The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spa...The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spatial-temporal structures,and the deep learning model can fully describe the potential semantic structure of human motion.To improve the authenticity of the generated human motion sequences,we propose a multi-task motion generation model that consists of a discriminator and a generator.The discriminator classifies motion sequences into different styles according to their similarity to the mean spatial-temporal templates from motion sequences of 17 crucial human joints in three-freedom degrees.And target motion sequences are created with these styles by the generator.Unlike traditional related works,our model can handle multiple tasks,such as identifying styles and generating data.In addition,by extracting 17 crucial joints from 29 human joints,our model avoids data redundancy and improves the accuracy of model recognition.The experimental results show that the discriminator of the model can effectively recognize diversified movements,and the generated data can correctly fit the actual data.The combination of discriminator and generator solves the problem of low reuse rate of motion data,and the generated motion sequences are more suitable for actual movement.展开更多
Tracking the fast-moving object in occlusion situations is an important research topic in computer vision. Despite numerous notable contributions have been made in this field,few of them simultaneously incorporate bot...Tracking the fast-moving object in occlusion situations is an important research topic in computer vision. Despite numerous notable contributions have been made in this field,few of them simultaneously incorporate both object's extrinsic features and intrinsic motion patterns into their methodologies,thereby restricting the potential for tracking accuracy improvement. In this paper, on the basis of efficient convolution operators(ECO) model, a speed-accuracy-balanced model is put forward. This model uses the simple correlation filter to track the object in real-time, and adopts the sophisticated deep-learning neural network to extract high-level features to train a more complex filter correcting the tracking mistakes, when the tracking state is judged to be poor. Furthermore, in the context of scenarios involving regular fast-moving, a motion model based on Kalman filter is designed which greatly promotes the tracking stability, because this motion model could predict the object's future location from its previous movement pattern. Additionally,instead of periodically updating our tracking model and training samples, a constrained condition for updating is proposed,which effectively mitigates contamination to the tracker from the background and undesirable samples avoiding model degradation when occlusion happens. From comprehensive experiments, our tracking model obtains better performance than ECO on object tracking benchmark 2015(OTB100), and improves the area under curve(AUC) by about 8% and 32% compared with ECO, in the scenarios of fast-moving and occlusion on our own collected dataset.展开更多
This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle (ROV), which is being researched and developed by Shanghai Jiao Tong...This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle (ROV), which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1:1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions. Rotation control motion was simulated to verify spatial model proposed. Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment, and accomplish some more challengeable and practical missions.展开更多
Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing s...Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints(effecter constraints, kinematics constraints and physical constraints). The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.展开更多
Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the ...Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the optimal fusion of the position measurements in different directions,is presented for the constraint coordinate Kalman filter(CCKF). The CCKF is evaluated with a comprehensive comparison to the state-of-art linear equality constraint estimation methods. Numerical simulation results demonstrate the better performance of the CCKF. Then the interacting multiple model CCKF(IMM-CCKF) is proposed to manifest the advantages of the CCKF in complex motion modeling and state estimations. The effectiveness of the IMM-CCKF in maneuvering target tracking with spatial equality constraints is demonstrated by numerical experiments.展开更多
In the field of mobile robotics,human tracking has emerged as an important objective for facilitating human-robot interaction.In this paper,we propose a particle-filter-based walking prediction model that will address...In the field of mobile robotics,human tracking has emerged as an important objective for facilitating human-robot interaction.In this paper,we propose a particle-filter-based walking prediction model that will address an occlusion situation.Since the target being tracked is a human leg,a motion model for a leg is required.The validity of the proposed model is verified experimentally.展开更多
On the assumption that a plate is elastically deformable and may rotate as a whole, we found that Eurasian area may be divided into an Eurasian plate and three blocks of the Xiyu, the North China and the Southeast Asi...On the assumption that a plate is elastically deformable and may rotate as a whole, we found that Eurasian area may be divided into an Eurasian plate and three blocks of the Xiyu, the North China and the Southeast Asia according to tectonic frame of the East and Southeast Asia and the ITRF2008 velocity field in Eurasian area. F tests show that the accuracy of this elastic-plate/block model is significantly higher than the corresponding rigid-plate models; the area covered is notably larger also.展开更多
