In recent years,the concept of digital human has attracted widespread attention from all walks of life,and the modelling of high-fidelity human bodies,heads,and hands has been intensively studied.This paper focuses on...In recent years,the concept of digital human has attracted widespread attention from all walks of life,and the modelling of high-fidelity human bodies,heads,and hands has been intensively studied.This paper focuses on head modelling and proposes a generic head parametric model based on neural radiance fields.Specifically,we first use face recognition networks and 3D facial expression database FaceWarehouse to parameterize identity and expression semantics,respectively,and use both as conditional inputs to build a neural radiance field for the human head,thereby improving the head model’s representation ability while ensuring editing capabilities for the identity and expression of the rendered results;then,through a combination of volume rendering and neural rendering,the 3D representation of the head is rapidly rendered into the 2D plane,producing a high-fidelity image of the human head.Thanks to the well-designed loss functions and good implicit representation of the neural radiance field,our model can not only edit the identity and expression independently,but also freely modify the virtual camera position of the rendering results.It has excellent multi-view consistency,and has many applications in novel view synthesis,pose driving and more.展开更多
Taking a C1x motor with a backward-facing step which can generate a typical corner vortex as a reference,a numerical methodology using large eddy simulation was established in this study.Based on this methodology,the ...Taking a C1x motor with a backward-facing step which can generate a typical corner vortex as a reference,a numerical methodology using large eddy simulation was established in this study.Based on this methodology,the position of the backward-facing step of the motor was computed and analyzed to determine a basic configuration.Two key geometrical parameters,the head cavity angle and submerged nozzle cavity height,were subsequently introduced.Their effects on the corner vortex motion and their interactions with the acoustic pressure downstream of the backward-facing step were analyzed.The phenomena of vortex acoustic coupling and characteristics of pressure oscillations were further explored.The results show that the maximum error between the simulations and experimental data on the dominant frequency of pressure oscillations is 5.23%,which indicates that the numerical methodology built in this study is highly accurate.When the step is located at less than 5/8 of the total length of the combustion chamber,vortex acoustic coupling occurs,which can increase the pressure oscillations in the motor.Both the vorticity and the scale of vortices in the downstream step increase when the head cavity angle is greater than 24°,which increases the amplitude of the pressure oscillation by maximum 63.0%.The submerged nozzle cavity mainly affects the vortices in the cavity itself rather than those in the downstream step.When the height of the cavity increases from 10 to 20 mm,the pressure oscillation amplitude under the main frequency increases by 39.1%.As this height continues to increase,the amplitude of pressure oscillations increases but the primary frequency decreases.展开更多
Talin-1 head(hereinafter referred to as TH)is the head structure of talin protein,which contains a four-point-one-protein/ezrin/radixin/moesin(FERM)domain.Its F1 domain contains an unstructured loop of 30 amino acids(...Talin-1 head(hereinafter referred to as TH)is the head structure of talin protein,which contains a four-point-one-protein/ezrin/radixin/moesin(FERM)domain.Its F1 domain contains an unstructured loop of 30 amino acids(139-168),which does not interact with other domains.Because TH doesn’t get the crystal structure and whether the unstructured loop has obvious influence on the TH secondary structure,therefore,the truncated talin-1 headΔ139-168(hereinafter referred to as THΔ)was constructed and its structure and the impact of stability after truncation were analyzed.Molecular biology and structural biology methods were used to construct prokaryotic expression vectors of TH and THΔ,explore and optimize the expression conditions of recombinants,and they were purified by affinity chromatography and FPLC gel filtration chromatography.Finally,a large number of stable,high-purity protein samples were prepared successfully.The physicochemical properties and structural stability of the proteins were investigated by dynamic light scattering and circular dichroism.The results showed that the THΔsecondary structure of the truncated body did not change significantly,the structural stability was enhanced and the resistance to guanidine hydrochloride and high temperature was stronger.展开更多
