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Dissertations / Theses on the topic 'Kinematic mode'
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1
Cocard, Marc Marcel. "High precision GPS processing in kinematic mode /." Zürich, 1994. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=10874.
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Byun, Sung Hun. "Satellite orbit determination using GPS carrier phase in pure kinematic mode /." Digital version accessible at:, 1998. http://wwwlib.umi.com/cr/utexas/main.
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He, Xiuyun. "Design and kinematic analysis of single-loop multi-mode reconfigurable mechanisms." Thesis, Heriot-Watt University, 2015. http://hdl.handle.net/10399/3075.
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Horeličan, Tomáš. "Měření pozice pohybujících se objektů pomocí robotické totální stanice." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2021. http://www.nusl.cz/ntk/nusl-442533.
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Práca sa zaoberá objavujúcim sa nekonvenčným využitím moderných teodolitov, tiež známych ako Robotické Totálne Stanice (RTS), ako sledovací a navádzací systém, určením presnej pozície dynamicky sa pohybujúceho objektu. To sa týka najmä situácií, kde nie je možné využiť konvenčné polohovacie systémy akým je napríklad GNSS. Kinematicky určená poloha objektu kontinuálne sledujúcou RTS môže byť následne v reálnom čase využitá pre autonómnu navigáciu malých bezpilotných leteckých prostriedkov (UAV) poskytnutím referenčného súradnicového systému a okamžitej polohy v ňom. Podstatná časť práce je venovaná návrhu a realizácii vhodných experimentov, ktoré overia spoľahlivosť určovania presnej polohy objektu v presnom časovom okamžiku. Boli preverené stanice série S7 a S9 od spoločnosti Trimble a stanica S9 HP, ktorá disponuje frekvenciou kontinuálneho merania až do 10 Hz bola napokon využitá pre experimenty. Lokálny čas ovládacieho panelu TSC7, ktorý zabezpečuje komunikáciu so stanicou bol pomocou protokolu PTP synchronizovaný s lokálnym časom mini-počítača Raspberry Pi, ktorý následne poskytoval referenčné meranie skutočnej polohy objektu v čase. V závere sú zhrnuté výsledky experimentov.
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Húsková, Michaela. "Pokročilá analýza signálů z laboratoře chůze." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2019. http://www.nusl.cz/ntk/nusl-400991.
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The aim of the thesis is a realization of advanced analysis of signals from gait laboratory. The introductory part deals with the gait cycle and its relation to the joints kinematic is discussed. Additionally, the work is focused on the description of the gait laboratory and the definition of the indexes in order to quantify patient´s overall gait in kinematic analysis. In the practical part, kinematic data analysis was implemented in the MATLAB environment and the results of healthy individuals and patients with cerebral palsy were compared. Kinematic analysis included peak detection in specific kinematic variables. In the last part a graphical user interface for visualization was implemented.
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Wilkinson, Peter John. "Novel mechanical alignment and component fabrication for wavelength-selective optical switches." Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/277801.
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Youssef, Daniel. "Návrh aplikace pro výukový model manipulátoru se třemi stupni volnosti." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2014. http://www.nusl.cz/ntk/nusl-231172.
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Tato práce popisuje další vývoj výukového sériového manipulátoru se třemi stupni volnosti. Práce se zabývá jednoduchou mechanickou úpravou manipulátoru, ale především pak softwarovou částí. Výsledkem je pak hra piškvorky, kdy manipulátor umožňuje hru proti lidskému protějšku. První část práce je věnována zlepšení inicializačního procesu manipulátoru a následně pak i návrhem vhodné polohové regulace. V další části je manipulátor rozšířen o jeden stupeň volnosti. Součástí je i návrh koncového efektoru vhodného pro psaní. Z takto upraveného manipulátoru je sestaven kinematický model vhodný pro real-time řízení. Dalším krokem v práci je návrh samotné aplikace hry piškvorky. Je navržen vhodný hrací algoritmus, včetně detekce a rozpoznání znaků v hracím poli pomocí kamery. Následně je vše implementováno do real-time aplikace, kde komunikaci s uživatelem zajišťuje navržené uživatelské rozhraní.
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Sobota, David. "Model průmyslového robotického ramene." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2018. http://www.nusl.cz/ntk/nusl-377328.
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This work deals with problematics if industrial robotic arms, with theirs constructions, controling and with theirs role in Industry 4.0. Work describes the process of development and realization of the industrial robotic arm model by 3D printing. Besides construction fo model, work deals with firmware, software and inversion kinematics crucial to controling. Model of robotic arm will be used as learning tool.
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Menghini, Massimiliano. "UIO based quadrotor FDI using kinematic model." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/18064/.
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This thesis addresses the fault diagnosis problem
of sensors of a quadcopter system based on GNSS/IMU. The
model considered is a rigid body with 6DoF. Considering its
linearized kinematic model, the proposed FDI scheme is based
on a generalized bank of observers (GBO) designed with the
UIO theory. The fault scenario is composed by multiple but not concurrent faults. The designed scheme is tested using detectability and isolability analysis, identifying the weaknesses of the FDI scheme and investigating appropriate solutions for the fault diagnosis purposes. Afterwards, the scheme was reconfigured by applying the proposed solutions and analyzing that all the requirements in terms of isolability and detectability were met.
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Jonszta, David. "Modelování a řízení mobilních kolových robotů." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2008. http://www.nusl.cz/ntk/nusl-217194.
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The thesis deals with modelling and control of wheeled mobile robots. The thesis introduces the mathematical models of diferentially driven mobile robot, robot with Ackerman steering and a skid steered robot. The thesis describes open-loop and feedback control. Feedback control is divided into point-to-point control, path following and trajectory tracking.
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Menychtas, Dimitrios. "Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model." Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7547.
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Current clinical practice regarding upper body prosthesis prescription and training is lacking a standarized, quantitative method to evaluate the impact of the prosthetic device. The amputee care team typically uses prior experiences to provide prescription and training customized for each individual. As a result, it is quite challenging to determine the right type and fit of a prosthesis and provide appropriate training to properly utilize it early in the process. It is also very difficult to anticipate expected and undesired compensatory motions due to reduced degrees of freedom of a prosthesis user. In an effort to address this, a tool was developed to predict and visualize the expected upper limb movements from a prescribed prosthesis and its suitability to the needs of the amputee. It is expected to help clinicians make decisions such as choosing between a body-powered or a myoelectric prosthesis, and whether to include a wrist joint.
To generate the motions, a robotics-based model of the upper limbs and torso was created and a weighted least-norm (WLN) inverse kinematics algorithm was used. The WLN assigns a penalty (i.e. the weight) on each joint to create a priority between redundant joints. As a result, certain joints will contribute more to the total motion. Two main criteria were hypothesized to dictate the human motion. The first one was a joint prioritization criterion using a static weighting matrix. Since different joints can be used to move the hand in the same direction, joint priority will select between equivalent joints. The second criterion was to select a range of motion (ROM) for each joint specifically for a task. The assumption was that if the joints' ROM is limited, then all the unnatural postures that still satisfy the task will be excluded from the available solutions solutions. Three sets of static joint prioritization weights were investigated: a set of optimized weights specifically for each task, a general set of static weights optimized for all tasks, and a set of joint absolute average velocity-based weights. Additionally, task joint limits were applied both independently and in conjunction with the static weights to assess the simulated motions they can produce. Using a generalized weighted inverse control scheme to resolve for redundancy, a human-like posture for each specific individual was created.