In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of...In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of motion is very meaningful to realize trajectory prediction and adaptive motion control of the USV. An interactive identification algorithm (ESO–MILS, extended state observer–multi-innovation least squares) based on ESO is proposed. The robustness of online identification is improved by expanding the state observer to estimate the current disturbance without making artificial assumptions. Specifically, the three-degree-of-freedom dynamic equation of the double propeller propulsion USV is constructed. A linear model for online identification is derived by parameterization. Based on the least square criterion function, it is proved that the interactive identification method with disturbance estimation can improve the identification accuracy from the perspective of mathematical expectation. The extended state observer is designed to estimate the unknown disturbance in the model. The online interactive update improves the disturbance immunity of the identification algorithm. Finally, the effectiveness of the interactive identification algorithm is verified by simulation experiment and real ship experiment.展开更多
Doppler blind zone (DBZ) has a bad influence on the airborne early warning radar, although it has good detection performance for low altitude targets with pulse Doppler (PD) technology. In target tracking, the bli...Doppler blind zone (DBZ) has a bad influence on the airborne early warning radar, although it has good detection performance for low altitude targets with pulse Doppler (PD) technology. In target tracking, the blind zone can cause target tracking breakage easily. In order to solve this problem, a parallel particle filter (PF) algorithm based on multi-hypothesis motion models (MHMMs) is proposed. The algorithm produces multiple possible target motion models according to the DBZ constraint. Particles are updated with the constraint in each motion model. Once the first measurement from the target which reappears from DBZ falls into the particle cloud formed by any model, the measurementtrack association succeeds and track breakage is avoided. The simulation results show that on the condition of different DBZ ranges, a high association ratio can be got for targets with different maneuverability levels, which accordingly improves the tracking quality.展开更多
A frequency domain analysis method based on the three-dimensional translating-pulsating (3DTP) source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course ...A frequency domain analysis method based on the three-dimensional translating-pulsating (3DTP) source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating (3DP) source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.展开更多
As for orbit transfer vehicle (OTV) with multiple satellites/payloads carried,the release of each payload will bring serious change to the mass center of OTV and the thrust produced by the swing thruster will form a r...As for orbit transfer vehicle (OTV) with multiple satellites/payloads carried,the release of each payload will bring serious change to the mass center of OTV and the thrust produced by the swing thruster will form a rather large disturbance to the attitude of OTV. Steering the nozzle to track the estimated center of mass (ECM) of OTV can reduce but not remove the disturbance due to the difference between the ECM and the practical mass center (PCM) of OTV. The practical propelling direction will change with the internal motion during the propulsion process and attitude control system should be enabled to guarantee that the propelling direction is collinear with the command. Since the structural parameters have changed,which is due to internal motion and fuel consumption,the dynamic model have to be formulated to determine these time-varying parameters and the required attitude of OTV should be determined as well. Modulating attitude quaternion results in quasi Euler angles. Based on the resulting quasi Euler angles,a novel attitude switching control law is introduced to control the variable-mass OTV. Simulation results show that,even in the case of structural asymmetry,control torque matrix asymmetry,attitude disturbance and strong coupling between the channels,the attitude of OTV can be controlled perfectly,and the proposed attitude control law is effective for the variable-mass OTV with swing thruster.展开更多
Bistatic/multistatic radar has great potential advantages over its monostatic counterpart. However, the separation of a transmitter and a receiver leads to difficulties in locating the target position accurately and g...Bistatic/multistatic radar has great potential advantages over its monostatic counterpart. However, the separation of a transmitter and a receiver leads to difficulties in locating the target position accurately and guaranteeing space-timefrequency synchronization of the transmitter and the receiver.The error model of space-time-frequency synchronization in a motion platform of bistatic/multistatic radar is studied. The relationship between the space synchronization error and the transmitter platform position, receiver platform position, moving state, and beam pointing error, is analyzed. The effect of space synchronization error on target echo power is studied. The target scattering characteristics are restructured by many separate scattering centers of the target in high frequency regions. Based on the scattering centers model of the radar target, this radar target echo model and the simulation method are discussed. The algorithm of bistatic/multistatic radar target echo accurately reflects the scattering characteristics of the radar target, pulse modulation speciality of radar transmitting signals, and spacetime-frequency synchronization error characteristics between the transmitter station and the receiver station. The simulation of bistatic radar is completed in computer, and the results of the simulation validate the feasibility of the method.展开更多
Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode d...Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition (EMD), which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine (ELM), where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error (MAE) for the xp and yp components of pole coordinates, respectively.展开更多
In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom( DOF) attitude transformation was proposed for the space robot using a bionic joint...In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom( DOF) attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.展开更多
Stock price volatility is considered the main matter of concern within the investment grounds.However,the diffusivity of these prices should as well be considered.As such,proper modelling should be done for investors ...Stock price volatility is considered the main matter of concern within the investment grounds.However,the diffusivity of these prices should as well be considered.As such,proper modelling should be done for investors to stay healthy-informed.This paper suggest to model stock price diffusions using the heat equation from physics.We hypothetically state that,our model captures and model the diffusion bubbles of stock prices with a better precision of reality.We compared our model with the standard geometric Brownian motion model which is the wide commonly used stochastic differential equation in asset valuation.Interestingly,the models proved to agree as evidenced by a bijective relation between the volatility coefficients of the Brownian motion model and the diffusion coefficients of our heat diffusion model as well as the corresponding drift components.Consequently,a short proof for the martingale of our model is done which happen to hold.展开更多
Most modern consumer-grade cameras are often equipped with a rolling shutter mechanism,which is becoming increasingly important in computer vision,robotics and autonomous driving applications.However,its temporal-dyna...Most modern consumer-grade cameras are often equipped with a rolling shutter mechanism,which is becoming increasingly important in computer vision,robotics and autonomous driving applications.However,its temporal-dynamic imaging nature leads to the rolling shutter effect that manifests as geometric distortion.Over the years,researchers have made significant progress in developing tractable rolling shutter models,optimization methods,and learning approaches,aiming to remove geometry distortion and improve visual quality.In this survey,we review the recent advances in rolling shutter cameras from two aspects of motion modeling and deep learning.To the best of our knowledge,this is the first comprehensive survey of rolling shutter cameras.In the part of rolling shutter motion modeling and optimization,the principles of various rolling shutter motion models are elaborated and their typical applications are summarized.Then,the applications of deep learning in rolling shutter based image processing are presented.Finally,we conclude this survey with discussions on future research directions.展开更多
It is difficult to compute far-field waves in a relative large area by using one wave generation model when a large calculation domain is needed because of large dimensions of the waterway and long distance of the req...It is difficult to compute far-field waves in a relative large area by using one wave generation model when a large calculation domain is needed because of large dimensions of the waterway and long distance of the required computing points. Variation of waterway bathymetry and nonlinearity in the far field cannot be included in a ship fixed process either. A coupled method combining a wave generation model and wave propagation model is then used in this paper to simulate the wash waves generated by the passing ship. A NURBS-based higher order panel method is adopted as the stationary wave generation model; a wave spectrum method and Boussinesq-type equation wave model are used as the wave propagation model for the constant water depth condition and variable water depth condition, respectively. The waves calculated by the NURBS-based higher order panel method in the near field are used as the input for the wave spectrum method and the Boussinesq-type equation wave model to obtain the far-field waves. With this approach it is possible to simulate the ship wash waves including the effects of water depth and waterway bathymetry. Parts of the calculated results are validated experimentally, and the agreement is demonstrated. The effects of ship wash waves on the moored ship are discussed by using a diffraction theory method. The results indicate that the prediction of the ship induced waves by coupling models is feasible.展开更多
The estimated seismic hazard based on the delineated seismic source model is used as the basis to assign the seismic design loads in Canadian structural design codes.An alternative for the estimation is based on a spa...The estimated seismic hazard based on the delineated seismic source model is used as the basis to assign the seismic design loads in Canadian structural design codes.An alternative for the estimation is based on a spatially smoothed source model.However,a quantification of differences in the Canadian seismic hazard maps(CanSHMs)obtained based on the delineated seismic source model and spatially smoothed model is unavailable.The quantification is valuable to identify epistemic uncertainty in the estimated seismic hazard and the degree of uncertainty in the CanSHMs.In the present study,we developed seismic source models using spatial smoothing and historical earthquake catalogue.We quantified the differences in the estimated Canadian seismic hazard by considering the delineated source model and spatially smoothed source models.For the development of the spatially smoothed seismic source models,we considered spatial kernel smoothing techniques with or without adaptive bandwidth.The results indicate that the use of the delineated seismic source model could lead to under or over-estimation of the seismic hazard as compared to those estimated based on spatially smoothed seismic source models.This suggests that an epistemic uncertainty caused by the seismic source models should be considered to map the seismic hazard.展开更多
