为了实现四足机器人在无崎岖地形先验知识情况下的自主爬行,提出了一种四足机器人运动控制方法.该方法采用间歇爬行步态作为主步态,将爬行运动分解为若干任务分别进行控制:基于NESM(normalized energy stability margin)判据计算内外倾...为了实现四足机器人在无崎岖地形先验知识情况下的自主爬行,提出了一种四足机器人运动控制方法.该方法采用间歇爬行步态作为主步态,将爬行运动分解为若干任务分别进行控制:基于NESM(normalized energy stability margin)判据计算内外倾的稳定裕度并根据其比值进行质心位置调整;使用坐标映射的方式调整足端坐标进行地面坡度适应;通过调整各腿长度控制机器人的高度;利用姿态传感器信息进行姿态恢复.仿真和实验表明,机器人仅依赖内部传感器即实现了在崎岖地形稳定行走,验证了本文方法的有效性和可靠性.展开更多
Mesoscale convective systems(MCSs) around the second-step terrain(106°–113°E, 28°–35°N), along the middle reaches of the Yangtze River, were detected, tracked and classified using a black body te...Mesoscale convective systems(MCSs) around the second-step terrain(106°–113°E, 28°–35°N), along the middle reaches of the Yangtze River, were detected, tracked and classified using a black body temperature(TBB) dataset during May to August 2000–2016(except 2005). The MCSs were divided into eastward-propagating(EP) and quasi-stationary(QS) types, to compare their spatial and temporal distributions and convective intensities, and to identify the favorable synoptic conditions for the formation and evolution of EP MCSs. The results showed that both MCS types occurred most often in July. The EP MCSs were mainly initiated over the eastern regions of the study area, while the QS type mainly originated in the western regions of the study area. Both MCS types mainly formed in the afternoon, but a second peak occurred in the early morning for QS MCSs. The EP MCSs had a larger cloud area at their mature stage and a lower cloud brightness temperature, indicating more intense convection. Additionally, the longer lifetime and further eastward propagation of the EP MCSs meant that they had a great influence on the precipitation over the middle and lower reaches of the Yangtze River. Synoptic circulation analysis demonstrated that the combination of the mid-level low trough east of the Tibetan Plateau(TP), and the western pacific subtropical high(WPSH), favored the formation and eastward propagation of EP MCSs. The positive vertical relative vorticity and stronger vertical wind shear provided dynamic conditions favorable for convective organization and development. Furthermore, a stronger low level jet imported warm and moist air to the eastern edge of, and the regions east of, the second-step terrain. The substantial convergence of water vapor promoted the development and long-lived maintenance of the EP MCSs.展开更多
Based on the previous statistical analysis of mesoscale convective systems(MCSs)over the second-step terrain along Yangtze-Huaihe River Valley,eight representative long-lived eastward-propagating MCSs are selected for...Based on the previous statistical analysis of mesoscale convective systems(MCSs)over the second-step terrain along Yangtze-Huaihe River Valley,eight representative long-lived eastward-propagating MCSs are selected for model-based sensitivity testing to investigate the initiation and evolution of these types of MCSs as well as their impact on downstream areas.We subject each MCS to a semi-idealized(CNTL)simulation and a sensitivity(NOLH)simulation that neglects condensational heating in the formation region.The CNTL experiment reveals convection forms in the region downstream of a shortwave trough typified by persistent southwesterly winds in the low-to midtroposphere.Upon merging with other convective systems,moist convection develops into an MCS,which propagates eastward under the influence of mid-tropospheric westerlies,and moves out of the second-step terrain.The MCS then merges with pre-existing local convection over the plains;the merged convection reinforces the cyclonic wind perturbation into a mesoscale vortex at 850 hPa.While this vortex moves eastward to regions with local vortex at 850 hPa,another vortex at 925 hPa is also intensified.Finally,the vortices at 850 and 925 hPa merge together and develop into a mesoscale convective vortex(MCV).In contrast,MCSs fail to form and move eastward in the NOLH experiment.In the absence of eastward-propagating MCSs,moist convection and mesoscale vortices still appear in the plains,but the vortex strength and precipitation intensity are significantly weakened.It is suggested the eastward-propagating MCSs over the second-step terrain significantly impact the development and enhancement of moist convection and vortices in the downstream areas.展开更多
文摘为了实现四足机器人在无崎岖地形先验知识情况下的自主爬行,提出了一种四足机器人运动控制方法.该方法采用间歇爬行步态作为主步态,将爬行运动分解为若干任务分别进行控制:基于NESM(normalized energy stability margin)判据计算内外倾的稳定裕度并根据其比值进行质心位置调整;使用坐标映射的方式调整足端坐标进行地面坡度适应;通过调整各腿长度控制机器人的高度;利用姿态传感器信息进行姿态恢复.仿真和实验表明,机器人仅依赖内部传感器即实现了在崎岖地形稳定行走,验证了本文方法的有效性和可靠性.