从常规粳稻常优94后代中筛选到一份自然突变的抽穗期延迟的类树稻突变体lhd3(leafy head 3)。在短日照条件下,与野生型比较,lhd3突变体在生长后期,上部节间会继续长出叶片(一般为3片)和高位分蘖,类似于树的侧枝生长,抽穗期延迟,但基部...从常规粳稻常优94后代中筛选到一份自然突变的抽穗期延迟的类树稻突变体lhd3(leafy head 3)。在短日照条件下,与野生型比较,lhd3突变体在生长后期,上部节间会继续长出叶片(一般为3片)和高位分蘖,类似于树的侧枝生长,抽穗期延迟,但基部分蘖数不受影响。经典遗传分析表明,lhd3与籼稻南京6号的F2群体中,正常植株与类树稻植株的分离比符合3∶1,说明此性状受单隐性基因控制。利用该群体进行图位克隆,将LHD3基因定位在水稻第1染色体短臂的两个新发展的STS标记wpla3和wpla25之间。再利用5个新发展的STS和CAPS标记,最终将该基因精细定位在WX6和CAPS1两个标记之间,物理距离约为60 kb。通过水稻基因组注释系统共预测到10个开放阅读框(ORF)。对该基因的进一步克隆将有助于阐明水稻生育期和叶原基发育调控机理。展开更多
To obtain the optimal process parameters of stamping forming, finite element analysis and optimization technique were integrated via transforming multi-objective issue into a single-objective issue. A Pareto-based gen...To obtain the optimal process parameters of stamping forming, finite element analysis and optimization technique were integrated via transforming multi-objective issue into a single-objective issue. A Pareto-based genetic algorithm was applied to optimizing the head stamping forming process. In the proposed optimal model, fracture, wrinkle and thickness varying are a function of several factors, such as fillet radius, draw-bead position, blank size and blank-holding force. Hence, it is necessary to investigate the relationship between the objective functions and the variables in order to make objective functions varying minimized simultaneously. Firstly, the central composite experimental(CCD) with four factors and five levels was applied, and the experimental data based on the central composite experimental were acquired. Then, the response surface model(RSM) was set up and the results of the analysis of variance(ANOVA) show that it is reliable to predict the fracture, wrinkle and thickness varying functions by the response surface model. Finally, a Pareto-based genetic algorithm was used to find out a set of Pareto front, which makes fracture, wrinkle and thickness varying minimized integrally. A head stamping case indicates that the present method has higher precision and practicability compared with the "trial and error" procedure.展开更多
According to the characteristics of spiral mining head for deep seabed cobalt-rich crust, the kinematic model, cutting loads model, quantity of cutting picks model of mining head, granularity distribution model and en...According to the characteristics of spiral mining head for deep seabed cobalt-rich crust, the kinematic model, cutting loads model, quantity of cutting picks model of mining head, granularity distribution model and energy consumption model were constructed. Based on these models, computer simulation program of cutting loads was developed with VB software. The mechanical parameters of mining head were obtained in the cutting depth range of 5160 mm. Making use of the simulation results, the effect of cutting depth of spiral mining head on the mining process was studied. The results show that the maximum force of single pick is 4.7051kN, the maximum force and torque of spiral drum of mining head are respectively 34.1668kN and 3.8795kN·m at the cutting depth of 160mm.展开更多
加拿大阿巴拉契亚造山带纽芬兰岛Humber带基底地块属性及地壳生长演化是近年来关注的科学问题,尤其是岛内西南部的Indian Head Range地块,其年龄组成与同位素特征研究对区域基底构造属性划分与对比至关重要。本文对Indian Head Range地...加拿大阿巴拉契亚造山带纽芬兰岛Humber带基底地块属性及地壳生长演化是近年来关注的科学问题,尤其是岛内西南部的Indian Head Range地块,其年龄组成与同位素特征研究对区域基底构造属性划分与对比至关重要。本文对Indian Head Range地块内的二长花岗岩岩体进行了锆石U⁃Pb定年,得到其^(206)Pb/^(238)U加权平均年龄值为1149±4 Ma,代表该岩体的侵位年龄。这一定年结果表明该岩体具有中元古代晚期的年龄,为该地块格林威尔期岩浆事件的存在提供了新的年龄证据。Nd⁃Hf同位素分析结果显示,该二长花岗岩岩体εNd值为-2.3,εHf值介于+1.93~+3.65之间,两阶段Hf模式年龄介于1.84~1.73 Ga之间。结合前人研究,我们认为Humber带内各地块发育约1.5 Ga、1.15 Ga和1.0 Ga的3期花岗质岩浆事件,它们具有相似的Hf模式年龄值,暗示它们均来源于古元古代新生地壳物质的再造。带内格林威尔基底地块均为原地基底,且与劳伦大陆远端东部边缘具有一致的岩浆-构造演化史。以上研究对Humber带内格林威尔基底地块的亲缘性及地壳生长提供新的制约,并为阿巴拉契亚造山带内古老微陆块的溯源对比提供依据。展开更多
The control system designing of unmanned wave glider(UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model....The control system designing of unmanned wave glider(UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the "Ocean Rambler" UWG is studied in this work. A heading control method based on S-surface controller is designed. For the "rudder zero drift" problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified.展开更多