Lung image registration plays an important role in lung analysis applications,such as respiratory motion modeling.Unsupervised learning-based image registration methods that can compute the deformation without the req...Lung image registration plays an important role in lung analysis applications,such as respiratory motion modeling.Unsupervised learning-based image registration methods that can compute the deformation without the requirement of supervision attract much attention.However,it is noteworthy that they have two drawbacks:they do not handle the problem of limited data and do not guarantee diffeomorphic(topologypreserving)properties,especially when large deformation exists in lung scans.In this paper,we present an unsupervised few-shot learning-based diffeomorphic lung image registration,namely Dlung.We employ fine-tuning techniques to solve the problem of limited data and apply the scaling and squaring method to accomplish the diffeomorphic registration.Furthermore,atlas-based registration on spatio-temporal(4D)images is performed and thoroughly compared with baseline methods.Dlung achieves the highest accuracy with diffeomorphic properties.It constructs accurate and fast respiratory motion models with limited data.This research extends our knowledge of respiratory motion modeling.展开更多
This paper studies some key technologies of CNC system for cam grinding. The mathematical motion model for cam grinding is established according to the harmony of reciprocating motion of the grinding wheel and the rot...This paper studies some key technologies of CNC system for cam grinding. The mathematical motion model for cam grinding is established according to the harmony of reciprocating motion of the grinding wheel and the rotating motion of the workpiece. The method of using the linear servomotor to accomplish the grinding wheel tracking is developed and the dynamic model of the system is analyzed. Then the cross-coupled biaxial error compensation model is proposed. Finally, the hardware and software of the control system are designed based on open architecture. Some algorithms , such as spline fitting and interpolation for cam contour, velocity control and feed control, are presented to improve grinding precision.展开更多
文摘The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spatial-temporal structures,and the deep learning model can fully describe the potential semantic structure of human motion.To improve the authenticity of the generated human motion sequences,we propose a multi-task motion generation model that consists of a discriminator and a generator.The discriminator classifies motion sequences into different styles according to their similarity to the mean spatial-temporal templates from motion sequences of 17 crucial human joints in three-freedom degrees.And target motion sequences are created with these styles by the generator.Unlike traditional related works,our model can handle multiple tasks,such as identifying styles and generating data.In addition,by extracting 17 crucial joints from 29 human joints,our model avoids data redundancy and improves the accuracy of model recognition.The experimental results show that the discriminator of the model can effectively recognize diversified movements,and the generated data can correctly fit the actual data.The combination of discriminator and generator solves the problem of low reuse rate of motion data,and the generated motion sequences are more suitable for actual movement.
基金supported by the National Nature Science Foundation of China (62373246,62203299)the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University (SL2022MS008,SL2020ZD206,SL2022MS010)。
文摘Tracking the fast-moving object in occlusion situations is an important research topic in computer vision. Despite numerous notable contributions have been made in this field,few of them simultaneously incorporate both object's extrinsic features and intrinsic motion patterns into their methodologies,thereby restricting the potential for tracking accuracy improvement. In this paper, on the basis of efficient convolution operators(ECO) model, a speed-accuracy-balanced model is put forward. This model uses the simple correlation filter to track the object in real-time, and adopts the sophisticated deep-learning neural network to extract high-level features to train a more complex filter correcting the tracking mistakes, when the tracking state is judged to be poor. Furthermore, in the context of scenarios involving regular fast-moving, a motion model based on Kalman filter is designed which greatly promotes the tracking stability, because this motion model could predict the object's future location from its previous movement pattern. Additionally,instead of periodically updating our tracking model and training samples, a constrained condition for updating is proposed,which effectively mitigates contamination to the tracker from the background and undesirable samples avoiding model degradation when occlusion happens. From comprehensive experiments, our tracking model obtains better performance than ECO on object tracking benchmark 2015(OTB100), and improves the area under curve(AUC) by about 8% and 32% compared with ECO, in the scenarios of fast-moving and occlusion on our own collected dataset.
