Relevant bibliographies by topics / Motion Capture Analysis Optimization

Academic literature on the topic 'Motion Capture Analysis Optimization'

Author: Grafiati
Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Motion Capture Analysis Optimization"

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JOÃO, FILIPA, ANTÓNIO VELOSO, SANDRA AMADO, PAULO ARMADA-DA-SILVA, and ANA C. MAURÍCIO. "CAN GLOBAL OPTIMIZATION TECHNIQUE COMPENSATE FOR MARKER SKIN MOVEMENT IN RAT KINEMATICS?" Journal of Mechanics in Medicine and Biology 14, no. 05 (August 2014): 1450065. http://dx.doi.org/10.1142/s0219519414500651.

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The motion of the skeletal estimated from skin attached marker-based motion capture(MOCAP) systems is known to be affected by significant bias caused by anatomical landmarks mislocation but especially by soft tissue artifacts (such as skin deformation and sliding, inertial effects and muscle contraction). As a consequence, the error associated with this bias can propagate to joint kinematics and kinetics data, particularly in small rodents. The purpose of this study was to perform a segmental kinematic analysis of the rat hindlimb during locomotion, using both global optimization as well as segmental optimization methods. Eight rats were evaluated for natural overground walking and motion of the right hindlimb was captured with an optoeletronic system while the animals walked in the track. Three-dimensional (3D) biomechanical analyses were carried out and hip, knee and ankle joint angular displacements and velocities were calculated. Comparison between both methods demonstrated that the magnitude of the kinematic error due to skin movement increases in the segmental optimization when compared with the global optimization method. The kinematic results assessed with the global optimization method matches more closely to the joint angles and ranges of motion calculated from bone-derived kinematics, being the knee and hip joints with more significant differences.
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Ferryanto, F., Andi Isra Mahyuddin, and Motomu Nakashima. "DEVELOPMENT OF A MARKERLESS OPTICAL MOTION CAPTURE SYSTEM BY AN ACTION SPORTS CAMERA FOR RUNNING MOTION." ASEAN Engineering Journal 12, no. 2 (June 1, 2022): 37–44. http://dx.doi.org/10.11113/aej.v12.16760.

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A marker-based optical motion capture system is often used to obtain the kinematics parameters of a running analysis. However, the attached marker could affect the participant's movement, and the system is costly because of the exclusive cameras. Due to its drawbacks, the present research aimed to develop an affordable markerless optical motion capture system for running motion. The proposed system used an action sports camera to acquire the running images of the participant. The images were segmented to get the silhouette of the participant. Then, a human body model was generated to provide a priori information to track participants' segment position. The subsequent procedure was image registration to estimate the pose of the participant's silhouette. The transformation parameters were estimated by particle swarm optimization. The optimization output in the form of the rotation angle of the body segment was then employed to identify right or left lower limbs. To validate the results of the optimization, a manual matching was conducted to obtain the actual rotation angle for all body segments. The correlation coefficient between the rotation angle from image registration and the actual rotation angle was then evaluated. It was found that the lowest correlation coefficient was 0.977 for the left foot. It implies that the accuracy of the developed system in the present work is acceptable. Furthermore, the results of the kinematics analysis have good agreement with the literature. Therefore, the developed system, not only yields acceptable running parameters, but also affordable since it uses an action sports camera and easy to use.
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Ping, An, Jian Wang, Ruofan Xiao, Renying Liu, Yanan Chang, and Qingmin Li. "Trap Parameters Optimization Based on Metal Particle Dynamic Simulation Method." Symmetry 14, no. 6 (June 9, 2022): 1187. http://dx.doi.org/10.3390/sym14061187.

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Insulation failure usually occurs in AC gas-insulated transmission (AC GIL) in field operation, in which the primary cause is the charged motion of metal particles in the electric filed. At present, the particle inhibition method applied is to design particle traps on the inner wall of the GIL shell. However, due to the large randomness of the charged motion for metallic particles and the limitations of field test methods, a particle trap has not yet been designed from the perspective of particle trapping effectiveness. In this paper, firstly, referring to the size of a running 252 kV AC GIL, a 1:1 scaled 3-D similarity simulation model is established to obtain the dynamic characteristics of particles with different sizes under the operating voltage level. This model can form symmetry between the real equipment, and its simulated simulation trajectory can achieve symmetry with the actual one. Secondly, an experimental platform that can easily capture the motion of the particles is set up to experimentally verify the symmetry between the field operating equipment and the simulation model. Finally, the particle traps are set on both sides of the concave and convex surface of the basin insulator, and an optimization scheme for the design of the particle trap is proposed from three aspects: the electric field regulation of the trap, the captured probability of particles, and the trap location. The proposed research shows that, with respect to the motion characteristics of the particles, this paper selects circular hole-shaped trap and its thickness, slot spacing, and slot width are 10 mm, 6 mm, and 8 mm, respectively. When the traps are arranged, one at the bottom of the shell at 70 mm and 80 mm from each side of the concave and convex insulator, the capture probability of the traps on both sides can be as high as 78% and 70%, respectively. Therefore, the analysis and optimization method in this paper has important reference value according to similarity concepts for optimizing particle traps in AC GIL at a certain voltage level.
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Chen, Peng, Ping Jun Xia, Yue Dong Lang, and Ying Xue Yao. "A Human-Centered Virtual Assembly System." Applied Mechanics and Materials 16-19 (October 2009): 796–800. http://dx.doi.org/10.4028/www.scientific.net/amm.16-19.796.

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Virtual manufacturing technology has become an effective method for decision and planning in manufacturing. Due to ergonomics problems are widely concerned in assembly design planning, a human-centered virtual assembly system framework is proposed for ergonomics analysis for assembly operation in this paper. The six-layer framework integrates virtual human modeling, motion capture and recognition, ergonomics evaluation and virtual assembly process planning as an organic whole. Data exchanging and system function are discussed based on this framework. The work in virtual reality (VR) technology, motion capture technology, ergonomics method and optimization method for implementing the system is also described. The framework would provide a new approach for the combination of virtual manufacturing and ergonomics analysis in the future.
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Wang, Yong, Jing Cao, Nan Ye, Shouming Sun, Junfeng Li, and Zhenyong Bo. "Cooperative capture trajectory optimization of multi-space robots using an improved multi-objective fruit fly algorithm." Open Astronomy 31, no. 1 (January 1, 2022): 405–16. http://dx.doi.org/10.1515/astro-2022-0198.

