超越極限的越野蟑螂車
在本研究中，我模仿蟑螂的行走方式，來製作可以在各種地形以不減速的方式前進的機器車。在偶然機會下，我觀察到，蟑螂可以順利爬越米堆，因此對蟑螂的運動方式感到興趣。我用微型網路攝影機拍攝及觀察蟑螂的行走方式。發現蟑螂在快速行走時，是以三隻腳為一組，六腳兩組交互進行前進的動作。由於三點構成一平面，使蟑螂在快速移動時，相當的平穩。我將此原理融入蟑螂車的設計，並根據這個原理，利用舊玩具四驅車改裝成「六驅車」，成功的製作出模仿六足昆蟲行走方式且可以在各種地形順利前進的機器車。為了更客觀的比較，我應用樂高積木的馬達組合，製作了一部純轉動前進的六輪傳動車，及另一部轉動兼走動的六輪蟑螂車。並利用微電腦控制兩種車維持相同的驅動速度前進(93.33 rpm)，於各種路面實地測試，證實蟑螂車越野的性能的確強很多。未來若可以將六足昆蟲行走方式的概念應用到汽車製造，車輛的越野性能必然大幅提昇。\r \r In this research, I developed a six-wheel driving vehicle simulating the movement of cockroach. The resultant motion machine can un-intermittedly run on terrains without speeding down. Occasionally, I observed that the cockroaches can crossover a heap of rice. Therefore, I was very interested in and eager to learn how cockroach runs. I recorded the movements of cockroaches by using mini web camera and analyzed the moving characteristics of cockroaches. It was discovered that the cockroach marches quickly by interchanging two groups of foot in which each group consists of three feet. As a table can be supported by three legs, the cockroach runs steadily and rapidly. I have designed a motocross vehicle based on the mechanism of the way that cockroach runs. A six-wheel driving car is constructed by modifying four-wheel driving toy cars. By simulating the motion complex of six-foot insects, the six-wheel driving car turns out to be an all-terrain vehicle. To be more objective in comparison, I built two types of six-wheel driving cars by utilizing the LEGO TECHNIC motor building set: one with regular and synchronous rotation, and the other one with eccentric shaft rotation emulating cockroach marching movement. I applied a microprocessor to control the motors in order to maintain the same driving speed (93.33 rpm) for both cars during the road test. The experimental results show that the proposed cockroach motocross car performs superiorly especially for the rugged terrain. In the future, the off-road capability of a jeep can be improved by introducing the concept of six-foot insect movement to vehicle design.
將錯就錯的knuth 河內塔
在這篇報告中，我們探索了「將錯就錯的Knuth 河內塔問題」。傳統河內塔問題在電腦科學上佔有重要的地位，是一個極具內涵的模型。由於這個模型的深厚數學內涵，使其和巴斯卡三角形建立了緊密的連結，且利用這個緊密的數學連結，設計出復原任意起始狀態的良好演算法。Knuth 河內塔起因於數學家Knuth 在論文[3]中，描述傳統的河內塔問題時所發生的一次筆誤。在這個新的規則之下，我們意外發現Knuth 河內塔存在著一個和傳統河內塔平行的模型，此模型在電腦科學及數學上有著完全不同於傳統河內塔的內涵。我們的研究主要如下：(分別為內文中的四大段)(一) 結構分析。移動環所需要的次數，如何移動環並分析每一次動作所動的環，及每個環何時被動到並給出演算法。(二) 正整數的分割。所有的移動步驟將正整數做了一個新的分割(Partition)；此分割模k之後有良好的循環性質。(三) 費波那契真分數的排序。這個正整數的分割形成一張表，這張表恰好就是分子分母皆為費波那契真分數之排序。(四) 隨意亂排的Knuth 河內塔復原演算法。在Knuth 河內塔的規定下將起始狀態改變，找出良好的復原演算法，並分析。 In this project we study the "Knuth Hanoi Tower", which is motivated by a typo in a paper of Knuth. This inadvertently typo leads to a new rule of moving the discs on the Hanoi Tower (see introduction below for definition). Although seemingly similar to the traditional Hanoi-Tower problem, it turns out that under this rule the "Knuth Hanoi Tower" problem consists of amazing properties, and is totally different from the traditional one. Our study focuses on the following directions: (1) Structure analyzing: We analysis the sequences recording the disc moving and offer enumeration results and recurrsive/non-recurrsive algorithms. (2) Partition of N: The moving sequence forms a partition (a table) of N, which has an amazing congruence property. (3) The order of Fibonacci proper fraction: The row/column of the partition table is, even more amazing, exactly the order when sorting the Fibonacci proper fraction with fixed denominator/numerator. (4) The Restoration of an arbitrary initial state: We offer an efficient algorithm for restoring any initial state of discs. We hope that our study on the "Knuth Hanoi Tower" offers a simple, neat, and new example on the theory of Algorithm, Number theory and Combinatorics.
