Building a model for a object through model composition is a interesting topics, this paper research the interface composit ion of models in the Zeigler’s modeling methodology DEVS.
A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a ...A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a slave module in the shape of triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port,and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg-in-hole mechanical structure. A small motion's method is presented and the contact forces are derived. According to the force/moment,the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process.Finally,a simulation of 3 basic modules is shown to finish the morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.展开更多
In this review a series of organic-based open porous networks are discussed, in which hydrogen bonds play an important role in network formation. Using these open networks as molecular templates: 1) a wealth of functi...In this review a series of organic-based open porous networks are discussed, in which hydrogen bonds play an important role in network formation. Using these open networks as molecular templates: 1) a wealth of functional guest species can be immo- bilized; 2) fullerene molecules can be separated and recognized; 3) photoisomerization reactions can be observed by STM; 4) 1D molecular arrays can be constructed; and 5) heterogeneous bilayer structures can be formed. It is envisioned that these su- pramolecular networks might be developed into a new family of useful soft frameworks for studies toward shape-selective ca- talysis, molecular recognition and host-guest supramolecular chemistry.展开更多
文摘Building a model for a object through model composition is a interesting topics, this paper research the interface composit ion of models in the Zeigler’s modeling methodology DEVS.
基金Supported by the National Natural Science Foundation of China(No.61175069,51075272,51475300)
文摘A novel hybrid self-reconfigurable modular robot is designed to finish the morphing action from line shape to hexagon shape. The robot is composed of many basic modules,each of which consists of a master module and a slave module in the shape of triangular prism. There are four connection ports on each basic module. For the master module there are two holes on each connection port,and for the slave one there are two pegs on each connection. The docking process between two neighboring basic modules is analyzed with a peg-in-hole mechanical structure. A small motion's method is presented and the contact forces are derived. According to the force/moment,the pose of a motion module should be adjusted to make two neighboring modules align and finish the docking process.Finally,a simulation of 3 basic modules is shown to finish the morphing and docking process effectively. The system can finish the morphing task from the line shape to the hexagon shape.
文摘In this review a series of organic-based open porous networks are discussed, in which hydrogen bonds play an important role in network formation. Using these open networks as molecular templates: 1) a wealth of functional guest species can be immo- bilized; 2) fullerene molecules can be separated and recognized; 3) photoisomerization reactions can be observed by STM; 4) 1D molecular arrays can be constructed; and 5) heterogeneous bilayer structures can be formed. It is envisioned that these su- pramolecular networks might be developed into a new family of useful soft frameworks for studies toward shape-selective ca- talysis, molecular recognition and host-guest supramolecular chemistry.