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Abstract Considering that some tasks will require the consistency of the position and attitude of the end-effector, multi-space-robot cooperative capture also needs to consider the synchronization of the two capture arms. Taking the dual-space robots as example, the trajectory planning problem before cooperative capture is focused. First, a drive-transform method based on trapezoidal velocity interpolation is proposed, which combines the advantages of these two methods to obtain the SE(3) motion trajectory, in which the attitude and position are planned synchronously. Then, the trajectory optimization model of cooperative capture is established, which takes the optimal time and the minimum attitude disturbance of the base as the optimization goals, and simultaneously satisfies that the two capture arms reach the capture point synchronously. In order to solve this multi-objective optimization problem, a dual-population multi-objective fruit fly algorithm based on non-dominated sorting was proposed. Finally, the simulation example of dual-space robots shows that the proposed algorithm is effective, and the analysis of the optimal solution set demonstrates that the optimized cooperative capture trajectory is smooth and synchronous.
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Li, Shun, Liqing Cui, Changye Zhu, Baobin Li, Nan Zhao, and Tingshao Zhu. "Emotion recognition using Kinect motion capture data of human gaits." PeerJ 4 (September 15, 2016): e2364. http://dx.doi.org/10.7717/peerj.2364.

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Automatic emotion recognition is of great value in many applications, however, to fully display the application value of emotion recognition, more portable, non-intrusive, inexpensive technologies need to be developed. Human gaits could reflect the walker’s emotional state, and could be an information source for emotion recognition. This paper proposed a novel method to recognize emotional state through human gaits by using Microsoft Kinect, a low-cost, portable, camera-based sensor. Fifty-nine participants’ gaits under neutral state, induced anger and induced happiness were recorded by two Kinect cameras, and the original data were processed through joint selection, coordinate system transformation, sliding window gauss filtering, differential operation, and data segmentation. Features of gait patterns were extracted from 3-dimentional coordinates of 14 main body joints by Fourier transformation and Principal Component Analysis (PCA). The classifiers NaiveBayes, RandomForests, LibSVM and SMO (Sequential Minimal Optimization) were trained and evaluated, and the accuracy of recognizing anger and happiness from neutral state achieved 80.5% and 75.4%. Although the results of distinguishing angry and happiness states were not ideal in current study, it showed the feasibility of automatically recognizing emotional states from gaits, with the characteristics meeting the application requirements.
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Simonetto, Enrico, Andrea Ghiotti, and Stefania Bruschi. "Feasibility of Motion-Capture Techniques Applied to Tube Bending." Key Engineering Materials 651-653 (July 2015): 1128–33. http://dx.doi.org/10.4028/www.scientific.net/kem.651-653.1128.

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Tube bending is one of the most relevant manufacturing processes for the production of structural elements, but it suffers from the problem of springback that requires the tuning of the process parameters at every launch of new production batches. Off-line optimization approaches can be found in literature, but they often require complex characterization of the material properties or the application of approaches based on numerical simulation analyses. So, the development of new and more flexible on-line approaches to measure and correct the springback is crucial especially for highly automated machines as for example the tube benders. The paper presents a new measurement approach, based on the application of motion-capture techniques, to provide real-time measurements of the bent tube orientation, in order to decrease the time for the set-up of the main process parameters. A new methodology as well as a new experimental apparatus for the in-line monitoring of the tube springback is presented, as well as the evaluation of its accuracy when applied to the industrial process. An Inertial Measurement Unit (IMU) is linked to the tube during bending and the measurements from three gyroscopes and three accelerometers are used to perform the computation of the tube orientation in the 3D space. The proposed approach appeared promising for the evaluation of the springback through the measurement of the final angular configuration reached after bending.
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Bao, Hongshu, and Xiang Yao. "Human Motion Data Retrieval Based on Staged Dynamic Time Deformation Optimization Algorithm." Complexity 2020 (December 14, 2020): 1–11. http://dx.doi.org/10.1155/2020/6650924.

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In recent years, with the rapid development of computer storage capabilities and network transmission capabilities, users can easily share their own video and image information on social networking sites, and the amount of multimedia data on the network is rapidly increasing. With the continuous increase of the amount of data in the network, the establishment of effective automated data management methods and search methods has become an increasingly urgent need. This paper proposes a retrieval method of human motion data based on motion capture in index space. By extracting key frames from the original motion to perform horizontal dimensionality reduction and defining features based on Laban motion analysis, the motion segment is subjected to vertical feature dimensionality reduction. After extracting features from the input motion segment, motion matching is performed on the index space. This paper designs the optimization method of the phased dynamic time deformation algorithm in time efficiency and analyzes the optimization method of the phased dynamic time deformation algorithm in time complexity. Considering the time efficiency redundancy, this paper optimizes the time complexity of the phased dynamic time deformation method. This improves the time efficiency of the staged dynamic time warping algorithm, making it suitable for larger-scale human motion data problems. Experiments show that the method in this paper has the advantage of speed, is more in line with the semantics of human motion, and can meet the retrieval requirements of human motion databases.
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Sun, Chong, and Xiaolei Hou. "Passive impact/vibration control and isolation performance optimization for space noncooperative target capture." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988141989538. http://dx.doi.org/10.1177/1729881419895388.

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On-orbit capture is an important technique for the space debris removal, refueling, or malfunction satellite repairing. While due to the uncertainty of the motion parameters of the space noncooperative target, the impact between the capture device and the noncooperative target during the capturing process is inevitable, which may bring strong vibration perturbation to the base satellite, and potentially alter the position and the attitude of the servicing spacecraft, or even cause failure of on-orbit tasks. This article presents a new and alternative method for passive suppression of spacecraft impact and perturbation during noncooperative spacecraft capture. The passive device based on bioinspired X-shape is installed between the satellite and the capture device. In the capture process, nonlinear damping of the passive isolation structure can significantly reduce impact/vibration perturbation. For performance analysis, dynamic equations of the isolation system are established. Based on which, the relationship between structure parameters and isolation performance is systematically analyzed. Experiments are conducted for verification of the effectiveness of the proposed method. Moreover, an optimal process using the non-dominated sorting genetic algorithm II optimization method is developed to minimize impact/vibration perturbation effect, and optimal solutions can provide useful reference for the passive isolation system design.
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Iaboni, Craig, Deepan Lobo, Ji-Won Choi, and Pramod Abichandani. "Event-Based Motion Capture System for Online Multi-Quadrotor Localization and Tracking." Sensors 22, no. 9 (April 23, 2022): 3240. http://dx.doi.org/10.3390/s22093240.

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Motion capture systems are crucial in developing multi-quadrotor systems due to their ability to provide fast and accurate ground truth measurements for tracking and control. This paper presents the implementation details and experimental validation of a relatively low-cost motion-capture system for multi-quadrotor motion planning using an event camera. The real-time, multi-quadrotor detection and tracking tasks are performed using a deep learning network You-Only-Look-Once (YOLOv5) and a k-dimensional (k-d) tree, respectively. An optimization-based decentralized motion planning algorithm is implemented to demonstrate the effectiveness of this motion capture system. Extensive experimental evaluations were performed to (1) compare the performance of four deep-learning algorithms for high-speed multi-quadrotor detection on event-based data, (2) study precision, recall, and F1 scores as functions of lighting conditions and camera motion, and (3) investigate the scalability of this system as a function of the number of quadrotors flying in the arena. Comparative analysis of the deep learning algorithms on a consumer-grade GPU demonstrates a 4.8× to 12× sampling/inference rate advantage that YOLOv5 provides over representative one- and two-stage detectors and a 1.14× advantage over YOLOv4. In terms of precision and recall, YOLOv5 performed 15% to 18% and 27% to 41% better than representative state-of-the-art deep learning networks. Graceful detection and tracking performance degradation was observed in the face of progressively darker ambient light conditions. Despite severe camera motion, YOLOv5 precision and recall values of 94% and 98% were achieved, respectively. Finally, experiments involving up to six indoor quadrotors demonstrated the scalability of this approach. This paper also presents the first open-source event camera dataset in the literature, featuring over 10,000 fully annotated images of multiple quadrotors operating in indoor and outdoor environments.
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Dissertations / Theses on the topic "Motion Capture Analysis Optimization"

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Cockcroft, Stephen John. "An evaluation of inertial motion capture technology for use in the analysis and optimization of road cycling kinematics." Thesis, Stellenbosch : University of Stellenbosch, 2011. http://hdl.handle.net/10019.1/6760.

