Dissertations / Theses: '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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Alcoverro, Vidal Marcel. "Stochastic optimization and interactive machine learning for human motion analysis." Doctoral thesis, Universitat Politècnica de Catalunya, 2014. http://hdl.handle.net/10803/285337.

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The analysis of human motion from visual data is a central issue in the computer vision research community as it enables a wide range of applications and it still remains a challenging problem when dealing with unconstrained scenarios and general conditions. Human motion analysis is used in the entertainment industry for movies or videogame production, in medical applications for rehabilitation or biomechanical studies. It is also used for human computer interaction in any kind of environment, and moreover, it is used for big data analysis from social networks such as Youtube or Flickr, to mention some of its use cases. In this thesis we have studied human motion analysis techniques with a focus on its application for smart room environments. That is, we have studied methods that will support the analysis of people behavior in the room, allowing interaction with computers in a natural manner and in general, methods that introduce computers in human activity environments to enable new kind of services but in an unobstrusive mode. The thesis is structured in two parts, where we study the problem of 3D pose estimation from multiple views and the recognition of gestures using range sensors. First, we propose a generic framework for hierarchically layered particle filtering (HPF) specially suited for motion capture tasks. Human motion capture problem generally involve tracking or optimization of high-dimensional state vectors where also one have to deal with multi-modal pdfs. HPF allow to overcome the problem by means of multiple passes through substate space variables. Then, based on the HPF framework, we propose a method to estimate the anthropometry of the subject, which at the end allows to obtain a human body model adjusted to the subject. Moreover, we introduce a new weighting function strategy for approximate partitioning of observations and a method that employs body part detections to improve particle propagation and weight evaluation, both integrated within the HPF framework. The second part of this thesis is centered in the detection of gestures, and we have focused the problem of reducing annotation and training efforts required to train a specific gesture. In order to reduce the efforts required to train a gesture detector, we propose a solution based on online random forests that allows training in real-time, while receiving new data in sequence. The main aspect that makes the solution effective is the method we propose to collect the hard negatives examples while training the forests. The method uses the detector trained up to the current frame to test on that frame, and then collects samples based on the response of the detector such that they will be more relevant for training. In this manner, training is more effective in terms of the number of annotated frames required.
L'anàlisi del moviment humà a partir de dades visuals és un tema central en la recerca en visió per computador, per una banda perquè habilita un ampli espectre d'aplicacions i per altra perquè encara és un problema no resolt quan és aplicat en escenaris no controlats. L'analisi del moviment humà s'utilitza a l'indústria de l'entreteniment per la producció de pel·lícules i videojocs, en aplicacions mèdiques per rehabilitació o per estudis bio-mecànics. També s'utilitza en el camp de la interacció amb computadors o també per l'analisi de grans volums de dades de xarxes socials com Youtube o Flickr, per mencionar alguns exemples. En aquesta tesi s'han estudiat tècniques per l'anàlisi de moviment humà enfocant la seva aplicació en entorns de sales intel·ligents. És a dir, s'ha enfocat a mètodes que puguin permetre l'anàlisi del comportament de les persones a la sala, que permetin la interacció amb els dispositius d'una manera natural i, en general, mètodes que incorporin les computadores en espais on hi ha activitat de persones, per habilitar nous serveis de manera que no interfereixin en la activitat. A la primera part, es proposa un marc genèric per l'ús de filtres de partícules jeràrquics (HPF) especialment adequat per tasques de captura de moviment humà. La captura de moviment humà generalment implica seguiment i optimització de vectors d'estat de molt alta dimensió on a la vegada també s'han de tractar pdf's multi-modals. Els HPF permeten tractar aquest problema mitjançant multiples passades en subdivisions del vector d'estat. Basant-nos en el marc dels HPF, es proposa un mètode per estimar l'antropometria del subjecte, que a la vegada permet obtenir un model acurat del subjecte. També proposem dos nous mètodes per la captura de moviment humà. Per una banda, el APO es basa en una nova estratègia per les funcions de cost basada en la partició de les observacions. Per altra, el DD-HPF utilitza deteccions de parts del cos per millorar la propagació de partícules i l'avaluació de pesos. Ambdós mètodes són integrats dins el marc dels HPF. La segona part de la tesi es centra en la detecció de gestos, i s'ha enfocat en el problema de reduir els esforços d'anotació i entrenament requerits per entrenar un detector per un gest concret. Per tal de reduir els esforços requerits per entrenar un detector de gestos, proposem una solució basada en online random forests que permet l'entrenament en temps real, mentre es reben noves dades sequencialment. El principal aspecte que fa la solució efectiva és el mètode que proposem per obtenir mostres negatives rellevants, mentre s'entrenen els arbres de decisió. El mètode utilitza el detector entrenat fins al moment per recollir mostres basades en la resposta del detector, de manera que siguin més rellevants per l'entrenament. D'aquesta manera l'entrenament és més efectiu pel que fa al nombre de mostres anotades que es requereixen.

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Iloeje, Chukwunwike Ogbonnia. "Rotary (redox) reactor-based oxy combustion chemical looping power cycles for CO₂ capture : analysis and optimization." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/104249.

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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 224-229).
A number of CO₂ capture-enabled power generation technologies have been proposed to address the negative environmental impact of CO₂ emission. An important barrier to adopting these technologies is the associated energy and economic penalties. Chemical-looping (CLC) is an oxycombustion technology that can significantly lower such penalties, utilizing a redox process to eliminate the need for an air separation unit and enable better energy integration. Conventional CLC employs two separate reactors, with metal oxide particles circulating pneumatically in-between, leading to significant irreversibility associated with reactor temperature difference. A rotary reactor, on the other hand, maintains near-thermal equilibrium between the two stages by thermally coupling channels undergoing oxidation and reduction. In this thesis, a multiscale analysis for assessing the integration of the rotary CLC reactor technology in power generation systems is presented. This approach employs a sequence of models that successively increase the resolution of the rotary reactor representation, ranging from interacting thermal reservoirs to higher fidelity quasi-steady state models, in order to assess the efficiency potential and perform a robust optimization of the integrated system. Analytical thermodynamic availability and ideal cycles are used to demonstrate the positive impact of reactor thermal coupling on system efficiency. Next, detailed process flow-sheet models in which the rotary reactor is modeled as a set of interacting equilibrium reactors are used to validate the analytical model results, identify best cycle configurations and perform preliminary parametric analysis for between the reactor and the system while maintaining computational efficiency, an intermediate fidelity model is developed, retaining finite rate surface kinetics and internal heat transfer within the reactor. This model is integrated with a detailed system model and used for optimization, parametric analysis and characterization of the relative techno-economic performance of different oxygen carrier options for thermal plants integrated with the rotary CLC reactor. Results show that thermal coupling in the redox process increases the efficiency by up to 2% points for combined, recuperative and hybrid cycles. The studies also show that the thermal efficiency is a function of the reactor purge steam demand, which depends on the reactivity of the oxygen carrier. While purge steam constitutes a monotonic parasitic loss for the combined cycle, for recuperative and hybrid cycles, it raises the efficiency as long as the steam demand is less than a threshold value. This relationship between reactivity and system efficiency provides a useful selection criteria for the oxygen carrier material. Optimization results based on efficiency and levelized cost of electricity (LCOE) identify nickel-based oxygen carriers as the most suitable for the rotary reactor because its high reactivity ensures low steam demand and reactor cost. Compared to nickel, maximum efficiency and minimum LCOE are respectively 7% lower and 40% higher for a copper-based system; iron-based systems have 4% higher maximum efficiency and 7% higher minimum LCOE. This study also showed that optimal efficiency generally has an inverse profile to that for the optimized LCOE.
by Chukwunwike Ogbonnia Iloeje.
Ph. D.

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Magee, Patrick. "Whole-body predictors of wrist shot accuracy in ice hockey: a kinematic analysis by way of motion capture." Thesis, McGill University, 2009. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=67030.

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Abstract The purpose of this study was to identify joint angular kinematics that correspond to shooting accuracy in the stationary ice hockey wrist shot. Twenty-four subjects participated in this study, each performing 10 successful shots to four shooting targets. An eight-camera infra-red motion capture system (240 Hz), using passive reflective markers, was used to record motion of the joints, hockey stick, and puck throughout the performance of the wrist shot. A multiple regression analysis was carried out to examine whole-body kinematic variables with accuracy scores as the dependent variable. Results indicate that no one body region predominated as a predictor of accuracy across all four shooting targets since the wrist shot's general movement pattern required that one or more of the body's joints modulate its movement amplitude, rate and timing to achieve an accurate outcome. Significant accuracy predictors were identified in the lower limbs, torso and upper limbs. An accurate outcome was associated with the following characteristics: The lower body seemed to provide a stable base for support, but also contributed to initiation of movement in the form of weight transfer towards the intended target. We propose that the trail leg seemed to offset rotational motion that could potentially upset the stability of the system if not properly managed. Additionally, angular kinematics at the pelvis, spine and thorax appeared to orient the trunk such that the upper limbs can optimally function to achieve an accurate outcome, and also undoubtedly contributed to force production. And finally, accuracy was associated with more dynamic use of the lead arm specifically at the wrist and shoulder.
AbrégéL'objectif premier de cette étude était d'identifier les mouvements caractéristiques du corps des joueurs de hockey correspondant à la précision de tirs du poignet stationnaire à travers différents niveaux d'habiletés. Un total de vingt-quatre sujets ont fait partie de l'échantillon. Chacun d'eux ont dû réussir correctement dix lancers dans chacune des quatre différentes cibles. La performance des sujets a été évaluée en mesurant la cinématique du corps, du bâton et de la rondelle à l'aide de marqueur réfléchissants qui ont été filmé à l'aide d'un système d'analyse du mouvement composé de huit caméra infrarouge (Vicon®), le tout étant enregistré à 240 Hz. Avec le niveau de précision comme variable dépendante, une analyse de régression multiple a été effectuée avec les variables cinématiques de toutes les articulations. Les résultats ont démontrés qu'il n'y a pas de prédicteurs universels à travers les différentes cibles considérant qu'une ou plusieurs articulations peuvent ajuster leurs vitesses, amplitudes et séquences pour effectuer un lancer précis. Des prédicteurs important ont été identifiés dans les membres inférieurs, le tronc ainsi que dans les membres supérieur. Les membres inférieurs semblent permettent une base de support stable ainsi qu'un transfert de poids efficace en direction de la cible visée. De plus, la jambe arrière permettrait de contrer le momentum angulaire qui pourrait débalancé le système en équilibre. Le déplacement angulaire du tronc (pelvis, thorax et colonne lombaire) permet d'orienter de façon à ce que les membres supérieurs puissent bouger de façon optimale en plus de contribuer à la production de force transmisse à la rondelle. Pour terminer, la précision semble être associée à un contrôle plus dynamique du poignet et de l'épaule du membre supérieur contrôlant le haut du bâton.

