基于多源数据的步行友好性评价方法研究 ——以长春市典型街道为例

评价和改善街道的步行友好性,对于引导城市健康发展具有重要意义.基于步行友好性的相关理论研究,综合考虑出行目的地类型和空间分布、步行距离、步行环境等因素,利用POI与街景图片等多源数据,构建步行友好性量化评价模型与方法.以长春市商业、办公、居住、学校等用地集中区选取的典型街道为例,首先结合长春市作为寒地城市的特征,参考Walk Score基础模型,开展步行指数评价;接着从步行环境方面,选取评价指标,建立了步行环境指数模型,并应用模型开展步行环境评价实证;最后基于步行指数与步行环境指数两个维度的评价结果,建立了步行友好性综合评价矩阵,并结合各类街道特征提出了分类导控策略.     

痉挛型脑瘫患儿步态的膝-踝关节运动协调性的分析

目的对痉挛型脑瘫患儿与正常儿童步态的膝、踝关节角度变化和膝-踝关节运动协调性进行分析,为痉挛性脑瘫患儿步行能力的评价提供参考。方法利用三维运动捕捉系统采集观察组28例痉挛型脑瘫患儿和对照组24例正常儿童的关节角度数据;利用独立样本均数t检验和一般线性模型分析(GLM)对实验数据进行处理。结果①观察组膝、踝关节活动范围均小于对照组。经t检验,两组膝、踝关节活动范围均有显著性差异(P<0.01)。②经多变量方差分析,两组的步态协调性指数之间有显著性差异(P<0.01);经t检验,两组对应肢体在步态周期各关键点(除右足着地外)的膝-踝关节协调性指数均有显著性差异(P<0.05)。结论痉挛性脑瘫患儿膝、踝关节活动范围小于正常儿童;步态周期关键点膝-踝关节协调性指数可作为痉挛性脑瘫患儿步行能力的评价指标。     

历史文化街区步行性分析方法研究

步行不仅是历史文化街区的主要出行方式之一,更是其保持活力、可持续发展的重要载体。本文结合现有研究,针对历史文化街区的环境特征和步行需求,提出了兼顾可达性、安全性、便捷性、舒适性和审美性的步行性评价指标体系及数据调查方法。通过构建模糊关系矩阵和隶属度函数,实现了感知指标和环境指标间的转化。利用层次分析-模糊综合评价法建立了历史文化街区步行性分析模型,并运用模型对南京夫子庙地区的步行性进行了分析和评价,对其制订合理改善目标、确定现有步行设施的不足和改善潜力等方面提供了参考依据。     

粘性土中大直径钻孔灌注桩单桩沉降分析

根据大直径钻孔灌注桩在桥梁工程中应用研究,以及试桩静载荷试验和桩身应力测试结果,在单桩沉降分析计算理论系统分析的基础上,采用了杆系结构有限单元法与荷载传迭代法耦合的混合法.采用Fortran语言,编制了计算程序SPSA1.单桩沉降分析计算中,采用三直线模型考虑了桩身与桩周边界上的剪切滑移非线性;并改进了有限单元法中初应力迭代技术,以考虑荷载传递关系的软化特征.同时,就桩身材料非线性,对单桩沉降分析计算的影响进行了讨论.笔者的方法和成果,可以作为今后大直径钻孔灌注桩研究和相关规范修订时参考.     

高速公路暴风雪实时预警级别判别

通过分析暴风雪天气对交通的影响,建立暴风雪预警体系,将暴风雪预警分为灾前和灾时预警两个连续过程。其中灾时预警采用显式预警方法,选取降雪量与其对高速公路交通的影响,依据Fisher判别法则建立暴风雪预警级别判别模型,并提出暴风雪实时预警级别判别评价方法。通过实例验证了暴风雪预警级别判别模型的可靠性,进一步证明该模型可用于高速公路暴风雪预警级别判别,可以为保障暴风雪天气下高速公路安全运营提供技术参考。     

基于仿生学的四足行走机构优化设计

提出了一种仿生的四足行走机构设计方法,将单条腿分解为驱动机构和腿机构,利用数学模型对两个机构的结合点处的运动轨迹进行拟合和优化,在此基础上进行了足端的轨迹优化及运动特性分析.结果表明,整体机构能够完成预定的设计目标,机构运动速度及加速度轨迹比较合理,对角小跑型步态整体机构的运动模拟也能够实现.     

