Comparison of adaptive structural damage identification techniques in nonlinear hysteretic vibration isolation systems

Early structural damage identification to obtain an accurate condition assessment can assist in the reprioritization of structural retrofitting schedules in order to guarantee structural safety. Nowadays, seismic isolation technology has been applied in a wide variety of infrastructure, such as buildings, bridges, etc., and the health conditions of these nonlinear hysteretic vibration isolation systems have received considerable attention. To effectively detect structural damage in vibration isolation systems based on vibration data, three time-domain analysis techniques, referred to as the adaptive extended Kalman filter （AEKF）, adaptive sequential nonlinear least-square estimation （ASNLSE） and adaptive quadratic sum-sqnares error （AQSSE）, have been investigated. In this research, these analysis techniques are compared in terms of accuracy, convergence and efficiency, for structural damage detection using experimental data obtained through a series of laboratory tests based on a base-isolated structural model subjected to E1 Centro and Kobe earthquake excitations. The capability of the AEKF, ASNLSE and AQSSE approaches in tracking structural damage is demonstrated and compared.     

Error analysis of satellite attitude determination using a vision-based approach

Improvements in communication and processing technologies have opened the doors to exploit on-board cameras to compute objects’ spatial attitude using only the visual information from sequences of remote sensed images. The strategies and the algorithmic approach used to extract such information affect the estimation accuracy of the three-axis orientation of the object.This work presents a method for analyzing the most relevant error sources, including numerical ones, possible drift effects and their influence on the overall accuracy, referring to vision-based approaches. The method in particular focuses on the analysis of the image registration algorithm, carried out through on-purpose simulations. The overall accuracy has been assessed on a challenging case study, for which accuracy represents the fundamental requirement. In particular, attitude determination has been analyzed for small satellites, by comparing theoretical findings to metric results from simulations on realistic ground-truth data. Significant laboratory experiments, using a numerical control unit, have further confirmed the outcome.We believe that our analysis approach, as well as our findings in terms of error characterization, can be useful at proof-of-concept design and planning levels, since they emphasize the main sources of error for visual based approaches employed for satellite attitude estimation. Nevertheless, the approach we present is also of general interest for all the affine applicative domains which require an accurate estimation of three-dimensional orientation parameters (i.e., robotics, airborne stabilization).     

Tracking of facial deformations in multi-image sequences with elimination of rigid motion of the head

The paper deals with measurement of human facial deformations from synchronized image sequences taken with multiple calibrated cameras from different viewpoints. SIFT (Scale Invariant Feature Transform) keypoints are utilized as image feature points in the first place to determine spatial and temporal correspondences between images. If no temporal match is found for an image point by keypoint matching, then the tracking of the point is switched to least squares matching provided the point has one or more spatial corresponding points in the other views of the previous frame. For this purpose, a new method based on affine multi-image least squares matching is proposed where multiple spatial and temporal template images are simultaneously matched against each search image and part of the spatial template images also change during adjustment. A new method based on analyzing temporal changes in the image coordinates of the tracked points in multiple views is then presented for detecting the 3-D points which move only rigidly between consecutive frames. These points are used to eliminate the effect of rigid motion of the head and to obtain the changes in the 3-D points and in the corresponding image points due to pure deformation of the face. The methods are thoroughly tested with three multi-image sequences of four cameras including also quite large changes of facial deformations. The test results prove that the proposed affine multi-image least squares matching yields better results than another method using only fixed templates of the previous frame. The elimination of the effect of rigid motion works well and the points where the face is deforming can be correctly detected and the true deformation estimated. A method based on a novel adaptive threshold is also proposed for automated extraction and tracking of circular targets on a moving calibration object.     

Automatic techniques for 3D reconstruction of critical workplace body postures from range imaging data

The paper shows techniques for the determination of structured motion parameters from range camera image sequences. The core contribution of the work presented here is the development of an integrated least squares 3D tracking approach based on amplitude and range image sequences to calculate dense 3D motion vector fields. Geometric primitives of a human body model are fitted to time series of range camera point clouds using these vector fields as additional information. Body poses and motion information for individual body parts are derived from the model fit. On the basis of these pose and motion parameters, critical body postures are detected. The primary aim of the study is to automate ergonomic studies for risk assessments regulated by law, identifying harmful movements and awkward body postures in a workplace.     

