The typhoon, as a mature tropical cyclone that develops in the western part of the North Pacific Ocean with high wind speed and heavy rainfall, is one of the most lethal and costly of natural disasters for the densely...The typhoon, as a mature tropical cyclone that develops in the western part of the North Pacific Ocean with high wind speed and heavy rainfall, is one of the most lethal and costly of natural disasters for the densely populated countries of East Asia. It can be easily detected by space-borne sensors operated at microwave, visible or infrared bands （Liu et al., 2014）. Synthetic Aperture Radar （SAR） is a kind of active imaging radar, which can detect the targets with high resolution at one-meter level. SARs can be used to extract the sea surface wind and the eyes of typhoons or hurricanes （Friedman and Li, 2000; Zhang and Perrie, 2012; Li, 2015; Jin et al., 2014; Liu et al., 2014）. As a pioneer project of Haiyang-3 （HY-3）, the Chinese C-band SAR satellite of Gaofen-3 （GF-3） was launched in August 2016 under China High-resolution Earth Observation System （CEOS）. GF-3 carries a multi-polarized C-band SAR with a highest spatial resolution of one meter, the most imaging modes in the word of twelve and a long designed lifespan of 8 years. Haiyang-2A （HY-2A）, which was launched in August 2011, is the first Chinese marine dynamic environment satellite with a main payload of Ku-band microwave scatterometer （Jiang et al., 2012; Ye et al., 2015）. One of the objectives of HY-2A scatterometer （HY-2A SCAT） is monitoring sea surface wind field of global ocean.展开更多
The successive alteration o the microstructure from the weld metal zone through weld bond to the heat affected zone of a Cr18Ni13 austenitic-0.45%C steels weld joint was observed in situ using transmission electron mi...The successive alteration o the microstructure from the weld metal zone through weld bond to the heat affected zone of a Cr18Ni13 austenitic-0.45%C steels weld joint was observed in situ using transmission electron microscopy.It was found a new type of microstructure called pearlite-like structure and observed the characteristics of the boundary of dissimilar phases. Based on the definition of various zones of the dissimilar steels weld joint under the optical mi- croscope,the transmission electron microscopic characteristics,including microstructures and compositions,of each zone are described and discussed.展开更多
The response of thermosphere density to geomagnetic storms is a complicated physical process.Multi-satellite joint observations at the same altitude but different local times(LTs)are important for understanding this p...The response of thermosphere density to geomagnetic storms is a complicated physical process.Multi-satellite joint observations at the same altitude but different local times(LTs)are important for understanding this process;however,until now such studies have hardly been done.In this report,we analyze in detail the thermosphere mass density response at 510 km during the April 23−24,2023 geomagnetic storm using data derived from the TM-1(TianMu-1)satellite constellation and Swarm-B satellites.The observations show that there were significant LT differences in the hemispheric asymmetry of the thermosphere mass density during the geomagnetic storm.Densities observed by satellite TM02 at nearly 11.3 and 23.3 LTs were larger in the northern hemisphere than in the southern.The TM04 dayside density observations appear to be almost symmetrical with respect to the equator,though southern hemisphere densities on the nightside were higher.Swarm-B data exhibit near-symmetry between the hemispheres.In addition,the mass density ratio results show that TM04 nightside observations,TM02 data,and Swarm-B data all clearly show stronger effects in the southern hemisphere,except for TM04 on the dayside,which suggest hemispheric near-symmetry.The South-North density enhancement differences in TM02 and TM04 on dayside can reach 130%,and Swarm-B data even achieve 180%difference.From the observations of all three satellites,large-scale traveling atmospheric disturbances(TADs)first appear at high latitudes and propagate to low latitudes,thereby disturbing the atmosphere above the equator and even into the opposite hemisphere.NRLMSISE00 model simulations were also performed on this geomagnetic storm.TADs are absent in the NRLMSISE00 simulations.The satellite data suggest that NRLMSISE00 significantly underestimates the magnitude of the density response of the thermosphere during geomagnetic storms,especially at high latitudes in both hemispheres.Therefore,use of the density simulation of NRLMSISE00 may lead to large errors in satellite drag calculations and orbit predictions.We suggest that the high temporal and spatial resolution of direct density observations by the TM-1 constellation satellites can provide an autonomous and reliable basis for correction and improvement of atmospheric models.展开更多
