The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage...The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control system.Based on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of legs.An automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion parameters.The disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular terrain.The experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.展开更多
The propagation of the lightning-radiated electromagnetic field along the real irregular terrain around Yangzhou Direction Finder(DF)site(119°42′E,32°39′N)and Nanjing DF site(118°46′E,32°03′N)o...The propagation of the lightning-radiated electromagnetic field along the real irregular terrain around Yangzhou Direction Finder(DF)site(119°42′E,32°39′N)and Nanjing DF site(118°46′E,32°03′N)of Jiangsu Province in China is estimated.The results show that the rough irregular terrain results in the rapid magnitude attenuation and the increase of the rise-time of the field waveform.For example,for the Yangzhou DF site as the circumference of a radius of 45 km,the root-mean-squared height(RMSH)of the real irregular terrain varies from 7 to 33 m;the extra field attenuation relative to the ideal ground surface ranges from 1%to 11%,and the extra rise-time increment varies from 0.1 to 0.6μs.Therefore,the extracted current peak of lightning return stroke may be underestimated from the remotely measured electromagnetic field,and the error varies along with different azimuths.展开更多
Deployment of sensors in any irregular terrain with 100% coverage and connectivity is a challenging issue in the field of Wireless Sensor Networks. Traditional deployments often assume homogeneous environments, which ...Deployment of sensors in any irregular terrain with 100% coverage and connectivity is a challenging issue in the field of Wireless Sensor Networks. Traditional deployments often assume homogeneous environments, which ignore the effect of terrain profile as well as the in-network obstacles situated randomly like buildings, trees, roads and so on. Proper deployment of sensors in such irregular region and its corresponding routing is one of the most fundamental challenges of Wireless Sensor Networks. In this work, we have considered that the terrain is irregular in shape and there may be obstacles within the terrain in any random position with any random shape, which is the reality in real world. With this novel framework, we have shown that an opti-mum deployment can be achieved in such irregular terrain without compromising coverage as well as con-nectivity between the sensor nodes for effective routing.展开更多
As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane,the spring-loaded inverted pendulum(SLIP)model has been extensively employed in both biomechanical stu...As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane,the spring-loaded inverted pendulum(SLIP)model has been extensively employed in both biomechanical study and robotics research.Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass(CoM)with maneuverability,this study presents a novel two-layered sagittal SLIP-anchored(SSA)task space control for a monopode robot to deal with terrain irregularity.This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy,and a two-layered SSA task space controller is subsequently developed for the monopode robot.The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller,which generates an adaptive reference trajectory for the CoM.The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot.Consequently,an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain.Simulation results have demonstrated the effectiveness of the proposed method.展开更多
In the preprocessing phase, the global terrain model is partitioned into blocks with their feature points being picked out to generate TIN model for each terrain block, then the multi-resolution models of terrain orga...In the preprocessing phase, the global terrain model is partitioned into blocks with their feature points being picked out to generate TIN model for each terrain block, then the multi-resolution models of terrain organized in the form of quad-tree is created bottom-up. Cracks between terrain blocks are avoided by inserting vertices to form common boundaries. At run-time, a view-dependent LOD algorithm is used to control the loading and unloading of the proper blocks by an additional synchronous thread. To eliminate the artifacts created by LOD transitions, geomorphing is used in real-time. These rendering strategies increase the throughput of GPU and avoid imbalance of load among CPU, GPU and Disk I/O. Experimental results show that the system can perform visually smooth rendering of large-scale terrain scenes with fine quality at an average rate of 80 fps.展开更多
