Relay movement control for maintaining connectivity in aeronautical ad hoc networks

As a new sort of mobile ad hoc network(MANET), aeronautical ad hoc network(AANET) has fleet-moving airborne nodes(ANs) and suffers from frequent network partitioning due to the rapid-changing topology. In this work, the additional relay nodes(RNs) is employed to repair the network and maintain connectivity in AANET. As ANs move, RNs need to move as well in order to re-establish the topology as quickly as possible. The network model and problem definition are firstly given, and then an online approach for RNs' movement control is presented to make ANs achieve certain connectivity requirement during run time. By defining the minimum cost feasible moving matrix(MCFM), a fast algorithm is proposed for RNs' movement control problem. Simulations demonstrate that the proposed algorithm outperforms other control approaches in the highly-dynamic environment and is of great potential to be applied in AANET.

Control strategy of central pattern generator gait movement under condition of attention selection

As a typical rhythmic movement, human being＇s rhythmic gait movement can be generated by a central pattern generator （CPG） located in a spinal cord by self- oscillation. Some kinds of gait movements are caused by gait frequency and amplitude variances. As an important property of human being＇s motion vision, the attention selection mechanism plays a vital part in the regulation of gait movement. In this paper, the CPG model is amended under the condition of attention selection on the theoretical basis of Matsuoka neural oscillators. Regulation of attention selection signal for the CPG model parameters and structure is studied, which consequentially causes the frequency and amplitude changes of gait movement output. Further, the control strategy of the CPG model gait movement under the condition of attention selection is discussed, showing that the attention selection model can regulate the output model of CPG gait movement in three different ways. The realization of regulation on the gait movement frequency and amplitude shows a variety of regulation on the CPG gait movement made by attention selection and enriches the controllability of CPG gait movement, which demonstrates potential influence in engineering applications.

The Modulation and Control of the Gecko's Foot Movement

The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves controlling the gecko＇s foot movements was determined; （2） the relationship between the limb nerves of the gecko and its foot motor patterns was studied; （3） the afferent impulses of the nerves evoked by rubbing the gecko＇s toes and palm were recorded; （4） copying the natural patterns of movement of the gecko＇s foot （abduction, adduction, flexion, and revolution） and its limb nerve modulation and control mechanism, the nerves were stimulated under computer control, and the results recorded by CCD. Results suggest that gecko＇s foot movements can be successfully controlled by artificial electrical signals.

Modelling and Simulation for Train Movement Control Using Car-Following Strategy

Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal velocity function V^opt, which is considered as the desired velocity function for train movement control under different control conditions. In order to test the proposed model, we simulate and analyze the trajectories of train movements, moreover, discuss the relationship curves between the train allowable velocity and the site of objective point in detail. Analysis results indicate that the proposed model can well capture some realistic futures of train movement control.

Controlled Movements in Superlubric MEMS

Structural superlubricity(SSL)refers to a state where the friction and wear between two directly contacted solid surfaces are virtually zero.The realization of microscale SSL in 2012 rapidly explored SSL technologies which hold great potential in the development of reliable and energy⁃efficient micro devices.A key to a successful superlubric device is to control the movements of the superlubric slider.To solve this challenge,here two general principles are shown to guide and control the motion of the slider,i.e.,by minimization of interfacial energy and minimization of electrostatic energy.When the shapes of the slider and substrate are designed appropriately,the excess interfacial energy of the contact⁃pair provides restoring and constraining forces to the slider.Similarly,tunable driving and constraining forces are enabled by the electric fields induced by the electrodes buried in the substrate.These concepts are demonstrated on the design of a superlubric resonator whose natural frequency of the lateral translational mode is well⁃defined and unfavorable rotation is constrained.The above design principles should be applicable to superlubric devices in general and help the development of future applications of structural superlubricity.

SIMULATING RHYTHMIC MOVEMENT OF HUMAN ELBOW JOINT USING A NEURAL NETWORK PREDICTIVE MODEL

Human brain is hypothesized to store a geometry and dynamic model of the limb.A multilayer perceptron (or MLP) network is used to stand for the model.In this paper the human elbow joint rhythmic movement is simulated in three cases:1)Parameters of the MLP,the limb geometry and dynamic model match completely,2)Parameters mismatch between them,and 3)Disturbance exists.The results show that parameters mismatch is the main error source,which causes the elbow joint movement to be aberrant.From this we can infer that movement study is a process in which the internal model is updated continuously to match the geometry and dynamic model of limb.

