64 results about "Motion dynamics" patented technology

The present invention provides a comprehensive method for automatically and unobtrusively analyzing the in-store behavior of people visiting a physical space using a multi-modal fusion based on multiple types of sensors. The types of sensors employed may include cameras for capturing a plurality of images and mobile signal sensors for capturing a plurality of Wi-Fi signals. The present invention integrates the plurality of input sensor measurements to reliably and persistently track the people's physical attributes and detect the people's interactions with retail elements. The physical and contextual attributes collected from the processed shopper tracks includes the motion dynamics changes triggered by an implicit and explicit interaction to a retail element, comprising the behavior information for the trip of the people. The present invention integrates point-of-sale transaction data with the shopper behavior by finding and associating the transaction data that corresponds to a shopper trajectory and fusing them to generate a complete an intermediate representation of a shopper trip data, called a TripVector. The shopper behavior analyses are carried out based on the extracted TripVector. The analyzed behavior information for the shopper trips yields exemplary behavior analysis comprising map generation as visualization of the behavior, quantitative shopper metric derivation in multiple scales (e.g., store-wide and category-level) including path-to-purchase shopper metrics (e.g., traffic distribution, shopping action distribution, buying action distribution, conversion funnel), category dynamics (e.g., dominant path, category correlation, category sequence). The present invention includes a set of derived methods for different sensor configurations.

A drill string component includes a box-end and a pin-end. Each end includes a signal transceiver, which are operably coupled together. Each signal transceiver communicates with another signal transceiver in another component to form a communication network in the drillstring. An end-cap may be placed in the central bore of the pin-end of a component to form an annular chamber between a side of the end-cap and a wall of the central bore of the pin-end when the end-cap is disposed in the central bore. In some embodiments, an electronics module may be placed in the annular chamber and configured to communicate with one of the signal transceivers. Accelerometer data, as well as other sensor data, at various locations along the drillstring may be sampled by the electronics module and communicated to a remote computer. Drillstring motion dynamics, such as vibration, may be determined based on the accelerometer data.

A method and system for determining view invariant spatial-temporal descriptors encoding details of both motion dynamics and posture interactions that are highly representative and discriminative. The method and system describe determining posture interactions descriptors and motion dynamics descriptors by utilizing cosine similarity approach thereby rendering the descriptors to be view invariant.

The invention relates to a nerve self-adaption fault-tolerant control method for train unknown perturbation. Based on the stress analysis of the longitudinal motion of a train, the longitudinal motion dynamic equation of the train is established. According to an actuator fault and the longitudinal motion dynamic equation of the train, a neural network radial basis function is used to approximate unknown additional resistance. The longitudinal motion dynamic equation of the train in the case of the actuator fault is established, and then a proportional-integral-differential sliding-mode surface is constructed. According to the longitudinal motion dynamic equation of the train in the case of the actuator fault, the closed-loop dynamic equation of train is established through an unknown self-adaption law and a controller. The stability of the system is proved, and then an observer and a controller equation are used to control the actual displacement and velocity of the train to approach expected displacement and velocity. According to the invention, the influence of the actuator fault on the train system can be compensated; the influence of additional resistance on the train system is attenuated or removed; and the train system has a good position and velocity tracking performance.

The invention disclosed is a magnetorheological fluid device offering vibration isolation and broad modulation range damping in a high load carrying and compact form. A cylindrically shaped flexure structure has a bottom cap attached to one end and a top cap attached to the other end. A piston comprising a toroidal displacement body, a central shaft, and intermediate connecting plate, attaches to the top cap. A fluid chamber surrounding and generally conforming to the shape of the toroidal displacement body, is attached to the bottom cap. Two bellows attaching between the piston connecting plate and top and bottom portions of the fluid chamber complete an enclosed volume around the toroidal displacement body and allow frictionless motion of the toroidal displacement body relative to the fluid chamber. Electromagnetic coils placed within the inner and outer radius walls of the fluid chamber effect a magnetic field across the outer radius gap and inner radius gap between the toroidal displacement body and fluid chamber. Longitudinal deflection of the cylindrical flexure structure effects motion of the top cap relative to the bottom cap which in turn effects longitudinal motion of the toroidal displacement body within the fluid chamber. Magnetorheological fluid is forced from the top of the toroidal displacement body to the bottom, and vice-versa, across the inner radius and outer radius gaps between the fluid chamber and the inner radius of the toroidal displacement body. Static payload loads are supported with a high-strength, linear-elastic load path while base motion dynamic vibration loads are substantially isolated and damped without stiction effects.