Combined with the characteristics of the distributed-drive electric vehicle and direct yaw moment control,a double-layer structure direct yaw moment controller is designed.The upper additional yaw moment controller is...Combined with the characteristics of the distributed-drive electric vehicle and direct yaw moment control,a double-layer structure direct yaw moment controller is designed.The upper additional yaw moment controller is constructed based on model predictive control.Aiming at minimizing the utilization rate of tire adhesion and constrained by the working characteristics of motor system and brake system,a quadratic programming active set was designed to optimize the distribution of additional yaw moments.The road surface adhesion coefficient has a great impact on the reliability of direct yaw moment control,for which joint observer of vehicle state parameters and road surface parameters is designed by using unscented Kalman filter algorithm,which correlates vehicle state observer and road surface parameter observer to form closed-loop feedback correction.The results show that compared to the“feedforward+feedback”control,the vehicle’s error of yaw rate and sideslip angle by the model predictive control is smaller,which can improve the vehicle stability effectively.In addition,according to the results of the docking road simulation test,the joint observer of vehicle state and road surface parameters can improve the adaptability of the vehicle stability controller to the road conditions with variable adhesion coefficients.展开更多
An approach for motion control and observation of robotic manipulators is presented in this article. It links the design of a joint acceleration controller to the design of a variable structure observer including Luen...An approach for motion control and observation of robotic manipulators is presented in this article. It links the design of a joint acceleration controller to the design of a variable structure observer including Luenberger-like observation term. Both the joint acceleration controller and the observer that are introduced in this paper are very likely to use either large or moderate or small gains. Thus the time delay issue of the output measurements is highly taken into consideration in the design of the intended observers. The observer design is therefore based on two different generalized forms of nonlinear systems with/without undelayed outputs. A study to investigate the effects of the gains of the joint acceleration controller on the performance capabilities of the observer is introduced. Also, the effects of the time delay factor on the operation of both the controller and the observer and their own interaction are studied. Then a chain observer design is presented for circumventing the time delay effects. The time delay constant is found to be of vital importance to the robot performance capabilities. Moreover, the results show that the gains of the joint acceleration controller are of significant influence on the operation of the proposed observers.展开更多
The corrosion behavior of friction-stir-welded 2A14-T6 aluminum alloy was investigated by immersion testing in immersion exfoliation corrosion（EXCO） solution. Electrochemical measurements（open circuit potential, po...The corrosion behavior of friction-stir-welded 2A14-T6 aluminum alloy was investigated by immersion testing in immersion exfoliation corrosion（EXCO） solution. Electrochemical measurements（open circuit potential, potentiodynamic polarization curves, and electrochemical impedance spectroscopy）, scanning electron microscopy, and energy dispersive spectroscopy were employed for analyzing the corrosion mechanism. The results show that, compared to the base material, the corrosion resistance of the friction-stir welds is greatly improved, and the weld nugget has the highest corrosion resistance. The pitting susceptibility originates from the edge of Al-Cu-Fe-Mn-Si phase particles as the cathode compared to the matrix due to their high self-corrosion potential. No corrosion activity is observed around the θ phase（Al2Cu） after 2 h of immersion in EXCO solution.展开更多
Sn/ENIG has recently been used in flexible interconnects to form a more stable micron-sized metallurgical joint,due to high power capability which causes solder joints to heat up to 200℃.However,Cu_(6)Sn_(5)which is ...Sn/ENIG has recently been used in flexible interconnects to form a more stable micron-sized metallurgical joint,due to high power capability which causes solder joints to heat up to 200℃.However,Cu_(6)Sn_(5)which is critical for a microelectronic interconnection,will go through a phase transition at temperatures between 186 and 189℃.This research conducted an in-situ TEM study of a micro Cu/ENIG/Sn solder joint under isothermal aging test and proposed a model to illustrate the mechanism of the microstructural evolution.The results showed that part of the Sn solder reacted with Cu diffused from the electrode to formη´-Cu_(6)Sn_(5)during the ultrasonic bonding process,while the rest of Sn was left and enriched in a region in