『吸凍！』--再造保麗龍的第二個春天
中文摘要 本實驗先尋求將廢棄保麗龍磺酸化為陽離子交換樹脂(本實驗稱”保麗龍膠”)的方法。將保 麗龍依：丙酮溶解→硬化→打碎→與濃硫酸共煮三小時→浸於50%硫酸溶液中→沖洗→以水 浸泡的流程，即可達再造的目的；我們測得其磺酸化比例為62.5%。再利用「碘滴定法」(浸 泡式)與「相對電壓檢測法」(流動式)，依次尋求保麗龍膠吸附金屬離子的最佳條件。其中「碘 滴定法」可有效測出銅離子濃度，但手續繁瑣；「相對電壓檢測法」最大的好處是知道保麗龍 膠何時吸附達飽和必須再生。 目前我們所知，要保麗龍膠達到吸附陽離子的最佳效能，其條件依次為：使用細粒的保 麗龍膠；低濃度的金屬離子溶液；質量愈大的保麗龍膠；低溫下較慢的金屬廢水流速及pH 值約為4.30 的銅離子廢水；鈉型的保麗龍膠吸附效能優於氫型。保麗龍膠對不同金屬離子亦 有吸附力，單位體積所含離子數愈少，初始的相對電壓會愈高；在相同莫耳濃度下，不同離 子的吸附力依次為Cr3＋＞Fe3＋＞Ni2＋＞Cu2＋＞Co2＋；分次吸附確可將金屬離子完全去除；由 吸附等溫線觀察得知，可能保麗龍膠為多孔物質，導致500ppm 以下的吸附模式無法明確判 斷，1000ppm 以上則為物理吸附模式；保麗龍膠可以再生也可被覆在砂粒上達到不錯的吸附 效能；最後，我們將吸附過金屬離子的保麗龍廢膠與硫酸鈣、紙漿及些許的石灰(質量依序為 13 克、13 克、7 克、0.04 克)混合，可製成類似紙黏土，做成造型磁鐵，廢物利用十分有趣。 Abstract The Experiment will, first of all, explore the ways to sulfonate expandable polystyrene into cation ion exchange resin (called “polystyrene rubber” hereafter in the experiment). The procedures of treating expandable polystyrene are as follows: acetone dissolve→hardening→smashing→ boiling with sulfuric acid for three hours→immersing in 50% sulfuric acid solution→washing→ immersing in water so that we may reach the goal of reconstruction. We calculate the sulfonated rate to be 62.5%. Then we make use of “Iodine Titration”(immersion method) and “Opposite Voltage”(floating method) to seek for the best conditions of adsorption the metallic ion through polystyrene rubber. The former can effectively calculate the concentration of copper ion, but the procedures are quite complex. The greatest advantage of the “Opposite Voltage” method is that we may know when the adsorption of polystyrene rubber is saturated and should be regenerated. As far as we know at present, the conditions of obtaining the best effect that polystyrene may adsorb the cation ion are as follows: fine particles of polystyrene rubber; low concentration metallic solution; polystyrene rubber of which the mass is greater; at lower temperature, slower waste water flow speed and the copper ion waste water with pH 4.30; the adsorption effect of sodium type polystyrene rubber is better than the hydrogen type. Polystyrene rubber also has adsorption effect toward different metallic ion. The less ion per cubic contains, the higher the original opposite voltage. With the same mole concentration, different ion adsorption effects may range as follows: Cr3＋＞Fe3＋＞Ni2＋＞Cu2＋＞Co2＋. The batch adsorption definitely may erase metallic ion completely. By observing the adsorption isotherm, possibly because the polystyrene rubber is a multi-apertured matter, we find that it is impossible to judge exactly the adsorption model of those metallic ion solutions of which the concentrations are below 500ppm. Those which are over 1,000ppm belong to physical adsorption models. Polystyrene may be regenerated and get an adsorption effect by coating sand particals. In the last analysis, we may make paper clay and magnets of different styles by mixing the adsorbed metallic ion polystyrene rubber with calcium sulfate, paper pulp and a little lime(the mass are respectively 13g, 13g, 7g, and 0.04g). The reuse of waste is really very interesting.
