一、请根据录音,填写单词。二、听对话,选择正确的答案。1.Where did Lucy go for her summer vacation?A.She stayed in the city.B.She went to the science museum.C.She went to Beijing.2.What did Tom think about climbing the G...一、请根据录音,填写单词。二、听对话,选择正确的答案。1.Where did Lucy go for her summer vacation?A.She stayed in the city.B.She went to the science museum.C.She went to Beijing.2.What did Tom think about climbing the Great Wall?展开更多
Dear Xu Yan,How is everything going these days?I am writing to invite you to an outing I will organize on Sunday,May 10th.We will start at 6:30 in the morning at the school gate and then go to Yongfeng Mountain by bus...Dear Xu Yan,How is everything going these days?I am writing to invite you to an outing I will organize on Sunday,May 10th.We will start at 6:30 in the morning at the school gate and then go to Yongfeng Mountain by bus.We will climb the mountain there in the morning and then have a picnic at 12 o’clock at noon.If you can come,you don’t need to bring food but it’s best for you to wear sports shoes and suitable clothes.展开更多
Reticular structures are the basis of major infrastructure projects,including bridges,electrical pylons and airports.However,inspecting and maintaining these structures is both expensive and hazardous,traditionally re...Reticular structures are the basis of major infrastructure projects,including bridges,electrical pylons and airports.However,inspecting and maintaining these structures is both expensive and hazardous,traditionally requiring human involvement.While some research has been conducted in this field of study,most efforts focus on faults identification through images or the design of robotic platforms,often neglecting the autonomous navigation of robots through the structure.This study addresses this limitation by proposing methods to detect navigable surfaces in truss structures,thereby enhancing the autonomous capabilities of climbing robots to navigate through these environments.The paper proposes multiple approaches for the binary segmentation between navigable surfaces and background from 3D point clouds captured from metallic trusses.Approaches can be classified into two paradigms:analytical algorithms and deep learning methods.Within the analytical approach,an ad hoc algorithm is developed for segmenting the structures,leveraging different techniques to evaluate the eigendecomposition of planar patches within the point cloud.In parallel,widely used and advanced deep learning models,including PointNet,PointNet++,MinkUNet34C,and PointTransformerV3,are trained and evaluated for the same task.A comparative analysis of these paradigms reveals some key insights.The analytical algorithm demonstrates easier parameter adjustment and comparable performance to that of the deep learning models,despite the latter’s higher computational demands.Nevertheless,the deep learning models stand out in segmentation accuracy,with PointTransformerV3 achieving impressive results,such as a Mean Intersection Over Union(mIoU)of approximately 97%.This study highlights the potential of analytical and deep learning approaches to improve the autonomous navigation of climbing robots in complex truss structures.The findings underscore the trade-offs between computational efficiency and segmentation performance,offering valuable insights for future research and practical applications in autonomous infrastructure maintenance and inspection.展开更多
Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to s...Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.展开更多
To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking contro...To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking controller,whose parameters are set using an Ant Colony OptimizationSlime Mould Algorithm(ACO-SMA).Initially,a nonlinear flight dynamics model of the helicopter is constructed.Observer gain functions and nonlinear feedback from a vibrational suppression function to improve the tracking performance of the controller,addressing issues in disturbance estimation and compensation of the Active Disturbance Rejection Control(ADRC).Simultaneously,a cascaded loop system,comprising an internal attitude loop and an external position loop,is created,and the ant colony-slime mold hybrid algorithm optimizes the system parameters of the trajectory tracking controller.Finally,helicopter trajectory tracking simulation experiments are conducted,including spiral ascending and“8”shape climbing maneuvers.The findings indicate that the ADRC employed for helicopter trajectory tracking exhibits outstanding performance in rejecting disturbances caused by gusts and accurately tracking trajectories.The trajectory tracking controller,whose parameters are optimized by the ACO-SMA,shows higher tracking precision compared to the conventional PID and ADRC,thereby substantially improving the precision of maneuver tasks.展开更多
This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal...This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal dimensions of each link,a Nash bargaining solution-based multi-objective optimization framework is developed,evaluating performance indicators such as reachable workspace,global manipulability,and acceleration capability.Inspired by the inchworm locomotion,three distinct climbing gaits are designed to enhance adaptability in confined and irregular spaces.To ensure safe and reliable operation,transition analysis is conducted and the operational workspace is systematically calculated.Moreover,a novel global path planning algorithm specially designed for the inchworm-like robot,termed inchworm-like robot rapidly-exploring random tree(ICHRRT*),is proposed.As an improved algorithm of RRT*,this method integrates gait planning and transition analysis to generate feasible and collision-free paths tailored to the robot’s unique structure and motion characteristics.A physical prototype is developed,and trusscrossing experiments are conducted in a truss environment.Experimental results validate the robot’s superior climbing capability and its effectiveness in navigating obstacles.展开更多