Motion capture (MoCap) data were utilized to generate the weighting matrices required to resolve the kinematic redundancy of the upper limbs. Fourteen able-bodied individuals and eight prosthesis users with a transradial amputation on the left side participated in MoCap sessions. They performed ROM and activities of daily living (ADL) tasks. The methods proposed here incorporate patient's anthropometrics, such as height, limb lengths, and degree of amputation, to create an upper body kinematic model. The model has 23 degrees-of-freedom (DoFs) to reflect a human upper body and it can be adjusted to reflect levels of amputation.
The weighting factors resulted from this process showed how joints are prioritized during each task. The physical meaning of the weighting factors is to demonstrate which joints contribute more to the task. Since the motion is distributed differently between able-bodied individuals and prosthesis users, the weighting factors will shift accordingly. This shift highlights the compensatory motion that exist on prosthesis users.
The results show that using a set of optimized joint prioritization weights for each specific task gave the least RMS error compared to common optimized weights. The velocity-based weights had a slightly higher RMS error than the task optimized weights but it was not statistically significant. The biggest benefit of that weight set is their simplicity to implement compared to the optimized weights. Another benefit of the velocity based weights is that they can explicitly show how mobile each joint is during a task and they can be used alongside the ROM to identify compensatory motion. The inclusion of task joint limits gave lower RMS error when the joint movements were similar across subjects and therefore the ROM of each joint for the task could be established more accurately. When the joint movements were too different among participants, the inclusion of task limits was detrimental to the simulation. Therefore, the static set of task specific optimized weights was found to be the most accurate and robust method. However, the velocity-based weights method was simpler with similar accuracy.
The methods presented here were integrated in a previously developed graphical user interface (GUI) to allow the clinician to input the data of the prospective prosthesis users. The simulated motions can be presented as an animation that performs the requested task. Ultimately, the final animation can be used as a proposed kinematic strategy that a prosthesis user and a clinician can refer to, during the rehabilitation process as a guideline. This work has the potential to impact current prosthesis prescription and training by providing personalized proposed motions for a task.
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Hallberg, Robert. "Target Classification Based on Kinematics." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81216.
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Modern aircraft are getting more and better sensors. As a result of this, the pilots are getting moreinformation than they can handle. To solve this problem one can automate the information processingand instead provide the pilots with conclusions drawn from the sensor information. An aircraft’smovement can be used to determine which class (e.g. commercial aircraft, large military aircraftor fighter) it belongs to. This thesis focuses on comparing three classification schemes; a Bayesianclassification scheme with uniform priors, Transferable Belief Model and a Bayesian classificationscheme with entropic priors.The target is modeled by a jump Markov linear system that switches between different modes (flystraight, turn left, etc.) over time. A marginalized particle filter that spreads its particles over thepossible mode sequences is used for state estimation. Simulations show that the results from Bayesianclassification scheme with uniform priors and the Bayesian classification scheme with entropic priorsare almost identical. The results also show that the Transferable Belief Model is less decisive thanthe Bayesian classification schemes. This effect is argued to come from the least committed principlewithin the Transferable Belief Model. A fixed-lag smoothing algorithm is introduced to the filter andit is shown that the classification results are improved. The advantage of having a filter that remembersthe full mode sequence (such as the marginalized particle filter) and not just determines the currentmode (such as an interacting multiple model filter) is also discussed.
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Mestar, Mohammed. "Kinematic Behaviour of Cross Laminated Timber (CLT) Shearwalls with Openings." Thesis, Université d'Ottawa / University of Ottawa, 2020. http://hdl.handle.net/10393/40929.
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An integrated experimental and numerical research program investigating the elastic and inelastic performance as well as the kinematic behaviour of shearwalls with openings is presented in this study. The influence of the geometrical dimensions of the wall configurations and the mechanical properties and configurations of hold-downs on both elastic and inelastic behaviours including the possible kinematic modes of the shearwalls are investigated. The research also proposes the concept of equivalent-frame-model applicable for shearwalls where openings are cut-out from CLT panels. Are also presented, five racking tests performed on full scale CLT walls in order to validate the numerical models as well as the equivalent frame model.
From review of the available literature emerges that for CLT shearwalls with openings, studies are not at the same level of abundance in research compared to walls without openings, due to the simple reason that SSW is generally a widespread technique. Thus, the kinematic behaviour and the coupling effect are inexistent and presented here.
The investigations of the wall’s behaviour in the elastic and inelastic ranges demonstrate the important effect of the lintel and wall segment slenderness as well as the hold-down stiffness effect on the mechanical behaviour and the global kinematic behaviour as well. It is found that the kinematic modes can change when the walls are stressed beyond their elasticity limit. The failure mode and the global ductility are highly dependent on the hold-down configurations particularly for walls with door openings. The degree of coupling decrease with increased hold-down stiffness and the wall segment width.
With regards to the equivalent frame model, a reasonable fit is found between the proposed EFM and a detailed 2D area element model when the global elastic stiffness and tensile load in the hold-down were compared. The model is successfully validated through five full-scale tests on CLT shearwalls with door or window opening as well as two published studies on walls with door openings. The EFM is capable of predicting the behaviour in the wall with reasonable accuracy, especially for walls whose behaviour was dominated by the hold-down behaviour.
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Pyles, David T. "Effects of the Kinematic Model on Forward-Model Based Spotlight SAR ECM." Wright State University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=wright1514908846893502.
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Bařinka, Martin. "Elektronická stabilizace podvozku Formule Student." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413184.
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Goal of this semestral thesis is development of chassis electronic stability control ESP. Thesis analyze kinematic model of chassis, design of dynamic model, which is used for simulation of designed systems. Final system will be used in Formule Student monopost.
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Farmer, Jesse Lee. "Kinematic Analysis Of A Two Body Articulated Robotic Vehicle." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/32651.
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The kinematic analysis of an articulated twin body, four-wheel, robotic vehicle is
presented. Polaris, a research platform and contending robotic vehicle in the Intelligent
Ground Vehicle Competition (IGVC) at Virginia Tech, was redesigned in 2006 to improve
the mobility of the vehicle by incorporating an innovative four-bar linkage that connects
the two bodies. The new linkage design minimizes vehicle off-tracking by allowing the
rear wheels to closely track the path of the front wheels. This thesis will outline the theoretical
kinematic model of the four-bar linkage as applied to a twin-bodied, differentially
driven vehicle. The kinematic model is validated through computer simulation as well as
experimentation on a fully operational robotic vehicle. The kinematic model presented
here outlines the foundations for an autonomous, four-wheel drive, multi-body control
system and opens avenues for dynamically controlling the tracking of the vehicleâ s rear
body with an actuated linkage configuration.Master of Science
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Lee, Changyeol. "Compressible Convection and Subduction: Kinematic and Dynamic Modeling." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/29260.
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Subduction is a dynamic and time-dependent process which requires time-dependent models for
its study. In addition, due to the very high pressures within the Earthâ s interior, an evaluation of the role of compressibility in subduction studies should be undertaken. However, most subduction studies have been conducted by using kinematic, steady-state, and/or incompressible mantle convection models; these
simplifications may miss important elements of the subduction process. In this dissertation, I evaluate the effects of time-dependence and compressibility on the evolution of subduction by using 2-D Cartesian numerical models.
The effect of compressibility on the thermal and flow structures of subduction zones is evaluated
by using kinematically prescribed slab and steady-state models. The effect of compressibility is primarily expressed as an additional heat source created by viscous dissipation. The heat results in thinner thermal
boundary layer on the subducting slab and increases slab temperatures. With that exception, the effect of compressibility is relatively small compared with, for example, the effect of the mantle rheology on the thermal and flow structures of the mantle wedge.