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14

Hannah, Iain. "Improving the validity of shod human footstrike modelling with dynamic loading conditions determined from biomechanical motion capture trials." Thesis, Loughborough University, 2014. https://dspace.lboro.ac.uk/2134/14904.

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This thesis presents and evaluates a number of finite element footstrike models developed to allow the performance of prospective athletic footwear designs to be evaluated in a virtual environment. Successful implementation of such models would reduce the industry's traditional reliance on physical prototyping and therefore reduce the time and associated costs required to develop a product. All boundary conditions defined in each of the footstrike models reported were directly determined from biomechanical motion capture trials to ensure that the loading applied was representative of shod human running. Similarly, the results obtained with each model were compared to digitised high speed video footage of experimental trials and validated against biomechanical measures such as foot segment kinematics, ground reaction force and centre of pressure location. A simple model loaded with triaxial force profiles determined from the analysis of plantar pressure data was found to be capable of applying highly representative load magnitudes but the distribution of applied loading was found to be less accurate. Greater success at emulating the deformation that occurs in the footwear during an entire running footstrike was achieved with models employing kinematic foot segment boundary conditions although this approach was found to be highly sensitive to the initial orientation of the foot and footwear components, thus limiting the predictive capacity of such a methodology. A subsequent model was therefore developed to utilise exclusively kinetic load conditions determined from an inverse dynamic analysis of an experimental trial and demonstrated the greatest predictive capacity of all reported models. This was because the kinematics of the foot were allowed to adapt to the footwear conditions defined in the analysis with this approach. Finally, the reported finite element footstrike models were integrated with automated product optimisation techniques. A topology optimisation approach was first utilised to generate lightweight midsole components optimised for subject-specific loading conditions whilst a similar shape optimisation methodology was subsequently used to refine the geometry of a novel footwear design in order to minimise the peak material strains predicted.

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Yazdi, Far Mahshid. "Studies of hip impingement diagnosis." Thesis, Brunel University, 2014. http://bura.brunel.ac.uk/handle/2438/13868.

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Hip impingement is a hip associated abnormality which develops among young and middle-aged individuals. It reduces the activity of those affected and if it is not detected at early stage, it can result in osteoarthritis. In this thesis a reliable framework for studying impingement detection is developed. Current clinical methods in detecting hip impingement involve measuring three angles, first the patient’s leg being flexed until maximum angle, second patient’s leg being flexed until 90° then adducted until maximum angle, and third patient’s leg being flexed until 90° afterwards internally rotated until the maximum angle also known as FADIR (Flexion, adduction in 90° flexion and internal rotation in 90° flexion) test. This is a manual method and relies heavily on surgeons experience and even pain tolerance of the patient and the method is prone to error. The use of computational programmes are known to be more accurate and reliable as the kinematic of contact can easily be studied using the digitised bones of the hip joint assuming that the impingement is determined by bone to bone contact kinematics. Current impingement studies assume that the kinematics of hip joint can be studied by assuming the centre of rotation is fixed for hip joint. For highly conforming joints this assumption is acceptable but for cases where conformity is poor the presence of soft tissue and soft tissue loading becomes very important. The important need in orthopaedics field is to develop a model without too much simplification. In this thesis for the first time the complete computational model of hip with soft tissue has been used to detect the impingement in a specific patient. The effect of centre of rotation and soft tissue are considered on impingement detection. In this study the femur, acetabulum, cartilage and ligaments of specific patients were modelled in MIMICs (Materialise' Interactive Medical Image Control System) using both MRI and CT scan. 3D hip models with and without soft tissues of normal hip, hip with impingement and hip with impingement after reshaping were modelled. The hip models were meshed in 3-Matic. The hip models were imported to Abaqus and boundary conditions were applied. Impingement zone and impingement angle was detected in Abaqus. Different centre of rotation was applied to consider the effect of centre of rotation to detect impingement. Experimental studies were set up to validate the hip models. Mocap, Wiimote, MotionNode and goniometer were used together at the same time to measure the flexion, adduction and internal rotation in 90⁰ of flexion in twenty two healthy volunteers. Validity and reliability of all of the methods were calculated. It is the first time that reliability and validity of Wiimote and MotionNode are considered to be used in medical application. Our results show that the model with soft tissue is closer to the experimental results. It shows that the soft tissue in hip model affects hip impingement angle and hip biomechanics. This finding also shows that, if the boundary condition is closer to the real hip, then the results of computer-aided program will be more reliable.

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16

Wang, Xianwang. "Single View Reconstruction for Human Face and Motion with Priors." UKnowledge, 2010. http://uknowledge.uky.edu/gradschool_diss/62.

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Single view reconstruction is fundamentally an under-constrained problem. We aim to develop new approaches to model human face and motion with model priors that restrict the space of possible solutions. First, we develop a novel approach to recover the 3D shape from a single view image under challenging conditions, such as large variations in illumination and pose. The problem is addressed by employing the techniques of non-linear manifold embedding and alignment. Specifically, the local image models for each patch of facial images and the local surface models for each patch of 3D shape are learned using a non-linear dimensionality reduction technique, and the correspondences between these local models are then learned by a manifold alignment method. Local models successfully remove the dependency of large training databases for human face modeling. By combining the local shapes, the global shape of a face can be reconstructed directly from a single linear system of equations via least square. Unfortunately, this learning-based approach cannot be successfully applied to the problem of human motion modeling due to the internal and external variations in single view video-based marker-less motion capture. Therefore, we introduce a new model-based approach for capturing human motion using a stream of depth images from a single depth sensor. While a depth sensor provides metric 3D information, using a single sensor, instead of a camera array, results in a view-dependent and incomplete measurement of object motion. We develop a novel two-stage template fitting algorithm that is invariant to subject size and view-point variations, and robust to occlusions. Starting from a known pose, our algorithm first estimates a body configuration through temporal registration, which is used to search the template motion database for a best match. The best match body configuration as well as its corresponding surface mesh model are deformed to fit the input depth map, filling in the part that is occluded from the input and compensating for differences in pose and body-size between the input image and the template. Our approach does not require any makers, user-interaction, or appearance-based tracking. Experiments show that our approaches can achieve good modeling results for human face and motion, and are capable of dealing with variety of challenges in single view reconstruction, e.g., occlusion.

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Nutti, Björn. "Development and Evaluation of an Inertial Sensor for Gait Analysis." Thesis, Linköping University, Department of Electrical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-7404.

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Hasomed GmbH, a German company in the Field of medicine technology, intends to introduce a gait analysis system on the market. The system includes an inertial sensor which collects data used for generating movement patterns of the feet. This thesis describes the development and evaluation of a new version of the sensor, aimed at minimizing costs, maximizing performance and facilitating production.

Algorithms used in the gait analysis system are sensitive to noise. Noise sources and precautions taken in order to minimize noise levels are described and discussed. By minimizing the physical size of analogue electronics blocks, static noise and occasional high frequency components were substantially reduced.

New features including internal temperature sensors, firmware update via serial interface, self-test functions and a wireless link were implemented. Additional improvements are e.g. lower power consumption and an extension of the interface from 2 to 256 (theoretical limit) attached devices. By reducing the number of included components and PCB (Printed Circuit Board) layers, together with use of components that do not require advanced soldering techniques, easier and cheaper production was obtained.

Research and development presented in this thesis resulted in a sensor with overall good performance and new features.

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18

Dai, Wei. "FPCA Based Human-like Trajectory Generating." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4811.

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This thesis presents a new human-like upper limb and hand motion generating method. The work is based on Functional Principal Component Analysis and Quadratic Programming. The human-like motion generating problem is formulated in a framework of minimizing the difference of the dynamic profile of the optimal trajectory and the known types of trajectory. Statistical analysis is applied to the pre-captured human motion records to work in a low dimensional space. A novel PCA FPCA hybrid motion recognition method is proposed. This method is implemented on human grasping data to demonstrate its advantage in human motion recognition. One human grasping hierarchy is also proposed during the study. The proposed method of generating human-like upper limb and hand motion explores the ability to learn the motion kernels from human demonstration. Issues in acquiring motion kernels are also discussed. The trajectory planning method applies different weight on the extracted motion kernels to approximate the kinematic constraints of the task. Multiple means of evaluation are implemented to illustrate the quality of the generated optimal human-like trajectory compared to the real human motion records.

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Neninger, Carlos Rafael. "Robotic Hand Evaluation Based on Task Specific Kinematic Requirements." Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3262.

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With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent variables. In this thesis, we analyze the motion of the hand during a set of objects grasps using mul- tivariate Principal Component Analysis (mPCA) to extract both the principal variables and their correlation during grasping. We introduce the use of Functional PCA (fPCA) primarily on princi- pal components to study the dynamic requirements of the motion. The goal is to defined a set of synergies common and specific to all motions. We expand the analysis by classifying the objects grasps, or tasks, using their functional components, or harmonics over the entire motion. A set of groups are described based on these classification that confirms empirical findings. Lastly, we evaluate the motions generated from the analysis by applying them onto robotic hands. The results from the mPCA and fPCA procedures are used to map the principal components from each motion onto underactuated robotic designs. We produce a viable routine that indicates how the mapping is performed, and finally, we implement the motion generated onto a real hand. The resultant robotic motion was evaluated on how it mimics the human motion.

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Norton, Brandon M. "Articulated Spine for a Robot to Assist Children with Autism." BYU ScholarsArchive, 2014. https://scholarsarchive.byu.edu/etd/5542.