On April 30,the 22nd China Xiza ng Mountai neering Conventi on in 2025 comme need.As its flagship eve nt,the Luodui Peak Mountaineering Expedition took place from May 2 to 3 in Yangbajain Town of Lhasa,attracting more...On April 30,the 22nd China Xiza ng Mountai neering Conventi on in 2025 comme need.As its flagship eve nt,the Luodui Peak Mountaineering Expedition took place from May 2 to 3 in Yangbajain Town of Lhasa,attracting more than 160 mountain climbing enthusiasts from all over the country.展开更多
Slope climbing of urban expansion(SCE),as a form of urbanization,has increasingly significant impacts on urban development.Unsustainable slope climbing of urban expansion can harm the natural environment,thereby affec...Slope climbing of urban expansion(SCE),as a form of urbanization,has increasingly significant impacts on urban development.Unsustainable slope climbing of urban expansion can harm the natural environment,thereby affecting human production and living conditions.Using a coupled coordination model and the geographically weighted regression(GTWR)model,leveraging night light remote sensing data and ecological environment quality index model,this study investigated the coupling relationship between urban expansion and ecological environment quality and its influencing factors in the Yangtze River Economic Belt of China from 2000 to 2020.The results indicate that from 2000 to 2020,the intensity of urban slope climbing in the Yangtze River Economic Belt showed a fluctuating upward trend,with the slope climbing intensity being most significant in Chongqing Municipality and Kunming of Yunnan Province.Overall,the ecological environment quality exhibited an upward trend,with over 80%of the study area maintaining stable or improved ecological quality.There is a certain spatial correspondence between ecological environment quality and urban slope climbing.Although these two aspects of development demonstrate a high degree of coordination,fluctuations still occur during the development process.Further research on the coupling coordination relationship between the two revealed that population density has a negative impact on coupling coordination in the eastern region,and technology expenditure in eastern coastal cities has shown a negative trend over time.To ensure the continued increase in the proportion of highly coordinated areas in the future,eastern coastal cities in the study region could prioritize ecological civilization construction,strengthen urban construction and development planning,adjust influencing factors,and ensure the coordinated development of urban growth with ecological environment quality.展开更多
The rapid growth of foreign investment in China will continue and may even accelerate after the country enters the World Trade Organization (WTO), analysts said. "More fields are opening to foreign investors and ...The rapid growth of foreign investment in China will continue and may even accelerate after the country enters the World Trade Organization (WTO), analysts said. "More fields are opening to foreign investors and market regulations are becoming more transparent, which encourages foreign companies to increase their presence in China," said Sun Xiaohua, a senior researcher at the Chinese Academy of International Trade and展开更多
The continuous decrease of low-slope cropland resources caused by construction land crowding poses huge threat to regional sustainable development and food security.Slope spectrum analysis of topographic and geomorphi...The continuous decrease of low-slope cropland resources caused by construction land crowding poses huge threat to regional sustainable development and food security.Slope spectrum analysis of topographic and geomorphic features is considered as a digital terrain analysis method which reflects the macro-topographic features by using micro-topographic factors.However,pieces of studies have extended the concept of slope spectrum in the field of geoscience to construction land to explore its expansion law,while research on the slope trend of cropland from that perspective remains rare.To address the gap,in virtue of spatial analysis and geographically weighted regression(GWR)model,the cropland use change in the Yangtze River Basin(YRB)from 2000 to 2020 was analyzed and the driving factors were explored from the perspective of slope spectrum.Results showed that the slope spectrum curves of cropland area-frequency in the YRB showed a first upward then a downward trend.The change curve of the slope spectrum of cropland in each province(municipality)exhibited various distribution patterns.Quantitative analysis of morphological parameters of cropland slope spectrum revealed that the further down the YRB,the stronger the flattening characteristics,the more obvious the concentration.The province experienced the greatest downhill cropland climbing(CLC)was Shannxi,while province experienced the highest uphill CLC was Zhejiang.The most common cropland use change type in the YRB was horizontal expansion type.The factors affecting average cropland climbing index(ACCI)were quite stable in different periods,while population density(POP)changed from negative to positive during the study period.This research is of practical significance for the rational utilization of cropland at the watershed scale.展开更多
