To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent ...To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built. Two efficiency criterions of the gait are given as the energy loss function f and the unit displacement in one cycle dunit.Three parameters of the criterions affecting the efficiency of the gait （ the number of links that form the traveling wave n, the included angle between two adjacent links α, and the phase difference of adjacent included angles β） are discussed by simulations and experiments. The results show that f is insensitive to n; raising n increases dunit significantly; the maximum wave amplitude of α is a decreasing function of n; and increasing α reduces the displacement influence off when n is determined. The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links. A wave formed by more links or a greater relative angle between two adjacent links both lead to greater velocity of the movement.展开更多
This paper reports two newly recorded species, Itaquascon placophorum Maucci, 1972 and Itaquascon umbellinae Barros, 1939, of the genus Itaquascon （Tardigrada; Hypsibiidae） from China in the first time. The specimen...This paper reports two newly recorded species, Itaquascon placophorum Maucci, 1972 and Itaquascon umbellinae Barros, 1939, of the genus Itaquascon （Tardigrada; Hypsibiidae） from China in the first time. The specimens of Itaquascon placophorum were collected from Tsinling Mountains （33°28′N, 108°29′E） at 2,040 m above the sea level and those ofltaquascon umbellinae from Taibai Mt. （34°21′N, 107°39′E） at 1,500 m above the sea level. All specimens are deposited at the College of Life Sciences, Shaanxi Normal University, China.展开更多
The single phase La2（CO3）3·3.4H2 O was synthesized by hydrothermal method. The thermal decomposition and intermediates and final solid products of La2（CO3）3·3.4H2O from 30 to 1000 °C were characteri...The single phase La2（CO3）3·3.4H2 O was synthesized by hydrothermal method. The thermal decomposition and intermediates and final solid products of La2（CO3）3·3.4H2O from 30 to 1000 °C were characterized by XRD, FTIR and DTA-TG. The kinetics of dehydration of La2（CO3）3·3.4H2O in the temperature range of 30-366 °C was investigated under non-isothermal conditions. Flynn-Wall-Ozawa and Friedman isoconversion methods were used to calculate the activation energy and analyze the reaction steps; multivariate non-linear regression program was applied to determine the most probable mechanism and the kinetic parameters. The results show that the thermal dehydration of La2（CO3）3·3.4H2O is a kind of three-step competitive reaction, and controlled by an n-order initial reaction followed by n-order competitive reaction（FnFnFn model）. The activation energy matching with the most probable model is close to value obtained by Friedman method. The fitting curves match the original TG-DTG curves very well.展开更多
Based on a novel shape memory alloy （SMA） actuator, a micro worming robot is presented. The robot adopts a wheeled moving mechanism. The principle of the robot＇s enlarged pace is introduced, and the structure and m...Based on a novel shape memory alloy （SMA） actuator, a micro worming robot is presented. The robot adopts a wheeled moving mechanism. The principle of the robot＇s enlarged pace is introduced, and the structure and motion mechanism of the SMA actuator and the wheeled moving mechanism are discussed. The gait about the robot＇s rectilinear movement and turning movement is also planned. Under the effect of the eccentric wheel self-locking mechanisms and changing-direction mechanisms, the robot can move forward and backward, and turn actively, which overcomes the disadvantages of the traditional SMA micro robots to a certain extent. Furthermore, some experiments on the heating current of the SMA actuator and the robot＇s motion capability are carded out.展开更多
The control platform of the induction motor （IM） with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stat...The control platform of the induction motor （IM） with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stator flux orientation （SFO）. The algorithm structure is simple to be implemented and cannot be influenced by motor parameters, The improved stator flux estimation is used to compensate errors caused by the low pass filter （LPF）. A new speed regulator is designed to ensure the system working with the maximal torque in the transient state. The system simulation and the prototype experiment are made. Results show that the con- trol system has good dynamic and static performance.展开更多
The security-related problem during the data exchange is not considered in the SyncML protocol. To solve this problem, SyncML is enhanced with a secure data synchronization exchange service application program interfa...The security-related problem during the data exchange is not considered in the SyncML protocol. To solve this problem, SyncML is enhanced with a secure data synchronization exchange service application program interface （SDSXS-API） to ensure the reliability, the integrity, and the security in the data transmission and exchange. The design and the implementation of SDSXS-API are also given. The proposed APIs can be conveniently used as a uniform exchange interface for any related application programs. And their effectiveness is verified in the prototype mobile database system.展开更多
文摘To establish a universal and easily controlled gait for practical use of snakelike robot movement, an inchworm locomotion gait model based on a serpenoid curve is presented. By analyzing the relations of two adjacent waves in the process of locomotion and doing an approximation of the serpenoid curve, the motion function of relative angles between two adjacent links and the absolute angles between each link and the baseline on the traveling curve are built. Two efficiency criterions of the gait are given as the energy loss function f and the unit displacement in one cycle dunit.Three parameters of the criterions affecting the efficiency of the gait （ the number of links that form the traveling wave n, the included angle between two adjacent links α, and the phase difference of adjacent included angles β） are discussed by simulations and experiments. The results show that f is insensitive to n; raising n increases dunit significantly; the maximum wave amplitude of α is a decreasing function of n; and increasing α reduces the displacement influence off when n is determined. The gait model is suitable for different inchworm locomotions of a snakelike robot whose traveling waves are formed by different numbers of identical links. A wave formed by more links or a greater relative angle between two adjacent links both lead to greater velocity of the movement.
