The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimpl...The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimplified 6-degree of freedom （DOF） rigid body equations. However, the transfiguration of aircraft during transition stage, is complicated due to the aerodynamic interference and the change of center of gravity （CG）. Moreover, the gyroscopic moment caused by tilting the high-speed revolving rotors seriously interferes with the aircraft attitude. The above-cited 6-DOF single rigid body equations do not take the inertia coupling effects into account during transition. For this sake, the article, reckoning the body, the nacelles and the rotors to be independent entities, establishes a realistic model in the form of multi-body motion equations. First, by applying Newton＇s laws and angular momentum theorem to a mass of elements of the aircraft, the multi-body motion equations in inertial flame as well as in body frame are obtained by integrating over all elements. As the equations are of implicit nonlinear differential type, the consistent initial value problem should be solved. Then, a numerical simulation of the differential equations is conducted by means of the Runge-Kutta-Felhberg integral algorithm. The modeling and the simulation algorithm are verified against the data of XV-15 as an example. The model can be used in the area of flight dynamics, flight control and flight safety of tilt rotor air- craft.展开更多
Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the ...Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the optimal fusion of the position measurements in different directions,is presented for the constraint coordinate Kalman filter(CCKF). The CCKF is evaluated with a comprehensive comparison to the state-of-art linear equality constraint estimation methods. Numerical simulation results demonstrate the better performance of the CCKF. Then the interacting multiple model CCKF(IMM-CCKF) is proposed to manifest the advantages of the CCKF in complex motion modeling and state estimations. The effectiveness of the IMM-CCKF in maneuvering target tracking with spatial equality constraints is demonstrated by numerical experiments.展开更多
Lung image registration plays an important role in lung analysis applications,such as respiratory motion modeling.Unsupervised learning-based image registration methods that can compute the deformation without the req...Lung image registration plays an important role in lung analysis applications,such as respiratory motion modeling.Unsupervised learning-based image registration methods that can compute the deformation without the requirement of supervision attract much attention.However,it is noteworthy that they have two drawbacks:they do not handle the problem of limited data and do not guarantee diffeomorphic(topologypreserving)properties,especially when large deformation exists in lung scans.In this paper,we present an unsupervised few-shot learning-based diffeomorphic lung image registration,namely Dlung.We employ fine-tuning techniques to solve the problem of limited data and apply the scaling and squaring method to accomplish the diffeomorphic registration.Furthermore,atlas-based registration on spatio-temporal(4D)images is performed and thoroughly compared with baseline methods.Dlung achieves the highest accuracy with diffeomorphic properties.It constructs accurate and fast respiratory motion models with limited data.This research extends our knowledge of respiratory motion modeling.展开更多
Basin effect was first described following the analysis of seismic ground motion associated with the 1985 MW8.1 earthquake in Mexico.Basins affect the propagation of seismic waves through various mechanisms,and severa...Basin effect was first described following the analysis of seismic ground motion associated with the 1985 MW8.1 earthquake in Mexico.Basins affect the propagation of seismic waves through various mechanisms,and several unique phenomena,such as the basin edge effect,basin focusing effect,and basin-induced secondary waves,have been observed.Understanding and quantitatively predicting these phenomena are crucial for earthquake disaster reduction.Some pioneering studies in this field have proposed a quantitative relationship between the basin effect on ground motion and basin depth.Unfortunately,basin effect phenomena predicted using a model based only on basin depth exhibit large deviations from actual distributions,implying the severe shortcomings of single-parameter basin effect modeling.Quaternary sediments are thick and widely distributed in the Beijing-Tianjin-Hebei region.The seismic media inside and outside of this basin have significantly different physical properties,and the basin bottom forms an interface with strong seismic reflections.In this study,we established a three-dimensional structure model of the Quaternary sedimentary basin based on the velocity structure model of the North China Craton and used it to simulate the ground motion under a strong earthquake following the spectral element method,obtaining the spatial distribution characteristics of the ground motion amplification ratio throughout the basin.The back-propagation(BP)neural network algorithm was then introduced to establish a multi-parameter mathematical model for predicting ground motion amplification ratios,with the seismic source location,physical property ratio of the media inside and outside the basin,seismic wave frequency,and basin shape as the input parameters.We then examined the main factors influencing the amplification of seismic ground motion in basins based on the prediction results,and concluded that the main factors influencing the basin effect are basin shape and differences in the physical properties of media inside and outside the basin.展开更多
Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot application...Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot applications can benefit from haptic technology and telecommunication,enabling telemedical micro-manipulation.Users can manipulate the microrobots with haptic feedback by interacting with the robot operating system remotely in such applications.Artificially created haptic forces based on wirelessly transmitted data and model-based guidance can aid human operators with haptic sensations while manipulating microrobots.The system presented here includes a haptic device and a magnetic tweezer system linked together using a network-based teleoperation method with motion models in fluids.The magnetic microrobots can be controlled remotely,and the haptic interactions with the remote environment can be felt in real time.A time-domain passivity controller is applied to overcome network delay and ensure stability of communication.This study develops and tests a motion model for microrobots and evaluates two image-based 3D tracking algorithms to improve tracking accuracy in various Newtonian fluids.Additionally,it demonstrates that microrobots can group together to transport multiple larger objects,move through microfluidic channels for detailed tasks,and use a novel method for disassembly,greatly expanding their range of use in microscale operations.Remote medical treatment in multiple locations,remote delivery of medication without the need for physical penetration of the skin,and remotely controlled cell manipulations are some of the possible uses of the proposed technology.展开更多
Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing s...Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints（effecter constraints, kinematics constraints and physical constraints）. The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.展开更多
A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by t...A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.展开更多
In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of...In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of motion is very meaningful to realize trajectory prediction and adaptive motion control of the USV. An interactive identification algorithm (ESO–MILS, extended state observer–multi-innovation least squares) based on ESO is proposed. The robustness of online identification is improved by expanding the state observer to estimate the current disturbance without making artificial assumptions. Specifically, the three-degree-of-freedom dynamic equation of the double propeller propulsion USV is constructed. A linear model for online identification is derived by parameterization. Based on the least square criterion function, it is proved that the interactive identification method with disturbance estimation can improve the identification accuracy from the perspective of mathematical expectation. The extended state observer is designed to estimate the unknown disturbance in the model. The online interactive update improves the disturbance immunity of the identification algorithm. Finally, the effectiveness of the interactive identification algorithm is verified by simulation experiment and real ship experiment.展开更多
The modeling of a ship steering integrated simulator(SSIS)applied to the design,debugging and maintenance of an autopilot is discussed.A nonlinear responsive model is proposed and applied to the design of SSIS.The SSI...The modeling of a ship steering integrated simulator(SSIS)applied to the design,debugging and maintenance of an autopilot is discussed.A nonlinear responsive model is proposed and applied to the design of SSIS.The SSIS generates real signals of the ship heading,the rudder angle,the ship position and the output to the autopilot.A variety of factors,such as ship speed variety,shallow water effect,nonlinearity of yaw and actuator,and environmental disturbances like wind,wave and current are considered carefully.Detailed formulas for calculating relevant parameters are provided.Taken a naval ship as an example,the physical-digital simulations on SSIS and the digital simulation on a Marine System Simulator(MSS)were conducted separately in various sailing conditions.Simulation results show that the simple nonlinear responsive model can be applied to ship motion control and simulation with sufficient accuracy and effectiveness.展开更多
