AFTER ten years of silence since his Blue Kite of 1992, earlier this year Tian Zhuangzhuang, one of the most respected of China’s fifth-generation directors, made his version of Spring in a Small Town. A classic fil...AFTER ten years of silence since his Blue Kite of 1992, earlier this year Tian Zhuangzhuang, one of the most respected of China’s fifth-generation directors, made his version of Spring in a Small Town. A classic film originally directed by Fei Mu in 1948, it is Tian’s favorite. He has watched the film at least once a year for the past decade, each time with fresh anticipation.展开更多
The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and robots.Generally,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of...The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and robots.Generally,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of which is obviously conflict with the biological observations.A planar spring-mass model with a nonlinear spring leg is presented to explore the intrinsic mechanism of legged locomotion with elastic component.The leg model is formulated via decoupling the stiffness coefficient and exponent of the leg compression in order that the unified stiffness can be scaled as convex,concave as well as linear profile.The apex return map of the SLIP runner is established to investigate dynamical behavior of the fixed point.The basin of attraction and Floquet Multiplier are introduced to evaluate the self-stability and initial state sensitivity of the SLIP model with different stiffness profiles.The numerical results show that larger stiffness exponent can increase top speed of stable running and also can enlarge the size of attraction domain of the fixed point.In addition,the parameter variation is conducted to detect the effect of parameter dependency,and demonstrates that on the fixed energy level and stiffness profile,the faster running speed with larger convergence rate of the stable fixed point under small local perturbation can be achieved via decreasing the angle of attack and increasing the stiffness coefficient.The perturbation recovery test is implemented to judge the ability of the model resisting large external disturbance.The result shows that the convex stiffness performs best in enhancing the robustness of SLIP runner negotiating irregular terrain.This research sheds light on the running performance of the SLIP runner with nonlinear leg spring from a theoretical perspective,and also guides the design and control of the bio-inspired legged robot.展开更多
秸秆还田配施氮肥是解决旱作农田"耕层变浅"、"土壤紧实"、"有效耕层土壤减少"问题的重要措施之一,在旱作农业生产中具有重要意义。为探明秸秆深翻还田配施氮肥对东北春玉米光合性能和产量的影响,本研究...秸秆还田配施氮肥是解决旱作农田"耕层变浅"、"土壤紧实"、"有效耕层土壤减少"问题的重要措施之一,在旱作农业生产中具有重要意义。为探明秸秆深翻还田配施氮肥对东北春玉米光合性能和产量的影响,本研究于2014—2015年在辽宁铁岭设置S0F0(秸秆0 kg hm^(–2)+纯NPK 0 kg hm^(–2))、SN0(秸秆9000 kg hm^(–2)+纯N 0 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2))、SN1(秸秆9000 kg hm^(–2)+纯N 112.5 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2))、S0N2(秸秆0 kg hm^(–2)+纯N 225 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2),当地传统种植方式,CK)、SN2(秸秆9000kg hm^(–2)+纯N 225 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2))、SN3(秸秆9000 kg hm^(–2)+纯N 337.5 kg hm^(–2)+纯P 112.5kg hm^(–2)+纯K 90 kg hm^(–2))6个处理开展了研究。结果表明,秸秆还田配施氮肥对春玉米籽粒产量和生物产量影响显著,秸秆还田9000 kg hm^(–2)和配施氮肥225 kg hm^(–2)处理的籽粒产量最高,比秸秆不还田和施氮量225 kg hm^(–2)处理(CK)2年平均增产6.33%,增产的主要原因是百粒重和行粒数的显著提高和秃尖的显著降低;玉米籽粒产量并未随着施氮量的增加而持续增加;相同施氮量条件下,秸秆还田比秸秆不还田2年平均群体生物产量增加2.95%。秸秆还田配施氮肥能够增加春玉米株高、茎粗、叶面积,提高叶绿素含量和光合作用,相同施氮量条件下,秸秆还田比秸秆不还田处理2年平均灌浆期叶面积增加2.71%,光合速率提高4.80%。综合分析认为,秸秆还田9000 kg hm^(–2)和配施氮肥225kg hm^(–2)是辽北棕壤区春玉米生产比较理想的还田和施肥模式,在该区域农业发展中具有一定的应用价值。展开更多
文摘AFTER ten years of silence since his Blue Kite of 1992, earlier this year Tian Zhuangzhuang, one of the most respected of China’s fifth-generation directors, made his version of Spring in a Small Town. A classic film originally directed by Fei Mu in 1948, it is Tian’s favorite. He has watched the film at least once a year for the past decade, each time with fresh anticipation.
