基于Jack的逼真化虚拟人运动编辑技术研究

针对人机工程仿真中虚拟人运动的逼真性问题,提出一种基于视域约束和平衡约束相结合的运动编辑方法。通过运动数据映射将BVH格式运动捕获数据重定向到Jack角色模型上,采用视域约束使虚拟人视线跟踪操作物体,采用平衡约束对虚拟人行走过程进行编辑,保证虚拟人操作手眼协调,且具有一定的物理逼真性。仿真结果表明,该方法可以提高数据的重用性,实现虚拟人的手眼协调,提高人机工程仿真中虚拟人运动的逼真性。     

基于P-Rob六自由度机械臂运动学建模与仿真

目的为实现后续机械臂控制算法研究,检验机械臂运动学模型构建的正确性,基于PersonalRobotics,对六自由度机械臂进行运动学模型构建和轨迹仿真。方法通过标准D-H法建立运动学模型,实现机械臂的正、逆运动学方程求解,根据机械臂的结构特性,对传统逆向运动学求解的解析法进行改进。结果使用仿真软件Matlab验证了运动学模型建立的准确性,改进的逆向运动学求解算法降低了传统求解算法的复杂度。使用仿真软件Matlab验证了运动学模型建立的准确性,并通过Matlab对改进的逆行运动学求解方法进行了验证,结果表明,改进的逆向运动学求解速度是传统逆向运动学求解速度的一半。结论根据六自由度机械臂的运动学研究,对实际机械臂的运动控制具有一定的参考价值。在实际的P-Rob机械臂上进行了仿真数据的测试,再次验证了运动学模型建立的准确性,仿真数据可应用于实际的机械臂控制中。实验现象表明针对此机械结构的机械臂,使用改进解析法求解逆解的方法计算简单、误差小、可行性强。     

虚拟人的步行和跑步运动控制方法的研究

研究了虚拟人的步行和跑步两种基本运动模型及其运动控制方法。首先提出了人体的几何模型和运动学模型,其次对人体行走和跑步模型进行分析后,提出了用关键帧,正向、逆向运动学和简单动力学适当结合的控制方法,实现了周期的步行、跑步等移动动作,并引入运动特征参量来控制步行和跑步速度、频率及步幅特征。     

广义逆控制混沌

本文针对以分段线性振子为代表的一类非线性机械动力系统。提出了一种基于广义逆矩阵的控制混沌运动的新方法。     

基于优选学习泛化机制的机械臂运动规划方法

针对传统机械臂运动规划方法存在智能化低和适用性差的问题,本文研究了基于优选学习泛化机制的机械臂运动规划方法。根据动态运动基元(DMPS)、机械臂D-H模型和正逆运动学,设计了机械臂示教学习(LFD)运动规划系统。在此基础上依据DMPS的学习特性与样本空间的多样性,提出"方位-距离"筛选规则优选样本,并融入运动特征与障碍物的耦合因子实现避障规划。通过Matlab进行机械臂优选LFD系统建模并仿真分析其可行性与精确性,为了验证系统的适用性,设计并完成障碍物环境下的机械臂避障规划物理实验。本文提出的机械臂运动规划方法在一定程度上赋予了机械臂自主作业的能力,提升了其智能化水平。     

冗余度机器人的最优轨迹生成器

设计出了较为通用的冗余度机器人的最优轨迹规划器，将空间分离法和扩展雅可比矩阵法应用到冗余度机器人的逆运动学求解过程中，得出了较为简便的公式，该规划器回顾了雅可比矩阵的伪逆的计算，为冗余度机器人最优轨迹规划的实时应用奠定了基础。仿真结果表明，该规划器是可行的。     

基于高阶矩阵函数的广义逆波束形成改进算法

广义逆波束形成是一种高效的声源识别定位方法,然而其计算稳健性易受随机噪声影响,阻碍了其声源识别动力学水平进一步提高。为改善广义逆波束形成声源识别方法的稳健性,基于高阶矩阵函数提出一种广义逆波束形成改进算法:定义了基于广义逆波束形成的正则化矩阵;对正则化矩阵与波束形成输出进行迭代运算;利用高阶矩阵函数对迭代求解所得广义逆波束形成输出的互谱进行优化。通过数值仿真详细分析了声源频率对波束形成矩阵函数阶次取值的影响,得到阶次的最优取值区间。最后通过数值模型和实验算例对单极子与相干声源进行定位识别,结果表明:改进算法在准确识别声源基础上能有效抑制旁瓣干扰,且具有更高的声源识别精度。     

