The integration of a large number of power electronic converters,such as railway power conditioner(RPC),introduces a series of problems,including harmonic interaction,stability issues,and wideband resonance,into the r...The integration of a large number of power electronic converters,such as railway power conditioner(RPC),introduces a series of problems,including harmonic interaction,stability issues,and wideband resonance,into the railway power supply system.To address these challenges,this paper proposes a novel harmonic resonance prevention measure for RPC-network-train interaction system.Firstly,a harmonic model,a parallel resonance impedance model,a series resonance admittance model,and a control stability model are each established for the RPC-network-train interaction system.Secondly,a comprehensive resonance impact factor(CRIF)is proposed to efficiently and accurately identify the key components affecting resonance,and to provide the selection results of optimization parameters for resonance prevention.Next,the initially selected parameters are constrained by the requirements of ripple current,reactive power and stability.Subsequently,the impedance parameters(control parameters and filter parameters)of the RPC are optimized with the objective of reshaping the parallel resonance impedance and series resonance admittance of the RPC-network-train interaction system,ensuring the output current har-monics of RPC meet standards to achieve resonance prevention,while ensuring the stable operation of the RPC.Finally,the proposed resonance prevention measure is verified under both light load and heavy load conditions using a simulation platform and a hardware-in-the-loop experimental platform.展开更多
Quadruped robots which have flexibility and load-bearing capacity,are regarded as the best mobile platform for remote operation in unstructured and restricted environments.In the process of remote operation of quadrup...Quadruped robots which have flexibility and load-bearing capacity,are regarded as the best mobile platform for remote operation in unstructured and restricted environments.In the process of remote operation of quadruped robots,their status is inevitably influenced by complex environments.To monitor the robot's real-time operation status and make necessary adjustments,this paper focuses on the single-leg of a quadruped robot,proposes a single-leg virtual-real interaction system based on Digital Twin,and studies its virtual-real interaction characteristics.The virtual-reality interaction system contains single-leg physical entity,single-leg virtual model,control system,data service system and communication system,enabling interactive applications for single-leg visual state monitoring and real-time control optimization.This paper creates a high-fidelity model based on the physical entity;provides a system performance analysis method based on the system framework;analyzes virtual-real interaction delay based on communication scheme;conducts stand and jump test based on the single-leg mathematical model and analyzes the interaction characteristics under position/force control.This system provides new insights for real-time monitoring and control optimization of quadruped robots.展开更多
With continuous advancements in artificial intelligence(AI), automatic piano-playing robots have become subjects of cross-disciplinary interest. However, in most studies, these robots served merely as objects of obser...With continuous advancements in artificial intelligence(AI), automatic piano-playing robots have become subjects of cross-disciplinary interest. However, in most studies, these robots served merely as objects of observation with limited user engagement or interaction. To address this issue, we propose a user-friendly and innovative interaction system based on the principles of greedy algorithms. This system features three modules: score management, performance control, and keyboard interactions. Upon importing a custom score or playing a note via an external device, the system performs on a virtual piano in line with user inputs. This system has been successfully integrated into our dexterous manipulator-based piano-playing device, which significantly enhances user interactions.展开更多
A method for analysing the vehicle-bridge interaction system with enhanced objectivity is proposed in the paper, which considers the time-variant and random characteristics and allows finding the power spectral densit...A method for analysing the vehicle-bridge interaction system with enhanced objectivity is proposed in the paper, which considers the time-variant and random characteristics and allows finding the power spectral densities(PSDs) of the system responses directly from the PSD of track irregularity. The pseudo-excitation method is adopted in the proposed framework, where the vehicle is modelled as a rigid body and the bridge is modelled using the finite element method. The vertical and lateral wheel-rail pseudo-excitations are established assuming the wheel and rail have the same displacement and using the simplified Kalker creep theory, respectively. The power spectrum function of vehicle and bridge responses is calculated by history integral. Based on the dynamic responses from the deterministic and random analyses of the interaction system, and the probability density functions for three safety factors(derailment coefficient, wheel unloading rate, and lateral wheel axle force) are obtained, and the probabilities of the safety factors exceeding the given limits are calculated. The proposed method is validated by Monte Carlo simulations using a case study of a high-speed train running over a bridge with five simply supported spans and four piers.展开更多
