A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-chan...A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.展开更多
大菊头蝠是一种大型的菊头蝠科蝙蝠,经常独居或成对生活,数量稀少,不易捕获,其声学信息十分缺乏。2016年5月于河南省内乡县七里坪乡北湾村一人工隧道(N33°22',E111°55')内采集到1只雄性大菊头蝠(前臂长69.24 mm,体重1...大菊头蝠是一种大型的菊头蝠科蝙蝠,经常独居或成对生活,数量稀少,不易捕获,其声学信息十分缺乏。2016年5月于河南省内乡县七里坪乡北湾村一人工隧道(N33°22',E111°55')内采集到1只雄性大菊头蝠(前臂长69.24 mm,体重13.1 g),采用超声波监听仪Sound Gate 116录制其回声定位叫声和激进叫声声波,并采用声谱分析软件Avisoft-SASLab Pro version 5.1进行声波分析。大菊头蝠回声定位声波主频约为31.8 k Hz,激进叫声包括两种简单音节(BNBl、bUFM)和一种组合音节(NB-UFM)。这3种音节组合成6种短语,一般以BNBl音节开头,BNBl音节或NB-UFM音节作为中间音节,最后以NB-UFM音节或bUFM音节结尾。短语多以双音节、三音节、四音节短语为主,而多音节短语的数量比较少,可能有利于节省能量,且符合Morton动机-结构规则。大菊头蝠回声定位声波和激进叫声的报道,为该物种的声通讯行为的进一步研究提供了一定的基础数据。展开更多
文摘A self-reconfigurable robot is a non-linear complex system composed of a large number of modules. The complexity caused by non-linearity makes it difficult to solve the problem of module motion planning and shape-changing control with the traditional algorithm. In this paper, a full-discrete metamorphic algorithm is proposed. The modules concurrently process the local sensing information, update their eigenvector, and act by the same predetermined logical rules. Then a reasonable motion sequence for modules and the global metamorphosis can be obtained. Therefore, the complexity of metamorphic algorithm is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. The algorithm cases of several typical systems are studied and evaluated through simulation program of 2-D planar homogeneous modular systems.
文摘大菊头蝠是一种大型的菊头蝠科蝙蝠,经常独居或成对生活,数量稀少,不易捕获,其声学信息十分缺乏。2016年5月于河南省内乡县七里坪乡北湾村一人工隧道(N33°22',E111°55')内采集到1只雄性大菊头蝠(前臂长69.24 mm,体重13.1 g),采用超声波监听仪Sound Gate 116录制其回声定位叫声和激进叫声声波,并采用声谱分析软件Avisoft-SASLab Pro version 5.1进行声波分析。大菊头蝠回声定位声波主频约为31.8 k Hz,激进叫声包括两种简单音节(BNBl、bUFM)和一种组合音节(NB-UFM)。这3种音节组合成6种短语,一般以BNBl音节开头,BNBl音节或NB-UFM音节作为中间音节,最后以NB-UFM音节或bUFM音节结尾。短语多以双音节、三音节、四音节短语为主,而多音节短语的数量比较少,可能有利于节省能量,且符合Morton动机-结构规则。大菊头蝠回声定位声波和激进叫声的报道,为该物种的声通讯行为的进一步研究提供了一定的基础数据。