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Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2011.
ENGLISH ABSTRACT: Optical motion capture (Mocap) systems measure 3D human kinematics accurately and at high sample rates. One of the limitations of these systems is that they can only be used indoors. However, advances in inertial sensing have led to the development of inertial Mocap technology (IMCT). IMCT measures kinematics using inertial measurement units (IMUs) attached to a subject's body without the need for external sensors. It is thus completely portable which opens up new horizons for clinical Mocap. This study evaluates the use of IMCT for improving road cycling kinematics. Ten male sub-elite cyclists were recorded with an IMCT system for one minute while cycling at 2, 3.5 and 5.5 W.kg-1 on a stretch of road and on a stationary trainer. A benchmark test was also done where cycling kinematics was measured simultaneously with the IMCT and a gold-standard Vicon optical system. The first goal was to assess the feasibility of conducting field measurements of cycling kinematics. Magnetic analysis results showed that the IMUs near the pedals and handlebars experienced significant magnetic interference (up to 50% deviation in intensity) from ferrous materials in the road bicycles, causing significant errors in kinematic measurement. Therefore, it was found that the IMCT cannot measure accurate full-body kinematics with the subject on a road bicycle. However, the results of the benchmark test with the Vicon showed that the IMCT can still measure accurate hip (root mean square error (RMSE) < 1°), knee (RMSE < 3.5°) and ankle (RMSE < 3°) flexion using its Kinematic Coupling algorithm. The second goal was to determine whether there is a significant difference between road cycling kinematics captured on the road and in a laboratory. The outdoor flexion results were significantly different to the indoor results, especially for minimum flexion (P < 0.05 for all joints). Changes in rider kinematics between high and low power were also found to have significantly more variability on the road (R2 = 0.36, 0.61, 0.08) than on the trainer (R2 = 0.93, 0.89, 0.56) for the hip, knee and ankle joints respectively. These results bring into question the ecological validity of laboratory cycling. Lastly, applications of IMCT for optimizing cycling performance were to be identified. Several aspects of kinematic analysis and performance optimization using the IMCT were evaluated. It was determined that IMCT is most suited for use as a dynamic bicycle fitting tool for analysis of biomechanical efficiency, bilateral asymmetry and prevention of overuse injuries. Recommendations for future work include the elimination of the magnetic interference and integration of the IMCT data with kinetic measurements to develop an outdoor dynamic fitting protocol.
AFRIKAANSE OPSOMMING: Optiese bewegingswaarnemingstelsels (BWS) meet drie-dimensionele menslike kinematika met hoë akkuraatheid en teen hoë monstertempo's. Een van die nadele van BWS is dat hulle slegs binnenshuis gebruik kan word. Onlangse ontwikkelings in sensor tegnologie het egter gelei na die beskikbaarheid van traagheids-BWS-tegnologie (TBT). TBT gebruik traagheidsmetingseenhede (TMEs) wat aan 'n persoon se liggaam aangeheg kan word om die kinematika te verkry sonder enige eksterne sensore. TBT is dus volkome draagbaar, wat nuwe geleenthede skep vir kliniese bewingsanalises. Hierdie projek evalueer die gebruik van TBT vir die verbetering van fietsry kinematika. Tien kompeterende fietsryers (manlik) was getoets met 'n TBT terwyl hulle teen 2, 3.5 and 5.5 W.kg-1 gery het op 'n pad, en op 'n stilstaande oefenfietsraam. 'n Maatstaftoets was ook uitgevoer waar fietsry-kinematika gelyktydig met die TBT en die Vicon optiese BWS opgeneem was. Die eerste doel van die navorsing was om die moontlikheid te ondersoek of fietsryer kinematika op die pad gemeet kan word. Die resultate toon dat die ferro-magnetiese materiale wat in meeste padfietse voorkom, 'n beduidende magnetiese steuring (tot 50% afwyking in intensiteit) op die TMEs naby die pedale en handvatsels veroorsaak, wat lei tot aansienlike foute in die kinematiese metings. Gevolglik was dit gevind dat die TBT nie volle-liggaam kinematika op 'n fiets kan meet nie. Nogtans, het die resultate van die Vicon maatstaftoets bewys dat die TBT nog steeds akkurate heup (wortel van die gemiddelde kwadraad fout (WGKF) < 1°), knie (WGKF < 4°) en enkel (WGKF < 3°) fleksie kan meet met die “Kinematiese Koppeling” algoritme. Die tweede doel was om te bepaal of daar 'n beduidende verskil tussen die laboratorium en pad fietsry-kinematika is. Die buitelug fleksie data het beduidend verskil van die binnenshuise resultate, veral vir minimum fleksie (P < 0.05 vir alle gewrigte). Veranderinge in fietsryer kinematika tussen hoë en lae krag het ook beduidend meer variasie op die pad (R2 = 0.36, 0.61, 0.08) as op die oefenfietsraam (R2 = 0.93, 0.89, 0.56) vir die heup, knie en enkel gewrigte, onderskeidelik, gehad. Hierdie resultate bevraagteken die ekologiese geldigheid van kinematiese toetse op fietsryers in 'n laboratorium. 'n Laaste doel was om die toepassings van TBT vir die optimering van fietsry kinematika te ondersoek. 'n Verskeidenheid aspekte van die analise en verbetering van fietsry kinematika met die TBT word bespreek. Die gevolgtrekking is dat TBT geskik is vir gebruik as 'n dinamiese instrument vir die analise van biomeganiese doetreffendheid, bilaterale asimmetrie en die voorkoming van beserings. Aanbevelings vir toekomstige werk, sluit in die uitskakeling van die magnetiese inmenging, asook die integrasie van die TBT data met kinetiese metings.
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Xiao, Zhidong. "Motion capture based motion analysis and motion synthesis for human-like character animation." Thesis, Bournemouth University, 2009. http://eprints.bournemouth.ac.uk/14590/.