The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the...The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the coupled model containing the quintessential parts was built, and the mechanism of self-excited vibration was explained in terms of energy transmission from levitation system to bridge. Then, the influences of the parameters of the widely used integral-type proportion and derivation(PD) controller and the delay of signals on the stability of the interaction system were analyzed. The result shows that the integral-type PD control is a nonoptimal approach to solve the self-excited vibration completely. Furthermore, the differential-type PD controller can guarantee the passivity of levitation system at full band. However, the differentiation of levitation gap should be filtered by a low-pass filter due to noise of gap differentiation. The analysis indicates that a well tuned low-pass filter can still keep the coupled system stable.展开更多
The complete discrimination system for polynomial method is applied to the long-short-wave interaction system to obtain the classifications of single traveling wave solutions. Compared with the solutions given by the ...The complete discrimination system for polynomial method is applied to the long-short-wave interaction system to obtain the classifications of single traveling wave solutions. Compared with the solutions given by the （G~/G）-expansion method, we gain some new solutions.展开更多
The time domain parameter laenuncauon memoa oi me iounuauon-structure interaction system is presented. On the basis of building the computation mode and the motion equation of the foundation-structure interaction syst...The time domain parameter laenuncauon memoa oi me iounuauon-structure interaction system is presented. On the basis of building the computation mode and the motion equation of the foundation-structure interaction system, the system parameter identification method was established by using the extended Kalman filter （EKF） technique and taking the unknown parameters in the system as the augment state variables. And the time parameter identification process of the foundation-structure interaction system was implemented by using the data of the layer foundation-storehouse interaction system model test on the large vibration platform. The computation result shows that the established parameter identification method can induce good parameter estimation.展开更多
A digital man-machine interaction system controlled by communications between two processors of TMS320F240 and AT98C2051 was researched in the paper. The system is easy to set and modify welding process parameters by ...A digital man-machine interaction system controlled by communications between two processors of TMS320F240 and AT98C2051 was researched in the paper. The system is easy to set and modify welding process parameters by keyboards, and display information of welding site by LCD (Liquid Crystal Display). As one part of multi-task system about TIG welding machine, the coordination of man-machine interaction system with other tasks is the main point to the stability and reliability of its operation. Experiments result indicates that the system is stable, operation-flexible, high precision, and anti-interfering.展开更多
In this paper, a nonlocal two-wave interaction system from the Manakov hierarchy is investigated via the Riemann–Hilbert approach. Based on the spectral analysis of the Lax pair, a Riemann–Hilbert problem for the no...In this paper, a nonlocal two-wave interaction system from the Manakov hierarchy is investigated via the Riemann–Hilbert approach. Based on the spectral analysis of the Lax pair, a Riemann–Hilbert problem for the nonlocal two-wave interaction system is constructed. By discussing the solutions of this Riemann–Hilbert problem in both the regular and nonregular cases, we explicitly present the N-soliton solution formula of the nonlocal two-wave interaction system. Moreover,the dynamical behaviour of the single-soliton solution is shown graphically.展开更多
EyeScreen is a vision-based interaction system which provides a natural gesture interface for humancomputer interaction （HCI） by tracking human fingers and recognizing gestures. Multi-view video images are captured ...EyeScreen is a vision-based interaction system which provides a natural gesture interface for humancomputer interaction （HCI） by tracking human fingers and recognizing gestures. Multi-view video images are captured by two cameras facing a computer screen, which can be used to detect clicking actions of a fingertip and improve the recognition rate. The system enables users to directly interact with rendered objects on the screen. Robustness of the system has been verified by extensive experiments with different user scenarios. EyeScreen can be used in many applications such as intelligent interaction and digital entertainment.展开更多
