Kinematic Model

La simulation du geste humain est une thématique de recherche importante et trouve notamment une application dans l'analyse ergonomique pour l'aide à la conception de postes de travail. Le sujet de cette thèse concerne la génération automatique de tâches d'atteinte dans le plan horizontal pour un humanoïde. Ces dernières, à partir d'un objectif exprimé dans l'espace de la tâche, requièrent une coordination de l'ensemble des liaisons. L'une des principales difficultés rencontrées lors de la simulation de gestes réalistes est liée à la redondance naturelle de l'humain. Notre démarche est focalisée principalement sur deux aspects : - le mouvement de la main dans l'espace opérationnel (trajectoire spatiale et profil temporel), - la coordination des différentes sous-chaînes cinématiques. Afin de caractériser le mouvement humain, nous avons mené une campagne de capture de mouvements pour des gestes d'atteinte contraignant la position et l'orient...

This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed using the inverse calibration method. The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix. With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results. The contributions of the paper are: (i) The formalization of the inverse calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy. As an application of the proposed kinematic identification protocol the identification of a planar 5R symmetrical mechanism is simulated. The performance of the calibrated mechanism is evaluated by updating the kinematic model with the estimated parameters and developing simulations.

This Master's thesis has the main intuit of develop a visual navigation systems applied to terrestrials mobile robots. This system uses landmark based visual perception to estimate robot pose, and fuses odometry sensor data to those acquired from several fiducial landmarks by using an Extended Kalman Filter. In addition, to validate this navigation system and to illustrate the flexibility of this approach, it will be used together with trajectory controllers in wheeled robots of different kinds. From this perspective, two approaches will be proposed. in the first one it will be used a differential-drive robot with a camera mounted on its axis center, as well as several visual landmarks disposed in the navegation enviroment, and whose positions in the global coordinates system are known. In the second one these marks will be attached to a omnidirectional robot, whose initial position it's known, and the camera will remain static. It will be conducted practical experiments where the developed navigation systems will have to interact with other controllers in order to explore the possibilities of this scheme. In the first approach a specific controller will be assigned to the differential robot, and the second one must be used together with a strategy composed by a model predictive control and a filtred Smith Predictor.

In this paper an improved approach is presented for integrating backstepping control of outdoor quadrotor UAVs. The controller uses the approximated nonlinear dynamic model, while for simulation or test purposes the quadrotor can be modeled either with the precise or the simplified model. A hierarchical integrating backstepping control algorithm was constructed that has the capability of handling every effect in the dynamic model and in the meantime successfully ignores the realistic measurement noises. The hierarchical control structure consists of position, attitude and rotor control, extended with path design with continuous acceleration and/or continuous jerk. The state estimation is based on sensor fusion. Control parameters can be easily tuned. Adaptive laws are elaborated for mass and vertical disturbance force estimation. The tracking algorithm is able to follow the prescribed path with small error. The sensory system and the state estimation are prepared for outdoor applica...

This work employs a custom built body area network of wireless inertial measurement technology to conduct a biomechanical analysis of precision targeted throwing in competitive and recreational darts. The solution is shown to be capable of measuring key biomechanical factors including speed, acceleration and timing. These parameters are subsequently correlated with scoring performance to determine the affect each variable has on outcome. For validation purposes an optical 3D motion capture system provides a complete kinematic model of the subject and enables concurrent benchmarking of the 'gold standard' optical inertial measurement system with the more affordable and proactive wireless inertial measurement solution developed as part of this work.

In the last decades, research efforts related to Unmanned Aerial Vehicles (UAV) have grown substantially in terms of control stabilization and navigation strategies. However, the energy available on board is finite and this is a limiting factor that prevents engineers from coming up with the best aerial solution in many situations. In this paper the path following control of a helicopter UAV based on the kinematic model is proposed using a feedback linearization technique. The helicopter speed is adjusted according to direction changes of the desired path. Thus, the aircraft should holds its own weight in the air for the shortest possible time, aiming to save energy without neglecting the position control errors which can accumulate when its velocity increases and path direction changes. The proposed controller output is coupled to a dynamic model of a helicopter in order to evaluate the dynamic effects and to adjust the controller parameters. The stability of the controller is demonstrated in the sense of Lyapunov theory and validated by simulation results.

