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The Gough–Stewart platform has occupied an important place in the manufacturing and scientific industries, making it possible to facilitate various production cycles or conduct necessary research. Its development makes it possible to solve newer and more complex problems or facilitate the implementation of existing ones. This article considers a modification of the classical platform; considers solutions to direct and inverse kinematics problems; implements a visualization program and a control algorithm, both a physical model of the platform and a virtual one; and estimates the parameters of the platform. Direct and inverse kinematics problems are one of the main problems that describe the platform; on their basis, it is possible to consider the behavior of the platform in various configurations of the given parameters. The visualization program allows one not only to view the behavior of the platform without the need to use a physical model of the platform, but also to control the real platform by transmitting the appropriate signals to the control circuit. [ABSTRACT FROM AUTHOR]

The emerging immersive video coding standard moving picture experts group (MPEG) immersive video (MIV), which is ongoing standardization by MPEG-Immersive (MPEG-I) group, enables six degrees of freedom in a virtual reality environment that represents both natural and computer-generated scenes using multi-view video compression. The MIV eliminates the redundancy between multi-view videos and merges the residuals into multiple pictures, called an atlas. Thus, bitstreams with encoded atlases are generated and corresponding number of decoders are needed, which is challenging for the lightweight device with a single decoder. This article proposes a decoder-adaptive tiling and rate allocation method for MIV to overcome the challenge. First, the proposed method divides atlases into subpictures considering two aspects: (i) subpicture bitstream extracting and merging into one bitstream to use a single decoder and (ii) separation of each source view from the atlases for rate allocation. Second, the atlases are encoded by versatile video coding (VVC), using an extractable subpicture to divide the atlases into subpictures. Third, each subpicture bitstream is extracted, and asymmetric quality allocation for each subpictures is conducted by considering the residuals in the subpicture. Fourth, mixed-quality subpictures were merged by using the proposed bitstream merger. Fifth, the merged bitstream is decoded by using a single decoder. Finally, the viewing area of the user is synthesized by using the reconstructed atlases. Experimental results with the VVC test model (VTM) show that the proposed method achieves a 21.37% Bjøntegaard delta rate saving for immersive video peak signal-to-noise ratio and a 26.76% decoding runtime saving compared to the VTM anchor configuration. Moreover, it supports bitstreams for multiple decoders and single decoder without re-encoding, transcoding, or a substantial increase of the server-side storage. [ABSTRACT FROM AUTHOR]

This paper presents a forward modeling method for the scattering center (SC) model of dynamic ships on time-varying sea surfaces, tailored for remote sensing and target-recognition applications. Grounded in ship hydrodynamics, the methodology delineates ship movements amidst fluctuating waves, harnessing computer graphics to integrate ship–sea geometries across diverse temporal instances. Utilizing the four-path model, the composite scattering effects are segregated into distinct ship and sea contributions, along with their mutual interactions. Augmented by high-frequency electromagnetic principles, the paper quantifies and deduces SC parameters, culminating in a 3-D parameterized SC model for complex maritime targets. Unlike conventional inverse methods, this approach employs a "cause-to-effect" forward strategy, establishing clear links between SCs and local geometries, enhancing the model's physical clarity. Using the fishing ship as a case, this research compared the normalized similarity index and position-matching rate between the reconstructed synthetic aperture radar (SAR) image and the simulated SAR image. The results indicate that all computed results exceeded 90%. Furthermore, a comparison was conducted between the reconstructed radar cross-sections (RCS) obtained by expanding the model within a large angular range and the simulated results. The root mean square error between the two was less than 3 dB, affirming the accuracy and effectiveness of the proposed model. Additionally, the research examines the variations in SCs during the six-degrees-of-freedom motions, providing a detailed quantitative analysis of their temporal trends in amplitude and position. In summary, this investigation furnishes an efficient and economical framework for rapid radar characterization in dynamic, variable marine environments, fostering advancements in remote sensing and maritime target identification. [ABSTRACT FROM AUTHOR]

3D audio spatializers for Virtual Reality (VR) can use the acoustic properties of the surfaces of a visualised game space to calculate a matching reverb. However, this approach could lead to reverbs that impair the tasks performed in such a space, such as listening to speech-based audio. Sound designers would then have to alter the room's acoustic properties independently of its visualisation to improve speech intelligibility, causing audio-visual incongruency. As user expectation of simulated room acoustics regarding speech intelligibility in VR has not been studied, this study asked participants to rate the congruency of reverbs and their visualisations in 6-DoF VR while listening to speech-based audio. The participants compared unaltered, matching reverbs with sound-designed, mismatching reverbs. The latter feature improved D50s and reduced RT60s at the cost of lower audio-visual congruency. Results suggest participants preferred improved reverbs only when the unaltered reverbs had comparatively low D50s or excessive ringing. Otherwise, too dry or too reverberant reverbs were disliked. The range of expected RT60s depended on the surface visualisation. Differences in timbre between the reverbs may not affect preferences as strongly as shorter RT60s. Therefore, sound designers can intervene and prioritise speech intelligibility over audio-visual congruency in acoustically challenging game spaces. [ABSTRACT FROM AUTHOR]