基金supported by the National Key R & D Program of China (Grants No. 2018YFC1507200)the National Natural Science Foundation of China (Grants Nos. 41505038, 91637211, 41775046 & 41575045)。
文摘Mesoscale convective systems(MCSs) around the second-step terrain(106°–113°E, 28°–35°N), along the middle reaches of the Yangtze River, were detected, tracked and classified using a black body temperature(TBB) dataset during May to August 2000–2016(except 2005). The MCSs were divided into eastward-propagating(EP) and quasi-stationary(QS) types, to compare their spatial and temporal distributions and convective intensities, and to identify the favorable synoptic conditions for the formation and evolution of EP MCSs. The results showed that both MCS types occurred most often in July. The EP MCSs were mainly initiated over the eastern regions of the study area, while the QS type mainly originated in the western regions of the study area. Both MCS types mainly formed in the afternoon, but a second peak occurred in the early morning for QS MCSs. The EP MCSs had a larger cloud area at their mature stage and a lower cloud brightness temperature, indicating more intense convection. Additionally, the longer lifetime and further eastward propagation of the EP MCSs meant that they had a great influence on the precipitation over the middle and lower reaches of the Yangtze River. Synoptic circulation analysis demonstrated that the combination of the mid-level low trough east of the Tibetan Plateau(TP), and the western pacific subtropical high(WPSH), favored the formation and eastward propagation of EP MCSs. The positive vertical relative vorticity and stronger vertical wind shear provided dynamic conditions favorable for convective organization and development. Furthermore, a stronger low level jet imported warm and moist air to the eastern edge of, and the regions east of, the second-step terrain. The substantial convergence of water vapor promoted the development and long-lived maintenance of the EP MCSs.
基金supported by the National Key R&D Program of China(Grant No.2018YFC1507200)the National Natural Science Foundation of China(Grant No.41975057).
文摘Based on the previous statistical analysis of mesoscale convective systems(MCSs)over the second-step terrain along Yangtze-Huaihe River Valley,eight representative long-lived eastward-propagating MCSs are selected for model-based sensitivity testing to investigate the initiation and evolution of these types of MCSs as well as their impact on downstream areas.We subject each MCS to a semi-idealized(CNTL)simulation and a sensitivity(NOLH)simulation that neglects condensational heating in the formation region.The CNTL experiment reveals convection forms in the region downstream of a shortwave trough typified by persistent southwesterly winds in the low-to midtroposphere.Upon merging with other convective systems,moist convection develops into an MCS,which propagates eastward under the influence of mid-tropospheric westerlies,and moves out of the second-step terrain.The MCS then merges with pre-existing local convection over the plains;the merged convection reinforces the cyclonic wind perturbation into a mesoscale vortex at 850 hPa.While this vortex moves eastward to regions with local vortex at 850 hPa,another vortex at 925 hPa is also intensified.Finally,the vortices at 850 and 925 hPa merge together and develop into a mesoscale convective vortex(MCV).In contrast,MCSs fail to form and move eastward in the NOLH experiment.In the absence of eastward-propagating MCSs,moist convection and mesoscale vortices still appear in the plains,but the vortex strength and precipitation intensity are significantly weakened.It is suggested the eastward-propagating MCSs over the second-step terrain significantly impact the development and enhancement of moist convection and vortices in the downstream areas.
