虚拟人跑步运动控制技术的研究

虚拟人不仅具有形体,更重要的是具有自主行为(行走、跑步、避障等).文中主要对跑步运动进行仿真.在对跑步运动过程进行分析的基础上.将一个跑步周期划分成6个运动序列.每个运动序列都有一个关键状态.首先使用逆运动学方法求出关键状态,然后使用样条插值和四元数球状线性插值方法计算中间状态,完成跑步的过程.并且引入运动特征参量,通过交互式控制,使跑步运动的姿态多样化.     

非线性最小二乘问题数值迭代法的统一模型及其不适定性

通过综合归纳在路面模量反算和测量平差等领域中求解非线性最小二乘问题的各种数值迭代解法,建立了非线性最小二乘问题数值迭代法的统一模型．根据不适定问题理论,结合非线性最小二乘问题,定义了非线性最小二乘问题的两种不适定性,对产生这两种不适定问题的现象进行了分析,并给出了实例．结果表明,在NLS问题上使用各种数值迭代解法时,需考虑其迭代过程的不适定问题．     

反相悬浮聚合法制备AMPS/AA高吸水树脂

以N,N-亚甲基双丙烯酰胺为交联剂,过硫酸钾为引发剂,span60为分散稳定剂,采用反相悬浮聚合法制得2-丙烯酰胺基-2-甲基丙磺酸（AMPS）和丙烯酸（AA）共聚高吸水性树脂．正交实验结果表明最佳合成条件：^nAMPS：^nAA=1.8：1,中和度70％,引发剂0．1％,交联剂0．05％．合成的树脂在室温下吸蒸馏水和0．9％（wt％）NaCl溶液分别为990g/g和123g/g．     

模糊理想与富足半群

利用Fountain在文[1]中定义的半群S上的Green*-关系L*,R*及Lawson在文[3]中关于富足半群上的自然偏序理论研究了富足半群上的模糊理想,得到了富足半群上模糊理想的一些性质.在此基础上,给出了富足半群的局部富足子半群的另类刻画.最后进一步给出了局部超富足半群的刻画.     

基于旅客列车合理接续条件的发车时刻确定方法

编制旅客列车运行方案时，为使各方向旅客列车的到达时刻相互衔接，以缩短旅客中转换乘时间，应用同余理论，分析了2列不同方向的旅客列车到达途中大站时刻的相互关系．以先到达中转站的列车发车时刻为基点，用代数方法计算出后到达列车的发车时刻，进而找出可行解．对于多列旅客列车相互衔接的情况，可化为2列列车接续问题，利用导出的合理发车时刻的算法求解．     

反射波初至时刻判断中的信号对比法

在地表波动测试中,若不考虑上部岩层不均匀性,与发射点距离相等的测点上测得的振动信号理应吻合,而当某测点最先有节理面反射纵波传播至时,其振动信号就与其它测点振动信号发生偏离,故可通过信号对比判断出该测点处节理反射波初至时刻,该方法应用于实测信号,判断出的节理反射波初至时刻误差<1%.     

基于博弈论的空铁联运收益分配模型

理想的空铁联运收益分配方式是实现航空与高铁深度合作的重要条件.本文考虑旅客对空铁联运服务水平和价格的敏感度等影响因素,根据空铁联运的实际运营情况,探究通过收益共享合同协调航空和高铁的利益冲突,形成理想的收益分配方式并促进空铁联运的发展.基于不同的合作水平,使用纳什议价效用函数模拟议价过程,建立航空主导的和具有议价行为的...     

一种基于几何约束的轨道提取方法研究

针对基于Hough变换或螺旋曲线模型的视觉轨道检测方法存在的不足,本文提出了一种基于几何约束的轨道提取方法.该方法利用摄像机和轨道平面之间的成像关系近似满足单因矩阵的特点,利用逆透视映射(IPM)将输入图像转换为Bird-view图像,并采用一种改进的边缘检测方法进行边缘检测.然后将二值化的边缘图像在垂直方向上分割为多个区段,在每个区段上,利用先验知识生成的系列模板图像,对分段IPM图像进行去噪处理和Chamfer距离变换后进行距离匹配检测,将轨道检测转换为一个二维匹配搜索过程.在分段检测结果的基础上,进一步利用曲线拟合得到边缘图像中完整的轨道曲线方程.该曲线方程通过已知的单因矩阵转换为原始图像中的曲线描述,实现在原始图像中的检测和定位.实验验证了所提方法的可行性和可靠性.     

Inverse neuro-fuzzy MR damper model and its application in vibration control of vehicle suspension system

In this paper, a magneto-rheological (MR) damper-based semi-active controller for vehicle suspension is developed. This system consists of a linear quadratic Gauss (LQG) controller as the system controller and an adaptive neuro-fuzzy inference system (ANFIS) inverse model as the damper controller. First, a modified Bouc–Wen model is proposed to characterise the forward dynamic characteristics of the MR damper based on the experimental data. Then, an inverse MR damper model is built using ANFIS technique to determine the input current so as to gain the desired damping force. Finally, a quarter-car suspension model together with the MR damper is set up, and a semi-active controller composed of the LQG controller and the ANFIS inverse model is designed. Simulation results demonstrate that the desired force can be accurately tracked using the ANFIS technique and the semi-active controller can achieve competitive performance as that of active suspension.     

Alternative friction models for braking train dynamics

Braking dynamics plays an essential role in ensuring the comfort and running safety of trains. Due to the complexity of the phenomena involved and the presence of dry friction, studies have been carried out by numerical methods using smoothening. Based on the non-smooth dynamics framework, in the present paper, an efficient and comprehensive alternative model is defined. Set-valued friction of Coulomb's law type is accounted for and motion equations are formulated as a differential inclusion. Some of the fundamental issues of contact dynamics are briefly reviewed. Static friction forces which arise in buffers are computed in a very intuitive and efficient manner, using an original method involving generalised inverses of matrices. The corresponding algorithm is described. Numerical integration is done by an event-driven algorithm. Indeterminate system configurations can be appropriately handled. The number of vehicles on which tests have been carried out ranged from 5 to 50. Comparison with the smoothening method reveals significant differences. Computational efficiency is dramatically improved. Computation speed can rise by a few orders of magnitude. Specific phenomena such as stick–slip or persistent longitudinal forces can be evidenced. Computed values of the system states differ substantially. In addition to this, any wagon connection model can be embedded.