同步現象的研究
In our daily life, objects and the contacts between objects they will have mutually affect each other, some initially chaotic systems after a sufficient amount of time will mutually correct each other, and finally achieve synchronization (example: the speed of bird and fish migration, market prices, infantry…), although some are unable to achieve this. We will illustrate and explain the synchronization system, its process and discover the conditions for synchronization. Using linking concepts, we will integrate the coupled map lattices with global coupling and coupled map lattices with intermediate-range models into a synchronization mode in order to simulate a synchronization system. We first used a small system of n≦50 to obtain results that will demonstrate the linking concepts: 1. The more chaotic a system, a longer period of time is required for synchronization. 2. An increase in the number of individual objects requires an increase in the range of concepts and the amount of time in order to achieve an in depth synchronization. 3. Initial concept values which randomly effect synchronization critical point conditions are not obvious in a mathematically incorrect graph. In a closer look, when we increased the synchronization to n≦400 and the number of times to t-->100,000 we discovered:1. Using the function G(x) we hoped the results from the graph after apply the function and correction able to overlap and test with “Scaling and Universality in Transition to Synchronous Chaos with Local-Global Interactions”, but the part which overlapped the measurements was not identical: 2. We can use the significance of the critical point and the Interactive Process to find the approximate value of the critical value up to 4 digits following the decimal point. 3. We can also use the approximate value to find out the range for the simultaneous conditions and the various points on the system itself, as well as obtain a negative correlation between them, and then it can be similarly expressed with using a curve. A computer can calculate values with this kind of enumerating method, even without any special resolution capabilities to quickly obtain large amounts of approximate values of simultaneous conditions, this is especially true when calculating unfamiliar systems. 日常生活中，物件與物件的接觸，彼此會互相影響，有些原本雜亂的系統再經過充裕時間的互相修正後，最後竟能達成同步(例如：鳥群、魚群遷徙的速度、市場價格、行軍步伐…)，有些則不能。因此，我們試著利用描述同步系統的模型，觀察系統同步的過程，並且找出同步的條件。由連結的觀點，我們將Coupled map lattices with global coupling 和Coupled map lattices with intermediate-range 模型的優點整合成Synchronization mode 去模擬同步系統。我們先用小系統(n≦50)得到能印證連結觀點的結果：(一)、系統越雜亂，就需要稍長的時間同步；(二)、個體數越多時，各點需要更大範圍的點數去影響於每單位時間內以及更深的影響才能同步；(三)、起始值隨機影響同步臨界條件並不明顯，在誤差範圍內。更進一步，我們將系統推向n≦400 點,t→100,000 次，我們發現：(一)、在”G(x)”我們希望能將圖形經過函數修正之後能疊和，驗證”Scaling and Universality In Transition to Synchronous Chaos with Local-Global Interactions ”中的結果，但只有部分疊和，尺度不相同；(二)、可以直接利用臨界點的意義用十分逼近法求出臨界值的近似值到小數後四位；(三)、我們用近似值也能發現同步條件與系統各點本身可跳躍的數值範圍是負相關，可用曲線去近似。這種窮舉方式，交由電腦運算，不需要特別的解析能力就能夠快速且大量求得同步條件的近似值，尤其在運算不熟悉的系統時。