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Autism spectrum disorder (ASD) affects about 1.5 million individuals in the US alone. The consequences of ASD affect families, caregivers, and social structures. This thesis adds to a growing group of people performing research on mitigating the effects of autism through robotics. Children with ASD tend to interact with robots more easily than with other humans. The goal of robotic therapy is not to help children interact with robots, but to generalize the behavior to humans. An articulated spine is a key to human emotional expression through shaping, weight shifting, and flow. Despite this importance, this feature is all but lacking in robots. The primary contribution of this work is a novel 3-link planar spine with compliant, partial-gravity-compensating springs, capable of reproducing simple emotion-conveying poses for use in robot-based therapy for children with ASD. The design was based on the movements of expression experts using motion tracking markers. This information was used to optimize the number of links in the spine and their corresponding lengths. It is the goal of this research to make robotic therapy more effective for the children, raising the potential for life-changing results.

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21

Rondina, Mattia. "Studio di validità concorrente tra sistema indossabile basato su IMU e stereofotogrammetria usata come gold standard." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amslaurea.unibo.it/8641/.

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L’analisi della postura e del movimento umano costituiscono un settore biomedico in forte espansione e di grande interesse dal punto di vista clinico. La valutazione delle caratteristiche della postura e del movimento, nonché delle loro variazioni rispetto ad una situazione di normalità, possono essere di enorme utilità in campo clinico per la diagnosi di particolari patologie, così come per la pianificazione ed il controllo di specifici trattamenti riabilitativi. In particolare è utile una valutazione quantitativa della postura e del movimento che può essere effettuata solo utilizzando metodologie e tecnologie ‘ad hoc’. Negli ultimi anni la diffusione di sensori MEMS e lo sviluppo di algoritmi di sensor fusion hanno portato questi dispositivi ad entrare nel mondo della Motion Capture. Queste piattaforme multi-sensore, comunemente chiamate IMU (Inertial Measurement Unit), possono rappresentare l’elemento base di una rete sensoriale per il monitoraggio del movimento umano.

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Zhou, Wei, and 周硙. "Topics in optimal stopping with applications in mathematical finance." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2011. http://hub.hku.hk/bib/B46582046.

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23

Fernando, W. K. Ganga Sripali Sharmen. "Development and optimization of On-Probe Affinty Capture (OPAC) MALDI mass spectrometry for the fractionation and analysis of complex protein mixtures /." Available to subscribers only, 2009. http://proquest.umi.com/pqdweb?did=1967938391&sid=1&Fmt=2&clientId=1509&RQT=309&VName=PQD.

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24

Fernando, Ganga Sripali. "DEVELOPMENT AND OPTIMIZATION OF ON-PROBE AFFINTY CAPTURE (OPAC) MALDI MASS SPECTROMETRY FOR THE FRACTIONATION AND ANALYSIS OF COMPLEX PROTEIN MIXTURES." OpenSIUC, 2009. https://opensiuc.lib.siu.edu/dissertations/68.

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A high throughput proteomic analysis method is described here that uses more economically favorable, easily manufactured probe surface that can be directly incorporated on the MALDI target. On-Probe Affinity Capture (OPAC) MALDI is a method that uses the RF pulsed plasma modified target surfaces for the protein purification, separation and identification all on the same single probe and one of the highest advantage of this method is the number of different experiments that can be carried out simultaneously using the intelligent design of the probe. The new design of the OPAC probe presented in this dissertation gives the ability to perform about 100 different experiments on one single MALDI target. These OPAC probes can be used for the fractionation and analysis of proteins from complex biologically derived samples. The separated proteins can be identified on the OPAC probe using it directly as the MALDI target and selecting a proper elution solution that depends on the chemistry of the OPAC probe, the surface bound proteins can be eluted and incorporated into the matrix crystal. This dissertation focuses mainly on developing this method for analysis of different samples. A tryptic digest of a single protein was separated and identified by submitting the peak lists to MASCOT database search and the sequence coverage obtained before and after fractionation has been compared. Then a mixture of tryptic peptides of five different known proteins were fractionated on OPAC surfaces and the identification of proteins obtained was compared before and after fractionation. Further developing this technique, biologically derived mixtures of proteins from two different well studied sources have been analyzed using OPAC-MALDI. Escherichia coli bacterial proteome was digested and fractionated and the peptides were studied using De Novo sequencing method and their affinity fractionation behavior is confirmed by calculating the iso electric point (pI) and the hydrophobicity of the predicted peptide sequence. Synechosystis sp PCC 6803 was cultured and the protein extracts were prepared for the OPAC studies. The clear fractionated of this mixture was observed and the amount of information derived after fractionation is found to be significantly higher than the unfractionated sample. Taking a slightly different approach, a phosphoprotein binding OPAC probe was prepared using commercially available poly(methyl methacrylate) (PMMA) film. The hydrolyzed PPMA films were reacted with CuCl2 solution to incorporate metal ions on the surface by electrostatic interaction, which then facilitates the phosphoprotein binding on the OPAC probe. This was demonstrated using a binary mixture of commercially available peptides and fractionating the mixture on Cu-impregnated PMMA film. Finally, in a collaborative work, the possibility of increased surface binding capacity was explored by using a synthetic organic nanosponge surface that expands and collapses due to change of pH. These brush polymers were prepared by Dyer group and a binary mixture of peptides were fractionated and analyzed by MALDI MS.

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Foss, Kari D. "Kinetic and kinematic gait analysis in Doberman Pinschers with and without cervical spondylomyelopathy." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1337003842.

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26

Gu, Tianyu. "Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/794.

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Trajectory planning is an important component of autonomous driving. It takes the result of route-level navigation plan and generates the motion-level commands that steer an autonomous passenger vehicle (APV). Prior work on solving this problem uses either a sampling-based or optimization-based trajectory planner, accompanied by some high-level rule generation components.

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27

Carter, Sarah Louise. "Lower leg and foot contributions to turnout in pre-professional female dancers: A clinical and kinematic analysis." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 2018. https://ro.ecu.edu.au/theses/2101.

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Turnout, the act of externally rotating the legs, is produced through the summation of joint structure characteristics and ranges of motion at the hip, knee, ankle and foot. The hip joint’s contribution to functional turnout, a dancer’s preferred turnout stance, has received extensive examination, whereas little is known about below-the-hip contributions. Dancers with limited hip external rotation (HER) are associated with an increased risk of overuse lower limb injury. These injuries have been attributed to forcing turnout via additional external tibiofemoral rotation (TFR) and foot pronation. Yet knowledge of these compensatory mechanisms is based on biomechanical theories and clinical observations rather than quantitative clinical assessments or 3D motion analysis. The principal aim of this research was to investigate the lower leg and foot contributions to turnout in university-level female dancers using quantitative clinical assessments and 3D motion analysis, as well as the compensations mechanisms dancers use to increase turnout. The first study focused on assessing the lower leg and foot contributions to turnout using the clinical assessments of passive TFR and active measures of foot pronation in turnout. The results showed dancers assumed a more pronated posture in turnout, and those with a greater passive TFR demonstrated a less pronated position in turnout providing new insight into the mechanical coupling between the foot and the tibiofemoral joint in dancers. The purpose of the second study was to use 3D kinematic analyses to determine the lower leg and foot compensations that dancers use to accentuate their turnout. Active and passive TFR of the dancers was also measured. The results demonstrated foot abduction was the strongest predictor of functional and forced turnout, compared to both the hip and knee external rotation. A moderate-strong negative relationship was observed between HER and foot abduction in all turnout conditions. A moderate negative relationship was found between the passive TFR and foot abduction in all turnout conditions. These findings indicate clinical measures of external tibiofemoral rotation can predict the total below-hip compensation mechanisms a dancer uses to achieve turnout. Suggesting, dancers are more likely to pronate about the foot/ankle complex, than rotate at the knee to compensate for limited HER. Whereas dancers with less foot mobility may force additional rotation via the knee which may contribute to rotational knee joint laxity. The previous study provided the rational for an in-depth analysis of the foot/ankle complex such as that provided by three-dimensional multi-segment foot models (3DMFMs). The lack of an appropriate model for ballet dancers led to the modification of the Rizzoli Foot Model. Kinematic repeatability of the model was determined from analysing ballet dancers performing the following movements; parallel stance, turnout plié, turnout stance, turnout rise and flex-point-flex. First metatarsophalangeal joint (MTPJ) in the sagittal plane demonstrated excellent intra and inter-assessor repeatability across all movements. All inter-segmental angles except for the tibia-hindfoot and hindfoot-midfoot frontal planes demonstrated excellent intra-assessor repeatability during flex-point-flex movements. Providing a reliable method to measure 3D foot/ankle complex can enable a deeper understanding of the foot/ankle complex contribution to turnout. Previous 3DMFM used in dance science consisted of only two foot segments, hindfoot and forefoot whereas this model includes a midfoot segment which is important as forefoot abduction has been suggested to give the illusion of a larger turnout angle. The final study aimed to examine the lower leg and foot compensations that dancers use to accentuate their turnout using a dance specific 3DMFM. Hindfoot abduction and eversion were the strongest predictors of foot abduction in turnout. Midfoot abduction was significantly greater in forced turnout compared to functional turnout. No significant differences were found for forefoot abduction, first MTPJ abduction and navicular drop in functional or forced turnout, compared to natural stance. Foot pronation does play a role in achieving turnout and there may be a safe range of pronation. However, the amount of detrimental pronation for a dancer is unknown. The overall results from these studies offer compelling evidence that the foot/ankle complex plays a more important role in achieving turnout, than previously thought. Further prospective research on in situ measures of the lower leg and foot in turnout and injury surveillance are required to improve our understanding of the normal and abnormal dance biomechanics.

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Ochs, Peter [Verfasser], and Thomas [Akademischer Betreuer] Brox. "Long term motion analysis for object level grouping and nonsmooth optimization methods = Langzeitanalyse von Bewegungen zur objektorientierten Gruppierung und nichglatte Optimierungsmethoden." Freiburg : Universität, 2015. http://d-nb.info/1123488894/34.

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29

Devos, Pierre. "Contribution biomécanique à l'analyse cinématique in vivo des mouvements de la main humaine." Thesis, Compiègne, 2017. http://www.theses.fr/2017COMP2359/document.