Plate reconstruction models show that the convergence rate and age of the incoming plate to
trench vary with time, which poses a problem for steady-state subduction models. Thus, I consider the time-dependent convergence rate and age of the incoming plate in the kinematic-dynamic subduction models in order to understand the localization of high-Mg# andesites in the western Aleutians. The results show that the localization of high-Mg# andesites is a consequence of the time-dependent convergence rate and slab age along the Aleutian arc. The influence of mantle and slab parameters as well as compressibility on the slab dynamics is evaluated by using 2-D dynamic subduction models. The results demonstrate that periodic slab buckling in the mantle results in periodic convergence rate and dip of the subducting slab; time-dependence is a
natural expression of subduction. The effect of compressibility on the slab dynamics is not significant. The periodic convergence rate and dip of the subducting slab explain time-dependent seafloor spreading at the mid-ocean ridge, convergence rate of the oceanic plate at trench and arc-normal migration of arc volcanoes.Ph. D.
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Mattioli, Paolo. "Color/kinematic duality, double copies and scalar matrix models." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2013. http://amslaurea.unibo.it/5622/.
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In questa tesi presentiamo una descrizione autoconsistente della dualità Colore/Cinematica nelle teorie di gauge e al processo di Double Copy. Particolare attenzione viene data all'approccio alla dualità con il formalismo di cono-luce, in quanto semplifica notevolmente sia il calcolo sia l'interpretazione fisica: vengono indagati i settori duale e self-duale per poi passare al modello di Chalmers e Siegel per l'estensione alla teoria generale.
Proponiamo quindi uno Scalar Matrix Model, che può essere un buon modello per generare ampiezze ottenibili da una Double Copy `inversa', e ne studiamo un'eventuale dualità a la Colore/Cinematica. Vengono illustrati alcuni casi particolari di rottura spontanea di simmetria.
In appendice riportiamo un notebook di Mathematica per il calcolo di ampiezze tree level di puro gauge, utile per i calcoli necessari allo studio della dualità.
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Tomanec, Filip. "Kinematický model mechanismu natáčení lopatek turbodmychadla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229182.
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This master’s thesis deals with kinematics model of blade rotating mechanism of turbocharger, which is called as VNT (“Variable nozzle turbine”). The first section treat of turbochargers generally, why we use them, summary description of construction and parts. In the next section deals with supercharge control, about types of controlling and theirs principles, of their vantages or disadvantages and comparison. Following section is about building kinematics model in software ADAMS. First step is analytics solving of mechanism, because it was necessary for parametric model. After this is described main model building. In the last section is kinematics model used on real turbocharger for checking results.
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Buchanan, Peter Gordon. "Geometries and kinematic analysis of inversion tectonics from analogue model studies." Thesis, Royal Holloway, University of London, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.425433.
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White, Charles Samuel. "A combined isotropic-kinematic hardening model for large deformation metal plasticity." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/14400.
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Niu, Yu. "Modelling of the Normal Fault Pattern above a Basement Horst in the Lufeng Sag, China." Thesis, Uppsala universitet, Institutionen för geovetenskaper, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-305654.
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The analogue models and the kinematic models based on the seismic data results were used to simulate the fault pattern which develops above a basement horst. The two major normal faults intersect with each other along the strike in the sedimentary covers. The fault pattern developed in the sedimentary cover is controlled by the dip of the basement fault and the width of the basement horst. The single horst structure was only developed in the sedimentary covers above the wider end of the basement horst. The hourglass structure was developed in the sedimentary covers above the narrower end of the basement horst. The precursor faults developed ahead of the major second-order normal faults when the dip angle of the basement fault is larger than 60°. The antithetic faults developed ahead of the major second-order normal faults when the dip angle of the basement fault is less than 50°. The analogue models were designed in a way that the two hanging wall blocks glide down along the basement horst simultaneously to simulate the activity of the basement faults. The kinematic models were designed based on the alternative sequential slip method to study the kinematic behaviors of the conjugate normal faults. The Lufeng Sag was characterized by the basement horst in the center and the deep half-grabens developed beside the horst. The width of the basement horst decreases along its strike. The models indicates that the second-order normal faults developed above the basement horst, observed in the Lufeng Sag seismic profiles, were reproducible and much more detailed structures were revealedDetta projekt har analog modellering och kinematiska modeller baserade på seismiska data använts för att simulera förkastningsmönster ovanför en berggrundshorst. Två stora normal förkastningar möts i strykningsriktningen hos de ovanliggande sedimentlagren. Förkastningsmönstret som utvecklats i ovanliggande sedimentlager styrs av stupningen hos underliggande urberg samt bredden hos den underliggande horsten. Den enda horststrukturen som utvecklades i sedimentlagren skedde i fallet med en bredare underliggande horststruktur. En timglasstruktur bildades i den sedimentära successionen vid den smalare ändan av berggrundshorsten. De initiala förkastningarna bildades tidigt för att sedan övergå i andra ordningens normalförkastningar i de fall då stupningen hos underliggande berggrund överstiger 60°. Mindre antitetiska förkastningar bildades före andra ordningens förkastningar där berggrunds-stupningen understiger 50°. Den analoga modell som nyttjades experimentellt var konstruerad så att de två hängväggskomponenterna kunde röra sig fritt samtidigt längs med berggrundshorsten för att simulera aktivering av befintliga förkastningar i berggrunden. De kinematiska modeller som nyttjades var konstruerade enligt metoden för sekventiella rörelser (eng - sequential slip method) för att studera kinematiska beteenden hos konjugerande förkastningspar. Lufeng-sänkans utseende har kontrollerats av berggrundshorsten i mitten samt av de djupa halv-grabens på båda sidorna av horsten. Bredden på berggrundshorsten minskar längs dess stupning. Modellerna påvisar att andra ordningens normal-förkastningar bildades ovanför berggrundshorsten, likt i de seismiska profilerna över området, samt att strukturerna var reproducerbara och väldigt detaljrika.
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Garami, Boris. "Dynamický model harmonické převodovky." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-254390.
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This thesis deals with the design of a dynamic model of a harmonic drive. It includes a theoretical study aimed at the analysis of the harmonic drive gearing principle and its nonlinear properties. The first part of the practical section deals with the analytical calculation of the nondeformed geometry of the Flexspline. Based on these results, several simulations in ANSYS are created to identify torsional characteristics of a harmonic drive. These simulation models are further enhanced by the analysis of clearance, backlash and inaccuracies and their impact on torsional properties. By using MATLAB /Simulink, several dynamic submodels are created representing the individual characteristics of nonlinearities in harmonic drives. Furthermore, a comprehensive dynamic model is created of the mechatronic system which is describing all nonlinearities and kinematic error of the transmission. The dynamic model is also experimentally verified based on its damping properties.
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Zhang, Chunxiao. "Estimation of 3D human motion kinematics model from multiple cameras." Thesis, University of Central Lancashire, 2009. http://clok.uclan.ac.uk/19932/.
