In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition ...In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.展开更多
The asymptotic theory for nonlinear transformations of fractionally integrated time series is developed. By the use of fractional Occupation Times Formula, various nonlinear functions of fractionally integrated series...The asymptotic theory for nonlinear transformations of fractionally integrated time series is developed. By the use of fractional Occupation Times Formula, various nonlinear functions of fractionally integrated series such as ARFIMA time series are studied, and the asymptotic distributions of the sample moments of such functions are obtained and analyzed. The transformations considered in this paper includes a variety of functions such as regular functions, integrable functions and asymptotically homogeneous functions that are often used in practical nonlinear econometric analysis. It is shown that the asymptotic theory of nonlinear transformations of original and normalized fractionally integrated processes is diffent from that of fractionally integrated processes, but is similar to the asymptotic theory of nonlinear transformations of integrated processes.展开更多
This paper studies the problem of deriving an interface automata model from UML statechart, in which, interface automata is a formaliged model for describing component behavior in an open system, but there is no unive...This paper studies the problem of deriving an interface automata model from UML statechart, in which, interface automata is a formaliged model for describing component behavior in an open system, but there is no universal criterion for deriving behavior from component to construct the model. UML is a widely used modeling standard, yet it is very difficult to apply it to system verification and testing directly for its imprecise semantics. After analyzing the expression ability of the two models, several transforma- tion rules are defined and each step of transformation is described in detail, after that, the approach is illustrated with an example. The paper provides a method for acquiring interface automata and lays the foundation for related research.展开更多
In this paper, the dynamics behaviors on fo-δ parameter surface is investigated for Gledzer-Ohkitani- Yamada model We indicate the type of intermittency chaos transitions is saddle node bifurcation. We plot phase dia...In this paper, the dynamics behaviors on fo-δ parameter surface is investigated for Gledzer-Ohkitani- Yamada model We indicate the type of intermittency chaos transitions is saddle node bifurcation. We plot phase diagram on fo-δ parameter surface, which is divided into periodic, quasi-periodic, and intermittent chaos areas. By means of varying Taylor-microscale Reynolds number, we calculate the extended self-similarity of velocity structure function.展开更多
A sensory substitution device （SSD） is a technology that translates information for one sensory modality, like vision, into information for use by another, like touch. Though SSDs have been in existence for over fou...A sensory substitution device （SSD） is a technology that translates information for one sensory modality, like vision, into information for use by another, like touch. Though SSDs have been in existence for over four decades, effective training techniques for their use are rarely discussed. In this paper, we compare three training strategies on a particular SSD known as the vOICe. These comparisons were conducted using a minimal but active search and localization task of luminescent discs. These studies show that an interactive training paradigm, which combines the efforts of two trainees at the same time in a tag-like game, is more effective than passive training at a computer console or active training involving search and localization of luminescent discs. This finding supports philosophical views of perception that take interaction with the environment seriously. In particular, we argue that these findings are in support of certain features of the extended mind view as proposed by Andy Clark （2008）. In particular, the study suggests that when environmental conditions are responsive to one＇s behavioral activity, the activity itself is enhanced, as is predicted by the extended mind view.展开更多
基金Supported by the china postdoctoral Science Foundation （No. 20080430362）.
文摘In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain.
基金Supported by National Natural Science Foundation of China(No.70471050).
文摘The asymptotic theory for nonlinear transformations of fractionally integrated time series is developed. By the use of fractional Occupation Times Formula, various nonlinear functions of fractionally integrated series such as ARFIMA time series are studied, and the asymptotic distributions of the sample moments of such functions are obtained and analyzed. The transformations considered in this paper includes a variety of functions such as regular functions, integrable functions and asymptotically homogeneous functions that are often used in practical nonlinear econometric analysis. It is shown that the asymptotic theory of nonlinear transformations of original and normalized fractionally integrated processes is diffent from that of fractionally integrated processes, but is similar to the asymptotic theory of nonlinear transformations of integrated processes.
文摘This paper studies the problem of deriving an interface automata model from UML statechart, in which, interface automata is a formaliged model for describing component behavior in an open system, but there is no universal criterion for deriving behavior from component to construct the model. UML is a widely used modeling standard, yet it is very difficult to apply it to system verification and testing directly for its imprecise semantics. After analyzing the expression ability of the two models, several transforma- tion rules are defined and each step of transformation is described in detail, after that, the approach is illustrated with an example. The paper provides a method for acquiring interface automata and lays the foundation for related research.
基金supported by National Natural Science Foundation-the Science Foundation of China Academy of Engineering Physics (NSAF) under Grant No. 10576076the Major Projects of National Natural Science Foundation of China under Grant No. 10335010
文摘In this paper, the dynamics behaviors on fo-δ parameter surface is investigated for Gledzer-Ohkitani- Yamada model We indicate the type of intermittency chaos transitions is saddle node bifurcation. We plot phase diagram on fo-δ parameter surface, which is divided into periodic, quasi-periodic, and intermittent chaos areas. By means of varying Taylor-microscale Reynolds number, we calculate the extended self-similarity of velocity structure function.
文摘A sensory substitution device （SSD） is a technology that translates information for one sensory modality, like vision, into information for use by another, like touch. Though SSDs have been in existence for over four decades, effective training techniques for their use are rarely discussed. In this paper, we compare three training strategies on a particular SSD known as the vOICe. These comparisons were conducted using a minimal but active search and localization task of luminescent discs. These studies show that an interactive training paradigm, which combines the efforts of two trainees at the same time in a tag-like game, is more effective than passive training at a computer console or active training involving search and localization of luminescent discs. This finding supports philosophical views of perception that take interaction with the environment seriously. In particular, we argue that these findings are in support of certain features of the extended mind view as proposed by Andy Clark （2008）. In particular, the study suggests that when environmental conditions are responsive to one＇s behavioral activity, the activity itself is enhanced, as is predicted by the extended mind view.