传统有限元法对大坝-不规则地基-库水系统进行建模时存在一定的局限性。基于ABAQUS二次开发接口,实现了比例边界有限元方法(scaled boundary finite element method,SBFEM)与八叉树网格的结合,建立了一种考虑真实地形的高拱坝-不规则地...传统有限元法对大坝-不规则地基-库水系统进行建模时存在一定的局限性。基于ABAQUS二次开发接口,实现了比例边界有限元方法(scaled boundary finite element method,SBFEM)与八叉树网格的结合,建立了一种考虑真实地形的高拱坝-不规则地基-库水系统自动建模方法。利用构建的八叉树比例边界有限元法对某重力坝地震响应进行了数值验证。随后对NG5拱坝系统分别基于平整地基和不规则地基进行线弹性和非线性动力响应分析。结果表明:在地震作用下,相较于简化的平整地基拱坝系统,不规则地基拱坝系统坝顶与坝底横河向相对位移以及第一主应力峰值变化较大,分别增加了73.5%和103.6%;考虑拱坝横缝以及材料非线性的情况下,坝顶与坝底横河向相对位移以及顺河向相对位移和相对速度分别增加了43.9%、32.0%和56.6%,同时边缝的法向开度增加尤为显著,增加了388.9%和381.8%,开度峰值增加了105%,在应力和损伤方面,第一主应力峰值增加了81.6%,损伤较大的区域也沿着坝体底部进行了扩展。展开更多
Augmented reality is the merging of synthetic sensory information into a user's perception of a real environment. As one of the most important tasks in augmented scene modeling, terrain simplification research has...Augmented reality is the merging of synthetic sensory information into a user's perception of a real environment. As one of the most important tasks in augmented scene modeling, terrain simplification research has gained more and more attention. In this paper, we mainly focus on point selection problem in terrain simplification using triangulated irregular network. Based on the analysis and comparison of traditional importance measures for each input point, we put forward a new importance measure based on local entropy. The results demonstrate that the local entropy criterion has a better performance than any traditional methods. In addition, it can effectively conquer the 'short-sight' problem associated with the traditional methods.展开更多
基金Supported by the National High Technology Research and Development Programme of China(No.2007AA041550)the National NaturalScience Foundation of China(No.51105101)
文摘The purpose of this paper is to present and evaluate a method of free gait generation for HITCRI,a hexapod walking robot.The HITCR-I is designed as a modularized structure of legs that is based upon a four-bar linkage mechanism and with force sensors in the tip of legs,distributed hardware structure and a modular software structure of the control system.Based on a set of local rules between adjacent legs,finite state machine(FSM) model is built to control the coordination of legs.An automatic smooth transition of gait pattern is achieved through deriving the mathematical relation between gait pattern and locomotion parameters.The disordered inter-leg phase sequence is adjusted to a regular state smoothly and quickly by the local rules based FSM,and the gait pattern can transform automatically adapting to irregular terrain.The experiment on HITCR-I has demonstrated that it can walk through irregular terrain reliably and expeditiously with the free gait controller designed in this paper.
基金Supported by the Application of the Forecasting Warning System for Lightning Disaster in Yunan Plateau(YNKJXM20190733)National Natural Science Foundation of China(41775006,41575004).
文摘The propagation of the lightning-radiated electromagnetic field along the real irregular terrain around Yangzhou Direction Finder(DF)site(119°42′E,32°39′N)and Nanjing DF site(118°46′E,32°03′N)of Jiangsu Province in China is estimated.The results show that the rough irregular terrain results in the rapid magnitude attenuation and the increase of the rise-time of the field waveform.For example,for the Yangzhou DF site as the circumference of a radius of 45 km,the root-mean-squared height(RMSH)of the real irregular terrain varies from 7 to 33 m;the extra field attenuation relative to the ideal ground surface ranges from 1%to 11%,and the extra rise-time increment varies from 0.1 to 0.6μs.Therefore,the extracted current peak of lightning return stroke may be underestimated from the remotely measured electromagnetic field,and the error varies along with different azimuths.