Autonomous underwater vehicles （AUVs） navigating on the sea surface are usually required to complete the communication tasks in complex sea conditions. The movement forms and flow field characteristics of a multi-mo...Autonomous underwater vehicles （AUVs） navigating on the sea surface are usually required to complete the communication tasks in complex sea conditions. The movement forms and flow field characteristics of a multi-moving state AUV navigating in head sea at high speed were studied. The mathematical model on longitudinal motion of the high-speed AUV in head sea was established with considering the hydrodynamic lift based on strip theory, which was solved to get the heave and pitch of the AUV by Gaussian elimination method. Based on this, computational fluid dynamics （CFD） method was used to establish the mathematical model of the unsteady viscous flow around the AUV with considering free surface effort by using the Reynolds-averaged Navier-Stokes （RANS） equations, shear-stress transport （SST） k-w model and volume of fluid （VOF） model. The three-dimensional numerical wave in the computational field was realized through defining the unsteady inlet boundary condition. The motion forms of the AUV navigating in head sea at high speed were carried out by the program source code of user-defined function （UDF） based on dynamic mesh. The hydrodynamic parameters of the AUV such as drag, lift, pitch torque, velocity, pressure and wave profile were got, which reflect well the real ambient flow field of the AUV navigating in head sea at high speed. The computational wave profile agrees well with the experimental phenomenon of a wave-piercing surface vehicle. The force law of the AUV under the impacts of waves was analyzed qualitatively and quantitatively, which provides an effective theoretical guidance and technical support for the dynamics research and shape design of the AUV in real complex environnaent.展开更多
Foot-mounted pedestrian navigation system(PNS)is a common solution to pedestrian navigation using micro-electro mechanical system(MEMS)inertial sensors.The inherent problems of inertial navigation system(INS)by the tr...Foot-mounted pedestrian navigation system(PNS)is a common solution to pedestrian navigation using micro-electro mechanical system(MEMS)inertial sensors.The inherent problems of inertial navigation system(INS)by the traditional algorithm,such as the accumulated errors and the lack of observation of heading and altitude information,have become obstacles to the application and development of the PNS.In this paper,we introduce a heuristic heading constraint method.First of all,according to the movement characteristics of human gait,we use the generalized likelihood ratio test(GLRT)detector and introduce a time threshold to classify the human gait,so that we can effectively identify the stationary state of the foot.In addition,based on zero velocity update(ZUPT)and zero angular rate update(ZARU),the cumulative error of the inertial measurement unit(IMU)is limited and corrected,and then a heuristic heading estimation is used to constrain and correct the heading of the pedestrian.After simulation and experiments with low-cost IMU,the method is proved to reduce the localization error of end-point to less than 1%of the total distance,and it has great value in application.展开更多
This paper considers the uniform parallel machine scheduling problem with unequal release dates and delivery times to minimize the maximum completion time.For this NP-hard problem,the largest sum of release date,proce...This paper considers the uniform parallel machine scheduling problem with unequal release dates and delivery times to minimize the maximum completion time.For this NP-hard problem,the largest sum of release date,processing time and delivery time first rule is designed to determine a certain machine for each job,and the largest difference between delivery time and release date first rule is designed to sequence the jobs scheduled on the same machine,and then a novel algorithm for the scheduling problem is built.To evaluate the performance of the proposed algorithm,a lower bound for the problem is proposed.The accuracy of the proposed algorithm is tested based on the data with problem size varying from 200 jobs to 600 jobs.The computational results indicate that the average relative error between the proposed algorithm and the lower bound is only 0.667%,therefore the solutions obtained by the proposed algorithm are very accurate.展开更多
We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,th...We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.展开更多