An integrated coupling element considering wheel-rail interface for analyzing the dynamic responses of vehicle-rail-bridge interaction system with a non-uniform continuous bridge is presented. The governing equations ...An integrated coupling element considering wheel-rail interface for analyzing the dynamic responses of vehicle-rail-bridge interaction system with a non-uniform continuous bridge is presented. The governing equations of the interaction system are established first, and the solution procedure and assembly method of the coupling element are demonstrated. Finally, the accuracy, efficiency and function of the integrated coupling element are tested using two numerical examples. The influences of different combinations of rail and bridge element length in the coupling element on the solution are investigated, and the effects of different rail irregularities on the dynamic responses are discussed.展开更多
A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize huma...A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on2D-Gabor, uniform local binary pattern(LBP) operator, and multiclass extreme learning machine(ELM) classifier is presented,which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios,i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEERHRI system can be applied in home service, smart home, safe driving, and so on.展开更多
This study is intended to evaluate the influence of dynamic bridge-train interaction （BTI） on the seismic response of the Shinkansen system in Japan under moderate earthquakes. An analytical approach to simulate the...This study is intended to evaluate the influence of dynamic bridge-train interaction （BTI） on the seismic response of the Shinkansen system in Japan under moderate earthquakes. An analytical approach to simulate the seismic response of the BTI system is developed. In this approach, the behavior of the bridge structure is assumed to be within the elastic range under moderate ground motions. A bullet train car model idealized as a sprung-mass system is established. The viaduct is modeled with 3D finite elements. The BTI analysis algorithm is verified by comparing the analytical and experimental results. The seismic analysis is validated through comparison with a general program. Then, the seismic responses of the BTI system are simulated and evaluated. Some useful conclusions are drawn, indicating the importance of a proper consideration of the dynamic BTI in seismic design.展开更多
The success of the tuned mass damper (TMD) in reducing wind-induced structural vibrations has been well established. However, from most of the recent numerical studies, it appears that for a structure situated on very...The success of the tuned mass damper (TMD) in reducing wind-induced structural vibrations has been well established. However, from most of the recent numerical studies, it appears that for a structure situated on very soft soil, soil-structure interaction (SSI) could render a damper on the structure totally ineffective. In order to experimentally verify the SSI effect on the seismic performance of TMD, a series of shaking table model tests have been conducted and the results are presented in this paper. It has been shown that the TMD is not as effective in controlling the seismic responses of structures built on soft soil sites due to the SSI effect. Some test results also show that a TMD device might have a negative impact if the SSI effect is neglected and the structure is built on a soft soil site. For structures constructed on a soil foundation, this research verifies that the SSI effect must be carefully understood before a TMD control system is designed to determine if the control is necessary and if the SSI effect must be considered when choosing the optimal parameters of the TMD device.展开更多
In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on t...In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification(RFID)technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency(UHF)RFID tags to a board.A Commercial Off-The-Shelf(COTS)RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information(CSI)phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition(SVD)based approach to obtain a 6-DoF(Degrees of Freedom)pose of the controller from estimated positions of the tags.Furthermore,the pose of the controller can be precisely tracked in a real-time manner,while the user moves the controller.Finally,control commands will be generated from the controller's pose and sent to the UAV for navigation.The performance of the RFHUI is evaluated by several experiments.The results show that it provides precise poses with 0.045m mean error in position and 2.5∘mean error in orientation for the controller,and enables the controller to precisely and intuitively navigate the UAV in an indoor environment.展开更多
