Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

协和飞机起飞失败速度计算的程序设计研究

为协和飞机的坠毁事故是由于当时没有选择中断起飞而造成的最差决策,损失最大且没有救援的可能。如果当时选择中断起飞决策,其安全裕度会提高,结果可能会好一些。为了说明这个问题,设计了计算程序,分别计算冲出跑道的速度、距离和逃生时间。安全时间是火灾发生后的判断关键,时间与速度,构成了这次事故的裕度。从计算结果可以看出,安全裕度较大。用于逃生的90秒规则,具有很高的安全限制,它高于中断起飞的决断速度规定。程序计算结果说明选择中断起飞,损失可以减少,生存率可以提高。该分析方法为处理危机时刻的两难决策问题提供了理论指导。     

民机起飞跑道限制重量的影响因素分析

场道条件是最大起飞重量的主要限制因素之一,为了深入理解场道条件对最大起飞重量的限制并为起飞性能分析提供依据,对跑道限制重量的影响因素进行了研究。对跑道限制重量的影响因素进行了分类,给出了跑道限制重量确定方法,并依据此方法以某型民用运输机为例确定了不同情况下的跑道限制重量;分析得到了跑道长度、气压高度和大气温度对跑道限制重量的影响规律。研究表明:随大气温度升高跑道限制重量分两段线性下降,且先下降慢,后下降快;随气压高度的降低和跑道长度的增长,跑道限制重量明显增大;在较长跑道长度和较低气压高度时,跑道限制重量的温度影响范围减少。     

基于MATLAB的飞行仿真

该文介绍了一种小型飞机飞行模拟器飞行仿真模型的开发过程。建立了非线性的动力学方程和起落架模型,采用插值方法生成气动系数,利用S imu linkTM中航空工具箱构建环境模型,使用StateflowTM表述逻辑关系。气动数据来源于DATCOM。较为完整的模型,使得仿真整个飞行的过程,滑跑,起飞,巡航,降落得以实现。进行了飞机起飞和降落阶段的仿真,结果表明模型可用。非线性的数学模型能够比较真实地反映飞机的实际特性。仿真模型开发的成功为模拟器的建立打下了基础。     

A bio-inspired jumping robot: Modeling,simulation, design,and experimental results

This paper presents the design of a jumping robot inspired by jumping locomotion of locusts. The mechanisms of jumping, self-righting, steering, and takeoff angle adjusting are modeled and simulated firstly. Then the 3D model of the robot is designed and a prototype of the robot is fabricated. An eccentric cam with quick return characteristics is used by the jumping mechanism to compress torsion springs for energy storing and to trigger the springs for a quick release of energy. The self-righting, steering, and takeoff angle adjusting capabilities of the robot are achieved by adding a rotatable pole leg. The pole leg can prop up the body of the robot when it falls down. The pole leg can also steer the robot to turn step by step. By adjusting its center of mass (COM) using the pole leg with an additional weight, the robot can jump at different takeoff angles. A 9 cm × 7 cm × 12 cm, 154 g jumping robot prototype is implemented. The fundamental characteristics of the robot are tested. Experimental results show that the constructed robot can jump more than 88 cm high at a takeoff angle of 80.33°. The robot rotates about 277° in the air during jumping. The robot can self-right when it falls down to its left, right, and front sides in 9 s, 9 s, and 26 s respectively. The robot can steer 360° in 42 s with 14 steps, about 25.7° per step. Its takeoff angle ranges between 80.33° and 86.92°. The robot can continuously jump to overcome stairs and jump forward in outdoor environments with self-righting and steering. The experimental results are compared with the simulation results. The differences between them are explained.