The invention discloses a moving image modulation transfer function measuring method based on a gray threshold segmentation algorithm, belonging to the field of optical property measurement. The method comprises the following steps of: firstly, switching off a point light source, forming an image by an image sensor, and taking the maximum value of each pixel grey value in the recorded image as a threshold; then, lighting and moving the point light source, forming an image by the image sensor once again to obtain an intensity point expansion function image, and correcting the point expansion function image by using a gray threshold segmentation algorithm; and finally, obtaining a two-dimensional motion dynamic target modulation transfer function through two-dimensional Fourier transform and impression taking. When the point light source does a one-dimensional motion, an intensity line expansion function can be extracted from the intensity point expansion function, and a one-dimensional motion moving image modulation transfer function is obtained through utilizing one-dimensional Fourier transform and impression taking. The method not only can eliminate background light and the dark current of the image sensor, but also can eliminate random noise, and simultaneously gives considerations to the one-dimensional moving state and the two-dimensional moving state. The measurement step is simple.

A GPS collision avoidance apparatus which uses Global Positioning System (GPS) information and computer processing to determine the location of man made and natural occurring obstacles to allow a user to avoid a collision with these obstacles. The collision avoidance apparatus has a collision decision processor which analyzes position and motion dynamics data including a direction of motion, a velocity and an acceleration for a user utilizing collision avoidance apparatus to determine whether a collision will occur and then to provide protection for the user in the event a collision is likely to occur.

The invention discloses a method for identifying an action irrelevant to visual angles. The method is executed according to the following steps: first, synchronously collecting human body video data in the forward direction, an oblique direction and a side direction, pre-treating the collected video data so as to obtain a binary human body profile information, and carving and reconstructing a three-dimensional figure of the human body according to the binary human body profile information in the three directions; then extracting the dynamic part of the motion process of the human body to form a motion dynamic energy body and a motion weight model of the three-dimensional figure, and performing characteristic description by utilizing a three-dimensional Zernike torque without changing proportion, displacement and rotation; finally using a conditional random field to establish a probability graph model for each action and performing identification. The method for identifying actions irrelevant to visual angles overcomes the restriction that an existing monitoring scene requires a fixed visual angle, and realizes the identification of human body actions in any directions, and the identification rate is high.

A wearable device including a sensor system for Manual Wheelchair Users (MWCUs) to provide an alert to the MWCUs when there is an increased risk of injury is provided. The wearable device includes sensors measuring the physical activity of the MWCU and transmitting it as user data to a user motion dynamics analysis system on a user device. When the user motion dynamics analysis system determines that there is a risk of injury, it transmits an alert to the wearable device for display to the user.

The invention discloses an adaptive backstepping fault-tolerant control method for a train actuator failure fault. The method comprises: S1, a stress analysis is carried out on a train and a longitudinal train motion dynamic equation at a train actuator failure fault is established; S2, an error variable is introduced to obtain a closed-loop system dynamic equation of the longitudinal train motion; S3, an unknown bounded function of a neural network is introduced to obtain a corrected closed-loop system dynamic equation; and S4, a train motion controller is designed based on the corrected system dynamic equation. Therefore, the influence on the train expected tracking system by the actuator failure fault can be compensated; the influence on the train system by the additional resistance can be reduced or eliminated; the good position tracking performance and speed tracking performances can be realized during the train operation process; and the security and reliability of the train system can be enhanced.

The invention discloses a video behavior recognition method and system based on hierarchical dynamic depth projection difference image (HDDPDI) representation, Firstly, the depth video sequences are projected into three orthogonal Cartesian planes to generate corresponding depth projection image sequences to capture 3D contour and motion characteristics of human behavior, and the corresponding HDDPDI is constructed in each projection plane based on the depth projection image sequences. HDDPDI can simultaneously encode the spatio-temporal motion dynamics of behavior in video. CNN can automatically learn the difference features in the image. In order to verify the effectiveness of the proposed HDDPDI video representation, a CNN-based behavior recognition framework is constructed, in which three behavior classification schemes are designed. The HDDPDI in the three projection planes are separately inputted into three identical pre-trained CNNs to fine-tune the network parameters, Differentclassification schemes use different network layers of CNN to compare their effects on behavior recognition. Each classification scheme combines the information of three projection planes to obtain aricher and more comprehensive representation of behavior features.