The 2025 M_(w)7.7 Myanmar earthquake highlighted the challenge of near-fault seismic intensity field reconstruction due to sparse seismic networks.To address this limitation,a framework was proposed integrating seismi...The 2025 M_(w)7.7 Myanmar earthquake highlighted the challenge of near-fault seismic intensity field reconstruction due to sparse seismic networks.To address this limitation,a framework was proposed integrating seismic wave simulation with a data-constrained finite-fault rupture model.The constraint is implemented by identifying the optimal ground motion models(GMMs)through a scoring system that selects the best-fit GMMs to mid-and far-field China Earthquake Networks Center(CENC)seismic network data;and applying the optimal GMMs to refine the rupture model parameters for near-fault intensity field simulation.The simulated near-fault seismic intensity field reproduces seismic intensities collected from Myanmar’s sparse seismic network and concentrated in≥Ⅷintensity zones within 50 km of the projected fault plane;and identifies abnormal intensity regions exhibiting≥Ⅹintensity along the Meiktila-Naypyidaw corridor and near Shwebo that are attributed to soft soil amplification effects and near-fault directivity.This framework can also be applied to post-earthquake assessments in other similar regions.展开更多
To detect highly maneuvering radar targets in low signal-to-noise ratio conditions, a hybrid long-time integration method is proposed, which combines Radon-Fourier Transform(RFT), Dynamic Programming(DP), and Binary I...To detect highly maneuvering radar targets in low signal-to-noise ratio conditions, a hybrid long-time integration method is proposed, which combines Radon-Fourier Transform(RFT), Dynamic Programming(DP), and Binary Integration(BI), named RFT-DP-BI. A Markov model with unified range-velocity quantification is formulated to describe the maneuvering target’s motion. Based on this model, long-time hybrid integration is performed. Firstly, the whole integration time is divided into multiple time segments and coherent integration is performed in each segment via RFT. Secondly, non-coherent integration is performed in all segments via DP. Thirdly, 2/4 binary integration is performed to further improve the detection performance. Finally, the detection results are exported together with target range and velocity trajectories. The proposed method can perform the long-time integration of highly maneuvering targets with arbitrary forms of motion.Additionally, it has a low computational cost that is linear to the integration time. Both simulated and real radar data demonstrate that it offers good detection and estimation performances.展开更多
A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course ...A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating （3DP） source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.展开更多
To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster an...To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.展开更多
The ground motion attenuation models for PGA,PGV and response spectrum at rock sites and soils sites are derived separately from the digital strong motion records of moderate earthquakes in the Sichuan-Yunnan region a...The ground motion attenuation models for PGA,PGV and response spectrum at rock sites and soils sites are derived separately from the digital strong motion records of moderate earthquakes in the Sichuan-Yunnan region after 2007. By comparison with Yu Yanxiangs attenuation model for rock sites in western China,reliability of the model is verified for moderate earthquake. According to the distribution of strong motion data against magnitude and epicentral distance,the applicability and reliability of the results in this paper are discussed.展开更多
Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode d...Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition （EMD）, which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine （ELM）, where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error （MAE） for the xp and yp components of pole coordinates, respectively.展开更多
In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint...In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.展开更多
The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spa...The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spatial-temporal structures,and the deep learning model can fully describe the potential semantic structure of human motion.To improve the authenticity of the generated human motion sequences,we propose a multi-task motion generation model that consists of a discriminator and a generator.The discriminator classifies motion sequences into different styles according to their similarity to the mean spatial-temporal templates from motion sequences of 17 crucial human joints in three-freedom degrees.And target motion sequences are created with these styles by the generator.Unlike traditional related works,our model can handle multiple tasks,such as identifying styles and generating data.In addition,by extracting 17 crucial joints from 29 human joints,our model avoids data redundancy and improves the accuracy of model recognition.The experimental results show that the discriminator of the model can effectively recognize diversified movements,and the generated data can correctly fit the actual data.The combination of discriminator and generator solves the problem of low reuse rate of motion data,and the generated motion sequences are more suitable for actual movement.展开更多