the solder joint.But the enriched Sn quickly diffused to both sides when the temperature reached 100℃,reacting with the ENIG coating and Cu to form(Ni_(x)Cu_(1-x))_(3)Sn_(4),AuSn_(4),and Cu_(6)Sn_(5)IMCs.After entering the heat preservation process,the diffusion of Cu from the electrode to the joint became more intense,resulting in the formation of Cu_(3)Sn.The scallop-type Cu_(6)Sn_(5)and the seahorse-type Cu_(3)Sn constituted a typical two-layered structure in the solder joint.Most importantly,the transition betweenηandη’was captured near the phase transition temperature for Cu_(6)Sn_(5)during both the heating and cooling process,which was accompanied by a volume shifting,and the transition process was further studied.This research is expected to serve as a reference for the service of micro Cu/ENIG/Sn solder joints in the electronic industry.展开更多
In this paper, the theory and method, obtaining the tomographic determination of three-dimensional velocity structure of the crust by use of the joint inversion of explosion and earthquake data, are given. The velocit...In this paper, the theory and method, obtaining the tomographic determination of three-dimensional velocity structure of the crust by use of the joint inversion of explosion and earthquake data, are given. The velocity distribution of the crust is regarded as a continuous function of the spatial coordinates without parametrization of the velocity model ahead, so that the inversion solution would not be influenced by different parametrization procedures.The expressions of integration kernels, which relates the two kinds of data sets, are also given. The authors have processed the observed data in Tangshan earthquake region by the method proposed in this paper, and obtained the tomographic results of the middle and upper crust structures in this region. The comparison of these results with the result obtained only by the explosion data, has also been made.展开更多
The tracking control problem for Flexible Joint Manipulator Control System(FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer(HGO)is constructed to estimate the unmeasurable states ...The tracking control problem for Flexible Joint Manipulator Control System(FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer(HGO)is constructed to estimate the unmeasurable states and the uncertainties.Then,a Dynamic Surface Control(DSC)scheme is developed by using the estimation of HGO.The newly proposed controller has two advantages over the existing methods:(A)a novel Spike Suppression Function(SSF)is developed to avoid the estimation spike problem in the existing HGO-based controllers.(B)Unlike the existing observer-based partial feedback control scheme that can only estimate the unmeasurable states,the proposed HGO can estimate both the unmeasurable states and uncertainties.The closed-loop system stability is proved by the Lyapunov theory.Simulation results demonstrate the effectiveness of the proposed controller.展开更多
A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the cours...A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the course of motion,mass and dimensions of the moved payloads,etc.,are received from the motion equation of rotary link of MR.Changes of mechanical load can be unknown and cause the essential deterioration in dynamical properties(speed,damping,etc.)of the SAC of drive.With the aim to stabilize the desired dynamical properties of SAC the algorithm of drive control is proposed which is adaptive to changes of mechanical load.The unknown parameters of drive load,necessary to form the adaptive control algorithm,are identified via observing device(OD).The work algorithm of OD to identify the unknown parameters of drive load is proposed.For the proposed control and work of OD algorithms the block diagram of drive control is construction.The simulation results on computer proved that in considered SAC of drive the stabilization of desired dynamical properties ensured.展开更多
Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a geckorobot. A three-dimensional locomotion observation s...Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a geckorobot. A three-dimensional locomotion observation system was constructed to measure angular orientations of joints while geckos trotted (337.1 mm/s) and walked (66.7 mm/s) on horizontal surfaces, and trotted (241.5mm/s) and walked (30.6mm/s) on vertical surfaces. Moving over horizontal surfaces, the joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward, but extended from 72 degrees to 79.2 degrees when swinging backward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces, the scope of the forward swinging forelimbs forward extended from 33.7 degrees to 36.7 degrees with increasing speed, while the scope of backward swinging forelimbs remained almost the same at 87.5 degrees. Alternative gaits had little effect on the swing angle of hindlimbs of the geckos moving on both horizontal and vertical surfaces.展开更多