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Estimation of articulated human motion based on video sequences acquired from multiple synchronised cameras is an active and challenging research area. This is mainly due to the need of high dimensional non-linear models to describe the human motion, cluttered data, and occlusions present in the captured images. Although many diverse techniques have been proposed to solve this problem, none of the existing solutions is fully satisfactory. In this thesis, upper body motion tracking and full body motion tracking based on the annealed particle filter (APP) approach are presented. To successfully implement a body motion tracking algorithm, the first requirement is to prepare and pre-process the data. The work performed in this area includes calibration of multiple cameras, colour image segmentation to extract body silhouettes from the cluttered background, and visual hull reconstruction to provide voxels representing a human volume in 3D space. The second requirement is to build the models. Two set of models are proposed in this thesis. The first set is for upper body tracking and it contains point models and two-segment articulated arm models; the second set is for full body tracking and it contains five articulated chains as a full human model. The final requirement is to design a measurement method for aligning the models to the data. Two novel measurement methods are proposed for the motion tracking: one is based on a combination of different penalties tailored to each body part based on the percentage of the 3D to 2D projected body points, falling inside and outside the body silhouette, and the other is based on the symmetrical property of the intensity profile obtained from the body silhouette bisected by the 3D to 2D projection of the estimated skeletal model. Various evaluations were carried out to demonstrate the effectiveness of the algorithms implemented and the excellent performance of the proposed methods for upper body and full body motion tracking. These include the accuracy analysis of cameras calibration and image segmentation; the accuracy and speed of APF applied to the articulated arm model in tracking of the infra-red marker based human motion data; as well as the visual and quantitative assessments of the final results obtained from the proposed upper body and full body motion tracking.
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Civek, Ezgi. "Comparison Of Kinematic Results Between Metu-kiss &." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607947/index.pdf.
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KISS (Kinematic Support System) is a locally developed gait analysis system at Middle East Technical University (METU), and the performance of the system was evaluated before as a whole. However, such evaluations do not differentiate between the efficacy of the data acquisition system and the model-based gait analysis methodology. In this thesis, kinematic results of the KISS system will be compared with those of the Ankara University based commercial VICON (Oxford Metrics Ltd., Oxford, UK) system, in view of evaluating the performance of data acquisition system and the gait analysis methodology separately. This study is expected to provide guidelines for future developments on the KISS system.
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Willenberg, Heike. "Geologic and kinematic model of a complex landslide in crystalline rock (Randa, Switzerland) /." [Zurich] : [s.n.], 2004. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=15581.
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Burger, Robert J. "Robotic manipulator calibration : development of a general method for kinematic model parameter set identification." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA298891.
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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate School, December 1994."December 1994." Thesis advisor(s): Morris Driels. Includes bibliographical references. Also available online.
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Banks, Scott Arthur. "Model based 3D kinematic estimation from 2D perspective silhouettes : application with total knee prostheses." Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/13145.
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Dokoupil, Petr. "Animační knihovna se zaměřením na skeletální animace." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2009. http://www.nusl.cz/ntk/nusl-236629.
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This thesis proposes an architecture of animation engine flexible enough to support large scale of animation algorithms with unified approach to each one of them. One of the major goals of the engine is to support creation of very complex animation seqences with high degree of animation execution control. The main animation technique used in the engine is skeletal animation and some variants of this technique are already implemented within, but it was never meant to be skeletal animation only engine and is designed that way.
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Fischli, Simon. "Simulation of wrist kinematics on the basis of a rigid body spring model." Thesis, Kingston, Ont. : [s.n.], 2007. http://hdl.handle.net/1974/668.
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Jasanský, Michal. "Návrh dynamických modelů pro řízení trakce experimentálního vozidla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-228949.
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The Master's thesis deals with the simulations kinematics and dynamics of experimental four-wheeled vehicle with all-wheel steering and all-wheel drive. Suggestion of vehicle stability systems ABS/ASR for traction control is included. There are several dynamics models with their comparison. The estimation of important vehicle parameters is implemented. Based on knowledge the simple vehicle stability system ABS/ASR is created.
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Warren, Patricia F. "A mathematical model of knee kinematics utilizing the principle of minimum energy." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1998. http://handle.dtic.mil/100.2/ADA351258.
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Thesis (M.S. in Applied Physics) Naval Postgraduate School, June 1998.Thesis advisor(s): Young L. Kwon, William B. Maier. "June 1998." Includes bibliographical references (p. 65). Also available online.
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Brintaki, Athina N. "A Computational Kinematics and Evolutionary Approach to Model Molecular Flexibility for Bionanotechnology." Scholar Commons, 2009. https://scholarcommons.usf.edu/etd/1579.
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Modeling molecular structures is critical for understanding the principles that govern the behavior of molecules and for facilitating the exploration of potential pharmaceutical drugs and nanoscale designs. Biological molecules are flexible bodies that can adopt many different shapes (or conformations) until they reach a stable molecular state that is usually described by the minimum internal energy. A major challenge in modeling flexible molecules is the exponential explosion in computational complexity as the molecular size increases and many degrees of freedom are considered to represent the molecules' flexibility. This research work proposes a novel generic computational geometric approach called enhanced BioGeoFilter (g.eBGF) that geometrically interprets inter-atomic interactions to impose geometric constraints during molecular conformational search to reduce the time for identifying chemically-feasible conformations. Two new methods called Kinematics-Based Differential Evolution (kDE) and Biological Differential Evolution (BioDE) are also introduced to direct the molecular conformational search towards low energy (stable) conformations. The proposed kDE method kinematically describes a molecule's deformation mechanism while it uses differential evolution to minimize the inta-molecular energy. On the other hand, the proposed BioDE utilizes our developed g.eBGF data structure as a surrogate approximation model to reduce the number of exact evaluations and to speed the molecular conformational search. This research work will be extremely useful in enabling the modeling of flexible molecules and in facilitating the exploration of nanoscale designs through the virtual assembly of molecules. Our research work can also be used in areas such as molecular docking, protein folding, and nanoscale computer-aided design where rapid collision detection scheme for highly deformable objects is essential.
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Fischer, Travis C. "Determining Inclinations of Active Galactic Nuclei via their Narrow-Line Region Kinematics." Digital Archive @ GSU, 2012. http://digitalarchive.gsu.edu/phy_astr_diss/56.
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Active Galactic Nuclei (AGN) are axisymmetric systems to first order; their observed properties are likely strong functions of inclination with respect to our line of sight. However, except for a few special cases, the specific inclinations of individual AGN are unknown. We have developed a promising technique for determining the inclinations of nearby AGN by mapping the kinematics of their narrow-line regions (NLRs), which are easily resolved with Hubble Space Telescope (HST) [O III] imaging and long-slit spectra from the Space Telescope Imaging Spectrograph (STIS). Our studies indicate that NLR kinematics dominated by radial outflow can be fit with simple biconical outflow models that can be used to determine the inclination of the bicone axis, and hence the obscuring torus, with respect to our line of sight. We present NLR analysis of 52 Seyfert galaxies and resultant inclinations from models of 17 individual AGN with clear signatures of biconical outflow. From these AGN, we can for the first time assess the effect of inclination on other observable properties in radio-quiet AGN, including the discovery of a distinct correlation between AGN inclination and X-ray column density.
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Mukasa, Tomoyuki. "Mesoscopic Surface Characterization for Skeletal Kinematics Estimation from 3D Video." 京都大学 (Kyoto University), 2015. http://hdl.handle.net/2433/202742.
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Ni, Daiheng. "Extension and generalization of Newell's simplified theory of kinematic waves." Diss., Available online, Georgia Institute of Technology, 2004:, 2004. http://etd.gatech.edu/theses/available/etd-11112004-112805/unrestricted/ni%5Fdaiheng%5F200412%5Fphd.pdf.
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Thesis (Ph. D.)--Civil and Environmental Engineering, Georgia Institute of Technology, 2005.Leonard, John D., Committee Chair ; Goldsman, Dave, Committee Member ; Amekudzi, Adjo, Committee Member ; Hunter, Michael, Committee Member ; Dixon, Karen, Committee Member. Vita. Includes bibliographical references.
