Complex Motion Modeling and State Estimation in Road Coordinates

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.

Online interactive identification method based on ESO disturbance estimation for motion model of double propeller propulsion unmanned surface vehicle

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.

Dlung:Unsupervised Few-Shot Diffeomorphic Respiratory Motion Modeling

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.

A Multi-Task Motion Generation Model that Fuses a Discriminator and a Generator

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.

Multi-body Motion Modeling and Simulation for Tilt Rotor Aircraft

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.

Wearable sensors for 3D upper limb motion modeling and ubiquitous estimation

Human motion capture technologies are widely used in interactive game and learning, animation, film special effects, health care, and navigation. Because of the agility, upper limb motion estimation is the most difficult problem in human motion capture. Traditional methods always assume that the movements of upper arm and forearm are independent and then estimate their movements separately; therefore, the estimated motion are always with serious distortion. In this paper, we propose a novel ubiquitous upper limb motion estimation method using wearable microsensors, which concentrates on modeling the relationship of the movements between upper arm and forearm. Exploration of the skeleton structure as a link structure with 5 degrees of freedom is firstly proposed to model human upper limb motion. After that, parameters are defined according to Denavit-Hartenberg convention, forward kinematic equations of upper limb are derived, and an unscented Kalman filter is invoked to estimate the defined parameters. The experimental results have shown the feasibility and effectiveness of the proposed upper limb motion capture and analysis algorithm.

Hybrid integration method for highly maneuvering radar target detection based on a Markov motion model

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.

Motion Model of Floating Weather Sensing Node for Typhoon Detection

To improve the accuracy of typhoon prediction,it is necessary to detect the internal structure of a typhoon.The motion model of a floating weather sensing node becomes the key to affect the channel frequency expansion performance and communication quality.This study proposes a floating weather sensing node motion modeling method based on the chaotic mapping.After the chaotic attractor is obtained by simulation,the position trajectory of the floating weather sensing node is obtained by space and coordinate conversion,and the three-dimensional velocity of each point on the position trajectory is obtained by multidimensional linear interpolation.On this basis,the established motion model is used to study the Doppler frequency shift,which is based on the software and physical platform.The software simulates the relative motion of the transceiver and calculates the Doppler frequency shift.The physical platform can add the Doppler frequency shift to the actual transmitted signal.The results show that this method can effectively reflect the influence of the floating weather sensing node motion on signal transmission.It is helpful to research the characteristics of the communication link and the design of a signal transceiver for typhoon detection to further improve the communication quality and to obtain more accurate interior structure characteristic data of a typhoon.

Flow-aware synthesis: A generic motion model for video frame interpolation

A popular and challenging task in video research,frame interpolation aims to increase the frame rate of video.Most existing methods employ a fixed motion model,e.g.,linear,quadratic,or cubic,to estimate the intermediate warping field.However,such fixed motion models cannot well represent the complicated non-linear motions in the real world or rendered animations.Instead,we present an adaptive flow prediction module to better approximate the complex motions in video.Furthermore,interpolating just one intermediate frame between consecutive input frames may be insufficient for complicated non-linear motions.To enable multi-frame interpolation,we introduce the time as a control variable when interpolating frames between original ones in our generic adaptive flow prediction module.Qualitative and quantitative experimental results show that our method can produce high-quality results and outperforms the existing stateof-the-art methods on popular public datasets.

Fractal Brownian motion model of ship radiated noise

On the basis of the fractal geometry, a nactional Brownian Motion (FBM) model for the noise radiated by ship was established, under which its fractal dimension has been obtained and the Fractal Characteristic Vector (FCV) was constructed in the fractional Brownian random field (FBRF). By using of them, a new technique of the characteristic analysis for target recognition in the underwater acoustics was presented. A comparative experiment for classification shows us that the FCV can be used as essential quantity by which some defects existing in the methods to do the characteristic extraction elsewhere can be remedied.

基于Leap Motion的手语识别算法优化

Leap Motion设备产生的数据在虚拟环境中可以进行手势识别。通过识别和跟踪用户的手来生成虚拟3D手部模型,从而获取手势信息。本文设计了一种基于隐马尔可夫模型(Hidden Markov Model,HMM)分类算法来学习从Leap Motion中所获取的手势信息的系统,根据手势特征的重要性赋予不同权值,可进一步提高分类准确率,实现手语信息的识别输入。测试结果表明,识别准确率为86.1%,手语打字输入识别速度为每分钟13.09个字符,可显著提高聋哑人与正常人之间沟通的便捷性。

Motion/Posture Modeling and Simulation Verification of Physically Handicapped in Manufacturing System Design

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.

Physics-based Modeling and Simulation for Motional Cable Harness Design

The design work of motional cable in products is vital due to the difficulty in estimating the potential issues in current researches.In this paper,a physics-based modeling and simulation method for the motional cable harness design is presented.The model,based on continuum mechanics,is established by analyzing the force of microelement in equilibrium.During the analysis procedure,three coordinate systems：inertial,Frenet and main-axis coordinate systems are used.By variable substitution and dimensionless processing,the equation set is discretized by differential quadrature method and subsequently becomes an overdetermined nonlinear equation set with boundary conditions solved by Levenberg-Marquardt method.With the profile of motional cable harness obtained from the integral of arithmetic solution,a motion simulation system based on＂path＂and＂profile＂as well as the experimental equipments is built.Using the same parameters as input for the simulation and the real cable harness correspondingly,the issue in designing,such as collision,can be easily found by the simulation system.This research obtains a better result which has no potential collisions by redesign,and the proposed method can be used as an accurate and efficient way in motional cable harness design work.

