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Articles 2251 - 2280 of 4223

Full-Text Articles in Systems Science

3d Reconstruction Of Weak Texture Image Based On Tensor Voting And Dense Map Method, Mingwei Chen, Yang Yang Aug 2020

3d Reconstruction Of Weak Texture Image Based On Tensor Voting And Dense Map Method, Mingwei Chen, Yang Yang

Journal of System Simulation

Abstract: Image based 3D reconstruction method can't effectively detect and match feature points and can't robustly expand 3D point cloud in weak texture image region, due to the fact that weak texture has single color and local reflection phenomenon. It is possible to produce model hole and a large number of 3D noise points, and affect the accuracy and integrity of 3D reconstruction. Slack variables constraint was used to filter mismatch features optimizing the camera matrix, in the dense point cloud expansion stage by using tensor voting principle to filter noise 3d point which is inconsistent with three-dimensional point's normal …


Synthetic Aperture Radar Signal Simulation Of Ships On Sea Surface, Guijie Diao, Xiaojian Xu, Ni Hong, Junjie Lu Aug 2020

Synthetic Aperture Radar Signal Simulation Of Ships On Sea Surface, Guijie Diao, Xiaojian Xu, Ni Hong, Junjie Lu

Journal of System Simulation

Abstract: A synthetic aperture radar (SAR) signal simulation method for ship targets on sea surface was proposed and the SAR signature model was established. The ship six degrees freedom motion model, the sea surface complex reflection coefficient model and the target electromagnetic scattering model were introduced. Based on the high frequency electromagnetic scattering calculation method and multi-path electromagnetic scattering, the electromagnetic coupling scattering and the time-varying characteristics were simulated. By comparing and analyzing the imaging results of the simulated SAR signal in different states, the physical scattering characteristics of ship targets on sea surface was realistically reflected, at the same …


Discrete-Event Simulation-Engine Technology Based On Mailbox-Mechanism In C4Isr System, Wendi Cheng, Fengxin Sun, Chu Wei Aug 2020

Discrete-Event Simulation-Engine Technology Based On Mailbox-Mechanism In C4Isr System, Wendi Cheng, Fengxin Sun, Chu Wei

Journal of System Simulation

Abstract: For the design of discrete event simulation engine about combat simulation platform tools in C4ISR System, discrete events were divided into several types according to the C4ISR System's functional components and operational deduction process. The advantage of centralized management and convenient access was made use of by the mechanism of sending and receiving emails in mailbox to support the circulation of discrete events. Besides, the fixed-step driven and event-driven discrete event engine strategies were compared and analyzed. The result shows that, discrete event-driven clock algorithm, which can greatly reduce the consumed machine-time in simulation, is more applicable at …


Semi-Physical Simulation System Research For Marine Fuel Oil Purifier, Zhang Ning, Zhipeng Shen, Jizhong Liu, Haiwei Wang Aug 2020

Semi-Physical Simulation System Research For Marine Fuel Oil Purifier, Zhang Ning, Zhipeng Shen, Jizhong Liu, Haiwei Wang

Journal of System Simulation

Abstract: Practical training in ship fuel oil purifier systems have lots of limitations including poor stability, development difficulties and high maintenance cost. A semi-physical simulation system for marine fuel oil purifier was proposed. According to the real ship control box, a fuel oil purifier control box was designed. A process simulation system was developed to simulate the fuel oil tube and purifier function, which could achieve the working process of purifier system and the phenomenon of fault alarm. The simulation system can reappear the working process of the oil purifier and simulate the fault conditions to improve the …


Mufti-Model Soft Modeling Based On Clustering In Evaporation Process, Peng Chen, Xiaoshan Qian Aug 2020

Mufti-Model Soft Modeling Based On Clustering In Evaporation Process, Peng Chen, Xiaoshan Qian

Journal of System Simulation

Abstract: Based on the idea approach based on multi-model with a stronger robustness and precision, combining with strong coupling and the highly nonlinear characteristics in multi-effect evaporation process, a soft sensor modeling method of fuzzy kernel clustering was proposed based on differential evolution and multi-squares support vector machines. The method made clustering samples under different conditions by use of DE-KFCM, each sub-models were constructed using LSSVM using fuzzy clustering algorithm to cluster the input data under different conditions, and finally get the system output by weighting. Taking alumina evaporation process as an example, for the soft sensor modeling of export …


