This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is d...This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.展开更多
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 mo...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.展开更多
In 1866, after the Opium Wars, the Chinese official Zuo Zongtang established the Foochow Navy Yard, which aimed to facilitate the independent construction of modern warships. French advisers, engineers, teachers, and ...In 1866, after the Opium Wars, the Chinese official Zuo Zongtang established the Foochow Navy Yard, which aimed to facilitate the independent construction of modern warships. French advisers, engineers, teachers, and craftsmen were hired, and a series of French schools for naval construction, drawing, and apprenticeship were set up. Previous studies have nearly exhausted the historical material on the Foochow Navy Yard, but few of them give an exact evaluation on its shipbuilding and educational levels. This paper traces the French sources on the shipbuilding technology and educational system at the Foochow Navy Yard and conducts a comparative study. With the guidance and assistance of foreigners, the Foochow Navy Yard gained the ability to assemble ships and imitate engines, while it remained necessary to import design drawings and structural components. The most outstanding students that the navy yard nurtured may have reached the level of école Polytechnique graduates, but the quality of students was hard to maintain. The backwardness of its conceptualization and the lack of financial and political support also contributed to its decline.展开更多
Brain injuries in sports drew more and more public attentions in recent years. Brain injuries vary by name, type, and severity in the athletic setting. It should be noted, however, that these injuries are not isolated...Brain injuries in sports drew more and more public attentions in recent years. Brain injuries vary by name, type, and severity in the athletic setting. It should be noted, however, that these injuries are not isolated to only the athletic arena, as non-athletic mechanisms (e.g., motor vehicle accidents) are more common causes of traumatic brain injuries (TBI) among teenagers. Notwithstanding, as many as 1.6 to 3.8 million TBI result from sports and recreation each year in the United States alone. These injuries are extremely costly to the global health care system, and make TBI among the most expensive conditions to treat in children. This article serves to define common brain injuries in sport; describe their prevalence, what happens to the brain following injury, how to recognize and manage these injuries, and what you can expect as the athlete recovers. Some return-to-activity considerations for the brain-injured athlete will also be discussed.展开更多
Regarding the growth of global energy consumption and the paucity of light crude oil, extracting and using heavy and extra heavy crude oil has received much more attention, but the application of this kind of oil is c...Regarding the growth of global energy consumption and the paucity of light crude oil, extracting and using heavy and extra heavy crude oil has received much more attention, but the application of this kind of oil is complicated due to its very high molecular weight. High viscosity and low flowability complicate the transportation of heavy and extra heavy crude oil. Accordingly, it is essential to reduce the viscosity of heavy and extra heavy crude oil through in-situ operations or immediate actions after extraction to reduce costs. Numerical simulations are influential methods, because they reduce calculation time and costs. In this study, the cracking of extra heavy crude oil using computational fluid dynamics is simulated, and a unique kinetic model is proposed based on experimental procedures to predict the behavior of extra heavy crude oil cracking reaction. Moreover, the hydrodynamics and heat transfer of the system and influence of nanocatalysts and temperature on the upgrading of crude oil are studied. The geometry of a reactor is produced using commercial software, and some experiments are performed to examine the validity and accuracy of the numerical results. The findings reveal that there is a good agreement between the numerical and experimental results. Furthermore, to investigate the main factors affecting the process, sensitivity analysis is adopted. Results show that type of catalyst and concentration of catalyst are the parameters that influence the viscosity reduction of extra heavy crude oil the most. The findings further revealed that when using a 25 nm SiO_2 nanocatalyst, a maximum viscosity reduction of 98.67% is observed at 623 K. Also, a catalyst concentration of 2.28 wt% is best for upgrading extra heavy crude oil. The results obtained through sensitivity analysis, simulation model, and experiments represent effectual information for the design and development of high performance upgrading processes for energy applications.展开更多
To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using d...To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using different techniques,yet the proprioceptive mechanisms underlying human movement control are still unclear.In the current work we have reviewed understanding of proprioception and the three testing methods:threshold to detection of passive motion,joint position reproduction,and active movement extent discrimination,all of which have been used for assessing proprioception.The origin of the methods,the different testing apparatus,and the procedures and protocols used in each approach are compared and discussed.Recommendations are made for choosing an appropriate technique when assessing proprioceptive mechanisms in different contexts.展开更多