3D audio spatializers for Virtual Reality (VR) can use the acoustic properties of the surfaces of a visualised game space to calculate a matching reverb. However, this approach could lead to reverbs that impair the tasks performed in such a space, such as listening to speech-based audio. Sound designers would then have to alter the room’s acoustic properties independently of its visualisation to improve speech intelligibility, causing audio-visual incongruency. As user expectation of simulated room acoustics regarding speech intelligibility in VR has not been studied, this study asked participants to rate the congruency of reverbs and their visualisations in 6-DoF VR while listening to speech-based audio. The participants compared unaltered, matching reverbs with sound-designed, mismatching reverbs. The latter feature improved D50s and reduced RT60s at the cost of lower audio-visual congruency. Results suggest participants preferred improved reverbs only when the unaltered reverbs had comparatively low D50s or excessive ringing. Otherwise, too dry or too reverberant reverbs were disliked. The range of expected RT60s depended on the surface visualisation. Differences in timbre between the reverbs may not affect preferences as strongly as shorter RT60s. Therefore, sound designers can intervene and prioritise speech intelligibility over audio-visual congruency in acoustically challenging game spaces.

In this paper, the six degrees of freedom adaptive tracking control for chaser spacecraft with uncertainty and disturbance to approach a noncooperative target are studied. The system equations with coupled relative translation and relative rotation are modeled. Considering the unknown inertia uncertainties and state-dependant disturbances, a backstepping-based adaptive tracking control law is developed to achieve high-precision proximity operations between chaser and noncooperative target. The unknown inertia and disturbance are estimated by adaptive update laws. The properties of the developed control law are discussed through the comparison of simulation results. [ABSTRACT FROM AUTHOR]

Autonomous operation planning of robotic arms under complex task constraints is still a difficult problem in the current research in this direction, and the existing operation planning methods are facing challenges and urgently need to break through the technical bottleneck. This paper proposes an improved RRT algorithm for six-degree-of-freedom robotic arms, which can be used for obstacle avoidance path planning. Based on the assembly sequence planning method, combining the advantages of RRT and RRT-connect algorithm, applying the idea of target sampling to strengthen the convergence of the algorithm to the target point search, introducing the greedy algorithm to improve the efficiency of the algorithm, combining with the five times of the B-spline interpolation on the path of the smoothing optimization, to shorten the planning path time and length. The Robotics Toolbox toolkit in MATLAB is used to count the time, number of samples, and path length required for the planning of RRT and the improved RRT algorithm, and the dynamic planning library is used to configure the algorithm and verify the path planning effect of the improved algorithm. Compared with the traditional RRT algorithm, using the proposed SDPS-RRT Connect algorithm for six-degree-of-freedom robotic arm path planning, the minimum distance of the connecting rod from the obstacle is 51.4948cm, which is greater than the standard safety distance of 45cm, which verifies the feasibility of the algorithm in practical applications.

Robots are widely used in all walks of life, and their excellent work efficiency has been paid attention to. As the key component of robot, manipulator plays an important role in the running performance of robot. In order to effectively improve the trajectory accuracy and efficiency of the manipulator, a six degree of freedom (6-DOF) modular manipulator trajectory planning method based on polynomial interpolation is proposed, and its feasibility and effectiveness are verified by experiments. At the same time, the performance of the method is compared with two other methods of the same type. The experimental results show that the six degree of freedom modular trajectory planning method has a shorter running time, and the shortest running time is 1.62 s. Compared with the directions in previous studies, the planning trajectory of the proposed method is more practical and its accuracy is higher. In the iterative process, the running time of the proposed method is also the shortest. In addition, the minimum error of the three methods is about 1%, which is lower than the other two methods. It is concluded that the six degree of freedom modular trajectory planning method has high feasibility and performance, which is of great significance to improve the operating efficiency and stability of the robot. [ABSTRACT FROM AUTHOR]

