Dynamic flood disaster simulation is an emerging and promising technology significantly useful in urban planning,risk assessment,and integrated decision support systems.It is still an important issue to integrate the ...Dynamic flood disaster simulation is an emerging and promising technology significantly useful in urban planning,risk assessment,and integrated decision support systems.It is still an important issue to integrate the large assets such as dynamic observational data,numerical flood simulation models,geographic information technologies,and computing resources into a unified framework.For the intended end user,it is also a holistic solution to create computer interpretable representations and gain insightful understanding of the dynamic disaster processes,the complex impacts,and interactions of disaster factors.In particular,it is still difficult to access and join harmonized data,processing algorithms,and models that are provided by different environmental information infrastructures.In this paper,we demonstrate a virtual geographic environments-based integrated environmental simulation framework for flood disaster management based on the notion of interlinked resources,which is capable of automated accumulating and manipulating of sensor data,creating dynamic geo-analysis and three-dimensional visualizations of ongoing geo-process,and updating the contents of simulation models representing the real environment.The prototype system is evaluated by applying it as a proof of concept to integrate in situ weather observations,numerical weather and flood disaster simulation models,visualization,and analysis of the real time flood event.Case applications indicate that the developed framework can be adopted for use by decision-makers for short-term planning and control since the resulting simulation and visualization are completely based on the latest status of environment.展开更多
The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients,ignoring their residual muscle strength.To enhance patient participation and safety in training,this pap...The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients,ignoring their residual muscle strength.To enhance patient participation and safety in training,this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human–robot interaction force measurement.Firstly,a novel lower limb rehabilitation robot system with several active and passive driven joints is developed,and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human–robot interaction forces.Secondly,a dynamic model of the rehabilitation training robot is constructed to estimate the driven forces of the human lower leg in a completely passive state.Thereafter,based on the theoretical moment from the dynamics and the actual joint interaction force collected by the sensors,an adaptive gait adjustment method is proposed to achieve the goal of adapting to the wearer’s movement intention.Finally,interactive experiments are carried out to validate the effectiveness of the developed rehabilitation training robot system.The proposed rehabilitation training robot system with adaptive gaits offers great potential for future highquality rehabilitation training,e.g.,improving participation and safety.展开更多
基金This study is supported by the National High Technology Research and Development Program of China(863 Program)(Nos.2012AA121305 and 2013AA120701)the National Natural Science Foundation of China(Nos.41471320 and 41201440).
文摘Dynamic flood disaster simulation is an emerging and promising technology significantly useful in urban planning,risk assessment,and integrated decision support systems.It is still an important issue to integrate the large assets such as dynamic observational data,numerical flood simulation models,geographic information technologies,and computing resources into a unified framework.For the intended end user,it is also a holistic solution to create computer interpretable representations and gain insightful understanding of the dynamic disaster processes,the complex impacts,and interactions of disaster factors.In particular,it is still difficult to access and join harmonized data,processing algorithms,and models that are provided by different environmental information infrastructures.In this paper,we demonstrate a virtual geographic environments-based integrated environmental simulation framework for flood disaster management based on the notion of interlinked resources,which is capable of automated accumulating and manipulating of sensor data,creating dynamic geo-analysis and three-dimensional visualizations of ongoing geo-process,and updating the contents of simulation models representing the real environment.The prototype system is evaluated by applying it as a proof of concept to integrate in situ weather observations,numerical weather and flood disaster simulation models,visualization,and analysis of the real time flood event.Case applications indicate that the developed framework can be adopted for use by decision-makers for short-term planning and control since the resulting simulation and visualization are completely based on the latest status of environment.
基金supported in part by the National Natural Science Foundation of China under Grants 62373353,and 62033013in part by Youth Innovation Promotion Association CAS(2019138).
文摘The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients,ignoring their residual muscle strength.To enhance patient participation and safety in training,this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human–robot interaction force measurement.Firstly,a novel lower limb rehabilitation robot system with several active and passive driven joints is developed,and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human–robot interaction forces.Secondly,a dynamic model of the rehabilitation training robot is constructed to estimate the driven forces of the human lower leg in a completely passive state.Thereafter,based on the theoretical moment from the dynamics and the actual joint interaction force collected by the sensors,an adaptive gait adjustment method is proposed to achieve the goal of adapting to the wearer’s movement intention.Finally,interactive experiments are carried out to validate the effectiveness of the developed rehabilitation training robot system.The proposed rehabilitation training robot system with adaptive gaits offers great potential for future highquality rehabilitation training,e.g.,improving participation and safety.