基金The National Key R&D Program of China under contract No.2016YFC1401000the Joint Foundation of National Natural Science Foundation of China and the Marine Science Center of Shandong Province under contract No.U1406404the National Natural Science Foundation of China under contract Nos 1506206 and 41476152
文摘The typhoon, as a mature tropical cyclone that develops in the western part of the North Pacific Ocean with high wind speed and heavy rainfall, is one of the most lethal and costly of natural disasters for the densely populated countries of East Asia. It can be easily detected by space-borne sensors operated at microwave, visible or infrared bands （Liu et al., 2014）. Synthetic Aperture Radar （SAR） is a kind of active imaging radar, which can detect the targets with high resolution at one-meter level. SARs can be used to extract the sea surface wind and the eyes of typhoons or hurricanes （Friedman and Li, 2000; Zhang and Perrie, 2012; Li, 2015; Jin et al., 2014; Liu et al., 2014）. As a pioneer project of Haiyang-3 （HY-3）, the Chinese C-band SAR satellite of Gaofen-3 （GF-3） was launched in August 2016 under China High-resolution Earth Observation System （CEOS）. GF-3 carries a multi-polarized C-band SAR with a highest spatial resolution of one meter, the most imaging modes in the word of twelve and a long designed lifespan of 8 years. Haiyang-2A （HY-2A）, which was launched in August 2011, is the first Chinese marine dynamic environment satellite with a main payload of Ku-band microwave scatterometer （Jiang et al., 2012; Ye et al., 2015）. One of the objectives of HY-2A scatterometer （HY-2A SCAT） is monitoring sea surface wind field of global ocean.
文摘The successive alteration o the microstructure from the weld metal zone through weld bond to the heat affected zone of a Cr18Ni13 austenitic-0.45%C steels weld joint was observed in situ using transmission electron microscopy.It was found a new type of microstructure called pearlite-like structure and observed the characteristics of the boundary of dissimilar phases. Based on the definition of various zones of the dissimilar steels weld joint under the optical mi- croscope,the transmission electron microscopic characteristics,including microstructures and compositions,of each zone are described and discussed.
基金funded by the China Manned Space Program (Grant Y59003AC40)TM-1 Constellation Atmospheric Density Detector (Grant E3C1162110)
文摘The response of thermosphere density to geomagnetic storms is a complicated physical process.Multi-satellite joint observations at the same altitude but different local times(LTs)are important for understanding this process;however,until now such studies have hardly been done.In this report,we analyze in detail the thermosphere mass density response at 510 km during the April 23−24,2023 geomagnetic storm using data derived from the TM-1(TianMu-1)satellite constellation and Swarm-B satellites.The observations show that there were significant LT differences in the hemispheric asymmetry of the thermosphere mass density during the geomagnetic storm.Densities observed by satellite TM02 at nearly 11.3 and 23.3 LTs were larger in the northern hemisphere than in the southern.The TM04 dayside density observations appear to be almost symmetrical with respect to the equator,though southern hemisphere densities on the nightside were higher.Swarm-B data exhibit near-symmetry between the hemispheres.In addition,the mass density ratio results show that TM04 nightside observations,TM02 data,and Swarm-B data all clearly show stronger effects in the southern hemisphere,except for TM04 on the dayside,which suggest hemispheric near-symmetry.The South-North density enhancement differences in TM02 and TM04 on dayside can reach 130%,and Swarm-B data even achieve 180%difference.From the observations of all three satellites,large-scale traveling atmospheric disturbances(TADs)first appear at high latitudes and propagate to low latitudes,thereby disturbing the atmosphere above the equator and even into the opposite hemisphere.NRLMSISE00 model simulations were also performed on this geomagnetic storm.TADs are absent in the NRLMSISE00 simulations.The satellite data suggest that NRLMSISE00 significantly underestimates the magnitude of the density response of the thermosphere during geomagnetic storms,especially at high latitudes in both hemispheres.Therefore,use of the density simulation of NRLMSISE00 may lead to large errors in satellite drag calculations and orbit predictions.We suggest that the high temporal and spatial resolution of direct density observations by the TM-1 constellation satellites can provide an autonomous and reliable basis for correction and improvement of atmospheric models.
基金funded by Youth Program of National Natural Science Foundation of China(52002034)National Key R&D Program of China(2018YFB1600701)+2 种基金Key Research and Development Program of Shaanxi(2020ZDLGY16-01,2019ZDLGY15-02)Natural Science Basic Research Program of Shaanxi(2020JQ-381)Fundamental Research Funds for the Central Universities,CHD(300102220113).
