Correlation of the slope of the initial part of P-wave envelope,hypocenter depth and plate boundary

We investigated correlation of the slope of the initial part of P-wave envelope, hypocenter depth and plate boundaries by B-Δ method, which is used to determine epicentral distances in the Japan Meteorological Agency and Japan Railway Company earthquake early warning(EEW) systems. The Tohoku region was chosen as the study region. 19,899 strong motion data for 265 events with magnitudes in the range from 5.0 to 7.6 from KiK-net(Kiban Kyoshin network) had been collected. The coefficient c to investigate is obtained from the linear relation between log B and log Δ. Compared to the hypocenter depth, the coefficients c of events is more likely to decide by the spatial correlation of the plate boundaries. The differences are likely to be due to earthquake characteristics, since deeper events in the subducting slabs the structural effects are likely to be larger than or comparable to those for shallow crust events.

Component azimuths of the CEArray stations estimated from P-wave particle motion

The recently built China Digital Seismic Network consists of the China National Digital Seismic Network （CNDSN）, 31 regional seismic networks and several small aperture arrays with more than 1 000 stations including 850＋ broadband stations. It forms a gigantic seismic array that provides an unprecedented opportunity to study the Earth＇s deep interior besides its routine task of seismic monitoring. Many modern seismic studies rely on rotation of vertical and horizontal components in order to separate different types of seismic waves. Knowledge of the orientations of the two horizontal components thus is important to perform a correction rotation. We analyzed particle motions of teleseismic P waves recorded by the network and used them to estimate the northcomponent azimuth of each station. An SNR-weighted-multi-event method was introduced to obtain component azimuths that best explain the P-wave particle motions of all the events recorded at a station. The method provides robust estimates including a measurement error calculated from background noise levels. We found that about one third of the stations have some sort of problems, including misorientation of the two horizontal components, mislabeling and polarity reversal in one or more components. These problems need to be taken into account for any rotation based seismic studies.

Consistency and Stability Issues in the Numerical Integration of the First and Second Order Initial Value Problem

In this note we consider some basic, yet unusual, issues pertaining to the accuracy and stability of numerical integration methods to follow the solution of first order and second order initial value problems (IVP). Included are remarks on multiple solutions, multi-step methods, effect of initial value perturbations, as well as slowing and advancing the computed motion in second order problems.

Propagation of P-and S-waves in initially stressed gravitating half space

The present paper contributes in studying the phase velocities of P- and S-waves in a half space subjected to a compressive initial stress and gravity field. The density and acceleration due to gravity vary quadratically along the depth. The dispersion equation is derived in a closed form. It is shown that the phase velocities depend not only on the initial stress, gravity, and direction of propagation but also on the inhomogeneity parameter associated with the density and acceleration due to gravity. Various particular cases are obtained, and the results match with the classical results. Numerical investigations on the phase velocities of P- and S-waves against the wave number are made for various sets of values of the material parameters, and the results are illustrated graphically. The graphical user interface model is developed to generalize the effect.

多杆仿形式茶枝柑剥皮取肉装置设计与试验

广东新会一带的茶枝柑是“南药”广陈皮唯一来源,其初加工过程中剥皮取肉环节自动化程度低、并容易产生“汁溅”导致腐蚀广陈皮(俗称“烧皮”),为了实现茶枝柑初加工全程自动化,该研究研发一种新型茶枝柑自动剥皮取肉装置以解决上述问题。首先采用3D扫描与重构技术,获得人手剥皮时果皮真实轨迹和姿态数据,建立人手剥皮位姿数学模型;然后以人手剥皮位姿信息为目标,设计多杆仿形机构并使其轨迹和姿态逼近人手剥皮位姿;最后对设计好的多杆仿形机构进行仿真验证和分析,并加工装配出样机进行实际剥皮试验。试验结果表明,该装置可较好模拟人手剥皮时的位姿曲线,配合真空吸盘吸附,可实现茶枝柑机械式自动剥皮,然后配合包络式柔顺机械爪,实现了茶枝柑无损剥皮取肉,试验结果显示剥皮无损率为80%。该研究结果可为柑橘类水果剥皮初加工提供了理论和试验参考。