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Motion capture technology is recognised as a standard tool in the computer animation pipeline. It provides detailed movement for animators; however, it also introduces problems and brings concerns for creating realistic and convincing motion for character animation. In this thesis, the post-processing techniques are investigated that result in realistic motion generation. Anumber of techniques are introduced that are able to improve the quality of generated motion from motion capture data, especially when integrating motion transitions from different motion clips. The presented motion data reconstruction technique is able to build convincing realistic transitions from existing motion database, and overcome the inconsistencies introduced by traditional motion blending techniques. It also provides a method for animators to re-use motion data more efficiently. Along with the development of motion data transition reconstruction, the motion capture data mapping technique was investigated for skeletal movement estimation. The per-frame based method provides animators with a real-time and accurate solution for a key post-processing technique. Although motion capture systems capture physically-based motion for character animation, no physical information is included in the motion capture data file. Using the knowledge of biomechanics and robotics, the relevant information for the captured performer are able to be abstracted and a mathematical-physical model are able to be constructed; such information is then applied for physics-based motion data correction whenever the motion data is edited.
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Frick, Eric. "Joint center estimation by single-frame optimization." Diss., University of Iowa, 2018. https://ir.uiowa.edu/etd/6575.

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Joint center location is the driving parameter for determining the kinematics, and later kinetics, associated with human motion capture. Therefore the accuracy with which said location is determined is of great import to any and all subsequent calculation and analysis. The most significant barrier to accurate determination of this parameter is soft tissue artifact, which contaminates the measurements of on-body measurement devices by allowing them to move relative to the underlying rigid bone. This leads to inaccuracy in both bone pose estimation and joint center location. The complexity of soft tissue artifact (it is nonlinear, multimodal, subject-specific, and trial specific) makes it difficult to model, and therefore difficult to mitigate. This thesis proposes a novel method, termed Single Frame Optimization, for determining joint center location (though mitigation of soft tissue artifact) via a linearization approach, in which the optimal vector relating a joint center to a corresponding inertial sensor is calculated at each time frame. This results in a time-varying joint center location vector that captures the relative motion due to soft tissue artifact, from which the relative motion could be isolated and removed. The method’s, and therefore the optimization’s, driving assumption is that the derivative terms in the kinematic equation are negligible relative to the rigid terms. More plainly, it is assumed that any relative motion can be assumed negligible in comparison with the rigid body motion in the chosen data frame. The validity of this assumption is investigated in a series of numerical simulations and experimental investigations. Each item in said series is presented as a chapter in this thesis, but retains the format of a standalone article. This is intended to foment critical analysis of the method at each stage in its development, rather than solely in its practical (and more developed) form.
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Lindequist, Jonas, and Daniel Lönnblom. "Construction of a Motion Capture System." Thesis, Växjö University, School of Mathematics and Systems Engineering, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:vxu:diva-24.

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Motion capture is the process of capturing movements from real life into a computer. Existing motion capture systems are often very expensive and require advanced hardware that makes the process complex. This thesis will answer the following question: is it possible to create an optical motion capture system using only a single low cost Dvcamera (Digital Video Camera), that still will produce accurate motion capture data? To answer this question and construct our motion capture system we need to complete these following steps:

• Create a usable film sequence.

• Analyze the sequence.

• Create motion capture data.

• Apply the motion capture data for 3D character and analyze the outcome.

The method chosen for this thesis is constructive research. In short terms it is the study of whether we can or cannot build a new artifact. The following theoretic tools were used in the process of creating a motion capture system: Color theory, RGB, Connected component labeling, Skeletons in 3D animation, Calculating angels using trigonometry, .x files and Quaternions. We have found that an optical motion capture system is very complex and it is hard to produce as a low budget system. Our attempt did not live up to our expectations. The idea with using only one DV camera was to simplify the system since it would require no calibration or syncronisation. It would also make the system cost efficient and more available to the general public. The single camera solution unfortunatly created a number of problems in our system. Our system does however work with less complex movements. It can produce motion capture data that is accurate enough to be used in low budget games. It is also cost effective compared to other systems on the market. The system has a very easy setup and does not need any calibration in addition to the init position.

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Cloete, Teunis. "Benchmarking full-body inertial motion capture for clinical gait analysis." Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/2922.

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MScEng
Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2009.
Clinical gait analysis has been proven to greatly improve treatment planning and monitoring of patients suffering from neuromuscular disorders. Despite this fact, it was found that gait analysis is still largely underutilised in general patient-care due to limitations of gait measurement equipment. Inertial motion capture (IMC) is able to overcome many of these limitations, but this technology is relatively untested and is therefore viewed as adolescent. This study addresses this problem by evaluating the validity and repeatability of gait parameters measured with a commercially available, full-body IMC system by comparing the results to those obtained with alternative methods of motion capture. The IMC system’s results were compared to a trusted optical motion capture (OMC) system’s results to evaluate validity. The results show that the measurements for the hip and knee obtained with IMC compares well with those obtained using OMC – with coefficient-of-correlation (R) values as high as 0.99. Some discrepancies were identified in the ankle-joint validity results. These were attributed to differences between the two systems with regard to the definition of ankle joint and to non-ideal IMC system foot-sensor design. The repeatability, using the IMC system, was quantified using the coefficient of variance (CV), the coefficient of multiple determination (CMD) and the coefficient of multiple correlation (CMC). Results show that IMC-recorded gait patterns have high repeatability for within-day tests (CMD: 0.786-0.984; CMC: 0.881-0.992) and between-day tests (CMD: 0.771-0.991; CMC: 0.872-0.995). These results compare well with those from similar studies done using OMC and electromagnetic motion capture (EMC), especially when comparing between-day results. Finally, to evaluate the measurements from the IMC system in a clinically useful application, a neural network was employed to distinguish between gait strides of stroke patients and those of able-bodied controls. The network proved to be very successful with a repeatable accuracy of 99.4% (1/166 misclassified). The study concluded that the full-body IMC system produces sufficiently valid and repeatable gait data to be used in clinical gait analysis, but that further refinement of the ankle-joint definition and improvements to the foot sensor are required.
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Dagnes, Nicole. "3D human face analysis for recognition applications and motion capture." Thesis, Compiègne, 2020. http://www.theses.fr/2020COMP2542.