基金the National Natural Science Foundation(No.30770254)scientific research foundation project of Shaanxi Institute of Education (No. 07KJ37Q)
文摘This paper reports two newly recorded species, Itaquascon placophorum Maucci, 1972 and Itaquascon umbellinae Barros, 1939, of the genus Itaquascon （Tardigrada; Hypsibiidae） from China in the first time. The specimens of Itaquascon placophorum were collected from Tsinling Mountains （33°28′N, 108°29′E） at 2,040 m above the sea level and those ofltaquascon umbellinae from Taibai Mt. （34°21′N, 107°39′E） at 1,500 m above the sea level. All specimens are deposited at the College of Life Sciences, Shaanxi Normal University, China.
基金Project(201011005-5)supported by the National Land and Resources Public Welfare Scientific Research Project of ChinaProject(41030426)supported by the National Natural Science Foundation of China+1 种基金Project(20095122110015)supported by Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2010-32)supported by Scientific Research Foundation of the Education Ministry for Returned Chinese Scholars,China
文摘The single phase La2（CO3）3·3.4H2 O was synthesized by hydrothermal method. The thermal decomposition and intermediates and final solid products of La2（CO3）3·3.4H2O from 30 to 1000 °C were characterized by XRD, FTIR and DTA-TG. The kinetics of dehydration of La2（CO3）3·3.4H2O in the temperature range of 30-366 °C was investigated under non-isothermal conditions. Flynn-Wall-Ozawa and Friedman isoconversion methods were used to calculate the activation energy and analyze the reaction steps; multivariate non-linear regression program was applied to determine the most probable mechanism and the kinetic parameters. The results show that the thermal dehydration of La2（CO3）3·3.4H2O is a kind of three-step competitive reaction, and controlled by an n-order initial reaction followed by n-order competitive reaction（FnFnFn model）. The activation energy matching with the most probable model is close to value obtained by Friedman method. The fitting curves match the original TG-DTG curves very well.
文摘Based on a novel shape memory alloy （SMA） actuator, a micro worming robot is presented. The robot adopts a wheeled moving mechanism. The principle of the robot＇s enlarged pace is introduced, and the structure and motion mechanism of the SMA actuator and the wheeled moving mechanism are discussed. The gait about the robot＇s rectilinear movement and turning movement is also planned. Under the effect of the eccentric wheel self-locking mechanisms and changing-direction mechanisms, the robot can move forward and backward, and turn actively, which overcomes the disadvantages of the traditional SMA micro robots to a certain extent. Furthermore, some experiments on the heating current of the SMA actuator and the robot＇s motion capability are carded out.
文摘The control platform of the induction motor （IM） with low costs is developed by using DSP MC56F8013 with a good performance/price rtaio. The control algorithm for the speed sensorless IM is studied based on the stator flux orientation （SFO）. The algorithm structure is simple to be implemented and cannot be influenced by motor parameters, The improved stator flux estimation is used to compensate errors caused by the low pass filter （LPF）. A new speed regulator is designed to ensure the system working with the maximal torque in the transient state. The system simulation and the prototype experiment are made. Results show that the con- trol system has good dynamic and static performance.
文摘The security-related problem during the data exchange is not considered in the SyncML protocol. To solve this problem, SyncML is enhanced with a secure data synchronization exchange service application program interface （SDSXS-API） to ensure the reliability, the integrity, and the security in the data transmission and exchange. The design and the implementation of SDSXS-API are also given. The proposed APIs can be conveniently used as a uniform exchange interface for any related application programs. And their effectiveness is verified in the prototype mobile database system.