基金supported by National Natural Science Foundation of China(Grant No.61175107)National Hi-tech Research and Development Program of China(863 Program+3 种基金Grant No.2011AA0403837002)Self-Planned Task of State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyChina(Grant No.SKLRS201006B)
文摘The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and robots.Generally,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of which is obviously conflict with the biological observations.A planar spring-mass model with a nonlinear spring leg is presented to explore the intrinsic mechanism of legged locomotion with elastic component.The leg model is formulated via decoupling the stiffness coefficient and exponent of the leg compression in order that the unified stiffness can be scaled as convex,concave as well as linear profile.The apex return map of the SLIP runner is established to investigate dynamical behavior of the fixed point.The basin of attraction and Floquet Multiplier are introduced to evaluate the self-stability and initial state sensitivity of the SLIP model with different stiffness profiles.The numerical results show that larger stiffness exponent can increase top speed of stable running and also can enlarge the size of attraction domain of the fixed point.In addition,the parameter variation is conducted to detect the effect of parameter dependency,and demonstrates that on the fixed energy level and stiffness profile,the faster running speed with larger convergence rate of the stable fixed point under small local perturbation can be achieved via decreasing the angle of attack and increasing the stiffness coefficient.The perturbation recovery test is implemented to judge the ability of the model resisting large external disturbance.The result shows that the convex stiffness performs best in enhancing the robustness of SLIP runner negotiating irregular terrain.This research sheds light on the running performance of the SLIP runner with nonlinear leg spring from a theoretical perspective,and also guides the design and control of the bio-inspired legged robot.
文摘秸秆还田配施氮肥是解决旱作农田"耕层变浅"、"土壤紧实"、"有效耕层土壤减少"问题的重要措施之一,在旱作农业生产中具有重要意义。为探明秸秆深翻还田配施氮肥对东北春玉米光合性能和产量的影响,本研究于2014—2015年在辽宁铁岭设置S0F0(秸秆0 kg hm^(–2)+纯NPK 0 kg hm^(–2))、SN0(秸秆9000 kg hm^(–2)+纯N 0 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2))、SN1(秸秆9000 kg hm^(–2)+纯N 112.5 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2))、S0N2(秸秆0 kg hm^(–2)+纯N 225 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2),当地传统种植方式,CK)、SN2(秸秆9000kg hm^(–2)+纯N 225 kg hm^(–2)+纯P 112.5 kg hm^(–2)+纯K 90 kg hm^(–2))、SN3(秸秆9000 kg hm^(–2)+纯N 337.5 kg hm^(–2)+纯P 112.5kg hm^(–2)+纯K 90 kg hm^(–2))6个处理开展了研究。结果表明,秸秆还田配施氮肥对春玉米籽粒产量和生物产量影响显著,秸秆还田9000 kg hm^(–2)和配施氮肥225 kg hm^(–2)处理的籽粒产量最高,比秸秆不还田和施氮量225 kg hm^(–2)处理(CK)2年平均增产6.33%,增产的主要原因是百粒重和行粒数的显著提高和秃尖的显著降低;玉米籽粒产量并未随着施氮量的增加而持续增加;相同施氮量条件下,秸秆还田比秸秆不还田2年平均群体生物产量增加2.95%。秸秆还田配施氮肥能够增加春玉米株高、茎粗、叶面积,提高叶绿素含量和光合作用,相同施氮量条件下,秸秆还田比秸秆不还田处理2年平均灌浆期叶面积增加2.71%,光合速率提高4.80%。综合分析认为,秸秆还田9000 kg hm^(–2)和配施氮肥225kg hm^(–2)是辽北棕壤区春玉米生产比较理想的还田和施肥模式,在该区域农业发展中具有一定的应用价值。