基金financially supported by the National High Technology Research and Development Program of China(863 Program,Grant No.2008AA092301)
文摘This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle (ROV), which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1:1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions. Rotation control motion was simulated to verify spatial model proposed. Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment, and accomplish some more challengeable and practical missions.
基金supported by National Natural Science Foundation of China(Grant No. 60975058)
文摘Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints(effecter constraints, kinematics constraints and physical constraints). The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61201311)
文摘Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the optimal fusion of the position measurements in different directions,is presented for the constraint coordinate Kalman filter(CCKF). The CCKF is evaluated with a comprehensive comparison to the state-of-art linear equality constraint estimation methods. Numerical simulation results demonstrate the better performance of the CCKF. Then the interacting multiple model CCKF(IMM-CCKF) is proposed to manifest the advantages of the CCKF in complex motion modeling and state estimations. The effectiveness of the IMM-CCKF in maneuvering target tracking with spatial equality constraints is demonstrated by numerical experiments.
基金The MKE(Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program(NIPA-2013-H0301-13-2006)supervised by the NIPA(National IT Industry Promotion Agency)The National Research Foundation of Korea(NRF)grant funded by the Korea government(MEST)(2013-029812)The MKE(Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2013-H1502-13-1001)
文摘In the field of mobile robotics,human tracking has emerged as an important objective for facilitating human-robot interaction.In this paper,we propose a particle-filter-based walking prediction model that will address an occlusion situation.Since the target being tracked is a human leg,a motion model for a leg is required.The validity of the proposed model is verified experimentally.
基金supported by the China National Key Basic Research Program (2007CB411702)the National Natural Science Fundation of China(40474036,40474039)+1 种基金Earthquake Industry Research Special MajorProjects China Comprehensive Geophysical Fied Observation( 200908029)the Old Expert Research Foundation of China Earth-quake Administration
文摘On the assumption that a plate is elastically deformable and may rotate as a whole, we found that Eurasian area may be divided into an Eurasian plate and three blocks of the Xiyu, the North China and the Southeast Asia according to tectonic frame of the East and Southeast Asia and the ITRF2008 velocity field in Eurasian area. F tests show that the accuracy of this elastic-plate/block model is significantly higher than the corresponding rigid-plate models; the area covered is notably larger also.
基金supported by the National Natural Science Foundation of China(No.52271367).
文摘In this paper, the online parameter identification problem of the mathematical model of an unmanned surface vehicle (USV) considering the characteristics of the actuator is studied. A data-driven mathematical model of motion is very meaningful to realize trajectory prediction and adaptive motion control of the USV. An interactive identification algorithm (ESO–MILS, extended state observer–multi-innovation least squares) based on ESO is proposed. The robustness of online identification is improved by expanding the state observer to estimate the current disturbance without making artificial assumptions. Specifically, the three-degree-of-freedom dynamic equation of the double propeller propulsion USV is constructed. A linear model for online identification is derived by parameterization. Based on the least square criterion function, it is proved that the interactive identification method with disturbance estimation can improve the identification accuracy from the perspective of mathematical expectation. The extended state observer is designed to estimate the unknown disturbance in the model. The online interactive update improves the disturbance immunity of the identification algorithm. Finally, the effectiveness of the interactive identification algorithm is verified by simulation experiment and real ship experiment.
基金supported by the Academy Innovation Fund Project (2013QNCX0101)
文摘Doppler blind zone (DBZ) has a bad influence on the airborne early warning radar, although it has good detection performance for low altitude targets with pulse Doppler (PD) technology. In target tracking, the blind zone can cause target tracking breakage easily. In order to solve this problem, a parallel particle filter (PF) algorithm based on multi-hypothesis motion models (MHMMs) is proposed. The algorithm produces multiple possible target motion models according to the DBZ constraint. Particles are updated with the constraint in each motion model. Once the first measurement from the target which reappears from DBZ falls into the particle cloud formed by any model, the measurementtrack association succeeds and track breakage is avoided. The simulation results show that on the condition of different DBZ ranges, a high association ratio can be got for targets with different maneuverability levels, which accordingly improves the tracking quality.