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The paper provides basic information on human hand's anatomical structure with the location of joints and consequent types of achievable movements. The biomechanics of the human hand is described using two different kinematic models of the hand. The differences between the models are described. The Schlesinger's classification of movements of the human hand is introduced

A substantial interest in aerial robots has grown in recent years. However, the energetic cost of flying is one of the key challenges nowadays. Rotorcrafts are heavier-than-air flying machines that use lift generated by one or several rotors (vertically oriented propellers), and because of this, they spend a large proportion of their available energy to maintain their own weight in the air. In this brief, this concept is used to evaluate the relationship between navigation speed and energy consumption in a miniature quadrotor helicopter, which travels over a desired path. A novel path-following controller is proposed in which the speed of the rotorcraft is a dynamic profile that varies with the geometric requirements of the desired path. The stability of the control law is proved using the Lyapunov theory. The experimental results using a real quadrotor show the good performance of the proposed controller, and the percentages of involved energy are quantified using a model of a lithium polymer battery that was previously identified.

Biomechanics, generally speaking, concerns the application of engineering principles to the study of living things. This work is concerned with human movement analysis, a subeld of biomechanics, where the methods of classical mechanics are applied to human movement.

There are several factors that may result to wrist injuries such as athlete injuries and stroke. Most of the patients are unable to undergo rehabilitation at healthcare providers due to cost and logistic constraint. To solve this problem, this project proposes a home-based wrist rehabilitation system. The goal is to create a wrist rehabilitation device that incorporates an interactive computer game so that patients can use it at home without assistance. The main structure of the device is developed using 3D printer. The device is connected to a computer, where the device provides exercises for the wrist, as the user completes a computer game which requires moving a ball to four target positions. Data from an InvenSense MPU-6050 accelerometer is used to measure wrist movements. The accelerometer values are read and used to control a mouse cursor for the computer game. The pattern of wrist movements can be recorded periodically and displayed back as sample run for analysis purposes. I...

The Montagna dei Fiori has received attention by geologists through the past decades because of both its Jurassic stratigraphy and its complex present-day structure. The latter is the result of multiple phases of deformation, from the Early Jurassic, during the rift phase, which led to the opening of the Tethyan Ocean, to compression in Neogene, linked with the evolution of the Apennines fold and thrust belt. In this paper, we present a new stratigraphic interpretation of the Jurassic palaeogeography, based on a new geological mapping project in the area. Using this new stratigraphy, we constructed two forward models of the Montagna dei Fiori fault-related fold, using a combination of different kinematic models. We followed two different approaches: the first model was constructed manually starting from the construction of a balanced cross section and its restoration, followed by a definition of the main steps for the forward model; the second was constructed using 2DMove (Midland Valley), starting from a simplified version of the same stratigraphy and using the same main steps imposed in the other section.

We propose an integrated kinematic model with mechanical constrains of the Maipo–Tunuyán transect (33°40′S) across the Andes. The model describes the relation between horizontal shortening, uplift, crustal thickening and activity of the magmatic arc, while accounting for the main deep processes that have shaped the Andes since Early Miocene time. We construct a conceptual model of the mechanical interplay between deep and shallow deformational processes, which considers a locked subduction interface cyclically released during megathrust earthquakes. During the coupling phase, long-term deformation is confined to the thermally and mechanically weakened Andean strip, where plastic deformation is achieved by movement along a main décollement located at the base of the upper brittle crust. The model proposes a passive surface uplift in the Coastal Range as the master décollement decreases its slip eastwards, transferring shortening to a broad area above a theoretical point S where the m...

Soft tissue artefact (STA), i.e. the motion of the skin, fat and muscles gliding on the underlying bone, may lead to a marker position error reaching up to 8.7 cm for the particular case of the scapula. Multibody kinematic optimisation (MBO) is one of the most efficient approaches used to reduce STA. It consists in minimising the distance between the positions of experimental markers on a subject skin and the simulated positions of the same markers embedded on a kinematic model. However, the efficiency of MBO directly relies on the chosen kinematic model. This paper proposes an overview of the different upper limb models available in the literature and a discussion about their applicability to MBO. The advantages of each joint model with respect to its biofidelity to functional anatomy are detailed both for the shoulder and the forearm areas. Models capabilities of personalisation and of adaptation to pathological cases are also discussed. Concerning model efficiency in terms of STA reduction in MBO algorithms, a lack of quantitative assessment in the literature is noted. In priority, future studies should concern the evaluation and quantification of STA reduction depending on upper limb joint constraints.

The Eastern California shear zone in the Mojave Desert, California, accommodates nearly a quarter of Pacific-North America plate motion. In south-central Mojave, the shear zone consists of six active faults, with the central Calico fault having the fastest slip rate. However, faults to the east of the Calico fault have larger total offsets. We explain this pattern of slip rate and total offset with a model involving a crustal block (the Mojave Block) that migrates eastward relative to a shear zone at depth whose position and orientation is fixed by the Coachella segment of the San Andreas fault (SAF), southwest of the transpressive "big bend" in the SAF. Both the shear zone and the Garlock fault are assumed to be a direct result of this restraining bend, and consequent strain redistribution. The model explains several aspects of local and regional tectonics, may apply to other transpressive continental plate boundary zones, and may improve seismic hazard estimates in these zones.