Using the ＂pseudo-invariant eigen-operator＂ method we find the energy-gap of the Jaynes-Cummings Hamiltonian model of an atom-cavity system. This model takes the atomic centre-of-mass motion into account. The supers...Using the ＂pseudo-invariant eigen-operator＂ method we find the energy-gap of the Jaynes-Cummings Hamiltonian model of an atom-cavity system. This model takes the atomic centre-of-mass motion into account. The supersymmetric structure is involved in the Hamiltonian of an atom-cavity system. By selecting suitable supersymmettic generators and using supersymmetrie transformation the Hamiltonian is diagonalized and energy eigenvectors are obtained.展开更多
Background:The greater trochanter marker is commonly used in 3-dimensional(3D) models;however,its influence on hip and knee kinematics during gait is unclear.Understanding the influence of the greater trochanter marke...Background:The greater trochanter marker is commonly used in 3-dimensional(3D) models;however,its influence on hip and knee kinematics during gait is unclear.Understanding the influence of the greater trochanter marker is important when quantifying frontal and transverse plane hip and knee kinematics,parameters which are particularly relevant to investigate in individuals with conditions such as patellofemoral pain,knee osteoarthritis,anterior cruciate ligament(ACL) injury,and hip pain.The aim of this study was to evaluate the effect of including the greater trochanter in the construction of the thigh segment on hip and knee kinematics during gait.Methods:3D kinematics were collected in 19 healthy subjects during walking using a surface marker system.Hip and knee angles were compared across two thigh segment definitions(with and without greater trochanter) at two time points during stance:peak knee flexion(PKF) and minimum knee flexion(Min KF).Results:Hip and knee angles differed in magnitude and direction in the transverse plane at both time points.In the thigh model with the greater trochanter the hip was more externally rotated than in the thigh model without the greater trochanter(PKF:-9.34°± 5.21° vs.1.40°± 5.22°,Min KF:-5.68°± 4.24° vs.5.01°± 4.86°;p < 0.001).In the thigh model with the greater trochanter,the knee angle was more internally rotated compared to the knee angle calculated using the thigh definition without the greater trochanter(PKF:14.67°± 6.78° vs.4.33°± 4.18°,Min KF:10.54°± 6.71° vs.-0.01°± 2.69°;p < 0.001).Small but significant differences were detected in the sagittal and frontal plane angles at both time points(p < 0.001).Conclusion:Hip and knee kinematics differed across different segment definitions including or excluding the greater trochanter marker,especially in the transverse plane.Therefore when considering whether to include the greater trochanter in the thigh segment model when using a surface markers to calculate 3D kinematics for movement assessment,it is important to have a clear understanding of the effect of different marker sets and segment models in use.展开更多
Tracking the fast-moving object in occlusion situations is an important research topic in computer vision. Despite numerous notable contributions have been made in this field,few of them simultaneously incorporate bot...Tracking the fast-moving object in occlusion situations is an important research topic in computer vision. Despite numerous notable contributions have been made in this field,few of them simultaneously incorporate both object's extrinsic features and intrinsic motion patterns into their methodologies,thereby restricting the potential for tracking accuracy improvement. In this paper, on the basis of efficient convolution operators(ECO) model, a speed-accuracy-balanced model is put forward. This model uses the simple correlation filter to track the object in real-time, and adopts the sophisticated deep-learning neural network to extract high-level features to train a more complex filter correcting the tracking mistakes, when the tracking state is judged to be poor. Furthermore, in the context of scenarios involving regular fast-moving, a motion model based on Kalman filter is designed which greatly promotes the tracking stability, because this motion model could predict the object's future location from its previous movement pattern. Additionally,instead of periodically updating our tracking model and training samples, a constrained condition for updating is proposed,which effectively mitigates contamination to the tracker from the background and undesirable samples avoiding model degradation when occlusion happens. From comprehensive experiments, our tracking model obtains better performance than ECO on object tracking benchmark 2015(OTB100), and improves the area under curve(AUC) by about 8% and 32% compared with ECO, in the scenarios of fast-moving and occlusion on our own collected dataset.展开更多
基金Graduate Innovation and Practice Foundation of Beijing University of Aeronautics amd Astronautics
