PRINCIPLE, CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT——ICE-SKATER ROBOT

Three main basic types of locomotion for a mobile robot were introduced and the advantages and disadvantages of a legged mobile robot, a wheeled mobile robot and an articulated mobile robot were also discussed. A new type of leg wheeled mobile robot was introduced which combines the adaptability of legged robot with the stability of wheeled robot. On the basis of the structure of the wheels, the paper described the principle of the ice skater robot developed from Roller walker and ALDURO and its construction. The paper also established an inertia coordinate system and a wheel coordinate system, and analyzed the configuration or the posture and the related kinematic constraints of the robot according to some assumptions. Based on the motion principle, a logic based coordinated control system and corresponded flowchart were designed. At last, taking the ice skater robot as an example the paper expounded its application and the actual experiment proved its feasibility.

The Distribution of the Oceanic Sea Skaters, <i>Halobates</i>inside and outside the <i>Kuroshio</i>

The purpose of this study was to clarify the distribution of oceanic Halobates in the area of the Kuroshio flowing near the southern shore in the direction of 100° - 120°, and also to compare the population density of Halobates between the area within or outside the area of the Kuroshio and also among seasons. This study was carried out during 8 cruises by R/V TANSEIMARU. The Kuroshio area south of the southern Japan coast (30°00'N - 35°00'N, 130°25'E - 141°04'E) was dominated by H. sericeus, and the averaged population-density of this species was significantly higher inside the Kuroshio than outside this current. On the Kuroshio, H. sericeus was dominant with the population density of 16,396.4 km-2 ± 66,138.4 [26] (Mean ± SD [n]), whereas the density of H. germanus was 8,581.9 km-2 ± 24,443.2 [26]. The two oceanic sea skaters, H. sericeusand H. germanus showed significant seasonal variation in the population density, with significantly higher density in October than other months, whereas there was no such significant October peak in the cosmopolitan oceanic sea skater, H. micans. The results of this study may suggest that H. sericeus could use the Kuroshio as a transportation tool to distribute a wide latitude area of from 10°N to 40°N in the western tropical, subtropical and temperate area in the Pacific Ocean.

Patterns of Nutrient Intake among Male and Female High School-Aged Cross-Country Skiers and Speed Skaters

This study aimed to determine the appropriate nutritional intakes and dietary habits of high school-aged cross-country skiers and speed skaters. The subjects, all high school students from N Prefecture, included 18 male cross-country skiers, 5 male speed skaters, 10 female cross-country ski players and 4 female speed skaters. Physical measurements, food intake frequency survey results, bone mineral density and exercise stress test outcomes, and lactic acid measurements were evaluated. Female athletes in both sports had higher body fat percentages relative to the average range stated for female athletes. Male speed skaters had a significantly higher maximum oxygen in-take than that male cross-country skiers did. By contrast, this parameter did not differ significantly among female athletes. A negative correlation was observed between the fat free mass and muscle mass, and a positive correlation was observed among the body fat percentage, fat percentage, and fat mass. Both male and female athletes had protein intake ratios within the reference ranges. All athletes except male speed skaters had lipid energy ratios that were higher than the upper limit of the reference value. Both male and female athletes also reported carbohydrate energy ratios within the reference ranges, but had cereal energy ratios below the reference values. Athletes should pay attention to the ingestion of various nutrients to ensure a sufficient energy intake. Accordingly, adolescent athletes should consume daily meals containing a good balance of staple foods, main dishes, side dishes, milk and other dairy products, and fruits.

Relationship between Cool Coma and Heat Coma Temperatures in the Oceanic Sea Skaters Halobates Collected near the Sumatra Island in the Indian Ocean

