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To improve safety in transport, exact mathematical models of transport systems are required. The technique of simulation of exact differential equations of mechanical systems is considered, which makes it possible to compile mathematical models of both systems of transportable bodies and transport objects whose motion is determined and depends on wearable systems moving in a certain prescribed manner...
Fingertip positions can be tracked using a variety of motion capture methods, raising the question of how to describe, compare, measure effects on, and simulate finger-movement trajectories. This paper provides a solution using stochastic differential equations (SDEs). In this approach, finger positions are conceptualized as Brownian particles. Effects on finger positions, from the stimulus and experimental...
In high-performance military aircraft, high centrifugal forces result in sharp turns and such emergency maneuvers significantly affect the pilot's physiological condition and performance. The human centrifuge system is a dynamic flight simulator used to generate artificial G forces realistically. One of the objectives of this study is to underline the significance of system safety of human centrifuge...
The fast and energy-efficient simulation of dynamical systems defined by coupled ordinary/partial differential equations has emerged as an important problem. The accelerated simulation of coupled ODE/PDE is critical for analysis of physical systems as well as computing with dynamical systems. This paper presents a fast and programmable accelerator for simulating dynamical systems. The computing model...
This paper introduces an attitude updating method based on a new structure of gyroscope-free inertial navigation system(GFINS), in which the angular accelerometers are used to take the place of gyroscopes. For this new structure of GFINS, a new mathematical model is developed to determine the general three-dimensional motion of body segments. The mathematical model is mainly based on the direction...
This paper concerns with the dynamics of TH equations both in the time domain and in the true anomaly domain. Based on the homogeneous solutions of TH equations, a state transition matrix for the TH equations in the true anomaly domain is obtained. The state transition matrix applies to any eccentric orbit. Through the state transition matrix, the sampleddata descriptions are obtained for both the...
Skid steering is different from the traditional Ackermann steering. Skid steering vehicles don't turn by swinging the wheel, but by changing the wheels' rotational speed of the either side. Skid steering has been applied to various intelligent vehicles because it has advantages in mobility and general layout. To study the steering performance of skid-steered wheeled vehicles, a three degree of freedom...
This paper proposes a rail defect detection method based on vibration acceleration signals. The vibration signals are generated from the vehicle-track coupling model by inputting different typical rail defect excitations. The empirical mode decomposition method is used to decompose the signal. Intrinsic mode functions that have a big cross-correlation coefficient with the original signal are selected,...
It is an important aim to reduce the cost of driver assistance systems to bring their benefit in safety and comfort to as many drivers as possible. A single camera used as an environmental sensor has the potential for a significant cost reduction. Based on the currently available camera and image processing technology this work evaluates how the portfolio of the camera based assistance systems can...
This paper considers the angle-only filtering problem in 3D using bearing and elevation angle measurements from a single maneuvering sensor. We develop continuous-discrete extended Kalman filter (EKF) based algorithms using modified spherical coordinates (MSC) and log spherical coordinates (LSC), where the dynamic and measurement models are described in continuous and discrete times, respectively...
INS/GNSS integration is a well known technique in navigation and, in general, in time-Position-Velocity-Attitude (tPVA) trajectory determination. It is also known, that INS and GNSS are complementary and that the key to their integration is the correct calibration of the Inertial Measurement Unit (IMU) sensors, of the IMU's Inertial Sensor Assembly (ISA) system parameters (axes misalignments and center...
A coupled electromechanical and hydrodynamic simulation of a novel generator connected to a heaving buoy for wave energy conversion has been developed. The simulation is based primarily in MATLAB using its built-in Ordinary Differential Equation (ODE) solvers. These solvers have acted on the data derived from an electromagnetic finite element analysis and from the WAMIT wave interaction simulation...
A dynamic model of four degree-of-freedom four-wheel-steering vehicle is built. By using differential equations of motion of free rigid body, the steering and braking situation is considered and simulated. The results show that this model is close to the steering and braking situation.
The dynamics of the flexible robot arm subjected to tip mass during an actual deployment is studied. The Euler-Bernoulli beam theory and the real deployment are considered in the simulation. A new real axial velocity profile is developed. This new suggested profile simulates the actual deployment such that the arm movement starts from immovability and after attaining the final required length comes...
In order to change the position control into physical motion control, and give up interpolation calculation, a physical motion model of CNC machine tool has been built. The relation between geometric parameters, motion parameters and planning parameters is studied with kinematics principle and geometric principle. The motion differential equations are worked out, It can be used to calculate transient...
By the method of tangential velocity in the paper, The error model was established, the analysis software was developed, some error patterns and decisive parameters were analyzed, the measures to amend, additionally, were proposed. In order to solve the difficult problem of synthetic control for trajectory position and motion, studied the spatial and time characteristics of trajectory movement and...
In consideration of maneuvering spacecraft, the uncertainty of thrust acceleration will cause enormous error to model and track the accelerating motion, it's reasonable to think that the measurements mainly reflect the uncertainty of the thrust acceleration. This paper focuses on modeling and building on-line filter to identify the continuous thrust acceleration to compensate the uncertainty of the...
In this work we present a methodology for the investigation of costs of cancer treatment by radiotherapy, aiming to reduce the undesired effects of radiation and to obtain better results of the treatment. The tumor growth is simulated by using a mathematical model composed of three ordinary diferential equations corresponding to the population of Normal (N), Tumoral (T) and Imune (I) cells. The effect...
Spherical robot is a special type of mobile robot which spherical structure offers special characteristic of motion, for example it has the capability to recover from collisions with static or mobile obstacles in the same area. In this paper the motion control of a kind of spherical robot based on conservation of angular momentum is discussed. Firstly, the dynamic model of a simplified version of...
Proceeding from actual needs of AINS initial alignment technology, this paper is specific to rigidity carrier ship, and it deduces the model equations of Airborne Inertial Navigation System's velocity and acceleration (ecificforce) with the effect of arm-lever vector. It employs the method that establishes large initial misalignment angle transfer alignment model of AINS, which is other than traditional...
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