文摘The previous study on modeling of the tilt rotor aircraft used to put a premium on the complicated aerodynamic computation, and the research on the motion equations is often constrained to frequently use the oversimplified 6-degree of freedom （DOF） rigid body equations. However, the transfiguration of aircraft during transition stage, is complicated due to the aerodynamic interference and the change of center of gravity （CG）. Moreover, the gyroscopic moment caused by tilting the high-speed revolving rotors seriously interferes with the aircraft attitude. The above-cited 6-DOF single rigid body equations do not take the inertia coupling effects into account during transition. For this sake, the article, reckoning the body, the nacelles and the rotors to be independent entities, establishes a realistic model in the form of multi-body motion equations. First, by applying Newton＇s laws and angular momentum theorem to a mass of elements of the aircraft, the multi-body motion equations in inertial flame as well as in body frame are obtained by integrating over all elements. As the equations are of implicit nonlinear differential type, the consistent initial value problem should be solved. Then, a numerical simulation of the differential equations is conducted by means of the Runge-Kutta-Felhberg integral algorithm. The modeling and the simulation algorithm are verified against the data of XV-15 as an example. The model can be used in the area of flight dynamics, flight control and flight safety of tilt rotor air- craft.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61201311)
文摘Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the optimal fusion of the position measurements in different directions,is presented for the constraint coordinate Kalman filter(CCKF). The CCKF is evaluated with a comprehensive comparison to the state-of-art linear equality constraint estimation methods. Numerical simulation results demonstrate the better performance of the CCKF. Then the interacting multiple model CCKF(IMM-CCKF) is proposed to manifest the advantages of the CCKF in complex motion modeling and state estimations. The effectiveness of the IMM-CCKF in maneuvering target tracking with spatial equality constraints is demonstrated by numerical experiments.
基金the National Natural Science Foundation of China(No.61801413)the Natural Science Foundation of Fujian Province(Nos.2019J05123 and 2017J05110)。
文摘Lung image registration plays an important role in lung analysis applications,such as respiratory motion modeling.Unsupervised learning-based image registration methods that can compute the deformation without the requirement of supervision attract much attention.However,it is noteworthy that they have two drawbacks:they do not handle the problem of limited data and do not guarantee diffeomorphic(topologypreserving)properties,especially when large deformation exists in lung scans.In this paper,we present an unsupervised few-shot learning-based diffeomorphic lung image registration,namely Dlung.We employ fine-tuning techniques to solve the problem of limited data and apply the scaling and squaring method to accomplish the diffeomorphic registration.Furthermore,atlas-based registration on spatio-temporal(4D)images is performed and thoroughly compared with baseline methods.Dlung achieves the highest accuracy with diffeomorphic properties.It constructs accurate and fast respiratory motion models with limited data.This research extends our knowledge of respiratory motion modeling.
基金funded by the General Program of the National Natural Science Foundation of China(No.42174070)the General Program of the Beijing Natural Science Foundation(No.8222035).
文摘Basin effect was first described following the analysis of seismic ground motion associated with the 1985 MW8.1 earthquake in Mexico.Basins affect the propagation of seismic waves through various mechanisms,and several unique phenomena,such as the basin edge effect,basin focusing effect,and basin-induced secondary waves,have been observed.Understanding and quantitatively predicting these phenomena are crucial for earthquake disaster reduction.Some pioneering studies in this field have proposed a quantitative relationship between the basin effect on ground motion and basin depth.Unfortunately,basin effect phenomena predicted using a model based only on basin depth exhibit large deviations from actual distributions,implying the severe shortcomings of single-parameter basin effect modeling.Quaternary sediments are thick and widely distributed in the Beijing-Tianjin-Hebei region.The seismic media inside and outside of this basin have significantly different physical properties,and the basin bottom forms an interface with strong seismic reflections.In this study,we established a three-dimensional structure model of the Quaternary sedimentary basin based on the velocity structure model of the North China Craton and used it to simulate the ground motion under a strong earthquake following the spectral element method,obtaining the spatial distribution characteristics of the ground motion amplification ratio throughout the basin.The back-propagation(BP)neural network algorithm was then introduced to establish a multi-parameter mathematical model for predicting ground motion amplification ratios,with the seismic source location,physical property ratio of the media inside and outside the basin,seismic wave frequency,and basin shape as the input parameters.We then examined the main factors influencing the amplification of seismic ground motion in basins based on the prediction results,and concluded that the main factors influencing the basin effect are basin shape and differences in the physical properties of media inside and outside the basin.