A new error analysis method is presented via genetic algorithms for high precise heading determination model based on two total positioning stations （TPSs）. The method has the ability to search all possible solution...A new error analysis method is presented via genetic algorithms for high precise heading determination model based on two total positioning stations （TPSs）. The method has the ability to search all possible solution space by the genetic operators of elitist model and restriction. The result of analyzing the error of this model shows that the accuracy of this model is precise enough to meet the need of calibration for navigation systems on ship, and the search space is only 0. 03% of the total search space, and the precision of heading determination is 4＂ in a general dock.展开更多
Vestibulo-ocular reflex(VOR) is an important biological reflex that controls eye movement to ensure clear vision while the head is in motion.Nowadays,VOR measurement is commonly done with a video head impulse test bas...Vestibulo-ocular reflex(VOR) is an important biological reflex that controls eye movement to ensure clear vision while the head is in motion.Nowadays,VOR measurement is commonly done with a video head impulse test based on a velocity gain algorithm or a position gain algorithm,in which velocity gain is a VOR calculation on head and eye velocity,whereas position gain is calculated from head and eye position.The aim of this work is first to compare the two algorithms' performance and to detect covert catch-up saccade,then to propose a stand-alone recommendation application for the patient's diagnosis.In the first experiment,for ipsilesional and contralesional sides,the calculated position gain(0.94±0.17) is higher than velocity gain(0.84±0.19).Moreover,gain asymmetry of both lesion and intact sides using velocity gain is mostly higher than that from using position gain(four out of five subjects).Consequently,for subjects who have unilateral vestibular neuritis diagnosed from clinical symptoms and a vestibular function test,vestibular weakness is depicted by velocity gain much better than by position gain.Covert catch-up saccade and position gain then are used as inputs for recommendation applications.展开更多
Head-driven statistical models for natural language parsing are the most representative lexicalized syntactic parsing models, but they only utilize semantic dependency between words, and do not incorporate other seman...Head-driven statistical models for natural language parsing are the most representative lexicalized syntactic parsing models, but they only utilize semantic dependency between words, and do not incorporate other semantic information such as semantic collocation and semantic category. Some improvements on this distinctive parser are presented. Firstly, "valency" is an essential semantic feature of words. Once the valency of word is determined, the collocation of the word is clear, and the sentence structure can be directly derived. Thus, a syntactic parsing model combining valence structure with semantic dependency is purposed on the base of head-driven statistical syntactic parsing models. Secondly, semantic role labeling(SRL) is very necessary for deep natural language processing. An integrated parsing approach is proposed to integrate semantic parsing into the syntactic parsing process. Experiments are conducted for the refined statistical parser. The results show that 87.12% precision and 85.04% recall are obtained, and F measure is improved by 5.68% compared with the head-driven parsing model introduced by Collins.展开更多
文摘In recent years,the concept of digital human has attracted widespread attention from all walks of life,and the modelling of high-fidelity human bodies,heads,and hands has been intensively studied.This paper focuses on head modelling and proposes a generic head parametric model based on neural radiance fields.Specifically,we first use face recognition networks and 3D facial expression database FaceWarehouse to parameterize identity and expression semantics,respectively,and use both as conditional inputs to build a neural radiance field for the human head,thereby improving the head model’s representation ability while ensuring editing capabilities for the identity and expression of the rendered results;then,through a combination of volume rendering and neural rendering,the 3D representation of the head is rapidly rendered into the 2D plane,producing a high-fidelity image of the human head.Thanks to the well-designed loss functions and good implicit representation of the neural radiance field,our model can not only edit the identity and expression independently,but also freely modify the virtual camera position of the rendering results.It has excellent multi-view consistency,and has many applications in novel view synthesis,pose driving and more.