Error Modeling and Sensitivity Analysis of a Parallel Robot with SCARA(Selective Compliance Assembly Robot Arm) Motions

Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.

THE CHARACTERISTICS AND MOTION MODEL OF INSULIN MONOMER

The extensive conformational comparisons among the determined structures of the differeat species and crystal forms of insulin and the varied insulin derivatives were performed by using the least-squares superimposition technique and the graphics technique. The results of the investigation showed that the structure of molecule I in 2Zn insulin was closer to that of the natural monomer; the conformational difference between two molecules of a dimer came out during dimerization and it was further improved and stabilized during the hexamerization and packing of hexamers in crystal; through the hinge peptides, such as A10, B4, B8, B24, B20 and B23, there was a flexible relative motion among the structural segments in the insulin molecule, and the residues at the B-chain C-terminal might have a shift of more than 10; the mobility for each residue side-chain was very different due to the different surroundings.

Vertical coherency function model of spatial ground motion

Many studies have focused on horizontal ground motion, resulting in many coherency functions for horizontal ground motion while neglecting related problems arising from vertical ground motion. However, seismic events have demonstrated that the vertical components of ground motion sometimes govern the ultimate failure of structures. In this paper, a vertical coherency function model of spatial ground motion is proposed based on the Hao model and SMART 1 array records, and the validity of the model is demonstrated. The vertical coherency function model of spatial ground motion is also compared with the horizontal coherency function model, indicating that neither model exhibits isotropic characteristics. The value of the vertical coherency function has little correlation with that of the horizontal coherency function. However, the coherence of the vertical ground motion between a pair of stations decreases with their projection distance and the frequency of the ground motion. When the projection distance in the wave direction is greater than 800 meters, the coherency between the two points can be neglected.

Motion model for describing the quantity of air in droplets through changing the structure of air induction nozzle

Air induction nozzles possess good anti-drift performance,the throat and orifice sizes of the nozzles are the main design parameters that affecting atomization.Therefore,Venturi tube nozzles and conventional flat fan nozzles were assembled together to investigate the flow rate,droplet size,the quantity of air in droplets affected by a single design parameter of nozzles with applying high speed camera and Spraytec laser diffraction system.The results showed that:the flow rate of the air induction nozzle depended only on the throat size of Venturi tube and pressure,and it was proportional to the throat size of Venturi tube at the same pressure;The flat fan nozzle’s orifice size and Venturi tube size significantly affected volume median diameter of droplets,which generally increased after adding surfactant;A new model was established after optimizing classical equation for calculating the percentage of intake air in droplets and studying the effects of throat and orifice size of air induction nozzles on spray characteristics.By variance analysis,it was verified that the new model of quantity of air in droplets produced by all connected nozzles was correct.The calculation showed that the bubbles sizes ranged at 200-900μm and were in proportion to the droplet size with the percentage of intake air of 10%to 90%.Contrast to the change of volume median diameter and droplet velocity,the existence of intake air could influence their change degree to some extent.

NONLINEAR MOTION MECHANICS MODEL OF CURVED BLOOD VESSEL

A geometric model of curved blood vessels is established based on some reasonable hypotheses; the nonlinear motion mechanics model of the curved blood vessel is established according to basic mechanics laws. This model includes much more physiological factors. It couples the interaction of blood flow with mechanical factors such as the displacement, deformation, strain and stress etc. of the curved blood vessel. It is of great importance for investigating the circulation rules of the cardiovascular system and the nonlinear pulse wave propagation in curved blood vessels.

Modeling and Motion Simulation for A Flying-Wing Underwater Glider with A Symmetrical Airfoil

The flying-wing underwater glider (UG), shaped as a blended wing body, is a new type of underwater vehicle and still requires further research. The shape layout and the configuration of the internal actuators of the flying-wing UG are different from those of "legacy gliders" which have revolving bodies, and these two factors strongly affect the dynamic performance of the vehicle. Considering these differences, we propose a new configuration of the internal actuators for the flying-wing UG and treat the flying-wing UG as a multi-body system when establishing its dynamic model. In this paper, a detailed dynamic model is presented using the Newton-Euler method for the flying-wing UG. Based on the full dynamic model, the effect of the internal actuators on the steady gliding motion of vehicle is studied theoretically, and the relationship between the state parameters of the steady gliding motion and the controlled variables is obtained by solving a set of equilibrium equations. Finally, the behaviors of two classical motion modes of the glider are analyzed based on the simulation. The simulation results demonstrate that the motion performance of the proposed flying-wing UG is satisfactory.

Wave Motion Compensation Scheme and Its Model Tests for the Salvage of An Ancient Sunken Boat

The application of the vertical hoisting jack and wave motion compensation techniques to the salvage of an ancient sunken boat is introduced. The boat is wooden, loaded with cultural relics. It has been immersed at the bottom of the South China Sea for more than 800 years. In order to protect the structure of the boat and the cultural relics inside to the largest extent, an open caisson is used to hold the sunken beat and the silts around before they are raised from the seabed all together as a whole. In the paper, first, the seakeeping model test of the system of the salvage barge and the open caisson is done to determine some important wave response parameters. And then a further experimental study of the ap- plication of the vertical hoisting jack and wave motion compensation scheme to the salvage of the sunken boat is carried out. In the model tests, the techniques of the integrative mechanic-electronic-hydraulic control, wave motion forecast and wave motion compensation are used to minimize the heave motion of the open caisson. The results of the model tests show that the heave motion of the open caisson can be reduced effectively by the use of the present method.