中空球形氢氧化铝粉体的煅烧动力学分析

以硫酸铝为原料,尿素为沉淀剂,在一定的醇水比例及水热条件下,经过一定的干燥处理之后,得到了中空球形的氢氧化铝粉体.采用SEM、XRD测试和TG-DSC分析对粉体的微观结构及热分解和晶型转变过程进行了研究.利用Popescu法[1]和Doyle-Ozawa法[2]分析了粉体的煅烧动力学.分析结果表明:由Popescu法确定了样品煅烧过程的机理函数的积分形式为g(a)=[1-(1-a)1/3]2,属于D3模型,是球形对称的三维扩散过程.该过程的活化能E a=175.123 kJ/mol,指前因子A=1.877×109~1.711×1010,用Doyle-Ozawa法计算出该过程的活化能E a=167.677 kJ/mol.由上述两种方法的分析结果可以得知:不同的分析方法对同一个动力学过程的分析结果基本保持在误差允许范围之内(ΔE=E1-E2<10 kJ/mol).     

基于有限单元法轮对-车轴系统动力学特性研究

轮对车轴系统作为轨道交通车辆上的重要部件,随着车速的提高,其动力学问题也变得十分迫切和必要.提出一种基于有限元方法的弹性轮对-车轴系统动力学建模方法,利用该方法分析了轮对-车轴系统的固有特性与临界转速,并与有限元分析软件计算结果进行对比验证.在此基础上,分析车轮偏心状态下转子动力学响应.结果表明,两种方法计算的振型一致且固有频率值和临界转速误差均小于8％,验证了该模型的正确性,轮对-车轴系统前四阶振型主要为一弯曲和二弯曲振型;此外,轮轨法向动态作用力随着车轮偏心距和转速的增加而增大.     

基于ADAMS/ENGINE的16V280柴油机主轴承轴心轨迹计算

滑动轴承是柴油机的重要组成部件之一,其工作性能决定着柴油机工作的可靠性及耐久性.柴油机主轴承采用滑动轴承,通过柴油机主轴承轴心轨迹计算,可以判断主轴承的工作情况,为主轴承的设计提供参考.本文采用ADAMS/Engine模块,采用多体动力学的方法建立柴油机整体动力学模型,并建立流体动力润滑轴承的边界条件,并考虑了滑动轴承的刚性液压;计算轴心轨迹时考虑了油膜粘度与温度的关系以及温度与转速之间的关系.计算分析后,得到了不同转速下,不同轴承间隙,以及油孔供油或油槽供油条件下的轴心轨迹,以此来为滑动轴承设计提供数据支持.     

生命能量系统动力学方程平衡点值的一种定量分析法

用解析几何作为一种近似的方法讨论了生命能量系统动力学模型中两个典型方程解函数平衡点的求解问题，研究结果表明，每一方程的奇点轨迹是一对双曲线，而方程组的平衡点则是两组双曲线的交点，结果认为：方程组的平衡点可以通过求解两组双曲线的渐近线的交点得到近似值，这是生命能量系统的动力学特性定性分析工作的一个重要部分。     

Kinematics analysis and experiment of a cockroach-like robot

This article describes the structure of the cockroach-like robot. Both kinematics and locomotion control are inspired by biological observations in cockroaches. Based on cockroach-like robot kinematics analysis, screw theory, and the production-of-exponential (POE) formula, this paper focuses on the inverse kinematics which uses Paden-Kahan sub-problems to obtain directly the displacement of joint angles. The forward kinematics derives the relationship between joint angles according to the natural restrictions. Then, by using the POE formula, it can deduce the body pose and realize online trajectory control and planning. Through simulation and experimentation, it is proved that the straight-line walking and turning gait algorithms have static stability and the inverse kinematics analysis of cockroach-like robot is correct.     

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.     

A dynamic model of an underwater quadruped walking robot using Kane’s method

In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane＇s approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.     

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行人动力学建模的关键是对行人运动方向和速度的选择进行描述.本文构建了基于多层有限状态自动机的行人Agent适应性决策模型;在此基础上,针对行人运动过程中快速决策的特征,通过构建基于认知启发式规则的行人运动行为规则集合,建立了描述行人微观运动行为的动力学模型.通过设计仿真实验并收集数据,对模型的有效性进行了验证.研究结果表明：模拟得到的行人交通流密度-速度关系与实测数据具有较好的一致性,流率-密度关系符合理论计算结果,基本图较好地符合实际观测的行人宏观交通流关系,认为本文提出的行人动力学模型具有交通上的合理性.     

