A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is d...A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.展开更多
How to select the adequate real strong earthquake ground motion for seismic analysis and design of structures is an essential problem in earthquake engineering research and practice. In the paper the concept of the se...How to select the adequate real strong earthquake ground motion for seismic analysis and design of structures is an essential problem in earthquake engineering research and practice. In the paper the concept of the severest design ground motion is proposed and a method is developed for comparing the severity of the recorded strong ground motions. By using this method the severest earthquake ground motions are selected out as seismic inputs to the structures to be designed from a database that consists of more than five thousand significant strong ground motion records collected over the world. The selected severest ground motions are very likely to be able to drive the structures to their critical response and thereby result in the highest damage potential. It is noted that for different structures with different predominant natural periods and at different sites where structures are located the severest design ground motions are usually different. Finally, two examples are illustrated to demonstrate the rationality of the concept and the reliability of the selected design motion.展开更多
In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driv...In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.展开更多
Recently, virtual reality and interactive somatosensory technology has become one of the hot issues in the research of computer applications. Leap Motion is a new type of interactive somatosensory devices which bring ...Recently, virtual reality and interactive somatosensory technology has become one of the hot issues in the research of computer applications. Leap Motion is a new type of interactive somatosensory devices which bring users senses of immersion efficiently. This paper studies a interactive somatosensory game model based on Leap Motion and implemented with Unity. Based on the two core technology philosophy of Leap Motion, i.e., virtual reality technology and body sense of interactive technology, the design implementation of each sub module of the system and Leap Motion game algorithm are thoroughly addressed. This paper has certain significance for future application of Leap Motion in film, television, and interactive games.展开更多
After the analysis of the beauty contained in motion vision, the paper had pointed out that motion vision was the link for spectators relating and communicating with aesthetic objects and decided landscape space const...After the analysis of the beauty contained in motion vision, the paper had pointed out that motion vision was the link for spectators relating and communicating with aesthetic objects and decided landscape space construction sequence. It further analyzed the relations between architectural space and visual perception which could be divided into inner experience and external experience. By taking landscape space construction of Sichuan Olympic Sports School for example, based on the analysis of design principles and objective of landscape space, the paper had focused on the discussion of landscape concept in terms of motion vision. In the perspective of two-dimensional vision, landscape effects of White Pigeon Square and Bright Eyes Square had been introduced. In the perspective of three-dimensional vision, landscape effects of the Olympic Rings waterscape and the Olympic Rings gallery had been illustrated. Finally, based on the integration between landscapes and architectures under visual perception, the coordination between campus architectures and landscape construction in Olympic Sports School had been analyzed.展开更多
The seismic risk analysis results of 79 cities in Xinjiang are presented, and the bedrock peak ground accelerations under three seismic levels and their ratios are discussed. Then, the relationship between earthquake ...The seismic risk analysis results of 79 cities in Xinjiang are presented, and the bedrock peak ground accelerations under three seismic levels and their ratios are discussed. Then, the relationship between earthquake environments and the seismic risk analysis results of different exceeding probabilities are researched. The results show that minor and major earthquake motion parameters calculated from moderate earthquakes do not have a consistent probability and the ratio of bedrock peak accelerations under different exceedance probabilities are dosdy correlated with earthquake environments.展开更多
Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity ...Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.展开更多
The main technical backgrounds and requirements are introduced with regard to earthquake ground motion design parameters in several domestic and American standards,codes and guides involved in the seismic analysis and...The main technical backgrounds and requirements are introduced with regard to earthquake ground motion design parameters in several domestic and American standards,codes and guides involved in the seismic analysis and design activities of nuclear power plants in China.Based on the research results from site seismic safety evaluation of domestic nuclear power plant projects in the last years,characteristics and differences of site specific design spectra are analyzed in comparison with standard response spectra,and the suitability of standard response spectra for domestic nuclear power plant projects is discussed.展开更多
