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.

Inverted Modelling:An Effective Way to Support Motion Planning of Legged Mobile Robots

This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.

A nanoparticle formation model considering layered motion based on an electrical explosion experiment with AI wires

To study the evolution of nanoparticles during Al wire electrical explosion,a nanoparticle formation model that considered layered motion was developed,and an experimental system was set up to carry out electrical explosion experiments using 0.1 mm and 0.2 mm Al wires.The characteristic parameters and evolution process during the formation of nanoparticles were calculated and analyzed.The results show that the maximum velocities of the innermost and outermost layers are about 1200 m·s-1and 1600 m·s-1,and the velocity of the middle layer is about 1400 m·s-1,respectively.Most of the nanoparticles are formed in the temperature range of2600 K-2500 K.The characteristic temperature for the formation of Al nanoparticles is~2520K,which is also the characteristic temperature of other parameters.The size distribution range of the formed nanoparticles is 18 to 110 nm,and most of them are around 22 nm.The variation of saturated vapor pressure determines the temperature distribution range of particle nucleation.There is a minimum critical diameter of particles(~25 nm);particles smaller than the critical diameter can grow into larger particles during surface growth.Particle motion has an effect on the surface growth and aggregation process of particles,and also on the distribution area of larger-diameter particles.The simulation results are in good agreement with the experiments.We provide a method to estimate the size and distribution of nanoparticles,which is of great significance to understand the formation process of particles during the evolution of wire electrical explosion.

A Method for Calculation of Low-Frequency Slow Drift Motions Based on NURBS for Floating Bodies

Through a higher-order boundary element method based on NURBS （Non-uniform Rational B-splines）, the calculation of second-order low-frequency forces and slow drift motions is conducted for floating bodies. In the floating body＇s inner domain, an auxiliary equation is obtained by applying a Green function which satisfies the solid surface condition. Then, the auxiliary equation and the velocity potential equation are combined in the fluid domain to remove the solid angle coefficient and the singularity of the double layer potentials in the integral equation. Thus, a new velocity potential integral equation is obtained. The new equation is extended to the inner domain to reheve the irregular frequency effects; on the basis of the order analysis, the comparison is made about the contribution of all integral terms with the result in the second-order tow-frequency problem; the higher-order boundary element method based on NURBS is apphed to calculate the geometric position and velocity potentials; the slow drift motions are calculated by the spectrum analysis method. Removing the solid angle coefficient can apply NURBS technology to the hydrodynamic calculation of floating bodies with complex surfaces, and the extended boundary integral method can reduce the irregular frequency effects. Order analysis shows that free surface integral can be neglected, and the numerical results can also prove the correctness of order analysis. The results of second-order low-frequency forces and slow drift motions and the comparison with the results from references show that the application of the NURBS technology to the second-order low-frequency problem is of high efficiency and credible results.

Spiral piezoelectric transducer in torsional motion as low-frequency power harvester

A structure consisting of a spiral piezoelectric transducer and a concentrated mass is proposed as a low-frequency piezoelectric power harvester. A theoretical model is developed for the system from the theory of piezoelectricity. An analysis is performed to demonstrate the low-frequency nature of the system. Other basic characteristics of the power harvester including the output power, voltage, and efficiency are also calculated and examined.

LOW-FREQUENCY LOW-NOISE CIRCUITS DESIGN USING AN E_n-I_n MODEL

In view of the limitations of a Rn-Gn model in the low frequency range and the defects of an En-In model in common use now, this paper builds a complete En-In model according to the theory of random harmonic. The parameters for the low-noise design such as the equivalent input noisy voltage Ens, the optimum source impedance Zsopt and the minimum noise figure Fmin can be calculated accurately by using this En-In model because it considers the coherence between the noise sources fully. Moreover, this paper points out that it will cause the maximum 30% miscalculation when neglecting the effects of the correlation coefficient 7. Using the series-series circuits as an example, this paper discusses the methods for the En-In noise analysis of electronic circuits preliminarily and demonstrates its correctness through the comparison between the simulated and measured results of the minimum noise figure Fmin of a single current series negative feedback circuit.

Regional Finite-Fault Source Model for Development of Ground Motion Attenuation Relationship in Sichuan, China

The attenuation relationship of ground motion based on seismology has always been a front subject of engineering earthquake.Among them,the regional finite-fault source model is very important.In view of this point,the general characteristics of regional seism-tectonics,including the dip and depth of the fault plane,are emphasized.According to the statistics of regional seism-tectonics and focal mechanisms in Sichuan,China,and the sensitivity of estimated peak ground acceleration(PGA)attenuation is analyzed,and the dip angle is taken as an average of 70°.Based the statistics of the upper crustal structure and the focal depth of regional earthquakes,the bottom boundary of the sedimentary cover can be used as the upper limit for estimating the depth of upper-edge.The analysis shows that this value is sensitive to PGA.Based on the analysis of geometric relations,the corresponding calculation formula is used,and a set of concepts and steps for building the regional finite-fault source model is proposed.The estimation of source parameters takes into account the uncertainty,the geometric relationship among parameters and the total energy conservation.Meanwhile,a set of reasonable models is developed,which lay a foundation for the further study of regional ground motion attenuation based on seismology.

