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
Tea （Camellia sinensis） is one of the most valuable cash crops in southern China; however, the planting distribution of tea crops is not optimal and the production and cultivation regions of tea crops are restricted...Tea （Camellia sinensis） is one of the most valuable cash crops in southern China; however, the planting distribution of tea crops is not optimal and the production and cultivation regions of tea crops are restricted by law and custom. In order to evaluate the suitability of tea crops in Zhejiang Province, the annual mean temperature, the annual accumulated temperature above 10 ℃, the frequency of extremely low temperature below -13 ℃, the mean humidity from April to October, slope, aspect, altitude, soil type, and soil texture were selected from climate, topography, and soil factors as factors for land ecological evaluation by the Delphi method based on the ecological characteristics of tea crops. These nine factors were quantitatively analyzed using a geographic information system （GIS）. The grey relational analysis （GRA） was combined with the analytic hierarchy process （AHP） to address the uncertainties during the process of evaluating the traditional land ecological suitability, and a modified land ecological suitability evaluation （LESE） model was built. Based on the land-use map of Zhejiang Province, the regions that were completely unsuitable for tea cultivation in the province were eliminated and then the spatial distribution of the ecological suitability of tea crops was generated using the modified LESE model and GIS. The results demonstrated that the highly, moderately, and non-suitable regions for the cultivation of tea crops in Zhejiang Province were 27552.66, 42 724.64, and 26507.97 km2, and accounted for 28.47%, 44.14%, and 27.39% of the total evaluation area, respectively. Validation of the method showed a high degree of coincidence with the current planting distribution of tea crops in Zhejiang Province. The modified LESE model combined with GIS could be useful in quickly and accurately evaluating the land ecological suitability of tea crops, providing a scientific basis for the rational distribution of tea crops and acting as a reference to land policy makers and land use planners.展开更多
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.
基金Supported by the Agricultural Science and Technology Achievement Transformation Foundation of the Ministry of Sciences and Technology,China (No. 2008GB24160442)the National Natural Science Foundation of China (Nos. 40871158and 51108405 )
文摘Tea （Camellia sinensis） is one of the most valuable cash crops in southern China; however, the planting distribution of tea crops is not optimal and the production and cultivation regions of tea crops are restricted by law and custom. In order to evaluate the suitability of tea crops in Zhejiang Province, the annual mean temperature, the annual accumulated temperature above 10 ℃, the frequency of extremely low temperature below -13 ℃, the mean humidity from April to October, slope, aspect, altitude, soil type, and soil texture were selected from climate, topography, and soil factors as factors for land ecological evaluation by the Delphi method based on the ecological characteristics of tea crops. These nine factors were quantitatively analyzed using a geographic information system （GIS）. The grey relational analysis （GRA） was combined with the analytic hierarchy process （AHP） to address the uncertainties during the process of evaluating the traditional land ecological suitability, and a modified land ecological suitability evaluation （LESE） model was built. Based on the land-use map of Zhejiang Province, the regions that were completely unsuitable for tea cultivation in the province were eliminated and then the spatial distribution of the ecological suitability of tea crops was generated using the modified LESE model and GIS. The results demonstrated that the highly, moderately, and non-suitable regions for the cultivation of tea crops in Zhejiang Province were 27552.66, 42 724.64, and 26507.97 km2, and accounted for 28.47%, 44.14%, and 27.39% of the total evaluation area, respectively. Validation of the method showed a high degree of coincidence with the current planting distribution of tea crops in Zhejiang Province. The modified LESE model combined with GIS could be useful in quickly and accurately evaluating the land ecological suitability of tea crops, providing a scientific basis for the rational distribution of tea crops and acting as a reference to land policy makers and land use planners.
