The transformation of the development China＇s privatization of city public utilities？ vigorously promote the government function, however, the relative monopoly administrative operation system, functions decentraliz...The transformation of the development China＇s privatization of city public utilities？ vigorously promote the government function, however, the relative monopoly administrative operation system, functions decentralized system of government regulation and legal system construction is lagging behind, can making the privatization process easily lead to the emergence of efficient generalization, must be identified and avoided. This paper presents efficient generalization of privatization of public utility of our country city in measure, and analyzes the performance efficiency of the three resulting generalization.展开更多
In this review we have summarized some recent results mainly reported by our group that focused on the development of smart gating nanochannels based on polymer films. These nanochannels were prepared using a track-et...In this review we have summarized some recent results mainly reported by our group that focused on the development of smart gating nanochannels based on polymer films. These nanochannels were prepared using a track-etch process. The responsive materials/molecules and modification methods/techniques have also been demonstrated, from which we have obtained a series of smart gating nanochannels that can respond to single/dual external stimuli, e.g., pH, ion, temperature, light, and so on. These studies utilize responsive behaviors to regulate ionic transport properties inside a single nanochannel and demonstrate the fea-sibility of designing other smart nanodevices in the future.展开更多
Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener...Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.展开更多
文摘The transformation of the development China＇s privatization of city public utilities？ vigorously promote the government function, however, the relative monopoly administrative operation system, functions decentralized system of government regulation and legal system construction is lagging behind, can making the privatization process easily lead to the emergence of efficient generalization, must be identified and avoided. This paper presents efficient generalization of privatization of public utility of our country city in measure, and analyzes the performance efficiency of the three resulting generalization.
基金supported by the National Basic Research Program of China(973 Program,2011CB935703,2010CB934700,2009CB930404 &2007CB936403)National Natural Science Foundation of China(20974113,20920102036)Center for Molecular Science,Chinese Academy of Sciences (CX-201014)
文摘In this review we have summarized some recent results mainly reported by our group that focused on the development of smart gating nanochannels based on polymer films. These nanochannels were prepared using a track-etch process. The responsive materials/molecules and modification methods/techniques have also been demonstrated, from which we have obtained a series of smart gating nanochannels that can respond to single/dual external stimuli, e.g., pH, ion, temperature, light, and so on. These studies utilize responsive behaviors to regulate ionic transport properties inside a single nanochannel and demonstrate the fea-sibility of designing other smart nanodevices in the future.
基金supported by the National Basic Research Program of China (Grant No. 2013CB035501)
文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.
