Traditional underwater robots have many shortcomings in terms of resistance to sea currents, stability and functionality. In order improve the efficiency quality operations, this paper proposes designs a new robot, navigation crawl unmanned vehicle (NCUUV), it has two motion modes: swimming crawling. enable robot ability switch modes, designed mode switching mechanism, verified effectiveness mechanism through experiments, which proved that good reliability accuracy. control NCUUV smoothly...

It is urgently necessary to develop convenient, reliable, ultrasensitive and specific methods of ochratoxin A determination in food safety owing its high toxicity. In the present study, an labeled-free fluorescent aptamer sensor combining real-time fluorescence with strand displacement amplification (SDA) was fabricated for OTA. presence OTA, OTA-aptamer combines thus opening hairpins. Then, SDA primers specifically bind hairpin stem, which used subsequent as a template. initiated under...

Abstract As a marine food‐borne pathogen, Vibrio parahaemolyticus ( V. ) can cause human gastrointestinal disorders and pose serious threat to food safety public health worldwide. Using portable scanner, herein, real‐time fluorescence saltatory rolling circle amplification (RF‐SRCA) has been established for the rapid detection of in seafood targeting toxR gene. The RF‐SRCA results could be effectively determined within 20–60 min via curve. Significant specificity was exhibited against 12 V ....

A mathematical model is established using the space coordinates of nodes and vector matrix components to study construction method lightweight nature single-layer tensegrity structures on basis their geometric parameters. Connection configuration are built MATLAB software. The force balance equations a three-bar structure by introducing force-density method, relationship amongst analysed. Thus, principle verified. between in obtained. change rule different also Notably, p-1 stable...

This paper introduces a novel underwater hexapod robot NCUUV that integrates crawling and swimming. It can integrate the fixed-point operation capability of traditional ROV with cruise detection AUV. focuses on Central Pattern Generator (CPG) control strategy body posture control, which be used to pose while walking underwater. not only increase robot's ability resist ocean current interference by changing during walking, but also add additional degrees freedom equipment e.g. cameras robotic...

In order to improve the efficiency and quality of underwater operations, this paper proposes designs a new robot, navigation crawl unmanned vehicle (NCUUV), it has two motion modes: swimming crawling. The upper controller selects CPG network in middle according height information by acoustic rangefinder. includes networks, which control crawling NCUUV respectively. selected gradually vibrates, vibration unselected is suppressed, thereby completing smooth switching between experimental result...

In this article we will take a 6-bars ball-shaped tensegrity structure as the investigated subject, and then make research about motion of all components nodes through compression test virtual simulation model entity model. Virtual experiments show that, laws each component node, proportion change force conditions in compressed process have symmetry. This means that 12 nodes, during process, can be divided into 4 categories, category has same synchronization. The 24 cables 3 laws, Therefore,...

Under the prospective aerospace applications of deployable tensegrity, this work aims to research on ultralight annular tensegrity antenna satisfy space requirements. To begin with, deployment principle is illuminated and parametric modeling carried out. After node matrix connectivity established, matrices both bars strings are obtained. Configuration parameters planted into computing system through matrix. On base, configuration able be calculated out geometric analysis interior force for...

The boiler equipment should be able to adapt the load requirements and overcome interference of various external conditions. By establishing a one-dimensional single-channel general numerical calculation model suitable for flow instability analysis ultra-supercritical boilers at 700 °C, rules in tubes are calculated. 7th loop 22nd water wall selected as typical loops, dynamic characteristics two loops results show that after applying different multiples heat flux disturbance, regardless...

In order to improve the operational efficiency and quality of underwater robots, this paper proposes a new type robot, navigation crawl unmanned vehicle (NCUUV), designs control strategy for it. NCUUV has two motion modes: swimming crawling, controller includes upper lower CPG network. The network is star-shaped structure composed seven Hopf oscillators, which have configurations: triangular hexagonal, crawling NCUUV, respectively. adjusts configuration according movement needs thereby...

Aiming at the problem of mutual repulsion caused by trajectory foot end swinging around respective heel joint as an arc during forward process hexapod robot. Based on central pattern generator (CPG) control method, leg kinematics are added to become online generator. First, establish kinematic model robot leg; Secondly, adopt hopf oscillator motion network model; Then, use CPG combined with equations generate generator, realize that legs both sides is parallel each other when they in...

Abstract Using machine learning (ML) method to predict permeability of porous media has shown great potential in recent years. A current problem is the lack effective models account for highly with dilated pores. This study includes (1) generation (porosity = 0.8) via a Boolean process, (2) pore size distribution (PSD) control by using different groups homogeneous packed spherical particles (3) PSD data obtainment contact model (4) computation LBM simulations, training artificial neuron...

In order to achieve the purpose of bionic fish pose tracking, this paper proposes a tracking control algorithm based on combination CPG (central pattern generator) and sliding mode control. Firstly, establishes motion network, conversion relationship between parameters speed angular velocity is studied; Secondly, information obtained by upper processor used as feedback input, Innovatively designed CPG-sliding controller with global progressive stability according error fish. Through...