To investigate the effect of soil-pile-structure interaction(SPSI effect)on the dynamic response of a baseisolated structure with buried footings on a pile foundation,certain shake table tests are previously conducted...To investigate the effect of soil-pile-structure interaction(SPSI effect)on the dynamic response of a baseisolated structure with buried footings on a pile foundation,certain shake table tests are previously conducted.Based on the test results and the existing related studies,an efficient simplified model and a corresponding calculation method are verified for estimating the dynamic characteristics of a base-isolated structure with buried footings on a pile foundation with the SSI effect.In this method,the solutions by Veletsos and co-workers for a non-isolated structure with the SSI effect are verified and advanced for a base-isolated structure,and the solutions by Maravas and co-workers for a non-isolated structure on a pile foundation are introduced to consider the effect of the piles.By comparison with the shake table test,this work proves that the simplified method can efficiently estimate the dynamic responses of a base-isolated structure with buried footings on a pile foundation.Using parameter analysis,this work also shows that the dynamic characteristics of a non-isolated structure are quite similar to those of the base-isolated structure when the soil foundation is sufficiently soft,which means that the isolation layer gradually loses its isolation function as the soil foundation softens.展开更多
A fluid-structure interaction system subject to Sommerfeld＇s condition is defined as a Sommerfeld system which is divided into three categories： Fluid Sommerfeld （FS） System, Solid Sommerfeld （SS） System and Flu...A fluid-structure interaction system subject to Sommerfeld＇s condition is defined as a Sommerfeld system which is divided into three categories： Fluid Sommerfeld （FS） System, Solid Sommerfeld （SS） System and Fluid Solid Sommerfeld （FSS） System of which Sommerfeld conditions are imposed on a fluid boundary only, a solid boundary only and both fluid and solid boundaries, respectively. This paper follows the previous initial results claimed by simple examples to further mathematically investigate the natural vibrations of generalized Sommerfeld systems. A new parameter representing the speed of radiation wave for generalized 3-D problems with more complicated boundary conditions is introduced into the Sommerfeld condition which allows investigation of the natural vibrations of a Sommerfeld system involving both free surface and compressible waves. The mathematical demonstrations and selected examples confirm and reveal the natural behaviour of generalized Sommerfeld systems defined above. These generalized conclusions can be used in theoretical or engineering analysis of the vibrations of various Sommerfeld systems in engineering.展开更多
An approximate method is presented to investigate the earthquake response of the fluid-single leg (shortened for S. L.) gravity platform-soil interaction system. By assuming a suitable form of the velocity potential o...An approximate method is presented to investigate the earthquake response of the fluid-single leg (shortened for S. L.) gravity platform-soil interaction system. By assuming a suitable form of the velocity potential of the radiation waves and by using the motion equation and the boundary conditions, the unknown coefficients can be obtained. Thereafter the function of frequency for the interaction system may also be obtained. In this paper, the difference of the system dynamic response between rigid foundation is analyzed and the influences of the various foundation geometric dimension and the various water-depth on the hydrodynamic loading and dynamic response of the system is illustrated.展开更多
Background Large screen visualization sys tems have been widely utilized in many industries.Such systems can help illustrate the working states of different production systems.However,efficient interaction with such s...Background Large screen visualization sys tems have been widely utilized in many industries.Such systems can help illustrate the working states of different production systems.However,efficient interaction with such systems is still a focus of related research.Methods In this paper,we propose a touchless interaction system based on RGB-D camera using a novel bone-length constraining method.The proposed method optimizes the joint data collected from RGB-D cameras with more accurate and more stable results on very noisy data.The user can customize the system by modifying the finite-state machine in the system and reuse the gestures in multiple scenarios,reducing the number of gestures that need to be designed and memorized.Results/Conclusions The authors tested the system in two cases.In the first case,we illustrated a process in which we improved the gesture designs on our system and tested the system through user study.In the second case,we utilized the system in the mining industry and conducted a user study,where users say that they think the system is easy to use.展开更多
In this paper, the responses of the interaction system of R.C. gravity single-leg platform to seismic excitation are mainly analysed. A set of nonlinear equations for the interaction system are established by using th...In this paper, the responses of the interaction system of R.C. gravity single-leg platform to seismic excitation are mainly analysed. A set of nonlinear equations for the interaction system are established by using the wave, one is the soil-structure interaction and the other is the fluid-structure interaction. The seismic response of the interaction system is analysed for the influence of the asymmetric structure, fluid action, etc. with the input of seismic SH waves in any direction. The numerical results are given for a simple example.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant No.52277126.