基金supported by National Science Foundation Grant No.2123824.
文摘Microrobots powered by an external magnetic field could be used for sophisticated medical applications such as cell treatment,micromanipulation,and noninvasive surgery inside the body.Untethered microrobot applications can benefit from haptic technology and telecommunication,enabling telemedical micro-manipulation.Users can manipulate the microrobots with haptic feedback by interacting with the robot operating system remotely in such applications.Artificially created haptic forces based on wirelessly transmitted data and model-based guidance can aid human operators with haptic sensations while manipulating microrobots.The system presented here includes a haptic device and a magnetic tweezer system linked together using a network-based teleoperation method with motion models in fluids.The magnetic microrobots can be controlled remotely,and the haptic interactions with the remote environment can be felt in real time.A time-domain passivity controller is applied to overcome network delay and ensure stability of communication.This study develops and tests a motion model for microrobots and evaluates two image-based 3D tracking algorithms to improve tracking accuracy in various Newtonian fluids.Additionally,it demonstrates that microrobots can group together to transport multiple larger objects,move through microfluidic channels for detailed tasks,and use a novel method for disassembly,greatly expanding their range of use in microscale operations.Remote medical treatment in multiple locations,remote delivery of medication without the need for physical penetration of the skin,and remotely controlled cell manipulations are some of the possible uses of the proposed technology.
基金supported by National Natural Science Foundation of China(Grant No. 60975058)
文摘Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints（effecter constraints, kinematics constraints and physical constraints）. The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.
基金Project(51005086)supported by the National Natural Science Foundation of ChinaProject(2010MS085)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(DMETKF2013008)supported by the Open Project of the State Key Laboratory of Digital Manufacturing Equipment and Technology,China
文摘A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.
基金supported by the National Natural Science Foundation of China(No.52271367).
文摘In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of motion is very meaningful to realize trajectory prediction and adaptive motion control of the USV. An interactive identification algorithm (ESO–MILS, extended state observer–multi-innovation least squares) based on ESO is proposed. The robustness of online identification is improved by expanding the state observer to estimate the current disturbance without making artificial assumptions. Specifically, the three-degree-of-freedom dynamic equation of the double propeller propulsion USV is constructed. A linear model for online identification is derived by parameterization. Based on the least square criterion function, it is proved that the interactive identification method with disturbance estimation can improve the identification accuracy from the perspective of mathematical expectation. The extended state observer is designed to estimate the unknown disturbance in the model. The online interactive update improves the disturbance immunity of the identification algorithm. Finally, the effectiveness of the interactive identification algorithm is verified by simulation experiment and real ship experiment.
文摘The modeling of a ship steering integrated simulator(SSIS)applied to the design,debugging and maintenance of an autopilot is discussed.A nonlinear responsive model is proposed and applied to the design of SSIS.The SSIS generates real signals of the ship heading,the rudder angle,the ship position and the output to the autopilot.A variety of factors,such as ship speed variety,shallow water effect,nonlinearity of yaw and actuator,and environmental disturbances like wind,wave and current are considered carefully.Detailed formulas for calculating relevant parameters are provided.Taken a naval ship as an example,the physical-digital simulations on SSIS and the digital simulation on a Marine System Simulator(MSS)were conducted separately in various sailing conditions.Simulation results show that the simple nonlinear responsive model can be applied to ship motion control and simulation with sufficient accuracy and effectiveness.