文摘Combined with the characteristics of the distributed-drive electric vehicle and direct yaw moment control,a double-layer structure direct yaw moment controller is designed.The upper additional yaw moment controller is constructed based on model predictive control.Aiming at minimizing the utilization rate of tire adhesion and constrained by the working characteristics of motor system and brake system,a quadratic programming active set was designed to optimize the distribution of additional yaw moments.The road surface adhesion coefficient has a great impact on the reliability of direct yaw moment control,for which joint observer of vehicle state parameters and road surface parameters is designed by using unscented Kalman filter algorithm,which correlates vehicle state observer and road surface parameter observer to form closed-loop feedback correction.The results show that compared to the“feedforward+feedback”control,the vehicle’s error of yaw rate and sideslip angle by the model predictive control is smaller,which can improve the vehicle stability effectively.In addition,according to the results of the docking road simulation test,the joint observer of vehicle state and road surface parameters can improve the adaptability of the vehicle stability controller to the road conditions with variable adhesion coefficients.
文摘An approach for motion control and observation of robotic manipulators is presented in this article. It links the design of a joint acceleration controller to the design of a variable structure observer including Luenberger-like observation term. Both the joint acceleration controller and the observer that are introduced in this paper are very likely to use either large or moderate or small gains. Thus the time delay issue of the output measurements is highly taken into consideration in the design of the intended observers. The observer design is therefore based on two different generalized forms of nonlinear systems with/without undelayed outputs. A study to investigate the effects of the gains of the joint acceleration controller on the performance capabilities of the observer is introduced. Also, the effects of the time delay factor on the operation of both the controller and the observer and their own interaction are studied. Then a chain observer design is presented for circumventing the time delay effects. The time delay constant is found to be of vital importance to the robot performance capabilities. Moreover, the results show that the gains of the joint acceleration controller are of significant influence on the operation of the proposed observers.
基金financially supported by the National Natural Science Foundation of China (No. 51105030)
文摘The corrosion behavior of friction-stir-welded 2A14-T6 aluminum alloy was investigated by immersion testing in immersion exfoliation corrosion（EXCO） solution. Electrochemical measurements（open circuit potential, potentiodynamic polarization curves, and electrochemical impedance spectroscopy）, scanning electron microscopy, and energy dispersive spectroscopy were employed for analyzing the corrosion mechanism. The results show that, compared to the base material, the corrosion resistance of the friction-stir welds is greatly improved, and the weld nugget has the highest corrosion resistance. The pitting susceptibility originates from the edge of Al-Cu-Fe-Mn-Si phase particles as the cathode compared to the matrix due to their high self-corrosion potential. No corrosion activity is observed around the θ phase（Al2Cu） after 2 h of immersion in EXCO solution.
基金supported by the opening fund of National Key Research and Development Program of China(No.2020YFE0205300)Key Laboratory of Science and Technology on Silicon Devices,Chinese Academy of Sciences(No.KLSDTJJ2022-5)+1 种基金Chongqing Natural Science Foundation of China(No.cstc2021jcyj-msxmX1002)the Fundamental Research Funds for the Central Universities(No.AUGA5710051221).
文摘Sn/ENIG has recently been used in flexible interconnects to form a more stable micron-sized metallurgical joint,due to high power capability which causes solder joints to heat up to 200℃.However,Cu_(6)Sn_(5)which is critical for a microelectronic interconnection,will go through a phase transition at temperatures between 186 and 189℃.This research conducted an in-situ TEM study of a micro Cu/ENIG/Sn solder joint under isothermal aging test and proposed a model to illustrate the mechanism of the microstructural evolution.The results showed that part of the Sn solder reacted with Cu diffused from the electrode to formη´-Cu_(6)Sn_(5)during the ultrasonic bonding process,while the rest of Sn was left and enriched in a region in the solder joint.But the enriched Sn quickly diffused to both sides when the temperature reached 100℃,reacting with the ENIG coating and Cu to form(Ni_(x)Cu_(1-x))_(3)Sn_(4),AuSn_(4),and Cu_(6)Sn_(5)IMCs.After entering the heat preservation process,the diffusion of Cu from the electrode to the joint became more intense,resulting in the formation of Cu_(3)Sn.The scallop-type Cu_(6)Sn_(5)and the seahorse-type Cu_(3)Sn constituted a typical two-layered structure in the solder joint.Most importantly,the transition betweenηandη’was captured near the phase transition temperature for Cu_(6)Sn_(5)during both the heating and cooling process,which was accompanied by a volume shifting,and the transition process was further studied.This research is expected to serve as a reference for the service of micro Cu/ENIG/Sn solder joints in the electronic industry.