文摘The integration of a large number of power electronic converters,such as railway power conditioner(RPC),introduces a series of problems,including harmonic interaction,stability issues,and wideband resonance,into the railway power supply system.To address these challenges,this paper proposes a novel harmonic resonance prevention measure for RPC-network-train interaction system.Firstly,a harmonic model,a parallel resonance impedance model,a series resonance admittance model,and a control stability model are each established for the RPC-network-train interaction system.Secondly,a comprehensive resonance impact factor(CRIF)is proposed to efficiently and accurately identify the key components affecting resonance,and to provide the selection results of optimization parameters for resonance prevention.Next,the initially selected parameters are constrained by the requirements of ripple current,reactive power and stability.Subsequently,the impedance parameters(control parameters and filter parameters)of the RPC are optimized with the objective of reshaping the parallel resonance impedance and series resonance admittance of the RPC-network-train interaction system,ensuring the output current har-monics of RPC meet standards to achieve resonance prevention,while ensuring the stable operation of the RPC.Finally,the proposed resonance prevention measure is verified under both light load and heavy load conditions using a simulation platform and a hardware-in-the-loop experimental platform.
文摘Quadruped robots which have flexibility and load-bearing capacity,are regarded as the best mobile platform for remote operation in unstructured and restricted environments.In the process of remote operation of quadruped robots,their status is inevitably influenced by complex environments.To monitor the robot's real-time operation status and make necessary adjustments,this paper focuses on the single-leg of a quadruped robot,proposes a single-leg virtual-real interaction system based on Digital Twin,and studies its virtual-real interaction characteristics.The virtual-reality interaction system contains single-leg physical entity,single-leg virtual model,control system,data service system and communication system,enabling interactive applications for single-leg visual state monitoring and real-time control optimization.This paper creates a high-fidelity model based on the physical entity;provides a system performance analysis method based on the system framework;analyzes virtual-real interaction delay based on communication scheme;conducts stand and jump test based on the single-leg mathematical model and analyzes the interaction characteristics under position/force control.This system provides new insights for real-time monitoring and control optimization of quadruped robots.
基金Supported by the Natural Science Foundation of China(62072388)Public Technology Service Platform Project of Xiamen City(3502Z20231043)Fujian Sunshine Charity Foundation.
文摘With continuous advancements in artificial intelligence(AI), automatic piano-playing robots have become subjects of cross-disciplinary interest. However, in most studies, these robots served merely as objects of observation with limited user engagement or interaction. To address this issue, we propose a user-friendly and innovative interaction system based on the principles of greedy algorithms. This system features three modules: score management, performance control, and keyboard interactions. Upon importing a custom score or playing a note via an external device, the system performs on a virtual piano in line with user inputs. This system has been successfully integrated into our dexterous manipulator-based piano-playing device, which significantly enhances user interactions.
文摘A method for analysing the vehicle-bridge interaction system with enhanced objectivity is proposed in the paper, which considers the time-variant and random characteristics and allows finding the power spectral densities(PSDs) of the system responses directly from the PSD of track irregularity. The pseudo-excitation method is adopted in the proposed framework, where the vehicle is modelled as a rigid body and the bridge is modelled using the finite element method. The vertical and lateral wheel-rail pseudo-excitations are established assuming the wheel and rail have the same displacement and using the simplified Kalker creep theory, respectively. The power spectrum function of vehicle and bridge responses is calculated by history integral. Based on the dynamic responses from the deterministic and random analyses of the interaction system, and the probability density functions for three safety factors(derailment coefficient, wheel unloading rate, and lateral wheel axle force) are obtained, and the probabilities of the safety factors exceeding the given limits are calculated. The proposed method is validated by Monte Carlo simulations using a case study of a high-speed train running over a bridge with five simply supported spans and four piers.
