In order to improve the particle erosion resistance of engineering surfaces, this paper proposed a bionic sample which is inspired from the skin structure of desert lizard, Laudakin stoliczkana. The bionic sample cons...In order to improve the particle erosion resistance of engineering surfaces, this paper proposed a bionic sample which is inspired from the skin structure of desert lizard, Laudakin stoliczkana. The bionic sample consists of a hard shell （aluminum） and a soft core （silicone rubber） which form a two-layer composite structure. The sand blast tests indicated that the bionic sample has better particle erosion resistance. In steady erosion period, the weight loss per unit time of the bionic sample is about 10% smaller than the contrast sample. The anti-erosion mechanism of the bionic sample was studied by single particle impact test. The results show that, after the impact, the kinetic energy of the particle is reduced by 56.5% on the bionic sample which is higher than that on the contrast sample （31.2%）. That means the bionic sample can partly convert the kinetic energy of the particle into the deformation energy of the silicone rubber layer, thus the erosion is reduced.展开更多
This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biom...This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.展开更多
The dorsal surface of a desert lizard has excellent particle erosion resistance.In this paper,a bio-inspired sample was designed and fabricated based on the biological characteristics of the dorsal skin of the desert ...The dorsal surface of a desert lizard has excellent particle erosion resistance.In this paper,a bio-inspired sample was designed and fabricated based on the biological characteristics of the dorsal skin of the desert lizard(Laudakin stoliczkana).The bionic sample consists of two materials with different characteristics,which form a two-layer composite structure.The particle erosion property and erosion wear mechanism of the bionic sample was studied by means of sandblast experiment and numerical simulation,respectively.The experimental results show that,in the stage with steady abrasion rate,the weight loss per unit time of the bionic sample is about 10%lesser than the control sample.The numerical simulation indicated that the two-layer structure of the bionic sample can efficiently absorb the normal stress,and dissipate the stress in the horizontal direction.Thus,the stress concentration on the sample surface is suppressed.The two-layer structure is contributed to the decentralizing of the stress distribution,and thus the occurrence probability of erosion damage can be decreased.展开更多
We incubated eggs ofPlestiodon chinensis under five constant （24, 26, 28, 30, and 32 ℃） and one fluctuating thermal regimes to examine the effects of constant versus fluctuating incubation temperatures on hatching ...We incubated eggs ofPlestiodon chinensis under five constant （24, 26, 28, 30, and 32 ℃） and one fluctuating thermal regimes to examine the effects of constant versus fluctuating incubation temperatures on hatching success, incubation length, and hatchling morphology. The duration of incubation varied considerably among the six temperature treatments, whereas hatching success did not. The mean incubation length decreased as temperature increased in a nonlinear way, and increased as the thermal variance increased. Incubation temperature affected the body size （linear length and mass） and shape of hatchlings, with eggs incubated at 26, 28, and 30 ℃ producing larger and heavier hatchlings than did those incubated at 24 ℃, 32 ℃, or fluctuating temperatures. Our results showed that exposure of P. chinensis eggs to extreme temperatures for brief periods of time did not increase embryonic mortality and, in the fluctuating-temperature treatment, the thermal variance affected hatchling morphology more evidently than the thermal mean. Our results highlight the importance of the thermal variance in affecting embryonic development and hatchling morphology, and add further evidence that temperatures within the range of 26-30 ℃ are optimal for P. chinensis embryos.展开更多
Running on water produces very energy-efficient and fast motion in water environments. Many studies have been performed to develop bio-inspired water-running robots. To achieve good performance, the lifting force is v...Running on water produces very energy-efficient and fast motion in water environments. Many studies have been performed to develop bio-inspired water-running robots. To achieve good performance, the lifting force is very important for a robot to be able to run on water. The loss of lifting force is associated with the rolling stability of the robot on water. The purpose of this study is to improve the rolling stability of a water-running robot through the periodic motion of a balancing tail. Kinematic analysis was performed to calculate the motions of the legs and the tail, and static analysis was performed to calculate the balancing effect of the tail motion. A numerical model was suggested to determine the dynamic performance of the robotic platform based on kinematic and static results. A simulation based on the numerical model was performed, and the results were compared with empirical data from a robot prototype. The simulation results are in good agreement with the experimental data in terms of rolling stability The lifting force has only a slight effect. The results of this study can be used as a guideline for designing a stable water-running robot.展开更多
Studies of the seasonal acclimatisation of behavioural and physiological processes usually focus on aquatic or semi-aquatic ectotherms and focus less effort on terrestrial ectotherms that experience more thermally het...Studies of the seasonal acclimatisation of behavioural and physiological processes usually focus on aquatic or semi-aquatic ectotherms and focus less effort on terrestrial ectotherms that experience more thermally heterogeneous environments. We conducted comparative studies and thermal acclimation experiments on the locomotion of the Chinese skink （Plestiodon chinensis） to test whether seasonal acclimatisation in locomotion exists in these terrestrial ectothermic vertebrates, and whether seasonal acclimatisation is predominantly induced by thermal environments. In natural populations, skinks ran faster during the summer season than during the spring season at high-test temperatures ranging from 27℃ to 36℃ but not at low-test temperatures ranging from 18℃ to 24℃. In contrast, the thermal acclimation experiments showed that the cold-acclimated skinks ran faster than the warm-acclimated skinks at the low- test temperatures but not at high-test temperatures. Therefore, the seasonal acclimatisation occurs to P chinensis, and may be induced by temperature as well as other factors like food availability, as indicated by the seasonal variation in the thermal dependence of locomotion, and the discrepancy between seasonal acclimatisation and thermal acclimation on locomotion.展开更多
基金The National Natural Science Foundation of China
文摘In order to improve the particle erosion resistance of engineering surfaces, this paper proposed a bionic sample which is inspired from the skin structure of desert lizard, Laudakin stoliczkana. The bionic sample consists of a hard shell （aluminum） and a soft core （silicone rubber） which form a two-layer composite structure. The sand blast tests indicated that the bionic sample has better particle erosion resistance. In steady erosion period, the weight loss per unit time of the bionic sample is about 10% smaller than the contrast sample. The anti-erosion mechanism of the bionic sample was studied by single particle impact test. The results show that, after the impact, the kinetic energy of the particle is reduced by 56.5% on the bionic sample which is higher than that on the contrast sample （31.2%）. That means the bionic sample can partly convert the kinetic energy of the particle into the deformation energy of the silicone rubber layer, thus the erosion is reduced.
