Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up s...Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.展开更多
The Chengjiang Lagerstatte has been celebrated for prolific soft-bodied fossils. Based on specimens recently excavated in the Chengjiang Lagerstatte by the Early Life Institute, Northwest University, Diandongia pista ...The Chengjiang Lagerstatte has been celebrated for prolific soft-bodied fossils. Based on specimens recently excavated in the Chengjiang Lagerstatte by the Early Life Institute, Northwest University, Diandongia pista Rong, 1974, is directly revealed to be a pediculate brachiopod, assigned to the Family Botsfordiidae, as is further confirmed by the exceptionally preserved vascular system including dorsal and ventral mantle canals. These specimens described herein exhibit some peculiarities, notably the extremely thin and long pedicles, which suggest that Diandongia is epifaunal rather than burrowing brachiopod. A study of this group of animals indicates that they may be vital to understand the relationship between the lingulids and the remaining brachiopods, and the character evolution of the early Cambrian brachiopods.展开更多
A new Chengjiang-type fossil assemblage is reported herein from the lower part of the Hongjingshao Formation at Xiazhuang village of Chenggong,Kunming,Yunnan.The fossil assemblage,named as Xiazhuang fossil assemblage,...A new Chengjiang-type fossil assemblage is reported herein from the lower part of the Hongjingshao Formation at Xiazhuang village of Chenggong,Kunming,Yunnan.The fossil assemblage,named as Xiazhuang fossil assemblage,yields predominantly soft-bodied fossils,including arthropods,brachiopods,priapulids,lobopods and some problematic taxa,with arthropods being the most dominant group.Preservation and composition of the fossil assemblage are very similar to the typical Chengjiang biota,which is preserved in the middle Yu’anshan Formation in the large area of eastern Yunnan.The associated trilobites demonstrate that the soft-bodied fossil assemblage belongs to the late Qiongzhusian in age(Stage 3,Cambrian),suggesting that the Hongjingshao Formation is probably a diachronous lithostratigraphic unit ranging from the upper Qiongzhusian to the lower Canglangpuan stages in eastern Yunnan.The fossil assemblage from the Xiazhuang area fills up the missing link between the typical older Chengjiang biota and the younger Malong and Guanshan biotas,making eastern Yunnan a unique area in the world to reveal the early evolutionary history of animals and palaeocommunity dynamics during the‘‘Cambrian explosion’’.展开更多
文摘Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.
基金supported by the National Natural Science Foundation of China(Grant No.32070207)the Science and Technology Committee of Shaanxi Province
文摘The Chengjiang Lagerstatte has been celebrated for prolific soft-bodied fossils. Based on specimens recently excavated in the Chengjiang Lagerstatte by the Early Life Institute, Northwest University, Diandongia pista Rong, 1974, is directly revealed to be a pediculate brachiopod, assigned to the Family Botsfordiidae, as is further confirmed by the exceptionally preserved vascular system including dorsal and ventral mantle canals. These specimens described herein exhibit some peculiarities, notably the extremely thin and long pedicles, which suggest that Diandongia is epifaunal rather than burrowing brachiopod. A study of this group of animals indicates that they may be vital to understand the relationship between the lingulids and the remaining brachiopods, and the character evolution of the early Cambrian brachiopods.
基金supported by the Program of Chinese Academy of Sciences(KZZD-EW-02-2)the National Basic Research Program of China(2013CB835006)+2 种基金the National NaturalScience Foundation of China(41002002,41372021,J1210006)the Natural Science Foundation of Jiangsu Province(BK2012893)the National Science and Technology Major Project(2011ZX05008)
文摘A new Chengjiang-type fossil assemblage is reported herein from the lower part of the Hongjingshao Formation at Xiazhuang village of Chenggong,Kunming,Yunnan.The fossil assemblage,named as Xiazhuang fossil assemblage,yields predominantly soft-bodied fossils,including arthropods,brachiopods,priapulids,lobopods and some problematic taxa,with arthropods being the most dominant group.Preservation and composition of the fossil assemblage are very similar to the typical Chengjiang biota,which is preserved in the middle Yu’anshan Formation in the large area of eastern Yunnan.The associated trilobites demonstrate that the soft-bodied fossil assemblage belongs to the late Qiongzhusian in age(Stage 3,Cambrian),suggesting that the Hongjingshao Formation is probably a diachronous lithostratigraphic unit ranging from the upper Qiongzhusian to the lower Canglangpuan stages in eastern Yunnan.The fossil assemblage from the Xiazhuang area fills up the missing link between the typical older Chengjiang biota and the younger Malong and Guanshan biotas,making eastern Yunnan a unique area in the world to reveal the early evolutionary history of animals and palaeocommunity dynamics during the‘‘Cambrian explosion’’.