The black rat(Rattus rattus)is a unique model for studying exploratory tactics due to its enormous colonizing potential.Considerable behavioral variability and consistent interindividual differences might help populat...The black rat(Rattus rattus)is a unique model for studying exploratory tactics due to its enormous colonizing potential.Considerable behavioral variability and consistent interindividual differences might help populations inhabit new environments and persist there even under intense pressure.Additionally,the affnity of the black rat for climbing might be another advantage,widening their potential niche.In this study,we describe the exploratory tactics of the black rats when introduced to a novel environment.In the frst experiment,we tested 12 rats and calculated repeatability of their behaviors across 12 sessions of an enriched open-feld test.We concluded that climbing is a highly repeatable behavior that serves as an important source of interindividual variability.In the second experiment,we tested 24 black rats in a unique L-shaped arena.Each rat was tested twice.We found that the majority of rats distributed their activity evenly,exploring each part of the apparatus for a similar amount of time,thus maximizing their chances of fnding resources.Nevertheless,these“even”explorers still greatly differed in their level of activity,orderliness and affnity for climbing,generating large variability.In contrast,the minority of rats concentrated their activity only on a section of the new environment and were therefore characterized as selective explorers.Overall,we concluded that a combination of such exploratory tactics as well as a bias for even explorers enables black rats to quickly colonize new environments and persist there even under unfavorable conditions.展开更多
With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on diffe...With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.展开更多
The seamless trailing edge morphing flap is investigated using a high-fidelity steady-state aerodynamic shape optimization to determine its optimum configuration for different flight conditions,including climb,cruise,...The seamless trailing edge morphing flap is investigated using a high-fidelity steady-state aerodynamic shape optimization to determine its optimum configuration for different flight conditions,including climb,cruise,and gliding descent.A comparative study is also conducted between a wing equipped with morphing flap and a wing with conventional hinged flap.The optimization is performed by specifying a certain objective function and the flight performance goal for each flight condition.Increasing the climb rate,extending the flight range and endurance in cruise,and decreasing the descend rate,are the flight performance goals covered in this study.Various optimum configurations were found for the morphing wing by determining the optimum morphing flap deflection for each flight condition,based on its objective function,each of which performed better than that of the baseline wing.It was shown that by using optimum configuration for the morphing wing in climb condition,the required power could be reduced by up to 3.8%and climb rate increases by 6.13%.The comparative study also revealed that the morphing wing enhances aerodynamic efficiency by up to 17.8%and extends the laminar flow.Finally,the optimum configuration for the gliding descent brought about a 43%reduction in the descent rate.展开更多
Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and p...Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.展开更多
A variety of soft wall-climbing robots have been developed that can move in certain patterns.Most of these soft robots can only move on conventional surfaces and lack adaptability to complex surfaces.Improving the ada...A variety of soft wall-climbing robots have been developed that can move in certain patterns.Most of these soft robots can only move on conventional surfaces and lack adaptability to complex surfaces.Improving the adaptability of soft robots on complex surfaces is still a challenging problem.To this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm structure.Inspired by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation layers.We design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide suction.The soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the substrate.Variable stiffness layers achieve stiffness changes by the principle of line blocking.The Central Pattern Generator theory is introduced to coordinately control the multiple feet of the robot.After experiments,we verify the adaptability of the soft robot to curved surfaces.The research may provide a reference for the design and development of crawling soft robots on complex surfaces.展开更多
The tendril is a climbing organ in cucurbits and functions in physical support and to avoid shading by neighboring vegetation.However,how cucurbits produce tendrils to obtain climbing ability is largely unknown.In thi...The tendril is a climbing organ in cucurbits and functions in physical support and to avoid shading by neighboring vegetation.However,how cucurbits produce tendrils to obtain climbing ability is largely unknown.In this study,tendril phenotypes were investigated during different developmental stages.Our results revealed that tendril growth exhibited an age-dependent pattern in cucurbits.Tendril growth was inhibited,and the tendril was formed as a short tendril[nonfunctional tendril(nonF-tendril),approximately 0.1 cm]during the seedling stage.In contrast,enhanced cell proliferation and cell expansion led to rapid elongation of the tendril during the climbing stage,and the tendril formed as a functional