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La main est l’organe de préhension chez l’homme qui lui permet de manipuler des objets de tailles et de formes diverses et variées. Elle lui permet également d’effectuer des tâches, parfois d’une grande complexité, avec force ou avec une grande finesse. Il s’agit d’un outil d’une importance cruciale au quotidien, tant sur le plan domestique que sur le plan professionnel, et la perte de fonctionnalité de la main peut rapidement devenir un handicap pour certaines personnes. Bien qu’il existe encore peu d’études sur la capture et l’analyse des mouvements de la main dans la littérature scientifique, de nombreux domaines comme la médecine, l’ergonomie, le sport, la robotique, la réalité virtuelle ou les jeux vidéo s’y intéressent de plus en plus, afin de permettre aux personnes d’exploiter au mieux les fonctionnalités de la main tout en la préservant, ou de créer des interfaces homme-machine afin que celui-ci puisse interagir avec des robots ou en environnement virtuel. L’objectif de cette thèse a été de développer une méthode d’analyse cinématique in vivo et personnalisée afin de contribuer à une meilleure compréhension des mouvements de la main de l’homme. Une première partie du travail consiste à mettre en place un protocole de capture du mouvement de la main sur des sujets masculins et féminins de différentes tranches d’âges, allant de 20 à 50 ans. Les captures de mouvement ont été effectuées à l’aide d’un système optoélectronique et de 56 marqueurs passifs collés sur la peau de la main du sujet. Deux types de mouvements ont été capturés : les mouvements fonctionnels en flexion-extension et en abduction-adduction de la main, et les mouvements de prise d’objets cylindriques et sphériques. Les captures de mouvement sont ensuite labellisées afin d’identifier les différents marqueurs et de pouvoir en extraire les trajectoires. La deuxième partie du travail consiste à développer une méthode d’analyse cinématique des mouvements externes de la main à partir des trajectoires des marqueurs et de la valider à l’aide d’un modèle in silico. En plus d’estimer les paramètres cinématiques avec précision dans le cas où les trajectoires des marqueurs sont parfaites, l’évaluation des méthodes fonctionnelles montre que les mouvements de la main sont assimilables à des mouvements plans, circulaires ou sphériques en fonction de l’articulation étudiée. La construction des repères fonctionnels à partir des paramètres cinématiques pour chaque segment de la main permet ensuite de décrire les mouvements de rotation des articulations à l’aide des angles de Cardan. Les courbes des angles de Cardan obtenues à partir des trajectoires des marqueurs du modèle in silico permettent de valider la méthode de décomposition développée pour l’ensemble des articulations, à l’exception des articulations trapézo-métacarpienne (TMC) et métacarpo-phalangienne (MCP1) du pouce qui sont plus difficiles à analyser. La dernière partie de ce travail de thèse consiste à analyser les mouvements fonctionnels et les mouvements de prise d’objets à partir des captures expérimentales. Les courbes des angles de Cardan obtenues à partir des mouvements fonctionnels correspondent globalement à celles obtenues dans la littérature, sauf dans le cas de l’articulation TMC. De plus, ces courbes montrent que les rotations articulaires ne s’effectuent pas uniquement autour d’un axe, mais autour d’un axe de rotation dominant et d’un ou deux axes de rotation secondaires. Toutefois, les courbes des angles de Cardan des rotations autour des axes secondaires ne correspondent pas toujours à celles présentées dans la littérature. Bien que peu de mouvements de prise d’objets aient pu être analysés, certaines corrélations intéressantes ont pu être trouvées entre les postures de la main et la géométrie des objets manipulés, notamment au niveau des articulations MCP et IPD
The human hand is a prehensile organ which allows people to handle objects with various sizes and shapes. It is wonderful tool that can be used to perform different simple or complex tasks with strength or great dexterity. It is also a crucial tool in the daily life, both at home and in the workspace, and loss of hand functionality may quickly become disabling for some people. There are few studies in the literature. However, motion capture and kinematic analysis of the hand is becoming more and more of an interest in different areas such as medicine, ergonomics, sport, robotics, virtual reality and video games. Results from these studies have improved knowledge about skills of the hand and how to preserve them. The studies have also improved interactions between people and computers in order to command robots or to progress in virtual reality. The aim of the thesis was to develop methods for an in vivo and subject-specific kinematic analysis in order to contribute to the improvement of knowledge about the human hand motion. A first part of this thesis was to develop a protocol for the motion capture of the hand for male and female subjects aged from 20 to 50 years old. The motion capture was performed using an optoelectronic system with passive markers glued on the skin of the hand. Two sorts of movements were captured. Firstly, functional movements like flexion-extension and abduction-adduction. Secondly, prehensile movements of cylindrical and spherical objects. Then, markers on the motion captures were identified in order to extract their trajectories. The second part of this thesis consisted in the development of a method for the kinematic analysis of external hand movements from the marker trajectories. Validation of this method was achieved using a model of the hand developed in silico. Since no noise was added to the marker trajectories in the silico model; kinematic parameters were estimated with precision. Moreover, assessment of the functional methods showed that the hand motions can be approximated by a plane, a circular arc or a spherical cap depending on the joint studied. After constructing the functional coordinate systems for each segment of the hand using the joint kinematic parameters, it was possible to decompose any joint rotation into three Cardan angles. This decomposition method was validated using the marker trajectories of the hand model, except for the trapeziometacarpal (TMC) and the metacarpophalangeal (MCP1) joints of the thumb which are more difficult to study. The last part of this thesis consisted in the analysis of the functional and the prehensile movements from the motion captures. The curves of the Cardan angles obtained from the functional movements are similar to those presented in the literature for all of the joints, except for the TMC joint. It was also noticed that the joint rotations do not occur around only one axis, but around one dominant axis and one or two secondary axes. However, some differences between the curves of the Cardan angles around the secondary axes obtained in this thesis and those presented in the literature were noticed for some joints. Despite only few prehensile grasps were analyzed, some interesting correlations were also found between the hand shape and the objects grasped, more particularly at the metacarpophalangeal (MCP) and the distal interphalangeal (DIP) joints

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Visi, Federico. "Methods and technologies for the analysis and interactive use of body movements in instrumental music performance." Thesis, University of Plymouth, 2017. http://hdl.handle.net/10026.1/8805.

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A constantly growing corpus of interdisciplinary studies support the idea that music is a complex multimodal medium that is experienced not only by means of sounds but also through body movement. From this perspective, musical instruments can be seen as technological objects coupled with a repertoire of performance gestures. This repertoire is part of an ecological knowledge shared by musicians and listeners alike. It is part of the engine that guides musical experience and has a considerable expressive potential. This thesis explores technical and conceptual issues related to the analysis and creative use of music-related body movements in instrumental music performance. The complexity of this subject required an interdisciplinary approach, which includes the review of multiple theoretical accounts, quantitative and qualitative analysis of data collected in motion capture laboratories, the development and implementation of technologies for the interpretation and interactive use of motion data, and the creation of short musical pieces that actively employ the movement of the performers as an expressive musical feature. The theoretical framework is informed by embodied and enactive accounts of music cognition as well as by systematic studies of music-related movement and expressive music performance. The assumption that the movements of a musician are part of a shared knowledge is empirically explored through an experiment aimed at analysing the motion capture data of a violinist performing a selection of short musical excerpts. A group of subjects with no prior experience playing the violin is then asked to mime a performance following the audio excerpts recorded by the violinist. Motion data is recorded, analysed, and compared with the expert’s data. This is done both quantitatively through data analysis xii as well as qualitatively by relating the motion data to other high-level features and structures of the musical excerpts. Solutions to issues regarding capturing and storing movement data and its use in real-time scenarios are proposed. For the interactive use of motion-sensing technologies in music performance, various wearable sensors have been employed, along with different approaches for mapping control data to sound synthesis and signal processing parameters. In particular, novel approaches for the extraction of meaningful features from raw sensor data and the use of machine learning techniques for mapping movement to live electronics are described. To complete the framework, an essential element of this research project is the com- position and performance of études that explore the creative use of body movement in instrumental music from a Practice-as-Research perspective. This works as a test bed for the proposed concepts and techniques. Mapping concepts and technologies are challenged in a scenario constrained by the use of musical instruments, and different mapping ap- proaches are implemented and compared. In addition, techniques for notating movement in the score, and the impact of interactive motion sensor systems in instrumental music practice from the performer’s perspective are discussed. Finally, the chapter concluding the part of the thesis dedicated to practical implementations describes a novel method for mapping movement data to sound synthesis. This technique is based on the analysis of multimodal motion data collected from multiple subjects and its design draws from the theoretical, analytical, and practical works described throughout the dissertation. Overall, the parts and the diverse approaches that constitute this thesis work in synergy, contributing to the ongoing discourses on the study of musical gestures and the design of interactive music systems from multiple angles.

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Kat, Bora. "Mathematical Modeling For Energy Policy Analysis." Phd thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613762/index.pdf.

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As is now generally accepted, climate change and environmental degradation has largely been triggered by carbon emissions and energy modeling for policy analysis has therefore attained renewed urgency. It is important for governments to satisfy emission targets and timetables set down by international agreements without disregarding macroeconomic concerns and restrictions. In this study, we present a large-scale nonlinear optimization model that allows the analysis of macroeconomic and multi-sectoral energy policies in respect of technological and environmental options and scenarios. The model consists of a detailed representation of energy activities and disaggregates the rest of the economy into five main sectors. Economy-wide solutions are obtained by computing a utility maximizing aggregate consumption bundle on the part of a representative household. Intersectoral and foreign transaction balances are maintained using a modified accounting matrix. The model also computes the impact on macroeconomic variables of greenhouse gas (GHG) emission strategies and abatement schemes. As such the model is capable of producing solutions that can be used to benchmark regulatory instruments and policies. Several scenarios are presented for the case of Turkey in which the impact of a nuclear power programme and power generation coupled with carbon-capture-and-storage schemes are investigated as well as setting quotas on total and sectoral GHG emissions.

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Shublaq, Nour. "Use of inertial sensors to measure upper limb motion : application in stroke rehabilitation." Thesis, University of Oxford, 2010. http://ora.ox.ac.uk/objects/uuid:3b1709fb-8be6-4402-b846-096693fc75bc.

