A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-chan...A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.展开更多
Shangzhuang gold deposit located in the Wangershan fault zone of northwestern Jiaodong is of meso- hypogenic altered rock type. The ore bodies occur at the hanging wall and footwall of Wangershan fault in vein or irre...Shangzhuang gold deposit located in the Wangershan fault zone of northwestern Jiaodong is of meso- hypogenic altered rock type. The ore bodies occur at the hanging wall and footwall of Wangershan fault in vein or irregular shapes with the NE strike, NW trend, 30° -60°~ in dip and the lateral trending of SW. The ores are composed of pyrite, quartz, sericite, bismuthinite, native gold, bismuth sulfosah minerals, chalcopyrite, etc. , shown as brecciated structure and vein structure with metasomatic dissolution textures. The wall rock altera- tion is mainly described as phyllic alteration and silicification. The mineralization of this deposit is controlled by structure and altered rocks. The ore-controlling fault structures of this deposit is Wangershan fault, of which the intersection of major fault and secondary fault is the main ore-bearing position of this gold deposit, and the lar- ger arc curved position is a favorable part for ore body occurrence. On the plane, the ore body is shown as equi- distant pinch-out reproduction.展开更多
文摘A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.
文摘Shangzhuang gold deposit located in the Wangershan fault zone of northwestern Jiaodong is of meso- hypogenic altered rock type. The ore bodies occur at the hanging wall and footwall of Wangershan fault in vein or irregular shapes with the NE strike, NW trend, 30° -60°~ in dip and the lateral trending of SW. The ores are composed of pyrite, quartz, sericite, bismuthinite, native gold, bismuth sulfosah minerals, chalcopyrite, etc. , shown as brecciated structure and vein structure with metasomatic dissolution textures. The wall rock altera- tion is mainly described as phyllic alteration and silicification. The mineralization of this deposit is controlled by structure and altered rocks. The ore-controlling fault structures of this deposit is Wangershan fault, of which the intersection of major fault and secondary fault is the main ore-bearing position of this gold deposit, and the lar- ger arc curved position is a favorable part for ore body occurrence. On the plane, the ore body is shown as equi- distant pinch-out reproduction.