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Cette thèse se propose comme une étude géométrique de la surface faciale en 3D, dont le but est de fournir un ensemble d'entités, issues du contexte de la géométrie différentielle, à utiliser comme descripteurs faciaux dans les applications d'analyse du visage, comme la reconnaissance faciale et la reconnaissance des expressions faciales. En effet, bien que chaque visage soit unique, tous les visages sont similaires et leurs caractéristiques morphologiques sont les mêmes pour tous les individus. Par conséquent, il est primordial pour l'analyse des visages d'extraire les caractéristiques faciales les plus appropriées. Tous les traits du visage, proposés dans cette étude, sont basés uniquement sur les propriétés géométriques de la surface faciale. En effet, l'objectif final de cette recherche est de démontrer que la géométrie différentielle est un outil complet pour l'analyse des visages et que les caractéristiques géométriques conviennent pour décrire et comparer des visages et, en général, pour extraire des informations pertinentes pour l'analyse faciale dans les différents domaines d'application. Enfin, ce travail se concentre aussi sur l'analyse des troubles musculo-squelettiques en proposant une quantification objective des mouvements du visage pour aider la chirurgie maxillo-faciale et la rééducation des mouvements du visage. Ce travail de recherche explore le système de capture du mouvement 3D, en adoptant la plateforme Technologie, Sport et Santé, située au Centre d'Innovation de l'Université de Technologie de Compiègne, au sein du Laboratoire de Biomécanique et Bioingénierie (BMBI)
This thesis is intended as a geometrical study of the three-dimensional facial surface, whose aim is to provide an application framework of entities coming from Differential Geometry context to use as facial descriptors in face analysis applications, like FR and FER fields. Indeed, although every visage is unique, all faces are similar and their morphological features are the same for all mankind. Hence, it is primary for face analysis to extract suitable features. All the facial features, proposed in this study, are based only on the geometrical properties of the facial surface. Then, these geometrical descriptors and the related entities proposed have been applied in the description of facial surface in pattern recognition contexts. Indeed, the final goal of this research is to prove that Differential Geometry is a comprehensive tool oriented to face analysis and geometrical features are suitable to describe and compare faces and, generally, to extract relevant information for human face analysis in different practical application fields. Finally, since in the last decades face analysis has gained great attention also for clinical application, this work focuses on musculoskeletal disorders analysis by proposing an objective quantification of facial movements for helping maxillofacial surgery and facial motion rehabilitation. At this time, different methods are employed for evaluating facial muscles function. This research work investigates the 3D motion capture system, adopting the Technology, Sport and Health platform, located in the Innovation Centre of the University of Technology of Compiègne, in the Biomechanics and Bioengineering Laboratory (BMBI)
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Agarwal, Ankur. "Machine Learning for Image Based Motion Capture." Phd thesis, Grenoble INPG, 2006. http://tel.archives-ouvertes.fr/tel-00390301.

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Image based motion capture is a problem that has recently gained a lot of attention in the domain of understanding human motion in computer vision. The problem involves estimating the 3D configurations of a human body from a set of images and has applications that include human computer interaction, smart surveillance, video analysis and animation. This thesis takes a machine learning based approach to reconstructing 3D pose and motion from monocular images or video. It makes use of a collection of images and motion capture data to derive mathematical models that allow the recovery of full body configurations directly from image features. The approach is completely data-driven and avoids the use of a human body model. This makes the inference extremely fast. We formulate a class of regression based methods to distill a large training database of motion capture and image data into a compact model that generalizes to predicting pose from new images. The methods rely on using appropriately developed robust image descriptors, learning dynamical models of human motion, and kernelizing the input within a sparse regression framework. Firstly, it is shown how pose can effectively and efficiently be recovered from image silhouettes that are extracted using background subtraction. We exploit sparseness properties of the relevance vector machine for improved generalization and efficiency, and make use of a mixture of regressors for probabilistically handling ambiguities that are present in monocular silhouette based 3D reconstruction. The methods developed enable pose reconstruction from single images as well as tracking motion in video sequences. Secondly, the framework is extended to recover 3D pose from cluttered images by introducing a suitable image encoding that is resistant to changes in background. We show that non-negative matrix factorization can be used to suppress background features and allow the regression to selectively cue on features from the foreground human body. Finally, we study image encoding methods in a broader context and present a novel multi-level image encoding framework called ‘hyperfeatures' that proves to be effective for object recognition and image classification tasks.
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Brownridge, Adam Mark. "Real-time motion capture for analysis and presentation within virtual environments." Thesis, Manchester Metropolitan University, 2014. http://e-space.mmu.ac.uk/326218/.

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This thesis describes motion capture methods with an application for real-time recording of extreme human movement. A wireless gyroscopic sensor based system is used to record and evaluate misalignments in ankle position of ballet dancers in a performance environment. Anatomic alignment has been shown to contribute to dance related injuries, and results of this work show that subtle variations in joint rotation can be clearly measured. The workflow has been developed to extract performance analysis data for fault detection in order to assist augmented feedback methods for the prevention of injury and improved performance. Infra-red depth sensing technology, commonly used in garment design, has been used to produce a representation of a scanned human subject and a workflow established to utilise this character avatar for animation using motion capture data. The process of presenting a visually acceptable representation of an overall performance in addition to the numerical evaluation of specific joint orientation provides a significant contribution to knowledge.
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Lewis, Robert Alan. "Analysis of a self-contained motion capture garment for e-textiles." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/32529.

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Wearable computers and e-textiles are becoming increasingly widespread in todayâ s society. Motion capture is one of the many potential applications for on-body electronic systems. Previous work has been performed at Virginia Techâ s E-textiles Laboratory to design a framework for a self-contained loose fit motion capture system. This system gathers information from sensors distributed throughout the body on a â smartâ garment. This thesis presents the hardware and software components of the framework, along with improvements made to it. This thesis also presents an analysis of both the on-body and off-body network communication to determine how many sensors can be supported on the garment at a given time. Finally, this thesis presents a method for determining the accuracy of the smart garment and shows how it compares against a commercially available motion capture system.
Master of Science
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Hanson, Andrew Todd. "Markerless Motion Capture and Analysis System to Enhance Exercise Professional Effectiveness: Preliminary Study." University of Akron / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=akron1481223866357858.

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Books on the topic "Motion Capture Analysis Optimization"

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Iollo, Angelo. Shape optimization governed by the Euler equations using an adjoint method. Hampton, Va: Institute for Computer Applications in Science and Engineering, 1993.

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Iollo, Angelo. Shape optimization governed by the Euler equations using an adjoint method [microform]. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1993.

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Ross, Ron S. Planning minimum-energy paths in an off-road environment with anisotropic traversal costs and motion constraints. Monterey, Calif: Naval Postgraduate School, 1989.

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Desideri, Umberto, Giampaolo Manfrida, and Enrico Sciubba, eds. ECOS 2012. Florence: Firenze University Press, 2012. http://dx.doi.org/10.36253/978-88-6655-322-9.

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The 8-volume set contains the Proceedings of the 25th ECOS 2012 International Conference, Perugia, Italy, June 26th to June 29th, 2012. ECOS is an acronym for Efficiency, Cost, Optimization and Simulation (of energy conversion systems and processes), summarizing the topics covered in ECOS: Thermodynamics, Heat and Mass Transfer, Exergy and Second Law Analysis, Process Integration and Heat Exchanger Networks, Fluid Dynamics and Power Plant Components, Fuel Cells, Simulation of Energy Conversion Systems, Renewable Energies, Thermo-Economic Analysis and Optimisation, Combustion, Chemical Reactors, Carbon Capture and Sequestration, Building/Urban/Complex Energy Systems, Water Desalination and Use of Water Resources, Energy Systems- Environmental and Sustainability Issues, System Operation/ Control/Diagnosis and Prognosis, Industrial Ecology.
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Li, Ying. Motion Analysis of Soccer Ball: Dynamics Modeling, Optimization Design and Virtual Simulation. Springer Singapore Pte. Limited, 2022.

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Center, Langley Research, and Georgia Institute of Technology. School of Aerospace Engineering., eds. Singular perturbation analysis of AOTV-related trajectory optimization problems. Atlanta, GA: Georgia Institute of Technology, School of Aerospace Engineering, 1990.

