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New design, kinematic and static force modeling of a bio-inspired leg mechanism for rough terrain Zhang Long1, a, Ma Dawei1, b, Zhu Zhongling1, c, Hu Jian2, d 1 School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China 2 Department of Computer Science and Technology, Southeast University, Nanjing 210096, China alzhang@mail.njust.edu.cn, bma-dawei@mail.njust.edu.cn, czzl_nj@163.com, dhujiannjust@163.com Keywords: Bio-inspired robot; legged machine; kinematical analysis; static analysis Abstract.
With the achievement in technologies of intelligent control, power processor, wireless communication and light-weight materials, efforts to develop legged machines have become more intensive, and they are truly attractive fields for us to do some researches.
Publishing, London, 2002, pp.611-618 [6] K.Berns, Walking Machines Catalogue (www.fzi.de/ids/WMC) [7] K.Makoto, A.Minoru, T.Kazuo, A hexapod walking machine with decoupled freedoms, IEEE Journal of Robotics and Automation Ra-1(4)(1985) 183-189 [8] M.Ceccarelli, C.Tavolieri, Z.Lu, Design considerations for under-actuated grasp with a one D.O.F. anthropomorphic finger mechanism, in: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006), Beijing, October 2006, PP.1611-1616 [9] T.Laliberte, C.M.Gosselin, Simulation and design of under-actuated mechanical hands, Mechanism and Machine Theory 33(1998) 39-57 [10] Marc H.Raibert, Hopping in legged systems-modeling and simulation for the two-dimensional one-legged case, IEEE Transactions on Systems, Man and Cybernetics SMC-14(3) (1984) 451-463 [11] Jessica K.Hodgins, MarcH.Raibert, Adjusting step length for rough terrain locomotion, IEEE Transactions on Robotics and Automation 7(3) (1991) 289

Materials and Methods 1.1 Experimental reagents The reserve solutions of phosphates were prepared by potassium dihydrogen phosphate (guarantee reagent).
Acknowledgments This work was supported by the Funds for the National Natural Science Foundation of China(Grant No. 51208021 and 51278026) and the Beijing municipal education commission project(Grant No.
References [1] Xie J.L., Liu E.Q., Zhao X., et al.Effects of different forms of ferric salt on phosphorus removal.Chinese Journal of Environmental Engineering, 2012, 6（10）：3429-3432（in Chinese） [2] de-Bashan Luz E, Bashan Yoav.Recent advances in removing phosphorus from wastewater and its future use as fertilizer.Water Research, 2004, 38（19）：4222-4246 [3] Yao H., Peng J.P., Yu Q., et al.Preparation and phosphorous removal performance of FeOOH coated diatomite.Inorganic Chemicals Industry, 2011, 43（5）：24-27（in Chinese） [4] State Environmental Protection Administration.Water and wastewater monitoring and analysis methods（Ⅳ）.Beijing：China Environmental Science Press, 2002（in Chinese） [5] Xing W., Huang W.M., Li D.H., et al.

Meanwhile, it lays the foundation for higher management efficiency, and saving materials, time and cost.
Guizhou Liupanshui city science and technology fund project Corresponding Author Department of Physical Education, Liupanshui Normal College: Longzhang, lpslong@139.com, +86 133 08586996 Reference [1] Liu Ling, Zhong Qi, Li Xia.
Journal of PLA Institute of Physical Education, 2010 (3) 7:81, 128
East China University of Science and Technology, 2011, 06

The compound was dissolved in dimethysulfoxide （DMSO，Solarbio Science & technology Co, Ltd.).
Fig.1 Chemical Structure of 3,3',4',5,7-pentahydroxyflavone 2-(3,4-dihydroxyphenyl) -3, 5, 7-trihydroxy-4H-1-benzopyran-4-one (HPS5) Materials and Methods Cell culture and Reagents PC12 cells were cultured at 37℃ in a humidified CO2 (5%) incubator with completed RPMI-1640 medium (Gibco, USA) supplemented with 12% (V/V) fresh fetal bovine serum ( Hyclone laboratory), 100 units/ml penicillin, 100 µg/ml streptomycin, (Life Technologies, Inc.).
Acknowledgements This work was financially supported by a grant (2010B310002) from Province Natural Science Foundation of Henan and grants from Basic Research program of Henan University (07YBZR013, 07YBZR028) and Research Office program of Henan province (102300410096).
Ganea, Quercetin as a fluorescent probe for the ryanodine receptor activity in Jurkat cells, Pflugers Archiv : European journal of physiology. 465(2013)1101-1119