基金Projects(60404003,11202230)supported by the National Natural Science Foundation of China
文摘The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the coupled model containing the quintessential parts was built, and the mechanism of self-excited vibration was explained in terms of energy transmission from levitation system to bridge. Then, the influences of the parameters of the widely used integral-type proportion and derivation(PD) controller and the delay of signals on the stability of the interaction system were analyzed. The result shows that the integral-type PD control is a nonoptimal approach to solve the self-excited vibration completely. Furthermore, the differential-type PD controller can guarantee the passivity of levitation system at full band. However, the differentiation of levitation gap should be filtered by a low-pass filter due to noise of gap differentiation. The analysis indicates that a well tuned low-pass filter can still keep the coupled system stable.
基金Project supported by the Scientific Research Fund of Education Department of Heilongjiang Province of China (Grant No.12531475)
文摘The complete discrimination system for polynomial method is applied to the long-short-wave interaction system to obtain the classifications of single traveling wave solutions. Compared with the solutions given by the （G~/G）-expansion method, we gain some new solutions.
文摘The time domain parameter laenuncauon memoa oi me iounuauon-structure interaction system is presented. On the basis of building the computation mode and the motion equation of the foundation-structure interaction system, the system parameter identification method was established by using the extended Kalman filter （EKF） technique and taking the unknown parameters in the system as the augment state variables. And the time parameter identification process of the foundation-structure interaction system was implemented by using the data of the layer foundation-storehouse interaction system model test on the large vibration platform. The computation result shows that the established parameter identification method can induce good parameter estimation.
文摘A digital man-machine interaction system controlled by communications between two processors of TMS320F240 and AT98C2051 was researched in the paper. The system is easy to set and modify welding process parameters by keyboards, and display information of welding site by LCD (Liquid Crystal Display). As one part of multi-task system about TIG welding machine, the coordination of man-machine interaction system with other tasks is the main point to the stability and reliability of its operation. Experiments result indicates that the system is stable, operation-flexible, high precision, and anti-interfering.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11331008 and 11522112)
文摘In this paper, a nonlocal two-wave interaction system from the Manakov hierarchy is investigated via the Riemann–Hilbert approach. Based on the spectral analysis of the Lax pair, a Riemann–Hilbert problem for the nonlocal two-wave interaction system is constructed. By discussing the solutions of this Riemann–Hilbert problem in both the regular and nonregular cases, we explicitly present the N-soliton solution formula of the nonlocal two-wave interaction system. Moreover,the dynamical behaviour of the single-soliton solution is shown graphically.
基金Sponsored by the National Natural Science Foundation of China(60473049)the National Hi-Tech R&D programof China(2006AA01Z120)
文摘EyeScreen is a vision-based interaction system which provides a natural gesture interface for humancomputer interaction （HCI） by tracking human fingers and recognizing gestures. Multi-view video images are captured by two cameras facing a computer screen, which can be used to detect clicking actions of a fingertip and improve the recognition rate. The system enables users to directly interact with rendered objects on the screen. Robustness of the system has been verified by extensive experiments with different user scenarios. EyeScreen can be used in many applications such as intelligent interaction and digital entertainment.
基金Project supported by the National Natural Science Foundation of China(No.51078164)
文摘An integrated coupling element considering wheel-rail interface for analyzing the dynamic responses of vehicle-rail-bridge interaction system with a non-uniform continuous bridge is presented. The governing equations of the interaction system are established first, and the solution procedure and assembly method of the coupling element are demonstrated. Finally, the accuracy, efficiency and function of the integrated coupling element are tested using two numerical examples. The influences of different combinations of rail and bridge element length in the coupling element on the solution are investigated, and the effects of different rail irregularities on the dynamic responses are discussed.