Seasonal Characteristics and Interannual Variability of Monthly Scale Low-Frequency Oscillation in a Low-Order Global Spectral Model

Analysis is done of five-year low-pass filtered data by a five-layer low-order global spectral model, indicating that although any non-seasonal external forcing is not considered in the model atmosphere,monthly-scale anomaly takes place which is of remarkable seasonality and interannual variability.Analysis also shows that for the same seasonal external forcing the model atmosphere can exhibit two climatic states,similar in the departure pattern but opposite in sign, indicating that the anomaly is but the manifestation of the adverse states, which supports the theory of multi-equilibria proposed by Charney and Devore(1979) once again.Finally, the source for the low-frequency oscillation of the global atmosphere is found to be the convective heat source / sink inside the tropical atmosphere as discussed before in our study.Therefore, the key approach to the exploration of atmospheric steady low-frequency oscillation and the associated climatic effect lies in the examination of the distribution of convective heat sources / sinks and the variation in the tropical atmosphere.

A 6n-Order Low-Frequency Mathematical Model of Multiple Inverters Based Microgrid

Microgrid stability analysis is a critical issue especially due to the inverters’low-inertia nature.The voltage and current control loops influences on stability are researched frequently most of which focus on medium and high-frequency characteristic.Although the complete state-space model aims at low-frequency characteristic,it is too complicated and the calculation amount is huge with the scale of the microgrid increasing.One available reduced-order model of an inverter is simple,but it is suitable for only single inverter without network dynamic in microgrid.To fill in these gaps,a novel modeling method is proposed in this paper to investigate the low-frequency instability phenomenon and describe the whole DG connected system including network.In consideration of the high penetration level of induction motor(IM)loads and constant power(CP)loads in practical applications,the low-frequency mathematical model of IM and CP loads on the basis of static load is also built in this paper.Simulation and experimental results verify the effectiveness of the proposed model.

Low-frequency data analysis and expansion

The use of low-frequency seismic data improves the seismic resolution, and the imaging and inversion quality. Furthermore, low-frequency data are applied in hydrocarbon exploration; thus, we need to better use low-frequency data. In seismic wavelets, the loss of low-frequency data decreases the main lobe amplitude and increases the first side lobe amplitude and results in the periodic shocking attenuation of the secondary side lobe. The loss of low frequencies likely produces pseudo-events and the false appearance of higher resolution. We use models to examine the removal of low-frequency data in seismic data processing. The results suggest that the removal of low frequencies create distortions, especially for steep structures and thin layers. We also perform low-frequency expansion using compressed sensing and sparse constraints and develop the corresponding module. Finally, we apply the proposed method to real common image point gathers with good results.

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。

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.

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.

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.

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.

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.

Dynamics model of underwater robot motion control in 6 degrees of freedom

In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable. The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.

Modeling and simulation of a mini AUV in spatial motion

Accurate modeling and simulation of autonomous underwater vehicle （AUV） is essential for autonomous control and maneuverability research. In this paper, a mini AUV- ＂MAUV-Ⅱ＂ was researched and the nonlinear mathematic model of the AUV in spatial motion was derived based on momentum theorem. The forces acting on AUV were resolved to several modules which were expressed in matrix form. Based on the motion model and combined with virtual reality technology, a motion simulation system was constructed. Considering the characteristic of ＂MAUV-Ⅱ ＂, the heading control and depth control were simulated by adopting S-surface control method. A long distance traveling simulation experiment based on target planning was also done. The simulation results show that the ＂MAUV-Ⅱ＂ has good spatial maneuverability, and verify the feasibility and reliability of control software.

An Integrated Dynamic Model of Ocean Mining System and Fast Simulation of Its Longitudinal Reciprocating Motion

An integrated dynamic model of China＇s deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions of the pipeline, are proposed and simulated with the developed 3D dynamic model. Some critical simulation results are obtained and analyzed, such as the motion trajectories of key subsystems, the velocities of the buoyancy modules and the interaction forces between subsystems, which in a way can provide important theoretical basis and useful technical reference for the practical deep ocean mining system analysis, operation and control.

IN-PLANE WAVE MOTION IN FINITE ELEMENT MODEL

The analysis method of lattice dynamics in classical physics is extended to study the properties of in-plane wave motion in the hybrid-mass finite element model in this paper. The dispersion equations of P and SV waves in the discrete model are first obtained by means of separating the characteristic equation of the motion equation, and then used to analyse the properties of P-and SV-homogeneous, inhomogeneous waves and other types of motion in the model. The dispersion characters, cut-off frequencies of P and SV waves, the polarization drift and appendent anisotropic property of wave motion caused by the discretization are finally discussed.