基金supported by the National Natural Science Foundation of China(50879090)the Key Research Program of Hydrodynamics of China(9140A14030712JB11044)
文摘A frequency domain analysis method based on the three-dimensional translating-pulsating (3DTP) source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating (3DP) source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.
文摘As for orbit transfer vehicle (OTV) with multiple satellites/payloads carried,the release of each payload will bring serious change to the mass center of OTV and the thrust produced by the swing thruster will form a rather large disturbance to the attitude of OTV. Steering the nozzle to track the estimated center of mass (ECM) of OTV can reduce but not remove the disturbance due to the difference between the ECM and the practical mass center (PCM) of OTV. The practical propelling direction will change with the internal motion during the propulsion process and attitude control system should be enabled to guarantee that the propelling direction is collinear with the command. Since the structural parameters have changed,which is due to internal motion and fuel consumption,the dynamic model have to be formulated to determine these time-varying parameters and the required attitude of OTV should be determined as well. Modulating attitude quaternion results in quasi Euler angles. Based on the resulting quasi Euler angles,a novel attitude switching control law is introduced to control the variable-mass OTV. Simulation results show that,even in the case of structural asymmetry,control torque matrix asymmetry,attitude disturbance and strong coupling between the channels,the attitude of OTV can be controlled perfectly,and the proposed attitude control law is effective for the variable-mass OTV with swing thruster.
基金supported by the National Natural Science Foundation of China(61271327)
文摘Bistatic/multistatic radar has great potential advantages over its monostatic counterpart. However, the separation of a transmitter and a receiver leads to difficulties in locating the target position accurately and guaranteeing space-timefrequency synchronization of the transmitter and the receiver.The error model of space-time-frequency synchronization in a motion platform of bistatic/multistatic radar is studied. The relationship between the space synchronization error and the transmitter platform position, receiver platform position, moving state, and beam pointing error, is analyzed. The effect of space synchronization error on target echo power is studied. The target scattering characteristics are restructured by many separate scattering centers of the target in high frequency regions. Based on the scattering centers model of the radar target, this radar target echo model and the simulation method are discussed. The algorithm of bistatic/multistatic radar target echo accurately reflects the scattering characteristics of the radar target, pulse modulation speciality of radar transmitting signals, and spacetime-frequency synchronization error characteristics between the transmitter station and the receiver station. The simulation of bistatic radar is completed in computer, and the results of the simulation validate the feasibility of the method.
基金supported by Chinese Academy of Sciences(No.201491)“Light of West China” Program(201491)
文摘Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition (EMD), which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine (ELM), where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error (MAE) for the xp and yp components of pole coordinates, respectively.
文摘In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom( DOF) attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.
文摘Stock price volatility is considered the main matter of concern within the investment grounds.However,the diffusivity of these prices should as well be considered.As such,proper modelling should be done for investors to stay healthy-informed.This paper suggest to model stock price diffusions using the heat equation from physics.We hypothetically state that,our model captures and model the diffusion bubbles of stock prices with a better precision of reality.We compared our model with the standard geometric Brownian motion model which is the wide commonly used stochastic differential equation in asset valuation.Interestingly,the models proved to agree as evidenced by a bijective relation between the volatility coefficients of the Brownian motion model and the diffusion coefficients of our heat diffusion model as well as the corresponding drift components.Consequently,a short proof for the martingale of our model is done which happen to hold.
基金This work was supported in part by National Natural Science Foundation of China(Nos.62271410,61901387 and 62001394)the Fundamental Research Funds for the Central Universities,China,and the Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University,China(No.CX2022046).