基金Sponsored by the Natural Science Foundation of Shaanxi Province (Grant No. S2025-JC-YB-0532)the Practice and Innovation Funds for Graduate Students of Northwestern Polytechnical University (PF2024044)
文摘Taking a C1x motor with a backward-facing step which can generate a typical corner vortex as a reference,a numerical methodology using large eddy simulation was established in this study.Based on this methodology,the position of the backward-facing step of the motor was computed and analyzed to determine a basic configuration.Two key geometrical parameters,the head cavity angle and submerged nozzle cavity height,were subsequently introduced.Their effects on the corner vortex motion and their interactions with the acoustic pressure downstream of the backward-facing step were analyzed.The phenomena of vortex acoustic coupling and characteristics of pressure oscillations were further explored.The results show that the maximum error between the simulations and experimental data on the dominant frequency of pressure oscillations is 5.23%,which indicates that the numerical methodology built in this study is highly accurate.When the step is located at less than 5/8 of the total length of the combustion chamber,vortex acoustic coupling occurs,which can increase the pressure oscillations in the motor.Both the vorticity and the scale of vortices in the downstream step increase when the head cavity angle is greater than 24°,which increases the amplitude of the pressure oscillation by maximum 63.0%.The submerged nozzle cavity mainly affects the vortices in the cavity itself rather than those in the downstream step.When the height of the cavity increases from 10 to 20 mm,the pressure oscillation amplitude under the main frequency increases by 39.1%.As this height continues to increase,the amplitude of pressure oscillations increases but the primary frequency decreases.
基金Supported by the Scientific Research Personnel of Northeast Agricultural University(518001)。
文摘Talin-1 head(hereinafter referred to as TH)is the head structure of talin protein,which contains a four-point-one-protein/ezrin/radixin/moesin(FERM)domain.Its F1 domain contains an unstructured loop of 30 amino acids(139-168),which does not interact with other domains.Because TH doesn’t get the crystal structure and whether the unstructured loop has obvious influence on the TH secondary structure,therefore,the truncated talin-1 headΔ139-168(hereinafter referred to as THΔ)was constructed and its structure and the impact of stability after truncation were analyzed.Molecular biology and structural biology methods were used to construct prokaryotic expression vectors of TH and THΔ,explore and optimize the expression conditions of recombinants,and they were purified by affinity chromatography and FPLC gel filtration chromatography.Finally,a large number of stable,high-purity protein samples were prepared successfully.The physicochemical properties and structural stability of the proteins were investigated by dynamic light scattering and circular dichroism.The results showed that the THΔsecondary structure of the truncated body did not change significantly,the structural stability was enhanced and the resistance to guanidine hydrochloride and high temperature was stronger.