基金supported by the Brain Korea 21 Project and SNU-IAMD.
文摘This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.
文摘The dorsal surface of a desert lizard has excellent particle erosion resistance.In this paper,a bio-inspired sample was designed and fabricated based on the biological characteristics of the dorsal skin of the desert lizard(Laudakin stoliczkana).The bionic sample consists of two materials with different characteristics,which form a two-layer composite structure.The particle erosion property and erosion wear mechanism of the bionic sample was studied by means of sandblast experiment and numerical simulation,respectively.The experimental results show that,in the stage with steady abrasion rate,the weight loss per unit time of the bionic sample is about 10%lesser than the control sample.The numerical simulation indicated that the two-layer structure of the bionic sample can efficiently absorb the normal stress,and dissipate the stress in the horizontal direction.Thus,the stress concentration on the sample surface is suppressed.The two-layer structure is contributed to the decentralizing of the stress distribution,and thus the occurrence probability of erosion damage can be decreased.
基金the National Natural Science Foundation of China (31470471 and 30670281)the Zhejiang Provincial Natural Science Foundation (LY17C030003)the Priority Academic Development Program of Jiangsu Higher Education Institutions
文摘We incubated eggs ofPlestiodon chinensis under five constant （24, 26, 28, 30, and 32 ℃） and one fluctuating thermal regimes to examine the effects of constant versus fluctuating incubation temperatures on hatching success, incubation length, and hatchling morphology. The duration of incubation varied considerably among the six temperature treatments, whereas hatching success did not. The mean incubation length decreased as temperature increased in a nonlinear way, and increased as the thermal variance increased. Incubation temperature affected the body size （linear length and mass） and shape of hatchlings, with eggs incubated at 26, 28, and 30 ℃ producing larger and heavier hatchlings than did those incubated at 24 ℃, 32 ℃, or fluctuating temperatures. Our results showed that exposure of P. chinensis eggs to extreme temperatures for brief periods of time did not increase embryonic mortality and, in the fluctuating-temperature treatment, the thermal variance affected hatchling morphology more evidently than the thermal mean. Our results highlight the importance of the thermal variance in affecting embryonic development and hatchling morphology, and add further evidence that temperatures within the range of 26-30 ℃ are optimal for P. chinensis embryos.
文摘Running on water produces very energy-efficient and fast motion in water environments. Many studies have been performed to develop bio-inspired water-running robots. To achieve good performance, the lifting force is very important for a robot to be able to run on water. The loss of lifting force is associated with the rolling stability of the robot on water. The purpose of this study is to improve the rolling stability of a water-running robot through the periodic motion of a balancing tail. Kinematic analysis was performed to calculate the motions of the legs and the tail, and static analysis was performed to calculate the balancing effect of the tail motion. A numerical model was suggested to determine the dynamic performance of the robotic platform based on kinematic and static results. A simulation based on the numerical model was performed, and the results were compared with empirical data from a robot prototype. The simulation results are in good agreement with the experimental data in terms of rolling stability The lifting force has only a slight effect. The results of this study can be used as a guideline for designing a stable water-running robot.
基金supported by grants from the National Natural Science Foundation of China (30770274)the "One Hundred Talents Program" of the Chinese Academy of Sciences for W. G. DU
文摘Studies of the seasonal acclimatisation of behavioural and physiological processes usually focus on aquatic or semi-aquatic ectotherms and focus less effort on terrestrial ectotherms that experience more thermally heterogeneous environments. We conducted comparative studies and thermal acclimation experiments on the locomotion of the Chinese skink （Plestiodon chinensis） to test whether seasonal acclimatisation in locomotion exists in these terrestrial ectothermic vertebrates, and whether seasonal acclimatisation is predominantly induced by thermal environments. In natural populations, skinks ran faster during the summer season than during the spring season at high-test temperatures ranging from 27℃ to 36℃ but not at low-test temperatures ranging from 18℃ to 24℃. In contrast, the thermal acclimation experiments showed that the cold-acclimated skinks ran faster than the warm-acclimated skinks at the low- test temperatures but not at high-test temperatures. Therefore, the seasonal acclimatisation occurs to P chinensis, and may be induced by temperature as well as other factors like food availability, as indicated by the seasonal variation in the thermal dependence of locomotion, and the discrepancy between seasonal acclimatisation and thermal acclimation on locomotion.