This article proposes a fixturing system consists of a cuboid baseplate located through a 3-2-1 configuration of locators. The locators are mounted on machine table/pallet and posses one axial DOF. The workpiece is mounted on the baseplate and all the elements are assumed to be rigid with zero friction. The positioning error of the workpiece is calculated and the compensation is performed by the axial movement of the locators. The proposed analytical model is verified by the simulation performed in the CAD model.

Biomechanical models of the knee joint allow the development of accurate procedures as well as novel devices to restore the joint natural motion. They are also used within musculoskeletal models to perform clinical gait analysis on patients. Among relevant knee models in the literature, the anatomy-based spatial parallel mechanisms represent the joint motion using rigid links for the ligaments’ isometric fibres and point contacts for the articular surfaces. To customize analyses, therapies and devices, there is the need to define subject-specific models, but relevant procedures and their accuracy are still questioned. A procedure is here proposed and validated to define a customized knee model based on a spatial parallel mechanism. Computed tomography, magnetic resonance and 3D-video-fluoroscopy were performed on a healthy volunteer to define the personalized model geometry. The model was then validated by comparing the measured and the replicated joint motion. The model showed mean...

We propose an integrated kinematic model with mechanical constrains of the Maipo–Tunuyán transect (33°40′S) across the Andes. The model describes the relation between horizontal shortening, uplift, crustal thickening and activity of the magmatic arc, while accounting for the main deep processes that have shaped the Andes since Early Miocene time. We construct a conceptual model of the mechanical interplay between deep and shallow deformational processes, which considers a locked subduction interface cyclically released during megathrust earthquakes. During the coupling phase, long-term deformation is confined to the thermally and mechanically weakened Andean strip, where plastic deformation is achieved by movement along a main décollement located at the base of the upper brittle crust. The model proposes a passive surface uplift in the Coastal Range as the master décollement decreases its slip eastwards, transferring shortening to a broad area above a theoretical point S where the m...

The interphalangeal (IP) finger joints coordinate as a mechanism when the deep flexor is active. This mechanism is created by the complex finger extensor apparatus (EA)-a confluence of end tendons of one or two extensors, radial and ulnar interossei, and lumbrical-which inserts as a single structure into both the middle and distal phalanges. Although the IP-coupling principle was well demonstrated more than half a century ago, the detailed relationship between EA morphology and IP coupling remains not well described. Main reasons are that by dissection the EA's fiber network loses functional consistency, while fibers becoming taut or slack beyond measuring resolutions complicate measuring functional fiber motions. To circumvent these difficulties, we present a two dimensional kinematic multi tendon-string EA model of fiber slackness and tautness through IP motion, including the retinacular and oblique retinacular EA ligaments. The model parameters were the strings' lengths and attachment points. The model's functional redundancies were resolved by individually interactively fitting model IP trajectories to previously measured IP trajectories of 68 fingers. All model trajectories accurately fitted their target IP trajectories for proximal interphalangeal (PIP) joint ranges smaller than 251 to 451; about half accurately fitted over the entire IP range with the remaining half having maximum approximation errors between 31 to 121, while all models again converged to target trajectories for full IP flexion. These accuracies suggest the model reflects real functional EA principles, with potential applications in biomechanical modeling, surgical reconstruction, rehabilitation, and prosthetic EA replacements.

SUMMARYThis paper presents a novel control architecture for humanoid robot RH-2. The main objective is that a robot can perform different tasks in collaboration with humans in working environments. In order to achieve this goal, two control loops have to be defined. The outer loop, called collaborative control loop, is devoted to the generation of stable motion patterns for a robot, given a specific manipulation task. The inner loop, called posture stability control loop, acts to guarantee the stability of humanoid for different poses determined by motion patterns. A case study is presented in order to show the effectiveness of the proposed control architecture.

One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the "home" configuration.