A drill string component includes a box-end and a pin-end. Each end includes a signal transceiver, which are operably coupled together. Each signal transceiver communicates with another signal transceiver in another component to form a communication network in the drillstring. An end-cap may be placed in the central bore of the pin-end of a component to form an annular chamber between a side of the end-cap and a wall of the central bore of the pin-end when the end-cap is disposed in the central bore. In some embodiments, an electronics module may be placed in the annular chamber and configured to communicate with one of the signal transceivers. Accelerometer data, as well as other sensor data, at various locations along the drillstring may be sampled by the electronics module and communicated to a remote computer. Drillstring motion dynamics, such as vibration, may be determined based on the accelerometer data.

The present invention pertains to the automotive object tracking technique field, specifically to an automotive target state equation polynomial forecast model and tracking algorithm. According to the polynomial form of the uniformly variable motion, the invention takes the variable-accelerated motion as subsection uniformly variable motion to process, and provides a novel automotive target dynamic model-polynomial forecast model. The model can completely avoid the dependence on the polynomial coefficients of unknown motion, using the state equation established by the method of the invention can always accurately describe the motion dynamic state. Therefore, the proposed model of the present invention can be applied in various motion target state equations, the optimal filtering algorithm of the polynomial forecast model proposed by the invention is suitable for any automotive target state estimation problem that can be described by polynomial, which requires neither prior information about the parameters of target motion nor parameter identification and the like approach for regulating parameters of the established state model, thereby completely avoiding the estimated performance deterioration problem caused by the state model inaccuracy.

The invention discloses a motion capture database searching method based on a dynamic bending algorithm. The method includes selecting proper motion characteristics to build a primary index and a secondary index of a motion capture database in advance, and the speed for example searching is improved. The primary index comprises motion moment attitude information. Calculation of the secondary index is based on gesture variation of skeleton motion dynamic characteristics, namely the Euclidean distance of characteristic included angle vector of the adjacent frames is utilized as the index value, and finally the dynamic time bending algorithm with the lower bound function is utilized to calculate the similarity between the searching example and the candidate segment. By means of the method, motion capture data searching is achieved accurately and quickly, the searching accuracy is improved, and the searching time is shortened.

A method for judging magnetic suspension rotor system stability, includes through establishing magnetic suspension rotor system radial rotational motion dynamics differential equation model, adopting plurality conversion converting real coefficient two variable equation to complex system monovariant form, to obtain monovariant equivalent system, then drawing open loop transfer function dual frequency Bode chart of equifinality complex system, utilizing generalized classic frequency field stability criteria judging rotor precession and nutation stability, providing require condition for designing raising system stability correction link. The present invention converts multivariable system to equifinality monovariant system, thereby capable of using classical monovariant control theory to proceed stability analysis, relative usual multivariable method such as state space analysis method etc, not only very visual but also having good robustness, thus more fitting real system application.

The invention discloses a video behavior recognition method and system based on channel attention-oriented time modeling, and provides a new video-level channel attention generation method based on an input video convolution feature map so as to learn the difference of different feature channels. The method includes: under the guidance of channel attention, carrying out importance sorting on the generated attention scores, calculating residual errors of space features of adjacent frames in a strong identification feature channel to capture the motion dynamic of human body actions along with time change, and capturing video time dependence by establishing a time relation model of the adjacent frames, so that efficient video time structure modeling is realized, and video feature representation with higher identification capability is generated; and performing video behavior identification based on the obtained feature representation. The provided channel attention-oriented residual time modeling module can be flexibly embedded into many existing 2D network structures, and the performance of video behavior recognition is improved by endowing the 2D network with efficient time modeling capability.

The kayak paddling machine and other machines with a gyroscopic reaction system presents a new dimension to the exercise environment that is more dynamic and physically more interesting. Operating this type of machine would by far more mentally engaging than most traditional exercise machines since the brain must process all of the motion dynamics in addition to simple muscle actuation. This is much more realistic to actual sports activities and promises to provide an exercise experience that is not boring and encourages extended exercise sessions where the operator can “get in the groove”, “get in the zone”, and have fun for an extended exercise session.

The invention relates to a spacecraft relative orbit finite time anti-saturation control method with respect to a non-cooperative target, and is to solve the problems that in an existing control scheme, the design of a controller is complex, the solving process is troublesome, system buffets due to frequent switching of the controller since sliding-mode control is adopted for the weak strain capacity for unknown factors of the spacecraft relative orbit transfer process under pulse control, and since an existing method fails to consider saturation of the controller in the practical engineering, expected value cannot be converged in the finite time and a certain limitation exists in the practical engineering application. The method comprises the following specific steps: establishing a relative orbit motion dynamics model; carrying out decoupling on a relative orbit motion dynamics model C-W equation to obtain a decoupled double-integral system; and designing a finite time saturation controller according to the decoupled double-integral system. The method is applied to the spaceflight field.