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Kumar, Nishant. "Towards practical implementation of computational solution of the Kinematic -wave Model for simulating traffic-flow scenarios." Thesis, Texas A&M University, 2004. http://hdl.handle.net/1969.1/1037.
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The Kinematic-wave model is one of the models proposed to simulate vehicular traffic. It has not received widespread use because of poor understanding of associated interface conditions and early use of incorrect numerical schemes used. This thesis analyzes mathematically correct boundary and interface conditions in the context of the Godunov method as the numerical scheme for the simulation software created. This thesis simulates a set of scenarios originally proposed by Ross, to verify the validity of simulation. The results of the simulation are compared against the corresponding results of Ross, and against intuitive expectation of the behavior of actual traffic under the scenarios. Our results tend either to agree with or improve upon those reported by Ross, who used alternate models.
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Grytsan, Andrii. "Abdominal aortic aneurysm inception and evolution - A computational model." Doctoral thesis, KTH, Biomekanik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-197289.
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Abdominal aortic aneurysm (AAA) is characterized by a bulge in the abdominal aorta. AAA development is mostly asymptomatic, but such a bulge may suddenly rupture, which is associated with a high mortality rate. Unfortunately, there is no medication that can prevent AAA from expanding or rupturing. Therefore, patients with detected AAA are monitored until treatment indication, such as maximum AAA diameter of 55 mm or expansion rate of 1 cm/year. Models of AAA development may help to understand the disease progression and to inform decision-making on a patient-specific basis. AAA growth and remodeling (G&R) models are rather complex, and before the challenge is undertaken, sound clinical validation is required. In Paper A, an existing thick-walled model of growth and remodeling of one layer of an AAA slice has been extended to a two-layered model, which better reflects the layered structure of the vessel wall. A parameter study was performed to investigate the influence of mechanical properties and G&R parameters of such a model on the aneurysm growth. In Paper B, the model from Paper A was extended to an organ level model of AAA growth. Furthermore, the model was incorporated into a Fluid-Solid-Growth (FSG) framework. A patient-specific geometry of the abdominal aorta is used to illustrate the model capabilities. In Paper C, the evolution of the patient-specific biomechanical characteristics of the AAA was investigated. Four patients with five to eight Computed Tomography-Angiography (CT-A) scans at different time points were analyzed. Several non-trivial statistical correlations were found between the analyzed parameters. In Paper D, the effect of different growth kinematics on AAA growth was investigated. The transverse isotropic in-thickness growth was the most suitable AAA growth assumption, while fully isotropic growth and transverse isotropic in-plane growth produced unrealistic results. In addition, modeling of the tissue volume change improved the wall thickness prediction, but still overestimated thinning of the wall during aneurysm expansion.Bukaortaaneurysm (AAA) kännetecknas av en utbuktning hos aortaväggen i buken. Tillväxt av en AAA är oftast asymtomatisk, men en sådan utbuktning kan plö̈tsligt brista, vilket har hög dödlighet. Tyvärr finns det inga mediciner som kan förhindra AAA från att expandera eller brista. Patienter med upptä̈ckt AAA hålls därför under uppsikt tills operationskrav är uppnådda, såsom maximal AAA-diameter på 55 mm eller expansionstakt på 1 cm/år. Modeller för AAA-tillväxt kan bidra till att öka förståelsen för sjukdomsförloppet och till att förbättra beslutsunderlaget på en patientspecifik basis. AAA modeller för tillväxt och strukturförändring (G&R) är ganska komplicerade och innan man tar sig an denna utmaning krävs de god klinisk validering. I Artikel A har en befintlig tjockväggig modell för tillväxt av ett skikt av en AAA-skiva utö̈kats till en två-skiktsmodell. Denna modell återspeglar bättre den skiktade strukturen hos kärlväggen. Genom en parameterstudie undersö̈ktes påverkan av mekaniska egenskaper och G&R-parametrar hos en sådan modell för AAA-tillväxt. I Artikel B utvidgades modellen från Artikel A till en organnivå-modell för AAA-tillväxt. Vidare inkorporerades modellen i ett “Fluid–Solid–Growth” (FSG) ramverk. En patientspecifik geometri hos bukaortan användes för att illustrera möjligheterna med modellen. I Artikel C undersöktes utvecklingen av patientspecifika biomekaniska egenskaper hos AAA. Fyra patienter som skannats fem till åtta gånger med “Computed Tomography-Angiography” (CT-A) vid olika tillfällen analyserades. Flera icke triviala statistiska samband konstaterades mellan de analyserade parametrarna. I Artikel D undersöktes effekten av olika tillväxt-kinematik för AAA tillväxt. En modell med transversellt-isotrop-i-tjockleken-tillväxt var den bäst lämpade för AAA tillväxt, medans antagandet om fullt-isotrop-tillväxt och transversellt-isotrop-i-planet-tillväxt producerade orimliga resultat. Dessutom gav modellering av vävnadsvolymsförändring ett förbättrat väggtjockleks resultat men en fortsatt överskattning av väggförtunningen under AAA-expansionen.
QC 20161201
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Fernandez, Trincado José. "Structure and kinematics of the milky way as seen from barred galactic model." Thesis, Bourgogne Franche-Comté, 2017. http://www.theses.fr/2017UBFCD076.
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Cette thèse consiste en l'étude détaillée de la structure, de la cinématique et de la dynamique de la voie lactée, avec un accent particulier sur la région du bulbe et le halo. Le but principal de ce travail est d'établir des contraintes dynamiques sur les paramètres physiques de la barre galactique afin de construire une carte cinématique détaillée des régions internes de notre galaxie. Cette carte peut être un ingrédient pour le modèle de synthèse de populations stellaires de Besançon, permettant de simuler la cinématique précise dans les régions internes du disque et dans la barre elle-même. Dans cette thèse, je présente plusieurs potentiels analytiques et semi-analytiques afin de reproduire le modèle de potentiel gravitationnel 3D de la Voie Lactée, où les perturbations produites par la barre Galactique correspondent assez bien à la cinématique globale observée dans les régions internes. J’ai développé une méthode de calcul des orbites stellaires déduites des profils de densité et du potentiel gravitationnel de plusieurs populations stellaires. Le logiciel que j’ai produit dans ce cadre, GravPot16, qui permet l’intégration des orbites, est disponible pour la communauté scientifique. J’ai également utilisé les données de haute qualité publiées dans la première version de la mission Gaia (TGAS), associées à des informations chimiques précises issues des données APOGEE, pour étudier les propriétés chimiques et dynamiques de la Voie Lactée. Je présente les premiers résultats de cette étude. J’ai par ailleurs effectué des simulations par particules-test. En utilisant environ 10 millions de particules sans masse comme traceurs de la cinématique stellaire, je présente une étude complète des variations de structures dans le halo stellaire liées à la formation des barres. En particulier, j’ai étudié les orbites typiques de la barre et les effets non-stationnaires de la barre sur le disque et le halo. Enfin, j’ai étudié les orbites des étoiles de composition chimique particulière présentes dans le disque et le bulbe et leur relation avec les étoiles des amas globulaires. Ces résultats confirment des affirmations antérieures selon lesquelles une petite fraction du halo galactique comporte des étoiles dont l’abondance en éléments légers est normalement observée uniquement dans les environnements d’amas globulaires. Ils fournissent un soutient crucial au scénario de fusion dans la régionThis work of thesis concerns an in detailed study of the structure, kinematics and dynamics of the Milky Way,with a particular emphasis on the bulge region and the halo. The main goal of this work is to establish dynamicalconstraints on the physical parameters of the Galactic bar in order to construct a detailed kinematic maps of the innerregions of the our Galaxy. Such map can be used as an ingredient for the Besançon stellar populations synthesismodel, allowing to provide accurate kinematic simulations in the inner regions of the disk and in the bar itself.In this thesis I present several analytic and semi-analytic potentials to approximate the 3D gravitational potentialmodel of the Milky Way, observationally and dynamically constrained, where the perturbations produced by theGalactic bar fit fairly well the global kinematic trends in the Galactic bulge. Using ~10 millions massless particles as tracers of stellar kinematics, we present a full study of the orbits in the bar, and non-stationary effects of the bar on the disks and the halo. In particular we trace the kinematic imprints of disk particles trapped/scattered in the Galactic bar. Finally, we analyse the orbits of chemically peculiar stars in the Milky Way field and its relation with globular clusterstars from the analysis of spectroscopic data. These results confirm previous claims that a small fraction of the Galactichalo is made up of light-element abundance patterns observed only in the globular clusters environments. Theyprovide a crucial observational support to the "merging" scenario of the Milky Way bulge region as well as in thehalo. We develop a method to compute the stellar kinematics and orbits inferred from the density profiles and the gravitational potential for several stellar populations. As a by product of this thesis, we provide the GravPot16 package, a software designed for Galactic dynamics, and orbit integration. Also taking advantage of high quality data produced by the first data release of the mission Gaia (TGAS) combined with accurate chemical information from the APOGEE datasets, I present preliminary results of the Chemo-orbital properties of the Milky Way
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Tremols, Edward J. "Design and Validation of a Computational Model for Study of Scapholunate Joint Kinematics." VCU Scholars Compass, 2014. http://scholarscompass.vcu.edu/etd/3877.
