To study the walking status of a goat on slope and the walking mechanics,a comparative analysis of the walking gait mode of a goat on different slopes was conducted.The uphill and downhill walking processes on differe...To study the walking status of a goat on slope and the walking mechanics,a comparative analysis of the walking gait mode of a goat on different slopes was conducted.The uphill and downhill walking processes on different slopes(6°,18°and 36°)were recorded by a high speed video system.The experimental image results were processed and analyzed via SigmaScan software and MATLAB software.The characteristic parameters of locomotion gait on the different slopes and the angle change curves of each goat leg in the process of slope movement indicated that the goat performed tetrapod gait,static gait,ipsilateral gait and trot gait on different slopes.With the increase of gradient in the uphill process,the corresponding load factors of each leg were 0.65±0.15,0.75 and 0.645±0.205,whereas those in the downhill process were 0.70±0.08,0.66±0.06,and 0.685±0.125.Results showed that the load factors of each leg are higher than 0.5.The foreleg angle ofa(the angle of wrist joints),which ranges from 100°to 130°,is suitable for different slopes.However,the angle ofb(the angle between the thigh and the forward direction in the walking process of goat),which ranges from 99°to 109°,is suitable for the 6°slope,whereas the angle ranging from 46°to 91°is suitable for the 18°slope and 36°slope.For the hind leg,the angle ofa,which ranges from 105°to 153°,is suitable for the different slopes.The angle ofb,which ranges from 128°to 150°,is suitable for the different slopes.The research can provide a theoretical basis and experimental data for the design of biomimetic agricultural slope walking mechanism.展开更多
Low Energy Adaptive Clustering Hierarchy(LEACH)is a routing algorithm in agricultural wireless multimedia sensor networks(WMSNs)that includes two kinds of improved protocol,LEACH_D and LEACH_E.In this study,obstacles ...Low Energy Adaptive Clustering Hierarchy(LEACH)is a routing algorithm in agricultural wireless multimedia sensor networks(WMSNs)that includes two kinds of improved protocol,LEACH_D and LEACH_E.In this study,obstacles were overcome in widely used protocols.An improved algorithm was proposed to solve existing problems,such as energy source restriction,communication distance,and energy of the nodes.The optimal number of clusters was calculated by the first-order radio model of the improved algorithm to determine the percentage of the cluster heads in the network.High energy and the near sink nodes were chosen as cluster heads based on the residual energy of the nodes and the distance between the nodes to the sink node.At the same time,the K-means clustering analysis method was used for equally assigning the nodes to several clusters in the network.Both simulation and the verification results showed that the survival number of the proposed algorithm LEACH-ED increased by 66%.Moreover,the network load was high and network lifetime was longer.The mathematical model between the average voltage of nodes(y)and the running time(x)was concluded in the equation y=−0.0643x+4.3694,and the correlation coefficient was R2=0.9977.The research results can provide a foundation and method for the design and simulation of the routing algorithm in agricultural WMSNs.展开更多
基金the Project on the Integration of Industry,Education and Research of Henan Province(Grant No.142107000055)Natural Science Foundation of Henan Educational Committee(Grant Nos.14B416004,14A416002 and 13A416264)Innovation Ability Foundation of Natural Science of Henan University of Science and Technology(Grant No.2013ZCX002).
文摘To study the walking status of a goat on slope and the walking mechanics,a comparative analysis of the walking gait mode of a goat on different slopes was conducted.The uphill and downhill walking processes on different slopes(6°,18°and 36°)were recorded by a high speed video system.The experimental image results were processed and analyzed via SigmaScan software and MATLAB software.The characteristic parameters of locomotion gait on the different slopes and the angle change curves of each goat leg in the process of slope movement indicated that the goat performed tetrapod gait,static gait,ipsilateral gait and trot gait on different slopes.With the increase of gradient in the uphill process,the corresponding load factors of each leg were 0.65±0.15,0.75 and 0.645±0.205,whereas those in the downhill process were 0.70±0.08,0.66±0.06,and 0.685±0.125.Results showed that the load factors of each leg are higher than 0.5.The foreleg angle ofa(the angle of wrist joints),which ranges from 100°to 130°,is suitable for different slopes.However,the angle ofb(the angle between the thigh and the forward direction in the walking process of goat),which ranges from 99°to 109°,is suitable for the 6°slope,whereas the angle ranging from 46°to 91°is suitable for the 18°slope and 36°slope.For the hind leg,the angle ofa,which ranges from 105°to 153°,is suitable for the different slopes.The angle ofb,which ranges from 128°to 150°,is suitable for the different slopes.The research can provide a theoretical basis and experimental data for the design of biomimetic agricultural slope walking mechanism.
基金Project on the Integration of Industry,Education and Research of Henan Province(Grant No.142107000055,162107000026)Scientific and Technological Project of Henan Province(Grant No.152102210190,162102210202)+2 种基金Natural Science Foundation of Henan Educational Committee(Grant No.14B416004,14A416002 and 13A416264)Key Project of Henan Tobacco Company(HYKJ201316)Innovation Ability Foundation of Natural Science(Grant No.2013ZCX002)of Henan University of Science and Technology.
文摘Low Energy Adaptive Clustering Hierarchy(LEACH)is a routing algorithm in agricultural wireless multimedia sensor networks(WMSNs)that includes two kinds of improved protocol,LEACH_D and LEACH_E.In this study,obstacles were overcome in widely used protocols.An improved algorithm was proposed to solve existing problems,such as energy source restriction,communication distance,and energy of the nodes.The optimal number of clusters was calculated by the first-order radio model of the improved algorithm to determine the percentage of the cluster heads in the network.High energy and the near sink nodes were chosen as cluster heads based on the residual energy of the nodes and the distance between the nodes to the sink node.At the same time,the K-means clustering analysis method was used for equally assigning the nodes to several clusters in the network.Both simulation and the verification results showed that the survival number of the proposed algorithm LEACH-ED increased by 66%.Moreover,the network load was high and network lifetime was longer.The mathematical model between the average voltage of nodes(y)and the running time(x)was concluded in the equation y=−0.0643x+4.3694,and the correlation coefficient was R2=0.9977.The research results can provide a foundation and method for the design and simulation of the routing algorithm in agricultural WMSNs.
