Respiratory monitoring is increasingly used in clinical and healthcare practices to diagnose chronic cardio-pulmonary functional diseases during various routine activities.Wearable medical devices have realized the po...Respiratory monitoring is increasingly used in clinical and healthcare practices to diagnose chronic cardio-pulmonary functional diseases during various routine activities.Wearable medical devices have realized the possibilities of ubiquitous respiratory monitoring,however,relatively little attention is paid to accuracy and reliability.In previous study,a wearable respiration biofeedback system was designed.In this work,three kinds of signals were mixed to extract respiratory rate,i.e.,respiration inductive plethysmography(RIP),3D-acceleration and ECG.In-situ experiments with twelve subjects indicate that the method significantly improves the accuracy and reliability over a dynamic range of respiration rate.It is possible to derive respiration rate from three signals within mean absolute percentage error 4.37%of a reference gold standard.Similarly studies derive respiratory rate from single-lead ECG within mean absolute percentage error 17%of a reference gold standard.展开更多
Based on the hazard development mechanism, a water solution area is closely related to the supporting effect of pressure-bearing water, the relaxing and collapsing effect of orebody interlayer, the collapsing effect o...Based on the hazard development mechanism, a water solution area is closely related to the supporting effect of pressure-bearing water, the relaxing and collapsing effect of orebody interlayer, the collapsing effect of thawless material in orebody, filling effect caused by cubical expansibility of hydrate crystallization and uplifting effect of hard rock layer over cranny belt. The movement and deformation of ground surface caused by underground water solution mining is believed to be much weaker than that caused by well lane mining, which can be predicted by the stochastic medium theory method. On the basis of analysis on the engineering practice of water solution mining, its corresponding parameters can be obtained from the in-site data of the belt water and sand filling mining in engineering analog approach.展开更多
Detecting the moving vehicles in jittering traffic scenes is a very difficult problem because of the complex environment.Only by the color features of the pixel or only by the texture features of image cannot establis...Detecting the moving vehicles in jittering traffic scenes is a very difficult problem because of the complex environment.Only by the color features of the pixel or only by the texture features of image cannot establish a suitable background model for the moving vehicles. In order to solve this problem, the Gaussian pyramid layered algorithm is proposed, combining with the advantages of the Codebook algorithm and the Local binary patterns(LBP) algorithm. Firstly, the image pyramid is established to eliminate the noises generated by the camera shake. Then, codebook model and LBP model are constructed on the low-resolution level and the high-resolution level of Gaussian pyramid, respectively. At last, the final test results are obtained through a set of operations according to the spatial relations of pixels. The experimental results show that this algorithm can not only eliminate the noises effectively, but also save the calculating time with high detection sensitivity and high detection accuracy.展开更多
In this paper,we consider a multi-UAV surveillance scenario where a team of unmanned aerial vehicles(UAVs)synchronously covers an area for monitoring the ground conditions.In this scenario,we adopt the leader-follower...In this paper,we consider a multi-UAV surveillance scenario where a team of unmanned aerial vehicles(UAVs)synchronously covers an area for monitoring the ground conditions.In this scenario,we adopt the leader-follower control mode and propose a modified Lyapunov guidance vector field(LGVF)approach for improving the precision of surveillance trajectory tracking.Then,in order to adopt to poor communication conditions,we propose a prediction-based synchronization method for keeping the formation consistently.Moreover,in order to adapt the multi-UAV system to dynamic and uncertain environment,this paper proposes a hierarchical dynamic task scheduling architecture.In this architecture,we firstly classify all the algorithms that perform tasks according to their functions,and then modularize the algorithms based on plugin technology.Afterwards,integrating the behavior model and plugin technique,this paper designs a three-layer control flow,which can efficiently achieve dynamic task scheduling.In order to verify the effectiveness of our architecture,we consider a multi-UAV traffic monitoring scenario and design several cases to demonstrate the online adjustment from three levels,respectively.展开更多
The recently proposed interface propagation-based method has shown its advantages in obtaining the thermal conductivity of phase change materials during solid-liquid transition over conventional techniques. However, i...The recently proposed interface propagation-based method has shown its advantages in obtaining the thermal conductivity of phase change materials during solid-liquid transition over conventional techniques. However, in previous investigation, the analysis on the measurement error was qualitative and only focused on the total effects on the measurement without decoupling the influencing factors. This paper discusses the effects of influencing factors on the measurement results for the interface propagation-based method. Numerical simulations were performed to explore the influencing factors, namely model simplification, subcooling and natural convection, along with their impact on the measurement process and corresponding measurement results. The numerical solutions were provided in terms of moving curves of the solid-liquid interface and the predicted values of thermal conductivity. Results indicated that the impact of simplified model was strongly dependent on Stefan number of the melting process. The degree of subcooling would lead to underestimated values for thermal conductivity prediction. The natural convection would intensify the heat transfer rate in the liquid region, thereby overestimating the obtained results of thermal conductivity. Correlations and experimental guidelines are provided. The relative errors are limited in ±1.5%,±3%and ±2% corresponding to the impact of simplified model, subcooling and natural convection, respectively.展开更多
