Dynamic stride length adaptation according to utility and personal space

Pedestrians adjust both speed and stride length when they navigate difficult situations such as tight corners or dense crowds. They try to avoid collisions and to preserve their personal space. State-of-the-art pedestrian motion models automatically reduce speed in dense crowds simply because there is no space where the pedestrians could go. The stride length and its correct adaptation, however, are rarely considered. This leads to artefacts that impact macroscopic observation parameters such as densities in front of bottlenecks and, through this, flow. Hence modelling stride adaptation is important to increase the predictive power of pedestrian models. To achieve this we reformulate the problem as an optimisation problem on a disk around the pedestrian. Each pedestrian seeks the position that is most attractive in a sense of balanced goals between the search for targets, the need for individual space and the need to keep a distance from obstacles. The need for space is modelled according to findings from psychology defining zones around a person that, when invaded, cause unease. The result is a fully automatic adjustment that allows calibration through meaningful social parameters and that gives visually natural results with an excellent fit to measured experimental data.     

关于带闭链工业机器人的动力学建模研究

本文在以影响系数矩阵为基础进行带闭链机器人的动力学方程推导时，采用了符号一数值方法。在计算机上获得一，二阶影响系数矩阵和动力学方程中各矩阵元素的最简解近表达式，解决了当分支的广义坐标数不等于６时出现的长方形（奇异）矩阵求逆的解析表达问题。在ＶＡＸ机上偏制调试出了该方法应的软件，并应用于一个带单闭链地的的孤焊机械手的动力学建模。     

Biologically induced modification of seawater viscosity in the Eastern English Channel during a Phaeocystis globosa spring bloom

To identify the potential relationship between Pheaocystis globosa bloom conditions and seawater properties, a hydrobiological survey was performed in the inshore waters of the Eastern English Channel over the course of the phytoplankton spring bloom. Chlorophyll concentration, auto- and hetero/mixotrophic composition of protists and standing stock, and seawater viscosity were measured weekly from March to June 2004. The decline of the bloom is characterized by a massive foam formation in the turbulent surf zone. Before foam formation, seawater viscosity significantly increased, showing a significant positive correlation with chlorophyll concentration. In contrast, after foam formation this correlation was negative, seawater viscosity kept increasing despite a sharp decrease in chlorophyll concentrations. No significant correlation has been found between seawater viscosity and the composition of the phytoplankton assemblages observed during the survey. However, significant positive correlations have been found between seawater viscosity and both the size and the abundance of P. globosa colonies. From the correlation patterns observed between chlorophyll concentration and seawater viscosity, we suggest that the rheological properties of seawater are mainly driven by extracellular materials associated with colony formation and maintenance rather than by cell composition and standing stock.     

山岭隧道涌水量预测方法分类及相关因素分析

准确预测隧道涌水量能有效减少隧道病害,保护生态环境,科学指导隧道的设计与施工,而如何正确选择和应用预测方法,是准确预测的前提条件。通过广泛调研,在总结分析各类涌水量预测方法的原理和适用范围基础上,以六盘山隧道某断面为例,深入探讨了围岩渗透系数、洞室尺寸、地下水位净高变化、注浆圈厚度、注浆水平和衬砌抗渗等级等因素对隧道涌水量的影响,重点指出各类解析方法的局限性和适用条件,突出了注浆水平在实际工程中的作用,并建议山岭公路隧道衬砌抗渗等级不宜小于S8。     

悬索管道桥结构参数对全桥动力特性的影响研究

大跨度悬索管道桥桥面窄,宽跨比小,结构十分轻柔,结构参数的改变对其动力特性有较大的影响。以川气东送野山河悬索跨越工程为例,采用大型有限元分析软件ANSYS10.0分析了风缆预张力和风缆面与水平面夹角变化对该悬索管道桥动力特性的影响。研究表明,提高风缆预张力和选取适当的风缆与水平面的夹角能有效地提高全桥结构刚度。     

Prediction of fatigue life and estimation of its reliability on the parts of an air suspension system

Air suspension systems have been implemented in various commercial vehicles, such as buses and special purpose trucks, because of the comfortable ride and easy height control. An evaluation of the durability of vehicle parts has been required for service life and safety starting in the early stages of design. The cyclic load applied to the vehicle can cause fatigue failure of parts, such as the suspension frame. This paper presents a method to predict the fatigue life of the suspension frame at the design stage of the air suspension system used in a heavy-duty vehicle. To estimate the fatigue life using the SN method, the Dynamic Stress Time History (DSTH) is necessary for the part of interest. DSTH can be obtained from the results of the flexible body dynamic analysis using the Belgian road simulation and the Modal Stress Recovery (MSR) method. Furthermore, the reliability of the predicted fatigue life can be evaluated by considering the variations in material properties. The probability and distribution of the expected life cycle can be obtained using experimental design with a minimum number of simulations. The advantage of using statistical methods to evaluate the life cycle is the ability to predict replacement time and the probability of failure of mass-produced parts. This paper proposes a rapid and simple method that can be effectively applied to the design of vehicle parts.     

汽车非线性悬架的混沌研究

采用基于实测数据建立的非线性悬架模型,分析了汽车悬架中的非线性弹簧力和阻尼力,对非线性悬架系统的混沌运动进行了研究.在单频正弦路面、拟周期路面以及随机路面激励情况下,仿真计算得到了系统的响应.分析各激励下系统的相轨迹、庞加莱(Poincaré)截面、时间历程曲线、功率谱图及李亚谱诺夫(Lyapunov)指数图,结果表明非线性悬架系统中存在混沌现象.     

基于交通效率、安全和特定交通组成的纵坡合理坡长

由于用地及地形、地质等限制,纵坡常被迫用到规范推荐的限制值,而我国《城市道路设计规范》(CJJ37-90)对5%以下的纵坡坡长限制没有进行规定,如何确定此类纵坡的合理坡长直接影响到路段交通安全、效率、工程经济等。通过对已有的纵坡坡长限制研究成果整理分析,提出运用汽车动力学进行坡长计算时,应该考虑汽车坡中换档的情况,并引入适合车型的概念,建议根据道路交通组成的实际情况确定坡长。分析坡长对驾驶员心率增长率、制动鼓温度、事故率的影响,分别确定各影响因素下的最大坡长。最后提出综合考虑交通效率和安全的坡长限制确定方法,并在某大纵坡路段的纵坡论证中进行了应用。     

基于ADAMS非独立悬架定位参数的仿真研究

利用多体动力学仿真软件Adams／car对某低速自卸车的前悬架进行详细的模型建立,并且对该模型进行仿真。利用后处理模块得出前轮定位参数的变化曲线,通过观察分析悬架前轮定位参数的变化趋势,给出了造成试验车过多转向、直行失稳等问题的原因,为进一步对悬架定位参数进行优化奠定了基础。     

振动压实系统的动力学特性分析

本文在分析振动压实时土体的不对称滞回特性和振动压实过程中振动与波在土体中传播及其压实效应的基础上,给出了土体的不对称滞回力模型,建立了振动压实系统的动力学模型和非线性运动方程并求其解。研究发现用考虑了不对称滞回特性的振动压实系统来描述土体运动规律,与实际振动压实工况相吻合,为进一步研究提供了理论依据。