Cockroaches Walk at High Speeds

Cockroaches walk by moving their 6 legs in a methodical way. When they walk, three of their legs are always touching the ground to support their body, allowing them to move with stability. They use their leg joints and can adjust the height of their legs while walking, so they can move quickly even on uneven ground.

Transfer/Dispose/Circulate:: Movement

Defense/Stability:: Stability

Other

Cockroach walking mechanics can be used in the development of lifesaving robots to go into disaster areas that are difficult for humans to enter. This feature can also be used in the development of sensor robots that are equipped with various sensors to detect gas, oil, radiation leaks, or explosives.

History
+ –
Request History
4 previous requests available
====
Session
+ –
Session
- Config
  userAgent146b278961f0b80dc105e136efd48481
  time1735255695
  timeout10
====
Request
+ –
Request

Cake Params
- controllercontents
- actionview
- named(empty)
- pass
 097
- plugin(null)
- form(empty)
- url
 urlcontents/view/97
- isAjax(false)
$_GET
- urlcontents/view/97
Cookie
- 0(empty)
Current Route
- keys
 0controller
 1action
- options(empty)
- defaults
 plugin(null)
 actionindex
- template/:controller/:action/*
- _greedy(true)
- _compiledRoute#^/(?:([^/]+))/(?:([^/]+))(?:/(?P<_args_>.*))?[/]*$#
- __headerMap
 typecontent_type
 methodrequest_method
 serverserver_name
====

Sql Log

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Sql Logs

default

Query	Affected	Num. rows	Took (ms)	Actions
SHOW FULL COLUMNS FROM `contents`	16	16	42	maybe slow
SELECT CHARACTER_SET_NAME FROM INFORMATION_SCHEMA.COLLATIONS WHERE COLLATION_NAME= 'utf8_general_ci';	1	1	1
SHOW FULL COLUMNS FROM `users`	10	10	13	maybe slow
SHOW FULL COLUMNS FROM `groups`	4	4	2	maybe slow
SHOW FULL COLUMNS FROM `permissions`	5	5	2	maybe slow
SHOW FULL COLUMNS FROM `groups_permissions`	3	3	38	maybe slow
SHOW FULL COLUMNS FROM `groups_users`	3	3	2	maybe slow
SHOW FULL COLUMNS FROM `contents_searches`	6	6	2	maybe slow
SHOW FULL COLUMNS FROM `attachments`	11	11	10	maybe slow
SHOW FULL COLUMNS FROM `attachments_revs`	13	13	2	maybe slow
SHOW FULL COLUMNS FROM `contents_related_items`	5	5	2	maybe slow
SHOW FULL COLUMNS FROM `related_items`	6	6	2	maybe slow
SHOW FULL COLUMNS FROM `contents_related_items_revs`	8	8	2	maybe slow
SHOW FULL COLUMNS FROM `contents_tags`	5	5	2	maybe slow
SHOW FULL COLUMNS FROM `tags`	7	7	2	maybe slow
SHOW FULL COLUMNS FROM `tag_groups`	6	6	2	maybe slow
SHOW FULL COLUMNS FROM `contents_tags_revs`	7	7	2	maybe slow
SHOW FULL COLUMNS FROM `contents_revs`	18	18	15	maybe slow
SELECT `Content`.`id`, `Content`.`user_id`, `Content`.`last_edit_user_id`, `Content`.`post_date`, `Content`.`post_date_year`, `Content`.`post_date_month`, `Content`.`post_date_day`, `Content`.`title`, `Content`.`title_en`, `Content`.`content`, `Content`.`plain_content`, `Content`.`page_view`, `Content`.`flag`, `Content`.`mod_count`, `Content`.`created`, `Content`.`modified` FROM `contents` AS `Content` WHERE `id` = 97 LIMIT 1	1	1	0
SELECT `Attachment`.`file_name`, `Attachment`.`dir`, `Attachment`.`model`, `Attachment`.`foreign_key` FROM `attachments` AS `Attachment` WHERE `file_name` <> 'default.jpg' AND `Attachment`.`foreign_key` = (97)	2	2	0
SELECT `ContentsRelatedItem`.`content`, `ContentsRelatedItem`.`related_item_id`, `ContentsRelatedItem`.`content_id` FROM `contents_related_items` AS `ContentsRelatedItem` WHERE `ContentsRelatedItem`.`content_id` = (97)	12	12	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 1	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 2	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 5	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 6	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 7	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 8	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 9	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 9	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 9	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 4	1	1	0
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 11	1	1	8	maybe slow
SELECT `RelatedItem`.`code`, `RelatedItem`.`name` FROM `related_items` AS `RelatedItem` WHERE `RelatedItem`.`id` = 12	1	1	0
SELECT `ContentsTag`.`id`, `ContentsTag`.`tag_group_id`, `ContentsTag`.`mod_count`, `ContentsTag`.`tag_id`, `ContentsTag`.`content_id` FROM `contents_tags` AS `ContentsTag` WHERE `ContentsTag`.`content_id` = (97)	3	3	0
SELECT `Tag`.`name`, `Tag`.`comment`, `Tag`.`tag_group_id` FROM `tags` AS `Tag` WHERE `Tag`.`id` = 28	1	1	0
SELECT `TagGroup`.`code`, `TagGroup`.`name` FROM `tag_groups` AS `TagGroup` WHERE `TagGroup`.`id` = 3	1	1	0
SELECT `Tag`.`name`, `Tag`.`comment`, `Tag`.`tag_group_id` FROM `tags` AS `Tag` WHERE `Tag`.`id` = 61	1	1	0
SELECT `TagGroup`.`code`, `TagGroup`.`name` FROM `tag_groups` AS `TagGroup` WHERE `TagGroup`.`id` = 6	1	1	0
SELECT `Tag`.`name`, `Tag`.`comment`, `Tag`.`tag_group_id` FROM `tags` AS `Tag` WHERE `Tag`.`id` = 175	1	1	0
SELECT `TagGroup`.`code`, `TagGroup`.`name` FROM `tag_groups` AS `TagGroup` WHERE `TagGroup`.`id` = 7	1	1	0
SELECT `RelatedItem`.`id`, `RelatedItem`.`code`, `RelatedItem`.`name`, `RelatedItem`.`created`, `RelatedItem`.`modified`, `RelatedItem`.`flag` FROM `related_items` AS `RelatedItem` WHERE `code` = 'function' LIMIT 1	1	1	0
SELECT `Content`.`id`, `Content`.`title`, `Content`.`title_en` FROM `contents` AS `Content` WHERE id = (NULL) ORDER BY `id` desc	0	0	0

