Motion time study is employed by manufacturing industries to determine operation time.An accurate estimate of operation time is crucial for effective process improvement and production planning.Traditional motion time...Motion time study is employed by manufacturing industries to determine operation time.An accurate estimate of operation time is crucial for effective process improvement and production planning.Traditional motion time study is conducted by human analysts with stopwatches,which may be exposed to human errors.In this paper,an automated time study model based on computer vision is proposed.The model integrates a convolutional neural network,which analyzes a video of a manual operation to classify work elements in each video frame,with a time study model that automatically estimates the work element times.An experiment is conducted using a grayscale video and a color video of a manual assembly operation.The work element times from the model are statistically compared to the reference work element time values.The result shows no statistical difference among the time data,which clearly demonstrates the effectiveness of the proposed model.展开更多
Simulating the coupled motions of multiple bodies in the time domain is a complex problem because of the strong hydrodynamic interactions and coupled effect of various mechanical connectors. In this study, we investig...Simulating the coupled motions of multiple bodies in the time domain is a complex problem because of the strong hydrodynamic interactions and coupled effect of various mechanical connectors. In this study, we investigate the hydrodynamic responses of three barges moored side-by-side in a floatover operation in the frequency and time domains. In the frequency domain, the damping lid method is adopted to improve the overestimated hydrodynamic coefficients calculated from conventional potential flow theory. A time-domain computing program based on potential flow theory and impulse theory is compiled for analyses that consider multibody hydrodynamic interactions and mechanical effects from lines and fenders. Correspondingly, an experiment is carried out for comparison with the numerical results. All statistics, time series, and power density spectra from decay and irregular wave tests are in a fairly good agreement.展开更多
The rotational seismic motions are estimated from one station records of the 1999 Jiji （Chi-Chi）, Taiwan, earthquake based on the theory of elastic plane wave propagation. The time-frequency response spectrum （TFRS...The rotational seismic motions are estimated from one station records of the 1999 Jiji （Chi-Chi）, Taiwan, earthquake based on the theory of elastic plane wave propagation. The time-frequency response spectrum （TFRS） of the rotational motions is calculated and its characteristics are analyzed, then the TFRS is applied to analyze the damage mechanism of one twelve-storey frame concrete structure. The results show that one of the ground motion components can not reflect the characteristics of the seismic motions completely; the characteristics of each component, especially rotational motions, need to be studied. The damage line of the structure and TFRS of ground motion are important for seismic design, only the TFRS of input seismic wave is suitable, the structure design is reliable.展开更多
With the increase of system scale, time delays have become unavoidable in nonlinear power systems, which add the complexity of system dynamics and induce chaotic oscillation and even voltage collapse events. In this p...With the increase of system scale, time delays have become unavoidable in nonlinear power systems, which add the complexity of system dynamics and induce chaotic oscillation and even voltage collapse events. In this paper, coexisting phenomenon in a fourth-order time-delayed power system is investigated for the first time with different initial conditions.With the mechanical power, generator damping factor, exciter gain, and time delay varying, the specific characteristic of the time-delayed system, including a discontinuous ＂jump＂ bifurcation behavior is analyzed by bifurcation diagrams, phase portraits, Poincar′e maps, and power spectrums. Moreover, the coexistence of two different periodic orbits and chaotic attractors with periodic orbits are observed in the power system, respectively. The production condition and existent domain of the coexistence phenomenon are helpful to avoid undesirable behavior in time-delayed power systems.展开更多
Effects of reduced frequency, stop angle, and pause duration have been studied on a thin supercritical airfoil undergoing a pitch-pause-return motion, which is one of the classic maneuvers introduced by the AIAA Fluid...Effects of reduced frequency, stop angle, and pause duration have been studied on a thin supercritical airfoil undergoing a pitch-pause-return motion, which is one of the classic maneuvers introduced by the AIAA Fluid Dynamics Technical Committee. Experiments were conducted in a low-speed wind tunnel at both a constant mean angle of attack and an oscillation amplitude with a reduced frequency ranging from 0.01 to 0.12. The desired stop angles of the airfoil were set to occur during the upstroke motion. The unsteady pressure distribution on the airfoil was measured for below, near, and beyond static stall conditions. Results showed that the reduced frequency and stop angle were the dominant contributors to the time lag in the flowfield. For stop angles in both belowand post-stall regions, the time for the flowfield to reach its steady state conditions, known as the time lag, decreased as the reduced frequency was increased. However, in the static-stall region and for a certain value of reduced frequency, a resonance phenomenon was observed, and a minimum time lag was achieved. The pressure distribution in this condition was shown to be highly influenced by this phenomenon.展开更多