With the rapid development of the manufacturing industry, industrial automation equipment represented by computer numerical control (CNC) machine tools has put forward higher and higher requirements for the machining accuracy of parts. Compared with the multi-axis serial platform solution, the parallel platform solution is theoretically more suitable for high-precision machining equipment. There are many parallel platform solutions, but not one can provide a common physical platform to test the effectiveness of a variety of control algorithms. To achieve the goals, this paper is based on the Stewart six degrees of freedom parallel platform, and it mainly studies the platform construction. This study completed the mechanical structure design of the parallel platform. Based on the microprogrammed control unit (MCU) + pre-driver chip + three-phase full bridge solution, we have completed the circuit design of the motor driver. We wrote the program of MCU to drive six parallel robotic arms as well as the program of the parallel platform control center on the PC, and we completed the system joint debugging. The closed-loop control effect of the parallel platform workspace pose is realized. [ABSTRACT FROM AUTHOR]

This work presents an analytical formulation to assess the six-degrees-of-freedom-motion-induced error in floating Doppler wind LiDARs (FDWLs). The error products derive from the horizontal wind speed bias and apparent turbulence intensity. Departing from a geometrical formulation of the FDWL attitude and of the LiDAR retrieval algorithm, the contributions of the rotational and translational motion to the FDWL-measured total error are computed. Central to this process is the interpretation of the velocity–azimuth display retrieval algorithm in terms of a first-order Fourier series. The obtained 6 DoF formulation is validated numerically by means of a floating LiDAR motion simulator and experimentally in nearshore and open-sea scenarios in the framework of the Pont del Petroli and IJmuiden campaigns, respectively. Both measurement campaigns involved a fixed and a floating Z e p h I R TM 300 LiDAR. The proposed formulation proved capable of estimating the motion-induced FDWL horizontal wind speed bias and returned similar percentiles when comparing the FDWL with the fixed LiDAR. The estimations of the turbulence intensity increment statistically matched the FDWL measurements under all motional and wind scenarios when clustering the data as a function of the buoy's mean tilt amplitude, mean translational-velocity amplitude, and mean horizontal wind speed. [ABSTRACT FROM AUTHOR]

This paper presents a forward modeling method for the scattering center (SC) model of dynamic ships on time-varying sea surfaces, tailored for remote sensing and target-recognition applications. Grounded in ship hydrodynamics, the methodology delineates ship movements amidst fluctuating waves, harnessing computer graphics to integrate ship–sea geometries across diverse temporal instances. Utilizing the four-path model, the composite scattering effects are segregated into distinct ship and sea contributions, along with their mutual interactions. Augmented by high-frequency electromagnetic principles, the paper quantifies and deduces SC parameters, culminating in a 3-D parameterized SC model for complex maritime targets. Unlike conventional inverse methods, this approach employs a “cause-to-effect” forward strategy, establishing clear links between SCs and local geometries, enhancing the model’s physical clarity. Using the fishing ship as a case, this research compared the normalized similarity index and position-matching rate between the reconstructed synthetic aperture radar (SAR) image and the simulated SAR image. The results indicate that all computed results exceeded 90%. Furthermore, a comparison was conducted between the reconstructed radar cross-sections (RCS) obtained by expanding the model within a large angular range and the simulated results. The root mean square error between the two was less than 3 dB, affirming the accuracy and effectiveness of the proposed model. Additionally, the research examines the variations in SCs during the six-degrees-of-freedom motions, providing a detailed quantitative analysis of their temporal trends in amplitude and position. In summary, this investigation furnishes an efficient and economical framework for rapid radar characterization in dynamic, variable marine environments, fostering advancements in remote sensing and maritime target identification.

In the process of unmanned aerial vehicle (UAV) visual-navigation-algorithm design and accuracy verification, the question of how to develop a high-precision and high-reliability semi-physical simulation platform has become a significant engineering problem. In this study, a new UAV semi-physical-simulation-platform architecture is proposed, which includes a six-degree-of-freedom mechanical structure, a real-time control system and real-time animation-simulation software. The mechanical structure can realistically simulate the flight attitude of a UAV in a three-dimensional space of 4 × 2 × 1.4 m. Based on the designed mechanical structure and its dynamics, the control system and the UAV real-time flight-animation simulation were designed. Compared with the conventional simulation system, this system enables real-time flight-attitude simulation in a real physical environment and simultaneous flight-attitude simulation in virtual-animation space. The test results show that the repeated positioning accuracy of the three-axis rotary table reaches 0.006°, the repeated positioning accuracy of the three-axis translation table reaches 0.033 mm, and the dynamic-positioning accuracy reaches 0.04° and 0.4 mm, which meets the simulation requirements of high-precision visual UAV navigation. [ABSTRACT FROM AUTHOR]