Query Explain:

Click an "Explain" link above, to see the query explanation.

====

Timer

+ –

Memory

Peak Memory Use 9.03 MB

Message	Memory use
Component intitailization	6.79 MB
Controller action start	6.83 MB
Controller render start	6.90 MB
View render complete	7.93 MB

Timers

Total Request Time: 1102 (ms)

Message	Time in ms	Graph
Core Processing (Derived)	600.30
Component initialization and startup	18.21
Controller action	53.28
Render Controller Action	69.55
» Rendering View	64.57
» » Rendering APP/views/contents/view.ctp	34.32
» » Rendering APP/views/layouts/default.ctp	20.04
» » » Rendering APP/views/elements/header.ctp	1.60
» » » Rendering APP/views/elements/content_sidebar.ctp	0.47
» » » Rendering APP/views/elements/footer.ctp	0.46

====

Log
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Logs

====
Variables
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View Variables
- content
 contentsTags
 0
 id1631
 tag_group_id3
 mod_count3
 tag_id28
 content_id97
 Tag
 nameMovement
 comment(null)
 tag_group_id3
 TagGroup
 codemove
 nameTransportation/Disposal/Circulation
 1
 id1632
 tag_group_id6
 mod_count3
 tag_id61
 content_id97
 Tag
 nameStability
 comment(null)
 tag_group_id6
 TagGroup
 codedefense
 nameResistance/Stability
 2
 id1633
 tag_group_id7
 mod_count3
 tag_id175
 content_id97
 Tag
 nameOther
 comment
 tag_group_id7
 TagGroup
 codeenv_sol
 nameEnvironmental Solution Classification
 attachments
 0
 file_nameMQ==.jpeg
 dirimg/Content/97
 modelContent
 foreign_key97
 1
 file_nameMg==.jpeg
 dirimg/Content/97
 modelContent
 foreign_key97
 contentsRelatedItems
 function
 0Cockroaches walk by moving their 6 legs in a methodical way. When they walk, three of their legs are always touching the ground to support their body, allowing them to move with stability. They use their leg joints and can adjust the height of their legs while walking, so they can move quickly even on uneven ground.
 ref_info
 0
 reg_num
 0
 appl_tech
 0
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 appl_tech_sugg
 0Cockroach walking mechanics can be used in the development of lifesaving robots to go into disaster areas that are difficult for humans to enter. This feature can also be used in the development of sensor robots that are equipped with various sensors to detect gas, oil, radiation leaks, or explosives.
 img_exp
 0Cockroach. Photo by <a href="http://www.flickr.com/photos/cnwagoner/3081590500/" target="_blank">CD-Wagoner's-Pics</a> From the Amazing Nature Database.
 1“Dash,” the robotic cockroach at UC Berkeley Biomimetic Millisystems Lab. From the Amazing Nature Database.
 2
 reg_info
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 related_content_id
 0
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 0
 properties
 id97
 user_id1
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 post_date2011-02-04
 post_date_year
 post_date_month
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 titleCockroaches Walk at High Speeds
 title_en
 content
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 page_view0
 flag1
 mod_count3
 created2011-02-04 18:44:09
 modified2012-03-16 13:32:47
- related_contentsArray
- Auth(null)
- $this->data(null)
- $this->validationErrors(empty)
- Loaded Helpers
 0simpleGraph
 1number
 2htmlToolbar
 3toolbar
 4navi
 5layout
 6session
 7form
 8contentElement
 9javascript
 10html
====

Cockroaches Walk at High Speeds

Request History

Session

Request

Cake Params

$_GET

Cookie

Current Route

Sql Logs

default

Query Explain:

Memory

Timers

Logs

View Variables