The invention discloses a method for evaluating the characteristic life of a metal structure of a foundry crane based on track joint defects. Through a rigid body motion dynamics model, an impact coefficient caused by the crane running on a joint track with high and low dislocation and horizontal clearance is calculated; a load spectrum according with engineering practice is compiled; an allowablestress method which is combined with finite element simulation is used for determining the fatigue dangerous section and dangerous point of the metal structure of the foundry crane, and a first principal stress-time history after dangerous point mutation caused by the track defects is obtained; a dual-parameter stress spectrum is extracted by adopting a rain-flow counting method, and combined with a Pairs formula in fracture mechanics, the service life and fatigue residual life of the dangerous point are calculated. Through a life characteristic assessment result, continued use, maintenance or scrapping of the foundry crane are judged, the security problem is solved that parent metal and weld failures are caused by foundry crane metal structure stress-time history mutation due to the carttrack defects, and a theoretical support is provided for the development of the national standard 'scrap conditions for foundry cranes'.

The present invention relates to an Ocular Videography System for tracking eye movements of an animal, in particular rats, comprising a camera system suitable of being positioned on the head of an animal to track eye movements of at least one eye of the animal, a head mount on which the camera system is fixed or fixable, wherein, at least one image sensor as well as at least one decoder, for decoding a signal detected by the image sensor, each being comprised by the camera system, and wherein the camera system, and in particular a camera of the camera system, is designed in such a way that it detects a movement of the eye and / or a movement of the head of the animal in a vertical and / or horizontal and / or a torsional direction to an optical axis of the camera system and / or of the optical axis of the animal's eye without interfering with the animal's natural motion dynamics.

The invention provides an automatic driving vehicle risk assessment method and system for bicycle track prediction, and the method comprises the following steps: 1, collecting the information data ofthe motion characteristics of a rider at an intersection, the motion of a vehicle and the road environment characteristics, and obtaining the collected data; step 2, combining the acquired data into aDBN graphic model for intention inference to obtain an intention inference result; 3, according to an intention inference result, performing trajectory prediction by adopting a long short-term memorynetwork LSTM with an encoder-decoder; and 4, predicting and outputting the predicted position of the rider according to the track. According to the invention, the prediction time and the prediction accuracy can be improved; not only is motion dynamics considered, but also intention and environmental constraints of a rider are considered; the invention can improve the prediction time and prediction accuracy, and is of great significance to intelligent vehicles on a VRU protection system and a path planning module.

The invention discloses a hypersonic aircraft high-safety anti-interference control method by considering attack angle limitation, and relates to the field of control of hypersonic aircrafts. The method comprises the following steps: firstly, establishing an AHV longitudinal motion / kinetic model containing external interference; secondly, constructing a full-loop matching / non-matching interferenceobserver for the height subsystem in combination with a minimum parameter learning neural network (MLPNN) and an extended state observer, and designing a minimum parameter learning neural network approximator for the speed subsystem so as to reconstruct an AHV flight state and multi-source interference online; and finally, introducing an obstacle Lyapunov function, and constructing an attack angle limited feedback controller, it is ensured that attack angle response is within a safe range, and accurate tracking control over a given height / speed instruction under an output feedback framework is achieved through interference estimation and compensation. The method solves the problems that most of existing control methods depend on hypersonic full-state measurement and attack angle constraints cannot be priori guaranteed in a complex flight environment.

The invention discloses a construction method of a machine tool motion dynamic graphic simulation system and the machine tool motion dynamic graphic simulation system established on the method. The simulation system comprises a numerical control system, a servo device, a field bus, a bus data receiver, a simulation PC (Personal Computer) and a CAD (Computer Aided Design) modeling system. A machine tool layout structure and part modeling data which are provided by the CAD system are used by the PC; when the numerical control operates, a data frame is transmitted by the servo field bus during each cycle; a position instruction data frame is received by the simulation system through the bus data receiver and is transmitted to a simulation computer through Ethernet; and the simulation system can be used for generating three-dimensional virtual motion of a machine tool part according to the machine tool modeling data and each servo position. By adopting the construction method of the machine tool motion dynamic graphic simulation system, a software structure of the numerical control system is simplified and the simulation and operation time of the numerical control system is reduced; and a general numerical control machine tool motion simulation system is formed without occupying a system operation display interface, and thus development expense of software is reduced.