In the cruise, MR15-04 by R/V MIRAI, the samplings by the neuston net were performed in 23rd November to 14th December 2016 and three species of Halobates (H. germanus, H. micans, H. sp) were used for the temperature tolerance experiments after the collection. The neuston net was towed three times (3 × 15 min) on the starboard side of R/V MIRAI on the water surface with ship speed of 2 knot to water every 3 nights (19:00 - 20:00) at the fixed point in the south-western direction which was located at 50 km from the Sumatra island (4o03'S - 4o05'S, 101o53'E) in the Indonesia. Experiments on cool coma and heat coma were performed on the three species. Seconds for recovery from cool coma and heat coma were also examined on the Halobates in this study. Cool coma temperatures, gap temperature needed (temperature from the adapted temperature) for the cool coma and seconds for the recover from cool coma ranged 13.0oC to 25.0oC, 3.1oC to 16.1oC, 1 second to 4370 seconds, respectively. Heat coma temperature, gap temperature needed for the heat coma, seconds for the recover from heat coma ranged 29.4oC to 43.1oC, 1.9oC to 15.5oC, 2 seconds to 6420 seconds, respectively. The higher temperature of cool coma temperature during the last five days was shown when Madden-Julian Oscillation has passed over the ship, R/V MIRAI than the previous 10 days in the adults of H. germanus collected at the fixed place neat to Sumatra island (One way ANOVA: F-value = 2.314, df = 7, p = 0.028). Adults of un-described species, H. sp collected near to the Sumatra island, showed lower cool coma temperature [Mean ± SD: 15.51 ± 3.76 (9)] than those of H. germanus collected in the same place [16.96 ± 2.57 (191)]. This lower cool coma temperatures shown by this un-described species might be related to that this species should be a “shore” species inhabiting shore water in which many precipitation could cause the decreased surface temperature from 30oC - 31oC into about 25oC. Most of adults which suffered from the cool coma recovered within 20 seconds, whereas adults which suffered heat coma at 38oC and 39oC needed more than 200 seconds for the recovery and many of those which did it at more than 40oC needed more than 1000 second and some ones did not recover at all. All adults who suffered at more than 43oC did not recover at all. There were significant and negative correlation between cool and heat coma temperatures shown by the adults of H. germanus. This correlation might imply a common physiological mechanism for lower and higher temperature tolerances for this species.

Comparative Study of Salinity Tolerance an Oceanic Sea Skater, <i>Halobates</i><i>micans</i>and Its Closely Related Fresh Water Species, <i>Metrocoris</i><i>histrio</i>

This study aims, first, to examine the limit for tolerance to lower salinity by an oceanic sea skater, Halobates micans, and , second, to make it clear whether exclusively fresh water Halobatinae species, Metrocoris histrio has salinity tolerance. Adults of H. micans were collected using Neuston Net from the starboard side of R/V MIRAI on a fixed station at 8°S, 80°E, whereas those of M. histrio were collected from a small pond filled with a spring fresh water in Kochi (33°N, 133°E), Japan. Time in survival was measured in starved condition under several salinity conditions: 0‰, 2‰, 4‰, 6‰, 8‰, 9‰ and 10‰ for H. micans;0‰, 5‰, 10‰, 12.5‰, 15‰ for M. histrio. Half of adults were in coma due to lower salinity under 10‰ and time in survival was less than 10 hours under less than 4‰ for H. micans. Time in survival was half at 5‰ of 80 hours on average at 0‰ as a control and less than 10 hours at 10‰ or higher salinity for M. histrio. Relatively flexible osmo-regulation ability by H. micans would be related to wide variety of salinity condition of surface oceanic water, whereas very limited tolerance even to lower salinity of 5‰ may be permitted by the no chances to be exposed to brackish water in natural habitats of M. histrio. This study showed that salinity tolerance of Halobatinae species would reflect, directly, the salinity condition of their habitats.

Relationship of Abundance of Oceanic Sea Skaters, Halobates in the Tropical Pacific Ocean to Surface Biomass and Chlorophyll/Oxygen Concentrations

Relationship of population density of oceanic sea skaters collected from tropical and subtropical zones in the Pacific Ocean was examined to chlorophyll concentration/Dissolved Oxygen concentration and biomass in surface sea water. The four parameters shown above were measured at the site of 12oN 135oN during the cruise, MR13-03 cruise, and at the site of 25oN 160oE during another cruise KH-14-02. Significant and positive correlation between all biomass (especially invertebrates) and population density of oceanic sea skaters collected with a Neuston-Net trailing during 15 min was shown in overall analysis on the data of the both samplings (p oN 160oE than that at 12oN 135oN with similar value of chlorophyll value (p oN 160oE than that at 12oN 135oN for keeping high density population of oceanic sea skaters.

SKATER全力推出实力品牌以及卡通标志产品

Skater公司于1938年由制造、销售钢笔起家，于1950年正式建立了THESKATER钢笔(股份)公司，并从1972年起开始从事塑料家庭日用品的制造和销售业务。1983年公司同SANRIO公司携手合作，随后又同拥有SNIOPY卡通标志产品的DITERMINT PRODUCTIONS、BANDAI、TOMY等公司合作，并向SANRIO、BANDAI、HAPINET、西松屋连锁商店、

Comparison of temperature preference for habitat among three species of oceanic sea skaters,Halobates micans,H.germanus and H.sericeus

The main purpose of this study is to investigate temperature preference for habitat of three species of oceanic sea skaters, Halobates micans, H. germanus and H. sericeus. For each of the three species, we examined the relationship between population density and surface water and air temperatures in the sampling sites during three science cruises in the tropical to temperate zone of the Pacific Ocean. A higher density of H. micans was observed in sites with higher water and air temperatures at 28℃?- 30℃?than that at site with lower temperatures of 23℃?- 28℃. A higher density of H. germanus was observed in sites with extremely high temperatures of 29.6℃?and 30℃?than that in sites with moderately high temperatures of 28℃?- 29℃?in the Pacific Ocean, while a relatively high density was observed in sites with a wide range of temperatures from 24℃?- 30℃?in the southern hemisphere Pacific Ocean. The relatively low temperature preference of 23℃?- 28℃?exhibited by H. sericeus may be related to its size as the smallest among the three species and its relatively wide latitudinal distribution ranging up to 40?N.