As a basic function urban complex is a city function carrier of space , resources and material (buildings and facilities), and as a carrier of the functions in the city including information, finance, insurance, science and technology, commercial, residential, commercial, live abroad, exhibition, sightseeing, recreation and so on, which provided material conditions and environmental space for the people carrying out various activities in the city.
Modern urban complex (Forum News) often become a venue of cultural undertakings in a city or local area about education, science, culture, physical and recreational and so on.
[2] kaiming Cheng, Jingchang Li:Journal of Finance and Economics Vol.10(2007), p. 73-82,in Chinese

There are some new material and technique in EEEB market.
A comprehensive constructor with excellent fast learning ability to master new technology can design and adjust construction technique to avoid construction risk as he has knew well of new material properties and analyzed conditions of different main body of the project accurately.
Acknowledgements Supported by Nature Science Foundation of China (NO. 71171141): Research on Multi-level Incentive and Coordination Mechanism of Government Supervision In Construction Quality; Soft science research project of Ministry of Housing and Urban-Rural Development (NO. 2013-R1-14): Research on Nurture Mechanism and Development Policy of EEEB Market.
Assessment of Credit Riskin Project Finance[J].Journal of Construction Engineering and Management, 2008, (11):876-884 [2] Zheng Li, Yongqiang Sun.

Materials and methods Phthalic anhydride(Analytical reagent), triphosgene(chemically pure), N,N-dimethylformamide (Analytical reagent) ,toluene(chemically pure).74 g of phthalic anhydride and 350ml solvent(toluene) were added in a 500 mL three-necks flask.
“Response surface optimization of the critical medium components for the production of alkaline protease by a newly isolated Bacillus sp” Journal of Pharmacy and Pharmaceutical Sciences. 3 272-278, 2002 [8] Wu, D., Zhou, J., Li, Y.
“Effect of the sulfidation process on the mechanical properties ofaCoMoP/Al2O3 hydrotreating catalyst” Chemical Engineering Science. 2 198-206, 2009 [9] Juan Mao, Shi Yn Lee , Sung Wook Won, Yeoung-Sang Yun.

Mercury of the standard comes from Shanghai standard material research center.
Acknowledgment This work was partially supported by NSF (Natural Science Foundation, 50806041), Shuguang Project (08SG53), Shanghai Science and Technology Funds (09230501300), Shanghai Education Commission Key Project (09ZZ184) and the 5th Key Subject of Shanghai Education Commission (Grant No.
Journal of Environmental Sciences, 2008, (20): 1258-1262
Foreign Medical Sciences (Section of Med geography), 2000, 55(1): 186
Foreign Medical Sciences (Section of Med geography), 2006, 27(1): 33-35

Materials and Methods Collection and preparation of GLE and CSP Guava leaves and coconut shells were obtained from Federal University of Technology, Owerri Farm and identified by a Botanist in the Department of Biology, Federal University of Technology Owerri (FUTO).
The mechanical behaviours of PMMA have been reported to be brittle as a thermoplastic materials, but the reinforcement using 5 - 50wt% of CSP as an additive make it hard and tough with increased mechanical properties [51, 52].
Buketova, Development of epoxy-polyester nanocomposite materials with improved physical and mechanical properties for increasing transport vehicle reliability.
Rezaei, An experimental investigation of HA/AL2O3 nanoparticles on mechanical properties of restoration materials.
Chen, Dynamic mechanical behaviour of polymer materials, in: Aspects of Polyurethanes, InTech Open, 2017, pp. 193 – 212.

In light of this, the issue of finding systems and materials for a compact and efficient hydrogen storage assumes a primary importance.
(Ref. [53] in [10]) reported very low hydrogen storage capacity at 303 K, and concluded that GNFs were unlikely storage materials for hydrogen.
Gary Sandrock, a well known expert in the field of hydrogen storage materials, to publically call on Rodriguez to submit samples to others for a “Real-Word Test” of their nanofiber materials (Ref. [56] in [10]).
Baker, Encyclopedia of Materials: Science and Technology, Elsevier, Amsterdam 2005
Srivastava, New carbon variants: graphitic nanofibers (nano-springs, nano-shoeckers) as hydrogen storage materials, Int.