Calculation Of Vessel's Geometric Properties Based On Stl Model, Chunlei Liu, Yin Yong, Xiaofeng Sun, Xiufeng Zhang Aug 2020

Calculation Of Vessel's Geometric Properties Based On Stl Model, Chunlei Liu, Yin Yong, Xiaofeng Sun, Xiufeng Zhang

Journal of System Simulation

Abstract: To improve the accuracy of the ship geometric properties calculation and the real-performance of the program, a method based on STL triangular mesh model was proposed to calculate the ship geometric properties. SH polygon clipping algorithm in computer graphics was used to calculate the intersection of ship and water plane. By using of coordinates systems affine transformation, 3D water plane was changed to 2D plane to extract the profile contour. Because the waterlines are monotone polygon, Mass center insertion method was proposed to finish polygon triangulation, computing speed was improved. Bulk carrier "Taihang 128" was taken as an …


Salient Region Detection Based On Object-Biased Gaussian Refinement And Global Contrast, Cai Qiang, Ziyu Xue, Dianhui Mao, Haisheng Li Aug 2020

Salient Region Detection Based On Object-Biased Gaussian Refinement And Global Contrast, Cai Qiang, Ziyu Xue, Dianhui Mao, Haisheng Li

Journal of System Simulation

Abstract: In view of the disadvantages such as the incomplete detection in image boundary which is caused by the global contrast significance detection algorithm, a visual saliency detection algorithm was proposed named salient region detection based on object-biased Gaussian refinement and global contrast. After segmentation based on graph, the global contrast was used to calculate the saliency value of each segmentation blocks. According to the location of the salient object, the center of the Gaussian model was adjusted. Both saliency detection value and Gaussian model combined effect of the final saliency values. The method paid attention to the …


Research On 3d Airway Trees Segmentation And Centerline Extraction Algorithm, Yanbo Li, Yu Xiang Aug 2020

Research On 3d Airway Trees Segmentation And Centerline Extraction Algorithm, Yanbo Li, Yu Xiang

Journal of System Simulation

Abstract: Centerline extraction plays an important role in virtual bronchology. Organ segmentation and centerline extraction with correct topology structure is very difficult, especially for multiple branching structure organs. Therefore, a 3D airway tree segmentation and centerline extraction algorithm was proposed. A new region growing method was proposed to extract the main branch and sub-branch. The initial center was extracted based on the relationship of adjacent section. The center was corrected by computing the value of the determinant of Jacobian matrix, and the path with all the points was generated by Dijkstra's shortest path algorithm. The experimental results show that …


Molecular Dynamics Of Fluid Properties By Spanwise Oscillations Of Solid Wall, Haijun Dong, Xiaoqing Lu, Haopeng Zhang, Mingming Shan Aug 2020

Molecular Dynamics Of Fluid Properties By Spanwise Oscillations Of Solid Wall, Haijun Dong, Xiaoqing Lu, Haopeng Zhang, Mingming Shan

Journal of System Simulation

Abstract: The fluid properties under the condition of the solid wall spanwise oscillation were studied using the molecular dynamics method. The three dimensional Couette flow model which was made up of copper wall and argon fluid was built. The fluid state of the near wall was simulated under the different oscillation parameters of solid wall and the corresponding fluid velocity field, the density distribution, the potential energy curves and the friction force were obtained. Then the influence mechanism of the wall oscillations on the frictional drag at liquid-solid interface was investigated. The results indicate that the frictional drag between wall …


Research Of Diffusion-Based Molecular Oscillation And Synchronization In Nanonetworks, Feiyan Li, Lin Lin, Shiwei Ma Aug 2020

Research Of Diffusion-Based Molecular Oscillation And Synchronization In Nanonetworks, Feiyan Li, Lin Lin, Shiwei Ma

Journal of System Simulation

Abstract: Nanonetworks, the interconnection among nanomachines at nanoscale, is a novel kind of communication and information sharing interdisciplinary technology, and have huge potential prospects in the application of biomedical engineering, environmental monitoring, industrial production and military. Nanomachine is considered to be the basic functional unit, and clock period caused by oscillators is a prerequisite for nanomachines to work. A mathematical model was developed to describe the molecular diffusion characteristics giving the oscillation period expression by theoretical deviation. Research on oscillation and synchronization in nanonetworks is very limited so far, so the study is of great significance to the development and …