Drag force is a key parameter in the numerical modeling of gas-particle flow in circulating fluidized beds. The reliability of current drag force correlations over the regime of fast fluidization has, however, not bee...Drag force is a key parameter in the numerical modeling of gas-particle flow in circulating fluidized beds. The reliability of current drag force correlations over the regime of fast fluidization has, however, not been thoroughly investigated. In this article, a drag force correlation accounting for the clustering effects for Geldart A particles is used to simulate the behaviors typical of fast fluidization, including dynamic evolution of clusters as well as time- averaged axial and lateral voidage profiles. Diverse images of clusters are captured and the time-averaged profiles of voidage are shown to be in quantitative agreement with the present empirical correlation. The results based on different constitutive correlations of drag force show the importance of the choice of drag force in modeling fast-fluidized beds. This drag force correlation, based on a simple averaging assumption, could give some basic insights about the magnitude of the drag reduction.展开更多
Remote sensing image segmentation is the basis of image understanding and analysis. However,the precision and the speed of segmentation can not meet the need of image analysis,due to strong uncertainty and rich textur...Remote sensing image segmentation is the basis of image understanding and analysis. However,the precision and the speed of segmentation can not meet the need of image analysis,due to strong uncertainty and rich texture details of remote sensing images. We proposed a new segmentation method based on Adaptive Genetic Algorithm(AGA) and Alternative Fuzzy C-Means(AFCM) . Segmentation thresholds were identified by AGA. Then the image was segmented by AFCM. The results indicate that the precision and the speed of segmentation have been greatly increased,and the accuracy of threshold selection is much higher compared with traditional Otsu and Fuzzy C-Means(FCM) segmentation methods. The segmentation results also show that multi-thresholds segmentation has been achieved by combining AGA with AFCM.展开更多
The self-organized evolution technology of the mechanism kinetic scheme based on axiomatic design is presented. This technology tries to express the constraints between kinetic mechanisms briefly in a semantic form wh...The self-organized evolution technology of the mechanism kinetic scheme based on axiomatic design is presented. This technology tries to express the constraints between kinetic mechanisms briefly in a semantic form which is more familiar to the designers. Through the mapping process between the kinetic chain unit and the unit instance, the evolution from abstract unit to concrete engineering instance is achieved. The subdivision of unit coupling semantics is studied, and the evolution of semantics is finished. Also, the semantic constraints evolution of unit coupling semantics is described. The product structure models with function and assembly meanings are constructed based on the kinematic chain unit and unit coupling. It provides a basis to realize the inheritance and transfer of constraint information from conceptual design to design for assembly (DFA). As the engineering practice result shows, the method can help the engineers express their And the automation, recursion and design intension more clearly and naturally in a high semantic level. visualization of the mechanism kinetic scheme design are realized展开更多
To solve the problem of insufficient ability when detecting the high-speed moving target with passive millimeter wave technology, a direct-detection passive millimeter wave detecting system using the monolithic microw...To solve the problem of insufficient ability when detecting the high-speed moving target with passive millimeter wave technology, a direct-detection passive millimeter wave detecting system using the monolithic microwave integrated cir- cuit (MMIC) millimeter wave radiometer is built, and the measured data are obtained by experiment under different condi- tions. Based on feature analysis of testing signals, it points out that the peak of the first pulse and interval of two peak pulses are valid features which can reflect the motion characteristic of target. A method to calculate the moving speed of target is put forward. The calculating results indicate that the proposed method has enough accuracy and is feasible to determine the parameters of the moving target using for passive millimeter wave system.展开更多
Along with the development of motion capture technique, more and more 3D motion databases become available. In this paper, a novel approach is presented for motion recognition and retrieval based on ensemble HMM (hidd...Along with the development of motion capture technique, more and more 3D motion databases become available. In this paper, a novel approach is presented for motion recognition and retrieval based on ensemble HMM (hidden Markov model) learning. Due to the high dimensionality of motion’s features, Isomap nonlinear dimension reduction is used for training data of ensemble HMM learning. For handling new motion data, Isomap is generalized based on the estimation of underlying eigen- functions. Then each action class is learned with one HMM. Since ensemble learning can effectively enhance supervised learning, ensembles of weak HMM learners are built. Experiment results showed that the approaches are effective for motion data recog- nition and retrieval.展开更多
基金Project (No.2002CB312200) supported by the National Basic Research Program (973) of China
文摘This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution,which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2Dpath planning problems.