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-W, Hou G. J., Tiwari S. N, Old Dominion University. Research Foundation., and United States. National Aeronautics and Space Administration., eds. Variational methods in sensitivity analysis and optimization for aerodynamic applications: Progress report for the period ended June 30, 1996 ... under research grant NCC1-68. Norfolk , Va: Dept. of Mechanical Engineering, College of Engineering & Technology, Old Dominion University, 1996.

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LAND.TECHNIK 2022. VDI Verlag, 2022. http://dx.doi.org/10.51202/9783181023952.

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INHALT Electrical Agricultural Machines Structuring of electrified agricultural machine systems – Diversity of solutions and analysis methods .....1 GridCON2 – Development of a Cable Drum Vehicle Concept to Power 1MW Fully Electric Agricultural Swarms ..... 11 GridCON Swarm – Development of a Grid Connected Fully Autonomous Agricultural Production System ..... 17 Fully electric Tractor with 1000 kWh battery capacity ..... 23 Soil and Modelling The Integration of a Scientific Soil Compaction Risk Indicator (TERRANIMO) into a Holistic Tractor and Implement Optimization System (CEMOS) .....29 Identification of draft force characteristics for a tillage tine with variable geometry ..... 37 Calibration of soil models within the Discrete Element Method (DEM) ..... 45 Automation and Optimization of Working Speed and Depth in Agricultural Soil Tillage with a Model Predictive Control based on Machine Learning ..... 55 Synchronising machine adjustments of combine harvesters for higher fleet performance ..... 65 A generic approach to bridge the gap between route optimization and motion planning for specific guidance points o...
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Coopersmith, Jennifer. Antecedents. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780198743040.003.0002.

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Early ideas about optimization principles were brought in by an eclectic group of extraordinary thinkers: the Ancients (Hero, and Princess Dido), Fermat with his Principle of Least Time, the Bernoullis, Leibniz, Maupertuis, Euler, and d’Alembert. Also, Stevin was the first to invoke the impossibility of perpetual motion in a proof, and Huygens was the first to put Galilean Relativity to a quantitative test. The Swiss family of mathematical geniuses, the Bernoullis, tackled isoperimetric problems, such as the brachystochrone, and Johann Bernoulli discovered the Principle of Virtual Velocities. The flavour of the eighteenth century is shown in the evocative tale of the König affair, and the correspondence between Daniel Bernoulli and Euler. It is shown how symmetry arguments, leading ultimately to an energy-analysis, were competing with Newton’s force-analysis. The Principle of Least Action and Variational Mechanics, proper, were developed by Lagrange, Hamilton, and Jacobi.
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Book chapters on the topic "Motion Capture Analysis Optimization"

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Klempous, Ryszard, Jan Nikodem, Konrad Kluwak, Maciej Nikodem, Anna Kołcz, Paweł Gawłowski, Jerzy Rozenblit, Christopher Chiu, and Marek Olesiak. "Motion Capture Analysis Supporting Lifting Technique Optimization for Occupational Safety Diagnosis." In Computer Aided Systems Theory – EUROCAST 2019, 313–20. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-45096-0_39.

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Pomiersky, Philipp, Kristian Karlovic, and Thomas Maier. "Usability-Optimization of Inertial Motion Capture Systems." In Advances in Intelligent Systems and Computing, 345–55. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-96071-5_37.

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Rojas-Lertxundi, Sendoa, J. Ramón Fernández-López, Sergio Huerta, and Pablo Garía Bringas. "Motion Capture Systems for Jump Analysis." In Lecture Notes in Computer Science, 111–24. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-19644-2_10.

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Zhang, Zheng, Hock Soon Seah, and Chee Kwang Quah. "Particle Swarm Optimization for Markerless Full Body Motion Capture." In Adaptation, Learning, and Optimization, 201–20. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-17390-5_9.

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Müller, Meinard, and Tido Röder. "A Relational Approach to Content-based Analysis of Motion Capture Data." In Human Motion, 477–506. Dordrecht: Springer Netherlands, 2008. http://dx.doi.org/10.1007/978-1-4020-6693-1_20.

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Furtado, Joshua S., Hugh H. T. Liu, Gilbert Lai, Herve Lacheray, and Jason Desouza-Coelho. "Comparative Analysis of OptiTrack Motion Capture Systems." In Lecture Notes in Mechanical Engineering, 15–31. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-17369-2_2.

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Ángel-López, Juan Pablo, and Nelson Arzola de la Peńa. "Kinematic Hand Analysis Using Motion Capture Technology." In VI Latin American Congress on Biomedical Engineering CLAIB 2014, Paraná, Argentina 29, 30 & 31 October 2014, 257–60. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-13117-7_67.

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Cloutier, Aimee, Robyn Boothby, and Jingzhou (James) Yang. "Motion Capture Experiments for Validating Optimization-Based Human Models." In Digital Human Modeling, 59–68. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-21799-9_7.

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Egashira, Hiroaki, Atsushi Shimada, Daisaku Arita, and Rin-ichiro Taniguchi. "Vision-Based Motion Capture of Interacting Multiple People." In Image Analysis and Processing – ICIAP 2009, 451–60. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-04146-4_49.

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Costa, Bernardo F., and Claudio Esperança. "Motion Capture Analysis and Reconstruction Using Spatial Keyframes." In Communications in Computer and Information Science, 48–70. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-41590-7_3.

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Conference papers on the topic "Motion Capture Analysis Optimization"

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Chen, Cheng, Yueting Zhuang, Shicong Zhao, and Yin Cheng. "Video Motion Capture by Silhouette Analysis and Pose Optimization." In Multimedia and Expo, 2007 IEEE International Conference on. IEEE, 2007. http://dx.doi.org/10.1109/icme.2007.4284565.

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Andersen, Michael S., Maxine Kwan, Michael Damsgaard, and John Rasmussen. "Application of an Optimization-Based Method for the Kinematic Analysis of a Badminton Stroke From Motion Capture Data." In ASME 2008 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2008. http://dx.doi.org/10.1115/sbc2008-192172.

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In this paper, we demonstrate an optimization-based method for the calculation of positions, velocities, and accelerations of a badminton stroke from motion capture data. The results show a good agreement between the measured marker trajectories and a flexible kinematical model of the racket with the error between the measured marker trajectories and the markers in the model being in the range of millimeters.
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Essomba, T., M. A. Laribi, J. P. Gazeau, G. Poisson, and S. Zeghloul. "Design and Optimization of a Master-Slave System for Tele-Echography Application." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82744.