蒙冀辽交界地区地壳应力场研究

利用2008年1月1日-2021年12月31日发生在蒙冀辽交界地区的472个地震的P波初动符号资料,应用综合震源机制解法获得了蒙冀辽交界地区0.25°×0.25°精细应力场,所得应力场结果基本覆盖整个蒙冀辽交界地区。应力场反演结果显示:①蒙冀地区受拉张应力体系作用,主压应力场为东向,源自青藏高原东北边缘的强烈挤压作用。综合震源机制解类型主要为正断层和走滑型,P轴整体呈NE、NNE向,T轴整体呈NW或NNW方向,与前人研究该区域活动构造运动和地块受拉张和裂陷作用相符合。②蒙辽交界地区P波矛盾比较大,震源机制界面较为散乱,蒙辽或冀辽交界地区辽宁一侧震源机制解以逆断层为主,辽南地区震源机制以正断性质为主。

Initial costates derived by near-optimal reference sequence and least-squares method

In this paper,we present a novel initial costates solver for initializing time-optimal trajectory problems in relative motion with continuous low thrust.The proposed solver consists of two primary components:training a Multilayer Perceptron(MLP)for generating reference sequence and Time of Flight(TOF)to the target,and deriving a system of linear algebraic equations for obtaining the initial costates.To overcome the challenge of generating training samples for the MLP,the backward generation method is proposed to obtain five different training databases.The training database and sample form are determined by analyzing the input and output correlation using the Pearson correlation coefficient.The best-performing MLP is obtained by analyzing the training results with various hyper-parameter combinations.A reference sequence starting from the initial states is obtained by integrating forward with the near-optimal control vector from the output of MLP.Finally,a system of linear algebraic equations for estimating the initial costates is derived using the reference sequence and the necessary conditions for optimality.Simulation results demonstrate that the proposed initial costates solver improves the convergence ratio and reduce the function calls of the shooting function.Furthermore,Monte-Carlo simulation illustrates that the initial costates solver is applicable to different initial velocities,demonstrating excellent generalization ability.

起始破裂点位置对1932年昌马地震动的影响分析

起始破裂点位置是强地面运动模拟和预测的关键输入参数。为了进一步探究起始破裂点位置对强震模拟结果的影响,本文将非均匀凹凸体模型引入随机有限断层法,模拟了1932年昌马地震的强地面运动。结果显示:震中PGA随着起始破裂点位置的变化呈现明显的差异,产生高PGA值的起始破裂点大部分分布在断层左侧。起始破裂点对区域内PGA≥800 cm/s^(2)的空间分布影响有限,并且震中区PGA是整个区域内的最大值;对100~200 cm/s^(2)的PGA空间分布有较大影响;对其余范围PGA的空间分布影响较小。PGA衰减关系受起始破裂点位置的影响较大,起始破裂点位于断层中部和中下部偏右时,计算结果与第五代中国地震动参数区划图中的预测衰减关系较为符合。起始破裂点位置对反应谱影响的结果表明:震中的反应谱受到的影响有限。对不同周期反应谱空间分布的研究发现:反应谱值分布均呈现随周期增大而衰减的趋势。相较于其他部位的起始破裂点,起始破裂点位于断层底部时的反应谱值分布随周期的变化规律有明显不同。本文讨论了起始破裂点位置对昌马地震研究区域内PGA和反应谱的影响,研究结果可为地震动模拟时起始破裂点位置在断层上的选择提供参考。

基于惯性传感器的免对准动作的人体上肢运动捕捉方法

基于惯性传感器的人体运动捕捉系统,通常在进行运动捕捉前需要执行特定的标准动作来完成对准,以获得IMU坐标系相对肢体坐标系的姿态。运动受限用户(如偏瘫患者)无法完成一些标准动作,而运动正常用户也不能保证均能正确执行标准动作,从而导致人体运动捕捉误差。为了克服现有方法的不足,研究了一种基于惯性传感器的免对准动作的人体上肢运动捕捉方法,该方法无需执行特定对准动作,佩戴IMU后即可直接进行运动捕捉。通过与“T-Pose”静态对准方案比较,验证了免对准动作方法的有效性,并且基于OpenGL的虚拟人体模型进行了上肢运动捕捉实验。实验表明,所提出的方法简便有效,在无须执行标准对准动作的情况下仍具有较好的人体运动捕捉效果,适合偏瘫患者等行动受限的用户使用。

