Based on extensive literature search,the composition,pharmacology,clini cal applications of Passiflora foetida L,ecological characteristics were summarized with the aim to provide scientific data for further research ...Based on extensive literature search,the composition,pharmacology,clini cal applications of Passiflora foetida L,ecological characteristics were summarized with the aim to provide scientific data for further research and exploitation.展开更多
In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mecha...In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.展开更多
In this paper the concept of a nonlinear verticumtype observation system is introduced. These systems are composed from several ＂subsystems＂ connected sequentially in a particular way： a part of the state variables...In this paper the concept of a nonlinear verticumtype observation system is introduced. These systems are composed from several ＂subsystems＂ connected sequentially in a particular way： a part of the state variables of each ＂subsystem＂ also appears in the next ＂subsystem＂ as an ＂exogenous variable＂ which can also be interpreted as a con trol generated by an ＂exosystem＂. Therefore these ＂subsystems＂ are not observation systems, but formally can be considered as controlobservation systems. The problem of observability of such systems can be reduced to rank conditions on the ＂subsystems＂. Indeed, under the condition of Lyapunov stability of an equilibrium of the ＂large＂, verticumtype system, it is shown that the Kalman rank condition on the linearization of the ＂subsystems＂ implies the observability of the original, nonlinear verticumtype system. For an illustration of the above linearization result, a stagestructured fishery model with reserve area is considered. Observability for this system is obtained by applying the above linearization and decomposition approach. Furthermore, it is also shown that, applying an appropriate observer design method to each subsystem, from the observa tion of the biomass densities of the adult （harvested） stage, in both areas, the biomass densities of the prerecruit stage can be efficiently estimated.展开更多
基金Supported by the Key Laboratory of Resource Biology and Biotechnology in Western China of Ministry of Education (KH09030)the Special Fund for the Science and Technology of Science and Technology Department of Tibet Autonomous Region (20091012)the Scientific Research Program Funded by Shaanxi Provincial Education Department (2010JK862)~~
文摘Based on extensive literature search,the composition,pharmacology,clini cal applications of Passiflora foetida L,ecological characteristics were summarized with the aim to provide scientific data for further research and exploitation.
基金Supported by the National High Technology Research and Development Programme of China (No. 2006AA04Z245)by the Progran for Changjiang Scholars and Innovative Research Team in University of China (PCSIRT) (IRT0423)
文摘In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.
文摘In this paper the concept of a nonlinear verticumtype observation system is introduced. These systems are composed from several ＂subsystems＂ connected sequentially in a particular way： a part of the state variables of each ＂subsystem＂ also appears in the next ＂subsystem＂ as an ＂exogenous variable＂ which can also be interpreted as a con trol generated by an ＂exosystem＂. Therefore these ＂subsystems＂ are not observation systems, but formally can be considered as controlobservation systems. The problem of observability of such systems can be reduced to rank conditions on the ＂subsystems＂. Indeed, under the condition of Lyapunov stability of an equilibrium of the ＂large＂, verticumtype system, it is shown that the Kalman rank condition on the linearization of the ＂subsystems＂ implies the observability of the original, nonlinear verticumtype system. For an illustration of the above linearization result, a stagestructured fishery model with reserve area is considered. Observability for this system is obtained by applying the above linearization and decomposition approach. Furthermore, it is also shown that, applying an appropriate observer design method to each subsystem, from the observa tion of the biomass densities of the adult （harvested） stage, in both areas, the biomass densities of the prerecruit stage can be efficiently estimated.