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Stroke is the largest cause of severe adult complex disability, caused when the blood supply to the brain is interrupted, either by a clot or a burst blood vessel. It is characterised by deficiencies in movement and balance, changes in sensation, impaired motor control and muscle tone, and bone deformity. Clinically applied stroke management relies heavily on the observational opinion of healthcare workers. Despite the proven validity of a few clinical outcome measures, they remain subjective and inconsistent, and suffer from a lack of standardisation. Motion capture of the upper limb has also been used in specialised laboratories to obtain accurate and objective information, and monitor progress in rehabilitation. However, it is unsuitable in environments that are accessible to stroke patients (for example at patients’ homes or stroke clubs), due to the high cost, special set-up and calibration requirements. The aim of this research project was to validate and assess the sensitivity of a relatively low cost, wearable, compact and easy-to-use monitoring system, which uses inertial sensors in order to obtain detailed analysis of the forearm during simple functional exercises, typically used in rehabilitation. Forearm linear and rotational motion were characterised for certain movements on four healthy subjects and a stroke patient using a motion capture system. This provided accuracy and sensitivity specifications for the wearable monitoring system. With basic signal pre-processing, the wearable system was found to report reliably on acceleration, angular velocity and orientation, with varying degrees of confidence. Integration drift errors in the estimation of linear velocity were unresolved. These errors were not straightforward to eliminate due to the varying position of the sensor accelerometer relative to gravity over time. The cyclic nature of rehabilitation exercises was exploited to improve the reliability of velocity estimation with model-based Kalman filtering, and least squares optimisation techniques. Both signal processing methods resulted in an encouraging reduction of the integration drift in velocity. Improved sensor information could provide a visual display of the movement, or determine kinematic quantities relevant to the exercise performance. Hence, the system could potentially be used to objectively inform patients and physiotherapists about progress, increasing patient motivation and improving consistency in assessment and reporting of outcomes.

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Courtemanche, Simon. "Analyse et simulation des mouvements optimaux en escalade." Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENM082/document.

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À quel point les mouvements humains sont-ils optimaux ? Cette thèse aborde cette question en se concentrant particulièrement sur les mouvements en escalade, étudiés ici sous trois aspects complémentaires que sont la collecte expérimentale de séquences de grimpe, l'analyse biomécanique de ces données, et la synthèse de gestes par optimisation temporelle. La marche fut l'objet de nombreux travaux, avec de bons résultats notamment en animation [Mordatch 2013]. Nous nous intéressons ici spécialement au problème original des mouvements d'escalade, dont la diversité et leur caractère multicontact présentent une complexité intéressante pour l'évaluation des caractéristiques du mouvement humain. L'hétérogénéité du répertoire gestuel rencontrée en escalade s'explique par plusieurs facteurs que sont l'évolution sur des parois de formes variées, la multiplicité des niveaux d'expertise des pratiquants, et des disciplines différentes au sein même de l'activité, à savoir le bloc, la difficulté, ou encore l'escalade de vitesse. Notre démarche d'exploration de ce sport se décompose en trois étapes : la collecte de données par une capture de mouvements multicaméra avec marqueurs, couplée à un ensemble de capteurs de force montés sur un mur de bloc en laboratoire ; une analyse du geste par dynamique inverse, prenant exclusivement des données cinématiques pour entrées, basée sur une minimisation des couples internes pour résoudre l'ambiguïté du multicontact, intrinsèque à l'activité d'escalade, validée par comparaison avec les mesures capteurs ; et enfin, l'utilisation d'un critère d'efficacité énergétique pour synthétiser la meilleure temporisation associée à une séquence de déplacements donnés. Les enregistrements expérimentaux se sont fait à l'université McGill qui dispose d'un mur instrumenté de 6 capteurs de forces, et d'un dispositif de capture de mouvements 24 caméras, nous ayant permis de collecter des données sur une population de 9 sujets. L'analyse de ces données constitue la deuxième partie de cette thèse. Le défi abordé est de retrouver les forces externes et les efforts internes à partir uniquement des déplacements du grimpeur. Nous supposons pour cela une répartition optimale des efforts internes. Après analyse, cette répartition s'avère être plutôt uniforme que proportionnelle aux capacités musculaires des différentes articulations du corps. Finalement, dans une troisième et dernière partie, nous nous intéressons à la temporisation des gestes en escalade, en prenant en entrée la trajectoire du grimpeur, éventuellement issue de cinématique inverse pour s'affranchir de la nécessité d'une capture par marqueurs et caméras infra-rouges. En sortie, une temporisation idéale pour cette trajectoire est trouvée. Cette temporisation s'avère réaliste, mais manque d'une modélisation des instants d'hésitation et de prise de décision, ainsi que d'un modèle d'établissements de contact, phénomène présentant un délai temporel non pris en compte pour l'instant
How optimal are human movements ? This thesis tackles this issue by focusing especially on climbing movements, studied here under three complementary aspects which are the experimental gathering of climbing sequences, the biomechanical analysis of these data, and the synthesis of gestures by timing optimization. Walking has been largely studied, with good results in animation [Mordatch 2013]. We are interested here especially in the original question of climbing motions, whose diversity and multicontact aspect present an interesting complexity for the evaluation of the human motion characteristics. The heterogeneity of climbing gestures can be linked to several factors which are the variety of wall shapes, the multiplicity of climber skill levels, and different climbing categories, namely bouldering, route climbing or speed climbing. Our exploratory approach of this sport consists in three steps: the data collection by multicamera marker-based motion capture, combined with a set of force sensors mounted on an in-laboratory bouldering wall; a gesture analysis by inverse dynamics, taking only kinematic data as inputs, based on the minimization of internal torques to resolve the multicontact ambiguity, intrinsic to the climbing activity, validated by comparison with sensor measurements; and finally, the use of the energy efficiency criterion for synthesizing the best timing associated with a given sequence of movements. Experimental recordings were made at McGill University which has a climbing wall instrumented of 6 force sensors, and a motion capture device of 24 cameras, which allowed us to collect data on a population of nine subjects. The analysis of these data is the second part of this thesis. The addressed challenge is to find the external forces and internal torques from the climber's movements only. To this end we assume an optimal distribution of internal torques. After analysis, the distribution turns out to be rather uniform than proportional to the muscle capacity associated to each body joint. Finally, in a third and last part, we focus on the timing of climbing gestures, taking as input the path of the climber, possibly after inverse kinematics in order to overcome the need for a capture with markers and infrared cameras. As output, an optimal timing for this path is found. This timing is realistic, but lacks of a modelization for hesitation and decision making instants, as well as a model for the contact establishment, with the associated temporal delay currently not taken into account

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Hassemer, Julius [Verfasser], Irene Akademischer Betreuer] Mittelberg, Klaus [Akademischer Betreuer] [Willmes, and Cornelia [Akademischer Betreuer] Müller. "Towards a theory of gesture form analysis : imaginary forms as part of gesture conceptualisation, with empirical support from motion-capture data / Julius Hassemer ; Irene Mittelberg, Klaus Willmes-von Hinckeldey, Cornelia Müller." Aachen : Universitätsbibliothek der RWTH Aachen, 2015. http://d-nb.info/1130792374/34.

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Hassemer, Julius Verfasser], Irene [Akademischer Betreuer] Mittelberg, Klaus [Akademischer Betreuer] [Willmes, and Cornelia [Akademischer Betreuer] Müller. "Towards a theory of gesture form analysis : imaginary forms as part of gesture conceptualisation, with empirical support from motion-capture data / Julius Hassemer ; Irene Mittelberg, Klaus Willmes-von Hinckeldey, Cornelia Müller." Aachen : Universitätsbibliothek der RWTH Aachen, 2015. http://d-nb.info/1130792374/34.

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Ropars, Mickaël. "Contribution clinique et biomécanique au diagnostic d’hyperlaxité de l’épaule." Thesis, Rennes 2, 2014. http://www.theses.fr/2014REN20010.

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Le but de cette thèse a été de redéfinir le diagnostic d’hyperlaxité de l’épaule. Ce travail s’appui sur plusieurs études cliniques, chirurgicales et d’analyse du mouvement. Pour mener ce travail, nous avons tout d’abord défini l’hyperlaxité telle qu’elle est actuellement décrite dans la littérature, ainsi que ses liens avec l’instabilité de l’épaule et son traitement. Ce premier chapitre décrit également les moyens techniques d’analyse du mouvement qui seront utilisés dans cette thèse. Ensuite, plusieurs études ont été proposées. L’étude 2 est une étude chirurgicale, qui a cherché à corréler la laxité capsulaire étudiée en per opératoire et l’hyperlaxité clinique. L’étude 3 a ensuite rechercher les moyens de rendre plus reproductible la mesure de la rotation externe dans le cadre de l’hyperlaxité. Les études 4 et 5 sont des études utilisant l’analyse du mouvement. La première a cherché à fiabiliser la mesure clinique des amplitudes articulaires de l’épaule en tentant d’analyser les facteurs d’erreur de mesure. La deuxième étude a ensuite eut pour but de définir le volume articulaire global du complexe articulaire de l’épaule et de préciser la relation de ce volume avec les différents degrés de liberté de l’épaule. Une dernière étude (Etude 6) a enfin permis de corréler le volume articulaire de l’épaule et les signes cliniques d’hyperlaxité. Enfin, le chapitre « conclusions générales et perspectives » rassemble les éléments de conclusion de ces différents travaux et a pour ambition de redéfinir le diagnostic d’hyperlaxité de l’épaule. Ce chapitre ouvre plusieurs perspectives. La première est de proposer des modifications de l’examen clinique de l’épaule et notamment pour le diagnostic d’hyperlaxité. La seconde est d’utiliser la description volumétrique de l’épaule dans d’autres situations physiologiques ou pathologiques. Enfin, nous rapportons les résultats préliminaires d’une étude anatomique visant à identifier la place respective de chaque articulation dans cette définition volumétrique des amplitudes articulaires de l’épaule
The aim of this study was to give a new definition to shoulder hyperlaxity. This work was conduced with clinical, surgical andmotion capture experimentations. We first gave a definition of hyperlaxity, as described actually in the literature, and its link with shoulder instability and treatment. Chapter 1 described also motion capture technics used along this work. Then, several studies were proposed. Study n°2 was a surgical one, and tempted to correlate peroperative capsular laxity and hyperlaxity. Therafter, study n°3 looked for an optimized way to examine external rotation of the shoulder. Studies N° 4 and 5 used motion capture analysis to assess clinical shoulder examination patterns and global reachable shoulder space volume. This volume was finally correlated to shoulder sign of hyperlaxity in study n°6. The last chapter, « general conclusions and perspectives » gather together conclusions of each study and redefine hyperlaxity. Finally, we report our prospect, giving first results of an anatomical study exploring the volumetric definition of shoulder range of motion described previously

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Nilsson, Jeremias, and Markus Tinnfält. "Automatisk Identifiering av Nyckelpositioner i Golf – Med Xbox Kinect V2." Thesis, Högskolan i Borås, Akademin för bibliotek, information, pedagogik och IT, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hb:diva-10460.