基于步态触觉信息的运动轨迹图像分割方法

人体在运动过程中,由于运动幅度和速度并没有遵循特定的规律,无法提取出运动轨迹的实际特征。为此,提出了一种基于步态触觉信息的运动轨迹图像分割方法,利用人体足跟与地面接触的脚印信息,获取步态触觉信息,通过轮廓检测函数计算图像轮廓的内外平均灰度值,利用形状特征因子,确定图像区域,提取出运动轨迹图像的初始轮廓。将图像的像素梯度作为一个二维向量,计算像素点梯度的灰度值,通过差分处理得到运动轨迹图像在灰度等级区间内的直方图,在离散形式下,增强运动轨迹图像轮廓。将增强处理之后的图像轮廓作为分割边界,确定前景区域和背景区域,实现运动轨迹图像的分割。实验结果表明,该方法能够根据人体运动过程中的步态触觉信息,分割运动轨迹图像,并将分割均匀度提高到80%以上。

Incipient Motion of Sediment Under Currents

Summarized in the paper are the author's studies on incipient motion of sediment in recent 40 years. In addition to the forces of gravity, drag and lift, the cohesive force and the additional static pressure are important for fine particles. The relations between three stages of incipient motion are defined by use of instantaneous velocity. Formulas for initial velocity and critical shear stress are given and overall verified by the author's and others' experimental data.

Complex Motion Modeling and State Estimation in Road Coordinates

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.

STUDY ON THE MATHEMATICAL MODEL FOR DRILL WANDERING MOTION

Based on the kinematic relationship of the drill, drill point and workpiece and the coordinate systems founded,the mathematical models of the drill point wandering motion for the drill initial penetration, i. e. the formulae for the drill point center locus, hole shape and cutting edge locus, are established. According to these formulae the hole shape to be made is simulated and analyzed. It is verified that the bending chatter of the drill during the drill penetrating is the main cause to form a polygon like hole.

High Accuracy On-line Measurement Method of Motion Error on Machine Tools Straight-going Parts

Harmonic suppression, non-periodic and non-closing in straightness profile error that will bring about harmonic component distortion in measurement result are analyzed. The countermeasure-a novel accurate two-probe method in time domain is put forward to measure straight-going component motion error in machine tools based on the frequency domain 3-point method after symmetrical continuation of probes' primitive signal. Both straight-going component motion error in machine tools and the profile error in workpiece that is manufactured on this machine can be measured at the same time. The information is available to diagnose the fault origin of machine tools. The analysis result is proved to be correct by the experiment.

基于改进粒子群算法的无人机三维路径规划

针对无人机在复杂多障碍环境下的路径规划问题,提出基于改进粒子群的优化算法。首先,通过统一障碍物环境建模、优化适应度函数,并采用混沌粒子初始化使粒子群多样化,增强了算法的稳定性;然后,用自适应加速度系数替代传统粒子群算法的加速度常数,避免陷入局部极小值,同时提高了算法收敛到全局最优解的效率;最后,用无人机运动编码代替传统粒子群算法中粒子搜索轨迹的编码方式,提高解的最优性,搜索最优解路径。仿真结果表明:当进行无人机路径规划时,改进粒子群算法可以有效解决复杂的多障碍环境中传统粒子群算法的问题,与灰狼优化算法、差分进化算法、量子粒子群算法和传统粒子群算法相比,改进后的算法在不同场景静态环境中路径寻优精度和稳定性明显提高,且与动态粒子群算法相比,新算法也能更好地适应动态环境。

DVL辅助的无人水下航行器回溯式无纬度运动对准方法

针对无人水下航行器需要精确的姿态信息而位置信息无法获得或无需提供的应用场景,提出一种多普勒测速仪(DVL)速度辅助的无纬度回溯运动对准方法。在粗对准阶段,通过对惯性系视速度矢量拟合粗略估计惯性导航系统(INS)的姿态矩阵和纬度信息,并完成惯性传感器数据的抽取和存储;在精对准阶段,重复利用粗对准阶段的存储数据完成INS/DVL卡尔曼滤波精对准。采用数据压缩存储和正向回溯导航技术,减小了存储空间和计算量,等效缩短了对准时间。船载实验表明,算法可在初始纬度未知条件下10min完成行进间对准,航向精度达0.085°,与纬度已知的传统对准方法精度相当。

