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
The news meeting on GB/T 22517.12-2024,Technical requirements and test methods for sports field-Part 12:Natural sport climbing venue,was held in Yangshuo county,Southwest China's Guangxi.GB/T 22517.12-2024,China&#...The news meeting on GB/T 22517.12-2024,Technical requirements and test methods for sports field-Part 12:Natural sport climbing venue,was held in Yangshuo county,Southwest China's Guangxi.GB/T 22517.12-2024,China's first national standard for natural climbing venues,was published in August,and officially came into effect on December 1,2024,and its development and implementation will fill the gap in China's standards for climbing venues.展开更多
To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of...To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.展开更多
[Objective] This study aimed to compare the contents of total alkaloids in different solvent extracts from climbing groundsel herb produced in Guizhou Province and their antibacterial activity. [Method] The content of...[Objective] This study aimed to compare the contents of total alkaloids in different solvent extracts from climbing groundsel herb produced in Guizhou Province and their antibacterial activity. [Method] The content of total alkaloids was measured by UV spectrophotometry, and Oxford cups were used to investigate the antibacterial activity of each solvent extract. [Result] There was a good linear correlation between the absorbance measured by the UV spectrophotometer and the content of total al- kaloids within the concentration of 0.011 0-0.054 8 mg/ml at 207 nm, and the re- gression equation was Y=23.654X＋0.021, R=0. 999 7 and the average recovery rate was 99.2%. The contents of total alkaloids in 60% ethanol extract, 95% ethanol and water ethanol were 38.71, 52.25 and 60.50 mg/g, respectively. The 60% ethanol ex- tract had strong antibacterial activity against Streptococcus pneumoniae, Staphylo- coccus aureus and Escherichia coil; the water extractive had stronger antibacterial activity against Escherichia colr, 95% ethanol extract had weak antibacterial activity, with no inhibition of Pseudomonas aeruginosa. [Conclusion] This method is accurate, simple, with good repeatability, which can be used for the determination of alkaloids content of the climbing groundsel herb; there is no positive correlation between the content of total alkaloids in different solvent extracts of climbing groundsel herb and their antibacterial activity.展开更多
With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The...With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The purpose of this study was two-fold:(1) to evaluate climbing-specific fitness and establish percentile rankings among youth climbers;and (2) determine the relationship between fitness and climbing performance. Anthropometrics, fitness, and performance on three indoor bouldering problems ranging in difficulty from V0-V8 were assessed in 64 youth climbers (35 girls, 29 boys) aged 7-17 from the United States. Data are reported by age groups (7-11;12-17 y) and gender. Percentile rankings of fitness scores were computed for girls and boys separately. Analysis of variance was used to compare fitness by age groups and by gender. Regression analysis evaluated the association between climbing performance and fitness. Fitness scores were generally higher among boys than girls, and older vs. younger climbers. Multivariable linear regression revealed that, after adjusting for age, gender, and anthropometrics, fitness variables explained 49% of the variance in performance. Climbing-specific fitness measures previously established on adults are associated with bouldering performance in youth climbers, and therefore may be useful for monitoring progress in training.展开更多
The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as...The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.展开更多
Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments...Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.展开更多
A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in t...A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory.展开更多
Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed st...Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.展开更多
Tendril-bearing climbing plants must recur to the tendril helices with chiral perversion or dual chirality for climbing and to obtain sun exposure. Despite researchers' prolonged fascination with climbing tendrils...Tendril-bearing climbing plants must recur to the tendril helices with chiral perversion or dual chirality for climbing and to obtain sun exposure. Despite researchers' prolonged fascination with climbing tendrils since Darwin's time and even earlier, why the soft and slender tendrils can bear heavy loads such as the self-weight of a plant or additional load caused by rain remains elusive. In this paper, we take towel gourd tendrils as an example and investigate the macroscopic and microscopic mechanical behaviors of tendrils through experiments and simulations. Our study indicates that the tendril filament exhibits rubber-like hyperelastic behaviors and can particularly endure large elongation, which is mainly attributed to the superelasticity of the cellulose fibril helix contained in the cell wall. Combination of the tendril helical structure with dual chirality or chiral perversion at a macroscale and a cellulose filament helix at a subcellular level creates superior elasticity for biological species relying on support and climbing. This study provides deep insight into the structure-property relationship of climbing tendrils, and the relationship is useful for the bioinspired design of composite systems with superior elasticity.展开更多
The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some pr...The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.展开更多
For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and saf...For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect like six legged wall climbing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight moment with respect to different support patterns, and the overturn tendency while payload was increased. As a side product, the authors find an unusual phenomenon governing the relationship between the robot's AOC and the number of functioning suckers, which is explained theoretically by distributed mass spring statics model.展开更多
