Autonomous aerial refueling(AAR)has demonstrated significant benefits to aviation by extending the aircraft range and endurance.It is of significance to assess system safety for autonomous aerial refueling.In this pap...Autonomous aerial refueling(AAR)has demonstrated significant benefits to aviation by extending the aircraft range and endurance.It is of significance to assess system safety for autonomous aerial refueling.In this paper,the reachability analysis method is adopted to assess system safety.Due to system uncertainties,the aerial refueling system can be considered as a stochastic system.Thus,probabilistic reachability is considered.Since there is a close relationship between reachability probability and collision probability,the collision probability of the AAR system is analyzed by using reachability analysis techniques.Then,the collision probability is accessed by using the Monte-Carlo experiment method.Finally,simulations demonstrate the effectiveness of the proposed safety assessment method.展开更多
A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum...A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum-jerk based interpolation.In each key frame,an improved in～verse kinematics method was adopted to obtain a believable posture of the upper limb.By comparing with the real movement data obtained from the motion capture device,the resultant animation was testified to be natural.This method can be performed in interactive time,and therefore is applicable in animation edit and control of virtual humans.展开更多
基金This work was supported by the National Natural Science Foundation of China(No.61933010).
文摘Autonomous aerial refueling(AAR)has demonstrated significant benefits to aviation by extending the aircraft range and endurance.It is of significance to assess system safety for autonomous aerial refueling.In this paper,the reachability analysis method is adopted to assess system safety.Due to system uncertainties,the aerial refueling system can be considered as a stochastic system.Thus,probabilistic reachability is considered.Since there is a close relationship between reachability probability and collision probability,the collision probability of the AAR system is analyzed by using reachability analysis techniques.Then,the collision probability is accessed by using the Monte-Carlo experiment method.Finally,simulations demonstrate the effectiveness of the proposed safety assessment method.
基金Supported by Science and Technology Project of Tianjin(No.06YFGZGX06200).
文摘A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum-jerk based interpolation.In each key frame,an improved in～verse kinematics method was adopted to obtain a believable posture of the upper limb.By comparing with the real movement data obtained from the motion capture device,the resultant animation was testified to be natural.This method can be performed in interactive time,and therefore is applicable in animation edit and control of virtual humans.