Copyright of Tunnel Construction / Suidao Jianshe (Zhong-Yingwen Ban) is the property of Tunnel Construction Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The control of robotic manipulators has become increasingly difficult over recent years due to their high accuracy, performance, speed, and reliability in a variety of applications, such as industry, medicine, research, etc. These serial manipulator systems are extremely complex because their dynamic models include perturbations, parametric variations, coupled nonlinear dynamics, and non-modular dynamics, all of which require robust control for trajectory tracking. This paper compares two control techniques: computational torque control (CTC) and sliding mode control (SMC). In this study, the latter was used for a physical robotic arm with six degrees of freedom (DOF) and online experiments were conducted, which have received little attention in the literature. As a result, the contribution of this work was based on the real-time application of this controller via a self-developing interface. The great resilience of sliding mode controllers to disturbances was also demonstrated in this study. [ABSTRACT FROM AUTHOR]

The moving picture experts group (MPEG) video coding group started an immersive video coding standard project to accomplish acceptable bandwidth and decoding resources for multiple immersive videos with texture (color) and geometry (depth) information. The MPEG immersive video (MIV) coding standard provides functionality to remove inter-view redundancy and merge the residuals into videos defined as atlases. Although MIV reduces the number of videos to decode, an efficient decoder instance reduction method has not been actively investigated. This paper proposes a frame packing implementation in MIV software. The proposed method conducts frame packing for geometry atlases to align with texture atlases, encodes them as subpicture bitstreams, and merges one texture / geometry atlas into a single bitstream with a bitstream merger. Furthermore, the proposed method provides control over the number of decoder instances without significantly increasing the computational complexity compared to existing frame packing methods. Therefore, the proposed method was accepted in MIV and will be implemented on the recent version of the reference software of MIV.

We proposed a novel jaw movement tracking method that can measure in six degrees of freedom. The magnetic field generated by a permanent magnet paired with a small, low-power-consumption Hall effect magnetic sensor is used to estimate the relative distance between two objects—in this instance, the lower and upper jaws. By installing a microelectromechanical system (MEMS) orientation sensor in the device, we developed a mouthpiece-type sensing device that can measure voluntary mandibular movements in three-dimensional orientation and position. An evaluation of individuals wearing this device demonstrated its ability to measure mandibular movement with an accuracy of approximately 3 mm. Using the movement recording feature with six degrees of freedom also enabled the evaluation of an individual's jaw movements over time in three dimensions. In this method, all sensors are built onto the mouthpiece and the sensing is completed in the oral cavity. It does not require the fixation of a large-scale device to the head or of a jig to the teeth, unlike existing mandibular movement tracking devices. These novel features are expected to increase the accessibility of routine measurements of natural jaw movement, unrestricted by an individual's physiological movement and posture. [ABSTRACT FROM AUTHOR]

Room-scale virtual reality (VR) affordance in movement and interactivity causes new challenges in creating virtual acoustic environments for VR experiences. Such environments are typically constructed from virtual interactive objects that are accompanied by an Ambisonic bed and an off-screen ("invisible") music soundtrack, with the Ambisonic bed, music, and virtual acoustics describing the aural features of an area. This methodology can become problematic in room-scale VR as the player cannot approach or interact with such background sounds, contradicting the player's motion aurally and limiting interactivity. Written from a sound designer's perspective, the paper addresses these issues by proposing a musically inclusive novel methodology that reimagines an acoustic environment predominately using objects that are governed by multimodal rule-based systems and spatialized in six degrees of freedom using 3D binaural audio exclusively while minimizing the use of Ambisonic beds and non-diegetic music. This methodology is implemented using off-the-shelf, creator-oriented tools and methods and is evaluated through the development of a standalone, narrative, prototype room-scale VR experience. The experience's target platform is a mobile, untethered VR system based on head-mounted displays, inside-out tracking, head-mounted loudspeakers or headphones, and hand-held controllers. The authors apply their methodology to the generation of ambiences based on sound-based music, sound effects, and virtual acoustics. The proposed methodology benefits the interactivity and spatial behavior of virtual acoustic environments but may be constrained by platform and project limitations. [ABSTRACT FROM AUTHOR]

This work presents an analytical formulation to assess the six-degrees-of-freedom-motion-induced error in floating Doppler wind LiDARs (FDWLs). The error products derive from the horizontal wind speed bias and apparent turbulence intensity. Departing from a geometrical formulation of the FDWL attitude and of the LiDAR retrieval algorithm, the contributions of the rotational and translational motion to the FDWL-measured total error are computed. Central to this process is the interpretation of the velocity–azimuth display retrieval algorithm in terms of a first-order Fourier series. The obtained 6 DoF formulation is validated numerically by means of a floating LiDAR motion simulator and experimentally in nearshore and open-sea scenarios in the framework of the Pont del Petroli and IJmuiden campaigns, respectively. Both measurement campaigns involved a fixed and a floating ZephIRTM 300 LiDAR. The proposed formulation proved capable of estimating the motion-induced FDWL horizontal wind speed bias and returned similar percentiles when comparing the FDWL with the fixed LiDAR. The estimations of the turbulence intensity increment statistically matched the FDWL measurements under all motional and wind scenarios when clustering the data as a function of the buoy’s mean tilt amplitude, mean translational-velocity amplitude, and mean horizontal wind speed.