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Denna studie presenterar en artefakt som med hjälp av Microsoft Kinect, samlar in och beräknar biomekanisk data från golfsvingar för att identifiera nyckelpositioner på ett automatiserat sätt. Den övergripande metoden som används är design-science research. Kinect sensorn är egentligen gjord för tv-spel, men kan även användas allmänt för att fånga och samla in kvantitativ biomekanisk data. Sensorn är inte specifikt utformad för golfsvingar, och saknar dessutom förmågan att spåra externa objekt som golfklubbor. Dessa problem var grunden för denna studies övergripande syfte, nämligen att utveckla en mjukvara med förmågan att identifiera de fem viktigaste nyckelpositionerna i golfsvingen. Nyckelpositionerna definieras utifrån mätbara egenskaper vilket för nyckelpositionen impact, krävde att man utnyttjade sensorns förmåga att spela in ljud. I empirin som genomfördes på en driving range samlades data från sammanlagt 20 svingar in. Varje identifierad nyckelposition analyserades på ett kvalitativt sätt utifrån ett antal sammanställda kriterier. Kinectsensorn hade problem att identifiera vissa positioner, men sammantaget bedömdes 87 % av de insamlade nyckelpositionerna som korrekt identifierade. För nyckelpositionen impact, där insamlad ljuddata användes för identifiering, bedömdes 85 % av de insamlade nyckelpositionerna som korrekt identifierade. Studien begränsar sig till utvalda nyckelpositioner men visar potential för automatiserad insamling av kvalitativ golfsvingdata, och ger uppenbara möjligheter för vidare forskning.
This study presents an artifact that is using Microsoft Kinect for motion capturing of golf swings, in order to identify key positions in an automatic fashion. The main method used is design science research. The Kinect sensor, which is developed for the Xbox video game console, can be used for general motion capture. It is, however, not tailored for golf swings and it also lacks the ability to track external objects such as the golf club. These problems were the main motivation for the purpose of this study, i.e. to develop an application to identify the five most important positions in the golf swing. The key positions were defined based on measurable traits, making it necessary to use the audio recording ability of the sensor for the impact position. The empirical investigation was performed at a driving range, and data from a total of 20 golf swings were gathered. In the next step, every key position was analyzed in a quantitative manner based on a number of criteria. The results show that the Kinect sensor may have some troubles recognizing certain positions, but still 87 % of the key positions captured were considered to be successfully identified. Specifically, 85 % of all impact positions were successfully identified. The study was limited to the chosen key positions, but shows good potential for automatic capturing of quantitative golf swing data, thus suggesting several possible directions for future research.

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Kalawoun, Rawan. "Motion planning of multi-robot system for airplane stripping." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC008/document.

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Cette thèse est une partie d’un projet français qui s’appelle AEROSTRIP, un partenariat entre l’Institut Pascal, Sigma, SAPPI et Air-France industries, il est financé par le gouvernement français par le programme FUI (20 eme appel). Le projet AEROSTRIP consiste à développer le premier système automatique qui nettoie écologiquement les surfaces des avions et les pièces de rechange en utilisant un abrasif écologique projeté à grande vitesse sur la surface des avions (maïs). Ma thèse consiste à optimiser les trajectoires du système robotique total de telle façon que le décapage de l’avion soit optimal. Le déplacement des robots est nécessaire pour assurer une couverture totale de la surface à décaper parce que ces surfaces sont trop grandes et elles ne peuvent pas être décapées d’une seule position. Le but de mon travail est de trouver le nombre optimal de robots avec leur positions optimales pour décaper totalement l’avion. Une fois ce nombre est déterminé, on cherche les trajectoires des robots entre ces différentes positions. Alors, pour atteindre ce but, j’ai défini un cadre général composant de quatre étapes essentiels: l’étape pre-processing, l’étape optimization algorithm, l’étape generation of the end-effector trajectories et l’étape robot scheduling, assignment and control.Dans ma thèse, j’ai deux contributions dans deux différentes étapes du cadre général: l’étape pre-processing et l’étape optimization algorithm. Le calcul de l’espace de travail du robot est nécessairedans l’étape pre-processing: on a proposé l’Analyse par Intervalles pour trouver cet espace de travail parce qu’il garantie le fait de trouver des solutions dans un temps de calcul raisonnable. Alors, ma première contribution est une nouvelle fonction d’inclusion qui réduit le pessimisme, la surestimation des solutions qui est le principal inconvénient de l’Analyse par Intervalles. La nouvelle fonction d’inclusion est évaluée sur des problèmes de satisfaction de contraintes et des problèmes d’optimisation des contraintes. En plus, on a proposé un algorithme d’optimisation hybride pour trouver le nombre optimal de robots avec leur positions optimales: c’est notre deuxième contribution qui est dans l’étape optimization algorithm. Pour évaluer l’algorithme d’optimisation, on a testé cet algorithme sur des surfaces régulières, comme un cylindre et un hémisphère, et sur un surface complexe: une voiture
This PHD is a part of a French project named AEROSTRIP, (a partnership between Pascal Institute,Sigma, SAPPI, and Air-France industries), it is funded by the French Government through the FUIProgram (20th call). The AEROSTRIP project aims at developing the first automated system thatecologically cleans the airplanes surfaces using a process of soft projection of ecological media onthe surface (corn). My PHD aims at optimizing the trajectory of the whole robotic systems in orderto optimally strip the airplane. Since a large surface can not be totally covered by a single robot base placement, repositioning of the robots is necessary to ensure a complete stripping of the surface. The goal in this work is to find the optimal number of robots with their optimal positions required to totally strip the air-plane. Once found, we search for the trajectories of the robots of the multi-robot system between those poses. Hence, we define a general framework to solve this problem having four main steps: the pre-processing step, the optimization algorithm step, the generation of the end-effector trajectories step and the robot scheduling, assignment and control step.In my thesis, I present two contributions in two different steps of the general framework: the pre-processing step, the optimization algorithm step. The computation of the robot workspace is required in the pre-processing step: we proposed Interval Analysis to find this workspace since it guarantees finding solutions in a reasonable computation time. Though, our first contribution is a new inclusion function that reduces the pessimism, the overestimation of the solution, which is the main disadvantage of Interval Analysis. The proposed inclusion function is assessed on some Constraints Satisfaction Problems and Constraints Optimization problems. Furthermore, we propose an hybrid optimization algorithm in order to find the optimal number of robots with their optimal poses: it is our second contribution in the optimization algorithm step. To assess our hybrid optimization algorithm, we test the algorithm on regular surfaces, such as a cylinder and a hemisphere, and on a complex surface: a car

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Harshe, Mandar. "Analyse et conception d'un système de rééducation de membres inférieurs reposant sur un robot parallèle à câbles." Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2012. http://pastel.archives-ouvertes.fr/pastel-00933732.

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L'analyse de la marche et la mesure du déplacements des articulations humaines ont été largement étudiées. Les artefacts de tissus "mous" sont une source fréquente d'erreur pour la plupart des méthodes de mesure utilisées. La procédure standard en analyse de la marche consiste à utiliser une combinaison de mesures pour l'estimation efficace des angles articulaires et de la position des segments du corps humain. Ce travail propose le développement d'un système d'analyse de la marche reposant sur un robot parallèle à câbles équipé de plusieurs capteurs mesurant spécifiquement les déplacements du genou. Nous considérons le cas général pour lequel les articulations humaines se comportent comme des joints à 6 degrés de liberté reliant deux segments du corps. Afin de déterminer la position et l'orientation de ces segments, 14 câbles y sont attachés, ce qui permet de considérer ces segments comme les organes effecteurs de robots parallèles. Leur position peut alors être calculée à partir de la mesure de la longueur des câbles. Cependant, ces mesures sont entachées de bruit à cause des artefacts de tissus "mous". Afin d'améliorer la précision des résultats, le système propose aussi l'utilisation d'autres capteurs de nature différente : plusieurs capteurs inertiels (avec accéléromètres et gyroscopes), un système de motion capture, des capteurs de pression plantaire, des capteurs de distance (IR et résistance variable) et des capteurs de force pour mesurer la contraction musculaire. Plusieurs approches globales sont disponibles pour l'analyse du genou lors de la marche. Les choix technologiques effectués impactent directement sur la conception de notre système et imposent le développement de matériel spécifique pour mener à bien les mesures, tel que le collier flexible utilisé d'une part pour permettre l'attache des câbles sur les segments du patient et d'autres part pour supporter les capteurs supplémentaires. Nous traitons le collier comme une chaîne cinématique sérielle et nous proposons une méthode d'étalonnage qui ne nécessite pas d'utiliser les mesures angulaires des articulations contrairement aux méthodes existantes. Nous décrivons le protocole expérimental ainsi que les méthodes utilisées pour synchroniser les données issues de plusieurs ordinateurs. Les données sont ensuite fusionnées pour obtenir la pose du collier et donc celle des segments du patient. Enfin, ce travail permet d'identifier les modifications à apporter au système pour une meilleure analyse de la marche, ce qui pourra servir de base à un système de rééducation complet.

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Arumuganainar, Ganesh Prasanth. "Simulation of Lower Limb Muscle Activity During Inclined Slope Walking." Thesis, KTH, Skolan för kemi, bioteknologi och hälsa (CBH), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-243914.

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Robotic exoskeletons are designed to assist patients with motor dysfunctions. Recent researches focus on extending the robotic assistance to patient activities other than ground level walking. This study aims to analyse the lower limb muscle activity during inclined slope walking contrasting with that of ground level walking. Two different angles of inclination were chosen: 9 degrees and 18 degrees. 9 degrees inclined slope is the universal ramp size for wheelchairs. The hypothesis is that muscle activation, and ultimately metabolic cost, in inclined slope walking is different from that of ground level walking. Collected motion data and simulation in OpenSim prove that the difference in metabolic cost is because of increased activity of ankle dorsiflexors and hip extensors and reduced activity of knee extensors. Finally, muscle activities along with other criteria such as kinematic alignment and joint range of motion are summed up as biomechanical considerations for robotic exoskeleton design.