Domestic nuclear power plants are basically located in the seaside, plant site according to the planning requirements, through the site level to meet the nuclear power unit and supporting engineering layout requiremen...Domestic nuclear power plants are basically located in the seaside, plant site according to the planning requirements, through the site level to meet the nuclear power unit and supporting engineering layout requirements, different regions of the site and the gay love situation is different. There are a variety of buildings in the plant, different buildings, according to their importance, their seismic requirements are different. Therefore, although the buildings in the factory are located in the same area, the seismic requirements of different buildings and the ground foundation conditions of the site are different. The designed ground motion parameters cannot be determined directly according to the Chinese ground motion parameter zoning map of GB18306-2015 and the provisions of the building seismic design code of GB50011-2010, but need to be re-calculated.展开更多
Most acceleration diagrams show high levels of unpredictability, as a result, it is the best to avoid using diagrams of earthquake acceleration spect~＇a, even if the diagrams recorded at the site in question. In orde...Most acceleration diagrams show high levels of unpredictability, as a result, it is the best to avoid using diagrams of earthquake acceleration spect~＇a, even if the diagrams recorded at the site in question. In order to design earthquake resistant structures, we, instead, suggest constructing a design spectrum using a set of spectra that have common characteristics to the recorded acceleration diagrams at a particular site and smoothing the associated data. In this study, we conducted a time history analysis and determined a design spectrum for the region near the Lali tunnel in Southwestern Iran. We selected 13 specific ground motion records from the rock site to construct the design spectrum. To process the data, we first applied a base-line correction and then calculated the signal-to-noise ratio （]~SN） for each record. Next, we calculated the Fourier amplitude spectra of the acceleration pertaining to the signal window （1）, and the Fourier amplitude spectra of the associated noise （2）. After dividing each spectra by the square root of the selected window interval, they were divided by each other （1 divided by 2）, in order to obtain the ~SN ratio （filtering was also applied）. In addition, all data were normalized to the peak ground acceleration （PGA）. Next, the normalized vertical and horizontal responses and mean response spectrum （50%） and the mean plus-one standard deviation （84%） were calculated for all the selected ground motion records at 5% damping. Finally, the mean design spectrum and the mean plus-one standard deviation were plotted for the spectrums. The equation of the mean and the above-mean design spectrum at the Lali tunnel site are also provided, along with our observed conclusions.展开更多
Testable design techniques for systolic motion estimators based on M-testability conditions are proposed in this paper. The whole motion estimator can be viewed as a two-dimensional iterative logic array （ILA） of pr...Testable design techniques for systolic motion estimators based on M-testability conditions are proposed in this paper. The whole motion estimator can be viewed as a two-dimensional iterative logic array （ILA） of processing elements （PEs） and multiplying elements （MULs）. The functions of each PE and MUL are modified to be bijective to meet the M-testable conditions. The number of test patterns is 2^w, where w denotes the word length of a PE. The proposed testable design techniques are also suitable for built-in self-test implementation. According to experimental results, our approaches can achieve 99.27 % fault coverage. The area overhead is about 9 %. To verify our approaches, an experimental chip is also implemented.展开更多
基金This project is supported by National Hi-tech Research and Development Program of China(863 Program, No.2003AA404190).
文摘A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.
基金National Natural Science Foundation of China (59895410)Natural Science Foundation of Heilongjiang Province (E0228) Joint Seismological Foundation of China (95-07-444).
文摘How to select the adequate real strong earthquake ground motion for seismic analysis and design of structures is an essential problem in earthquake engineering research and practice. In the paper the concept of the severest design ground motion is proposed and a method is developed for comparing the severity of the recorded strong ground motions. By using this method the severest earthquake ground motions are selected out as seismic inputs to the structures to be designed from a database that consists of more than five thousand significant strong ground motion records collected over the world. The selected severest ground motions are very likely to be able to drive the structures to their critical response and thereby result in the highest damage potential. It is noted that for different structures with different predominant natural periods and at different sites where structures are located the severest design ground motions are usually different. Finally, two examples are illustrated to demonstrate the rationality of the concept and the reliability of the selected design motion.
基金Project(51505491)supported by the National Natural Science Foundation of ChinaProject(ZR2014EEP019)supported by the Natural Science Foundation of Shandong Province,China
文摘In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.
基金Supported by Gansu Science and Technology Major Project(1302FKDA036)
文摘Recently, virtual reality and interactive somatosensory technology has become one of the hot issues in the research of computer applications. Leap Motion is a new type of interactive somatosensory devices which bring users senses of immersion efficiently. This paper studies a interactive somatosensory game model based on Leap Motion and implemented with Unity. Based on the two core technology philosophy of Leap Motion, i.e., virtual reality technology and body sense of interactive technology, the design implementation of each sub module of the system and Leap Motion game algorithm are thoroughly addressed. This paper has certain significance for future application of Leap Motion in film, television, and interactive games.