Multi-degree-of-freedom isolator with low stiffness is a fair prospect in engineering application. In this paper, a novel 6-DOF QZS vibration isolation platform based on leaf spring structure is presented. Its bearing capacity is provided through four leaf springs, and the quasi-zero-stiffness is realized by the force balance between the central spring and the suspension spring. 6-DOF vibration isolation is realized by the ball-hinge fixed design of a leaf spring. Through static and dynamic analysis, the following conclusions are brought. The stiffness of the leaf spring and the deformation of the central spring under static load are directly proportional to the bearing capacity of the isolation table. Besides, in order to ensure that the stiffness of the system is close to zero, the stiffness of the suspension spring and the inner spring should be as similar as possible. The vertical and horizontal displacement transmissibility tests of the isolation platform are carried out, in which the jumping phenomenon in the QZS vibration isolation platform is analyzed. By improving the damping of the structure and the length of the suspension spring, the dynamic vibration isolation process of the system can be more stable, the transmissibility can be reduced, and the vibration isolation effect can be enhanced. [ABSTRACT FROM AUTHOR]

Because the robot system has the characteristics of time-varying, strong coupling, and nonlinear system, the influence of many factors, such as load change, friction, interference and so on, is inevitable when the robot system is running in the industrial field. Therefore, the adaptive ability of the control system is required to be better. This paper discusses the pose description of robot and the transformation between coordinate systems. Under the condition of satisfying various constraints, the shortest running time is used as the optimization objective function to optimize the motion trajectory of six degrees of freedom Industrial Robot. The purpose is to minimize the running time of six degrees of freedom Industrial Robot under the conditions of point-to-point motion or along the given trajectory, and improve the working efficiency of the robot. The experimental results show that the trajectory tracking control method can meet the speed and acceleration constraints of the robot in Cartesian space and joint space at the same time, realize the overall motion smoothness of six degrees of freedom Industrial Robot, and maintain high motion efficiency. [ABSTRACT FROM AUTHOR]

Background: Gait speed is recognized to correlate to knee kinematic alterations. Clinically, patients with knee diseases tend to walk slowly compared to healthy controls. Hence, gait speed may serve as a confounding factor in the kinematic characteristics of patients during gait compared to healthy controls.Research Question: Whether and how gait speed affects six degrees of freedom (6DOF) knee kinematics remains unclear. The current study was designed to explore whether and how decreased gait speeds affect 6DOF knee kinematics.Methods: Thirty subjects (15 males and 15 females) were recruited for this study. A three-dimensional gait analysis system was used to assess the 6DOF knee kinematics of subjects at gait speeds of 4.0 km/h, 3.5 km/h, 3.0 km/h, 2.5 km/h, 2.0 km/h, 1.5 km/h, and 1.0 km/h. Kinematics of gait cycle (GC) were assessed at all gait speed levels.Results: Decreased adduction angle (0.5-3.2 °, p < 0.05), increased external rotation (0.6-3.3 °, p < 0.05) and decreased flexion angle (1.5-17.4 °, p < 0.05) were found during most GC as gait speed level decreased. Greater anterior tibial translation (0.9-2.6 mm, p < 0.05), greater proximal translation (0.4-2.4 mm, p < 0.05) and decreased lateral tibial translation (0.5-3.0 mm, p < 0.05) were found during most GC as gait speed level decreased. Gender was also found to have great effects on 6DOF knee kinematics (p < 0.05). Interactions between gender and gait speed were also found (p < 0.05).Significance: Our findings suggest that additional attention should be paid when dealing with kinematic comparisons of GC between controls and patients with significantly different gait speeds or genders than controls. Kinematic alterations induced by gait speed may raise concern for patients with knee diseases who struggle to walk faster than their normal speed. This may enhance our knowledge of the relationship between gait speed and 6DOF knee kinematics. [ABSTRACT FROM AUTHOR]