文摘Most modern consumer-grade cameras are often equipped with a rolling shutter mechanism,which is becoming increasingly important in computer vision,robotics and autonomous driving applications.However,its temporal-dynamic imaging nature leads to the rolling shutter effect that manifests as geometric distortion.Over the years,researchers have made significant progress in developing tractable rolling shutter models,optimization methods,and learning approaches,aiming to remove geometry distortion and improve visual quality.In this survey,we review the recent advances in rolling shutter cameras from two aspects of motion modeling and deep learning.To the best of our knowledge,this is the first comprehensive survey of rolling shutter cameras.In the part of rolling shutter motion modeling and optimization,the principles of various rolling shutter motion models are elaborated and their typical applications are summarized.Then,the applications of deep learning in rolling shutter based image processing are presented.Finally,we conclude this survey with discussions on future research directions.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.50879066 and 51409201)the Research Fund for the Doctoral Program of Higher Education of China(Grant No.200804970009)
文摘It is difficult to compute far-field waves in a relative large area by using one wave generation model when a large calculation domain is needed because of large dimensions of the waterway and long distance of the required computing points. Variation of waterway bathymetry and nonlinearity in the far field cannot be included in a ship fixed process either. A coupled method combining a wave generation model and wave propagation model is then used in this paper to simulate the wash waves generated by the passing ship. A NURBS-based higher order panel method is adopted as the stationary wave generation model; a wave spectrum method and Boussinesq-type equation wave model are used as the wave propagation model for the constant water depth condition and variable water depth condition, respectively. The waves calculated by the NURBS-based higher order panel method in the near field are used as the input for the wave spectrum method and the Boussinesq-type equation wave model to obtain the far-field waves. With this approach it is possible to simulate the ship wash waves including the effects of water depth and waterway bathymetry. Parts of the calculated results are validated experimentally, and the agreement is demonstrated. The effects of ship wash waves on the moored ship are discussed by using a diffraction theory method. The results indicate that the prediction of the ship induced waves by coupling models is feasible.
基金The support of the Fundamental Research Funds from the Central Universities,CHD(Grant No.300102282103)Natural Science Basic Research Program of Shaanxi(Program No.2023-JC-QN-0512)Harbin Institute of Technology(Shenzhen)。
文摘The estimated seismic hazard based on the delineated seismic source model is used as the basis to assign the seismic design loads in Canadian structural design codes.An alternative for the estimation is based on a spatially smoothed source model.However,a quantification of differences in the Canadian seismic hazard maps(CanSHMs)obtained based on the delineated seismic source model and spatially smoothed model is unavailable.The quantification is valuable to identify epistemic uncertainty in the estimated seismic hazard and the degree of uncertainty in the CanSHMs.In the present study,we developed seismic source models using spatial smoothing and historical earthquake catalogue.We quantified the differences in the estimated Canadian seismic hazard by considering the delineated source model and spatially smoothed source models.For the development of the spatially smoothed seismic source models,we considered spatial kernel smoothing techniques with or without adaptive bandwidth.The results indicate that the use of the delineated seismic source model could lead to under or over-estimation of the seismic hazard as compared to those estimated based on spatially smoothed seismic source models.This suggests that an epistemic uncertainty caused by the seismic source models should be considered to map the seismic hazard.
基金the National Natural Science Foundation of China(No.61801413)the Natural Science Foundation of Fujian Province(Nos.2019J05123 and 2017J05110)。
文摘Lung image registration plays an important role in lung analysis applications,such as respiratory motion modeling.Unsupervised learning-based image registration methods that can compute the deformation without the requirement of supervision attract much attention.However,it is noteworthy that they have two drawbacks:they do not handle the problem of limited data and do not guarantee diffeomorphic(topologypreserving)properties,especially when large deformation exists in lung scans.In this paper,we present an unsupervised few-shot learning-based diffeomorphic lung image registration,namely Dlung.We employ fine-tuning techniques to solve the problem of limited data and apply the scaling and squaring method to accomplish the diffeomorphic registration.Furthermore,atlas-based registration on spatio-temporal(4D)images is performed and thoroughly compared with baseline methods.Dlung achieves the highest accuracy with diffeomorphic properties.It constructs accurate and fast respiratory motion models with limited data.This research extends our knowledge of respiratory motion modeling.
文摘This paper studies some key technologies of CNC system for cam grinding. The mathematical motion model for cam grinding is established according to the harmony of reciprocating motion of the grinding wheel and the rotating motion of the workpiece. The method of using the linear servomotor to accomplish the grinding wheel tracking is developed and the dynamic model of the system is analyzed. Then the cross-coupled biaxial error compensation model is proposed. Finally, the hardware and software of the control system are designed based on open architecture. Some algorithms , such as spline fitting and interpolation for cam contour, velocity control and feed control, are presented to improve grinding precision.