文摘从常规粳稻常优94后代中筛选到一份自然突变的抽穗期延迟的类树稻突变体lhd3(leafy head 3)。在短日照条件下,与野生型比较,lhd3突变体在生长后期,上部节间会继续长出叶片(一般为3片)和高位分蘖,类似于树的侧枝生长,抽穗期延迟,但基部分蘖数不受影响。经典遗传分析表明,lhd3与籼稻南京6号的F2群体中,正常植株与类树稻植株的分离比符合3∶1,说明此性状受单隐性基因控制。利用该群体进行图位克隆,将LHD3基因定位在水稻第1染色体短臂的两个新发展的STS标记wpla3和wpla25之间。再利用5个新发展的STS和CAPS标记,最终将该基因精细定位在WX6和CAPS1两个标记之间,物理距离约为60 kb。通过水稻基因组注释系统共预测到10个开放阅读框(ORF)。对该基因的进一步克隆将有助于阐明水稻生育期和叶原基发育调控机理。
基金Project(2012ZX04010-081) supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China
文摘To obtain the optimal process parameters of stamping forming, finite element analysis and optimization technique were integrated via transforming multi-objective issue into a single-objective issue. A Pareto-based genetic algorithm was applied to optimizing the head stamping forming process. In the proposed optimal model, fracture, wrinkle and thickness varying are a function of several factors, such as fillet radius, draw-bead position, blank size and blank-holding force. Hence, it is necessary to investigate the relationship between the objective functions and the variables in order to make objective functions varying minimized simultaneously. Firstly, the central composite experimental(CCD) with four factors and five levels was applied, and the experimental data based on the central composite experimental were acquired. Then, the response surface model(RSM) was set up and the results of the analysis of variance(ANOVA) show that it is reliable to predict the fracture, wrinkle and thickness varying functions by the response surface model. Finally, a Pareto-based genetic algorithm was used to find out a set of Pareto front, which makes fracture, wrinkle and thickness varying minimized integrally. A head stamping case indicates that the present method has higher precision and practicability compared with the "trial and error" procedure.
基金Project(DY105 03 02 1) supported by the Deep Ocean Technology Development Itemproject(50474052) supportedby the National Natural Science Foundation of China
文摘According to the characteristics of spiral mining head for deep seabed cobalt-rich crust, the kinematic model, cutting loads model, quantity of cutting picks model of mining head, granularity distribution model and energy consumption model were constructed. Based on these models, computer simulation program of cutting loads was developed with VB software. The mechanical parameters of mining head were obtained in the cutting depth range of 5160 mm. Making use of the simulation results, the effect of cutting depth of spiral mining head on the mining process was studied. The results show that the maximum force of single pick is 4.7051kN, the maximum force and torque of spiral drum of mining head are respectively 34.1668kN and 3.8795kN·m at the cutting depth of 160mm.
文摘加拿大阿巴拉契亚造山带纽芬兰岛Humber带基底地块属性及地壳生长演化是近年来关注的科学问题,尤其是岛内西南部的Indian Head Range地块,其年龄组成与同位素特征研究对区域基底构造属性划分与对比至关重要。本文对Indian Head Range地块内的二长花岗岩岩体进行了锆石U⁃Pb定年,得到其^(206)Pb/^(238)U加权平均年龄值为1149±4 Ma,代表该岩体的侵位年龄。这一定年结果表明该岩体具有中元古代晚期的年龄,为该地块格林威尔期岩浆事件的存在提供了新的年龄证据。Nd⁃Hf同位素分析结果显示,该二长花岗岩岩体εNd值为-2.3,εHf值介于+1.93~+3.65之间,两阶段Hf模式年龄介于1.84~1.73 Ga之间。结合前人研究,我们认为Humber带内各地块发育约1.5 Ga、1.15 Ga和1.0 Ga的3期花岗质岩浆事件,它们具有相似的Hf模式年龄值,暗示它们均来源于古元古代新生地壳物质的再造。带内格林威尔基底地块均为原地基底,且与劳伦大陆远端东部边缘具有一致的岩浆-构造演化史。以上研究对Humber带内格林威尔基底地块的亲缘性及地壳生长提供新的制约,并为阿巴拉契亚造山带内古老微陆块的溯源对比提供依据。
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province of China+1 种基金Project(2013M540271)supported by the China Postdoctoral Science FoundationProject(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,China
文摘The control system designing of unmanned wave glider(UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the "Ocean Rambler" UWG is studied in this work. A heading control method based on S-surface controller is designed. For the "rudder zero drift" problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified.