This paper proposes a novel method to predict the spur gear pair’s static transmission error based on the accuracy grade,in which manufacturing errors(MEs),assembly errors(AEs),tooth deflections(TDs)and profile modif...This paper proposes a novel method to predict the spur gear pair’s static transmission error based on the accuracy grade,in which manufacturing errors(MEs),assembly errors(AEs),tooth deflections(TDs)and profile modifications(PMs)are considered.For the prediction,a discrete gear model for generating the error tooth profile based on the ISO accuracy grade is presented.Then,the gear model and a tooth deflection model for calculating the tooth compliance on gear meshing are coupled with the transmission error model to make the prediction by checking the interference status between gear and pinion.The prediction method is validated by comparison with the experimental results from the literature,and a set of cases are simulated to study the effects of MEs,AEs,TDs and PMs on the static transmission error.In addition,the time-varying backlash caused by both MEs and AEs,and the contact ratio under load conditions are also investigated.The results show that the novel method can effectively predict the range of the static transmission error under different accuracy grades.The prediction results can provide references for the selection of gear design parameters and the optimization of transmission performance in the design stage of gear systems.展开更多
For the purpose of engineering development for a new 8-step speed automatic transmission,a simplified dynamic model for this gearbox was established and key parameters which affected the shift quality were analyzed.Ai...For the purpose of engineering development for a new 8-step speed automatic transmission,a simplified dynamic model for this gearbox was established and key parameters which affected the shift quality were analyzed.Aiming at four different shift types,the ideal characteristics of shift clutch and engine control were set up.By using torque estimation method,PI slip control algorithm and engine coordinated control principle,the control model and transmission controller were well developed for three shift phases which included rapid-fill phase,torque phase and inertia phase.The testing environment on the rig and prototype vehicle level was built and the testing results obtained in ultimate condition could verify the accuracy and feasibility of this shift control strategy.The peak jerk during shift process was controlled within ±2 g/s where the smooth gearshift was obtained.The development proposal and algorithm have a high value for engineering application.展开更多
A real-time pedestrian detection and tracking system using a single video camera was developed to monitor pedestrians. This system contained six modules: video flow capture, pre-processing, movement detection, shadow ...A real-time pedestrian detection and tracking system using a single video camera was developed to monitor pedestrians. This system contained six modules: video flow capture, pre-processing, movement detection, shadow removal, tracking, and object classification. The Gaussian mixture model was utilized to extract the moving object from an image sequence segmented by the mean-shift technique in the pre-processing module. Shadow removal was used to alleviate the negative impact of the shadow to the detected objects. A model-free method was adopted to identify pedestrians. The maximum and minimum integration methods were developed to integrate multiple cues into the mean-shift algorithm and the initial tracking iteration with the competent integrated probability distribution map for object tracking. A simple but effective algorithm was proposed to handle full occlusion cases. The system was tested using real traffic videos from different sites. The results of the test confirm that the system is reliable and has an overall accuracy of over 85%.展开更多
A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once ...A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.展开更多
Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the ...Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.展开更多
基金Project(2012M510207)supported by the China Postdoctoral Science FoundationProjects(60932001,61072031)supported by the National Natural Science Foundation of China+2 种基金Project(2012AA02A604)supported by the National High Technology Research and Development Program of ChinaProject(2013ZX03005013)supported by the Next Generation Communication Technology Major Project of National Science and Technology,ChinaProject supported by the"One-hundred Talent"and the"Low-cost Healthcare"Programs of Chinese Academy of Sciences
文摘Respiratory monitoring is increasingly used in clinical and healthcare practices to diagnose chronic cardio-pulmonary functional diseases during various routine activities.Wearable medical devices have realized the possibilities of ubiquitous respiratory monitoring,however,relatively little attention is paid to accuracy and reliability.In previous study,a wearable respiration biofeedback system was designed.In this work,three kinds of signals were mixed to extract respiratory rate,i.e.,respiration inductive plethysmography(RIP),3D-acceleration and ECG.In-situ experiments with twelve subjects indicate that the method significantly improves the accuracy and reliability over a dynamic range of respiration rate.It is possible to derive respiration rate from three signals within mean absolute percentage error 4.37%of a reference gold standard.Similarly studies derive respiratory rate from single-lead ECG within mean absolute percentage error 17%of a reference gold standard.