To operate robots and machines intuitively, interfaces using body motion have recently been investigated. However, compared to the upper limbs, the lower limb operation has not been fully explored. In the present paper, we conducted an experiment involving the six-degree-of-freedom operation of an imaginary object with a lower or upper limb gesture using a virtual-space-based evaluation system. We analyzed the motions of the upper and lower limbs in the operation and discussed the difference between their characteristics. The experimental results showed that the operability of the lower limb was lower than that of the upper limb in terms of time by approximately 79%, accuracy by approximately 109%, subjective evaluation by approximately 39%, and frequency of ON/OFF switching by approximately 82%. We analyzed the results in detail by defining the operational ideality and roughness based on fuzzy estimation. The results clarified that the ideality of the lower limb operation was lower than that of the upper limb by approximately 20–25% and that the ideality was lower in the posture operation than in the position operation by approximately 7–13%. Evaluation of the macro-approaching motions using the roughness index showed that the moving distance, rotating angle, and rotating velocity for a single motion were all smaller in the lower limb operation than in the upper limb operation by approximately 18%, 44%, and 33%, respectively. Consequently, there was the main difference between the upper and lower limbs in the posture operation.

In the process of unmanned aerial vehicle (UAV) visual-navigation-algorithm design and accuracy verification, the question of how to develop a high-precision and high-reliability semi-physical simulation platform has become a significant engineering problem. In this study, a new UAV semi-physical-simulation-platform architecture is proposed, which includes a six-degree-of-freedom mechanical structure, a real-time control system and real-time animation-simulation software. The mechanical structure can realistically simulate the flight attitude of a UAV in a three-dimensional space of 4 × 2 × 1.4 m. Based on the designed mechanical structure and its dynamics, the control system and the UAV real-time flight-animation simulation were designed. Compared with the conventional simulation system, this system enables real-time flight-attitude simulation in a real physical environment and simultaneous flight-attitude simulation in virtual-animation space. The test results show that the repeated positioning accuracy of the three-axis rotary table reaches 0.006°, the repeated positioning accuracy of the three-axis translation table reaches 0.033 mm, and the dynamic-positioning accuracy reaches 0.04° and 0.4 mm, which meets the simulation requirements of high-precision visual UAV navigation.

RocketPy is a new open-source Python library specialized in trajectory simulations of sounding rockets and high-powered rockets. Having a modular structure and being built on top of a six degree-of-freedom flight dynamics model that includes detailed mass variation effects, RocketPy allows for accurate trajectory prediction of different rocket configurations. Additionally, weather data from several meteorological agencies, such as reanalysis, forecasts, and ensembles, are an innovative feature directly integrated into the library, providing precise information about atmospheric conditions for each simulation. The software was successfully validated for three rockets developed by different universities, with apogee predictions showing deviations of the order of 1% when compared to actual flight data. Furthermore, due to its modular nature, RocketPy can be easily employed in optimization studies and Monte Carlo analyses. The latter was a key aspect of this work, enabling the calculation of landing dispersion ellipses based on input uncertainties. Since running several Monte Carlo analyses is computationally expensive, a new algorithm was proposed to significantly speed up results based on rejection sampling. The code described here and made available online enhances the state of the art represented by several widely used software and can serve as a framework for future research on rocket dynamics, control, flight optimization, and dispersion analysis. [ABSTRACT FROM AUTHOR]

This study examines the plausibility of Auditory Augmented Reality (AAR) realized with position-dynamic binaural synthesis over headphones. An established method to evaluate the plausibility of AAR asks participants to decide whether they are listening to the virtual or real version of the sound object. To date, this method has only been used to evaluate AAR systems for seated listeners. The AAR realization examined in this study instead allows listeners to turn to arbitrary directions and walk towards, past, and away from a real loudspeaker that reproduced sound only virtually. The experiment was conducted in two parts. In the first part, the subjects were asked whether they are listening to the real or the virtual version, not knowing that it was always the virtual version. In the second part, the real versions of the scenes where the loudspeaker actually reproduced sound were added. Two different source positions, three different test stimuli, and two different sound levels were considered. Seventeen volunteers, including five experts, participated. In the first part, none of the participants noticed that the virtual reproduction was active throughout the different test scenes. The inexperienced listeners tended to accept the virtual reproduction as real, while experts distributed their answers approximately equally. In the second part, experts could identify the virtual version quite reliably. For inexperienced listeners, the individual results varied enormously. Since the presence of the headphones influences the perception of the real sound field, this shadowing effect had to be considered in the creation of the virtual sound source as well. This requirement still limits test methods considering the real version in its ecological validity. Although the results indicate that the availability of a hidden real reference leads to a more critical evaluation, it is crucial to be aware that the presence of the headphones slightly distorts the reference. This issue seems more vital to the plausibility estimates achieved with this evaluation method than the increased freedom in motion.