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Brodie, Matthew Andrew Dalhousie. "Development of fusion motion capture for optimisation of performance in alpine ski racing : a thesis presented in fulfilment of the requirements for the degree of Doctor of Philosophy in Science at Massey University, Wellington, New Zealand." Massey University, 2009. http://hdl.handle.net/10179/1041.

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Fusion Motion Capture (FMC), a wearable motion capture system was developed, and applied to the optimisation of athlete performance in alpine ski racing. In what may be a world first, the three-dimensional movements of a skilled athlete (with less than 20 FIS1 points) skiing through a complete training giant slalom racecourse were analysed. FMC consists of multiple light weight sensors attached to the athlete including inertial measurement units (IMUs), pressure sensitive insoles and a global position system (GPS) receiver. The IMUs contain accelerometers, gyroscopes, and magnetometers. Limb orientation and location are obtained by mathematically combining the most reliable data from each sensor using fusion algorithms developed by the author. FMC fuses the signals from the IMUs and GPS without the need for the post filtering, usually applied to motion capture data, and therefore, maintains maximum bandwidth. The FMC results were stable and relatively independent of motion type and duration unlike other inertial systems available in 2005, when the research was initiated. Analysis of data collected from an athlete skiing giant slalom contradict the traditional „going straight turning short? race strategy. The shortest path may not always be the fastest. Instead each gate has a different optimum approach arc. Optimum turn radius increases with both increasing speed and increasing terrain slope. The results also contradict laboratory measurements of ski/snow sliding friction and suggest that snow resistance in giant slalom is of similar importance to wind drag. In addition to gravity, the athlete increased speed using the techniques of „lateral projection? and „pumping?. Race performance was determined from the analysis of the athlete skiing through the entire course. FMC proved, therefore, to be more suitable than traditional optical systems that are practically limited to capturing small sections of a race course. The athlete experienced high and rapidly fluctuating torques about all three axes of the lower joints. This information could be useful in designing training programmes racecourses and equipment to reduce knee injuries. Data driven animations and colour coded force vector diagrams were developed to enhance athlete feedback. Inline skating data was also analysed.

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Bennison, John Charles. "Gait Analysis in Anterior Cruciate Ligament Reconstruction & Controls Across Different Levels of Visual Feedback." Ohio University / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1617872112807014.

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Mustard, Jonathan A. "The integrated sound, space and movement environment : The uses of analogue and digital technologies to correlate topographical and gestural movement with sound." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 2006. https://ro.ecu.edu.au/theses/84.

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This thesis investigates correlations between auditory parameters and parameters associated with movement in a sensitised space. The research examines those aspects of sound that form correspondences with movement, force or position of a body or bodies in a space sensitised by devices for acquiring gestural or topographical data. A wide range of digital technologies are scrutinised to establish what the most effective technologies are in order to achieve detailed and accurate information about movement in a given space, and the methods and procedures for analysis, transposition and synthesis into sound. The thesis describes pertinent work in the field from the last 20 years, the issues that have been raised in those works and issues raised by my work in the area. The thesis draws conclusions that point to further development of an integrated model of a space that is sensitised to movement, and responds in sound in such a way that it can be appreciated by performers and audiences. The artistic and research practices that are cited, are principally from the areas of danceand- technology, sound installation and alternative gestural controllers for musical applications.

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Neveux, Thibaut. "Modélisation et optimisation des procédés de captage de CO2 par absorption chimique." Thesis, Université de Lorraine, 2013. http://www.theses.fr/2013LORR0266/document.

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Les procédés de captage de CO2 par absorption chimique engendrent une importante pénalité énergétique sur la production électrique des centrales à charbon, constituant un des principaux verrous technologiques au déploiement de la filière. L'objectif de cette thèse est de développer et valider une méthodologie à même d'évaluer précisément le potentiel d'un procédé de captage aux amines donné. La phénoménologie de l'absorption chimique a été étudiée en détail et représentée par des modèles à l'état de l'art. Le modèle e-UNIQUAC a été utilisé pour décrire les équilibres chimiques et de phases des solutions électrolytiques et les paramètres du modèle ont été régressés pour quatre solvants. Un modèle hors-équilibre a été utilisé pour représenter le transfert couplé de matière et de chaleur, accéléré par les réactions chimiques. Les modèles ont été validés avec succès sur des données expérimentales d'un pilote industriel et d'un pilote de laboratoire. L'influence des phénomènes sur les efficacités de séparation a été explicitée afin d'isoler les phénomènes les plus impactants. Une méthodologie a alors été proposée pour évaluer la pénalité énergétique, incluant les consommations thermiques et électriques, liée à l'installation d'un procédé de captage sur une centrale à charbon supercritique. Une méthode d'estimation du coût de l'électricité est proposée pour quantifier les dépenses opératoires et d'investissement d'un tel procédé. L'environnement de simulation et d'évaluation de procédés obtenu a ensuite été couplé à une méthode d'optimisation afin de déterminer les paramètres opératoires et les dimensions des équipements maximisant les performances énergétiques et économiques
CO2 capture processes by chemical absorption lead to a large energy penalty on efficiency of coal-fired power plants, establishing one of the main bottleneck to its industrial deployment. The objective of this thesis is the development and validation of a global methodology, allowing the precise evaluation of the potential of a given amine capture process. Characteristic phenomena of chemical absorption have been thoroughly studied and represented with state-of-the-art models. The e-UNIQUAC model has been used to describe vapor-liquid and chemical equilibria of electrolyte solutions and the model parameters have been identified for four solvents. A rate-based formulation has been adopted for the representation of chemically enhanced heat and mass transfer in columns. The absorption and stripping models have been successfully validated against experimental data from an industrial and a laboratory pilot plants. The influence of the numerous phenomena has been investigated in order to highlight the most limiting ones. A methodology has been proposed to evaluate the total energy penalty resulting from the implementation of a capture process on an advanced supercritical coal-fired power plant, including thermal and electric consumptions. Then, the simulation and process evaluation environments have been coupled with a non-linear optimization algorithm in order to find optimal operating and design parameters with respect to energetic and economic performances

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Fontanili, Luca. "Analisi del movimento per la valutazione delle forze muscolari nel movimento umano: protocollo di integrazione di tipici metodi di misura." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.

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Questo elaborato è incentrato sull'analisi del movimento per l'investigazione degli eventi tipici che hanno luogo durante il movimento umano e permette di validare il suo utilizzo come metodo di valutazione delle patologie muscoloscheletriche e per il miglioramento degli allenamenti sportivi. Nel presente scritto un sistema di motion-capture è sfruttato in combinazione con un prototipo di pedane di forza monoassiali internamente sviluppato per la misurazione della componente verticale delle forze di reazione al suolo durante il movimento. Mentre tecniche simili sono già state implementate per il cammino, questo tipo di sistema può essere utilizzato per l'indagine della corsa, così da coprire un numero sempre maggiore di applicazioni possibili e permettere una più profonda comprensione sia delle performance atletiche che dell'analisi delle patologie. Per la prevenzione ed il trattamento degli infortuni che possono accadere durante la corsa, una maggiore comprensione dei suoi meccanismi è critica; per queste motivazioni, viene qui proposto un metodo per la valutazione della cinematica del corpo umano così come delle forze di reazione al suolo combinate con un modello per la determinazione delle forze muscolari.\par Una tecnica stereofotogrammetrica è utilizzata per la misurazione accurata del movimento del corpo ed un sistema di pedane di forza multiple è sfruttato per il calcolo delle forze esercitate al suolo e suddivise nelle tre componenti da una procedura sviluppata appositamente. Inoltre, i dati sono impiegati come parametri di input per il software OpenSim al fine di derivare le forze muscolari. Infine, le potenzialità del protocollo proposto sono determinate da una campagna sperimentale su soggetti sani ed una raccolta significativa di dati riguardanti le forze muscolari di questi soggetti è costruita per diverse velocità.

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Jaisson, Maxime. "Pathologies fonctionnelles mandibulaires, de l'outil numérique à la recherche applicative." Thesis, Reims, 2013. http://www.theses.fr/2013REIMS037.

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Le principal objectif de cette thèse a été d'utiliser des outils numériques en sciences pour l'ingénieur dans le cadre d'applications médicales dont le but était de mieux appréhender la pathogénie des troubles fonctionnels, et de développer de nouvelles techniques thérapeutiques (sphère orofaciale). Dans un premier temps l'outil éléments finis s'appuyant sur des données rhéologiques a été utilisé afin de mieux appréhender la problématique de l'articulation temporo-mandibulaire. Les résultats numériques associés à une captation du mouvement de la mandibule ont permis de mieux comprendre, au sens, mécanique certains aspects mandibulaires. Par ailleurs, dans un deuxième temps, l'outil CAO a été mis en œuvre afin d'aider la préparation de la chirurgie maxillofaciale. Cette nouvelle approche a permis de mettre en œuvre une nouvelle méthodologie en chirurgie des tumeurs interruptrices en améliorant (i) le contrôle du résultat esthétique, (ii) la réduction du temps opératoire et (iii) le respect de la bonne congruence de l'ATM
The main objective of this thesis was to use numerical engineering softwares in the framework of medical applications whose purpose was to understand the pathogenesis functional disorders, and to develop new therapeutic techniques (orofacial sphere). At first, finite elements tools based on rheological data has been used to understand the problem of TMJ. Numerical results associated with motion capture of the mandible have a better understanding the mandibular mechanical aspects. Moreover, in a second step, the CAD tools implemented to assist the preparation of the maxillofacial surgery. This new approach allowed a new methodology surgery interrupter tumors improving (i) controling the esthetic result, (ii) reducing the operating time and (iii) respecting a good TMJ congruence

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Zamzami, Ziad. "Analyse et exploitation de la dynamique naturelle des robots sous-actionnés." Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS408.