Modeling and simulation of high-speed passenger train movements in the rail line

In this paper, we propose a new formula of the real-time minimum safety headway based on the relative velocity of consecutive trains and present a dynamic model of high-speed passenger train movements in the rail line based on the proposed formula of the minimum safety headway. Moreover, we provide the control strategies of the high-speed passenger train operations based on the proposed formula of the real-time minimum safety headway and the dynamic model of highspeed passenger train movements. The simulation results demonstrate that the proposed control strategies of the passenger train operations can greatly reduce the delay propagation in the high-speed rail line when a random delay occurs.

Smoke movement in a tunnel of a running metro train on fire

Research on the distribution of smoke in tunnels is significant for the fire emergency rescue after an operating metro train catches fire. A dynamic grid technique was adopted to research the law of smoke flow diffusion inside the tunnel when the bottom of a metro train was on fire and to compare the effect of longitudinal ventilation modes on the smoke motion when the burning train stopped. Research results show that the slipstream curves around the train obtained by numerical simulation are consistent with experimental data. When the train decelerates, the smoke flow first extends to the tail of the train. With the decrease of the train's speed, the smoke flow diffuses to the head of the train. After the train stops, the slipstream around the train formed in the process of train operation plays a leading role in the smoke diffusion in the tunnel. The smoke flow quickly diffuses to the domain in front of the train. After forward mechanical ventilation is provided, the smoke flow inside the tunnel continues to diffuse downstream. When reverse mechanical ventilation operates, the smoke in front of the train flows back rapidly and diffuses to the rear of the train.

Multiscale entropy:A tool for understanding the complexity of postural control

Clinical disorders often are characterized by a breakdown in dynamical processes that contribute to the control of upright standing.Disruption to a large number of physiological processes operating at different time scales can lead to alterations in postural center of pressure(Co P)fluctuations.Multiscale entropy(MSE) has been used to identify differences in fluctuations of postural Co P time series between groups with and without known physiological impairments at multiple time scales.The purpose of this paper is to:1) review basic elements and current developments in entropy techniques used to assess physiological complexity;and 2) identify how MSE can provide insights into the complexity of physiological systems operating at multiple time scales that underlie the control of posture.We review and synthesize evidence from the literature providing support for MSE as a valuable tool to evaluate the breakdown in the physiological processes that accompany changes due to aging and disease in postural control.This evidence emerges from observed lower MSE values in individuals with multiple sclerosis,idiopathic scoliosis,and in older individuals with sensory impairments.Finally,we suggest some future applications of MSE that will allow for further insight into how physiological deficits impact the complexity of postural fluctuations;this information may improve the development and evaluation of new therapeutic interventions.

速度350km/h高速铁路长大下坡地段闭塞分区设置方法研究

通过分析长大下坡道闭塞分区长度对CTCS-3级和后备CTCS-2级列控系统的影响,指出二者对闭塞分区长度的需求完全相反,并针对CTCS-3级列控系统的行车许可回缩、速度突降等问题的产生原因进行分析。阐述坡度、闭塞分区长度与不同列控模式下列车运行速度、追踪间隔时间等要素之间的关系,制定闭塞分区设置的基本原则。检算典型坡度下闭塞分区长度设置的合理区间范围及相应追踪间隔时间,指出坡度超过-30‰后将无法兼顾不同列控等级下的运行速度。设计模拟退火算法,根据闭塞分区设置原则及闭塞分区取值规律,给出压缩求解空间、提高求解效率的方法。以郑万高速铁路长大下坡地段为例,对闭塞分区设置进行优化,在不考虑其他约束的前提下,与设计院优化方案相比,本求解优化方案在确保CTCS-3级控车模式下允许速度可达350 km/h的同时,将CTCS-2级控车模式下的允许速度提高30 km/h,追踪间隔时间压缩23 s。

某光学系统电动保护罩设计

针对某光学系统光电设备转台,本文为舱内设备所必要的作业环境和防护,设计了一种电动控制的保护罩,可防护砂石,雨水,沙尘和太阳辐射等环境条件对舱内光电设备造成的损伤。本文介绍了电动保护罩的结构组成、工作原理以及控制系统的设计,并且对电动保护罩各分系统的设计进行了详细的描述。设计的样机试验结果表明,该电动保护罩具有较好的环境防护性能,具备行车工作功能,动作全程安全可靠,具有较高的稳定性和可靠性。

车车通信移动授权的功能建模及性能分析

车车通信列车运行控制系统中移动授权的生成对城市轨道交通运营效率有着较大的影响。通过分析车车通信列车运行控制系统中移动授权的生成过程及性能,建立基于有色Petri网(colored Petri net,CPN)的车车通信移动授权信息交互的模型,进行性能分析。研究移动授权生成过程中端对端通信传输时延的延时概率,根据不同信道质量下统计传输时延的平均值,计算移动授权完成的成功率。分析结果表明,基于车车通信的列车运行控制系统移动授权的生成过程,符合地铁长期演进(long term evolution for metro,LTE-M)系统端到端延时时间不大于150 ms的概率不小于98%,时延随着信道质量的下降而增加。