基金Project(40404001) supported by the National Natural Science Foundation of China
文摘Based on the hazard development mechanism, a water solution area is closely related to the supporting effect of pressure-bearing water, the relaxing and collapsing effect of orebody interlayer, the collapsing effect of thawless material in orebody, filling effect caused by cubical expansibility of hydrate crystallization and uplifting effect of hard rock layer over cranny belt. The movement and deformation of ground surface caused by underground water solution mining is believed to be much weaker than that caused by well lane mining, which can be predicted by the stochastic medium theory method. On the basis of analysis on the engineering practice of water solution mining, its corresponding parameters can be obtained from the in-site data of the belt water and sand filling mining in engineering analog approach.
基金Project(61172047)supported by the National Natural Science Foundation of China
文摘Detecting the moving vehicles in jittering traffic scenes is a very difficult problem because of the complex environment.Only by the color features of the pixel or only by the texture features of image cannot establish a suitable background model for the moving vehicles. In order to solve this problem, the Gaussian pyramid layered algorithm is proposed, combining with the advantages of the Codebook algorithm and the Local binary patterns(LBP) algorithm. Firstly, the image pyramid is established to eliminate the noises generated by the camera shake. Then, codebook model and LBP model are constructed on the low-resolution level and the high-resolution level of Gaussian pyramid, respectively. At last, the final test results are obtained through a set of operations according to the spatial relations of pixels. The experimental results show that this algorithm can not only eliminate the noises effectively, but also save the calculating time with high detection sensitivity and high detection accuracy.
基金Project(2017YFB1301104)supported by the National Key Research and Development Program of ChinaProjects(61906212,61802426)supported by the National Natural Science Foundation of China。
文摘In this paper,we consider a multi-UAV surveillance scenario where a team of unmanned aerial vehicles(UAVs)synchronously covers an area for monitoring the ground conditions.In this scenario,we adopt the leader-follower control mode and propose a modified Lyapunov guidance vector field(LGVF)approach for improving the precision of surveillance trajectory tracking.Then,in order to adopt to poor communication conditions,we propose a prediction-based synchronization method for keeping the formation consistently.Moreover,in order to adapt the multi-UAV system to dynamic and uncertain environment,this paper proposes a hierarchical dynamic task scheduling architecture.In this architecture,we firstly classify all the algorithms that perform tasks according to their functions,and then modularize the algorithms based on plugin technology.Afterwards,integrating the behavior model and plugin technique,this paper designs a three-layer control flow,which can efficiently achieve dynamic task scheduling.In order to verify the effectiveness of our architecture,we consider a multi-UAV traffic monitoring scenario and design several cases to demonstrate the online adjustment from three levels,respectively.
基金Project(51606224) supported by the National Natural Science Foundation of China
文摘The recently proposed interface propagation-based method has shown its advantages in obtaining the thermal conductivity of phase change materials during solid-liquid transition over conventional techniques. However, in previous investigation, the analysis on the measurement error was qualitative and only focused on the total effects on the measurement without decoupling the influencing factors. This paper discusses the effects of influencing factors on the measurement results for the interface propagation-based method. Numerical simulations were performed to explore the influencing factors, namely model simplification, subcooling and natural convection, along with their impact on the measurement process and corresponding measurement results. The numerical solutions were provided in terms of moving curves of the solid-liquid interface and the predicted values of thermal conductivity. Results indicated that the impact of simplified model was strongly dependent on Stefan number of the melting process. The degree of subcooling would lead to underestimated values for thermal conductivity prediction. The natural convection would intensify the heat transfer rate in the liquid region, thereby overestimating the obtained results of thermal conductivity. Correlations and experimental guidelines are provided. The relative errors are limited in ±1.5%,±3%and ±2% corresponding to the impact of simplified model, subcooling and natural convection, respectively.