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As computational power has increased, computational modeling has become a very promising tool to model the biomechanics of complex joint systems. Musculoskeletal computational models have become more complex when compared to original iterations which utilized a number of simplifications. This thesis utilized a three-dimensional computational model of the wrist joint structure to investigate scapholunate kinematics. The model accurately represented the bony anatomy of the wrist and hand and represented soft tissue structures such as ligaments, tendons, and other surrounding tissues. Creation of the model was done using commercially available computer-aided design and medical image processing software, and utilized the rigid body modeling methodology. It was validated for scapholunate kinematics against a cadaver study and then utilized to investigate further measures and surgical procedures. The simulations performed by the model demonstrated an accurate anatomical response of wrist function. As better understanding of the biomechanics of the wrist joint is achieved, this model could prove to be an important tool to further investigate wrist mechanics.
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Bishop, Gregory Mark. "Sensorimotor deficits after pyridoxine intoxication, kinematic and electrophysiological observations in a new animal model of deafferentation." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ34944.pdf.
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Hau, Kah Wai. "Application of a three-surface kinematic hardening model to the repeated loading of thinly surfaced pavements." Thesis, University of Nottingham, 2003. http://eprints.nottingham.ac.uk/10045/.
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Little effort has been made to apply the Critical State Soil Mechanics concept to the prediction of pavement response. The aim of this research is to apply soil mechanics principles, particularly the kinematic hardening concept, to the prediction of the response of lightly trafficked pavements to repeated loading. For this purpose, the finite element critical state program CRISP is used. A comparison is made between the predictions given by the three-surface kinematic hardening (3-SKH) model and a layered elastic analysis BISAR for the resilient deformation produced by repeated loading of a thinly surfaced pavement, and the models are found to be in good agreement. The ability of the 3-SKH model to predict soil behaviour under cyclic loading, and under one-dimensional loading, unloading and reloading is also evaluated. A comparison between model predictions and experimental data obtained by other researchers shows that the 3-SKH model over-predicts the value of K0,nc and hence shear strain during monotonic loading. This problem is magnified when the model is applied to cyclic loading behaviour where large numbers of cycles are involved. The model also predicts an accumulation of negative shear strain with increasing number of cycles under some stress conditions. This will lead to unrealistic predictions of rutting in pavements. However, the model is suitable for obtaining resilient parameters for input to a layered elastic analysis program. A new model, which is a modified version of the 3-SKH model, is therefore proposed by modifying the flow rule and the hardening moduli. This model can correctly predict the value of K0,nc and reduce the amount of shear strain predicted. The model also eliminates the problem of accumulation of negative shear strain with increasing number of cycles. The new model introduces two additional parameters, one of which can be determined by one-dimensional normal compression test, and the other by fitting a set of cyclic loading data. The new model is used to design the required thickness of granular material using the permissible resilient subgrade strain and permanent rut depth criteria during construction. It is found that the new model predicts a realistic granular layer thickness required to prevent excessive rutting, thus showing much promise for use in design of thinly surfaced pavements.
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Ruiz, Andrés Gómez. "Increasing the energy efficiency of parallel manipulators by means of kinematic redundancy and Model Predictive Control." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-17042018-111902/.
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The use of robotic manipulators in industrial applications is continuously growing. Therefore, the proposal of novel kinematic architectures for robotic manipulators can be a strategy for coping with the required performance of specific tasks. On this matter, the parallel manipulators represent an alternative to fulfill this gap. The objective of this manuscript is to prove that the energy efficiency of parallel manipulators can be increased by the use of kinematic redundancy. Due to the presence of kinematic redundancy, the number of solutions to the inverse kinematics problem become infinite. Hence, a redundancy resolution scheme is required to select a suitable one among the infinite solutions. In this work, a model predictive control (MPC) based method is proposed as redundancy resolution scheme. This proposal is evaluated numerically and experimentally by comparing the energy consumption of non-redundant and kinematically redundant manipulators during the execution of pre-defined tasks. The non-redundant manipulator under study is the planar parallel 3RRR manipulator. This manipulator consists of three identical kinematic chains containing one active revolute joint and two passive revolute joints. Kinematic redundancies were added to the manipulator by including one active prismatic joint in each kinematic chain. In this way, the kinematically redundant manipulator under study is the planar parallel 3PRRR manipulator. By activating or locking the prismatic joints, up to three levels of kinematic redundancy can be evaluated. Numerical kinematic and dynamic models of the manipulators under study were derived not only for their numerical evaluation but also for the derivation of the model-based redundancy resolution scheme. Experimental data was acquired using the prototype built at the Laboratory of Dynamics at São Carlos School of Engineering at University of São Paulo. This experimental data was exploited for assessing the usability of the MPC for deriving a redundancy resolution scheme and for evaluating the impact of several levels of kinematic redundancy on the manipulator\'s energy consumption. Based on this data, one can conclude that MPC can be a suitable alternative for solve redundancy resolution problems and that the redundant parallel manipulators presented a lower energy consumption than the non-redundant one to execute the pre-defined tasks. The rate of reduction on the energy consumption achieved by the redundant manipulators varied between 6% and 60% depending on the task. Nevertheless, the numerical and experimental data presented differences in some particular cases.O número de aplicações realizadas pelos manipuladores robóticos cresce continuamente. Assim, o desenvolvimento de novas arquiteturas para os manipuladores robóticos mais adaptadas a aplicações concretas é necessário. Destarte, os manipuladores paralelos constituem uma alternativa a ser considerada. O objetivo deste texto é provar que a eficiência energética dos manipuladores paralelos pode ser incrementada por meio da redundância cinemática. A presença de redundância cinemática implica um número infinito de soluções no problema da cinemática inversa. Logo, é precisso um esquema de resolução de redundância para escolher uma das soluções. No presente texto, um método baseado no modelo de controle preditivo (MPC), é proposto como esquema de resolução de redundância. Esta proposta é avaliada tanto numérica como experimentalmente comparando o consumo energético dos manipuladores não redundante e redundantes durante a execução de umas trajetórias predefinidas. O manipulador paralelo não redundante estudado é o 3RRR. Este manipulador é composto por três cadeias cinemáticas idênticas que incluem uma junta rotativa ativa e duas juntas rotativas passivas. Redundâncias cinemáticas foram adicionadas ao manipulador incluindo uma junta prismática ativa em cada uma das três cadeias cinemáticas, obtendo assim, o manipulador redundante 3PRRR. Ativando ou bloqueando as juntas prismáticas podem ser avaliados até três níveis de redundância cinemática. Modelos matemáticos dos manipuladores foram propostos tanto para a estabelecer uma avaliação numérica como para a dedução do esquema de resolução de redundância. Um protótipo do manipulador 3PRRR construído na Escola da Engenharia de São Carlos foi usado para realizar os experimentos. Os dados experimentais foram utilizados para comprovar a utilidade do MPC como esquema de resolução de redundância, e para avaliar os efeitos da redundância cinemática no consumo energético. Com fundamento nos resultados é possível concluir que o MPC pode ser uma alternativa adequada para resolver problemas de resolução de redundância e que os manipuladores paralelos redundantes apresentaram um menor consumo energético para realizar a mesma tarefa quando comparados aos não redundante. A taxa de redução da energia em favor dos manipuladores redundantes varia entre 6% e 60% dependendo da tarefa. Por outro lado, a análise numérica mostrou discrepâncias com a análise experimental em certas circunstâncias.