In order to make motion planning fitting practice,many characteristic of CNC trajectory motion are discussed, such as the geometric function,the motion and the time.It is found that the relation between orbit function...In order to make motion planning fitting practice,many characteristic of CNC trajectory motion are discussed, such as the geometric function,the motion and the time.It is found that the relation between orbit function and motional parame- ter,so the differential equation about the trajectory motion be set-up by the goal of trajectory motion.The actual motion process is defined as reference time to link planning and practice.Present a new movement planning method based on self-defining time.At rest state,the differential simultaneous equation can be calculated according geometric characteristic analysis,it can be get that simple function consisted of coordinate and reference time variants.At motive state,dynamic parameter can be worked out accord- ing practical value of reference time,It is proved by experiment and simulation that it is a good way to control geometry and motion comprehensively,to reduce computation times and to increase the ability of environmental adaptation for path展开更多
We evaluated,for the first time in Turkey,the productivity of a feller buncher during clear-cut operations of two Brutian pine stands located in Canakkale,northwestern Turkey with different diameter classes and terrai...We evaluated,for the first time in Turkey,the productivity of a feller buncher during clear-cut operations of two Brutian pine stands located in Canakkale,northwestern Turkey with different diameter classes and terrain conditions.In the first stand with 24.6 cm average DBH,the feller buncher cut full trees and moved them to roadside.In the second stand with 34.3 cm average DBH,the feller buncher cut trees in two stages due to their larger diameters and the relatively steep and rough terrain conditions of the site.The effects of specific stand features,DBH and tree height measurements were assessed through statistical analysis in relation to productivity.The results indicate that the average productivity for the first stand was about 118 m^3h^-1,while it was about 80 m3h-1 in the second stand.Even though tree diameter and volume were higher in the second stand,productivity decreased by32.3%due to extra time spent on the two-stage cutting operation.The results revealed that harvesting operations should be planned carefully and the right equipment selected by accounting for different tree sizes,terrain conditions and machine specifications in order to better understand their effects on production.展开更多
Time delay is an problem of intemet congestion important parameter in the control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In th...Time delay is an problem of intemet congestion important parameter in the control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In this work, an internet congestion control model is consid- ered to study the time-varying delay induced bursting-like motion, which consists of a rapid oscillation burst and quies- cent steady state. Then, for the system with periodic delay of small amplitude and low frequency, the method of multiple scales is employed to obtain the amplitude of the oscillation. Based on the expression of the asymptotic solution, it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay. Finally, an effective method to control the bursting-like motion is pro- posed by introducing a periodic gain parameter with appropriate amplitude. Theoretical results are in agreement with that from numerical method.展开更多
This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm ha...This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.展开更多
The current research of quadruped robot focuses on the quadruped robot with spine motion. Contact time is a very important part of system performance. However, the mechanism of spine motion about contact time has not ...The current research of quadruped robot focuses on the quadruped robot with spine motion. Contact time is a very important part of system performance. However, the mechanism of spine motion about contact time has not been clearly elucidated. In this paper, the e ect of spine motion on contact time is studied deeply from dynamic view.Firstly, a simplified model of the quadruped robot with spine joint is set up, its dynamic equations are derivated, and a method that can generate passive periodic locomotion is proposed. Secondly, according to the vertical spring oscillator model, the two-dimension planar locomotion of the simplified model is regarded as a special vibration in the vertical direction, and the approximate formula of calculating contact time is obtained. Finally, the approximate formula of calculating contact time is verified by the simulation results of passive periodic locomotion, and the e ect of spine motion on contact time is deeply discussed based on the approximate formula of calculating contact time. The discussion proves that spine motion indeed has little e ect on contact time, but spine motion can slightly reduce body pith movement and regulate the leg sti ness in leg contact phase. This research proposes an e ective research method which can be used to study the motion mechanism of the quadruped robot with spine motion,and the mechanism of spine motion about contact time is clearly elucidated which is helpful to set the parameters of mechanical structure and study control algorithm about the quadruped robot with spine motion.展开更多
In this paper we investigate the influence of the dark energy on the time-like geodesic motion of a particle in Schwarzschild spacetime by analysing the behaviour of the effective potential which appears in an equatio...In this paper we investigate the influence of the dark energy on the time-like geodesic motion of a particle in Schwarzschild spacetime by analysing the behaviour of the effective potential which appears in an equation of motion. For the non-radial time-like geodesics, we find a bound orbit when the particle energy is in an appropriate range, and also find another possible orbit, which is that the particle drops straightly into the singularity of a black hole or escapes to infinity. For the radial time-like geodesics, we find an unstable circular orbit when the particle energy is the critical value, in which case it is possible for the particle to escape to infinity.展开更多