Mathematical Model Of Maneuvering Motion And Virtual Simulation For Ultra Large Twin-Propeller Twin-Rudder Ship, Guo Chen, Yan Lifei, Haiqing Shen Aug 2020

Mathematical Model Of Maneuvering Motion And Virtual Simulation For Ultra Large Twin-Propeller Twin-Rudder Ship, Guo Chen, Yan Lifei, Haiqing Shen

Journal of System Simulation

Abstract: A three-degree freedom mathematical model of maneuvering motion for an ultra-large type container ship with twin-propeller twin-rudder is established, with turning circle test and zig-zig test simulation results to verify it. By abstracting the ship maneuvering process, the three-dimensional model of ship, helm, propeller and rudder are modeled according to virtual reality technology, and then the ship posture and the dynamic process of ship maneuvering are displayed by the virtual scene and the responsive three-dimensional model. A virtual simulation system for the maneuvering of ultra large twin-propeller twin-rudder ship is established by the MFC framework and the …


Graphic Method To Simulate Planar Arrays Pattern, Shuchun Zhang, Yongbin Qiu, Jiang Wei, Wei Xin Aug 2020

Graphic Method To Simulate Planar Arrays Pattern, Shuchun Zhang, Yongbin Qiu, Jiang Wei, Wei Xin

Journal of System Simulation

Abstract: Calculating planar arrays pattern is time-consuming in flight simulation whose frame synchronization time is within tens of milliseconds and this would cause removing frames. To resolve this problem, a graphic simulation method was presented to simulate planar arrays' pattern. Based on analyzing ideal patterns' graphic characteristics, a kernel function was constructed whose graphics could reflect all those pattern's characteristics. Then this kernel's graphics being used as a section plane were rotated in the spatial coordinates to match the ideal pattern. The simulation results show that this method can be rapidly calculated and the simulated pattern is highly true to …


3d Trajectory Tracking Of Px4 Quadrotor Based On Improved Dynamic Inversion, Yueli Hu, Weiping Cai, Wenrong Yang Aug 2020

3d Trajectory Tracking Of Px4 Quadrotor Based On Improved Dynamic Inversion, Yueli Hu, Weiping Cai, Wenrong Yang

Journal of System Simulation

Abstract: An improved dynamic inversion method was proposed for the underactuation and strong coupling in attitude variables of the quadrotors, namely, combining model reference adaptive control (MRAC) with dynamic inversion in the fast variable loop in the system. Through the establishment of dynamic model of the quadrotor and motor model, the control law of the attitude angle and position was deduced. The MATLAB simulation for the scheme was analysed and compared with conventional dynamic inversion, and also simulated in the situation that tracking a given tracjectory with a 10% weight reduction from it's load. Simulation with respect to both …


Research On Discrete-Event Modeling And Simulation Language System, Chi Peng, Xiutao Yang, Baocun Hou Aug 2020

Research On Discrete-Event Modeling And Simulation Language System, Chi Peng, Xiutao Yang, Baocun Hou

Journal of System Simulation

Abstract: A discrete-event modeling and simulation language system was proposed. Program model, language specification, simulating support, compiler and simulating application of the language system were introduced. Primary users can directly and quickly build the simulation system. They can describe details of the models and connections between models by writing element and compound models. For good scalability and flexibility, advanced users can create and modify the element component by using C++ language. The language system screens the time management and information distributing for users, which require high simulating ability. Components can be loaded by the simulating engine, which can run on …


Efficiency Simulation Of System Of Uav Patrol System Base On Stk, Yang Yong, Xijun Yan, Zhang Heng Aug 2020

Efficiency Simulation Of System Of Uav Patrol System Base On Stk, Yang Yong, Xijun Yan, Zhang Heng

Journal of System Simulation

Abstract: In order to analyze problems such as coverage percent of mission area and reliable communication between unmanned aerial vehicle (UAV) and ground control station, a method for simulation and validation based on STK was proposed. The condition should be satisfied in theory to achieve seamless coverage of the mission area by using UAV reconnaissance and communication system was analyzed. A method for down link calculation of UAV and the ground control station was proposed. STK simulation was used for validating the correctness of theoretical analysis. It shows that the simulation results can provide rational support for UAV reconnaissance and …