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Domingues, Catia Motta, and Catia Domingues@csiro au. "Kinematics and Heat Budget of the Leeuwin Current." Flinders University. SOCPES, 2006. http://catalogue.flinders.edu.au./local/adt/public/adt-SFU20060612.211358.
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This study investigates the upper ocean circulation along the west Australian coast, based
on recent observations (WOCE ICM6, 1994/96) and numerical output from the 1/6 degree Parallel Ocean
Program model (POP11B 1993/97). Particularly, we identify the source regions of the Leeuwin
Current, quantify its mean and seasonal variability in terms of volume, heat and salt transports,
and examine its heat balance (cooling mechanism). This also leads to further understanding of the
regional circulation associated with the Leeuwin Undercurrent, the Eastern Gyral Current and the
southeast Indian Subtropical Gyre.
The tropical and subtropical sources of the Leeuwin Current are understood from an
online numerical particle tracking. Some of the new findings are the Tropical Indian Ocean source
of the Leeuwin Current (in addition to the Indonesian Throughflow/Pacific); the Eastern Gyral
Current as a recirculation of the South Equatorial Current; the subtropical source of the Leeuwin
Current fed by relatively narrow subsurface-intensified eastward jets in the Subtropical Gyre, which
are also a major source for the Subtropical Water (salinity maximum) as observed in the Leeuwin
Undercurrent along the ICM6 section at 22 degrees S.
The ICM6 current meter array reveals a rich vertical current structure near North West
Cape (22 degrees S). The coastal part of the Leeuwin Current has dominant synoptic variability and
occasionally contains large spikes in its transport time series arising from the passage of tropical
cyclones. On the mean, it is weaker and shallower compared to further downstream, and it only
transports Tropical Water, of a variable content. The Leeuwin Undercurrent carries Subtropical
Water, South Indian Central Water and Antarctic Intermediate Water equatorward between
150/250 to 500/750 m. There is a poleward flow just below the undercurrent which advects a
mixed Intermediate Water, partially associated with outflows from the Red Sea and Persian Gulf.
Narrow bottom-intensified currents are also observed.
The 5-year mean model Leeuwin Current is a year-round poleward flow between 22 degrees S and
34 degrees S. It progressively deepens, from 150 to 300 m depth. Latitudinal variations in its volume
transport are a response to lateral inflows/outflows. It has double the transport at 34 degrees S (-2.2 Sv)
compared to at 22 degrees S (-1.2 Sv). These model estimates, however, may underestimate the transport
of the Leeuwin Current by 50%. Along its path, the current becomes cooler (6 degrees C), saltier (0.6 psu)
and denser (2 kg m -3). At seasonal scales, a stronger poleward flow in May-June advects the
warmest and freshest waters along the west Australian coast. This advection is apparently spun up
by the arrival of a poleward Kelvin wave in April, and reinforced by a minimum in the equatorward
wind stress during July.
In the model heat balance, the Leeuwin Current is significantly cooled by the eddy heat
flux divergence (4 degrees C out of 6 degrees C), associated with mechanisms operating at submonthly time scales.
However, exactly which mechanisms it is not yet clear. Air-sea fluxes only account for ~30% of the
cooling and seasonal rectification is negligible. The eddy heat divergence, originating over a narrow
region along the outer edge of the Leeuwin Current, is responsible for a considerable warming of a
vast area of the adjacent ocean interior, which is then associated with strong heat losses to the
atmosphere. The model westward eddy heat flux estimates are considerably larger than those
associated with long lived warm core eddies detaching from the Leeuwin Current and moving
offshore. This suggests that these mesoscale features are not the main mechanism responsible for
the cooling of the Leeuwin Current. We suspect instead that short lived warm core eddies might
play an important role.
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Smrčka, Jiří. "Řízení pohybu modelu průmyslového robota." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2011. http://www.nusl.cz/ntk/nusl-218887.
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The thesis aims to put in practice control unit of industrial robot ROB 2-6. The control unit is put in practice with the use of processor from the ARM STM32F100 family. Altogether with the control module it is supposed to be also realized HMI which will enable program loading and servicing of the control unit. The visualization model and algorithm of track planning is also realized within this work.
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Cheah, Chin Hong Civil & Environmental Engineering Faculty of Engineering UNSW. "Kinematic wave modelling of surface runoff quantity and quality for small urban catchments in Sydney." Awarded By:University of New South Wales. Civil & Environmental Engineering, 2009. http://handle.unsw.edu.au/1959.4/44618.
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Extensive research has been undertaken to improve the robustness of runoff quantity predictions for urban catchments. However, equally robust predictions for runoff quality have yet to be attained. Past studies addressing this issue have typically been confined to the use of simple conceptual or empirical models which forgo the tedious steps of providing a physical representation of the actual system to be modelled. Consequently, even if the modelling results for the test catchments are satisfactory, the reliability and applicability of these models for other catchments remain uncertain. It is deemed that by employing process-based, deterministic models, many of these uncertainties can be eliminated. A lack of understanding of the hydrological processes occurring during storm events and the absence of good calibration data, however, hamper the advancement of such models and limit their use in the field. This research proposes that the development of a hydrologic model based on the kinematic wave equations linked to an advection-dispersion model that simulates pollutant detachment and transport will improve both runoff quantity and quality simulations and enhance the robustness of the predictions. At the very worst, a model of this type could still highlight the underlying issues that inhibit models from reproducing the recorded historical hydrographs and pollutographs. In actual fact, this approach has already been applied by various modellers to simulate the entrainment of pollutants from urban catchments. Also, the paradigm shift to using the Water Sensitive Urban Design (WSUD) approach in designing urban stormwater systems has prompted the need to differentiate the various sources of pollutants in urban catchments such as roads, roofs and other impervious surfaces. The primary objective of the study reported herein is to model runoff quantity and quality from small urban catchments, facilitated by the procurement of the necessary field data to calibrate and validate the model via implementation of a comprehensive field exercise based in Sydney. From a water quality perspective, trace metals were selected as the foci. The study outcomes include the formulation of a linkage of models capable of providing accurate and reliable runoff quantity and quality predictions for the study catchments by taking into consideration: - The different availability of pollutants from urban catchments, i.e. roads vs. roofs; - The build-up characteristics of pollutants on the distinct urban surfaces and their spatial distribution; - The contribution of rainwater to urban runoff pollution; - The partitioning of pollutants according to particulate bound and dissolved phases; - The respective role of rainfall and runoff in the detachment and entrainment of pollutants; - The influence of particle properties such as particle size distribution and density on pollutant transport; and - The relationship associating particulate bound metals to suspended solids. The simulation results obtained using the proposed model were found to be suitable for modelling the detachment and transport of pollutants for small urban catchments. Interpretation of these results reveals several key findings which could help to rectify shortcomings of existing modelling approaches. Even though the robustness of the model presented here may not translate into a significant improvement in the overall robustness of model predictions, the physical basis on which this process-based model was developed nevertheless provides the flexibility necessary for implementation at alternative sites. It is also shown that the availability of reliable runoff data is essential for implementation of the model for other similar urban catchments. In conclusion, the proposed model in this study will serve as a worthy tool in future urban catchment management studies.