For the purpose of computer calculation to evaluate time-dependent quantum properties in finite temperature, we propose new numerical method expressed in the forms of simultaneous differential equations. At first we d...For the purpose of computer calculation to evaluate time-dependent quantum properties in finite temperature, we propose new numerical method expressed in the forms of simultaneous differential equations. At first we derive the equation of motion in finite temperature, which is found to be same expression as Heisenberg equation of motion except for the c-number. Based on this equation, we construct numerical method to estimate time-dependent physical properties in finite temperature precisely without using analytical procedures such as Keldysh formalism. Since our approach is so simple and is based on the simultaneous differential equations including no terms related to self-energies, computer programming can be easily performed. It is possible to estimate exact time-dependent physical properties, providing that Hamiltonian of the system is taken to be a one-electron picture. Furthermore, we refer to the application to the many body problem and it is numerically possible to calculate physical properties using Hartree Fock approximation. Our numerical method can be applied to the case even when perturbative Hamiltonians are newly introduced or Hamiltonian shows complex time-dependent behavior. In this article, at first, we derive the equation of motion in finite temperature. Secondly, for the purpose of verification and of exhibiting the usefulness, we show the derivation of gap equation of superconductivity and of sum rule of electrical conductivity and the application to the many body problem. Finally we apply this method to these two cases: the first case is most simplified resonance charge transfer neutralization of an ion and the second is the same process but impurity potential is newly introduced as perturbative Hamiltonian. Through both cases, it is found that neutralization process is not so sensitive to temperature, however, impurity potential as small as 10 meV strongly influences the neutralization of ion.展开更多
The presented work examines the mechanism and conditions of self-motion in bodies as systems of interacting elements. It is shown how the oscillation parameters of these elements determine the mode of motion of the sy...The presented work examines the mechanism and conditions of self-motion in bodies as systems of interacting elements. It is shown how the oscillation parameters of these elements determine the mode of motion of the system (body). In this case, the motion is considered as a consequence of symmetry breaking of forces in the systems themselves, and not as a reaction of individual elements to external influences. It is shown that such a violation takes place both in the gravitational field and when the system moves by inertia. Examples of the influence of changes in phase (φ) and frequency (f) parameters of the system elements on the velocity mode of its motion in space are considered. The identity of the causes of self-motion is revealed both in the case of gravitation and inertial motion.展开更多
A configuration point consists of the position and orientation of a rigid body which are fully described by the position of the frame’s origin and the orientation of its axes, relative to the reference frame. We desc...A configuration point consists of the position and orientation of a rigid body which are fully described by the position of the frame’s origin and the orientation of its axes, relative to the reference frame. We describe an algorithm to robustly predict futuristic configurations of a moving target in a time-varying environment. We use the Kalman filter for tracking and motion prediction purposes because it is a very effective and useful estimator. It implements a predictor-corrector type estimator that is optimal in the sense that it minimizes the estimated error covariance. The target motion is unconstrained. The proposed algorithm may be viewed as a seed for a range of applications, one of which is robot motion planning in a time-changing environment. A significant feature of the proposed algorithm (when compared to similar ones) is its ability to embark the prediction process from the first time step;no need to wait for few time steps as in the autoregressive-based systems. Simulation results supports our claims and demonstrate the superiority of the proposed model.展开更多
If a traditional explicit numerical integration algorithm is used to solve motion equation in the finite element simulation of wave motion, the time-step used by numerical integration is the smallest time-step restric...If a traditional explicit numerical integration algorithm is used to solve motion equation in the finite element simulation of wave motion, the time-step used by numerical integration is the smallest time-step restricted by the stability criterion in computational region. However, the excessively small time-step is usually unnecessary for a large portion of computational region. In this paper, a varying time-step explicit numerical integration algorithm is introduced, and its basic idea is to use different time-step restricted by the stability criterion in different computational region. Finally, the feasibility of the algorithm and its effect on calculating precision are verified by numerical test.展开更多
基金This work is jointly supported by the SIIT Young Researcher Grant,under a Contract No.SIIT 2019-YRG-WP01the Excellent Research Graduate Scholarship,under a Contract No.MOU-CO-2562-8675.
