Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
Cannibalism is widespread in size-structured populations. If cannibals and victims are in different life stages, dominant cohorts of cannibals can regulate recruitment. Arizona Tiger Salamanders, Ambystoma tigrinum ne...Cannibalism is widespread in size-structured populations. If cannibals and victims are in different life stages, dominant cohorts of cannibals can regulate recruitment. Arizona Tiger Salamanders, Ambystoma tigrinum nebulosum, exhibit facultative paedomorphosis in which salamander larvae either metamorphose into terrestrial adults or become sexually mature while still in their larval form. Although many salamanders exhibit cannibalism of larvae, the Arizona Tiger Salamander also exhibits cannibalism of young by the aquatic adults. We formulate a differential equations model of this system under the assumption that the terrestrial adults do not impact the system beyond their contribution to the birth of young larvae. We establish non-negativity, boundedness and persistence of the salamander population under certain assumptions. We consider the equilibrium states of the system in the presence or absence of a birth contribution from the terrestrial or metamorph adults. Constant per capita paedomorphosis leads to asymptotically stable equilibria. The per capita paedomorphosis rate of the larvae must be density dependent in order for periodic solutions to exist. Furthermore, the stage transition rate must be sufficiently decreasing in order to guarantee the existence of an unstable equilibrium. Periodic solutions are only possible in the presence of a unique non-trivial unstable equilibrium. Our results conform to previous theory on paedomorphosis which suggests general applicability of our results to similar systems.展开更多
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
基金We acknowledge that part of this research has been made possible by support from the Murray State University Center for Institutional Studies and Research and the National Science Foundation （DEB 0109436 and DUE-1028125）.
文摘Cannibalism is widespread in size-structured populations. If cannibals and victims are in different life stages, dominant cohorts of cannibals can regulate recruitment. Arizona Tiger Salamanders, Ambystoma tigrinum nebulosum, exhibit facultative paedomorphosis in which salamander larvae either metamorphose into terrestrial adults or become sexually mature while still in their larval form. Although many salamanders exhibit cannibalism of larvae, the Arizona Tiger Salamander also exhibits cannibalism of young by the aquatic adults. We formulate a differential equations model of this system under the assumption that the terrestrial adults do not impact the system beyond their contribution to the birth of young larvae. We establish non-negativity, boundedness and persistence of the salamander population under certain assumptions. We consider the equilibrium states of the system in the presence or absence of a birth contribution from the terrestrial or metamorph adults. Constant per capita paedomorphosis leads to asymptotically stable equilibria. The per capita paedomorphosis rate of the larvae must be density dependent in order for periodic solutions to exist. Furthermore, the stage transition rate must be sufficiently decreasing in order to guarantee the existence of an unstable equilibrium. Periodic solutions are only possible in the presence of a unique non-trivial unstable equilibrium. Our results conform to previous theory on paedomorphosis which suggests general applicability of our results to similar systems.