Study On Unmanned Surface Vehicle Control Simulation System, Zhipeng Shen, Jizhong Liu, Wang Yu, Changsheng Dai Aug 2020

Study On Unmanned Surface Vehicle Control Simulation System, Zhipeng Shen, Jizhong Liu, Wang Yu, Changsheng Dai

Journal of System Simulation

Abstract: Based on hybrid simulation, applying USV(Unmanned Surface Vehicles) mathematical model, autopilot, PC, gyrocompass, level turntable and embedded development platform, a manipulation simulation system of unmanned was designed. This system consists of shore-based system and shipboard system, and the hardware and software design for the system were researched. The test results show that the manipulation simulation system of USV can reflect the true condition of the USV accurately, and the system can provide a simulation platform for future research.


Research On Prediction Method Of Army Equipment Support Requirement Based On Operation Simulation Case- Reasoning, Yaxin Tan, Fan Rui, Xiao Dong Aug 2020

Research On Prediction Method Of Army Equipment Support Requirement Based On Operation Simulation Case- Reasoning, Yaxin Tan, Fan Rui, Xiao Dong

Journal of System Simulation

Abstract: Aiming at the question of army equipment support requirement prediction, a new mechanism based on simulation case-based reasoning was proposed. The method was given how to describe the simulation case based on characteristic vector, and put forward the constriction of simulation case which contains primary case and accessory case, and two-steps reasoning mechanism using the conception of similarity was researched. Then, some algorithms of similarity between cases were improved and the general flow was expounded. The operation simulation case library was built applying in the requirement prediction of army equipment support. The result of reasoning proves the effectivity and …


Simulation Evaluation Method Of Operational Effectiveness Based On Clustering Analysis And Correlation Analysis, Jiao Song, Chu Wei, Shaojie Mao Aug 2020

Simulation Evaluation Method Of Operational Effectiveness Based On Clustering Analysis And Correlation Analysis, Jiao Song, Chu Wei, Shaojie Mao

Journal of System Simulation

Abstract: Simulation evaluation is one of the important methods for researching operational effectiveness. With the increasing complexity of the evaluation object, the evaluation system becomes more and more huge and the overlap among the indexes is appeared. To deal with the problem, the evaluation method based on clustering analysis and grey correlation analysis was proposed. The evaluation indexes were gained according to the principles that ensure the purpose and comprehensiveness of evaluation. The evaluation indexes covering each other were appeared via clustering analysis, and the representative index was got via correlation analysis. The important degree of index was depicted …


Design And Implementation Of Hardware-In-The-Loop Simulation Dynamic Routing Protocol, Xiaohu Liu, Yuchen Zhang, Qingpo Fang, Leigang Sun Aug 2020

Design And Implementation Of Hardware-In-The-Loop Simulation Dynamic Routing Protocol, Xiaohu Liu, Yuchen Zhang, Qingpo Fang, Leigang Sun

Journal of System Simulation

Abstract: Against the problem of dynamic routing in network Hardware-In-The-Loop Simulation, on the basis of analysis of network HITL simulation principle, a dynamic routing protocol implementation scheme based on OMNeT++ was proposed. A method of routing message transform and a algorithm of time slice synchronize was proposed, overcoming the problem of routing message transform and system real-time. At the same time, using virtual IP technology for multi-host configuration, and OSPF dynamic routing protocol, the Hardware-In-the-Loop Simulation Dynamic Routing Protocol based on OMNeT++ was realized. The dynamic routing protocol with multi scenarios was verified and tested.


Research On The Formalization Description Method Of Manufacturing Capability Service In Cloud Manufacturing, Yingying Xiao, Bohu Li, Xudong Chai, Gong Jing Aug 2020

Research On The Formalization Description Method Of Manufacturing Capability Service In Cloud Manufacturing, Yingying Xiao, Bohu Li, Xudong Chai, Gong Jing

Journal of System Simulation

Abstract: According to the application demand of manufacturing capability service (MCs) in cloud manufacturing system, MCs' formalization description method was focused on. Based on the connotation analysis of MC, the definition and the classification framework of MC were given. Meanwhile, a meta-model of MCs and its attribution details, as well as a EVA (entity-value- attribute)- based persistence method was proposed to realize the formulization of heterogeneous MCs. The primary research and application in the cloud manufacturing system (TianzhiNet) show that the formalization description method of MCs is feasible. Finally, the future works are given.