文摘In this paper, the theory and method, obtaining the tomographic determination of three-dimensional velocity structure of the crust by use of the joint inversion of explosion and earthquake data, are given. The velocity distribution of the crust is regarded as a continuous function of the spatial coordinates without parametrization of the velocity model ahead, so that the inversion solution would not be influenced by different parametrization procedures.The expressions of integration kernels, which relates the two kinds of data sets, are also given. The authors have processed the observed data in Tangshan earthquake region by the method proposed in this paper, and obtained the tomographic results of the middle and upper crust structures in this region. The comparison of these results with the result obtained only by the explosion data, has also been made.
基金co-supported by Natural Science Foundation of Shaanxi Province(Nos.2020JM-131,2020KW-058)the Key Research and Development Program of Shaanxi,China(Nos.2019GY-025,2018GY-091)+1 种基金Xi’an Science and Technology Plan Project,China(No.2020KJRC0134)Special Fund for High Level Talents of Xijing University,China(No.XJ20B07)。
文摘The tracking control problem for Flexible Joint Manipulator Control System(FJMCS)with unmeasurable states is addressed in this paper.Firstly,a High-Gain Observer(HGO)is constructed to estimate the unmeasurable states and the uncertainties.Then,a Dynamic Surface Control(DSC)scheme is developed by using the estimation of HGO.The newly proposed controller has two advantages over the existing methods:(A)a novel Spike Suppression Function(SSF)is developed to avoid the estimation spike problem in the existing HGO-based controllers.(B)Unlike the existing observer-based partial feedback control scheme that can only estimate the unmeasurable states,the proposed HGO can estimate both the unmeasurable states and uncertainties.The closed-loop system stability is proved by the Lyapunov theory.Simulation results demonstrate the effectiveness of the proposed controller.
文摘A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the course of motion,mass and dimensions of the moved payloads,etc.,are received from the motion equation of rotary link of MR.Changes of mechanical load can be unknown and cause the essential deterioration in dynamical properties(speed,damping,etc.)of the SAC of drive.With the aim to stabilize the desired dynamical properties of SAC the algorithm of drive control is proposed which is adaptive to changes of mechanical load.The unknown parameters of drive load,necessary to form the adaptive control algorithm,are identified via observing device(OD).The work algorithm of OD to identify the unknown parameters of drive load is proposed.For the proposed control and work of OD algorithms the block diagram of drive control is construction.The simulation results on computer proved that in considered SAC of drive the stabilization of desired dynamical properties ensured.
基金Supported by the National High Technology Research and Development Program of China (Grant No. 2007AA04Z201)National Natural Science Foundation of China (Grant Nos. 60535020, 30700068 and 50705043)
文摘Because of their outstanding climbing and motor coordination ability, geckos have provided the basis for a peculiar bionic model leading to the development of a geckorobot. A three-dimensional locomotion observation system was constructed to measure angular orientations of joints while geckos trotted (337.1 mm/s) and walked (66.7 mm/s) on horizontal surfaces, and trotted (241.5mm/s) and walked (30.6mm/s) on vertical surfaces. Moving over horizontal surfaces, the joints rotated more quickly the greater the speed, and the swinging scope of forelimbs stayed nearly at 59 degrees when swinging forward, but extended from 72 degrees to 79.2 degrees when swinging backward. The lifting angle of forelimbs was always positive to keep the center of mass close to the surface when moving up vertical surfaces, the scope of the forward swinging forelimbs forward extended from 33.7 degrees to 36.7 degrees with increasing speed, while the scope of backward swinging forelimbs remained almost the same at 87.5 degrees. Alternative gaits had little effect on the swing angle of hindlimbs of the geckos moving on both horizontal and vertical surfaces.
