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
Local mesh refinement is one of the key steps in the implementations of adaptive finite element methods. This paper presents a parallel algorithm for distributed memory parallel computers for adaptive local refinement...Local mesh refinement is one of the key steps in the implementations of adaptive finite element methods. This paper presents a parallel algorithm for distributed memory parallel computers for adaptive local refinement of tetrahedral meshes using bisection. This algorithm is used in PHG, Parallel Hierarchical Grid Chttp：//lsec. cc. ac. cn/phg/）, a toolbox under active development for parallel adaptive finite element solutions of partial differential equations. The algorithm proposed is characterized by allowing simukaneous refinement of submeshes to arbitrary levels before synchronization between submeshes and without the need of a central coordinator process for managing new vertices. Using the concept of canonical refinement, a simple proof of the independence of the resulting mesh on the mesh partitioning is given, which is useful in better understanding the behaviour of the biseetioning refinement procedure.展开更多
This paper considers the mixed covolume method for the second-order elliptic equations over quadrilaterals.Superconvergence results are established in this paper on quadrilateral grids satisfying the h^2-parallelogram...This paper considers the mixed covolume method for the second-order elliptic equations over quadrilaterals.Superconvergence results are established in this paper on quadrilateral grids satisfying the h^2-parallelogram condition when the lowest-order Raviart-Thomas space is employed in the mixed covolume method.The authors prove O(h^2) accuracy between the approximate velocity or pressure and a suitable projection of the real velocity or pressure in the L^2 norm.Numerical experiments illustrating the theoretical results are provided.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 the 973 Program of China 2005CB321702China NSF 10531080.
文摘Local mesh refinement is one of the key steps in the implementations of adaptive finite element methods. This paper presents a parallel algorithm for distributed memory parallel computers for adaptive local refinement of tetrahedral meshes using bisection. This algorithm is used in PHG, Parallel Hierarchical Grid Chttp：//lsec. cc. ac. cn/phg/）, a toolbox under active development for parallel adaptive finite element solutions of partial differential equations. The algorithm proposed is characterized by allowing simukaneous refinement of submeshes to arbitrary levels before synchronization between submeshes and without the need of a central coordinator process for managing new vertices. Using the concept of canonical refinement, a simple proof of the independence of the resulting mesh on the mesh partitioning is given, which is useful in better understanding the behaviour of the biseetioning refinement procedure.
基金supported by the '985' program of Jilin Universitythe National Natural Science Foundation of China under Grant No.10971082the NSAF of China under Grant No.11076014
文摘This paper considers the mixed covolume method for the second-order elliptic equations over quadrilaterals.Superconvergence results are established in this paper on quadrilateral grids satisfying the h^2-parallelogram condition when the lowest-order Raviart-Thomas space is employed in the mixed covolume method.The authors prove O(h^2) accuracy between the approximate velocity or pressure and a suitable projection of the real velocity or pressure in the L^2 norm.Numerical experiments illustrating the theoretical results are provided.