基金Project(51675061)supported by the National Natural Science Foundation of China。
文摘This paper proposes a novel method to predict the spur gear pair’s static transmission error based on the accuracy grade,in which manufacturing errors(MEs),assembly errors(AEs),tooth deflections(TDs)and profile modifications(PMs)are considered.For the prediction,a discrete gear model for generating the error tooth profile based on the ISO accuracy grade is presented.Then,the gear model and a tooth deflection model for calculating the tooth compliance on gear meshing are coupled with the transmission error model to make the prediction by checking the interference status between gear and pinion.The prediction method is validated by comparison with the experimental results from the literature,and a set of cases are simulated to study the effects of MEs,AEs,TDs and PMs on the static transmission error.In addition,the time-varying backlash caused by both MEs and AEs,and the contact ratio under load conditions are also investigated.The results show that the novel method can effectively predict the range of the static transmission error under different accuracy grades.The prediction results can provide references for the selection of gear design parameters and the optimization of transmission performance in the design stage of gear systems.
基金Project(51105017) supported by the National Natural Science Foundation of ChinaProject(2011BAG09B00) supported by the National Science and Technology Support Program of ChinaProject(2010DFB80020) supported by the Technology Major Project of the Ministry of Science and Technology of China
文摘For the purpose of engineering development for a new 8-step speed automatic transmission,a simplified dynamic model for this gearbox was established and key parameters which affected the shift quality were analyzed.Aiming at four different shift types,the ideal characteristics of shift clutch and engine control were set up.By using torque estimation method,PI slip control algorithm and engine coordinated control principle,the control model and transmission controller were well developed for three shift phases which included rapid-fill phase,torque phase and inertia phase.The testing environment on the rig and prototype vehicle level was built and the testing results obtained in ultimate condition could verify the accuracy and feasibility of this shift control strategy.The peak jerk during shift process was controlled within ±2 g/s where the smooth gearshift was obtained.The development proposal and algorithm have a high value for engineering application.
基金Project(50778015)supported by the National Natural Science Foundation of ChinaProject(2012CB725403)supported by the Major State Basic Research Development Program of China
文摘A real-time pedestrian detection and tracking system using a single video camera was developed to monitor pedestrians. This system contained six modules: video flow capture, pre-processing, movement detection, shadow removal, tracking, and object classification. The Gaussian mixture model was utilized to extract the moving object from an image sequence segmented by the mean-shift technique in the pre-processing module. Shadow removal was used to alleviate the negative impact of the shadow to the detected objects. A model-free method was adopted to identify pedestrians. The maximum and minimum integration methods were developed to integrate multiple cues into the mean-shift algorithm and the initial tracking iteration with the competent integrated probability distribution map for object tracking. A simple but effective algorithm was proposed to handle full occlusion cases. The system was tested using real traffic videos from different sites. The results of the test confirm that the system is reliable and has an overall accuracy of over 85%.
基金Projects(90820302,60805027) supported by the National Natural Science Foundation of ChinaProject(200805330005) supported by Research Fund for Doctoral Program of Higher Education of China+1 种基金Projects(2009FJ4030) supported by Academician Foundation of Hunan Province,ChinaProject supported by the Freedom Explore Program of Central South University,China
文摘A method used to detect anomaly and estimate the state of vehicle in driving was proposed.The kinematics model of the vehicle was constructed and nonholonomic constraint conditions were added,which refer to that once the vehicle encounters the faults that could not be controlled,the constraint conditions are violated.Estimation equations of the velocity errors of the vehicle were given out to estimate the velocity errors of side and forward.So the stability of the whole vehicle could be judged by the velocity errors of the vehicle.Conclusions were validated through the vehicle experiment.This method is based on GPS/INS integrated navigation system,and can provide foundation for fault detections in unmanned autonomous vehicles.
基金Projects(60775049,60805033) supported by National Natural Science Foundation of ChinaProject(2007AA704317) supported by the National High Technology Research and Development Program of China
文摘Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.
