分类： 机械工程 >> 机械设计 提交时间： 2025-05-20
摘要： This paper introduces a method for modular reconfigurable robots based on cube models to self-reconstruct and emit using the characteristics of permanent magnets in weightless environments. Although modular robots based on cubes have built various relatively mature reconstruction algorithm models, there is no relatively mature technology for implementing modular robot reconstruction due to the size, complexity, cost, etc. of modular robots. To solve this challenge, based on our existing modular robot Ubot, the permanent magnet array on the connection surface of the modular robot was transformed, so that the modular robot has three states: gravity, gravitational, and repulsive force, and can change the magnitude of the magnetic force. Based on this premise, we designed a collaboration mechanism of two modes of magnet absorption and repulsion on the module connection surface. UBot can use the electrical permanent magnet array to configure different magnetic drives to achieve flip along the edge and then absorb to adjacent positions, or use the electrical permanent magnet array to configure the same repulsive force to emit the modular robot to a predetermined working position. In addition, two-dimensional self-reconstruction experiments and emission experiments were carried out on the constructed micropore air float platform. This paper describes the design, reconstruction and emission principles and dynamic analysis of permanent magnets on the connection surface of a modular robot, as well as the reconstruction method suitable for modular robot ubot.
分类： 天文学 >> 天文学 提交时间： 2023-02-19
摘要： Cloud is critical for planetary climate and habitability, but it is also one of the most challenging parts of studying planets in and beyond the solar system. Here we use a cloud-resolving model (CRM) with high resolution (2 km) in a two-dimensional (2D) configuration to simulate the clouds and circulation on tidally locked aqua-planets. We find that the substellar area is covered by deep convective clouds, the nightside is dominated by low-level clouds, and these two are linked by a global-scale Walker circulation. We further find that a uniform surface warming causes the substellar cloud width to decrease, but a reduction in day-night surface temperature contrast or an increase in longwave radiative cooling rate causes the substellar cloud width to increase. These relationships can be roughly interpreted based on simple thermodynamic theories. Comparing the results between CRM and global 3D general circulation model (GCM), we find that they show qualitatively consistent results, including the Walker circulation, the substellar clouds, and the responses of the substellar ascending area and strength to changes in surface temperature or in its zonal contrast. But, large quantitative differences exist, such as the magnitude of cloud water path, the cloud width, and their responses to external forcings. These results increase our confidence in using GCMs for modeling exoplanetary climates, although large quantitative uncertainties should always exist. Future work is required to use 3D CRM(s) with realistic radiative transfer and with the Coriolis force to examine the clouds and climate of tidally locked planets.
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