Influence of the Randomness of Longitudinal Resistance of Ballast Bed on Track-Bridge Interaction

To get the influence of the randomness of longitudinal resistance of ballast bed (LRBB) on track-bridge interaction, the statistical law of LRBB was studied with existing test data and the Shapiro-Wilk test. Based on the principle of track-bridge interaction, a rail-sleeper-bridge-pier integrated simulation model that could consider the randomness of LRBB was established. Taking a continuous beam bridge for the heavy-haul railway as an example, the effect of the randomness of LRBB on the mechanical behavior of continuous welded rail (CWR) on bridges under typical conditions was carefully examined with a random sampling method and the simulation model. The results show that the LRBB corresponding sleeper displacement of 2 mm obeys a normal distribution. When the randomness of LRBB is considered, the amplitudes of rail expansion force, rail bending force, rail braking force and rail broken gap all follow normal distribution. As the standard deviations of the four indexes are small, which indicates the randomness of LRBB has little effect on track-bridge interaction. The distributions of the four indexes make it possible to design CWR on bridges with the limit state method.

Multiparameter Numerical Investigation of Two Types of Moving Interactions Between the Deep-Sea Mining Vehicle Track Plate and Seabed Soil:Digging and Rotating Motions

To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.

Beam-track interaction of high-speed railway bridge with ballast track

Based on the construction bridge of Xiamen-Shenzhen high-speed railway(9-32 m simply-supported beam + 6×32 m continuous beam),the pier-beam-track finite element model,where the continuous beam of the ballast track and simply-supported beam are combined with each other,was established.The laws of the track stress,the pier longitudinal stress and the beam-track relative displacement were analyzed.The results show that reducing the longitudinal resistance can effectively reduce the track stress and the pier stress of the continuous beam,and increase the beam-track relative displacement.Increasing the rigid pier stiffness of continuous beam can reduce the track braking stress,increase the pier longitudinal stress and reduce the beam-track relative displacement,Increasing the rigid pier stiffness of simply-supported beam can reduce the track braking stress,the rigid pier longitudinal stress and the beam-track relative displacement.

Mechanical characteristic variation of ballastless track in highspeed railway:effect of train–track interaction and environment loads

Due to the fact that ballastless tracks in highspeed railways are not only subjected to repeated train–track dynamic interaction loads,but also suffer from complex environmental loads,the fundamental understanding of mechanical performance of ballastless tracks under sophisticated service conditions is an increasingly demanding and challenging issue in high-speed railway networks.This work aims to reveal the effect of train–track interaction and environment loads on the mechanical characteristic variation of ballastless tracks in high-speed railways,particularly focusing on the typical interface damage evolution between track layers.To this end,a finite element model of a double-block ballastless track involving the cohesive zone model for the track interface is first established to analyze the mechanical properties of the track interface under the loading–unloading processes of the negative temperature gradient load(TGL)followed by the same cycle of the positive TGL.Subsequently,the effect of wheel–rail longitudinal interactions on the nonlinear dynamic characteristics of the track interface is investigated by using a vehicle-slab track vertical-longitudinal coupled dynamics model.Finally,the influence of dynamic water pressure induced by vehicle dynamic load on the mechanical characteristics and damage evolution of the track interface is elucidated using a fluid–solid coupling method.Results show that the loading history of the positive and negative TGLs has a great impact on the nonlinear development and distribution of the track interface stress and damage;the interface damage could be induced by the wheel–rail longitudinal vibrations at a high vehicle running speed owing to the dynamic amplification effect caused by short wave irregularities;the vehicle dynamic load could produce considerable water pressure that presents nonlinear spatial–temporal characteristics at the track interface,which would lead to the interface failure under a certain condition due to the coupled dynamic effect of vehicle load and water pressure.

