A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and...A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.展开更多
According to the Ringel-Green theorem,the generic composition algebra of the Hall algebra provides a realization of the positive part of the quantum group.Furthermore,its Drinfeld double can be identified with the who...According to the Ringel-Green theorem,the generic composition algebra of the Hall algebra provides a realization of the positive part of the quantum group.Furthermore,its Drinfeld double can be identified with the whole quantum group,in which the BGP-reflection functors coincide with Lusztig's symmetries.It is first asserted that the elements corresponding to exceptional modules lie in the integral generic composition algebra,hence in the integral form of the quantum group.Then it is proved that these elements lie in the crystal basis up to a sign.Eventually,it is shown that the sign can be removed by the geometric method.The results hold for any type of Cartan datum.展开更多
Bodies of plants are modularly organized. Development proceeds by adding new modules to open endings with a potential for branching. Each module is autonomous to some extent. Development relies on the self-organized p...Bodies of plants are modularly organized. Development proceeds by adding new modules to open endings with a potential for branching. Each module is autonomous to some extent. Development relies on the self-organized patterns that emerge from the interactions of individual modules. Interactions include both competition and cooperation,and several types of positive and negative feedback loops are involved. Development can be open to external influences, thus enabling the plant to adjust its form to the environment,for example, to the spatial distribution of ecological resources. This paper provides a review on adaptive plasticity in plants.展开更多
基金Supported by the National High Technology Research and Development Programme of China ( No. 2004AA420110)Heilongjiang Province Technology Foundation (No. GB04A502)
文摘A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.
基金supported by the National Natural Science Foundation of China (No. 10631010) the NationalKey Basic Research Programme of China (No. 2006CB805905)
文摘According to the Ringel-Green theorem,the generic composition algebra of the Hall algebra provides a realization of the positive part of the quantum group.Furthermore,its Drinfeld double can be identified with the whole quantum group,in which the BGP-reflection functors coincide with Lusztig's symmetries.It is first asserted that the elements corresponding to exceptional modules lie in the integral generic composition algebra,hence in the integral form of the quantum group.Then it is proved that these elements lie in the crystal basis up to a sign.Eventually,it is shown that the sign can be removed by the geometric method.The results hold for any type of Cartan datum.
基金This research was subsidized by the Hungarian National Research Fund(OTKA T35009,and NWOOTKA N34028),the Hungarian Ministry of Education(FKFP 0187/1990,Istvn Szchenyi Scolarship),and the International Program of the Santa Fe Institute,NM,USA.
文摘Bodies of plants are modularly organized. Development proceeds by adding new modules to open endings with a potential for branching. Each module is autonomous to some extent. Development relies on the self-organized patterns that emerge from the interactions of individual modules. Interactions include both competition and cooperation,and several types of positive and negative feedback loops are involved. Development can be open to external influences, thus enabling the plant to adjust its form to the environment,for example, to the spatial distribution of ecological resources. This paper provides a review on adaptive plasticity in plants.
