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A Trot and flying Trot Control Method for Quadruped Robot Based on Optimal Foot Force Distribution

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Journal of Bionic Engineering 2019年第4期16卷 621-632页

作者： Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou Center for Robotics School of Control Science and EngineeringShandong UniversityJinan 250061China

In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying trot gait is accomplished by mapping the robot torso motion to the foot *** force distribution calculated by the torso virtual model is converted into a quadratic optimization problem and solved in real time by the open source library *** transition between the trot gait and the flying trot gait is achieved by coordinating leg motion *** results of the dynamic simulation verify that the proposed method can realize the 3D stable flying trot *** against the trot gait,the flying trot gait can improve the speed of the quadruped *** the trot gait and the flying trot gait,the quadruped robot can move efficiently and adapt to complex terrains.

关键词： quadruped robot flying trot virtual model control quadratic optimization

Fishing Ground Distribution of Neon flying Squid (Ommastrephes bartramii) in Relation to Oceanographic Conditions in the Northwest Pacific Ocean

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Journal of Ocean University of China 2017年第6期16卷 1157-1166页

作者： YU Wei CHEN Xinjun YI Qian College of Marine Sciences Shanghai Ocean University Shanghai 201306 P. R. China National Engineering Research Center for Oceanic Fisheries Shanghai Ocean University Shanghai 201306 P. R. China Key Laboratory of Sustainable Exploitation of Oceanic Fisheries Resources Ministry of Education Shanghai Ocean University Shanghai 201306 P. R. China Collaborative Innovation Center for Distant-water Fisheries Shanghai Ocean University Shanghai 201306 P. R. China

Neon flying squid, Ommastrephes bartramii, is a squid species of the North Pacific Ocean, which plays an important economical role in the international fishery. Logbook data for Chinese squid-jigging fishery over 2004–2011 were used to evaluate the relationship between the fishing grounds of the squid and the convergent frontal areas, which were defined by the contour lines of specific sea surface temperature(SST) and chlorophyll-a(Chl-a) concentration. Our results indicate that the SST in the range of 15 to 19℃ and the Chl-a concentration in the range of 0.1 to 0.4 mg m^(-3) are the favorable conditions for the aggregation of the squid. Additionally, we deduced that the SST at 17.5℃ and the Chl-a concentration at 0.25 mg m^(-3) are the optimal environmental conditions for the aggregation of O. bartramii. In August, the annual CPUE is positively correlated with the proportion of the fishing grounds with favorable SST and Chl-a concentration, as well as the combination of the two variables, implying that the abundance of the squid annually is largely depending on the presence of the favorable environmental conditions for fishery in August. Minor spatial difference between mean latitudinal location of the 17.5℃ SST and 0.25 mg m^(-3) Chl-a fronts can increase the CPUEs of O. bartramii. Furthermore, the monthly latitudinal gravity centers of the CPUE closely followed the mean latitudinal position of the contour lines of the 17.5℃ SST and the 0.25 mg m^(-3) Chl-a concentration. Our findings suggest the convergent oceanographic features(fronts) play significant roles in regulating the distribution and abundance of the western stock of the winter-spring cohort of O. bartramii, which can help people to improve their ability to discover the O. bartramii fishing grounds with higher productivity.

关键词： neon flying squid sea surface temperature chlorophyll-a oceanic fronts fishing ground the Northwest Pacific Ocean

The use of artificial nest boxes by Siberian flying squirrels (Pteromys volans) in South Korea

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Journal of Forestry Research 2019年第3期30卷 1131-1137页

作者： Jong-U Kim Woo-shin Lee Eun-Jae Lee Department of Forest Sciences Seoul National University Seoul 08826Republic of Korea Urban Planning Research Division Daejeon Sejong Research InstituteDaejeon 34863Republic of Korea

In this study, we examined the use of artificial nest boxes by Siberian flying squirrels (Pteromys volans) in three coniferous and mixed forests in Gangwon Province, South Korea. Six hundred and twelve boxes with different sized entry holes (ranging from 3 to 7 cm in diameter) were placed in the forests between 2004 and 2009. Pteromys volans used nine boxes in the coniferous forests and two boxes in the mixed forests. The squirrels only used boxes with entrance holes measuring 3.5, 4, and 5 cm in diameter, showing a strong and moderate preference for boxes with 5 and 4-cm holes, respectively, and a strong avoidance for boxes with 3- and 7-cm holes. Therefore, we suggest placing artificial nest boxes with entrance holes 5 cm in diameter to encourage breeding activity. Most nests made in the artificial boxes were composed of fibrous materials from woody vines. We recommend placing artificial nest boxes with holes of 5-cm diameter in coniferous forests, which support dense populations of P. volans, to survey whether this approach would positively affect the breeding habits and population maintenance of this species.