复杂工况下盾构隧道车辆智能调度系统开发及应用

为解决长大隧道施工时多作业车辆行驶时车辆拥堵、安全风险高、调度难的问题,依托上海轨道交通市域线机场联络线超大直径盾构隧道工程,设计了具有位置确认、信号传输、定位应用功能的智能调度系统。分析施工物料优先性,以减少车辆等待时间为目标确定车辆调度次序,建立了车辆调度模型。基于隧道车辆定位系统和车辆调度模型,开发了复杂工况下隧道车辆智能调度系统,通过在上海轨道交通市域线机场联络线工程度~凌区间隧道进行验证应用,提前20~35 s为相对行驶车辆进行避让预警,在相距50~200 m范围内进行车辆安全车提醒,提高了超大直径盾构隧道物料运输效率,提升了长距离隧道单车道多车辆行驶安全。

基于相关进路的列车包络计算方法

在高铁列控系统中,轨旁设备无线闭塞中心(RBC)根据列车位置报告计算列车包络是为列车计算行车许可(MA)的重要依据。然而车载发送的列车位置报告为基于应答器的偏移且和实际列车位置存在偏差,因此列车安全包络是列车实际位置的安全范围。在计算列车包络在区段上的位置时列车包络范围道岔状态和实际列车驶过的道岔状态不同时,如何准确计算列车安全包络对于RBC计算行车许可十分关键。该文提出一种基于相关进路的列车包络计算方法,为列控系统计算列车行车许可提供依据。

自动双层停车场PLC控制系统设计

在经济不断发展的背景下,“停车难”成为城市交通的难题。而自动双层停车场可以做到自动停放寄存车辆,可以有效解决“停车难”问题。基于此,设计基于西门子S7-200PLC的升降横移式自动双层停车场控制系统。分析自动双层停车场功能需求,进行PLC选型及外部接线设计,最后进行控制系统的软件设计。

基于光纤通信技术的铁路电力远动系统控制方法

由于远动系统信道配置的适应性难以满足客观应用需求,导致铁路电力远动系统数据包传输时间较长,控制效果不佳。为此,提出基于光纤通信技术的铁路电力远动系统控制方法研究。以远动系统中的信道为研究对象,设计局部操作网络(LocalOperating Network,LON)现场总线布局后,结合光纤通信技术对远动系统传输进行控制。经实验证明,利用该方法对远动系统进行控制后,数据包的传输时间为0.2~0.8 s,传输时间可始终保持在1 s以下,说明利用该方法对铁路电力远动系统控制的效果较好。

微小型自主式水下机器人系统设计及试验

为了解决自主式水下机器人智能控制问题,设计了一种微小型自主式水下机器人。介绍了微小型自主式水下机器人的系统结构和关键部分系统,然后针对运动控制系统耦合问题,采用3个分控制系统方式实现水下机器人运动控制,最后进行了自主式水下机器人运动控制的试验研究。试验结果表明:研制微小型自主式水下机器人及其控制系统能够完成自主运动任务,实现自主化,为同类型的水下机器人提供参考。

基于PLC控制的液压立体车库的设计

针对三层八车位的立体车库,首先介绍了液压全自动立体车库的工作原理和动作过程。设计了立体车库液压系统和PLC控制系统,并提出了运动过程中各种必要的保护策略。

新型仿生六足机器人运动控制技术的研究与探索

在仿生学研究的基础上,采用模块化分散递阶控制技术构建了仿生六足机器人控制系统,从结构系统分析、控制系统设计、运动特性分析、运动流程控制等各环节加以研究和探索,并通过M atlab进行了轨迹跟踪仿真试验。仿真结果表明机器人具有较好的运动特性和良好的抗干扰能力,从而为仿生六足机器人运动功能的进一步完善奠定了基础。

线控转向电动汽车运动控制系统的研究

针对传统汽车转向存在转弯半径大和操纵不灵活的问题,采用线控技术在线控转向电动汽车上设计了运动控制系统。介绍了线控转向电动汽车的机械结构和多种运动模式,分析了电动汽车绕任意点旋转运动的运动学算法,并利用模块化设计和车载网络通讯实现了线控转向技术,设计了该车的运动控制系统;研制了该车的运动控制系统样机,并在实际路面上分别对传统汽车和线控转向电动汽车进行了掉头转弯对比实验。研究结果表明,线控转向电动汽车能够更好地实现掉头转向,相比传统汽车具有更小的转弯半径和操纵灵活性。