文摘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.
文摘In 1866, after the Opium Wars, the Chinese official Zuo Zongtang established the Foochow Navy Yard, which aimed to facilitate the independent construction of modern warships. French advisers, engineers, teachers, and craftsmen were hired, and a series of French schools for naval construction, drawing, and apprenticeship were set up. Previous studies have nearly exhausted the historical material on the Foochow Navy Yard, but few of them give an exact evaluation on its shipbuilding and educational levels. This paper traces the French sources on the shipbuilding technology and educational system at the Foochow Navy Yard and conducts a comparative study. With the guidance and assistance of foreigners, the Foochow Navy Yard gained the ability to assemble ships and imitate engines, while it remained necessary to import design drawings and structural components. The most outstanding students that the navy yard nurtured may have reached the level of école Polytechnique graduates, but the quality of students was hard to maintain. The backwardness of its conceptualization and the lack of financial and political support also contributed to its decline.
文摘Brain injuries in sports drew more and more public attentions in recent years. Brain injuries vary by name, type, and severity in the athletic setting. It should be noted, however, that these injuries are not isolated to only the athletic arena, as non-athletic mechanisms (e.g., motor vehicle accidents) are more common causes of traumatic brain injuries (TBI) among teenagers. Notwithstanding, as many as 1.6 to 3.8 million TBI result from sports and recreation each year in the United States alone. These injuries are extremely costly to the global health care system, and make TBI among the most expensive conditions to treat in children. This article serves to define common brain injuries in sport; describe their prevalence, what happens to the brain following injury, how to recognize and manage these injuries, and what you can expect as the athlete recovers. Some return-to-activity considerations for the brain-injured athlete will also be discussed.
基金Supported by the Iranian National Science Foundation(INSF)under grant number91042428
文摘Regarding the growth of global energy consumption and the paucity of light crude oil, extracting and using heavy and extra heavy crude oil has received much more attention, but the application of this kind of oil is complicated due to its very high molecular weight. High viscosity and low flowability complicate the transportation of heavy and extra heavy crude oil. Accordingly, it is essential to reduce the viscosity of heavy and extra heavy crude oil through in-situ operations or immediate actions after extraction to reduce costs. Numerical simulations are influential methods, because they reduce calculation time and costs. In this study, the cracking of extra heavy crude oil using computational fluid dynamics is simulated, and a unique kinetic model is proposed based on experimental procedures to predict the behavior of extra heavy crude oil cracking reaction. Moreover, the hydrodynamics and heat transfer of the system and influence of nanocatalysts and temperature on the upgrading of crude oil are studied. The geometry of a reactor is produced using commercial software, and some experiments are performed to examine the validity and accuracy of the numerical results. The findings reveal that there is a good agreement between the numerical and experimental results. Furthermore, to investigate the main factors affecting the process, sensitivity analysis is adopted. Results show that type of catalyst and concentration of catalyst are the parameters that influence the viscosity reduction of extra heavy crude oil the most. The findings further revealed that when using a 25 nm SiO_2 nanocatalyst, a maximum viscosity reduction of 98.67% is observed at 623 K. Also, a catalyst concentration of 2.28 wt% is best for upgrading extra heavy crude oil. The results obtained through sensitivity analysis, simulation model, and experiments represent effectual information for the design and development of high performance upgrading processes for energy applications.
基金the University of Canberra,Key Laboratory of Exercise and Health Sciences of Ministry of Education,Shanghai University of Sport and Shanghai Municipal Science and Technology Commission (No.13490503800)supported by Shanghai Pujiang Program (No.15PJ1407600)
文摘To control movement,the brain has to integrate proprioceptive information from a variety of mechanoreceptors.The role of proprioception in daily activities,exercise,and sports has been extensively investigated,using different techniques,yet the proprioceptive mechanisms underlying human movement control are still unclear.In the current work we have reviewed understanding of proprioception and the three testing methods:threshold to detection of passive motion,joint position reproduction,and active movement extent discrimination,all of which have been used for assessing proprioception.The origin of the methods,the different testing apparatus,and the procedures and protocols used in each approach are compared and discussed.Recommendations are made for choosing an appropriate technique when assessing proprioceptive mechanisms in different contexts.