Running safety and seismic optimization of a fault-crossing simply-supported girder bridge for high-speed railways based on a train-track-bridge coupling system

Bridges crossing active faults are more likely to suffer serious damage or even collapse due to the wreck capabilities of near-fault pulses and surface ruptures under earthquakes.Taking a high-speed railway simply-supported girder bridge with eight spans crossing an active strike-slip fault as the research object,a refined coupling dynamic model of the high-speed train-CRTS III slab ballastless track-bridge system was established based on ABAQUS.The rationality of the established model was thoroughly discussed.The horizontal ground motions in a fault rupture zone were simulated and transient dynamic analyses of the high-speed train-track-bridge coupling system under 3-dimensional seismic excitations were subsequently performed.The safe running speed limits of a high-speed train under different earthquake levels(frequent occurrence,design and rare occurrence)were assessed based on wheel-rail dynamic(lateral wheel-rail force,derailment coefficient and wheel-load reduction rate)and rail deformation(rail dislocation,parallel turning angle and turning angle)indicators.Parameter optimization was then investigated in terms of the rail fastener stiffness and isolation layer friction coefficient.Results of the wheel-rail dynamic indicators demonstrate the safe running speed limits for the high-speed train to be approximately 200 km/h and 80 km/h under frequent and design earthquakes,while the train is unable to run safely under rare earthquakes.In addition,the rail deformations under frequent,design and rare earthquakes meet the safe running requirements of the high-speed train for the speeds of 250,100 and 50 km/h,respectively.The speed limits determined for the wheel-rail dynamic indicators are lower due to the complex coupling effect of the train-track-bridge system under track irregularity.The running safety of the train was improved by increasing the fastener stiffness and isolation layer friction coefficient.At the rail fastener lateral stiffness of 60 kN/mm and isolation layer friction coefficients of 0.9 and 0.8,respectively,the safe running speed limits of the high-speed train increased to 250 km/h and 100 km/h under frequent and design earthquakes,respectively.

On dynamic analysis method for large-scale train-track-substructure interaction

Train–track–substructure dynamic interaction is an extension of the vehicle–track coupled dynamics.It contributes to evaluate dynamic interaction and performance between train–track system and its substructures.For the first time,this work devotes to presenting engineering practical methods for modeling and solving such large-scale train–track–substructure interaction systems from a unified viewpoint.In this study,a train consists of several multi-rigid-body vehicles,and the track is modeled by various finite elements.The track length needs only satisfy the length of a train plus boundary length at two sides,despite how long the train moves on the track.The substructures and their interaction matrices to the upper track are established as independent modules,with no need for additionally building the track structures above substructures,and accordingly saving computational cost.Track–substructure local coordinates are defined to assist the confirming of the overlapped portions between the train–track system and the substructural system to effectively combine the cyclic calculation and iterative solution procedures.The advancement of this model lies in its convenience,efficiency and accuracy in continuously considering the vibration participation of multi-types of substructures against the moving of a train on the track.Numerical examples have shown the effectiveness of this method;besides,influence of substructures on train–track dynamic behaviors is illustrated accompanied by clarifying excitation difference of different track irregularity spectrums.

Investigation of Inside-Out Tracking Methods for Six Degrees of Freedom Pose Estimation of a Smartphone in Augmented Reality

Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the installation of expensive hardware in advance.While inside-out tracking controllers have been proposed,they often suffer from limitations such as interaction limited to the tracking range of the sensor(e.g.,a sensor on the head-mounted display(HMD))or the need for pose value modification to function as an input interface(e.g.,a sensor on the controller).This study investigates 6DoF pose estimation methods without restricting the tracking range,using a smartphone as a controller in augmented reality(AR)environments.Our approach involves proposing methods for estimating the initial pose of the controller and correcting the pose using an inside-out tracking approach.In addition,seven pose estimation algorithms were presented as candidates depending on the tracking range of the device sensor,the tracking method(e.g.,marker recognition,visual-inertial odometry(VIO)),and whether modification of the initial pose is necessary.Through two experiments(discrete and continuous data),the performance of the algorithms was evaluated.The results demonstrate enhanced final pose accuracy achieved by correcting the initial pose.Furthermore,the importance of selecting the tracking algorithm based on the tracking range of the devices and the actual input value of the 3D interaction was emphasized.