There are a variety of woody climbing plants distributed widely in Chongqing City, and they are loved by landscape designers due to their special form and saving space. In respect of actual application,there is a big ...There are a variety of woody climbing plants distributed widely in Chongqing City, and they are loved by landscape designers due to their special form and saving space. In respect of actual application,there is a big difference between various species of woody climbing plants in terms of proportion. In this paper, woody climbing plants in Chongqing City were investigated. The results show that there are74 species of woody climbing plants suitable for landscape in Chongqing City. The research can provide reference for the application of woody climbing plants in landscape greening in Chongqing City in future.展开更多
A wall-climbing inspection robot has been designed to climb on safety-critical concrete structures by adhering to reinforcement steel bars(rebars)using permanent magnets to generate the adhesion forces.Simulation and ...A wall-climbing inspection robot has been designed to climb on safety-critical concrete structures by adhering to reinforcement steel bars(rebars)using permanent magnets to generate the adhesion forces.Simulation and experimental validation have been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30–35 mm of concrete cover over rebars arranged in different patterns.The goal of adhesion force optimization is to be able to carry a ground-penetrating radar(GPR)sensor which detects rebar corrosion,concrete delamination,and concrete cover deterioration.The autonomous robot uses an ultra-wide band localization system and GPR data to control its motion trajectories to avoid regions where there is an insufficient density of rebars.Nondestructive testing(NDT)inspection data acquired by GPR are transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.展开更多
Background:Cross-sectional evidence and small-scale trials suggest positive effects of stair climbing on cardiometabolic disease and glucose regulation.However,few studies have examined the long-term association betwe...Background:Cross-sectional evidence and small-scale trials suggest positive effects of stair climbing on cardiometabolic disease and glucose regulation.However,few studies have examined the long-term association between stair climbing and the incidence of type 2 diabetes(T2D).We aimed to prospectively evaluate the association of stair climbing with T2D and assess modifications by genetic predisposition to T2D.Methods:We included 451,699 adults(mean age=56.3±8.1 years,mean±SD;55.2%females)without T2D at baseline in the UK Biobank and followed up to March 31,2021.Stair climbing information was collected through the touchscreen questionnaire.Genetic risk score for T2D consisted of 424 single nucleotide polymorphisms.Results:During a median follow up of 12.1 years,14,896 T2D cases were documented.Compared with participants who reported no stair climbing,those who climbed stairs regularly had a lower risk of incident T2D(10-50 steps/day:hazard ratio(HR)=0.95,95%confidence interval(95%CI):0.89-1.00;60-100 steps/day:HR=0.92,95%CI:0.87-0.98;110-150 steps/day:HR=0.86,95%CI:0.80-0.91;>150 steps/day:HR=0.93,95%CI:0.87-0.99,p for trend=0.0007).We observed a significant interaction between stair climbing and genetic risk score on the subsequent T2D risk(p for interaction=0.0004),where the risk of T2D showed a downward trend in subjects with low genetic risk and those who reported stair climbing activity of 110-150 steps/day appeared to have the lowest overall T2D risk among those with intermediate to high genetic risk.Conclusion:A higher number of stairs climbed at home was associated with lower T2D incidence risk,especially among individuals with a low genetic predisposition to T2D.These findings highlight that stair climbing,as incidental physical activity,offers a simple and low-cost complement to public health interventions for T2D prevention.展开更多
The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship betw...The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship between the force and the air gaps was analyzed. Furthermore the effect of the parameters of the magnetic sucker on the sucker’s performance was discussed. The experiments show that proper selections of the sucker’s structural parameters can provide sufficient attractive force so as to make the wall climbing robot move safely on the steel wall surface.展开更多
This paper presents a new kind of leg mechanism with which the wall climbing robot can easily perform the ground to wall transition by itself.To get its walking envelope and limit position,the forward/inverse kinem...This paper presents a new kind of leg mechanism with which the wall climbing robot can easily perform the ground to wall transition by itself.To get its walking envelope and limit position,the forward/inverse kinematics and the statics of the mechanism are solved.All of these lay the foundation for ground to wall transition gait programing,mechanism parameter selection and optimization.展开更多
A wall climbing robot with two driven wheels and single adhering disk is introduced in this paper. The robot has a compact structure and can be controlled flexibly. This kind of robot will have a wide prospect for app...A wall climbing robot with two driven wheels and single adhering disk is introduced in this paper. The robot has a compact structure and can be controlled flexibly. This kind of robot will have a wide prospect for application.展开更多
The Wall climbing Robot is a kind of robot used in extremely hazardous environment, which has very widely use. In this paper, we introduced a new kind of wall climbing robot, which are used in cleaning work. It was de...The Wall climbing Robot is a kind of robot used in extremely hazardous environment, which has very widely use. In this paper, we introduced a new kind of wall climbing robot, which are used in cleaning work. It was designed with single sucker and special designed sealing mechanism, which can be used to do cleaning work on ceramic and glasses surface of high buildings(about 70 meters).展开更多
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.
