Insects' flight is imbued with endless mysteries, offering valuable inspiration to the flapping-wing robots. Particularly, the multi-mode wingbeat motion such as flapping, sweeping and twisting in coordination presents advantages in promoting unsteady aerodynamics and enhancing lift force. To achieve the flapping-twisting-sweeping motion capability, this paper proposes an at-scale three-degree-of-freedom (3-DOF) mechanism driven by three piezoelectric actuators, which consists of three four-bar mechanisms and a parallel spherical mechanism.
View Article and Find Full Text PDFTo understand the responses of soil extracellular enzyme activities to the desert grassland-shrubland anthropogenic transition, we examined soil properties and six extracellular enzyme activities, in soil under vegetation patches and bare interspaces in desert grassland, grassland edge, shrubland edge, shrubland in a typical anthropogenic desert grassland-shrubland mosaic in desert steppe of eastern Ningxia, China. The six measured enzymes included cellobiohydrolase, β-1,4-xylosidase, β-1,4-glucosidase, β-1,4-N-acetylglucosaminidase, leucine aminopeptidase and alkaline phosphatase. We found that soil moisture, soil organic carbon, total nitrogen, total phosphorus, microbial biomass carbon and microbial biomass nitrogen decreased significantly by 26.
View Article and Find Full Text PDFYing Yong Sheng Tai Xue Bao
April 2021