The invention discloses a quadruped robot motion planning method for a narrow environment. The method comprises the following steps: constructing a local point cloud map according to surrounding environment information detected by an airborne sensor of a quadruped robot, and converting the local point cloud map into a trafficability cost map containing environmental terrain information; determining a local target point of motion planning in a local range according to a global guide path input by an external global planner; based on a trafficability cost map and a local target point, planning a rough optimal collision-free path on the cost map by using a mass point model of the quadruped robot and using an A * algorithm; performing trajectory optimization on a motion dynamics model of the quadruped robot by using the rough optimal collision-free path to generate an effective motion trajectory meeting the motion dynamics constraint of the robot; a rolling time domain control strategy is used, and a motion control instruction of the quadruped robot is calculated through the effective motion trail; and judging whether the robot ends the execution track to reach the target position, if not, returning to the step 1 to repeat the whole process until completion.

The invention discloses a simulation design method for a flight path flight control system of a patrol bomb and the control system. The method comprises the following steps: establishing a trajectorysimulation mathematical model of the patrol bomb; designing control parameters of the patrol bomb track flight control system based on the L1 nonlinear track guidance law, the STT stability control law and the rolling stability control law; obtaining a six-degree-of-freedom controlled trajectory simulation program of the patrol bomb; adding the interference factors and the deviation coefficient table into a six-degree-of-freedom controlled trajectory simulation program of the patrol bomb; developing a six-degree-of-freedom controlled ballistic simulation test of the patrol bomb according to the deviation coefficient table, and outputting a simulation result; judging whether the simulation result meets the expected requirement or not, and if not, skipping to the step 2 and redesigning the control parameters; and if so, ending the design process. The problems of pneumatic and control coupling, projectile body motion dynamic noise, seeker image rotation and the like caused by projectile body rotation can be solved, and the flight path flight combat efficiency of the pneumatic layout patrol projectile can be effectively improved.

The invention discloses a 3D human body motion prediction method based on a depth state space model, and the method comprises the steps: taking the position and speed of human body motion as observation, and extracting a motion dynamics rule of a historical posture sequence through a depth network to initialize the state of the state space model; and recursively predicting a plurality of future poses of 3D human motion through state-to-observation transitions. By utilizing the advantages of the deep network and the state space model, the human body motion system is modeled into the deep statespace model, a unified description is provided for various human body motion systems, and meanwhile, the existing model can be analyzed.

The invention discloses an achieving method of trailer dynamic trajectories. The method specifically includes the following steps that (1) a steering wheel angle is obtained, and a front wheel angle of a motor tractor is calculated on the basis of the steering wheel angle; (2) the included angle of main shafts of adjacent carriages is obtained and calculated, wherein the adjacent carriages comprise the motor tractor and one corresponding trailer and further comprise the trailers; (3) the circle centers of motion trajectories are determined through the steering wheel angle, the front wheel angle of the motor tractor and the included angle of the main shafts of the adjacent carriages, and the motion dynamic trajectories of corresponding portions of a vehicle body are further obtained; and (4) the dynamic trajectories are drawn in a user view. By the adoption of the provided achieving method and device of the trailer dynamic trajectories, the dynamic trajectories of the vehicle bodies ofthe trailers can be calculated and displayed, and driver driving is further effectively assisted.

The invention provides a robot preset formation control method. The method comprises the steps: (1) building a motion-dynamics model and a virtual navigation-following motion model, and obtaining a relative pose error state equation of a following robot and a virtual navigator; (2) defining a tracking error e (t), designing a performance index function lambda (t) according to a communication range, and designing a preset error performance function S (epsilon) as a hyperbolic tangent function; (3) designing a sliding mode control rate through deformation of S (epsilon); (4) designing a fuzzy control system; (5) adjusting lambda (0) to enable an inverse function of S (epsilon) not to be negative and not to generate singularity, and enabling a convergence rate of the control error to depend on a value of eta in the control rate; and (6) giving relative poses of virtual pilots and the followers so that distances and angles between the following robots and the virtual pilots are kept to complete formation. According to the method, an output range is obtained, the preset error performance function is designed, the sliding mode controller is designed too, a sliding mode control gain is adaptively adjusted by using a fuzzy logic theory, a switching item is converted into a continuous fuzzy quantity, and buffeting is reduced.