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            file_put_contents($pathname, $message . "\n", FILE_APPEND);

file_put_contents - [internal], line ??
Cake\Log\Engine\FileLog::log() - CORE/src/Log/Engine/FileLog.php, line 140
Cake\Log\Log::write() - CORE/src/Log/Log.php, line 392
Cake\Log\Log::warning() - CORE/src/Log/Log.php, line 477
DebugKit\ToolbarService::isSuspiciouslyProduction() - ROOT/vendor/cakephp/debug_kit/src/ToolbarService.php, line 169
DebugKit\ToolbarService::isEnabled() - ROOT/vendor/cakephp/debug_kit/src/ToolbarService.php, line 105
DebugKit\Plugin::bootstrap() - ROOT/vendor/cakephp/debug_kit/src/Plugin.php, line 48
Cake\Http\BaseApplication::pluginBootstrap() - CORE/src/Http/BaseApplication.php, line 182
Cake\Http\Server::bootstrap() - CORE/src/Http/Server.php, line 111
Cake\Http\Server::run() - CORE/src/Http/Server.php, line 79
[main] - ROOT/webroot/index.php, line 40

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Code Context

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            $this->_File->fwrite($contents) &&
            $this->_File->fflush();

SplFileObject::fwrite() - [internal], line ??
Cake\Cache\Engine\FileEngine::set() - CORE/src/Cache/Engine/FileEngine.php, line 141
Cake\Database\Schema\CachedCollection::describe() - CORE/src/Database/Schema/CachedCollection.php, line 85
Cake\ORM\Table::getSchema() - CORE/src/ORM/Table.php, line 513
Cake\ORM\Query::addDefaultTypes() - CORE/src/ORM/Query.php, line 290
Cake\ORM\Query::__construct() - CORE/src/ORM/Query.php, line 184
Cake\ORM\Table::query() - CORE/src/ORM/Table.php, line 1702
Cake\ORM\Table::find() - CORE/src/ORM/Table.php, line 1263
App\Controller\NewsController::action_() - APP/Controller/NewsController.php, line 6437
App\Controller\NewsController::get_data() - APP/Controller/NewsController.php, line 5701
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5625
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3226
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317

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Code Context

        $success = $this->_File->ftruncate(0) &&
            $this->_File->fwrite($contents) &&
            $this->_File->fflush();

SplFileObject::fwrite() - [internal], line ??
Cake\Cache\Engine\FileEngine::set() - CORE/src/Cache/Engine/FileEngine.php, line 141
Cake\I18n\TranslatorRegistry::get() - CORE/src/I18n/TranslatorRegistry.php, line 206
Cake\I18n\I18n::getTranslator() - CORE/src/I18n/I18n.php, line 148
__ - CORE/src/I18n/functions.php, line 45
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3420
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73

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Code Context

        $success = $this->_File->ftruncate(0) &&
            $this->_File->fwrite($contents) &&
            $this->_File->fflush();

SplFileObject::fwrite() - [internal], line ??
Cake\Cache\Engine\FileEngine::set() - CORE/src/Cache/Engine/FileEngine.php, line 141
Cake\Database\Schema\CachedCollection::describe() - CORE/src/Database/Schema/CachedCollection.php, line 85
Cake\ORM\Table::getSchema() - CORE/src/ORM/Table.php, line 513
Cake\ORM\Query::addDefaultTypes() - CORE/src/ORM/Query.php, line 290
Cake\ORM\Query::__construct() - CORE/src/ORM/Query.php, line 184
Cake\ORM\Table::query() - CORE/src/ORM/Table.php, line 1702
Cake\ORM\Table::find() - CORE/src/ORM/Table.php, line 1263
App\Controller\NewsController::action_() - APP/Controller/NewsController.php, line 6426
App\Controller\NewsController::get_data() - APP/Controller/NewsController.php, line 5701
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5625
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3436
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317

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Code Context

        $success = $this->_File->ftruncate(0) &&
            $this->_File->fwrite($contents) &&
            $this->_File->fflush();

SplFileObject::fwrite() - [internal], line ??
Cake\Cache\Engine\FileEngine::set() - CORE/src/Cache/Engine/FileEngine.php, line 141
Cake\Cache\Cache::write() - CORE/src/Cache/Cache.php, line 266
App\Controller\NewsController::action_() - APP/Controller/NewsController.php, line 6766
App\Controller\NewsController::get_data() - APP/Controller/NewsController.php, line 5701
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5493
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3698
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73