tendril(F-tendril,approximately 30 cm)to obtain climbing ability.RT-qPCR detection showed that age-dependent tendril growth correlated negatively with the abundance of the conserved age regulator CsmiR156.Defoliation induced CsmiR156 to inhibit CsSPLs,and F-tendril formation and climbing ability were delayed in defoliated cucumbers,which confirmed the role of CsmiR156 in regulating tendril growth in vivo.Additionally,exogenous gibberellin(GA)treatment showed that GA positively regulated tendril growth,and RT-qPCR detection showed that the GA bio-synthetic genes and metabolic genes were affected by age pathway,suggesting that the age pathway depended on GA bio-synthetic and metabolic pathway to regulate cell expansion to determine tendril growth.In summary,our work reveals that change in tendril type is an important marker of phase transition in cucumber,and tendril growth is regulated by an intrinsic developmental age signal,ensuring that the cucumber obtains climbing ability at a suitable age.展开更多
Urbanization research is essential for the sustainable use of regional land resources and ecological environment protection.The expansion process and driving factors of urban construction land at different scales in t...Urbanization research is essential for the sustainable use of regional land resources and ecological environment protection.The expansion process and driving factors of urban construction land at different scales in the middle reaches of the Yellow River(MRYR)have not been comprehensively elucidated.In this study,we explored the distribution pattern of urban construction land on different slope gradients at different scales and analyzed its influencing factors.The main findings were as follows:(1)There has been significant expansion of urban construction land in the MRYR over the past 20 years.Spatial heterogeneity was observed in the regional urban construction land expansion process among different geomorphic regions.(2)The urban construction land in the MRYR was expanded vertically to areas with slopes of>5°,particularly in 2005–2010.Significant slope climbing of urban construction land was observed in the loess hilly-gully and rocky mountain areas.(3)In MRYR,68.45%of the counties were categorized as the slope-climbing types,including 37.38%high-slope-climbing types.(4)The regional population density and economic development level were closely associated with regional urban construction land area variability.(5)The climbing process of regional urban construction can effectively alleviate farmland encroachment and pressure on the regional ecological environment.The urban expansion of the metropolitan distribution areas in the Plain region(such as Xi'an,Taiyuan)had a relatively significant impact on the local carbon storage.展开更多
文摘一、请根据录音,填写单词。二、听对话,选择正确的答案。1.Where did Lucy go for her summer vacation?A.She stayed in the city.B.She went to the science museum.C.She went to Beijing.2.What did Tom think about climbing the Great Wall?
文摘Dear Xu Yan,How is everything going these days?I am writing to invite you to an outing I will organize on Sunday,May 10th.We will start at 6:30 in the morning at the school gate and then go to Yongfeng Mountain by bus.We will climb the mountain there in the morning and then have a picnic at 12 o’clock at noon.If you can come,you don’t need to bring food but it’s best for you to wear sports shoes and suitable clothes.
基金funded by the spanish Ministry of Science,Innovation and Universities as part of the project PID2020-116418RB-I00 funded by MCIN/AEI/10.13039/501100011033.
文摘Reticular structures are the basis of major infrastructure projects,including bridges,electrical pylons and airports.However,inspecting and maintaining these structures is both expensive and hazardous,traditionally requiring human involvement.While some research has been conducted in this field of study,most efforts focus on faults identification through images or the design of robotic platforms,often neglecting the autonomous navigation of robots through the structure.This study addresses this limitation by proposing methods to detect navigable surfaces in truss structures,thereby enhancing the autonomous capabilities of climbing robots to navigate through these environments.The paper proposes multiple approaches for the binary segmentation between navigable surfaces and background from 3D point clouds captured from metallic trusses.Approaches can be classified into two paradigms:analytical algorithms and deep learning methods.Within the analytical approach,an ad hoc algorithm is developed for segmenting the structures,leveraging different techniques to evaluate the eigendecomposition of planar patches within the point cloud.In parallel,widely used and advanced deep learning models,including PointNet,PointNet++,MinkUNet34C,and PointTransformerV3,are trained and evaluated for the same task.A comparative analysis of these paradigms reveals some key insights.The analytical algorithm demonstrates easier parameter adjustment and comparable performance to that of the deep learning models,despite the latter’s higher computational demands.Nevertheless,the deep learning models stand out in segmentation accuracy,with PointTransformerV3 achieving impressive results,such as a Mean Intersection Over Union(mIoU)of approximately 97%.This study highlights the potential of analytical and deep learning approaches to improve the autonomous navigation of climbing robots in complex truss structures.The findings underscore the trade-offs between computational efficiency and segmentation performance,offering valuable insights for future research and practical applications in autonomous infrastructure maintenance and inspection.
