质量加速度矩定理探讨

本文提出质点和质点系 (绝对运动和相对运动 )质量加速度矩定理。由牛顿定律直接导出此定理 ,并给出此定理用于刚体平面运动的各种动力学方程 :矩心为定轴、质心、加速度瞬心、特殊速度瞬心、以及任意动点。这些方程最简明地给定了物体转动运动量与物体所受力系主矩之间的关系。此定理可以理解工科理论力学中儿乎所有用动量矩定理和用动静法力矩方程解的问题 ,而且比它们更直接 ,简明、方便     

3D human motion tracking by using interactive multiple models

Of different model-based methods in vision based human tracking, many state of the art works focus on the stochastic optimization method to search in a very high dimensional space and try to find the optimal solution according to a proper likelihood function. Seldom works perform a framework of interactive multiple models (IMM) to track a human for challenging problems, such as uncertainty of motion styles, imprecise detection of feature points and ambiguity of joint location. This paper presents a two-layer filter framework based on IMM to track human motion. First, a method of model based points location is proposed to detect key feature points automatically and the filter in the first layer is performed to estimate the undetected points. Second, multiple models of motion are learned by the prior motion data with ridge regression and the IMM algorithm is used to estimate the quaternion vectors of joints rotation. Finally, experiments using real images sequences, simulation videos and 3D voxel data demonstrate that this human tracking framework is efficient.     

Symmetry based searching process for initial conditions of passive running

Symmetrical passive running of a simple spring model is commonly used to predict the locomotion of real animals and develop the design strategies for legged systems. If the initial conditions for running can be found automatically, we can expand the ranges of the model parameters freely. To achieve this objective, we derive an efficient searching procedure based on analysis of the symmetries. Using this process, the desired initial states of the passive running are obtained. Existence of the results reveals that the leg symmetries can be used to generate the symmetrical running. Moreover, the leg forces are associated with the running pattern, implying that we should choose suitable motion for the given model characteristics.     

Upper limb musculo-skeletal model for biomechanical investigation of elbow flexion movement

A biomechanical musculo-skeletal model of upper limb is presented in this paper, which can provide accurate representations of muscles and joints, and capture important interactions between joints. The upper limb model is made up of seven segments: ribs, sternum, clavicle, scapular, humerus, radius and ulna, considered as a single rigid body respectively and includes 22 muscles. The individual muscle forces can be calculated by using an electromyography (EMG) assisted method, which is verified by comparing the simulation results with other researches of an elbow flexion motion. These comparisons show that the muscle forces and the estimated joint moment match well with previous literatures.     

A study on dynamic response of cable-seabed interaction

A numerical method is developed to investigate the dynamic response of cable-seabed interaction in this paper. The motion of cable is described by the Lumped Parameter Method, while the seabed, unlike the prevailing simplified model of elastic foundation, is modeled as an irregular continuous rigid surface with rebound and friction existing, and the forces exerted by the seabed consist of normal counterforce and isotropic tangential Coulomb friction resistance. To describe the detailed dynamic response, two coefficients are introduced by analogy with the theory of rigid body collision with friction. The cable-seabed kinematic and dynamic contact conditions are formulated subsequently, and are used to incorporate the seabed effect into the cable dynamics to produce a set of ordinary differential governing equations. In this paper, we employ 4th order Runge-Kutta method to solve these equations. Several simulation cases are presented to illustrate the seabed effect. The results show that friction and impact have a prominent influence on the statics and dynamics of the cable.     

面向CAD/CAPP集成的线束产品信息建模

在分析线束产品结构特点的基础上,采用面向对象的方法建立了线束产品的结构信息模型,并对其主体部分进行了形式化描述;同时提出了利用通用CAD系统建立高层次图形对象的功能建立线束图形模型的方法,该方法将产品结构信息存储在数据库,通过图形句柄建立图形与结构信息的关联,实现二者的同步更新和互操作。最后,通过开发的线束CAPP系统的建模实例表明该建模方法实用有效。     

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．     

预制装配式板梁桥的模型修正方法

为反映在役桥梁的实际状况,提出了板梁桥的模型修正方法.假设铰缝相对位移与铰缝剪力成正比,并将铰缝刚度、板梁抗弯刚度和板梁抗扭刚度均作为未知量进行修正.基于板梁边实测位移建立位移方程,并采用QR分解法得到矛盾方程组的最优解.模型考虑了多个静载试验工况、多个荷载及荷载偏心的特点,可以直接应用于桥梁荷载试验.对有防撞护栏和有损伤的板梁桥进行了数值模拟,结果表明:无论是板梁有较大损伤,还是有复杂附属结构,该修正方法均可给出准确的修正系数;试验应尽可能采用多个试验工况,并将荷载布置在被测试的铰缝和板梁附近.      

箱梁的空间振动分析探讨

本文采用三角形板单元对箱梁分段建立运动微分方程,解出模态,对整体结构动态综合时进行了缩阶,求出结构的低频模态。在Zienkiewicz处理单元刚度矩阵奇异问题方法的基础上,提出采用假设板单元面内转动质量系数的方法处理质量矩阵的奇异问题。本文还用坐标总集推导了总装方程,结果表明,所作近似与各分段模态间之正交性等价。算例表明:对板单元刚度、质量矩阵奇异性问题在不计结点之面内转动自由度时之处理方法将是可行的。有限元法与动态子结构法结合(简称FEDS)对箱梁进行动态分析是有效的。     

The proper orthogonal decomposition method for the Navier-Stokes equations

The proper orthogonai decomposition (POD) method for the instatiouary Navier-Stokes equations is considered. Several numerical approaches to evaluating the POD eigenfunctions are presented. The POD eigenfunctions are applied as a basis for a Galerkin projection of the instationary Navier-Stokes equations. And a low-dimensional ordinary differential models for fluid flows governed by the instationary Navier-Stokes equations are constructed. The numerical examples show that the method is feasible and efficient for optimal control of fluids.     