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This paper introduces the research carried out on the design of a robotized teleechography system. Such a system is composed of a master control device and a slave robotic manipulator. Our objective is to contribute to the French Agence National de Recherche (ANR) project PROSIT by designing both devices. To define the kinematic architecture, we had proposed an approach based on the analysis of the expert gesture as a first step of the design process. We have used a motion capture system to study the ultrasound examination gesture and to define the kinematic specifications for the proposed manipulator. A new kind of architecture was selected: the spherical parallel mechanism (SPM). We have chosen it because it reaches the constraint requirements. The kinematic architecture was synthesized by executing a real-coded genetic algorithm (GA). We integrated optimization criteria in the synthesis of the selected architecture. We have fixed a minimum required workspace and we have chosen to optimized the SPM in terms of dexterity and compacity. Another important part of our research was to design a haptic device to provide a very intuitive control of the tele-operated robot. We have opted for a free hand interface that integrates an active force control and feedback. An Inertial Measurement Unit (IMU) has been integrated. The data collected from the IMU that we integrated are processed by a Kalman Filter. But we have modified this predictor-estimator tool from the state of art to adapt its behavior with respect to the type of motion done by the operator. Experimentations via our motion capture system have demonstrated the accuracy of this orientation control strategy. The final step will be the experimental and clinical validation on real patients.
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Hariri, Mahdiar. "The Hybrid Predictive Dynamics Method for Analysis, Simulation and Prediction of Human Motion." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59998.

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The ‘Hybrid Predictive Dynamics Method for Digital Human Modeling’ is analyzed in this work. The ‘Hybrid’ prefix mentioned in the literature recently [1], refers to the use of motion capture data for improving human motion simulations. This use of motion capture compensates for the inherent weaknesses of purely theoretical motion prediction due to deficiencies in computational power or available theoretical backgrounds. In this work, it is shown that while using the ‘Hybrid’ the more precisely and finely the human motion is modeled (if computational and theoretical limitations allow), the less will be the need for the ‘Hybrid’ method and the more will the human model be able to change the prediction if the inputs are varied (cause and effect). Several human motion scenarios are mentioned in this work. These motion tasks are: “Jogging around Markers”, “Rolling Over”, “Getting up from Prone”, “Vertical Jumping” and “Kneeling and Aiming”. The digital human model is a full-body, three dimensional model with 55 degrees of freedom. Six degrees of freedom specify the global position and orientation of the coordinate frame attached to the pelvic point of the digital human and 49 degrees of freedom represent the revolute joints which model the human joints and determine the kinematics of the entire digital human. Motion is generated by a multi-objective optimization approach. The optimization problem is subject to constraints which represent the limitations of the environment, the digital human model and the motion task. Design variables are the joint angle profiles. All the forces, inertial, gravitational as well as external, are known, except the ground reaction forces. The feasibility of the generation of that arbitrary motion by using the given ground contact areas is ensured by using the well-known Zero Moment Point (ZMP) constraint.
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Hale, C., and J. Darabi. "Computational Analysis of a Microfluidic Magnetophoretic Device for DNA Isolation." In ASME 2018 5th Joint US-European Fluids Engineering Division Summer Meeting. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/fedsm2018-83482.

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A continuous flow magnetophoretic DNA isolation device was modeled using COMSOL Multiphysics and MATLAB to study and optimize the fluidic flow and geometric parameters of the device. The optimization was performed with the intention of increasing the volumetric flow rate and thus increasing the sample processing capabilities of the device. Key features of the device include oppositely oriented magnets that provide extremely strong magnetic field gradients and improve the capture rate of the magnetic particles. Another feature of the device is a nickel grid arrayed on the bottom surface of the channel to create localized amplified magnetic field gradients, and to provide even spreading and capture of the particles on the bottom surface of the device. These features in conjunction with the optimization of the fluid flow and geometric parameters provide the ability for higher velocity sampling and increased throughput. The simulation was conducted in two steps. First the fluid flow and the magnetic field simulations were performed in COMSOL Multiphysics. Next, the values of velocity fields and magnetic field gradients throughout the computational domain were exported to MATLAB to calculate the motion and trajectory of the particles. The particle trajectory analysis was performed until the particle either reached the bottom of the channel or was not captured within the set length and flowed out to the outlet channel.
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Huang, Cunjun, Pradip N. Sheth, and Kevin P. Granata. "Multibody Dynamics Integrated With Muscle Models and Space-Time Constraints for Optimization of Lifting Movements." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85385.

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A multibody dynamics model integrated with space-time constraints based optimization is presented in this paper for generating optimal trajectories of human lifting movements. “Space-time constraints” is a two-point boundary value dynamic optimization technique developed for animation of computer graphics characters and has a significant potential for biomechanics and other mechanical movement based dynamic optimization problems. Optimization results demonstrate the ability to consider different preferences for minimizing the loading of specific joints such as an ankle, or a knee, or a shoulder during the lifting motion and the resulting lifting trajectories are shown to be different. Lumped muscle models to generate the joint torques are incorporated at five joints to model the actuation effects of the muscular system during the dynamic movement. The dynamic optimization is then based on the muscle activation parameters instead of the traditionally used joint torques. The muscle activation model optimization is shown to correlate better with the actual motion tests conducted by the VICON video capture and test data analysis system.
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Qiu, Shiguang, Xu Jing, Xiumin Fan, Qichang He, and Dianliang Wu. "Analysis of Influence Factors of Virtual Human Real-Time Driven Accuracy and its Optimization in Virtual Reality Environment." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12917.

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In the case that a real operator drives a virtual human in real-time using the motion capture method and performs complex products assembling and disassembling simulation, a very high driven accuracy is needed to meet the quality requirements of interactivity and simulation results. In order to improve the driven accuracy in virtual reality environment, a method is put forward which analyzes the influence factors of virtual human real-time driven accuracy and optimize the factors. A systematical analysis of factors affecting the accuracy is given. The factors can be sorted into hardware factors and software factors. We find out that the software factors are the main ones affecting the accuracy, and it is very hard to analyse their influence separately. Therefore, we take the virtual human kinematic system as a fuzzy system and improve the real-time driven accuracy using an optimization method. Firstly, a real-time driven model is built on dynamic constraints and body joint rotation information and supports personalized human driven. Secondly, a function is established to describe the driven error during interactive operations in the virtual environment. Then, based on the principle of minimum cumulative error, we establish an optimization model with a specified optimization zone and constraints set according to the standard Chinese adult dimensions. Next, the model is solved using genetic algorithm to get the best virtual human segment dimensions matching the real operator. Lastly, the method is verified with an example of auto engine virtual assembly. The result shows that the method can improve the driven accuracy effectively.
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Ravichandar, Harish, and Ashwin Dani. "Learning Contracting Nonlinear Dynamics From Human Demonstration for Robot Motion Planning." In ASME 2015 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/dscc2015-9870.