基金supported by the National Key Research&Development Program of China(Grant No.2020YFB1313504)the State Key Laboratory of Mechanics and Control for Aerospace Structures of Nanjing University of Aeronautics and Astronautics.
文摘Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.
基金support of the National Natural Science Foundation of China(No.12032012)the Priority Academic Program Development of Jiangsu Higher Education Institutions,China。
文摘To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking controller,whose parameters are set using an Ant Colony OptimizationSlime Mould Algorithm(ACO-SMA).Initially,a nonlinear flight dynamics model of the helicopter is constructed.Observer gain functions and nonlinear feedback from a vibrational suppression function to improve the tracking performance of the controller,addressing issues in disturbance estimation and compensation of the Active Disturbance Rejection Control(ADRC).Simultaneously,a cascaded loop system,comprising an internal attitude loop and an external position loop,is created,and the ant colony-slime mold hybrid algorithm optimizes the system parameters of the trajectory tracking controller.Finally,helicopter trajectory tracking simulation experiments are conducted,including spiral ascending and“8”shape climbing maneuvers.The findings indicate that the ADRC employed for helicopter trajectory tracking exhibits outstanding performance in rejecting disturbances caused by gusts and accurately tracking trajectories.The trajectory tracking controller,whose parameters are optimized by the ACO-SMA,shows higher tracking precision compared to the conventional PID and ADRC,thereby substantially improving the precision of maneuver tasks.
基金Supported by National Natural Science Foundation of China(Grant No.62303095)Fundamental Research Funds for the Central Universities(Grant No.2682025CX080).
文摘This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal dimensions of each link,a Nash bargaining solution-based multi-objective optimization framework is developed,evaluating performance indicators such as reachable workspace,global manipulability,and acceleration capability.Inspired by the inchworm locomotion,three distinct climbing gaits are designed to enhance adaptability in confined and irregular spaces.To ensure safe and reliable operation,transition analysis is conducted and the operational workspace is systematically calculated.Moreover,a novel global path planning algorithm specially designed for the inchworm-like robot,termed inchworm-like robot rapidly-exploring random tree(ICHRRT*),is proposed.As an improved algorithm of RRT*,this method integrates gait planning and transition analysis to generate feasible and collision-free paths tailored to the robot’s unique structure and motion characteristics.A physical prototype is developed,and trusscrossing experiments are conducted in a truss environment.Experimental results validate the robot’s superior climbing capability and its effectiveness in navigating obstacles.
文摘On April 30,the 22nd China Xiza ng Mountai neering Conventi on in 2025 comme need.As its flagship eve nt,the Luodui Peak Mountaineering Expedition took place from May 2 to 3 in Yangbajain Town of Lhasa,attracting more than 160 mountain climbing enthusiasts from all over the country.
基金Under the auspices of National Natural Science Foundation of China(No.42371191)Science and Technology Planning of NIGLAS(No.NIGLAS2022GS06,2022NIGLAS-CJH04)。
文摘Slope climbing of urban expansion(SCE),as a form of urbanization,has increasingly significant impacts on urban development.Unsustainable slope climbing of urban expansion can harm the natural environment,thereby affecting human production and living conditions.Using a coupled coordination model and the geographically weighted regression(GTWR)model,leveraging night light remote sensing data and ecological environment quality index model,this study investigated the coupling relationship between urban expansion and ecological environment quality and its influencing factors in the Yangtze River Economic Belt of China from 2000 to 2020.The results indicate that from 2000 to 2020,the intensity of urban slope climbing in the Yangtze River Economic Belt showed a fluctuating upward trend,with the slope climbing intensity being most significant in Chongqing Municipality and Kunming of Yunnan Province.Overall,the ecological environment quality exhibited an upward trend,with over 80%of the study area maintaining stable or improved ecological quality.There is a certain spatial correspondence between ecological environment quality and urban slope climbing.Although these two aspects of development demonstrate a high degree of coordination,fluctuations still occur during the development process.Further research on the coupling coordination relationship between the two revealed that population density has a negative impact on coupling coordination in the eastern region,and technology expenditure in eastern coastal cities has shown a negative trend over time.To ensure the continued increase in the proportion of highly coordinated areas in the future,eastern coastal cities in the study region could prioritize ecological civilization construction,strengthen urban construction and development planning,adjust influencing factors,and ensure the coordinated development of urban growth with ecological environment quality.
