On the basis of the concept of＂lake ecosystem health＂, the paper proposes that the planning and development of lakeside regions shall be oriented towards the core target of preserving ＂healthy lake＂ and all the co...On the basis of the concept of＂lake ecosystem health＂, the paper proposes that the planning and development of lakeside regions shall be oriented towards the core target of preserving ＂healthy lake＂ and all the construction work in lakeside regions shall be conducted within the ecosystem carrying capacity limits that the lakes can withstand. To achieve this core target, the paper first identifies main indicators describing healthy lake ecosystem and defines the external factors that can influence the health of lake eco-system. Then based on this, two kinds of urban planning methods are proposed to maintain the stability of lake eco-system health through controlling the external factors that can affect the health of lake eco-system. The first is to propose controlling factors in urban planning, such as division of ecological sensitive zones, controlling the development intensity, population capacity and types of industry in the lakeside regions and the second is to construct a monitoring and early warning system for lake eco-system health. The theories and methods mentioned in this paper have been applied to the planning of Wuhan Wutong Lake eco-city.展开更多
A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating b...A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.展开更多
文摘On the basis of the concept of＂lake ecosystem health＂, the paper proposes that the planning and development of lakeside regions shall be oriented towards the core target of preserving ＂healthy lake＂ and all the construction work in lakeside regions shall be conducted within the ecosystem carrying capacity limits that the lakes can withstand. To achieve this core target, the paper first identifies main indicators describing healthy lake ecosystem and defines the external factors that can influence the health of lake eco-system. Then based on this, two kinds of urban planning methods are proposed to maintain the stability of lake eco-system health through controlling the external factors that can affect the health of lake eco-system. The first is to propose controlling factors in urban planning, such as division of ecological sensitive zones, controlling the development intensity, population capacity and types of industry in the lakeside regions and the second is to construct a monitoring and early warning system for lake eco-system health. The theories and methods mentioned in this paper have been applied to the planning of Wuhan Wutong Lake eco-city.
文摘A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.