Order-Independent Image Compositing In Heterogeneous Environments, Liu Ning, Dengming Zhu, Zhaoqi Wang, Shi Min Aug 2020

Order-Independent Image Compositing In Heterogeneous Environments, Liu Ning, Dengming Zhu, Zhaoqi Wang, Shi Min

Journal of System Simulation

Abstract: Conventional image compositing algorithms are designed for homogeneous environments. These algorithms do not take heterogeneity into account and do not make use of the properties of an order-independent compositing operator. As for order-independent image compositing problems in a heterogeneous environment, these algorithms usually can not make full use of the resources. An order-independent image compositing algorithm in heterogeneous environments was proposed, which was able to distribute the workload according to computing and networking characteristics, and managed to optimize compositing scheme by utilizing the properties of order-independent operator. A comprehensive evaluation on the ns-3 network simulator was conducted. Experiment results …


Chinese Shadow Play Simulation Based On Volume Visualization, Shenghua Wang, Tan Jian Aug 2020

Chinese Shadow Play Simulation Based On Volume Visualization, Shenghua Wang, Tan Jian

Journal of System Simulation

Abstract: Protection and preservation of the scene of shadow play is an urgent mission for the Chinese shadow play sustainable development. So far the visual effect is inadequate since shadow plays are always considered as two-dimensional images moving on visualization purpose, which drags down reproduction of the scene. Therefore, intact and lifelike reproduction of 3-D visual information of shadow play is the only task in the study. After an analysis of vision generation process of shadow play, a theoretical model was proposed including screen, puppets and light source, and a corresponding GPU volume rendering method for the play visualization was …


Software Design And Implementation For Visualization System Automatic Optimization With Incorporation Of Feedback And Prediction, Xiaodong Wang, Fengju Kang, Gu Hao Aug 2020

Software Design And Implementation For Visualization System Automatic Optimization With Incorporation Of Feedback And Prediction, Xiaodong Wang, Fengju Kang, Gu Hao

Journal of System Simulation

Abstract: To develop high-fidelity and real-time visualization system, the problem of automatic optimization software of visualization system was brought forward. By analyzing the whole development process of visualization system, the attraction method of 3D models significance degree in final rendering image based on bounding box was designed. Combining with the prediction of efficiency of the rendering pipeline, the algorithm with incorporation of feedback and prediction for level of detail (LOD) selection was designed, and the interface and framework of the automatic optimization software were established, which implemented it with C++ programing language. The automatic optimization software implemented above was …


Algorithm Of Double Level Visual Modeling Based On Data Of Pesticide Residues, Ruijun Liu, Chen Yi, Xu Yang Aug 2020

Algorithm Of Double Level Visual Modeling Based On Data Of Pesticide Residues, Ruijun Liu, Chen Yi, Xu Yang

Journal of System Simulation

Abstract: Based on the study of pesticide residues detection result data, which has the characteristics of geographical level and the level of classification of fruits and vegetables, in node links and radial loop algorithm visualization model, the double level structure, radiation chain graph CircleLink, was designed for analysis of pesticide residues data in visual modeling algorithm. The visual modeling algorithm was applied to the actual pesticide residues detection results data for the simulation analysis and conclusions. Analysis of the characteristics of pesticide collection, distribution of agricultural products and supermarket pesticide residues of pesticide residues was applied.


Ocean Hydrological Spatio-Temperal Data Visualization Based On Data Awareness, Caixia Li, Song Yuan, Wang Yi, Li Zhi, Xiaolin Cheng Aug 2020

Ocean Hydrological Spatio-Temperal Data Visualization Based On Data Awareness, Caixia Li, Song Yuan, Wang Yi, Li Zhi, Xiaolin Cheng

Journal of System Simulation

Abstract: Spatio-temporal data mining has emerged as an active research field focusing on the modeling and visualization of ocean hydrological data. A model of spatio-temporal data awareness (SDAM) was proposed, which gave details from three parts: 1) Description with data semantic tag for spatio-temporal context and value. 2) Awareness of spatial neighborhood semantic features by means of tri-linear interpolation; Awareness of temporal neighborhood semantic features by means of spatio-temporal frequent pattern mining; Developing database with the spatio-temporal coupling characteristics. 3) Developing feature cluster and application dataset by spatio-temporal clustering. With an application case of China's hydrological database, SDAM visualization on …