基金Scientific Research Fund of Institute of Engineering Mechanics,China Earthquake Administration under Grant No.2023C01National Natural Science Foundation of China under Grant No.52478570Distinguished Young Scholars Program of the Natural Science Foundation of Heilongjiang Province,China under Grant No.JQ2024E002。
文摘The 2025 M_(w)7.7 Myanmar earthquake highlighted the challenge of near-fault seismic intensity field reconstruction due to sparse seismic networks.To address this limitation,a framework was proposed integrating seismic wave simulation with a data-constrained finite-fault rupture model.The constraint is implemented by identifying the optimal ground motion models(GMMs)through a scoring system that selects the best-fit GMMs to mid-and far-field China Earthquake Networks Center(CENC)seismic network data;and applying the optimal GMMs to refine the rupture model parameters for near-fault intensity field simulation.The simulated near-fault seismic intensity field reproduces seismic intensities collected from Myanmar’s sparse seismic network and concentrated in≥Ⅷintensity zones within 50 km of the projected fault plane;and identifies abnormal intensity regions exhibiting≥Ⅹintensity along the Meiktila-Naypyidaw corridor and near Shwebo that are attributed to soft soil amplification effects and near-fault directivity.This framework can also be applied to post-earthquake assessments in other similar regions.
基金supported by the National Natural Science Foundation of China(No.6157010118)。
文摘To detect highly maneuvering radar targets in low signal-to-noise ratio conditions, a hybrid long-time integration method is proposed, which combines Radon-Fourier Transform(RFT), Dynamic Programming(DP), and Binary Integration(BI), named RFT-DP-BI. A Markov model with unified range-velocity quantification is formulated to describe the maneuvering target’s motion. Based on this model, long-time hybrid integration is performed. Firstly, the whole integration time is divided into multiple time segments and coherent integration is performed in each segment via RFT. Secondly, non-coherent integration is performed in all segments via DP. Thirdly, 2/4 binary integration is performed to further improve the detection performance. Finally, the detection results are exported together with target range and velocity trajectories. The proposed method can perform the long-time integration of highly maneuvering targets with arbitrary forms of motion.Additionally, it has a low computational cost that is linear to the integration time. Both simulated and real radar data demonstrate that it offers good detection and estimation performances.
基金supported by the National Natural Science Foundation of China(50879090)the Key Research Program of Hydrodynamics of China(9140A14030712JB11044)
文摘A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating （3DP） source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.
基金Supported by the National Natural Science Foundation of China under Grant No.50909025
文摘To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
基金sponsored jointly by the special fund for basic research and operating expenses of Institute of Crustal Dynamics,CEA(ZDJ2013-04)"National Nature Science Foundation of China(51278469)
文摘The ground motion attenuation models for PGA,PGV and response spectrum at rock sites and soils sites are derived separately from the digital strong motion records of moderate earthquakes in the Sichuan-Yunnan region after 2007. By comparison with Yu Yanxiangs attenuation model for rock sites in western China,reliability of the model is verified for moderate earthquake. According to the distribution of strong motion data against magnitude and epicentral distance,the applicability and reliability of the results in this paper are discussed.
基金supported by Chinese Academy of Sciences(No.201491)“Light of West China” Program(201491)
文摘Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition （EMD）, which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine （ELM）, where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error （MAE） for the xp and yp components of pole coordinates, respectively.
文摘In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.
文摘The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spatial-temporal structures,and the deep learning model can fully describe the potential semantic structure of human motion.To improve the authenticity of the generated human motion sequences,we propose a multi-task motion generation model that consists of a discriminator and a generator.The discriminator classifies motion sequences into different styles according to their similarity to the mean spatial-temporal templates from motion sequences of 17 crucial human joints in three-freedom degrees.And target motion sequences are created with these styles by the generator.Unlike traditional related works,our model can handle multiple tasks,such as identifying styles and generating data.In addition,by extracting 17 crucial joints from 29 human joints,our model avoids data redundancy and improves the accuracy of model recognition.The experimental results show that the discriminator of the model can effectively recognize diversified movements,and the generated data can correctly fit the actual data.The combination of discriminator and generator solves the problem of low reuse rate of motion data,and the generated motion sequences are more suitable for actual movement.
