Theoretical foundation of Zisman's empirical equation for wetting of liquids on solid surfaces

Theories of wetting of liquids on solid surfaces under the condition that van der Waals force is dominant are briefly reviewed. We show theoretically that Zisman's empirical equation for wetting of liquids on solid surfaces is a linear approximation of the Young-van der Waals equation in the wetting region, and we express the two parameters in Zisman's empirical equation in terms of the dielectric polarizabilities of the solid and liquids. The materials contained in this paper are suitable for physics teaching of wetting phenomena for undergraduate, graduate, general physicist, etc.

双足爬壁机器人壁面凹过渡步态规划研究

针对腿足式爬壁机器人在壁面过渡时的步态规划问题,以一种真空吸附式双足爬壁机器人为研究对象,在步态分析的基础上,基于有限状态机建立了机器人的步态模型,进而提出了基于加权插值和BP神经网络的双足爬壁机器人壁面凹过渡在线步态规划算法,为提高机器人壁面过渡的自主控制能力奠定了基础.仿真分析和实验结果表明,该步态规划算法对于实际的机器人系统是有效的和可行的.