文摘The rapid growth of foreign investment in China will continue and may even accelerate after the country enters the World Trade Organization (WTO), analysts said. "More fields are opening to foreign investors and market regulations are becoming more transparent, which encourages foreign companies to increase their presence in China," said Sun Xiaohua, a senior researcher at the Chinese Academy of International Trade and
基金supported in part by the Key Laboratory of Natural Resources Monitoring and Supervision in Southern Hilly Region,Ministry of Natural Resources(NRMSSHR2023Y02)Yunnan Key Laboratory of Plateau Geographic Processes and Environmental Changes(PGPEC2304)+1 种基金Yunnan Normal University,China.This study was also sponsored by the Scientific Research Project of Education Department of Hubei Province(Grant No.B2022262)the Philosophy and Social Sciences Research Project of Education Department of Hubei Province(Grant No.22G024).
文摘The continuous decrease of low-slope cropland resources caused by construction land crowding poses huge threat to regional sustainable development and food security.Slope spectrum analysis of topographic and geomorphic features is considered as a digital terrain analysis method which reflects the macro-topographic features by using micro-topographic factors.However,pieces of studies have extended the concept of slope spectrum in the field of geoscience to construction land to explore its expansion law,while research on the slope trend of cropland from that perspective remains rare.To address the gap,in virtue of spatial analysis and geographically weighted regression(GWR)model,the cropland use change in the Yangtze River Basin(YRB)from 2000 to 2020 was analyzed and the driving factors were explored from the perspective of slope spectrum.Results showed that the slope spectrum curves of cropland area-frequency in the YRB showed a first upward then a downward trend.The change curve of the slope spectrum of cropland in each province(municipality)exhibited various distribution patterns.Quantitative analysis of morphological parameters of cropland slope spectrum revealed that the further down the YRB,the stronger the flattening characteristics,the more obvious the concentration.The province experienced the greatest downhill cropland climbing(CLC)was Shannxi,while province experienced the highest uphill CLC was Zhejiang.The most common cropland use change type in the YRB was horizontal expansion type.The factors affecting average cropland climbing index(ACCI)were quite stable in different periods,while population density(POP)changed from negative to positive during the study period.This research is of practical significance for the rational utilization of cropland at the watershed scale.
基金This project was supported by the Grant Agency of Charles University,project no.962120。
文摘The black rat(Rattus rattus)is a unique model for studying exploratory tactics due to its enormous colonizing potential.Considerable behavioral variability and consistent interindividual differences might help populations inhabit new environments and persist there even under intense pressure.Additionally,the affnity of the black rat for climbing might be another advantage,widening their potential niche.In this study,we describe the exploratory tactics of the black rats when introduced to a novel environment.In the frst experiment,we tested 12 rats and calculated repeatability of their behaviors across 12 sessions of an enriched open-feld test.We concluded that climbing is a highly repeatable behavior that serves as an important source of interindividual variability.In the second experiment,we tested 24 black rats in a unique L-shaped arena.Each rat was tested twice.We found that the majority of rats distributed their activity evenly,exploring each part of the apparatus for a similar amount of time,thus maximizing their chances of fnding resources.Nevertheless,these“even”explorers still greatly differed in their level of activity,orderliness and affnity for climbing,generating large variability.In contrast,the minority of rats concentrated their activity only on a section of the new environment and were therefore characterized as selective explorers.Overall,we concluded that a combination of such exploratory tactics as well as a bias for even explorers enables black rats to quickly colonize new environments and persist there even under unfavorable conditions.
基金supported in part by the National Nature Science Foundation of China[No.62073229]Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016)EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127).