论物质初始状态

宇宙空间中从没有物质的状态到有物质的状态,存在一个从无到有的转折点,将这样一个转折点定义为初始时刻。物质在初始时刻的状态就是物质初始状态。对物质初始状态进行了定性分析和定量分析。从定性的角度来说,初始时刻的物质有速度、有质量、有温度。从定量的角度来说,在初始时刻有且只有一个物质。如果认同宇宙质量守恒,则该物质的质量是宇宙总质量。该物质以光速保持匀速直线运动,该物质的温度是宇宙热平衡温度,这就是物质在宇宙空间中的初始状态。

基于初态激扰法的铁道车辆蛇行运动不稳定极限环求解

针对铁道车辆蛇行运动分岔图中不稳定极限环通过整车动力学仿真求解困难的问题,提出直接积分求解不稳定极限环的方法——初态激扰法。该方法利用多体系统动力学软件Simpack建立高速列车动力学模型,采用Matlab软件对拟周期解进行动态加权调整后作为车辆系统主要部件的初始状态,在光滑轨道上时域积分获取刚体运动状态,在轮对横移幅值随运行速度变化的分岔图中绘制不稳定极限环及平衡点和稳定极限环,从而得到完整的车辆蛇行运动分岔图。以某高速列车为例,基于初态激扰法求解不同轮轨接触工况和抗蛇行减振器故障工况下蛇行运动分岔曲线。结果表明:新轮和磨耗轮工况的车辆蛇行运动分别对应Hopf亚临界分岔和超临界分岔行为,且磨耗轮工况下蛇行运动由亚临界分岔变为超临界分岔;不改变抗蛇行减振器阻尼仅减小卸荷力,对车辆Hopf分岔临界速度没有影响,但会降低车辆LPC (Limit Point Bifurcation of Circles)分岔临界速度并减小不稳定极限环的幅值,从而降低车辆横向稳定性。

考虑运动副间隙的动涡旋盘运动学特征及磨损研究

动涡旋盘与十字滑环组成的运动副间隙易造成涡旋压缩机产生振动与冲击。通过在低转速条件下对动涡旋盘、十字滑环等关键运动部件进行运动学仿真,揭示十字滑环与动涡旋盘产生冲击的原因。运动副之间的磨损增大十字滑环与动涡旋盘之间的冲击,通过试验研究涡旋压缩机工作过程中十字滑环与动涡旋盘配副的磨损特征,预测涡旋盘的工作寿命。研究发现:十字滑环凸键对机架键槽的冲击比对动涡旋盘键槽的冲击更大,而它与动涡旋盘键槽组成的运动副间隙与动涡旋盘自转现象具有显著的正相关性,动涡旋盘自转过大易造成涡旋齿干涉撞齿;当十字滑环凸键与动涡旋盘键槽接触角磨损至5.443°时,动涡旋盘在x、y轴方向上的平均角速度较理想状态下增加了约120%,此时涡旋齿即将发生首次干涉现象。

炮弹起始扰动姿轨耦合建模与微多普勒特征分析

基于动力学与运动学原理的雷达回波建模是炮弹目标微多普勒特征分析与参数提取的理论基础。该文首先对炮弹在直线弹道段受到的起始扰动进行分析,结合炮弹目标动力学方程,建立了以两圆运动模式为特征的炮弹角运动模型,阐明了炮弹目标自旋、章动和进动等角运动的含义;在此基础上,推导了炮弹角运动产生的微多普勒信号参数化表征,获得了炮弹目标角运动对目标回波在信号级的映射关系;然后,对高速自旋炮弹和低速自旋尾翼炮弹两种典型目标角运动受起始扰动影响的雷达回波信号进行仿真和时频分析,并基于炮弹目标实测数据对比验证了理论分析与模型的正确性。通过理论分析、建模仿真与实验验证,丰富和验证了炮弹目标的微多普勒效应理论,为炮弹目标运动特性辨识提供了理论和技术支撑。