A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can...A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.展开更多
The system model of embedded reconfigurable system is discussed firstly, followed by the construction of the soft- ware and hardware platform. Based on the platform, the function trait and control models of digital si...The system model of embedded reconfigurable system is discussed firstly, followed by the construction of the soft- ware and hardware platform. Based on the platform, the function trait and control models of digital signal processing tasks are described. According the functional unit model and control model, a software/hardware integrating model with dataflow control infrastructure is constructed. The software/hardware partition is carded out in the experiments of ultrasonic signal processing, and the results show that the system model is practicable.展开更多
New embeddings of some weighted Sobolev spaces with weights a(x)and b(x)are established.The weights a(x)and b(x)can be singular.Some applications of these embeddings to a class of degenerate elliptic problems of the f...New embeddings of some weighted Sobolev spaces with weights a(x)and b(x)are established.The weights a(x)and b(x)can be singular.Some applications of these embeddings to a class of degenerate elliptic problems of the form-div(a(x)?u)=b(x)f(x,u)in?,u=0 on??,where?is a bounded or unbounded domain in RN,N 2,are presented.The main results of this paper also give some generalizations of the well-known Caffarelli-Kohn-Nirenberg inequality.展开更多
基金Supported by the National High Technology Research and Development Programme of China（2006AA04Z220）； the National Natural Science Foundation of China（60705027）；Partially Supported by Progranl for Changjiang SchoLars and Innovative Research Team in University（PCSIRT）（IRT0423）.
文摘A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
基金supported by the Research Project of “SUST Spring Bud”under contract number 2008BW2046 fron Shandong University of Science and Technology,China
文摘The system model of embedded reconfigurable system is discussed firstly, followed by the construction of the soft- ware and hardware platform. Based on the platform, the function trait and control models of digital signal processing tasks are described. According the functional unit model and control model, a software/hardware integrating model with dataflow control infrastructure is constructed. The software/hardware partition is carded out in the experiments of ultrasonic signal processing, and the results show that the system model is practicable.
基金supported by National Natural Science Foundation of China (Grant Nos. 11171092, 11571093 and 11371117)
文摘New embeddings of some weighted Sobolev spaces with weights a(x)and b(x)are established.The weights a(x)and b(x)can be singular.Some applications of these embeddings to a class of degenerate elliptic problems of the form-div(a(x)?u)=b(x)f(x,u)in?,u=0 on??,where?is a bounded or unbounded domain in RN,N 2,are presented.The main results of this paper also give some generalizations of the well-known Caffarelli-Kohn-Nirenberg inequality.