We proposed a novel jaw movement tracking method that can measure in six degrees of freedom. The magnetic field generated by a permanent magnet paired with a small, low-power-consumption Hall effect magnetic sensor is used to estimate the relative distance between two objects—in this instance, the lower and upper jaws. By installing a microelectromechanical system (MEMS) orientation sensor in the device, we developed a mouthpiece-type sensing device that can measure voluntary mandibular movements in three-dimensional orientation and position. An evaluation of individuals wearing this device demonstrated its ability to measure mandibular movement with an accuracy of approximately 3 mm. Using the movement recording feature with six degrees of freedom also enabled the evaluation of an individual’s jaw movements over time in three dimensions. In this method, all sensors are built onto the mouthpiece and the sensing is completed in the oral cavity. It does not require the fixation of a large-scale device to the head or of a jig to the teeth, unlike existing mandibular movement tracking devices. These novel features are expected to increase the accessibility of routine measurements of natural jaw movement, unrestricted by an individual’s physiological movement and posture.

The compressed-spring structure is a simple and reliable mechanism to achieve negative stiffness, which has been vastly investigated for achieving quasi-zero-stiffness isolation. However, six-degrees-of-freedom quasi-zero-stiffness isolators based on this kind of negative-stiffness mechanism still have not been touched. In this study, we propose a six-degrees-of-freedom quasi-zero-stiffness isolation platform constructed by six modules that use compressed-spring structures. Its underlying quasi-zero-stiffness principles in the translational and torsional directions are explained. By establishing the static model of the platform and linearizing it at the static equilibrium position, we find that the linear cross-coupling effects appear if the static load exists. Linearized dynamic analysis of the isolation platform is then performed and the results demonstrate that by applying spring compression, the isolation frequency band can be expanded to lower frequency range in six directions. Because of cross-coupling effects resulted from the static load, the platform cannot achieve whole-frequency-range isolation in the coupling directions even if the spring compressions satisfy quasi-zero-stiffness conditions. [ABSTRACT FROM AUTHOR]

Copyright of Journal of Dalian University of Technology / Dalian Ligong Daxue Xuebao is the property of Journal of Dalian University of Technology and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Room-scale virtual reality (VR) affordance in movement and interactivity causes new challenges in creating virtual acoustic environments for VR experiences. Such environments are typically constructed from virtual interactive objects that are accompanied by an Ambisonic bed and an off-screen (“invisible”) music soundtrack, with the Ambisonic bed, music, and virtual acoustics describing the aural features of an area. This methodology can become problematic in room-scale VR as the player cannot approach or interact with such background sounds, contradicting the player’s motion aurally and limiting interactivity. Written from a sound designer’s perspective, the paper addresses these issues by proposing a musically inclusive novel methodology that reimagines an acoustic environment predominately using objects that are governed by multimodal rule-based systems and spatialized in six degrees of freedom using 3D binaural audio exclusively while minimizing the use of Ambisonic beds and non-diegetic music. This methodology is implemented using off-the-shelf, creator-oriented tools and methods and is evaluated through the development of a standalone, narrative, prototype room-scale VR experience. The experience’s target platform is a mobile, untethered VR system based on head-mounted displays, inside-out tracking, head-mounted loudspeakers or headphones, and hand-held controllers. The authors apply their methodology to the generation of ambiences based on sound-based music, sound effects, and virtual acoustics. The proposed methodology benefits the interactivity and spatial behavior of virtual acoustic environments but may be constrained by platform and project limitations.

This paper presents a method of utilizing a non-contact position sensor for the tilting and movement control of a rotor in a rotary magnetic levitation motor system. This system has been studied with the aim of having a relatively simple and highly clean alternative application compared to the spin coater used in the photoresist coating process in the semiconductor wafer process. To eliminate system wear and dust problems, a shaft-and-bearing-free magnetic levitation motor system was designed and a minimal non-contact position sensor was placed. An algorithm capable of preventing derailment and precise movement control by applying only control without additional mechanical devices to this magnetic levitation system was proposed. The proposed algorithm was verified through simulations and experiments, and the validity of the algorithm was verified by deriving a precision control result suitable for the movement control command in units of 0.1 mm at 50 rpm rotation drive. [ABSTRACT FROM AUTHOR]

Multi-degree-of-freedom isolator with low stiffness is a fair prospect in engineering application. In this paper, a novel 6-DOF QZS vibration isolation platform based on leaf spring structure is presented. Its bearing capacity is provided through four leaf springs, and the quasi-zero-stiffness is realized by the force balance between the central spring and the suspension spring. 6-DOF vibration isolation is realized by the ball-hinge fixed design of a leaf spring. Through static and dynamic analysis, the following conclusions are brought. The stiffness of the leaf spring and the deformation of the central spring under static load are directly proportional to the bearing capacity of the isolation table. Besides, in order to ensure that the stiffness of the system is close to zero, the stiffness of the suspension spring and the inner spring should be as similar as possible. The vertical and horizontal displacement transmissibility tests of the isolation platform are carried out, in which the jumping phenomenon in the QZS vibration isolation platform is analyzed. By improving the damping of the structure and the length of the suspension spring, the dynamic vibration isolation process of the system can be more stable, the transmissibility can be reduced, and the vibration isolation effect can be enhanced.