Iekf-Swcs Method For Pedestrian Self-Navigation And Location, Zhe Gao, Li Qing, Li Chao, Liu Ning Aug 2020

Iekf-Swcs Method For Pedestrian Self-Navigation And Location, Zhe Gao, Li Qing, Li Chao, Liu Ning

Journal of System Simulation

Abstract: In the process of using wearable inertial measurement unit to realize pedestrian navigation, accumulated drift errors are increasing with pedestrian moving, which has serious effects on the navigation accuracy. To solve this problem, a pedestrian self-navigation and location method was proposed based on improved extended kalman filter (IEKF). An 18 dimensional filter model fused with human motion characteristics was built. Meanwhile, a step wise closed loop smoothing (SWCS) algorithm was designed in IEKF, which could eliminate the sharp correction at some sample points and improve the smoothness of the trajectory. A self-developed IMU sensor was used to make …


Task Allocation Modeling For Agent-Oriented Uuv Collaborative System, Hongtao Liang, Fengju Kang Aug 2020

Task Allocation Modeling For Agent-Oriented Uuv Collaborative System, Hongtao Liang, Fengju Kang

Journal of System Simulation

Abstract: Task allocation modeling plays an important role in UUV collaborative system. In order to solve task allocation problem for the collaborative capability and efficiency, the Extended Contract Net Protocol (ECNP) task allocation approach was creatively proposed, which mainly focused on narrow the scope of communication and improving the negotiation efficiency. In this approach, Regional Trust Degree was introduced to narrow the scope in Announcement stage; and the capacity constraints (Energy-state, Health-State, and Detecting-window) were employed to decide whether to participate in bidding stage; also mixed-weighting evaluation strategy based on Game theory was proposed to evaluate the biding in Awarding …


Research And Simulation Of Cross Flow Heat Exchanger, Chengyun Wu, Guangwen Wang, Geping Li, Xudong Xin Aug 2020

Research And Simulation Of Cross Flow Heat Exchanger, Chengyun Wu, Guangwen Wang, Geping Li, Xudong Xin

Journal of System Simulation

Abstract: Based on cell concept, the lumped parameter method was applied and the parameters in single heat exchanger cell were deduced. Thereafter 1, 4, 9,100 cells heat exchanger simulation model was set up and the simulation error and its influencing factors were analyzed. To simplify the algorithm and increase the calculation speed, as well as improve the accuracy of cross flow heat exchanger, the simplified heat exchanger model was proposed and reviewed. The research results show that the calculation of simplified heat exchanger is precise and the algorithm is simple. The model could be widely applied in cross flow heat …


Adaptive Traffic Signal Timing Model On Polling System And Simulation Study, Guan Zheng, Yueqiang Wang, Wenhua Qian Aug 2020

Adaptive Traffic Signal Timing Model On Polling System And Simulation Study, Guan Zheng, Yueqiang Wang, Wenhua Qian

Journal of System Simulation

Abstract: A road traffic signal timing system could be corresponds to a polling model. For a queue with a large number of vehicles, under the exhaustive service, the corresponding traffic light will state on green for a long time to empty the queue, vise engender frequent switchover. Motivated by this problem, the timing strategy with minimum and maximum green times for each phase was proposed, which was modeled as a time limited polling system, and then the average queue length at the beginning of green period was analyzed to calculate the green times by the Markova chain and Generation Function …


Gait Recognition Based-On Relative Motion Features And Kinect, Yang Ke, Dou Yong, Lv Shaohe Aug 2020

Gait Recognition Based-On Relative Motion Features And Kinect, Yang Ke, Dou Yong, Lv Shaohe

Journal of System Simulation

Abstract: Gait recognition Kinect is a very important biometric technology. Gait feature can be divided into two categories: static and dynamic. Some work found that although the essential characteristics of gait are motion, but the motion feature's recognition capability is limited. However, is the distinguishing ability of the motion itself limited, or existing features doesn't adequately capture the characteristics of motion? Relative distance-based motion features were proposed, and distances between the particular skeleton points and their changes were used to characterize the gait. The relative motion features were extracted without calculating the gait cycle, and with robustness. Experimental results …