基金supported by the National Natural Science Foundation of China(61403422,61273102)the Hubei Provincial Natural Science Foundation of China(2015CFA010)+1 种基金the Ⅲ Project(B17040)the Fundamental Research Funds for National University,China University of Geosciences(Wuhan)
文摘A facial expression emotion recognition based human-robot interaction(FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions. A facial emotion recognition method based on2D-Gabor, uniform local binary pattern(LBP) operator, and multiclass extreme learning machine(ELM) classifier is presented,which is applied to real-time facial expression recognition for robots. Facial expressions of robots are represented by simple cartoon symbols and displayed by a LED screen equipped in the robots, which can be easily understood by human. Four scenarios,i.e., guiding, entertainment, home service and scene simulation are performed in the human-robot interaction experiment, in which smooth communication is realized by facial expression recognition of humans and facial expression generation of robots within 2 seconds. As a few prospective applications, the FEERHRI system can be applied in home service, smart home, safe driving, and so on.
基金Japan Society of the Promotion of Science (Grant-in-Aid for Scientif ic Research (B) Under Project No. 17360213)the Hyogo Science and Technology Association
文摘This study is intended to evaluate the influence of dynamic bridge-train interaction （BTI） on the seismic response of the Shinkansen system in Japan under moderate earthquakes. An analytical approach to simulate the seismic response of the BTI system is developed. In this approach, the behavior of the bridge structure is assumed to be within the elastic range under moderate ground motions. A bullet train car model idealized as a sprung-mass system is established. The viaduct is modeled with 3D finite elements. The BTI analysis algorithm is verified by comparing the analytical and experimental results. The seismic analysis is validated through comparison with a general program. Then, the seismic responses of the BTI system are simulated and evaluated. Some useful conclusions are drawn, indicating the importance of a proper consideration of the dynamic BTI in seismic design.
基金National Natural Science Foundation of China Under Grant No.59778027State Key Laboratory of Coastal Offshore EngineeringDalian University of Technology Under Grant No.9702
文摘The success of the tuned mass damper (TMD) in reducing wind-induced structural vibrations has been well established. However, from most of the recent numerical studies, it appears that for a structure situated on very soft soil, soil-structure interaction (SSI) could render a damper on the structure totally ineffective. In order to experimentally verify the SSI effect on the seismic performance of TMD, a series of shaking table model tests have been conducted and the results are presented in this paper. It has been shown that the TMD is not as effective in controlling the seismic responses of structures built on soft soil sites due to the SSI effect. Some test results also show that a TMD device might have a negative impact if the SSI effect is neglected and the structure is built on a soft soil site. For structures constructed on a soil foundation, this research verifies that the SSI effect must be carefully understood before a TMD control system is designed to determine if the control is necessary and if the SSI effect must be considered when choosing the optimal parameters of the TMD device.
文摘In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification(RFID)technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency(UHF)RFID tags to a board.A Commercial Off-The-Shelf(COTS)RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information(CSI)phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition(SVD)based approach to obtain a 6-DoF(Degrees of Freedom)pose of the controller from estimated positions of the tags.Furthermore,the pose of the controller can be precisely tracked in a real-time manner,while the user moves the controller.Finally,control commands will be generated from the controller's pose and sent to the UAV for navigation.The performance of the RFHUI is evaluated by several experiments.The results show that it provides precise poses with 0.045m mean error in position and 2.5∘mean error in orientation for the controller,and enables the controller to precisely and intuitively navigate the UAV in an indoor environment.