Dynamic Analysis of the Seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model

In order to achieve the complex dynamic analysis of the self-propelled seafloor pilot miner moving on the seafloor of extremely cohesive soft soil and further to make it possible to integrate the miner system with some subsystems to form the complete integrated deep ocean mining pilot system and perform dynamic analysis, a new method for the dynamic modeling and analysis of the miner is proposed and developed in this paper, resulting in a simplified 3D single-body vehicle model with three translational and three rotational degrees of freedom, while the track-terrain interaction model is built by partitioning the track-terrain interface into discrete elements with parameterized force dements built on the theory of terramechanics acting on each discrete dement. To evaluate and verify the correctness and effectiveness of this new modeling and analysis method, typical comparative studies with regard to computational efficiency and solution accuracy are carried out between the traditional modeling method of building the tracked vehicle as a multi-body model and the new modeling method. In full consideration of the particMar structure design of the pilot miner, the special characteristics of the seafioor soil and the hydrodynamic force of near-seafloor currnt, the dynamic simulation analysis of the miner is performed and discussed, which can provide useful guidance and reference for the practical miner system in design and operation. This new method can not only realize the rapid dynamic simulation analysis of the miner but also make possible the integration and rapid dynamic analysis of the complete integrated deep ocean mining pilot system in further researches.

A Moving Human Tracking Approach Based on Semantic Interaction

In order to deal with partical occlusion, a semantic interaction based moving human tracking approach is put forward. Firstly human is modeled as moving blobs which are described as blob descriptions. Then moving blobs are updated and verified by projecting these descriptions. The approach exploits improved fast gauss transform and chooses source and target samples to reduce compute cost. Multi-moving human can be tracked simply and part occlusion can be done well.

ExperimentalVerificationofaDetailedVehicle┐TrackVerticalInteractionModel

A theoretical model has been developed to investigate vertical dynamic interactions between railway vehicles and tracks. Wheel rail forces and dynamic responses of vehicle and track components can be simulated with the model. The model has been applied to the study of high speed and heavy haul railway dynamic problems. In order to verify the model completely, a full scale field experiment was performed on the Chinese Datong Qinhuangdao railway. Accelerations of rail, sleeper and ballast were measured and compared with the simulated results both in time domain and in frequency domain.

Evaluation of High-Speed Track Quality Using Dynamic Simulation of Vehicle-Track Interaction

Track quality is a determinant factor for evaluating the overall performance of vehicle track interaction with respect to safety, ride quality and maintenance. Important parameters specifying the general quality of the track include track geometry (undamped) and track stiffness (damped), which can be evaluated by measurements taken along with track sections. A new co-simulation model based on Finite Element Method (FEM) and Multi Body Simulation (MBS) is built for the detailed description of track quality and its contribution to vehicle track interaction without simplifying the track structure as interconnected single elements. The simulation models and tools have been validated with the help of measured track geometry, track stiffness and dynamic wheel rail forces along the track sections of high speed lines. A comparative study between high speed lines using conventional ballasted track and ballastless track showed a significantly better quality in ballastless track sections. The dynamic forces which were determined by simulations and verified by measurements along the ballastless track section were comparatively less than the specified limits by German regulations for ballastless track design. Lower levels of dynamic forces can be utilized for optimization of track design and installation procedures with respect to lower initial costs.

Maneuvering target tracking using threshold interacting multiple model algorithm

To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm is based on the interacting multiple model （IMM） method and applies a threshold controller to improve tracking accuracy. It is also applicable to other advanced algorithms of IMM. In this research, we also compare the position and velocity root mean square （RMS） errors of TIMM and IMM algorithms with two different examples. Simulation results show that the TIMM algorithm is superior to the traditional IMM alzorithm in estimation accuracy.

Target Tracking Using the Interactive Multiple Model Method

Aim To develop a practical target tracking algorithm for different motion modes. Methods After creation of the new model, it was implemented by computer simulation to prove its performance and compared with the often-used current statistical model. Results The simulation results show that the new IMM (interactive multiple model) have low tracking error in both maneuVering segment and non^Inaneuwi segment while the current statistical model bas muCh higher tracking error in non-maneuvering segment. Conclusion In the point of trackintaccuracy, the new IMM method is much better than the current acceleration method. It can develop into a practical target hacking method.