基金Project(2006AA09Z235)supported by the National High Technology Research and Development Program of ChinaProject(CX2009B003)supported by Hunan Provincial Innovation Foundation For Postgraduate,China
文摘Autonomous underwater vehicles （AUVs） navigating on the sea surface are usually required to complete the communication tasks in complex sea conditions. The movement forms and flow field characteristics of a multi-moving state AUV navigating in head sea at high speed were studied. The mathematical model on longitudinal motion of the high-speed AUV in head sea was established with considering the hydrodynamic lift based on strip theory, which was solved to get the heave and pitch of the AUV by Gaussian elimination method. Based on this, computational fluid dynamics （CFD） method was used to establish the mathematical model of the unsteady viscous flow around the AUV with considering free surface effort by using the Reynolds-averaged Navier-Stokes （RANS） equations, shear-stress transport （SST） k-w model and volume of fluid （VOF） model. The three-dimensional numerical wave in the computational field was realized through defining the unsteady inlet boundary condition. The motion forms of the AUV navigating in head sea at high speed were carried out by the program source code of user-defined function （UDF） based on dynamic mesh. The hydrodynamic parameters of the AUV such as drag, lift, pitch torque, velocity, pressure and wave profile were got, which reflect well the real ambient flow field of the AUV navigating in head sea at high speed. The computational wave profile agrees well with the experimental phenomenon of a wave-piercing surface vehicle. The force law of the AUV under the impacts of waves was analyzed qualitatively and quantitatively, which provides an effective theoretical guidance and technical support for the dynamics research and shape design of the AUV in real complex environnaent.
基金This work was supported by the National Natural Science Foundation of China(61803278).
文摘Foot-mounted pedestrian navigation system(PNS)is a common solution to pedestrian navigation using micro-electro mechanical system(MEMS)inertial sensors.The inherent problems of inertial navigation system(INS)by the traditional algorithm,such as the accumulated errors and the lack of observation of heading and altitude information,have become obstacles to the application and development of the PNS.In this paper,we introduce a heuristic heading constraint method.First of all,according to the movement characteristics of human gait,we use the generalized likelihood ratio test(GLRT)detector and introduce a time threshold to classify the human gait,so that we can effectively identify the stationary state of the foot.In addition,based on zero velocity update(ZUPT)and zero angular rate update(ZARU),the cumulative error of the inertial measurement unit(IMU)is limited and corrected,and then a heuristic heading estimation is used to constrain and correct the heading of the pedestrian.After simulation and experiments with low-cost IMU,the method is proved to reduce the localization error of end-point to less than 1%of the total distance,and it has great value in application.
基金supported by the National Natural Science Foundation of China (7087103290924021+2 种基金70971035)the National High Technology Research and Development Program of China (863 Program) (2008AA042901)Anhui Provincial Natural Science Foundation (11040606Q27)
文摘This paper considers the uniform parallel machine scheduling problem with unequal release dates and delivery times to minimize the maximum completion time.For this NP-hard problem,the largest sum of release date,processing time and delivery time first rule is designed to determine a certain machine for each job,and the largest difference between delivery time and release date first rule is designed to sequence the jobs scheduled on the same machine,and then a novel algorithm for the scheduling problem is built.To evaluate the performance of the proposed algorithm,a lower bound for the problem is proposed.The accuracy of the proposed algorithm is tested based on the data with problem size varying from 200 jobs to 600 jobs.The computational results indicate that the average relative error between the proposed algorithm and the lower bound is only 0.667%,therefore the solutions obtained by the proposed algorithm are very accurate.