Skater引流管在输尿管结石脓肾中的新应用

目的 探讨利用skater 引流管肾穿刺至输尿管上段引流,并且利用skater 引流管的特殊结构,二期经尿道输尿管镜碎石取石治疗输尿管结石引起梗阻性脓肾疗效.方法 将39 例输尿管中上段结石引起的梗阻性脓肾患者,一期先行经皮肾穿刺skater 引流管引流,二期经尿道输尿管镜下钬激光碎石取石术.结果 36 例输尿管结石-次性成功碎石取石,3 例因输尿管严重扭曲,经尿道输尿管镜不能通过扭曲输尿管,改行微通道经皮肾碎石取石术.36 例患者手术时间25 ～ 65 min,平均46 min,术后住院1 ～ 3 d 出院,术后2 ～ 12 周拔出双J 管.随访3 ～ 6 个月,超声检查肾积水明显改善.结论 输尿管结石梗阻性脓肾的患者, skater 引流管置入输尿管上段引流具有解除梗阻,充分引流脓液,术中防止较大结石冲入肾盂,损伤小、安全可靠、恢复快等优点,值得临床推广应用.

Dynamic Analysis of the Biped Ice-skater Robot of Passive Wheel Type

A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.

Direct and Inverse Kinematic Analysis of a Leg-wheeled Passive Wheel Mobile Robot - Ice-skater Robot

A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.

基于SKATER聚类算法设计血吸虫病监测点的探索性研究

目的探索建立血吸虫病监测点选点方法,提高疫情监测效率与质量。方法采用基于最小生成树的SKATER聚类算法对安徽省31个历史血吸虫病流行县(区)进行空间约束聚类,从每个聚类中确定1个监测点,评估聚类监测点网络对安徽省血吸虫病疫情的代表性和监测效果,并比较其与当地国家血吸虫病监测点网络监测效果的优劣。结果聚类监测点与聚类区域的环境因素无显著差异,同质性较高。在选择同样个数的监测点时,聚类监测点与国家血吸虫病监测点在整个地区血吸虫病疫情的平均水平和长期趋势的监测上无显著差异;但在未监测地区的疫情预测和估计上,聚类监测点的效果明显优于国家监测点。结论基于SKATER聚类算法的血吸虫病监测点选择方法能够更好地代表整个地区的疫情水平,可作为传统监测点选择方法的有效补充。

Wang Chunlu, A Strong-Willed Skater

BEFORE the ’98 Winter Olympic Games, the psychology teacher of the China National Speed Skating Team asked each member to write down a few words expressing their state of mind. "Others can’t scramble over you unless you yourself bend down," wrote Wang Chunlu, a young skater from Changchun.

Unyielding Skater Becomes a New Star at Asian Winter Games

HARBIN, February, 1996. Only one Chinese athlete, wearing the No. 4 helmet, made it to the finals of the women’s short distant speed skating at the Third Asian Winter Games (TAWG). She was surrounded by one Japanese and four South Korean athletes, including some who had set world and Asian records. Almost no one believed that the Chinese woman could win. However, at least one person believed that she could—Yang Yang herself. In a short two minutes, she displayed her brilliance, overshadowing those world and Asian record holders. One day later, she joined her teammates in setting a new world record in the 3,000-meter relay race. Yang Yang emerged as a new star in the winter games.

基于发展潜力评价与障碍因子识别的村庄分类与发展策略研究——以河南新县为例

科学划分村庄类型并制定针对性的村庄发展策略是分类推进乡村振兴的基础。本研究以河南新县为例,分别采用综合指数法和障碍度模型测算村庄发展潜力,识别阻碍村庄发展的障碍因子类型和数量,并以此为基础进行村庄分类和分区,制定差异化的村庄发展策略。结果表明:新县村庄发展潜力存在明显的地域分异,呈现南北部和县城周边较高、东西部较低的总体空间格局,坡度、地质条件、人口和村庄用地规模、距县城和卫生院距离等是限制新县村庄发展的主要障碍因子,其中东南部的田铺乡和西南部的卡房乡个别村庄障碍因子数较多,未来继续保留发展的难度较大。新县全域村庄划分为特色保护类23个、城郊融合类9个、集聚提升类79个、搬迁撤并类13个、整治改善类69个,占比分别为11.92%、4.66%、40.93%、6.74%、35.75%,并采用SKATER空间聚类算法划分村庄发展分区,在此基础上依据各分区村庄发展特征、优势和短板提出针对性村庄发展策略。本研究可为村庄发展障碍因子识别及乡村振兴精准施策等相关研究和实践提供借鉴。