文摘With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
基金the Hydra Technologies team in Mexicothe CREATEUTILI Program for their financial support。
文摘The seamless trailing edge morphing flap is investigated using a high-fidelity steady-state aerodynamic shape optimization to determine its optimum configuration for different flight conditions,including climb,cruise,and gliding descent.A comparative study is also conducted between a wing equipped with morphing flap and a wing with conventional hinged flap.The optimization is performed by specifying a certain objective function and the flight performance goal for each flight condition.Increasing the climb rate,extending the flight range and endurance in cruise,and decreasing the descend rate,are the flight performance goals covered in this study.Various optimum configurations were found for the morphing wing by determining the optimum morphing flap deflection for each flight condition,based on its objective function,each of which performed better than that of the baseline wing.It was shown that by using optimum configuration for the morphing wing in climb condition,the required power could be reduced by up to 3.8%and climb rate increases by 6.13%.The comparative study also revealed that the morphing wing enhances aerodynamic efficiency by up to 17.8%and extends the laminar flow.Finally,the optimum configuration for the gliding descent brought about a 43%reduction in the descent rate.
基金supported by the National Key R&D Program of China,Topic 4-NUAA(Grant No.2020 YFB1313504)to PM.
文摘Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.
文摘A variety of soft wall-climbing robots have been developed that can move in certain patterns.Most of these soft robots can only move on conventional surfaces and lack adaptability to complex surfaces.Improving the adaptability of soft robots on complex surfaces is still a challenging problem.To this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm structure.Inspired by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation layers.We design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide suction.The soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the substrate.Variable stiffness layers achieve stiffness changes by the principle of line blocking.The Central Pattern Generator theory is introduced to coordinately control the multiple feet of the robot.After experiments,we verify the adaptability of the soft robot to curved surfaces.The research may provide a reference for the design and development of crawling soft robots on complex surfaces.
基金supported by the Natural Science Foundation of Zhejiang province(Grant Nos.LZ20C150001,LY21C150002)National Natural Science Foundation of China(Grant No.32202583).
文摘The tendril is a climbing organ in cucurbits and functions in physical support and to avoid shading by neighboring vegetation.However,how cucurbits produce tendrils to obtain climbing ability is largely unknown.In this study,tendril phenotypes were investigated during different developmental stages.Our results revealed that tendril growth exhibited an age-dependent pattern in cucurbits.Tendril growth was inhibited,and the tendril was formed as a short tendril[nonfunctional tendril(nonF-tendril),approximately 0.1 cm]during the seedling stage.In contrast,enhanced cell proliferation and cell expansion led to rapid elongation of the tendril during the climbing stage,and the tendril formed as a functional tendril(F-tendril,approximately 30 cm)to obtain climbing ability.RT-qPCR detection showed that age-dependent tendril growth correlated negatively with the abundance of the conserved age regulator CsmiR156.Defoliation induced CsmiR156 to inhibit CsSPLs,and F-tendril formation and climbing ability were delayed in defoliated cucumbers,which confirmed the role of CsmiR156 in regulating tendril growth in vivo.Additionally,exogenous gibberellin(GA)treatment showed that GA positively regulated tendril growth,and RT-qPCR detection showed that the GA bio-synthetic genes and metabolic genes were affected by age pathway,suggesting that the age pathway depended on GA bio-synthetic and metabolic pathway to regulate cell expansion to determine tendril growth.In summary,our work reveals that change in tendril type is an important marker of phase transition in cucumber,and tendril growth is regulated by an intrinsic developmental age signal,ensuring that the cucumber obtains climbing ability at a suitable age.
基金supported by Fundamental Research Program of Shanxi Province[Grant No.202303021221154]the Project of Shanxi Province Graduate Education and Teaching Reform[2022YJJG48]。
文摘Urbanization research is essential for the sustainable use of regional land resources and ecological environment protection.The expansion process and driving factors of urban construction land at different scales in the middle reaches of the Yellow River(MRYR)have not been comprehensively elucidated.In this study,we explored the distribution pattern of urban construction land on different slope gradients at different scales and analyzed its influencing factors.The main findings were as follows:(1)There has been significant expansion of urban construction land in the MRYR over the past 20 years.Spatial heterogeneity was observed in the regional urban construction land expansion process among different geomorphic regions.(2)The urban construction land in the MRYR was expanded vertically to areas with slopes of>5°,particularly in 2005–2010.Significant slope climbing of urban construction land was observed in the loess hilly-gully and rocky mountain areas.(3)In MRYR,68.45%of the counties were categorized as the slope-climbing types,including 37.38%high-slope-climbing types.(4)The regional population density and economic development level were closely associated with regional urban construction land area variability.(5)The climbing process of regional urban construction can effectively alleviate farmland encroachment and pressure on the regional ecological environment.The urban expansion of the metropolitan distribution areas in the Plain region(such as Xi'an,Taiyuan)had a relatively significant impact on the local carbon storage.