基金Project(51779052)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province,China+2 种基金Project(614221503091701)supported by the Research Fund from Science and Technology on Underwater Vehicle Laboratory,ChinaProject(LBH-Q17046)supported by the Heilongjiang Postdoctoral Funds for Scientific Research Initiation,ChinaProject(HEUCFP201741)supported by the Fundamental Research Funds for the Central Universities,China
文摘We introduce the artificial fish swarm algorithm for heading motion model identification and control parameter optimization problems for the“Ocean Rambler”unmanned wave glider(UWG).First,under certain assumptions,the rigid-flexible multi-body system of the UWG was simplified as a rigid system composed of“thruster+float body”,based on which a planar motion model of the UWG was established.Second,we obtained the model parameters using an empirical method combined with parameter identification,which means that some parameters were estimated by the empirical method.In view of the specificity and importance of the heading control,heading model parameters were identified through the artificial fish swarm algorithm based on tank test data,so that we could take full advantage of the limited trial data to factually describe the dynamic characteristics of the system.Based on the established heading motion model,parameters of the heading S-surface controller were optimized using the artificial fish swarm algorithm.Heading motion comparison and maritime control experiments of the“Ocean Rambler”UWG were completed.Tank test results show high precision of heading motion prediction including heading angle and yawing angular velocity.The UWG shows good control performance in tank tests and sea trials.The efficiency of the proposed method is verified.
文摘A new error analysis method is presented via genetic algorithms for high precise heading determination model based on two total positioning stations （TPSs）. The method has the ability to search all possible solution space by the genetic operators of elitist model and restriction. The result of analyzing the error of this model shows that the accuracy of this model is precise enough to meet the need of calibration for navigation systems on ship, and the search space is only 0. 03% of the total search space, and the precision of heading determination is 4＂ in a general dock.
基金supported by the MSIP (Ministry of Science,ICT and Future Planning),Korea,under the ITRC (Information Technology Research Center)support program (IITP-2016-H8501-16-1019) supervised by the IITP (Institute for Information & Communications Technology Promotion) and Inha University Research Grantsupported by the Basic Science Research Program through the National Research Foundation (NRF) of Korea funded by the Ministry of Education (2010-0020163)
文摘Vestibulo-ocular reflex(VOR) is an important biological reflex that controls eye movement to ensure clear vision while the head is in motion.Nowadays,VOR measurement is commonly done with a video head impulse test based on a velocity gain algorithm or a position gain algorithm,in which velocity gain is a VOR calculation on head and eye velocity,whereas position gain is calculated from head and eye position.The aim of this work is first to compare the two algorithms' performance and to detect covert catch-up saccade,then to propose a stand-alone recommendation application for the patient's diagnosis.In the first experiment,for ipsilesional and contralesional sides,the calculated position gain(0.94±0.17) is higher than velocity gain(0.84±0.19).Moreover,gain asymmetry of both lesion and intact sides using velocity gain is mostly higher than that from using position gain(four out of five subjects).Consequently,for subjects who have unilateral vestibular neuritis diagnosed from clinical symptoms and a vestibular function test,vestibular weakness is depicted by velocity gain much better than by position gain.Covert catch-up saccade and position gain then are used as inputs for recommendation applications.
基金Project(61262035) supported by the National Natural Science Foundation of ChinaProjects(GJJ12271,GJJ12742) supported by the Science and Technology Foundation of Education Department of Jiangxi Province,ChinaProject(20122BAB201033) supported by the Natural Science Foundation of Jiangxi Province,China
文摘Head-driven statistical models for natural language parsing are the most representative lexicalized syntactic parsing models, but they only utilize semantic dependency between words, and do not incorporate other semantic information such as semantic collocation and semantic category. Some improvements on this distinctive parser are presented. Firstly, "valency" is an essential semantic feature of words. Once the valency of word is determined, the collocation of the word is clear, and the sentence structure can be directly derived. Thus, a syntactic parsing model combining valence structure with semantic dependency is purposed on the base of head-driven statistical syntactic parsing models. Secondly, semantic role labeling(SRL) is very necessary for deep natural language processing. An integrated parsing approach is proposed to integrate semantic parsing into the syntactic parsing process. Experiments are conducted for the refined statistical parser. The results show that 87.12% precision and 85.04% recall are obtained, and F measure is improved by 5.68% compared with the head-driven parsing model introduced by Collins.