桁架结构材料非线性弹性问题的广义逆力法

通过回顾传统位移法和传统力法的思路,比较了两种传统方法,分别指出了它们在计算机求解材料非线性问题中的优缺点。从经典力法的求解思路出发介绍了用于桁架结构材料非线性弹性问题的广义逆力法(AforcemethodbasedonGeneralizedInverseMatrix,GIM),给出了该算法的推导思路及求解过程。特别指出了传统力法用计算机求解材料非线性问题所遇到的困难,对如何解决这些困难作了探讨,从而给出了结构力学计算的一个全新视角,也使得力法在计算机计算领域重新得到发展空间。广义逆力法是一种基于力法和广义逆矩阵理论的新的迭代解法,对于材料非线性问题,由于无需像传统的基于位移法的逐步增量法那样逐步递进计算,所以也称特大增量步算法(LargeIncrementMethod,LIM)。同时也指出了该算法在结构并行计算方面不同于传统的子结构并行计算的新的特点。做为一种新的迭代算法,也给出了该算法求解的唯一性和收敛性证明。     

CMAC在三关节机械臂逆运动学求解中的应用研究

传统的方法用于解决机械臂逆运动学问题不仅计算量大,而且还有不唯一解问题,很难用于机械臂的实时控制.系统地研究了CMAC神经网络在三关节机械臂逆运动学求解中的应用.简单介绍了CMAC网络,形象描述了三关节机械臂在二维平面的运动;接着,详细解释提出的三关节机械臂逆运动学问题解决方案,并且分析了基于2个CMAC网络的正、逆模型;最后,通过仿真得到验证：在求解逆运动学方面,CMAC网络学习算法比较简单,收敛速度快,且不存在局部极小问题.     

机器人双臂建模与击掌碰撞虚拟样机仿真

碰撞是仿人机器人研究的难点.今设计了5自由度仿人机器人上肢体,并且基于雅克比矩阵建立了速度运动学模型;基于拉格朗日能量函数法,建立了动力学模型;采用广义非线性等效弹簧阻尼模型,建立了碰撞动力学模型.参照人体特性,搭建了ADAMS虚拟样机仿真平台,进行了上肢体击掌动作仿真实验,开展了不同刚度系数值下的手部接触碰撞仿真.实验曲线表明动作仿人,角速度曲线满足正弦曲线形态;碰撞中,肘关节所受力矩最大;缓冲后,腕关节所受力矩大于肘关节.证明碰撞仿真平台有效,碰撞时应采用较小的仿真步长.     

拉索非线性随机振动的最优有界半连续控制

研究斜拉索非线性随机振动的最优有界半连续控制。建立受控拉索的横向非线性运动方程,运用伽辽金法推导多模态耦合的振动方程;考虑控制力的有界性,建立多自由度非线性索系统的随机最优控制问题方程,应用随机平均法、动态规划原理与变分原理确定HJB方程并得到最优有界半连续控制律,最后通过数值结果说明该最优控制对于斜拉索非线性随机振动能够达到较好的实际控制效果。     

基于AutoCAD的计算机辅助人机工程软件

采用计算机模型来进行人－机器－环境系统的模拟,不仅可以直观地显示它们之间的三维位置,而且可以大大降低人机系统的研发时间。文章简要介绍了以AutoCAD为基础开发了计算机辅助人机工程系统的过程,本系统通过从Access数据库中读入人体的主要尺寸,在AutoCAD中建立人体模型,并利用程序语言Visual Basic对模型进行修改和运动仿真,集成了数据库、计算机辅助设计软件、程序设计软件的功能。本系统能在一定程度上实现人体测量、人的行为分析、作业任务、姿态分析、碰撞探测等工作。     

MRVE夹层梁随机振动的最优跳变参数控制

研究MRVE夹层梁随机振动的最优参数控制。建立夹层梁的运动微分方程,运用伽辽金法转化为含非线性参数控制项的振动方程;考虑控制参数的有界性,建立系统最优参数控制问题,应用随机动态规划原理与Bang-Bang策略确定HJB方程并得到最优有界非线性跳变参数控制律,最后通过数值结果说明该最优控制对于MRVE夹层梁随机振动能够达到显著控制效果。     

Limit analysis of composite materials with anisotropic microstructures: A homogenization approach

A nonlinear mathematical programming approach together with the finite element method and homogenization technique is developed to implement kinematic limit analysis for a microstructure and the macroscopic strength of a composite with anisotropic constituents can be directly calculated. By means of the homogenization theory, the classical kinematic theorem of limit analysis is generalized to incorporate the microstructure - Representative Volume Element (RVE) chosen from a periodic composite/heterogeneous material. Then, using an associated plastic flow rule, a general yield function is directly introduced into limit analysis and a purely-kinematic formulation is obtained. Based on the mathematical programming technique, the finite element model of microstructure is finally formulated as a nonlinear programming problem subject to only one equality constraint, which is solved by a direct iterative algorithm. The calculation is entirely based on a purely-kinematical velocity field without calculation of stress fields. Meanwhile, only one equality constraint is introduced into the nonlinear programming problem. So the computational cost is very modest. Both anisotropy and pressure-dependence of material yielding behavior are considered in the general form of kinematic limit analysis. The developed method provides a direct approach for determining the macroscopic strength domain of anisotropic composites and can serve as a powerful tool for microstructure design of composites.     

