The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm wit...The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm with I-type arbiter were compared. The improved algorithm can reduce judging time and avoid some mistakes of the basic one. In mapping obstacles, the robot adjusted the spread angle according to different distances to obstacles in scaled vector field histogram （SVFH） algorithm, and then the robot turned more sharply in near obstacles than in far obstacles, which made the robot move more safely and smoothly in a cluttered room.展开更多
Modern science and technology is being developed towards destroying human and human calls for a new era of science ＆ technology. Contemporary science is seeing a significant breakthrough and a new revolution of scien...Modern science and technology is being developed towards destroying human and human calls for a new era of science ＆ technology. Contemporary science is seeing a significant breakthrough and a new revolution of science and technology is beginning. The theoretical basis of the new revolution of science and technology is ＂state space-time＂, ＂the unity of physics and biology＂, ＂thinking motion and automatic organization of the universe＂ and ＂thinking＇s active control＂. The new revolution of science and technology takes material （microscopic particle） science, life （organic and inorganic life） science and thinking science as the fundamental sciences, takes life technology, new information technology, new material technology and new energy technology as the basis of the overall technological system, progresses in all aspects, including life technology, medicine, new material technology, new information technology, new energy technology, new robot technology, new manufacturing technology, laser technology, astronavigation technology, ocean technology, military technology, new educational technology, etc., and at the same time Qigong technology with thinking control as its core will emerge. In the era of life, thinking and Qigong technology, technology proceeds very rapidly, global society and economy develop at a high speed, and globalization is accelerated. Life, thinking and Qigong technologies feature improvement of human internal energy and quality, purify human soul, reduce material desire, and greatly reduce environmental disruption. The overall （thinking and Qigong） technology takes the establishment of the cosmic era of human as its ultimate goal.展开更多
This paper is about the automation of the marionette performance. A method to solve the problem on the mobility of the automated marionette performance is proposed. Since it is difficult to control the marionette by h...This paper is about the automation of the marionette performance. A method to solve the problem on the mobility of the automated marionette performance is proposed. Since it is difficult to control the marionette by hands, as an alternative, the automated marionette is studied. However, the automtic marionette performance is limited in the silence and mobility. Therefore, an independent shifter to move freely on the stage is required. The magnetic device which connects the movable robot and the marionette controlling robot is conceived. The magnetic device is improved and applied by considering the features of the marionette robot, which is the irregular movement of the marionette controller and of the parallel limited area. The burden of being trapped on the magnet is minimized by dividing the robot to the upper and lower parts of the marionette performance stage. The direction of the magnet is considered to make the mobile robot to move freely. Thus, the efficiency and safety of the device is confirmed by balancing the strength with the permanent magnet.展开更多
Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the ch...Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.展开更多
基金National Natural Science Foundation of China(No.60975059)Leading Academic Discipline Project of Shanghai Municipal Education Commission,China(No.J513032)Innovation Program of Shanghai Municipal Education Commission,China(No.09YZ343)
文摘The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm with I-type arbiter were compared. The improved algorithm can reduce judging time and avoid some mistakes of the basic one. In mapping obstacles, the robot adjusted the spread angle according to different distances to obstacles in scaled vector field histogram （SVFH） algorithm, and then the robot turned more sharply in near obstacles than in far obstacles, which made the robot move more safely and smoothly in a cluttered room.
文摘Modern science and technology is being developed towards destroying human and human calls for a new era of science ＆ technology. Contemporary science is seeing a significant breakthrough and a new revolution of science and technology is beginning. The theoretical basis of the new revolution of science and technology is ＂state space-time＂, ＂the unity of physics and biology＂, ＂thinking motion and automatic organization of the universe＂ and ＂thinking＇s active control＂. The new revolution of science and technology takes material （microscopic particle） science, life （organic and inorganic life） science and thinking science as the fundamental sciences, takes life technology, new information technology, new material technology and new energy technology as the basis of the overall technological system, progresses in all aspects, including life technology, medicine, new material technology, new information technology, new energy technology, new robot technology, new manufacturing technology, laser technology, astronavigation technology, ocean technology, military technology, new educational technology, etc., and at the same time Qigong technology with thinking control as its core will emerge. In the era of life, thinking and Qigong technology, technology proceeds very rapidly, global society and economy develop at a high speed, and globalization is accelerated. Life, thinking and Qigong technologies feature improvement of human internal energy and quality, purify human soul, reduce material desire, and greatly reduce environmental disruption. The overall （thinking and Qigong） technology takes the establishment of the cosmic era of human as its ultimate goal.
基金supported bythe Ministry of Knowledge Economy,Korea,theITRC(Information Technology Research Center)support program(NIPA-2010-(C1090-1021-0010))the Brain Korea 21 Project in 2010
文摘This paper is about the automation of the marionette performance. A method to solve the problem on the mobility of the automated marionette performance is proposed. Since it is difficult to control the marionette by hands, as an alternative, the automated marionette is studied. However, the automtic marionette performance is limited in the silence and mobility. Therefore, an independent shifter to move freely on the stage is required. The magnetic device which connects the movable robot and the marionette controlling robot is conceived. The magnetic device is improved and applied by considering the features of the marionette robot, which is the irregular movement of the marionette controller and of the parallel limited area. The burden of being trapped on the magnet is minimized by dividing the robot to the upper and lower parts of the marionette performance stage. The direction of the magnet is considered to make the mobile robot to move freely. Thus, the efficiency and safety of the device is confirmed by balancing the strength with the permanent magnet.
文摘Underwater gliders are recent innovative types of autonomous underwater vehicles （AUVs） used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.