文摘The news meeting on GB/T 22517.12-2024,Technical requirements and test methods for sports field-Part 12:Natural sport climbing venue,was held in Yangshuo county,Southwest China's Guangxi.GB/T 22517.12-2024,China's first national standard for natural climbing venues,was published in August,and officially came into effect on December 1,2024,and its development and implementation will fill the gap in China's standards for climbing venues.
基金The National High Technology Research and Development Program of China (863Program) (No.2006AA04Z234)
文摘To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.
基金Supported by the Clinical Scientific Research Capacity Construction Program for Country-level Hospitals of Department of Health,Guizhou Province(gzwxky2011-1-022)~~
文摘[Objective] This study aimed to compare the contents of total alkaloids in different solvent extracts from climbing groundsel herb produced in Guizhou Province and their antibacterial activity. [Method] The content of total alkaloids was measured by UV spectrophotometry, and Oxford cups were used to investigate the antibacterial activity of each solvent extract. [Result] There was a good linear correlation between the absorbance measured by the UV spectrophotometer and the content of total al- kaloids within the concentration of 0.011 0-0.054 8 mg/ml at 207 nm, and the re- gression equation was Y=23.654X＋0.021, R=0. 999 7 and the average recovery rate was 99.2%. The contents of total alkaloids in 60% ethanol extract, 95% ethanol and water ethanol were 38.71, 52.25 and 60.50 mg/g, respectively. The 60% ethanol ex- tract had strong antibacterial activity against Streptococcus pneumoniae, Staphylo- coccus aureus and Escherichia coil; the water extractive had stronger antibacterial activity against Escherichia colr, 95% ethanol extract had weak antibacterial activity, with no inhibition of Pseudomonas aeruginosa. [Conclusion] This method is accurate, simple, with good repeatability, which can be used for the determination of alkaloids content of the climbing groundsel herb; there is no positive correlation between the content of total alkaloids in different solvent extracts of climbing groundsel herb and their antibacterial activity.
文摘With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The purpose of this study was two-fold:(1) to evaluate climbing-specific fitness and establish percentile rankings among youth climbers;and (2) determine the relationship between fitness and climbing performance. Anthropometrics, fitness, and performance on three indoor bouldering problems ranging in difficulty from V0-V8 were assessed in 64 youth climbers (35 girls, 29 boys) aged 7-17 from the United States. Data are reported by age groups (7-11;12-17 y) and gender. Percentile rankings of fitness scores were computed for girls and boys separately. Analysis of variance was used to compare fitness by age groups and by gender. Regression analysis evaluated the association between climbing performance and fitness. Fitness scores were generally higher among boys than girls, and older vs. younger climbers. Multivariable linear regression revealed that, after adjusting for age, gender, and anthropometrics, fitness variables explained 49% of the variance in performance. Climbing-specific fitness measures previously established on adults are associated with bouldering performance in youth climbers, and therefore may be useful for monitoring progress in training.
文摘The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.
文摘Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.
基金Sponsored byt he Scientific Research Foundation for Returned Overseas Chinese Scholars ,State Education Ministry(20060232001)
文摘A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory.
文摘Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.
基金the National Natural Science Foundation of China (Grants 11872273, 11472191, 11602163, and 11672297)the Major Program of the National Science Foundation of China (Grant 11890683)+1 种基金the Opening Fund of State Key Laboratory of Nonlinear Mechanicsthe Australian Endeavour Research Fellowship.
文摘Tendril-bearing climbing plants must recur to the tendril helices with chiral perversion or dual chirality for climbing and to obtain sun exposure. Despite researchers' prolonged fascination with climbing tendrils since Darwin's time and even earlier, why the soft and slender tendrils can bear heavy loads such as the self-weight of a plant or additional load caused by rain remains elusive. In this paper, we take towel gourd tendrils as an example and investigate the macroscopic and microscopic mechanical behaviors of tendrils through experiments and simulations. Our study indicates that the tendril filament exhibits rubber-like hyperelastic behaviors and can particularly endure large elongation, which is mainly attributed to the superelasticity of the cellulose fibril helix contained in the cell wall. Combination of the tendril helical structure with dual chirality or chiral perversion at a macroscale and a cellulose filament helix at a subcellular level creates superior elasticity for biological species relying on support and climbing. This study provides deep insight into the structure-property relationship of climbing tendrils, and the relationship is useful for the bioinspired design of composite systems with superior elasticity.