基金The project supported by the President Foundation of the Chinese Academy of Sciences and the research fund provided by Graduate School of University of Science and Technology of China
文摘Using the ＂pseudo-invariant eigen-operator＂ method we find the energy-gap of the Jaynes-Cummings Hamiltonian model of an atom-cavity system. This model takes the atomic centre-of-mass motion into account. The supersymmetric structure is involved in the Hamiltonian of an atom-cavity system. By selecting suitable supersymmettic generators and using supersymmetrie transformation the Hamiltonian is diagonalized and energy eigenvectors are obtained.
基金the National Institute of Child Health and Human Development (No.NICHD,No.R15HD059080,and No.R15HD059080-01A1S1)
文摘Background:The greater trochanter marker is commonly used in 3-dimensional(3D) models;however,its influence on hip and knee kinematics during gait is unclear.Understanding the influence of the greater trochanter marker is important when quantifying frontal and transverse plane hip and knee kinematics,parameters which are particularly relevant to investigate in individuals with conditions such as patellofemoral pain,knee osteoarthritis,anterior cruciate ligament(ACL) injury,and hip pain.The aim of this study was to evaluate the effect of including the greater trochanter in the construction of the thigh segment on hip and knee kinematics during gait.Methods:3D kinematics were collected in 19 healthy subjects during walking using a surface marker system.Hip and knee angles were compared across two thigh segment definitions(with and without greater trochanter) at two time points during stance:peak knee flexion(PKF) and minimum knee flexion(Min KF).Results:Hip and knee angles differed in magnitude and direction in the transverse plane at both time points.In the thigh model with the greater trochanter the hip was more externally rotated than in the thigh model without the greater trochanter(PKF:-9.34°± 5.21° vs.1.40°± 5.22°,Min KF:-5.68°± 4.24° vs.5.01°± 4.86°;p < 0.001).In the thigh model with the greater trochanter,the knee angle was more internally rotated compared to the knee angle calculated using the thigh definition without the greater trochanter(PKF:14.67°± 6.78° vs.4.33°± 4.18°,Min KF:10.54°± 6.71° vs.-0.01°± 2.69°;p < 0.001).Small but significant differences were detected in the sagittal and frontal plane angles at both time points(p < 0.001).Conclusion:Hip and knee kinematics differed across different segment definitions including or excluding the greater trochanter marker,especially in the transverse plane.Therefore when considering whether to include the greater trochanter in the thigh segment model when using a surface markers to calculate 3D kinematics for movement assessment,it is important to have a clear understanding of the effect of different marker sets and segment models in use.
基金supported by the National Nature Science Foundation of China (62373246,62203299)the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University (SL2022MS008,SL2020ZD206,SL2022MS010)。
文摘Tracking the fast-moving object in occlusion situations is an important research topic in computer vision. Despite numerous notable contributions have been made in this field,few of them simultaneously incorporate both object's extrinsic features and intrinsic motion patterns into their methodologies,thereby restricting the potential for tracking accuracy improvement. In this paper, on the basis of efficient convolution operators(ECO) model, a speed-accuracy-balanced model is put forward. This model uses the simple correlation filter to track the object in real-time, and adopts the sophisticated deep-learning neural network to extract high-level features to train a more complex filter correcting the tracking mistakes, when the tracking state is judged to be poor. Furthermore, in the context of scenarios involving regular fast-moving, a motion model based on Kalman filter is designed which greatly promotes the tracking stability, because this motion model could predict the object's future location from its previous movement pattern. Additionally,instead of periodically updating our tracking model and training samples, a constrained condition for updating is proposed,which effectively mitigates contamination to the tracker from the background and undesirable samples avoiding model degradation when occlusion happens. From comprehensive experiments, our tracking model obtains better performance than ECO on object tracking benchmark 2015(OTB100), and improves the area under curve(AUC) by about 8% and 32% compared with ECO, in the scenarios of fast-moving and occlusion on our own collected dataset.