Method for Underwater Target Tracking Based on an Interacting Multiple Model

According to the requirements of real-time performance and reliability in underwater maneuvering target tracking as well as clarifying motion features of the underwater target, an interacting multiple model algorithm based on fuzzy logic inference （FIMM） is proposed. Maneuvering patterns of the target are represented by model sets, including the constant velocity model （CA）, the Singer mode~, and the nearly constant speed horizontal-turn model （HT） in FIMM technology. The simulation results show that compared to conventional IMM, the reliability and real-time performance of underwater target tracking can be improved by FIMM algorithm.

Thermocapillary migration and interaction of two nondeformable drops

A numerical study on the interaction of two spherical drops in the thermocapillary migration is presented in the microgravity environment. Finite-difference methods are adopted. The interfaces of the drops are captured by the front-tracking technique. It is found that the arrangement of the drops directly influences their migration and interaction, and the motion of one drop is mainly determined by the disturbed temperature field because of the existence of the other drop.

Typhoon-induced wind waves in the northern East China Sea during two typhoon events:the impact of wind field and wave-current interaction

We examined the influences of the wind fi eld and wave-current interaction(WCI)on the numerical simulation results of typhoon-induced wind waves in the northern East China Sea(NECS)using the coupled Simulating Waves Nearshore+Advanced Circulation(SWAN+ADCIRC)model.The simulations were performed during two typhoon events(Lekima and Muifa),and two widely used reanalysis wind fields,the Climate Forecast System Version 2(CFSv2)from the National Centers for Environmental Prediction(NCEP)and the fifth-generation European Centre for Medium-Range Weather Forecasts(ECMWF)Reanalysis(ERA5),were compared.The results indicate that the ERA5 and CFSv2 wind fields both reliably reproduced the wind variations measured by in-situ buoys,and the accuracy of the winds from ERA5 were generally better than those from CFSv2 because CFSv2 tended to overestimate the wind speed and the simulated significant wave height(SWH),particularly the peak SWH.The WCI effects between the two wind field simulations were similar;these effects enhanced the SWH throughout the nearshore NECS during both typhoons but suppressed the SWH on the right side of the Typhoon Muifa track in the deep and off shore sea areas.In summary,variations in the water depth and current propagation direction dominate the modulation of wave height.

Tracking Algorithm Based on Improved Interacting Multiple Model Particle Filter

Measurements are always interfered with glint noise in a radar target tracking system, which makes the performance of traditional filtering fall sharply and even divergent.Against this problem, a new Interactive Multiple Model Particle Filter (IMMPF) algorithm is proposed for target tracking by introducing PF into Interactive Multiple Model (IMM).Different from the general method to select importance density function from PF, the particles are extracted from observation likelihood function within depending on observation noises.Observation noise is modelled, and the latest observation is fused, then the target can be effectively tracked.Finally, the optimized method is simulated with respect to bearings-only tracking of maneuvering target in a glint noise environment.Compared with the existing filtering algorithms, it turns out that the developed filtering algorithm is more efficient and closer to the real-time tracking requirement of high maneuvering targets.

EyeScreen:A Vision-Based Gesture Interaction System

EyeScreen is a vision-based interaction system which provides a natural gesture interface for humancomputer interaction （HCI） by tracking human fingers and recognizing gestures. Multi-view video images are captured by two cameras facing a computer screen, which can be used to detect clicking actions of a fingertip and improve the recognition rate. The system enables users to directly interact with rendered objects on the screen. Robustness of the system has been verified by extensive experiments with different user scenarios. EyeScreen can be used in many applications such as intelligent interaction and digital entertainment.

A Robotic Teleoperation System for Precise Robotic Manipulation by Human-Machine Interaction

Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.

一种基于模型概率单调性变化的自适应IMM-UKF改进算法

针对现有交互式多模型(IMM)算法模型间切换迟滞和转换速率慢的缺点,提出一种基于模型概率单调性变化的自适应交互式多模型无迹卡尔曼滤波改进算法(mIMM-UKF)。该算法利用后验信息模型概率的单调性,对马尔可夫转移概率矩阵及模型估计概率进行二次修正,加快了匹配模型的切换速度及转换速率。仿真结果表明,与现有算法相比,该算法通过快速切换匹配模型,有效提高了水下目标跟踪精度。