基于姿态特征融合的短道速滑运动员多目标追踪

短道速滑运动员滑行过程中存在尺度变化大、频繁遮挡、运动模糊以及外观相似等复杂情况,使得多目标追踪过程面临更为严峻的挑战.为此,构建一个短道速滑场景下由37段短道速滑运动员比赛视频片段组成多目标追踪数据集SSSMOT,并基于姿态信息提出一种多目标追踪方法.首先从锚框、损失函数和非极大值抑制3个方面优化YOLOv5检测模型,提高检测准确度;然后设计特征提取网络P-RNet,依据姿态信息的指引针对性地提取特征,提高特征鲁棒性;最后使用姿态关键点改进数据关联匹配方法,在一定程度上缓解因运动员外观相似导致匹配错误的问题.在SSSMOT和SKMOT数据集上与其他方法的实验结果表明,所提方法针对多目标追踪的准确度达到96.43%;并通过其他评价指标和消融性实验,证明了该方法的有效性和优越性.

基于空间聚类的西藏耕地后备资源开发组合模型

耕地后备资源开发科学合理布局直接影响土地资源可持续利用以及区域生态环境保护。以西藏自治区为研究区,以西藏第二轮耕地后备资源调查评价成果为基础,针对西藏特殊环境,提出基于自然和社会适宜性的西藏耕地后备资源开发适宜性评价模型;并以乡镇为聚类单元,以各乡镇耕地后备资源综合适宜性指数、集中连片指数以及增产潜力指数为变量,考虑空间近邻关系,采用基于图论的SKATER算法进行聚类分析,确定西藏耕地后备资源开发组合。结果显示:依据开发适宜性评价模型,西藏自治区耕地后备资源最适宜、中等适宜和勉强适宜的地块分别占全区耕地后备资源总面积的27.98%、49.09%、22.93%;根据开发组合模型,将具有耕地后备资源的乡镇分为3个组合,分别为近期重点开发、中期适度开发及后期开发区域。此分区结果保持了区块间的近邻关系及行政区界的完整性,为耕地后备资源开发区划提供借鉴,同时为发挥农业规模效益提供了科学依据。

对我国优秀短距离速滑运动员力量耐力的研究——运用“最大力量能力阈”评价力量耐力水平的试验

运用“最大力量能力阈”的测试方法,对国内10名男子和10名女子优秀短距离速滑运动员的力量耐力进行测试与研究。建立了力量的检测与评价平台,从负荷重量与运动速度两个方面综合评价运动员的力量素质能力。从力量素质的结构上发现了我国速滑运动员存在的问题,提出了在保持最大力量和快速力量的基础上优先发展“力量耐力”,特别是“速度力量耐力”的力量训练指导思想。通过1年多的实施已显示出明显的效果。对备战2006年冬季奥运会的重点运动员进行了系统测试和专门指导,获得了显著的训练效果。

从动轮式溜冰机器人原理与直线溜冰时的动力学性能分析

综合轮式和腿式机器人的优点 ,提出基于溜冰原理的从动轮式溜冰机器人概念 .讨论了大腿运动型和小腿运动型溜冰机器人的结构图 .以小腿运动型溜冰机器人为例 ,运用非完整约束存在时的广义 Lagrange- Routh方程推导了机器人直线溜冰时的运动微分方程 ,并讨论了机器人在各步态时的位姿 ,利用

优秀速滑运动员弯道蹬冰技术动作结构的模式特征研究

建立优秀速滑运动员弯道蹬冰技术动作结构的模式特征 ,对技术动作的诊断和评价具有重要意义。通过运动生物力学方法从三维角度对世界优秀运动员的弯道蹬冰技术进行研究 ,认为 :步长间滑步长度和滑步宽度的组合应遵循 3.6∶1的原则 ;蹬冰过程中人体重心的纵向位移幅度明显大于横向 ,并非传统认识中的横向移动幅度大于纵向 ;优秀速滑运动员运用Clap式冰刀时的展膝程度并非传统认识上的充分伸直 ,而与采用传统冰刀时的展膝程度相似 ;提供了用起蹬条件作为判断和评价运动员蹬冰初始条件的方法 。