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Code Context

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                E_USER_WARNING
            );

Cake\Cache\Cache::write() - CORE/src/Cache/Cache.php, line 275
App\Controller\NewsController::action_() - APP/Controller/NewsController.php, line 6766
App\Controller\NewsController::get_data() - APP/Controller/NewsController.php, line 5701
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5493
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3698
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157

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Code Context

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                      $a=unserialize($line2);
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unserialize - [internal], line ??
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5571
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::article_show() - APP/Controller/NewsController.php, line 4290
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3822
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\RoutingMiddleware::process() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 161

Code Context

               {
                      $a=unserialize($line2);
               }

unserialize - [internal], line ??
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5571
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::article_show() - APP/Controller/NewsController.php, line 4310
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3822
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\RoutingMiddleware::process() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 161

可单腿蹦哒7秒不倒迪士尼推“跳跳虎”机器人

智能设备 2016-10-07 23:40:52 转载来源: 网络整理/侵权必删

迪士尼的实验室的科学家们一直在做一些令人惊叹的工作，但是并不总是能弄懂他们到底想干什么。最近这个实验室又出新品了，这次是一个不需要外部接入电源的单腿跳跃机器人

迪士尼的实验室的科学家们一直在做一些令人惊叹的工作，但是并不总是能弄懂他们到底想干什么。最近这个实验室又出新品了，这次是一个不需要外部接入电源的单腿跳跃机器人。有外媒戏称迪士尼的最终目的大概是想做出一台“跳跳虎”。

迪士尼推“跳跳虎”机器人，可单腿蹦哒7秒不倒

“跳跳虎”机器人只有30cm高，重约2kg，很轻巧。它目前只能跳跃19下，以此维持了7秒的平衡时间。但是研究人员们相信，在对其计算能力进行升级改造之后，它可以跳更长时间。

迪士尼推“跳跳虎”机器人，可单腿蹦哒7秒不倒

图自：UPI

大多数跳跃机器人是依赖液压动力的，也就是说需要接入一个电机。而迪士尼实验室的科学家们，使用了一种新型的驱动器，只依靠电池供能。这种新的供能机制叫做LEAP（Linear Elastic Actuator in Parallel，并行线型弹性驱动器），使得“跳跳虎”机器人的驱动器能够高效地使用两个压缩弹簧。

迪士尼推“跳跳虎”机器人，可单腿蹦哒7秒不倒

图自：Disney

如下图所示，在LEAP系统中间红色的圆柱部分叫做“音圈驱动器”（Voice Coil Actuator）。音圈是通过音频电流的线圈，是电动式扬声器振动系统的重要组成部分。没错，音圈驱动器所使用的技术跟普通的扬声器里的几乎一样。除此之外，机器人躯干还放置了编码器、传感器等，帮助它在每一次跳跃动作中调整腿的角度，以保持平衡。

迪士尼推“跳跳虎”机器人，可单腿蹦哒7秒不倒

图自：Disney

在“跳跳虎”机器人的“头部”四周装满了一节一节的蓝色电池以提供能量，另外也也聚集了计算和感知系统。

迪士尼推“跳跳虎”机器人，可单腿蹦哒7秒不倒

图自：Disney

只依靠单腿的跳动来进行移动，这限制了“跳跳虎”机器人在现实世界的实用性。但是研究人员们相信这种依赖内部电池供能的机制，会使得它能够更加容易融合进复杂的机器系统当中，聚合起来形成多腿机器人系统。

迪士尼的目标不是造一个解决某个具体任务的机器人，而是要得到一种软件和结构性设计，以允许轻型的、电池供能的弹跳机器人保持平衡。所以目前来讲，“跳跳虎”机器人还处在一种概念验证的阶段。

研究人员在本周的东京国际实验机器人讨论会（ISER 2016）上展示了这个机器人的相关成果，他们在论文中写道：“虽然未达成连续长期跳跃的目标，但是我们展示出了无需接入外部电源线的机器人在短时间内完成这种跳跃步态的可能性。在将来，我们将重新设计LEAP机制，使其更加模块化和紧凑，为多腿机器人做好准备。”

标签: 可单腿蹦 7秒不倒迪士尼跳跳虎机器人