We propose an integrated kinematic model with mechanical constrains of the Maipo–Tunuyán transect (33°40′S) across the Andes. The model describes the relation between horizontal shortening, uplift, crustal thickening and activity of the magmatic arc, while accounting for the main deep processes that have shaped the Andes since Early Miocene time. We construct a conceptual model of the mechanical interplay between deep and shallow deformational processes, which considers a locked subduction interface cyclically released during megathrust earthquakes. During the coupling phase, long-term deformation is confined to the thermally and mechanically weakened Andean strip, where plastic deformation is achieved by movement along a main décollement located at the base of the upper brittle crust. The model proposes a passive surface uplift in the Coastal Range as the master décollement decreases its slip eastwards, transferring shortening to a broad area above a theoretical point S where the m...

We propose an integrated kinematic model with mechanical constrains of the Maipo–Tunuyán transect (33°40′S) across the Andes. The model describes the relation between horizontal shortening, uplift, crustal thickening and activity of the magmatic arc, while accounting for the main deep processes that have shaped the Andes since Early Miocene time. We construct a conceptual model of the mechanical interplay between deep and shallow deformational processes, which considers a locked subduction interface cyclically released during megathrust earthquakes. During the coupling phase, long-term deformation is confined to the thermally and mechanically weakened Andean strip, where plastic deformation is achieved by movement along a main décollement located at the base of the upper brittle crust. The model proposes a passive surface uplift in the Coastal Range as the master décollement decreases its slip eastwards, transferring shortening to a broad area above a theoretical point S where the m...

Resumo: Apresenta-se neste artigo uma estratégia para a navegação de um veículo autônomo com restrições não-holonômicas. Em particular, discute-se a implementação de um esquema de controle linearizante por realimentação de estados empregando visão computacional para estimação da posição e orientação do veículo. Palavras chave: veículo autônomo, controle linearizante, visão computacional.

Diamond dressing plays a role in regenerating the polishing pad surface during Chemical Mechanical Planarization/Polishing process (CMP). The diamond dresser has many diamond grits distributed on the flat metal surface. During diamond dressing, cutting locus (CL) and overlap cutting points (OP) of diamond grits are created on the pad surface. Expectation of diamond dressing is that CL and OP must be covered all the pad surface and maintain soften, flatten and roughness of the polishing pad. This paper aims to apply a kinematic model and then propose a method for setting speeds for diamond dressing process on the current configuration of CMP tool. Prediction of CL and OP is implemented based on three main factors as rotational speed of pad, rotational speed on dresser and oscillation of dresser. It found that properly choose the speed of pad and speed of dresser can regenerate uniformity of pad surface with well- distributed CL and less OP density. This result can be applied to optimization CMP process.

FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-of-freedom. This paper presents a kinematic model applicable for human sit-to-stand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.

Esse Trabalho de Conclusão de Curso foi apresentado às 17h15 do dia 4 de julho de 2019 como requisito parcial para a obtenção do título Bacharel em Engenharia Eletrônica. Após deliberação da Banca Examinadora, composta pelos professores abaixo assinados, o trabalho foi considerado APROVADO. Fabio Rizental Coutinho Coordenador(a) da COELE O termo de aprovação assinado encontra-se na coordenação do curso. RESUMO RODRIGUES, Ronaldo Mohr. Construção, Modelagem e Controle de um Robô Móvel de Acionamento Diferencial. 2019. 40 folhas. Trabalho de Conclusão de Curso (Bacharelado em Engenharia Eletrônica) -Universidade Tecnológica Federal do Paraná. Toledo, 2019.

Diamond dressing process is critical in conditioning pad surface topography before and after chemical mechanical planarization/polishing (CMP) process for integrated circuit (IC) fabrication. This paper addresses a kine-matic model of diamond dressing effect on the profile of pad cutting rate (PCR) with a ring-type diamond dresser through both simulation and experiments. In this kinematic model, the cutting locus distribution, relative velocity of diamond grits on a pad surface, and sliding time have been described as significant factors for non-uniformity of pad surface topography. Moreover, the speed ratio between the diamond dresser and the polishing pad has been investigated with respect to the center distance of the pad and the diamond dresser by the developed method. The model has been verified by experiments of diamond dressing of pad. Experimental results show that the dressing marks and pad cutting rate on the pad surface follow the same trend as simulation results and the final pad surface is obtained as a concave shape. Results of this study can be applied on diamond dressing of pads used in CMP and furthermore can be extended to investigate an optimal diamond dressing process for semiconductor fabrication.