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In this paper, we present an algorithm to learn the dynamics of human arm motion from the data collected from human actions. Learning the motion plans from human demonstrations is essential in making robot programming possible by nonexpert programmers as well as realizing human-robot collaboration. The highly complex human reaching motion is generated by a stable closed-loop dynamical system. To capture the complexity a neural network (NN) is used to represent the dynamics of the human motion states. The trajectories of arm generated by humans for reaching to a place are contracting towards the goal location from various initial conditions with built in obstacle avoidance. To take into consideration the contracting nature of the human motion dynamics the unknown motion model is learned using a NN subject to contraction analysis constraints. To learn the NN parameters an optimization problem is formulated by relaxing the non-convex contraction constraints to Linear matrix inequality (LMI) constraints. Sequential Quadratic Programming (SQP) is used to solve the optimization problem subject to the LMI constraints. For obstacle avoidance a negative gradient of the repulsive potential function is added to the learned contracting NN model. Experiments are conducted on Baxter robot platform to show that the robot can generate reaching paths from the contracting NN dynamics learned from human demonstrated data recorded using Microsoft Kinect sensor. The algorithm is able to adapt to situations for which the demonstrations are not available, e.g., an obstacle placed in the path.
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Hernandez Barbosa, Jeyson Andres, Sebastian Roa Prada, Dario J. Hernandez Bolivar, Brajan Nicolas Ruiz Romero, and Oscar E. Rueda. "Motion Capture of the Selective Hand Picking Movements As the Basis for the Design of Mechanically Assisted Picking Tools in Coffee Plantations in Colombia." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-88428.

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Besides oil, coffee is one of the most traded commodities worldwide. Colombia is known as the producer of the highest quality coffee in the world, thanks to its smooth taste and aroma. One of the key elements that are responsible for the quality of Colombian coffee is its harvesting method, in which it is enforced that only mature fruits are harvested. Given the terrain conditions in which coffee trees grow, the preferred harvesting method in Colombia is selective hand picking, in which each coffee grain is individually teared off from the branch that is attached to. This work focuses on the analysis of the motion of a human hand performing the action of manual selective coffee harvesting. The analysis is based on the data collected from a custom made motion capture system, which consists of a glove capable of sensing the angular movement of the joints, and accelerations at the tip of the fingers, by means of a set of flex sensors and accelerometers, respectively. The methods followed in this investigation include the study of the biomechanics of the hand, as applied to the motion of hand picking of coffee, which proved to be fundamental for the analysis of the experimentally measured data. After processing the experimental data, the patterns of movement done by a human coffee harvester can be simulated and replicated, which allows identifying trajectories that a good harvester follows, as compared to other harvesters, which collect smaller amounts of grains during the same period of time. After having parameterized the motion of efficient selective hand picking, the results from this investigation serve as the basis for the design and optimization of an electromechanical tool to assist in the process of coffee harvesting, which minimizes the amount of green beans removed from the branches of the coffee trees.
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Khandekar, Aditya, Jackson Wills, Meng (Rachel) Wang, and Perry Y. Li. "Incorporating Valve Switching Losses Into a Static Optimal Control Algorithm for the Hybrid Hydraulic-Electric Architecture (HHEA)." In ASME/BATH 2021 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/fpmc2021-69045.

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Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) has, in recent years, been proposed as an energy efficient alternative to conventional load-sensing architectures in mobile machines such as excavators and wheel-loaders. HHEA leverages the advantages of hydraulic power and electric power to eliminate throttling valves while also improving the energy and control performance of the system. The architecture utilizes a set of common pressure rails to provide a majority of power and and a small electric motor driven pump to modulate this power to meet the exact demand. Previous work has developed a computationally efficient Lagrange Multiplier approach for determining the optimal pressure rail selections that minimizes the energy losses in the system. The static model used considers only the energy use for each pressure rail selection but not the losses associated with the valves during the transition. This paper presents an approach to include the switching losses in the model and in the optimization procedure. To capture the switching losses, switching events between different rails and at various input and output flow rates were simulated with consideration of valve spool dynamics. A parameterized model that summarizes the losses is then obtained, allowing switching losses to be added to the previous energy analysis. The performance of the switching loss model was compared with reference data obtained from a high-fidelity simulation model. To incorporate the switching losses into optimal control algorithm, an efficient dynamic programming approach that prevents frequent switching is adopted in place of the Lagrange multiplier approach. The overall effect of switching losses on the energy consumption and optimal control decisions is presented. In general, switching losses contribute to about 9–10% of input energy.
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Reports on the topic "Motion Capture Analysis Optimization"

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Amirav, Aviv, and Steven Lehotay. Fast Analysis of Pesticide Residues in Agricultural Products. United States Department of Agriculture, November 2002. http://dx.doi.org/10.32747/2002.7695851.bard.

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The overall theme of this project was to increase the speed of analysis for monitoring pesticide residues in food. Traditionally, analytical methods for multiple pesticides are time-consuming, expensive, laborious, wasteful, and ineffective to meet critical needs related to food safety. Faster and better methods were needed to provide more cost-effective detection of chemical contaminants, and thus provide a variety of benefits to agriculture. This overarching goal to speed and improve pesticide analysis was successfully accomplished even beyond what was originally proposed by the investigators in 1998. At that time, the main objectives of this project were: 1) to further develop a direct sample introduction (DSI) device that enables fast sampling and introduction of blended-only agricultural products for analysis by gas chromatography (GC); 2) to evaluate, establish, and further develop the method of simultaneous pulsed flame photometric detector (PFPD) and mass spectrometry (MS) detection for enhanced pesticide identification capabilities; and 3) to develop a new and novel MS pesticide analysis method, based on the use of supersonic molecular beams (SMB) for sampling and ionization. The first and third objectives were successfully accomplished as proposed, and the feasibility of the second objective was already demonstrated. The capabilities of the GC/SMB-MS approach alone were so useful for pesticide analysis that the simultaneous use of a PFPD was considered superfluous. Instead, the PFPD was investigated in combination with an electron-capture detector for low-cost, simultaneous analysis of organophosphorus and organochlorine pesticides in fatty foods. Three important, novel research projects not originally described in the proposal were also accomplished: 1) development of the quick, easy, cheap, effective, rugged, and safe (QuEChERS) method for pesticides in foods; 2) development and optimization of a method using low-pressure (LP) GC/MS to speed pesticide residue analysis; and 3) innovative application of analyte protectants to improve the GC analysis of important problematic pesticides. All of the accomplishments from this project are expected to have strong impact to the analytical community and implications to agriculture and food safety. For one, an automated DSI approach has become commercially available in combination with GC/MS for the analysis of pesticide residues. Meanwhile, the PFPD has become the selective detector of choice for the analysis of organophosphorus pesticides. Great strides were made in SMB-MS through the manufacture of a prototype "Supersonic GC/MS" instrument, which displayed many advantages over commercial GC/MS instruments. Most notably, the QuEChERS method is already being disseminated to routine monitoring labs and has shown great promise to improve pesticide analytical capabilities and increase lab productivity. The implications of these developments to agriculture will be to increase the percentage of food monitored and the scope of residues detected in the food, which will serve to improve food safety. Developed and developing countries alike will be able to use these methods to lower costs and improve results, thus imported/exported food products will have better quality without affecting price or availability. This will help increase trade between nations and mitigate certain disputes over residue levels in imported foods. The improved enforcement of permissible residue levels provided by these methods will have the effect to promote good agricultural practices among previously obstinate farmers who felt no repercussions from illegal or harmful practices. Furthermore, the methods developed can be used in the field to analyze samples quickly and effectively, or to screen for high levels of dangerous chemicals that may intentionally or accidentally appear in the food supply.
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