Virtual Reality (VR) has traditionally required external sensors placed around a designated play space. In contrast, more recent wired and wireless systems, such as the Oculus Rift S (released in March 2019) and the Oculus Quest (released in May 2019) use cameras located on the outside of these devices to monitor their physical position. Users can now mark out a physical space that is then digitally tracked within their display. Once a play space has been established, users are alerted if they come close to breaching this boundary by the visual inclusion of a grid. Should this threshold be breached, the headset display shifts to an image of the surrounding concrete environment. We contend that physical space is increasingly being incorporated into the digital space of VR in a manner that meaningfully differs from older systems. We build our argument in the following way. First, the article explores how theories surrounding VR have implicated only a limited relationship with physical space. Second, the article introduces the concept of coextensive space as a way of understanding the developing relationship between the physical, digital and concrete reality enacted by current VR systems. [ABSTRACT FROM AUTHOR]

At present, optical mirrors are widely used in photocopier scanners, infrared barcode printers, traditional projectors and projection cameras. In the process of mirror imaging, we need to know the position of the mirror at all times to meet the imaging needs. Therefore, we need to improve on the mirror bracket. The semi-active laser guidance system is a system that can always control the target position. The laser semi-active positioning technology is mainly realized by the laser semi-active positioning system. In this paper, the reflector can be installed in the laser-guided projectile body, and the position information of the reflector can be controlled at all times. In order to improve the imaging quality, the mirror needs to rotate multiple times to collect information at different positions to improve the imaging quality. Therefore, this article uses a six-degree-of-freedom connection structure to control the movement of the mirror. This article cleverly applies the laser guidance system and the six-degree-of-freedom connection structure to the mirror imaging system to improve the accuracy and intelligence of the imaging system. [ABSTRACT FROM AUTHOR]

This paper presents and discusses the results of the transient numerical simulation carried out for an isolated main rotor model and a helicopter in vertical descent autorotation by developing the 6-degree of freedom, rigid-body equations of helicopter motion. The Unsteady Reynolds Averaged Navier-Stokes model is used to simulate the unsteady flow field surrounding four-bladed BO-105 isolated main rotor and complete helicopter which includes the fuselage and the tail rotor. The principal autorotation characteristics for the helicopter such as induced velocity, rate of descent, main rotor angular speed, thrust and torque have been calculated. The simulation results show the creation of a spanwise flow on the upper surface of the blade, and moving fluid in the direction of the blade tip in a region downstream and beneath the leading edge vortex. The aerodynamic characteristics on the complete helicopter are similar to the ones attained for the isolated rotor simulation. [ABSTRACT FROM AUTHOR]

Simultaneous localization and mapping (SLAM) plays a more and more important role in the environment perception system of unmanned ground vehicle (UGV). A hierarchical global topological map is proposed to solve the low real time capability problem during processing of 3D lidar point cloud map, which divides the entire map into many submaps consisting of large numbers of tree-structure-based voxels, and the submaps are organized with the help of topology. The probabilistic methods are used to represent the state of each voxel being occupied/null. A transitable area is extracted based on the submaps for the UGV's path planning. With the help of an inertial measurement unit (IMU) and two 3D lidars, a branch and bound search (BBS)-based loop detection algorithm called RHM-ICP algorithm is proposed to realize a real time 6-degrees-of-freedom global pose optimization with the help of Ceres, which is to process the sparse pose adjustment (SPA). Experimental results obtained from a real large-scale off-road environment shows an effective reduction of lidar odometry pose accumulative error with a global location error of less than 1 m and a good performance of 3D mapping. [ABSTRACT FROM AUTHOR]

This paper presents a method of utilizing a non-contact position sensor for the tilting and movement control of a rotor in a rotary magnetic levitation motor system. This system has been studied with the aim of having a relatively simple and highly clean alternative application compared to the spin coater used in the photoresist coating process in the semiconductor wafer process. To eliminate system wear and dust problems, a shaft-and-bearing-free magnetic levitation motor system was designed and a minimal non-contact position sensor was placed. An algorithm capable of preventing derailment and precise movement control by applying only control without additional mechanical devices to this magnetic levitation system was proposed. The proposed algorithm was verified through simulations and experiments, and the validity of the algorithm was verified by deriving a precision control result suitable for the movement control command in units of 0.1 mm at 50 rpm rotation drive.