Model-based gait representation via spatial point reconstruction

This paper proposed a novel model-based feature representation method to characterize human walking properties for individual recognition by gait. First, a new spatial point reconstruction approach is proposed to recover the coordinates of 3D points from 2D images by the related coordinate conversion factor (CCF). The images are captured by a monocular camera. Second, the human body is represented by a connected three-stick model. Then the parameters of the body model are recovered by the method of projective geometry using the related CCF. Finally, the gait feature composed of those parameters is defined, and it is proved by experiments that those features can partially avoid the influence of viewing angles between the optical axis of the camera and walking direction of the subject. Foundation item: the National Natural Science Foundation of China (No. 60675024)     

考虑行人同步率的随机行走人群模型

为了研究行走人群协同性对结构人致振动的影响，基于考虑行人同步率的随机行走人群模型，对人群行走下人行天桥的竖向振动问题就行了分析. 首先通过行走人群随机性分析，提出了考虑行人同步率的随机行走人群集中模型和离散模型；其次在两类模型下考虑人-结构竖向耦合作用，建立了随机行走人群作用下结构竖向振动响应分析方法；最后对比分析了人行天桥在不同随机行走人群模型下的竖向加速度响应和动力特性参数的变化规律. 研究结果表明:两类模型行人行走下，人行天桥的1 s均方根加速度响应随人群密度的提高先增大后减小；人群密度超过0.2人/m2后，随机行走人群离散模型下的人行天桥1 s均方根加速度大于集中模型，且增大集中模型同步区行人间距有利于减小结构振动响应；随着人群密度的增大，人行天桥瞬时频率不断减小，瞬时阻尼比则先增大后减小，集中模型和离散模型下人行天桥瞬时阻尼比分别最大提高到6倍和7倍；考虑行人同步率的随机行走人群模型能准确反映人行天桥实际所受到的人群行走荷载作用，可为人行天桥人致振动响应分析与评估提供参考.      

Composite Feedforward Compensation for Force Ripple in Permanent Magnet Linear Synchronous Motors

This paper presents a method for compensating the force ripple in permanent magnet linear synchronous motors(PMLSMs) by adopting a composite feedforward compensation scheme. Firstly, the vector control system of PMLSMs is described, and various force disturbances influencing the electromagnetic thrust are analyzed. As a result, the mathematical model of the whole system considering the force ripple is established.Then, a novel composite feedforward compensation scheme is proposed, which consists of a recursive least squares(RLS) parameter identification component and two feedforward compensation loops corresponding to the reference position trajectory and the force ripple, respectively. Finally, the effectiveness and advantages of the proposed composite feedforward compensation are demonstrated by simulation. The main incentive of this paper is the combination with the composite feedforward compensation loop corresponding to the reference position trajectory to improve the compensation effect of force ripple in PMLSMs.     

基于车辆身份感知数据的路段轨迹 重构方法研究

车辆轨迹蕴含着大量丰富的交通流时空信息,对于全面解构城市交通路网运行具有至关重要的意义.传统车辆轨迹重构模型大多基于定点线圈检测数据或者浮动车轨迹数据作为输入数据,并且普遍未考虑过饱和交通状态.本文提出了一种基于车辆身份感知数据的车辆路段轨迹重构方法,通过构建一种绿灯相位回溯框架,基于交通流激波理论分段重构车辆行程轨迹,每次回溯过程包含两个主要步骤,即估计车辆状态和分状态重构车辆行程轨迹;然后在Paramics 微观交通仿真平台上对本方法模型的准确性进行了验证.结果表明,该方法在各种饱和状态下均能达到令人满意的应用效果.     

基于车辆身份感知数据的路段轨迹重构方法研究

车辆轨迹蕴含着大量丰富的交通流时空信息,对于全面解构城市交通路网运行具有至关重要的意义.传统车辆轨迹重构模型大多基于定点线圈检测数据或者浮动车轨迹数据作为输入数据,并且普遍未考虑过饱和交通状态.本文提出了一种基于车辆身份感知数据的车辆路段轨迹重构方法,通过构建一种绿灯相位回溯框架,基于交通流激波理论分段重构车辆行程轨迹,每次回溯过程包含两个主要步骤,即估计车辆状态和分状态重构车辆行程轨迹;然后在Paramics 微观交通仿真平台上对本方法模型的准确性进行了验证.结果表明,该方法在各种饱和状态下均能达到令人满意的应用效果.     

Singular perturbation composite control of a free-floating flexible dual-arm space robot

The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.