FUZZY-GENETIC ALGORITHMS AND TIME-OPTIMAL OBSTACLE-FREE PATH GENERATION FOR MOBILE ROBOTS

This paper, describes a new yet efficient technique based on fuzzy logic and genetic algorithms (Gas) to solve the find-path problems of a mobile robot, which is formulated as a nonlinear programming problem. In the proposed algorithm, a fuzzy logic controller is used to find obstracle-free directions locally and GAs are used as optimizer to find optimal/near-optimal locations along the obstracle-free directions. This algorithm is found to be more efficient than a steepest gradient descent method. Although the fuzzy-GA method is shown to find slightly inferior or similar solutions to those found using the best-known tangent-graph and A* algorithms, it is computationally faster than them. Moreover, the fuzzy-GA approach is practically more viable than the tangent-graph method, because of former's lesser sensitivity to the number and type of obstacles. The efficiency of the proposed method demonstrated in this paper suggests that it can be extended to solve motion planning problems having moving obstacles.     

A mixed logic dynamical modeling formulation and optimal control of intelligent robots

By considering the dexterous hand manipulation problem as a hybrid system, we propose a mixed logic dynamical (MLD) modeling formulation which encapsulates phases of continuous motion, switching between types of motion, and occurrence of impacts. We first formulates the multi-contact manipulation system into a general nonlinear dynamical equation subject to (in)equality and complementarity constraints, then transform the constrained system to a MLD system model. Based on the derived MLD model, dexterous hand manipulation can be realized optimally via mixed integer quadric programming (MIQP) algorithm. This modeling formulation and an optimization approach are applied to a whole body manipulation task as an example.     

An Efficient Reliability-based Optimization Method for Uncertain Structures Based on Non-probability Interval Model

In this paper, an efficient interval optimization method based on a reliability-based possibility degree of interval (RPDI) is suggested for the design of uncertain structures. A general nonlinear interval optimization problem is studied in which the objective function and constraints are both nonlinear and uncertain. Through an interval order relation and a reliability-based possibility degree of interval, the uncertain optimization problem is transformed into a deterministic one. A sequence of approximate optimization problems are constructed based on the linear approximation technique. Each approximate optimization problem can be changed to a traditional linear programming problem, which can be easily solved by the simplex method. An iterative framework is also created, in which the design space is updated adaptively and a fine optimum can be well reached. Two numerical examples are investigated to demonstrate the effectiveness of the present method. Finally, it is employed to perform the optimization design of a practical automobile frame.     

Polymorphic uncertain nonlinear programming approach for maximizing the capacity of V-belt driving

In this paper, a polymorphic uncertain nonlinear programming (PUNP) approach is developed to formulate the problem of maximizing the capacity in a system of V-belt driving with uncertainties. The constructed optimization model is found to consist of a nonlinear objective function and some nonlinear constraints with some parameters which are of uncertain nature. These uncertain parameters are interval parameters, random interval parameters, fuzzy parameters or fuzzy interval parameters. To find a robust solution of the problem, a deterministic equivalent formulation (DEF) is established for the polymorphic uncertain nonlinear programming model. For a given satisfaction level, this DEF turns out to be a nonlinear programming involving only interval parameters. A solution method, called a sampling based interactive method, is developed such that a robust solution of the original model with polymorphic uncertainties is obtained by using standard smooth optimization techniques. The proposed method is applied into a real-world design of V-belt driving, and the results indicate that both the PUNP approach and the developed algorithm are useful to the optimization problem with polymorphic uncertainty.     

用边界元方法和复合形法求解三维结构的下限安定载荷

基于安定分析的静力定理,建立了用常规边界元方法进行三维理想弹塑性结构安定分析的整套求解算法。下限安定分析所需的弹性应力场直接由边界元方法求出,所需的自平衡应力场由一组带有待定系数的自平衡应力场基矢量的线性组合进行模拟,这些自平衡应力场基矢量通过边界元弹塑性迭代计算获取。安定分析问题最终被归结为一系列未知变量较少的非线性数学规划子问题并通过复合形法直接求解。计算结果表明了算法的有效性。     

A Class of Mathematical Programs with Equilibrium Constraints: A Smooth Algorithm and Applications to Contact Problems

We discuss a special mathematical programming problem with equilibrium constraints (MPEC), that arises in material and shape optimization problems involving the contact of a rod or a plate with a rigid obstacle. This MPEC can be reduced to a nonlinear programming problem with independent variables and some dependent variables implicity defined by the solution of a mixed linear complementarity problem (MLCP). A projected-gradient algorithm including a complementarity method is proposed to solve this optimization problem. Several numerical examples are reported to illustrate the efficiency of this methodology in practice.