Diamond dressing plays a role in regenerating the polishing pad surface during
Chemical Mechanical Planarization/Polishing process (CMP). The diamond dresser
has many diamond grits distributed on the flat metal surface. During diamond dressing,
cutting locus (CL) and overlap cutting points (OP) of diamond grits are created on the
pad surface. Expectation of diamond dressing is that CL and OP must be covered all
the pad surface and maintain soften, flatten and roughness of the polishing pad. This
paper aims to apply a kinematic model and then propose a method for setting speeds
for diamond dressing process on the current configuration of CMP tool. Prediction of
CL and OP is implemented based on three main factors as rotational speed of pad,
rotational speed on dresser and oscillation of dresser. It found that properly choose the
speed of pad and speed of dresser can regenerate uniformity of pad surface with welldistributed CL and less OP density. This result can be applied to optimization CMP
process

Diamond dressing plays a role in regenerating the polishing pad surface during
Chemical Mechanical Planarization/Polishing process (CMP). The diamond dresser
has many diamond grits distributed on the flat metal surface. During diamond dressing,
cutting locus (CL) and overlap cutting points (OP) of diamond grits are created on the
pad surface. Expectation of diamond dressing is that CL and OP must be covered all
the pad surface and maintain soften, flatten and roughness of the polishing pad. This
paper aims to apply a kinematic model and then propose a method for setting speeds
for diamond dressing process on the current configuration of CMP tool. Prediction of
CL and OP is implemented based on three main factors as rotational speed of pad,
rotational speed on dresser and oscillation of dresser. It found that properly choose the
speed of pad and speed of dresser can regenerate uniformity of pad surface with welldistributed
CL and less OP density. This result can be applied to optimization CMP
process.

Diamond dressing plays a role in regenerating the polishing pad surface during
Chemical Mechanical Planarization/Polishing process (CMP). The diamond dresser
has many diamond grits distributed on the flat metal surface. During diamond dressing,
cutting locus (CL) and overlap cutting points (OP) of diamond grits are created on the
pad surface. Expectation of diamond dressing is that CL and OP must be covered all
the pad surface and maintain soften, flatten and roughness of the polishing pad. This
paper aims to apply a kinematic model and then propose a method for setting speeds
for diamond dressing process on the current configuration of CMP tool. Prediction of
CL and OP is implemented based on three main factors as rotational speed of pad,
rotational speed on dresser and oscillation of dresser. It found that properly choose the
speed of pad and speed of dresser can regenerate uniformity of pad surface with welldistributed
CL and less OP density. This result can be applied to optimization CMP
process.

O presente trabalho propôs a construção e o controle de posição PID de um protótipo com estrutura cinemática paralela, tipo delta linear com três graus de liberdade. A estrutura física foi baseada em materiais reaproveitados, controlador de arquitetura e software abertos, e atuadores de baixo custo. O conjunto foi acionado por motores de corrente contínua de 24VCC, interfaceados por circuitos de potência com técnica PWM, que recebem sinais de controle de um sistema computadorizado, por meio de um modulo de aquisição (DAQ). Foi estudado um modelo matemático para associação das coordenadas dos carros de movimentação e o efetuador final. Um controlador PID foi testado e validado para cada carro de movimentação linear com bons resultados do posicionamento. O método de sintonização de Ziegler-Nichols foi utilizado para a implementação do controlador PID, onde os melhores resultados do controle foram obtidos com os valores de 0,011, 0 e 0,010 para as constantes Kp, Ki e Kd, respectivamente. O sistema robótico passou por fases de desenvolvimento e teste experimental de seu sistema mecânico, circuitos de interface, sistema de aquisição de dados computadorizado e programação. Foi criado um programa supervisório utilizando o software Labview ® que permitiu a visualização das saídas e entradas por meio de gráficos plotados em tempo real, além de possibilitar o ajuste das constantes PID também em tempo real. Os resultados obtidos foram satisfatórios onde o maior erro de posicionamento foi de 2,50%.

— In Mobile Robotics, many tasks require accuracy, overcoat with relation to the end position and orientation of the robots. This problem is closely tied to the path planning, wich, from of the information of the starting posture (position and orientation), the expectation is that the robot, from among innumerables possibles pathes, chooses the more convenient and achieves the desired end posture. However this posture, due to the some inexact robot's kinematic parameters, not always it is possible to be reached in open-loop, resulting in odometry errors. In this paper, one method of evaluation and correction for the systematic odometry errors is presented. Results of simulation and experiments for situations of interesting are presented with the intention to validate the study.

Abstract⎯ This paper proposes an adaptive controller to guide a unicycle-like mobile robot during trajectory tracking. First, the desired values for the linear and angular velocities are generated based on the kinematic model of the robot. Such values are then dealt with to compensate the robot dynamics and to generate the robot commands. The parameters representing the robot dynamics are updated on-line, thus providing smaller errors and better performance. Stability proofs for the control system thus designed are presented. Simulation and experimental results are also presented, and show the good performance of the proposed controller for trajectory tracking and robot positioning as well.