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轮手一体机器人群体构形的模块化动力学建模方法 被引量:2
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作者 胡亚南 马书根 +2 位作者 李斌 王明辉 王越超 《机械工程学报》 EI CAS CSCD 北大核心 2015年第1期24-33,共10页
轮手一体机器人是一种模块化机器人,其单模块自由度多,结构相对复杂,群体构形形式多样,且需要经常重构以适应不同环境。采用传统方法对其进行动力学建模导致重复建模,机器人重构时更新量较多。针对此问题,提出一种基于模块化思想的群体... 轮手一体机器人是一种模块化机器人,其单模块自由度多,结构相对复杂,群体构形形式多样,且需要经常重构以适应不同环境。采用传统方法对其进行动力学建模导致重复建模,机器人重构时更新量较多。针对此问题,提出一种基于模块化思想的群体构形动力学建模方法,减少了重复建模,且所得方程适用于串链、闭链、树形等各种拓扑构形。采用李代数作为局部坐标消除奇异位形,得到单模块机器人动力学方程的统一描述。根据群体构形的连接关系和连接类型定义接触集合和关节模型,建立约束力方程描述模块间的相互作用。针对动力学方程状态变量非矢量情况下的数值积分方法进行讨论,并给出实例仿真。 展开更多
关键词 轮手一体机器人 群体构形 动力学 无奇异 几何积分
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Morphological and karyotypic variation in three wild populations of Meretrix meretrix 被引量:1
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作者 邓岳文 杜晓东 +1 位作者 黄荣莲 王庆恒 《Chinese Journal of Oceanology and Limnology》 SCIE CAS CSCD 2008年第1期76-80,共5页
Three wild populations of Meretrix meretrix sampled from Dongxing, Beihai, and Shankou along the coast of Guangxi, China, were investigated with morphometry and karyometry. Six morphological indices (shell length, she... Three wild populations of Meretrix meretrix sampled from Dongxing, Beihai, and Shankou along the coast of Guangxi, China, were investigated with morphometry and karyometry. Six morphological indices (shell length, shell height, shell width, hinge length, total wet weight and shell weight) were measured. Differences in all morphological indices except hinge length were significant among the three populations (P < 0.05). The mean values of these indices (except for the hinge length) in the Dongxing population were larger than those in the Beihai and Shankou populations, although the latter had the largest hinge length. The karyotype of the Beihai, Shankou and Dongxing samples had ten metacentric, six submetacentric, and three subtelocentric chromosome pairs. No significant difference was shown in the centromeric index values of the chromosomes in the populations (P>0.05). However, the order of metacentric, submetacentric and subtelocentric chromosome pairs was variable among the three populations. The results indicate a high level of inter-population variation in morphology and karyotype. 展开更多
关键词 Meretrix meretrix POPULATION MORPHOLOGY KARYOTYPE
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