Robot motion design using bunraku emotional expressions – focusing on Jo-Ha-Kyū in sounds and movements*

One of the UNESCO intangible cultural heritages Bunraku puppets can play one of the most beautiful puppet motions in the world. The Bunraku puppet motions can express emotions without the so-called ‘Uncanny Valley.’ We try to convert these emotional motions into robot affective motions so that robots can interact with human beings more comfortable. In so doing, in the present paper, we present a robot motion design framework using Bunraku affective motions that are based on the so-called ‘Jo-Ha-Kyū,’ and convert a few simple Bunraku motions into a robot motions using one of deep learning methods. Our primitive experiments show that Jo-Ha-Kyū can be incorporated into robot motion design smoothly, and some simple affective robot motions can be designed using our proposed framework.     

波浪荷载作用下海上新型潜式浮式风力机运动特性研究

以适用于中等水深(50~200 m)的新型潜式浮式风力机为研究对象,该风力机基础综合Spar式、半潜式及张力腿(TLP)3类浮式风力机基础的优点,运行时基础主体淹没在水下,具有较小的水线面(如同Spar平台),受波浪影响较小;平台通过张紧式系泊线与海床相连(如同TLP平台),具有良好的垂荡和摇摆运动特性;拖航状态下,浮式平台处于半潜状态,水线面面积大(如同半潜式平台),具有良好的浮稳性。通过分析不同波况下的潜式浮式风力机耦合动力响应得到潜式浮式基础的横荡、纵荡、垂荡及纵摇运动响应,以及发电功率、叶片根部弯矩、塔筒顶部和底部弯矩、锚链张力时程曲线。研究结果表明:波浪对于结构的纵摇运动的影响最为明显,对发电功率、叶片根部弯矩和塔筒顶部弯矩影响较小,对塔筒底部弯矩和系泊线张力影响较大。     

台阶式泄洪槽水工模型试验研究

为验证山西省某森林公园台阶式消能泄洪槽设计的合理性,通过模型试验研究了该消能泄洪槽不同流量工况下的流态、台阶平面压力、流速分布及消能效率。结果表明,在试验流量范围内,泄槽内为跌落水流和过渡水流,掺气不明显;台阶平面压力变化范围为-9.7~24.4kPa,当流量为6m^3/s时,出现最大负压9.702kPa;除#3消力池进口处外,三段台阶式消能段均为泄槽底部流速较小,对泄槽底部冲刷较小,泄槽水流表面流速最大;在不同流量下台阶式泄槽+消力池联合消能率均超过了90%,其中大部分能量消散在溢洪道台阶上。研究成果可为类似工程提供参考。     

Stabilisation of stochastic differential equations driven by G-Brownian motion via aperiodically intermittent control

ABSTRACT

As an emerging field, the G-Itô stochastic calculus plays an important role in describing the model uncertainty. Many interesting works have been done on stochastic differential equations driven by G-Brownian motion (G-SDEs). Among the theories and applications of G-SDEs, the stability is the vital important one. In this paper, we investigate the stabilisation for G-SDEs based on G-Lyapunov function and aperiodically adaptive intermittent controller. As an application, the sufficient conditions are established for the stabilisation of stochastic Cohen–Grossberg neural networks driven by G-Brownian motion (G-SCGNNs). Finally, an example is provided to illustrate the obtained results.     

纳米级超声造影剂的理论研究进展

为了克服超声造影剂中微米级气泡尺寸较大的局限性,大量研究人员对超声应用的替代造影剂(纳米级造影剂)进行了研究。随着生物纳米技术的飞速发展,纳米级超声造影剂在诊断与治疗领域有着广阔的发展前景。与超声造影剂中的微米级气泡相比,纳米级造影剂粒径较小,渗透能力极强,可以通过血管内皮间隙,进而可以实现血管外病变部位的显影。文中详细论述了超声造影剂在超声作用下的行为以及2种主要的纳米级造影剂:纳米气泡和纳米液滴造影剂,对其理论研究进展进行了总结,并提出了目前仍存在的一些问题及其未来的研究方向。     

Exploratory factor analysis and validity of the virtual reality symptom questionnaire and computer use survey

Abstract

The widespread use of virtual reality head-mounted-displays (HMDs) calls for a re-examination of the impact of prolonged exposure to fixed visual displays at close ocular proximity. The purpose of this study is to validate the Virtual Reality Symptoms Questionnaire (VRSQ), created to understand symptoms of prolonged HMDs use, and Computer Use Survey (CUS), created to assess general physical and visual discomfort symptoms. Participants (N?=?100) recorded their general discomfort symptoms using the CUS, performed an interactive task using a HMD for thirty minutes, and then answered the CUS again along with the VRSQ. VRSQ, analysed using an exploratory factor analysis, indicated a clear two-factor solution, and demonstrated very good internal consistency (α?=?0.873). The CUS, also analysed using an exploratory factor analysis, indicated a four-factor solution, and demonstrated good internal consistency (α?=?0.838).

Practitioner Summary: A quantitative-experimental study was conducted to explore the factor structure and validate both the Virtual Reality Symptoms Questionnaire (VRSQ), and the Computer Use Survey (CUS). Findings indicate the VRSQ and CUS are precise and accurate survey instruments for evaluating discomfort after VR-HMD use and the latter for computer use.

Abbreviations: VRSQ: virtual reality symptom questionnaire; CUS: computer use survey; OLED: organic light-emitting diode; MSQ: pensacola motion symptom questionnaire; SSQ: simulator sickness questionnaire; 3?D: three-dimensional computer generated space; VR: virtual reality; VR-HMD: virtual reality head-mounted-display; HMDs: head-mounted-displays; EFA: exploratory factor analysis     

球磨过程中介质群运动区域划分方法研究

球磨过程中介质群运动状态变化对物料的破碎效率影响极大，通过对介质群运动状态进行区域划分，探究不同球磨工况下的介质群运动区域特征更能有效揭示介质群对物料的破碎方式和有效破碎区域。针对理论划分介质群运动区域过于理想、单一，试验追踪法成本过高的问题，提出了一种介质群运动区域划分的新方法-EDEM网格划分法。首先把筒体的横截面划分为若干个微元，利用数理统计的方法得到介质群位置概率分布函数，获取介质群运动速度区域分布图和碰撞特性区域分布图。然后给出了回转运动、螺旋运动及复合颤振运动三种工况下介质群运动区域的划分实例，并与试验追踪法对比，验证了EDEM网格划分法的准确性和有效性。最后通过粉磨试验中进料的破碎速率和微细颗粒产率探讨了介质群运动区域特性对颗粒的破碎方式和有效破碎区域的影响效果。本研究为优化球磨过程的影响因素和操作参数提供了一种快捷、有效的方法。     

循环流化床锅炉启动点火技术

本文主要介绍了大容量循环流化床锅炉的三种启动点火技术,阐述了各点火技术的基本原理、优缺点,新建锅炉选择点火技术的一般性原则。     

Motion Planning by T‐RRT with Potential Function for Vertical Articulated Robots

RRT (rapidly exploring random tree) with random sampling is an effective method for path planning, and is often used for robot manipulators. The RRT has many modified methods for applying various problems and conditions. Particularly, T‐RRT (Transition‐based RRT) one of those has advantage that it is able to adopt arbitrary evaluation function. In this paper, a novel path planning method based on the T‐RRT is proposed for ensuring “quality” of a generated path. Then, its effectiveness is evaluated via comparison with other sampling‐based methods using simulation of the industrial robot having seven DOFs.