关键词： Artificial nest box Coniferous forests Nest materials Siberian flying squirrel Woody vines

Reliability Design of an Electronic Cam Curve for flying Shear Machine in Short Materials Cutting

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Journal of Shanghai Jiaotong university(Science) 2020年第2期25卷 246-252页

作者： BI Junxi FAN Wenze HUANG Hongzhong LIU Bin School of Mechanical Engineering Inner Mongolia University of TechnologyHohhot 010051China College of Aviation Inner Mongolia University of TechnologyHohhot 010051China Institute of Reliability Engineering University of Electronic Science and Technology of ChinaChengdu 611731China

The structure and the production process for flying shear machine are introduced ***,a quintic polynomial is applied to the design of an electronic cam system for the rotary knife axis in short materials *** dimensionless equation for a quintic polynomial cam curve is ***,the curve is plotted with the cam constructor integrated into Siemens engineering development software SCOUT and it is tested with a laboratory platform,which consists of a motion controller SIMOTION and motor drivers SINAMICS *** results show that the running stability of the flying shear machine and the position control accuracy of the rotary knife can be effectively improved by using the curve designed in this paper.

关键词： flying shear machine electronic cam curve quintic polynomial SIMOTION non-dimensionalization

Algorithm of Attitude Control and Its Simulation of Free-flying Space Robot

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High Technology Letters 2000年第2期6卷 85-90页

作者：王鸿鹏 Harbin Inst of Technology Harbin China

Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consumed, and it will shorten the on orbit life span of space robot, it also vibrate the system and make the system unsteady. The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator. In this method it is realized by planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster. In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.

关键词： Free flying space robot Attitude control Restricted minimum disturbance map

Nematode parasite,Auchenacantha spp of flying lemur,Cynocephalus variegatus(Audebert,1799) from Indonesia:Morphological study with SEM

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Asian Pacific Journal of Tropical Biomedicine 2011年第6期1卷 434-438页

作者： Endang Purwaningsih Zoological Division of Research Centre on Biology-LIPI Widyasatwaloka Building

Objective:To observe morphology of Auchenacantha galeopteri(***),Auchenacantha spinosa(***) and Auchenacantha parva(***) from Sukabumi and Ujung Kulon, Indonesia using scanning electron microscopy(SEM).Methods:Specimens for light microscopy examination were fixed with warm 70%alcohol,cleared and mounted in lactophenol for wet *** were made with the aid of a drawing tube attached to a Nikon compound *** for SEM examination were processed according to *** were given in micrometers(μ m) as the average of findings,followed by the range in parentheses, unless otherwise ***:The measurements of Auchenacantha spp are same with those of previously *** striatums of male and female *** are widen towards outside and *** mouth of female with 6 lips,each of them is wider at base than distal end in *** and rectangular in *** species have dentiform protrusion from inner surface of lips,such structure absent in ***,but the lips with transverse festoon like pattern at anterior end of each ***:Using SEM,the lip and the striation pattern of three species of Auchenacantha can be clearly *** and Ujung Kulon are new locality of *** and ***,and *** is the new record in Indonesia.

关键词： Oxyuridae Auchenacantha Parasite flying lemur Cynocephalus variegatus Distribution Indonesia

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flying South

小学生时代（大嘴英语） 2022年第10期 10-15页

作者： J Victor Tsway 不详

Dear Big Mouth English readers,Fall is ***,we take a look at birds in *** you guess what we are going to talk about?

关键词： guess flying birds

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flying to Mars

Bulletin of the Chinese Academy of Sciences 2020年第2期34卷 71-73页

作者： SONG Jianlan 不详

At 12:41(GMT+8)July 23,Tianwen-1,the first Mars explorer of China,embarked on its flight from the Wenchang Satellite Launcliing Center in China's southern province ***-with the help of Long Maich-5 Y4,a carrier rocket in the new high-thrust family developed by Chinese scientists and *** flying for 2,156 seconds,the probe successfully separated from the rocket and entered the preset Earth-Mars transfer orbit,signaling the initial success of the launching.

关键词： rocket flying separated

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flying Fortress

计算机光盘软件与应用（COMPUTER ARTS数码艺术） 2006年第5期 104-105页

当欧洲的年轻人想到关于德国的两种熊，一个是传统的布娃娃熊，另一个就是充满欧洲街头墙上的Teddy熊涂鸦，而这个涂鸦熊的创作者就是著名的涂鸦艺术家“flying Fortress”，他称这些熊军队为“Teddy Tmops”。

关键词： flying Fortress 涂鸦艺术家图案创作主题