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L’humain et les animaux sont capables d'effectuer des mouvements gracieux et agiles. L'un des ingrédients clés pour ces comportements complexes est la coordination motrice pour exploiter leur dynamique naturelle qui résulte en un mouvement synergique qui dépasse leurs limites physiques. Malgré l'existence d'outils puissants tels que l'optimisation de trajectoire non linéaire, ils sont généralement traités comme une boîte noire. Cette thèse introduit la DCM (Dynamical Coupling Map), une nouvelle technique d'analyse de trajectoire, permettant de mieux comprendre et d'analyser les capacités des robots sous-actionnés tout en tenant compte des contraintes de sous-actionnement et des limites de couple. L'analyse DCM ainsi que les trois nouvelles mesures de performances dénommées Natural Dynamics Index (NDI) démontrent le rôle central de l'exploitation de la dynamique naturelle pour dépasser la capacité physique du robot qui est dictée par les limites des couples d'entrée. De plus, les mérites de l'analyse DCM sont démontrés sur plusieurs manœuvres dynamiques telles que le mouvement de balancement d'un modèle simplifié d'un gymnaste à la barre fixe et le saut en hauteur pour un robot humanoïde de haute dimension. En outre, le DCM est étendu d'un outil d'analyse a posteriori à une heuristique fondamentale pour générer des mouvements dynamiques. On introduit donc le Natural Dynamics based Tree (NDT), un nouvel algorithme de planification kinodynamique qui planifie un mouvement dynamique basé sur la dynamique naturelle du système résultant en une planification de mouvement plus efficace de point de vue computationnel et avec une solution de mouvement de haute qualité
Humans and animals are capable of performing graceful and agile movements. One of the key ingredients for such complex behaviors is motor coordination to exploit their natural dynamics which results in a synergistic motion that surpasses their physical limits. Despite the existence of powerful tools such as nonlinear trajectory optimization, they are usually treated as a black box. This thesis introduces the Dynamical Coupling Map (DCM), a novel graphical analysis technique, to help gain insight into the resulting trajectory of the optimization and analyze the capability of underactuated robots while taking into consideration underactuation constraints and torque limits. The DCM analysis technique along with the three novel performance measures aptly named Natural Dynamics Indexes (NDI) demonstrate the pivotal role of exploiting the natural dynamics to exceed the robot's physical capability which is dictated by the input torques limits. Furthermore, the merits of the DCM analysis are demonstrated on several dynamic maneuvers such as the swing-up motion of a simplified model of a gymnast on high bar and standing high jump for a high-dimensional humanoid robot with arm swing. In addition, the DCM is extended from a posteriori analysis tool to a fundamental heuristic for generating dynamic motions by leveraging the probabilistic motion planning approach with a new natural dynamic based heuristic. Thus, introducing the Natural Dynamics based Tree (NDT), a novel sampling-based kinodynamic planning algorithm which plans a dynamic motion based on the natural dynamics of the system resulting in a more computational efficient motion planning and with high-quality motion solution

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Bacot, Baptiste. "Geste et instrument dans la musique électronique : organologie des pratiques de création contemporaines." Thesis, Paris, EHESS, 2017. http://www.theses.fr/2017EHES0172.

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Les moyens technologiques de la musique électronique reconfigurent les pratiques musicales. Du fait des procédures de computation et d’automation inhérentes aux machines qui médiatisent le phénomène sonore, ces moyens ont notamment la particularité d’introduire une rupture dans le rapport causal entre le geste instrumental et le son produit. Que signifie alors jouer de la musique électronique ? Comment comprendre ici les concepts de geste et d’instrument de musique qui sont traditionnellement mobilisés pour analyser les pratiques musicales ?Pour répondre à ces questions, nous avons mené entre 2010 et 2016 un travail de terrain auprès de musiciens professionnels dans des contextes musicaux variés : musique savante avec électronique en temps réel, performance audiovisuelle et musique électronique populaire. Cette approche, focalisée sur l’instrument, permet de questionner la matérialité des pratiques électroniques en la plaçant au premier plan, par-delà les esthétiques musicales. Ce travail consiste donc en une « enquête organologique » sur les pratiques des musiciens ou des groupes suivants : Robert Henke, Alex Augier, Brain Damage, High Tone, Pierre Jodlowski, Jesper Nordin, John MacCallum et Teoma Naccarato, Nicolas Mondon, Greg Beller et le collectif Unmapped. La méthode ethnographique permet de circonscrire l’usage particulier des technologies musicales à différents moments du processus de création : conceptualisation de l’œuvre, collaboration technique, réalisation artistique et performance scénique. À partir de l’analyse de l’activité musicale au prisme des configurations instrumentales, nous proposons une typologie des instruments électroniques dont le critère de classification est le geste, unique résidu du modèle acoustique de l’interaction instrumentale. L’activité corporelle permet donc d’ordonner la diversité matérielle des technologies musicales en même temps qu’elle constitue un vecteur stratégique d’expression de l’interaction instrumentale
Technological means of electronic music reconfigure musical practices. Because of the machines’ computation and automation capacities that mediate the sonic phenomenon, the causal relationship between instrumental gesture and sound is altered. Therefore, what does it mean to play electronic music? The concepts of gesture and musical instrument are traditionally employed for the analysis of musical practices, but how should they be understood in this context? To address these issues, we conducted an extensive fieldwork between 2010 and 2016 with professional musicians in various contexts: art music with real-time electronics, audiovisual performance, and popular electronic music. Our instrument-focused approach allows us to consider the materiality of electronic music itself, beyond aesthetics. Thus, this work is an “organological inquiry” on the following musicians or bands: Robert Henke, Alex Augier, Brain Damage, High Tone, Pierre Jodlowski, Jesper Nordin, John MacCallum and Teoma Naccarato, Nicolas Mondon, Greg Beller, and the Unmapped collective. The ethnographic method sheds a light on the use of music technologies at different stages of the creative process: conceptualization of the work, technical collaboration, the making of the music and its performance. From this analysis of musical activity captured through instrumental configurations, we offer a typology of electronic music instruments, based on a gestural criterion, which is the only residual aspect of the acoustic instrumental interaction model. The corporeal activity leads to organise the material diversity of music technologies, as well as it constitutes a strategic way to express instrumental interaction

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Mascaró, Oliver Miquel. "Expresión de emociones de alegría para personajes virtuales mediante la risa y la sonrisa." Doctoral thesis, Universitat de les Illes Balears, 2014. http://hdl.handle.net/10803/145970.

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La animación facial es uno de los tópicos todavía no resueltos tanto en el campo de la interacción hombre máquina como en el de la informática gráfica. Las expresiones de alegría asociadas a risa y sonrisa son por su significado e importancia, parte fundamental de estos campos. En esta tesis se hace una aproximación a la representación de los diferentes tipos de risa en animación facial a la vez que se presenta un nuevo método capaz de reproducir todos estos tipos. El método se valida mediante la recreación de secuencias cinematográficas y mediante la utilización de bases de datos de expresiones faciales genéricas y específicas de sonrisa. Adicionalmente se crea una base de datos propia que recopila los diferentes tipos de risas clasificados y generados en este trabajo. De acuerdo a esta base de datos propia se generan las expresiones más representativas de cada una de las risas y sonrisas consideradas en el estudio.
L'animació facial és un dels tòpics encara no resolts tant en el camp de la interacció home màquina com en el de la informàtica gràfica. Les expressions d'alegria associades a riure i somriure són pel seu significat i importància, part fonamental d'aquests camps. En aquesta tesi es fa una aproximació a la representació dels diferents tipus de riure en animació facial alhora que es presenta un nou mètode capaç de reproduir tots aquests tipus. El mètode es valida mitjançant la recreació de seqüències cinematogràfiques i mitjançant la utilització de bases de dades d'expressions facials genèriques i específiques de somriure. Addicionalment es crea una base de dades pròpia que recull els diferents tipus de rialles classificats i generats en aquest treball. D'acord a aquesta base de dades pròpia es generen les expressions més representatives de cadascuna de les rialles i somriures considerades en l'estudi.
Nowadays, facial animation is one of the most relevant research topics still unresolved both in the field of human machine interaction and in the computer graphics. Expressions of joy associated with laughter and smiling are a key part of these fields mainly due to its meaning and importance. In this thesis an approach to the representation of different types of laughter in facial animation is done while a new method to reproduce all these types is proposed. The method is validated by recreating movie sequences and using databases of generic and specific facial smile expressions. Additionally, a proprietary database that lists the different types of classified and generated laughs in this work is created. According to this proprietary database the most representative of every smile expression considered in the study is generated.

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Lou, Hui. "Acquiring 3D Full-body Motion from Noisy and Ambiguous Input." Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-05-11159.

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Natural human motion is highly demanded and widely used in a variety of applications such as video games and virtual realities. However, acquisition of full-body motion remains challenging because the system must be capable of accurately capturing a wide variety of human actions and does not require a considerable amount of time and skill to assemble. For instance, commercial optical motion capture systems such as Vicon can capture human motion with high accuracy and resolution while they often require post-processing by experts, which is time-consuming and costly. Microsoft Kinect, despite its high popularity and wide applications, does not provide accurate reconstruction of complex movements when significant occlusions occur. This dissertation explores two different approaches that accurately reconstruct full-body human motion from noisy and ambiguous input data captured by commercial motion capture devices. The first approach automatically generates high-quality human motion from noisy data obtained from commercial optical motion capture systems, eliminating the need for post-processing. The second approach accurately captures a wide variety of human motion even under significant occlusions by using color/depth data captured by a single Kinect camera. The common theme that underlies two approaches is the use of prior knowledge embedded in pre-recorded motion capture database to reduce the reconstruction ambiguity caused by noisy and ambiguous input and constrain the solution to lie in the natural motion space. More specifically, the first approach constructs a series of spatial-temporal filter bases from pre-captured human motion data and employs them along with robust statistics techniques to filter noisy motion data corrupted by noise/outliers. The second approach formulates the problem in a Maximum a Posterior (MAP) framework and generates the most likely pose which explains the observations as well as consistent with the patterns embedded in the pre-recorded motion capture database. We demonstrate the effectiveness of our approaches through extensive numerical evaluations on synthetic data and comparisons against results created by commercial motion capture systems. The first approach can effectively denoise a wide variety of noisy motion data, including walking, running, jumping and swimming while the second approach is shown to be capable of accurately reconstructing a wider range of motions compared with Microsoft Kinect.

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Dissertations / Theses on the topic 'Motion Capture Analysis Optimization'

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