文摘After the analysis of the beauty contained in motion vision, the paper had pointed out that motion vision was the link for spectators relating and communicating with aesthetic objects and decided landscape space construction sequence. It further analyzed the relations between architectural space and visual perception which could be divided into inner experience and external experience. By taking landscape space construction of Sichuan Olympic Sports School for example, based on the analysis of design principles and objective of landscape space, the paper had focused on the discussion of landscape concept in terms of motion vision. In the perspective of two-dimensional vision, landscape effects of White Pigeon Square and Bright Eyes Square had been introduced. In the perspective of three-dimensional vision, landscape effects of the Olympic Rings waterscape and the Olympic Rings gallery had been illustrated. Finally, based on the integration between landscapes and architectures under visual perception, the coordination between campus architectures and landscape construction in Olympic Sports School had been analyzed.
基金Supported by the tenth "Five-Year Plan" pivotal project "Research on Seismic Safety Evaluation and Structure Seismic Resistance"and"Project for Visiting Scholars of CSB"
文摘The seismic risk analysis results of 79 cities in Xinjiang are presented, and the bedrock peak ground accelerations under three seismic levels and their ratios are discussed. Then, the relationship between earthquake environments and the seismic risk analysis results of different exceeding probabilities are researched. The results show that minor and major earthquake motion parameters calculated from moderate earthquakes do not have a consistent probability and the ratio of bedrock peak accelerations under different exceedance probabilities are dosdy correlated with earthquake environments.
文摘Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.
基金funded by the Basic Science Research Foundation of IEM(Grant No.2006A02)the National Natural Sciences Foundation of China (90715038)
文摘The main technical backgrounds and requirements are introduced with regard to earthquake ground motion design parameters in several domestic and American standards,codes and guides involved in the seismic analysis and design activities of nuclear power plants in China.Based on the research results from site seismic safety evaluation of domestic nuclear power plant projects in the last years,characteristics and differences of site specific design spectra are analyzed in comparison with standard response spectra,and the suitability of standard response spectra for domestic nuclear power plant projects is discussed.
文摘Domestic nuclear power plants are basically located in the seaside, plant site according to the planning requirements, through the site level to meet the nuclear power unit and supporting engineering layout requirements, different regions of the site and the gay love situation is different. There are a variety of buildings in the plant, different buildings, according to their importance, their seismic requirements are different. Therefore, although the buildings in the factory are located in the same area, the seismic requirements of different buildings and the ground foundation conditions of the site are different. The designed ground motion parameters cannot be determined directly according to the Chinese ground motion parameter zoning map of GB18306-2015 and the provisions of the building seismic design code of GB50011-2010, but need to be re-calculated.
文摘Most acceleration diagrams show high levels of unpredictability, as a result, it is the best to avoid using diagrams of earthquake acceleration spect~＇a, even if the diagrams recorded at the site in question. In order to design earthquake resistant structures, we, instead, suggest constructing a design spectrum using a set of spectra that have common characteristics to the recorded acceleration diagrams at a particular site and smoothing the associated data. In this study, we conducted a time history analysis and determined a design spectrum for the region near the Lali tunnel in Southwestern Iran. We selected 13 specific ground motion records from the rock site to construct the design spectrum. To process the data, we first applied a base-line correction and then calculated the signal-to-noise ratio （]~SN） for each record. Next, we calculated the Fourier amplitude spectra of the acceleration pertaining to the signal window （1）, and the Fourier amplitude spectra of the associated noise （2）. After dividing each spectra by the square root of the selected window interval, they were divided by each other （1 divided by 2）, in order to obtain the ~SN ratio （filtering was also applied）. In addition, all data were normalized to the peak ground acceleration （PGA）. Next, the normalized vertical and horizontal responses and mean response spectrum （50%） and the mean plus-one standard deviation （84%） were calculated for all the selected ground motion records at 5% damping. Finally, the mean design spectrum and the mean plus-one standard deviation were plotted for the spectrums. The equation of the mean and the above-mean design spectrum at the Lali tunnel site are also provided, along with our observed conclusions.
文摘Testable design techniques for systolic motion estimators based on M-testability conditions are proposed in this paper. The whole motion estimator can be viewed as a two-dimensional iterative logic array （ILA） of processing elements （PEs） and multiplying elements （MULs）. The functions of each PE and MUL are modified to be bijective to meet the M-testable conditions. The number of test patterns is 2^w, where w denotes the word length of a PE. The proposed testable design techniques are also suitable for built-in self-test implementation. According to experimental results, our approaches can achieve 99.27 % fault coverage. The area overhead is about 9 %. To verify our approaches, an experimental chip is also implemented.