基金the National Key Technologies R&D Program (2001BA401A03-10).
文摘Drag force is a key parameter in the numerical modeling of gas-particle flow in circulating fluidized beds. The reliability of current drag force correlations over the regime of fast fluidization has, however, not been thoroughly investigated. In this article, a drag force correlation accounting for the clustering effects for Geldart A particles is used to simulate the behaviors typical of fast fluidization, including dynamic evolution of clusters as well as time- averaged axial and lateral voidage profiles. Diverse images of clusters are captured and the time-averaged profiles of voidage are shown to be in quantitative agreement with the present empirical correlation. The results based on different constitutive correlations of drag force show the importance of the choice of drag force in modeling fast-fluidized beds. This drag force correlation, based on a simple averaging assumption, could give some basic insights about the magnitude of the drag reduction.
基金Under the auspices of National Natural Science Foundation of China (No. 30370267)Key Project of Jilin Provincial Science & Technology Department (No. 20075014)
文摘Remote sensing image segmentation is the basis of image understanding and analysis. However,the precision and the speed of segmentation can not meet the need of image analysis,due to strong uncertainty and rich texture details of remote sensing images. We proposed a new segmentation method based on Adaptive Genetic Algorithm(AGA) and Alternative Fuzzy C-Means(AFCM) . Segmentation thresholds were identified by AGA. Then the image was segmented by AFCM. The results indicate that the precision and the speed of segmentation have been greatly increased,and the accuracy of threshold selection is much higher compared with traditional Otsu and Fuzzy C-Means(FCM) segmentation methods. The segmentation results also show that multi-thresholds segmentation has been achieved by combining AGA with AFCM.
文摘The self-organized evolution technology of the mechanism kinetic scheme based on axiomatic design is presented. This technology tries to express the constraints between kinetic mechanisms briefly in a semantic form which is more familiar to the designers. Through the mapping process between the kinetic chain unit and the unit instance, the evolution from abstract unit to concrete engineering instance is achieved. The subdivision of unit coupling semantics is studied, and the evolution of semantics is finished. Also, the semantic constraints evolution of unit coupling semantics is described. The product structure models with function and assembly meanings are constructed based on the kinematic chain unit and unit coupling. It provides a basis to realize the inheritance and transfer of constraint information from conceptual design to design for assembly (DFA). As the engineering practice result shows, the method can help the engineers express their And the automation, recursion and design intension more clearly and naturally in a high semantic level. visualization of the mechanism kinetic scheme design are realized
文摘To solve the problem of insufficient ability when detecting the high-speed moving target with passive millimeter wave technology, a direct-detection passive millimeter wave detecting system using the monolithic microwave integrated cir- cuit (MMIC) millimeter wave radiometer is built, and the measured data are obtained by experiment under different condi- tions. Based on feature analysis of testing signals, it points out that the peak of the first pulse and interval of two peak pulses are valid features which can reflect the motion characteristic of target. A method to calculate the moving speed of target is put forward. The calculating results indicate that the proposed method has enough accuracy and is feasible to determine the parameters of the moving target using for passive millimeter wave system.
基金Project supported by the National Natural Science Foundation of China (Nos. 60533090 and 60525108), the National Basic Research Program (973) of China (No. 2002CB312101), and the Science and Technology Project of Zhejiang Province (Nos. 2005C13032 and 2005C11001-05), China
文摘Along with the development of motion capture technique, more and more 3D motion databases become available. In this paper, a novel approach is presented for motion recognition and retrieval based on ensemble HMM (hidden Markov model) learning. Due to the high dimensionality of motion’s features, Isomap nonlinear dimension reduction is used for training data of ensemble HMM learning. For handling new motion data, Isomap is generalized based on the estimation of underlying eigen- functions. Then each action class is learned with one HMM. Since ensemble learning can effectively enhance supervised learning, ensembles of weak HMM learners are built. Experiment results showed that the approaches are effective for motion data recog- nition and retrieval.