基金funded by the National Natural Science Foundation of China(No.51778282)the Science Research Foundations of Nanjing Institute of Technology(CKJA201505,JCYJ201618)
文摘To investigate the effect of soil-pile-structure interaction(SPSI effect)on the dynamic response of a baseisolated structure with buried footings on a pile foundation,certain shake table tests are previously conducted.Based on the test results and the existing related studies,an efficient simplified model and a corresponding calculation method are verified for estimating the dynamic characteristics of a base-isolated structure with buried footings on a pile foundation with the SSI effect.In this method,the solutions by Veletsos and co-workers for a non-isolated structure with the SSI effect are verified and advanced for a base-isolated structure,and the solutions by Maravas and co-workers for a non-isolated structure on a pile foundation are introduced to consider the effect of the piles.By comparison with the shake table test,this work proves that the simplified method can efficiently estimate the dynamic responses of a base-isolated structure with buried footings on a pile foundation.Using parameter analysis,this work also shows that the dynamic characteristics of a non-isolated structure are quite similar to those of the base-isolated structure when the soil foundation is sufficiently soft,which means that the isolation layer gradually loses its isolation function as the soil foundation softens.
文摘A fluid-structure interaction system subject to Sommerfeld＇s condition is defined as a Sommerfeld system which is divided into three categories： Fluid Sommerfeld （FS） System, Solid Sommerfeld （SS） System and Fluid Solid Sommerfeld （FSS） System of which Sommerfeld conditions are imposed on a fluid boundary only, a solid boundary only and both fluid and solid boundaries, respectively. This paper follows the previous initial results claimed by simple examples to further mathematically investigate the natural vibrations of generalized Sommerfeld systems. A new parameter representing the speed of radiation wave for generalized 3-D problems with more complicated boundary conditions is introduced into the Sommerfeld condition which allows investigation of the natural vibrations of a Sommerfeld system involving both free surface and compressible waves. The mathematical demonstrations and selected examples confirm and reveal the natural behaviour of generalized Sommerfeld systems defined above. These generalized conclusions can be used in theoretical or engineering analysis of the vibrations of various Sommerfeld systems in engineering.
基金This project is financially supported by the National Natural Science Foundation of China
文摘An approximate method is presented to investigate the earthquake response of the fluid-single leg (shortened for S. L.) gravity platform-soil interaction system. By assuming a suitable form of the velocity potential of the radiation waves and by using the motion equation and the boundary conditions, the unknown coefficients can be obtained. Thereafter the function of frequency for the interaction system may also be obtained. In this paper, the difference of the system dynamic response between rigid foundation is analyzed and the influences of the various foundation geometric dimension and the various water-depth on the hydrodynamic loading and dynamic response of the system is illustrated.
基金the National Key Research and Development Project of China(2017 YFC 0804401)National Natural Science Foundation of China(U 1909204).
文摘Background Large screen visualization sys tems have been widely utilized in many industries.Such systems can help illustrate the working states of different production systems.However,efficient interaction with such systems is still a focus of related research.Methods In this paper,we propose a touchless interaction system based on RGB-D camera using a novel bone-length constraining method.The proposed method optimizes the joint data collected from RGB-D cameras with more accurate and more stable results on very noisy data.The user can customize the system by modifying the finite-state machine in the system and reuse the gestures in multiple scenarios,reducing the number of gestures that need to be designed and memorized.Results/Conclusions The authors tested the system in two cases.In the first case,we illustrated a process in which we improved the gesture designs on our system and tested the system through user study.In the second case,we utilized the system in the mining industry and conducted a user study,where users say that they think the system is easy to use.
基金This project is financially supported by the National Natural Science Foundation of China
文摘In this paper, the responses of the interaction system of R.C. gravity single-leg platform to seismic excitation are mainly analysed. A set of nonlinear equations for the interaction system are established by using the wave, one is the soil-structure interaction and the other is the fluid-structure interaction. The seismic response of the interaction system is analysed for the influence of the asymmetric structure, fluid action, etc. with the input of seismic SH waves in any direction. The numerical results are given for a simple example.