文摘Motion time study is employed by manufacturing industries to determine operation time.An accurate estimate of operation time is crucial for effective process improvement and production planning.Traditional motion time study is conducted by human analysts with stopwatches,which may be exposed to human errors.In this paper,an automated time study model based on computer vision is proposed.The model integrates a convolutional neural network,which analyzes a video of a manual operation to classify work elements in each video frame,with a time study model that automatically estimates the work element times.An experiment is conducted using a grayscale video and a color video of a manual assembly operation.The work element times from the model are statistically compared to the reference work element time values.The result shows no statistical difference among the time data,which clearly demonstrates the effectiveness of the proposed model.
基金financially supported by Lloyd’s Register Foundation(LRF),a UK-registered charity and sole shareholder of Lloyd’s Register Group Ltd.the Youth Innovation Fund of State Key Laboratory of Ocean Engineering(Grant No.GKZD010059-21)
文摘Simulating the coupled motions of multiple bodies in the time domain is a complex problem because of the strong hydrodynamic interactions and coupled effect of various mechanical connectors. In this study, we investigate the hydrodynamic responses of three barges moored side-by-side in a floatover operation in the frequency and time domains. In the frequency domain, the damping lid method is adopted to improve the overestimated hydrodynamic coefficients calculated from conventional potential flow theory. A time-domain computing program based on potential flow theory and impulse theory is compiled for analyses that consider multibody hydrodynamic interactions and mechanical effects from lines and fenders. Correspondingly, an experiment is carried out for comparison with the numerical results. All statistics, time series, and power density spectra from decay and irregular wave tests are in a fairly good agreement.
基金funded by the National Natural Science Foundation of China under grant No.50578125
文摘The rotational seismic motions are estimated from one station records of the 1999 Jiji （Chi-Chi）, Taiwan, earthquake based on the theory of elastic plane wave propagation. The time-frequency response spectrum （TFRS） of the rotational motions is calculated and its characteristics are analyzed, then the TFRS is applied to analyze the damage mechanism of one twelve-storey frame concrete structure. The results show that one of the ground motion components can not reflect the characteristics of the seismic motions completely; the characteristics of each component, especially rotational motions, need to be studied. The damage line of the structure and TFRS of ground motion are important for seismic design, only the TFRS of input seismic wave is suitable, the structure design is reliable.
基金supported by the National Natural Science Foundation of China(Grant Nos.51475246 and 51075215)the Natural Science Foundation of Jiangsu Province of China(Grant No.Bk20131402)the Scientific Research Foundation for the Returned Overseas Chinese Scholars,State Education Ministry of China(Grand No.[2012]1707)
文摘With the increase of system scale, time delays have become unavoidable in nonlinear power systems, which add the complexity of system dynamics and induce chaotic oscillation and even voltage collapse events. In this paper, coexisting phenomenon in a fourth-order time-delayed power system is investigated for the first time with different initial conditions.With the mechanical power, generator damping factor, exciter gain, and time delay varying, the specific characteristic of the time-delayed system, including a discontinuous ＂jump＂ bifurcation behavior is analyzed by bifurcation diagrams, phase portraits, Poincar′e maps, and power spectrums. Moreover, the coexistence of two different periodic orbits and chaotic attractors with periodic orbits are observed in the power system, respectively. The production condition and existent domain of the coexistence phenomenon are helpful to avoid undesirable behavior in time-delayed power systems.
