Exaggerating Character Motions Using Sub‐Joint Hierarchy

Motion capture cannot generate cartoon‐style animation directly. We emulate the rubber‐like exaggerations common in traditional character animation as a means of converting motion capture data into cartoon‐like movement. We achieve this using trajectory‐based motion exaggeration while allowing the violation of link‐length constraints. We extend this technique to obtain smooth, rubber‐like motion by dividing the original links into shorter sub‐links and computing the positions of joints using Bézier curve interpolation and a mass‐spring simulation. This method is fast enough to be used in real time.     

Characterization of surface deformation with the Edge of LightTM technique

The aircraft lap joints are inspected with an enhanced visual inspection technique named “Edge of Light”, which is patented by the NRC Institute for Aerospace Research. This technique is applicable for rapid detection of possible hidden corrosion in lap joints. The surface deformation due to hidden corrosion can be characterized by this optical-based inspection method. In this study, a calibration procedure is developed to quantify the lap joint surface deformation. The effect of surface reflectivity is investigated with the solid film highlighting technique (SolidHi^TM), which helps achieve a uniform reflectivity during the inspection. The efficiency of the technique is demonstrated with the experimental results. This work is supported by NRC-IAR New Initiative Research Funding.     

基于AD7746的电容法间隙测量应用系统研究

为精确测量航空发动机部件间隙,针对电容法间隙测量进行了应用研究,重点设计了基于可编程电容—数字转换器AD7746的电容法间隙测量应用系统。采用驱动电缆法等措施,以减小寄生电容,提高抗干扰能力,并通过对AD7746内部可编程寄存器的补偿设置实现宽范围、高精度测量。该系统在自行设计的实验台架上进行多次实验,表明系统具有较好的线性度、重复性和较高的测量精度。最后,提出了电容法测量发动机叶尖间隙的方案。     

基于关节力矩的柔性关节机器人的控制策略

由于关节柔性降低了系统的带宽并影响系统的鲁棒稳定性,因此,采用基于关节力矩负反馈的控制策略。通过减小电机端有效惯量的方法可以大大提高系统带宽并增强鲁棒稳定性;在机器人的控制上,采用一种基于全状态反馈的复合控制结构,证明了系统的稳定性,并在现有的机械臂上实现了位置和阻抗控制实验,验证了该控制策略的有效性和可行性。     

基于DSP/FPGA的反步法阻抗控制柔性关节机械臂

针对柔性关节机械臂与环境接触时的柔顺控制问题,提出一种反步法阻抗控制方法,并基于李雅普诺夫稳定性理论证明了控制器的稳定性.该方法是在建立柔性关节机器人模型的基础上,将李雅普诺夫函数选取与控制器设计相结合的一种回归设计方法.它从系统的最低阶次微分方程开始,逐步设计满足要求的虚拟控制,最终设计出真正的控制器.轨迹跟踪和阻抗控制实验结果表明,该方法是有效而可行的.     

单搭接接头温度场与热应力分布的研究

为了对胶接接头承受热载荷时的温度场和热应力分布进行数值模拟,利用有限元法对单搭接接头的被粘物外表而承受不同温度、速度气流时的温度分布情况进行了分析.在考虑接头变形为几何非线性的前提下,研究了约束方式、胶层厚度及搭接长度对接头热应力分布的不同影响.结果表明,峰值热应力出现在搭接区边缘;当约束方式使胶层发生较大转动时,胶层处于高应力水平;随胶层厚度的增加,热应力降低且在胶层中分布更趋于均匀;搭接长度对热应力的影响因接头所受约束方式的不同,呈现不同的规律.     

多星侦察移动目标：一种基于潜在区域的求解策略

针对面向移动目标侦察的多星联合调度,提出了一种新颖的求解策略:将移动目标问题转变为区域目标问题,即在多星联合侦察的框架内利用电子侦察引导信息构建移动目标的潜在区域,基于约束满足问题(CSP)描述方法以最大覆盖率为目标建立了面向潜在区域目标的多星联合调度模型,并提出了相应的禁忌搜索算法。通过基于潜在区域的求解策略,可以优化星载遥感器的侦察方案,指导移动目标侦察任务的执行。     

煤矸石混凝土的强度

本文对非自燃煤矸石混凝土的不同龄期强度进行了试验研究,对其强度和破坏机理进行了讨论,并提出了在工程上应用的建议。     

Additional bending moment analysis of the trigeminal universal joint installed by single or twin radial bearing北大核心CSCD

To find out the causes of vibration and noise of the trigeminal universal joint which appeared in the installation and use process, the additional moment distribution with the varies of the input shaft angular and the deflection angle was analyzed. Kinematics diagrams of the trigeminal universal joint when the output shaft installed by single radial bearing or twin radial bearing were established. The system coordinates were established under the two installation ways, and the motion equations were established by the direction cosine matrix tools. It indicated that the trigeminal universal joint installed by the single radial bearing was an approximately isometric speed transmission, and was a constant velocity transmission with twin radial bearing installed. Furthermore, the additional moment component on the input shaft and the output shaft was analyzed under the two installation ways. According to the virtual displacement principle, the additional moment on the tripod universal joint when the output shaft installed by twin radial bearing and single radial bearing were determined. When installed by single radial bearing, the deflection moment exists and the vibration frequency of additional moment was three times of the input shaft as a sine curve. The variation trend of the additional moment was straight up with the increase of deflection angle. When installed by twin radial bearing, the deflection moment was zero and the additional moment increased gradually with the increase of deflection angle but did not fluctuate. The analysis revealed that additional moment existed in the trigeminal universal joint system under both installation ways would produce bending vibration. This study is of great significance to study the causes of vibration and determine the nonlinear dynamics of the system.     

Targeting orthotopic gliomas with renal-clearable luminescent gold nanoparticles

A major clinical translational challenge in nanomedicine is the potential of toxicity associated with the uptake and long-term retention of non-degradable nanoparticles (NPs) in major organs.The development of inorganic NPs that undergo renal clearance could potentially resolve this significant biosafety concern.However,it remains unclear whether inorganic NPs that can be excreted by the kidneys remain capable of targeting tumors with poor permeability.Glioblastoma multiforme,the most malignant orthotopic brain tumor,presents a unique challenge for NP delivery because of the blood-brain barrier and robust blood-tumor barrier of reactive microglia and macroglia in the tumor microenvironment.Herein,we used an orthotopic murine glioma model to investigate the passive targeting of glutathione-coated gold nanoparticles (AuNPs) of 3 nm in diameter that undergo renal clearance and 18-nm AuNPs that fail to undergo renal clearance.Remarkably, we report that 3-nm AuNPs were able to target intracranial tumor tissues with higher efficiency (2.3x relative to surrounding non-tumor normal brain tissues) and greater specificity (3.0x)than did the larger AuNPs.Pharmacokinetics studies suggested that the higher glioma targeting ability of the 3-nm AuNPs may be attributed to the longer retention time in circulation.The total accumulation of the 3-nm AuNPs in major organs was significantly less (8.4x) than that of the 18-nm AuNPs.Microscopic imaging of blood vessels and renal-clearable AuNPs showed extravasation of NPs from the leaky blood-tumor barrier into the tumor interstitium.Taken together,our results suggest that the 3-nm AuNPs,characterized by enhanced permeability and retention,are able to target brain tumors and undergo renal clearance.