Movement is an important animal behavior contributing to reproduction and survival.Animal movement is often examined in arenas or enclosures under laboratory conditions.We used the red flour beetle(Tribolium castaneum...Movement is an important animal behavior contributing to reproduction and survival.Animal movement is often examined in arenas or enclosures under laboratory conditions.We used the red flour beetle(Tribolium castaneum)to examine here the effect of the arena size,shape,number of barriers,access to the arena's center,and illumination on six movement properties.We demonstrate great differences among arenas.For example,the beetles moved over longer distances in clear arenas than in obstructed ones.Movement along the arena's perimeter was greater in smaller arenas than in larger ones.Movement was more directional in round arenas than in rectangular ones.In general,the beetles stopped moving closer to the perimeter and closer to corners(in the square and rectangular arenas)than expected by chance.In some cases,the arena properties interacted with the beetle sex to affect several movement properties.All these suggest that arena properties might also interact with experimental manipulations to affect the outcome of studies and lead to results specific to the arena used.In other words,instead of examining animal movement,we in fact examine the animal interaction with the arena structure.Caution is therefore advised in interpreting the results of studies on movement in arenas under laboratory conditions and we recommend paying attention also to barriers or obstacles in field experiments.For instance,movement along the arena's perimeter is often interpreted as centrophobism or thigmotaxis but the results here show that such movement is arena dependent.展开更多
设计并制作了一款基于麦克纳姆轮的全向移动平台,为保证移动平台的高精度运动和灵活避障,提出了一种复合控制算法。移动平台采用4个麦克纳姆轮为驱动轮并建立了在环境坐标系下的数学模型,采用上、中、下3层分布的电路控制系统,并以二维...设计并制作了一款基于麦克纳姆轮的全向移动平台,为保证移动平台的高精度运动和灵活避障,提出了一种复合控制算法。移动平台采用4个麦克纳姆轮为驱动轮并建立了在环境坐标系下的数学模型,采用上、中、下3层分布的电路控制系统,并以二维模糊PID(proportion integral differential)控制器、Bang-Bang算法和提出的避障算法构成复合控制器,实现移动平台在室内灵活避障和高精度运动。研究结果表明:设计的移动平台运动方式灵活,能够在二维环境下保持良好的避障能力和较高的运动精度。展开更多
文摘Movement is an important animal behavior contributing to reproduction and survival.Animal movement is often examined in arenas or enclosures under laboratory conditions.We used the red flour beetle(Tribolium castaneum)to examine here the effect of the arena size,shape,number of barriers,access to the arena's center,and illumination on six movement properties.We demonstrate great differences among arenas.For example,the beetles moved over longer distances in clear arenas than in obstructed ones.Movement along the arena's perimeter was greater in smaller arenas than in larger ones.Movement was more directional in round arenas than in rectangular ones.In general,the beetles stopped moving closer to the perimeter and closer to corners(in the square and rectangular arenas)than expected by chance.In some cases,the arena properties interacted with the beetle sex to affect several movement properties.All these suggest that arena properties might also interact with experimental manipulations to affect the outcome of studies and lead to results specific to the arena used.In other words,instead of examining animal movement,we in fact examine the animal interaction with the arena structure.Caution is therefore advised in interpreting the results of studies on movement in arenas under laboratory conditions and we recommend paying attention also to barriers or obstacles in field experiments.For instance,movement along the arena's perimeter is often interpreted as centrophobism or thigmotaxis but the results here show that such movement is arena dependent.
文摘设计并制作了一款基于麦克纳姆轮的全向移动平台,为保证移动平台的高精度运动和灵活避障,提出了一种复合控制算法。移动平台采用4个麦克纳姆轮为驱动轮并建立了在环境坐标系下的数学模型,采用上、中、下3层分布的电路控制系统,并以二维模糊PID(proportion integral differential)控制器、Bang-Bang算法和提出的避障算法构成复合控制器,实现移动平台在室内灵活避障和高精度运动。研究结果表明:设计的移动平台运动方式灵活,能够在二维环境下保持良好的避障能力和较高的运动精度。