文摘Effects of reduced frequency, stop angle, and pause duration have been studied on a thin supercritical airfoil undergoing a pitch-pause-return motion, which is one of the classic maneuvers introduced by the AIAA Fluid Dynamics Technical Committee. Experiments were conducted in a low-speed wind tunnel at both a constant mean angle of attack and an oscillation amplitude with a reduced frequency ranging from 0.01 to 0.12. The desired stop angles of the airfoil were set to occur during the upstroke motion. The unsteady pressure distribution on the airfoil was measured for below, near, and beyond static stall conditions. Results showed that the reduced frequency and stop angle were the dominant contributors to the time lag in the flowfield. For stop angles in both belowand post-stall regions, the time for the flowfield to reach its steady state conditions, known as the time lag, decreased as the reduced frequency was increased. However, in the static-stall region and for a certain value of reduced frequency, a resonance phenomenon was observed, and a minimum time lag was achieved. The pressure distribution in this condition was shown to be highly influenced by this phenomenon.
基金Supported by the Natural Science Foundation of Education Committee of Sichuan Province(2004A163)
文摘In order to make motion planning fitting practice,many characteristic of CNC trajectory motion are discussed, such as the geometric function,the motion and the time.It is found that the relation between orbit function and motional parame- ter,so the differential equation about the trajectory motion be set-up by the goal of trajectory motion.The actual motion process is defined as reference time to link planning and practice.Present a new movement planning method based on self-defining time.At rest state,the differential simultaneous equation can be calculated according geometric characteristic analysis,it can be get that simple function consisted of coordinate and reference time variants.At motive state,dynamic parameter can be worked out accord- ing practical value of reference time,It is proved by experiment and simulation that it is a good way to control geometry and motion comprehensively,to reduce computation times and to increase the ability of environmental adaptation for path
文摘We evaluated,for the first time in Turkey,the productivity of a feller buncher during clear-cut operations of two Brutian pine stands located in Canakkale,northwestern Turkey with different diameter classes and terrain conditions.In the first stand with 24.6 cm average DBH,the feller buncher cut full trees and moved them to roadside.In the second stand with 34.3 cm average DBH,the feller buncher cut trees in two stages due to their larger diameters and the relatively steep and rough terrain conditions of the site.The effects of specific stand features,DBH and tree height measurements were assessed through statistical analysis in relation to productivity.The results indicate that the average productivity for the first stand was about 118 m^3h^-1,while it was about 80 m3h-1 in the second stand.Even though tree diameter and volume were higher in the second stand,productivity decreased by32.3%due to extra time spent on the two-stage cutting operation.The results revealed that harvesting operations should be planned carefully and the right equipment selected by accounting for different tree sizes,terrain conditions and machine specifications in order to better understand their effects on production.
基金supported by the National Natural Science Foundation of China(11032009)the Fundamental Research Funds for the Central UniversitiesShanghai Leading Academic Discipline Project(B302)
文摘Time delay is an problem of intemet congestion important parameter in the control. According to some researches, time delay is not always constant and can be viewed as a periodic function of time for some cases. In this work, an internet congestion control model is consid- ered to study the time-varying delay induced bursting-like motion, which consists of a rapid oscillation burst and quies- cent steady state. Then, for the system with periodic delay of small amplitude and low frequency, the method of multiple scales is employed to obtain the amplitude of the oscillation. Based on the expression of the asymptotic solution, it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay. Finally, an effective method to control the bursting-like motion is pro- posed by introducing a periodic gain parameter with appropriate amplitude. Theoretical results are in agreement with that from numerical method.
文摘This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.
基金Supported by National Natural Science Foundation of China and China Academy of Engineering Physics(NSAF,Grant No.U1530119)
文摘The current research of quadruped robot focuses on the quadruped robot with spine motion. Contact time is a very important part of system performance. However, the mechanism of spine motion about contact time has not been clearly elucidated. In this paper, the e ect of spine motion on contact time is studied deeply from dynamic view.Firstly, a simplified model of the quadruped robot with spine joint is set up, its dynamic equations are derivated, and a method that can generate passive periodic locomotion is proposed. Secondly, according to the vertical spring oscillator model, the two-dimension planar locomotion of the simplified model is regarded as a special vibration in the vertical direction, and the approximate formula of calculating contact time is obtained. Finally, the approximate formula of calculating contact time is verified by the simulation results of passive periodic locomotion, and the e ect of spine motion on contact time is deeply discussed based on the approximate formula of calculating contact time. The discussion proves that spine motion indeed has little e ect on contact time, but spine motion can slightly reduce body pith movement and regulate the leg sti ness in leg contact phase. This research proposes an e ective research method which can be used to study the motion mechanism of the quadruped robot with spine motion,and the mechanism of spine motion about contact time is clearly elucidated which is helpful to set the parameters of mechanical structure and study control algorithm about the quadruped robot with spine motion.
