成了各自的次级中心,符合多中心的城市空间结构。2)1998—2020年,制造业企业不断向城市外围地区迁移扩散,主要分布在西、南方向的三四环城市郊区,形成了铁西产业新城、永安新城等产业集聚区域,基本符合2011—2020年沈阳市城市总体规划。3)沈阳市不同功能空间均呈现出西南—东北方向的延伸,不同功能类型之间存在明显的“中心—外围”的嵌套式城市功能体系。不同功能类型呈现出不同的空间相关性,以制造业为代表的工业功能区具有一定的排他性,制造业集聚区域的城市功能比较单一,居住设施、商业服务设施、公共管理与服务功能设施存在较强的空间相关性,形成多种功能混合的综合服务中心。因此,需要进一步提升城市功能和优化产业布局,完善以城市核心生产功能为主的工业区的生活服务功能。展开更多
基金The National Natural Science Foundation of China(No.61375076)Research&Innovation Program for Graduate Student in Universities of Jiangsu Province(No.CXLX13-085)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1350)
文摘To solve the problem of inaccurate angle adjustment in the self-assembly process, a new homogenous hybrid modular self-reconfigurable robot-Xmobot is designed. Each module has four rotary joints and a self-turning mechanism. With the proposed self-turning mechanism, the angle adjusting accuracy of the module is increased to 2°, and the relative position adjusting efficiency of the module in the self-assembly process is also improved. The measured maximum moving distance of the proposed module in a gait cycle is 11.0 cm. Aiming at the multiple degree of freedom （MDOF） feature of the proposed module, a motion controller based on the central pattern generator （CPG） is proposed. The control of five joints of the module only requires two CPG oscillators. The CPG-based motion controller has three basic output modes, i. e. the oscillation, the rotation, and the fixed modes. The serpentine and the wheeled movements of the H-shaped robot are simulated, respectively. The results show that the average velocities of the two movements are 15. 2 and 20. 1 m/min, respectively. The proposed CPG-based motion controller is evaluated to be effective.
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.
文摘识别城市多中心空间结构,描述不同职能中心的空间集聚特征,刻画沈阳市中心城区制造业郊区化扩散趋势,为沈阳市中心城区产业结构转型升级和城市空间组织营造提供参考。基于不同职能的兴趣点(point of interest, POI)数据的城市职能分类基准,采用ArcGIS10.7、GeoDa1.12和Crimestat3.3软件,运用核密度分析、空间热点聚类、标准差椭圆、空间自相关等方法,识别2020年城市多中心空间结构,测度不同功能类型设施的空间关联性,分析1998年、2008年和2020年制造业集聚特征。研究表明:1)2020年,城市空间结构表现为“多个中心、圈层放射”,通过“一主四副”的城市规划引导,大致形成了3个等级的城市中心体系,基本符合2011—2020年沈阳市城市总体规划。除了主城区的集聚组团式的单中心之外,各个副城也都形成了各自的次级中心,符合多中心的城市空间结构。2)1998—2020年,制造业企业不断向城市外围地区迁移扩散,主要分布在西、南方向的三四环城市郊区,形成了铁西产业新城、永安新城等产业集聚区域,基本符合2011—2020年沈阳市城市总体规划。3)沈阳市不同功能空间均呈现出西南—东北方向的延伸,不同功能类型之间存在明显的“中心—外围”的嵌套式城市功能体系。不同功能类型呈现出不同的空间相关性,以制造业为代表的工业功能区具有一定的排他性,制造业集聚区域的城市功能比较单一,居住设施、商业服务设施、公共管理与服务功能设施存在较强的空间相关性,形成多种功能混合的综合服务中心。因此,需要进一步提升城市功能和优化产业布局,完善以城市核心生产功能为主的工业区的生活服务功能。