文摘Deployment of sensors in any irregular terrain with 100% coverage and connectivity is a challenging issue in the field of Wireless Sensor Networks. Traditional deployments often assume homogeneous environments, which ignore the effect of terrain profile as well as the in-network obstacles situated randomly like buildings, trees, roads and so on. Proper deployment of sensors in such irregular region and its corresponding routing is one of the most fundamental challenges of Wireless Sensor Networks. In this work, we have considered that the terrain is irregular in shape and there may be obstacles within the terrain in any random position with any random shape, which is the reality in real world. With this novel framework, we have shown that an opti-mum deployment can be achieved in such irregular terrain without compromising coverage as well as con-nectivity between the sensor nodes for effective routing.
基金This work was supported by the National Natural Science Foundation of China(Grant No.51605115)State Key Laboratory of Robotics and System(Self-Planned Task No.SKLRS201719A)+1 种基金Heilongjiang Postdoctoral Financial Assistance(Grant No.LBH-Z16083)Natural Science Foundation of Heilongjiang Province(Grant No.QC2017052).
文摘As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane,the spring-loaded inverted pendulum(SLIP)model has been extensively employed in both biomechanical study and robotics research.Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass(CoM)with maneuverability,this study presents a novel two-layered sagittal SLIP-anchored(SSA)task space control for a monopode robot to deal with terrain irregularity.This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy,and a two-layered SSA task space controller is subsequently developed for the monopode robot.The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller,which generates an adaptive reference trajectory for the CoM.The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot.Consequently,an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain.Simulation results have demonstrated the effectiveness of the proposed method.
基金Supported by National High Technology Research and Development Program(863) of China (2006AA01Z319)
文摘In the preprocessing phase, the global terrain model is partitioned into blocks with their feature points being picked out to generate TIN model for each terrain block, then the multi-resolution models of terrain organized in the form of quad-tree is created bottom-up. Cracks between terrain blocks are avoided by inserting vertices to form common boundaries. At run-time, a view-dependent LOD algorithm is used to control the loading and unloading of the proper blocks by an additional synchronous thread. To eliminate the artifacts created by LOD transitions, geomorphing is used in real-time. These rendering strategies increase the throughput of GPU and avoid imbalance of load among CPU, GPU and Disk I/O. Experimental results show that the system can perform visually smooth rendering of large-scale terrain scenes with fine quality at an average rate of 80 fps.
文摘传统有限元法对大坝-不规则地基-库水系统进行建模时存在一定的局限性。基于ABAQUS二次开发接口,实现了比例边界有限元方法(scaled boundary finite element method,SBFEM)与八叉树网格的结合,建立了一种考虑真实地形的高拱坝-不规则地基-库水系统自动建模方法。利用构建的八叉树比例边界有限元法对某重力坝地震响应进行了数值验证。随后对NG5拱坝系统分别基于平整地基和不规则地基进行线弹性和非线性动力响应分析。结果表明:在地震作用下,相较于简化的平整地基拱坝系统,不规则地基拱坝系统坝顶与坝底横河向相对位移以及第一主应力峰值变化较大,分别增加了73.5%和103.6%;考虑拱坝横缝以及材料非线性的情况下,坝顶与坝底横河向相对位移以及顺河向相对位移和相对速度分别增加了43.9%、32.0%和56.6%,同时边缝的法向开度增加尤为显著,增加了388.9%和381.8%,开度峰值增加了105%,在应力和损伤方面,第一主应力峰值增加了81.6%,损伤较大的区域也沿着坝体底部进行了扩展。
基金This paper is supported by the State Key Laboratory for Image Processing & Intelligent Control (No. TKLJ9903) National Defe
文摘Augmented reality is the merging of synthetic sensory information into a user's perception of a real environment. As one of the most important tasks in augmented scene modeling, terrain simplification research has gained more and more attention. In this paper, we mainly focus on point selection problem in terrain simplification using triangulated irregular network. Based on the analysis and comparison of traditional importance measures for each input point, we put forward a new importance measure based on local entropy. The results demonstrate that the local entropy criterion has a better performance than any traditional methods. In addition, it can effectively conquer the 'short-sight' problem associated with the traditional methods.