基金Project supported by the State Key Development Program for Basic Research Program of China (Grant No 2003CB716300)the National Natural Science Foundation of China (Grant No 10547114)
文摘In this paper we investigate the influence of the dark energy on the time-like geodesic motion of a particle in Schwarzschild spacetime by analysing the behaviour of the effective potential which appears in an equation of motion. For the non-radial time-like geodesics, we find a bound orbit when the particle energy is in an appropriate range, and also find another possible orbit, which is that the particle drops straightly into the singularity of a black hole or escapes to infinity. For the radial time-like geodesics, we find an unstable circular orbit when the particle energy is the critical value, in which case it is possible for the particle to escape to infinity.
文摘For the purpose of computer calculation to evaluate time-dependent quantum properties in finite temperature, we propose new numerical method expressed in the forms of simultaneous differential equations. At first we derive the equation of motion in finite temperature, which is found to be same expression as Heisenberg equation of motion except for the c-number. Based on this equation, we construct numerical method to estimate time-dependent physical properties in finite temperature precisely without using analytical procedures such as Keldysh formalism. Since our approach is so simple and is based on the simultaneous differential equations including no terms related to self-energies, computer programming can be easily performed. It is possible to estimate exact time-dependent physical properties, providing that Hamiltonian of the system is taken to be a one-electron picture. Furthermore, we refer to the application to the many body problem and it is numerically possible to calculate physical properties using Hartree Fock approximation. Our numerical method can be applied to the case even when perturbative Hamiltonians are newly introduced or Hamiltonian shows complex time-dependent behavior. In this article, at first, we derive the equation of motion in finite temperature. Secondly, for the purpose of verification and of exhibiting the usefulness, we show the derivation of gap equation of superconductivity and of sum rule of electrical conductivity and the application to the many body problem. Finally we apply this method to these two cases: the first case is most simplified resonance charge transfer neutralization of an ion and the second is the same process but impurity potential is newly introduced as perturbative Hamiltonian. Through both cases, it is found that neutralization process is not so sensitive to temperature, however, impurity potential as small as 10 meV strongly influences the neutralization of ion.
文摘The presented work examines the mechanism and conditions of self-motion in bodies as systems of interacting elements. It is shown how the oscillation parameters of these elements determine the mode of motion of the system (body). In this case, the motion is considered as a consequence of symmetry breaking of forces in the systems themselves, and not as a reaction of individual elements to external influences. It is shown that such a violation takes place both in the gravitational field and when the system moves by inertia. Examples of the influence of changes in phase (φ) and frequency (f) parameters of the system elements on the velocity mode of its motion in space are considered. The identity of the causes of self-motion is revealed both in the case of gravitation and inertial motion.
文摘A configuration point consists of the position and orientation of a rigid body which are fully described by the position of the frame’s origin and the orientation of its axes, relative to the reference frame. We describe an algorithm to robustly predict futuristic configurations of a moving target in a time-varying environment. We use the Kalman filter for tracking and motion prediction purposes because it is a very effective and useful estimator. It implements a predictor-corrector type estimator that is optimal in the sense that it minimizes the estimated error covariance. The target motion is unconstrained. The proposed algorithm may be viewed as a seed for a range of applications, one of which is robot motion planning in a time-changing environment. A significant feature of the proposed algorithm (when compared to similar ones) is its ability to embark the prediction process from the first time step;no need to wait for few time steps as in the autoregressive-based systems. Simulation results supports our claims and demonstrate the superiority of the proposed model.
基金National Natural Science Foundation of China (50178065), 973 Program (2002CB412706), National Social Com-monweal Research Foundation (2002DIB30076) and Joint Seismological Science Foundation (101066).
文摘If a traditional explicit numerical integration algorithm is used to solve motion equation in the finite element simulation of wave motion, the time-step used by numerical integration is the smallest time-step restricted by the stability criterion in computational region. However, the excessively small time-step is usually unnecessary for a large portion of computational region. In this paper, a varying time-step explicit numerical integration algorithm is introduced, and its basic idea is to use different time-step restricted by the stability criterion in different computational region. Finally, the feasibility of the algorithm and its effect on calculating precision are verified by numerical test.