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Busta, Michal. "Analýza namáhání vybraných konstrukčních částí bagru při provozu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443770.
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This thesis is focused on the issue of computational modeling of soil harvesting while using the compact excavator from the company DOOSAN BOBCAT EMEA s.r.o.. The solution consists in creating two computational models in Rocky DEM and Ansys Mechanical. Rocky DEM software is used to solve the disconnection of soil by excavator components using the discrete element method. The outcome includes courses of forces and moments during the particular time of the individual joints of the model that was used. The obtained courses are then applied as an external load to the joint of a selected structural part of the analyzed model using a kinematic model in ANSYS Mechanical. The kinematic model consists of simplified geometry models of individual parts of the excavator arm, and a more detailed geometry model of the analyzed part of the arm. All the parts are connected to each other by rotational bonds representing joints. A static structural analysis of the mechanical stress is performed in ANSYS Mechanical for the prepared model during the simulated process. Finally, the selected structural part is assessed with respect to the elastic limit and fatigue strength.
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Hyvärinen, J. P. (Jukka-Pekka). "The improvement of full vehicle semi-active suspension through kinematical model." Doctoral thesis, University of Oulu, 2004. http://urn.fi/urn:isbn:9514276124.
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Abstract
Over recent years the progress in actuator and microelectronics technology has made intelligent suspension systems feasible. These systems are designed to reduce the drivers' exposure to harmful vibration, as well as to improve the handling properties of the vehicle. Due to widespread use of vehicles as an example of a true MIMO-system, a myriad of different control schemes and algorithms can be found in the literature for these systems. Linearized models are commonly used when the control algorithms are derived.
This thesis describes the development of a new analytical full vehicle model, which takes the essential kinematics of the suspension system into account, as well as a new approach to controlling the full vehicle vibration problem. The method of calculating the desired damping forces for each of the semi-active actuators is based on the skyhook theory and this new model is introduced.
The performance of the control schemes is evaluated with simulations in a virtual environment. For the excitation to the vehicle, standardized ISO-tracks, washboard tracks and single bump tracks were used. The performance between the two different semi-active control systems and the passive system are compared in terms of damping the vibration, variation of the dynamic tire load and demand for rattlespace.
The damping of vibration evaluates both the ability to suppress the vibration on heave, pitch and roll degrees of freedom and ability to reduce the drivers' exposure to harmful whole body vibration. The frequency distribution of the vibration was also reviewed. Variation of dynamic tire contact force is evaluated as an RMS-value and the demand for rattlespace is evaluated as a percentage value of the used rattlespace compared to the maximum free stroke provided by the suspension hardware.
As a result from this work, the theory and simulation results are presented. Also a new vehicle model, which takes the essential non-linearity caused by suspension kinematics into account, is presented including all the mathematics needed. The comparison between the passive and the semi-active concepts has been performed on the basis of simulation results. These results show that the novel semi-active concept reduces the driver's exposure to vibration induced by terrain undulations better than any earlier proposed version. Also variation of dynamic tire load is reduced with a novel concept, while it suffers a drawback in the demand for the rattlespace.
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Haines, Grant Emerson. "Integration of Undulatory Swimming Kinematics and Ram Suspension Feeding in A Model American Paddlefish." W&M ScholarWorks, 2017. https://scholarworks.wm.edu/etd/1499450055.
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Ram suspension-feeding fishes are a taxonomically diverse group that is both economically and ecologically important. However, many questions remain pertaining to how they feed, including the types of prey they are capable of capturing, the metabolic costs associated with feeding, and the process of manipulating and transporting food around the oral cavity. Recent research has shown that the American paddlefish (Polyodon spathula) employs vortical cross-step filtration, which includes crossflow filtration processes that are organized into a spatial structure across the gill rakers by the formation of vortices behind the branchial arches. Potential temporal organization of filtration mechanisms in ram suspension-feeding fish has not been studied previously. Because ram suspension feeders swim forward with their mouths open to capture prey, we investigated the effect of the locomotory kinematics associated with undulatory swimming on intra-oral flow patterns and food particle transport. We constructed a mechanized model to simulate the swimming of suspension-feeding paddlefish, and recorded fluctuations of flow speed and pressure within the model. We also showed that swimming kinematics aided the transport of food particles from the gill rakers to the posterior margins of the gill slots. These findings suggest strong integration between locomotor and feeding systems in ram suspension-feeding fishes.
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Boerigter, Rebecca A. "A Biomechanical Upper Extremity Kinematics Model for Quantitative Human Motion Analysis During Wheelchair Propulsion." Thesis, Marquette University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10749371.
Full textAbstract:
Motion analysis allows for the collection and quantification of movement, and has long been used for the assessment of gait. In more recent years, models have been developed to accurately track the kinematics of the upper extremity, however, current methods are limited due to the small number of validated kinematic models. Over time, multiple models have developed for shoulder joint center (SJC) calculation, however, few are validated, with most difficult to implement.
Currently, approximately 3.7 million wheelchair users reside in the USA. The repetitive cyclic propulsion pattern required for wheelchair mobility places high loads on the wrist, elbow, and shoulder and often results in overuse injuries with an estimated 30% to 69% prevalence. Quantification of the shoulder complex using 3D kinematics allows for the assessment of ranges of motion, forces, and moments which may allow for better prescription and training, and propulsion biomechanics in wheelchair users.
Schnorenberg et al. developed and validated a wheelchair model whereby the SJC was calculated using multiple linear regression of the positions of the scapula, clavicle, and humerus. While this model more accurately tracks the glenohumeral joint center as compared to previous models, it requires advanced training and custom Matlab code which limit application for adoption by low resourced clinics and facilities. A simplified model using Visual 3D was developed to allow for local and international clinical and research applications in conjunction with a previously develop low-cost motion tracking system. Motion data during the wheelchair stroke cycle, was obtained using 12 Vicon cameras and Vicon Nexus software. The 3D motion files were processed using both models.
The wrist joint center and glenohumeral joint center yielded sub 2 mm mean error. While the wrist, elbow, and glenohumeral joints had an average error of less than 10° during the grasp and vertical events. Through the development and validation of a simplified model utilizing Visual3D, upper extremity motion analysis may be easily applied in international and outreach clinics. This work presents new methodology to augment current paradigms for evaluation of wheelchair biomechanics.