提高蛇形机器人的三维运动控制能力是提高蛇形机器人环境适应能力的关键之一.虽然联结中枢模式生成器(Connectionist central pattern generator,CCPG)模型具有复杂度小、适合硬件实现等优点,但是目前的CCPG模型难以生成相位协调的多自...提高蛇形机器人的三维运动控制能力是提高蛇形机器人环境适应能力的关键之一.虽然联结中枢模式生成器(Connectionist central pattern generator,CCPG)模型具有复杂度小、适合硬件实现等优点,但是目前的CCPG模型难以生成相位协调的多自由度运动的控制信号,从而限制了它的三维步态控制能力.本文根据生物CPG机制的分层结构和运动神经元的功能,提出一个有层次化结构的CCPG(Hierarchical CCPG,HCCPG)模型.HCCPG模型由基本节律信号生成层、模式形成层、运动信号调整层这三个部分组成.运动信号调整层的运动神经元能够独立地对模式形成层的输出信号的幅值、相位等进行调整,从而较好地解决了CCPG模型难以生成相位协调的多自由度运动控制信号的问题.HCCPG模型具有步态控制能力强、复杂度小、有良好的扩展性等优点,从而适合用于控制三维步态.在HCCPG模型的基础上提出一个三维步态控制方法.仿真验证了这个控制方法的有效性.展开更多
Competitiveness is a wide concept applied to many fields, especially in economics. The study of tourism competitiveness has been focused on different factors that can enhance the prosperity of a destination. One of th...Competitiveness is a wide concept applied to many fields, especially in economics. The study of tourism competitiveness has been focused on different factors that can enhance the prosperity of a destination. One of these factors is innovation. Innovation makes destination＇s enterprises more advanced and efficient, therefore more productive. Innovation is an enhancer of competitiveness and a generator of prosperity because innovation in every aspect （technology, knowledge, organization, and processes） will provide a better quality of life for the inhabitants of the destination. The incidence of innovation on these concepts is validated by a structural equation model. We measure innovation by a range of indicators and through a factor analysis; we get the most relevant indicators of innovation for the model developed in Spain.展开更多
Infra Works是一款适用于基础设施项目的规划和方案设计的设计解决方案软件。软件可帮助设计人员创建包含丰富数据的地理信息模型,使设计人员能够在真实环境中规划和设计基础设施项目。项目地理模型是路线前期进行多方案研究的基础,本...Infra Works是一款适用于基础设施项目的规划和方案设计的设计解决方案软件。软件可帮助设计人员创建包含丰富数据的地理信息模型,使设计人员能够在真实环境中规划和设计基础设施项目。项目地理模型是路线前期进行多方案研究的基础,本文探讨使用infraworks软件快速搭建大范围地理信息模型的方法。展开更多
文摘提高蛇形机器人的三维运动控制能力是提高蛇形机器人环境适应能力的关键之一.虽然联结中枢模式生成器(Connectionist central pattern generator,CCPG)模型具有复杂度小、适合硬件实现等优点,但是目前的CCPG模型难以生成相位协调的多自由度运动的控制信号,从而限制了它的三维步态控制能力.本文根据生物CPG机制的分层结构和运动神经元的功能,提出一个有层次化结构的CCPG(Hierarchical CCPG,HCCPG)模型.HCCPG模型由基本节律信号生成层、模式形成层、运动信号调整层这三个部分组成.运动信号调整层的运动神经元能够独立地对模式形成层的输出信号的幅值、相位等进行调整,从而较好地解决了CCPG模型难以生成相位协调的多自由度运动控制信号的问题.HCCPG模型具有步态控制能力强、复杂度小、有良好的扩展性等优点,从而适合用于控制三维步态.在HCCPG模型的基础上提出一个三维步态控制方法.仿真验证了这个控制方法的有效性.
文摘Competitiveness is a wide concept applied to many fields, especially in economics. The study of tourism competitiveness has been focused on different factors that can enhance the prosperity of a destination. One of these factors is innovation. Innovation makes destination＇s enterprises more advanced and efficient, therefore more productive. Innovation is an enhancer of competitiveness and a generator of prosperity because innovation in every aspect （technology, knowledge, organization, and processes） will provide a better quality of life for the inhabitants of the destination. The incidence of innovation on these concepts is validated by a structural equation model. We measure innovation by a range of indicators and through a factor analysis; we get the most relevant indicators of innovation for the model developed in Spain.