文摘The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.
文摘For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect like six legged wall climbing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight moment with respect to different support patterns, and the overturn tendency while payload was increased. As a side product, the authors find an unusual phenomenon governing the relationship between the robot's AOC and the number of functioning suckers, which is explained theoretically by distributed mass spring statics model.
文摘There are a variety of woody climbing plants distributed widely in Chongqing City, and they are loved by landscape designers due to their special form and saving space. In respect of actual application,there is a big difference between various species of woody climbing plants in terms of proportion. In this paper, woody climbing plants in Chongqing City were investigated. The results show that there are74 species of woody climbing plants suitable for landscape in Chongqing City. The research can provide reference for the application of woody climbing plants in landscape greening in Chongqing City in future.
基金Innovate UK grant(No.103668)funded the SIRCAUR project with the following partners:London South Bank University(LSBU/LSBIC),Inno-vative Technology&Science Ltd(InnotecUK),and TWI Ltd.
文摘A wall-climbing inspection robot has been designed to climb on safety-critical concrete structures by adhering to reinforcement steel bars(rebars)using permanent magnets to generate the adhesion forces.Simulation and experimental validation have been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30–35 mm of concrete cover over rebars arranged in different patterns.The goal of adhesion force optimization is to be able to carry a ground-penetrating radar(GPR)sensor which detects rebar corrosion,concrete delamination,and concrete cover deterioration.The autonomous robot uses an ultra-wide band localization system and GPR data to control its motion trajectories to avoid regions where there is an insufficient density of rebars.Nondestructive testing(NDT)inspection data acquired by GPR are transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.
基金supported by the National Key Research and Development Program of China(grant number 2020YFC2006300)the Young Scientists Fund of the National Natural Science Foundation of China(grant number 82103835)。
文摘Background:Cross-sectional evidence and small-scale trials suggest positive effects of stair climbing on cardiometabolic disease and glucose regulation.However,few studies have examined the long-term association between stair climbing and the incidence of type 2 diabetes(T2D).We aimed to prospectively evaluate the association of stair climbing with T2D and assess modifications by genetic predisposition to T2D.Methods:We included 451,699 adults(mean age=56.3±8.1 years,mean±SD;55.2%females)without T2D at baseline in the UK Biobank and followed up to March 31,2021.Stair climbing information was collected through the touchscreen questionnaire.Genetic risk score for T2D consisted of 424 single nucleotide polymorphisms.Results:During a median follow up of 12.1 years,14,896 T2D cases were documented.Compared with participants who reported no stair climbing,those who climbed stairs regularly had a lower risk of incident T2D(10-50 steps/day:hazard ratio(HR)=0.95,95%confidence interval(95%CI):0.89-1.00;60-100 steps/day:HR=0.92,95%CI:0.87-0.98;110-150 steps/day:HR=0.86,95%CI:0.80-0.91;>150 steps/day:HR=0.93,95%CI:0.87-0.99,p for trend=0.0007).We observed a significant interaction between stair climbing and genetic risk score on the subsequent T2D risk(p for interaction=0.0004),where the risk of T2D showed a downward trend in subjects with low genetic risk and those who reported stair climbing activity of 110-150 steps/day appeared to have the lowest overall T2D risk among those with intermediate to high genetic risk.Conclusion:A higher number of stairs climbed at home was associated with lower T2D incidence risk,especially among individuals with a low genetic predisposition to T2D.These findings highlight that stair climbing,as incidental physical activity,offers a simple and low-cost complement to public health interventions for T2D prevention.
基金Doctoral Fund of the National EducationCommittee
文摘The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship between the force and the air gaps was analyzed. Furthermore the effect of the parameters of the magnetic sucker on the sucker’s performance was discussed. The experiments show that proper selections of the sucker’s structural parameters can provide sufficient attractive force so as to make the wall climbing robot move safely on the steel wall surface.
文摘This paper presents a new kind of leg mechanism with which the wall climbing robot can easily perform the ground to wall transition by itself.To get its walking envelope and limit position,the forward/inverse kinematics and the statics of the mechanism are solved.All of these lay the foundation for ground to wall transition gait programing,mechanism parameter selection and optimization.
基金Supportedby the High Technology Research and Development Programme of China
文摘A wall climbing robot with two driven wheels and single adhering disk is introduced in this paper. The robot has a compact structure and can be controlled flexibly. This kind of robot will have a wide prospect for application.
文摘The Wall climbing Robot is a kind of robot used in extremely hazardous environment, which has very widely use. In this paper, we introduced a new kind of wall climbing robot, which are used in cleaning work. It was designed with single sucker and special designed sealing mechanism, which can be used to do cleaning work on ceramic and glasses surface of high buildings(about 70 meters).