System structure and calibration models of intelligent photogrammetron

This paper describes the structure, geometric model and geometric calibration of Photogrammetron I—the first type of photogrammetron which is designed to be a coherent stereo photogrammetric system in which two cameras are mounted on a physical base but driven by an intelligent agent architecture. The system calibration is divided into two parts: the in-lab calibration determines the fixed parameters in advance of system operation, and the in-situ calibration keeps tracking the free parameters in real-time during the system operation. In a video surveillance set-up, prepared control points are tracked in stereo image sequences, so that the free parameters of the system can be continuously updated through iterative bundle adjustment and Kalman filtering.     

Lagrangian modeling of water circulation in the Lofoten Basin

Lagrangian particle tracking is implemented for the Lofoten Basin of the Norwegian Sea. The ocean dynamic fields are obtained from the GLORYS 12V1 reanalysis available by the Copernicus Marine Environment Monitoring Service. Spatial distributions of the Lagrangian particles during May-November 2014 are analyzed for two depth layers: the sea-surface (0.5 m) and 266 m. The results show a significant impact of the Norwegian Coastal Current (NCC) on the thermohaline structure of the upper Lofoten Basin, underestimated previously. The NCC penetrates deep into the central Lofoten basin as far as the longitude 0°. In the subsurface layer, the area over which the NCC influences water structure is comparable to the area of the Norwegian Atlantic Slope Current (NASC), as well as to that of the Norwegian Atlantic Frontal Current (NAFC). The NCC maximum influence on the surface water of the Basin is reached in August. The inflow of the NCC is associated with relatively fresh water intrusions (0.5–2‰ fresher than the surrounding waters) moving from the coast to the central part of the Basin. The NASC and NAFC form two main sources of the Atlantic Water in the Lofoten Basin. At 266 m level, the NASC and NAFC waters dominate water structure in the basin. Herewith the NASC influence prevails over that of the NAFC, the latter being limited to the western periphery of the Basin. At this level, the NCC is observed only along a narrow band following the eastern coast. During summer, the core of the Lofoten Vortex (LV) at 266 m is mainly composed of the NAFC water. This fact contradicts the previous point of view of the dominance of the NASC in the LV core at all depth levels. Using two types of Lagrangian maps, we highlighted the summer and the autumn periods in the LV annual lifecycle. The summer LV is characterized by high orbital velocities, which are several times higher than those of the currents along the basin boundaries. The monthly mean orbital velocities in the LV reach 35 сm s⁻¹. To the end of autumn, the LV weakens with the monthly mean orbital velocities below 10 cm s⁻¹.     

动态非线性滤波模型非线性强度的曲率度量及其应用

基于微分几何的两种曲率——参数影响曲率和固有曲率,给出了定量描述非线性滤波问题的非线性强度的方法,分别采用扩展Kalman滤波方法和Unscented Kalman滤波方法进行了模拟实验。结果验证了这些曲率确实能够度量非线性滤波问题的非线性强度,且能够评估非线性滤波算法的状态估计性能。     

改进的客观分析诊断图形软件

客观分析诊断图形系统是一款面向气象科研,得到广泛应用的二维气象绘图软件。根据气象科研工作和强对流天气分析研究的新需求,对该软件进行了改进,主要包括增加新数据接口、增加新算法、改进算法、简化操作等。改进的软件增加了静止卫星、新一代天气雷达和二进制格式点加工数据GRIdded Binary 2(GRIB2)等多种数据接口,...     

浅谈如何提高目测抓球精度

通过对使用“特征视角”目测气球方法的阐述、分析,得出提高目测抓球精度的关键在于“量化”．如果能将目标物视角的大部分测量估算工作进行量化、减小目标物视角的估测余量,就能显著地提高目测抓球精度。     

Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments

For autonomous manipulation in water, an underwater vehicle-manipulator system (UVMS) should be able to generate trajectori9es for the vehicle and manipulators and track the planned trajectories accurately. In this paper, for trajectory generation, we suggest a performance index for redundancy resolution. This index is designed to minimize the restoring moments of the UVMS during manipulation, and it is optimized without impeding the performance of a given task. As a result, the restoring moments of the UVMS are decreased, and control efforts are also reduced. For tracking control of the UVMS, a nonlinear H_∞ optimal control with disturbance observer is proposed. This control is robust against parameter uncertainties, external disturbances, and actuator nonlinearities. Numerical simulations are presented to demonstrate the performance of the proposed coordinated motion control of the UVMS. The results show that control inputs for tracking are reduced, and the UVMS can successfully track generated trajectories.