内河船舶避碰路径优化研究

内河船舶碰撞事故导致重大生命及财产损失，已经引起人们的高度关注．提出一种内河船舶自动避碰路径优化的研究方法，建立了内河船舶操纵运动数学模型，将遗传算法运用到内河船舶避碰路径选优中，提出内河船舶避碰路径优化准则，并构建一种考虑内河航道中运动船舶及障碍物的适应度函数．优化结果表明了本方法的可行性。     

Joint Grid System Used in Embedding Technique

The joint grid system, which consists of the developed collar grid, the virtual grid anti other grlas, was used in the embedding technique to solve the problem of finding interpolating cells of the internal and external boundary points near the joint regions. With different boundary plane generated along different fixed surface, the collar grid obtained using hyperbolic partial equations can ensure to generate high-quality grids and to provide real interpolating cells for the boundary points in the blanking regions. The virtual grid was used to convert solid wall boundary conditions into an interface condition, however, no fluid flow computations were conducted within the virtual grid. The computational result of body-strake-wing shows that the current developed embedding technique with joint grid system can effectively treat the geometry and can more accurately predict the flow over complexcon-figuration with intersecting surfaces.     

Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient's brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.     

An Approach to Stability Analysis of Sliding Motion in a Clearance Joint of a Four-Bar Mechanism

The sliding motion refers to the case when the pin of a revolute joint is in contact with the bush, following all or a segment of the circular trajectory inside the bearing. The equation of the sliding motion is obtained based on Lagrangian approach. By use of the classical continuation method, the stationary points can be calculated, and their local stability is determined with the theory of stability. This paper focuses its analysis on the joint connecting the rocker of a four-bar mechanism to the ground. The results show that there are some relations between the local stability of sliding motion and contact loss     

一种箱式结构清扫臂的尺寸优化及轨迹规划

为克服工作空间受限的箱式结构不易清扫的问题,以实验室现有的气箱为清扫对象,设计了一种箱式结构清扫臂,并依据优化设计的思想,以箱式结构清扫臂的工作空间最小为优化目标,确定了基杆的最优长度和基杆与箱体壁的最优夹角;同理,在各臂转到同一条线上时,以清扫臂对各个关节的转动惯量最小为优化目标,得出各臂的最优臂长;最后,根据箱体的尺寸和结构规划了一条清扫路径,并基于路径各个部分的特点分别在关节空间和笛卡尔空间进行了轨迹规划,最终导出整条轨迹的运动学方程,以此进行运动学验证和仿真.     

外激励作用下亚音速二维粘弹性壁板系统的混沌运动

为了研究壁板在亚音速气流和外激扰联合作用下的非线性运动特性,基于Hamilton原理,建立了外激励作用下亚音速粘弹性壁板的非线性运动方程,并采用Galerkin方法将其离散为常微分方程组,研究了系统的平衡点及其稳定性.利用Melnikov方法得到了壁板出现混沌运动时系统参数所满足的临界条件,分析了外激励幅值、频率及气流来流速度之间的临界关系,并与系统混沌运动的数值模拟结果进行了对比.结果表明:当无量纲动压值超过64.42时,壁板系统平衡点的个数及其稳定性均会发生改变;使用Melnikov方法确定的混沌运动临界参数与数值模拟结果相符,该方法可用于判定混沌运动是否发生.      

小鼠尾部光电容积测压法

本文在大鼠尾部或后肢光电血压测定法基础上,重新设计了路线。本法将大鼠后肢或尾部用压脉带方法改为在大鼠或小鼠尾部用光源、压力、容积同步变化的方法进行。克服了因动物活动而使测试点模糊,重现性差,需加温和不方便等缺点。实验设备简单,操作方便,可用于小鼠或大鼠,经济适用。     

基于车桥耦合的钢-混结合段刚度平顺性分析

为了研究混合梁桥结合段动力平顺性问题,针对某混合梁独塔斜拉桥,将结合段按刚度等效换算为同一种材料,建立桥梁有限元模型;基于9个自由度的三轴车辆模型,根据规范规定的路面粗糙度谱,用三角级数法模拟了B级粗糙度样本,采用Newmark-β法求解车桥系统运动方程,建立了汽车-桥梁垂向耦合振动仿真模型.在此基础上,编制了车桥耦合振动分析程序,求解了桥梁结合段和车辆的动力响应. 研究结果表明:路面粗糙度下降一个等级,桥梁结合段竖向加速度增加一倍;从动力性能角度分析,钢-混结合段钢格室全填充时的刚度平顺性略优于半填充时的刚度平顺性.      

流作用下悬浮隧道张力腿的涡激动力响应

利用张力腿涡激振动方程，在考虑非线性流体阻尼和参数激励的条件下，应用伽辽金法和数值积分法。计算分析了参数激励频率对张力腿1阶涡激动力响应的影响，得出了位移响应、动弯矩、动剪力与参数激励频率的关系．计算结果表明，当参数激励频率为张力腿1阶固有频率的2倍时，张力腿的位移响应与跨中点的动弯距均达到最大。     

两自由度机械手周期运动的倍周期分岔

为了研究两自由度机械手系统的动力学稳定性，基于拉格朗日方程给出了它的运动微分方程，并用扰动理论确定系统周期运动具有周期系数的扰动微分方程；根据Floquet理论对该系统扰动微分方程的平衡点的稳孝性进行了分析，并用数值方法研究了平衡点失稳后的倍周期分岔过程．研究表明，随系统参数的改变，当系统特征矩阵有特征值-1时，系统将发生倍周期分岔。