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Tesis sobre el tema "Kinematics"
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Zaplana, Agut Isiah. "Solving robotic kinematic problems : singularities and inverse kinematics." Doctoral thesis, Universitat Politècnica de Catalunya, 2018. http://hdl.handle.net/10803/667496.
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Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of describing the open chain geometry as well as the position, velocity and/or acceleration of each one of its components. Rigid serial robot manipulators
are designed as a sequence of rigid bodies, called links, connected by motor-actuated pairs, called joints, that provide relative motion between consecutive links. Two kinematic problems of special relevance for serial robots are:
- Singularities: are the configurations where the robot loses at least one degree of freedom (DOF). This is equivalent to:
(a) The robot cannot translate or rotate its end-effector in at least one direction.
(b) Unbounded joint velocities are required to generate finite linear and angular velocities.
Either if it is real-time teleoperation or off-line path planning, singularities must be addressed to make the robot exhibit a good performance for a given task. The objective is not only to identify the singularities and their associated singular directions but to design strategies to avoid or handle them.
- Inverse kinematic problem: Given a particular position and orientation of the end-effector, also known as the end-effector pose, the inverse kinematics consists of finding the configurations that provide such desired pose. The importance of the inverse kinematics relies on its role in the programming and control of serial robots. Besides, since for each given pose the inverse kinematics has up to sixteen different solutions, the objective is to find a closed-form method for solving this problem, since closed-form methods allow to obtain all the solutions in a compact form.
The main goal of the Ph.D. dissertation is to contribute to the solution of both problems. In particular, with respect to the singularity problem, a novel scheme for the identification of the singularities and their associated singular directions is introduced. Moreover, geometric algebra is used to simplify such identification and to provide a distance function in the configuration space of the robot that allows the definition of algorithms for avoiding them.
With respect to the inverse kinematics, redundant robots are reduced to non-redundant ones by selecting a set of joints, denoted redundant joints, and by parameterizing their joint variables. This selection is made through a workspace analysis which also provides an upper bound for the number of different closed-form solutions. Once these joints have been identified, several
closed-form methods developed for non-redundant manipulators can be applied to obtain the analytical expressions of all the solutions. One of these methods is a novel strategy developed using again the conformal model of the spatial geometric algebra.
To sum up, the Ph.D dissertation provides a rigorous analysis of the two above-mentioned kinematic problems as well as novel strategies for solving them. To illustrate the different results introduced in the Ph.D. memory, examples are given at the end of each of its chapters.<br>La cinemática es una rama de la mecánica clásica que describe el movimiento de puntos, cuerpos y sistemas de cuerpos sin considerar las fuerzas que causan dicho movimiento. Para un robot manipulador serie, la cinemática consiste en la descripción de su geometría, su posición, velocidad y/o aceleración. Los robots manipuladores serie están diseñados como una secuencia de elementos estructurales rígidos, llamados eslabones, conectados entres si por articulaciones actuadas, que permiten el movimiento relativo entre pares de eslabones consecutivos. Dos problemas cinemáticos de especial relevancia para robots serie son: - Singularidades: son aquellas configuraciones donde el robot pierde al menos un grado de libertad (GDL). Esto equivale a: (a) El robot no puede trasladar ni rotar su elemento terminal en al menos una dirección. (b) Se requieren velocidades articulares no acotadas para generar velocidades lineales y angulares finitas. Ya sea en un sistema teleoperado en tiempo real o planificando una trayectoria, las singularidades deben manejarse para que el robot muestre un rendimiento óptimo mientras realiza una tarea. El objetivo no es solo identificar las singularidades y sus direcciones singulares asociadas, sino diseñar estrategias para evitarlas o manejarlas. - Problema de la cinemática inversa: dada una posición y orientación del elemento terminal (también conocida como la pose del elemento terminal), la cinemática inversa consiste en obtener las configuraciones asociadas a dicha pose. La importancia de la cinemática inversa se basa en el papel que juega en la programación y el control de robots serie. Además, dado que para cada pose la cinemática inversa tiene hasta dieciséis soluciones diferentes, el objetivo es encontrar un método cerrado para resolver este problema, ya que los métodos cerrados permiten obtener todas las soluciones en una forma compacta. El objetivo principal de la tesis doctoral es contribuir a la solución de ambos problemas. En particular, con respecto al problema de las singularidades, se presenta un nuevo método para su identificación basado en el álgebra geométrica. Además, el álgebra geométrica permite definir una distancia en el espacio de configuraciones del robot que permite la definición de distintos algoritmos para evitar las configuraciones singulares. Con respecto a la cinemática inversa, los robots redundantes se reducen a robots no-redundantes mediante la selección de un conjunto de articulaciones, las articulaciones redundantes, para después parametrizar sus variables articulares. Esta selección se realiza a través de un análisis de espacio de trabajo que también proporciona un límite superior para el número de diferentes soluciones en forma cerrada. Una vez las articulaciones redundantes han sido identificadas, varios métodos en forma cerrada desarrollados para robots no-redundantes pueden aplicarse a fin de obtener las expresiones analíticas de todas las soluciones. Uno de dichos métodos es una nueva estrategia desarrollada usando el modelo conforme del álgebra geométrica tridimensional. En resumen, la tesis doctoral proporciona un análisis riguroso de los dos problemas cinemáticos mencionados anteriormente, así como nuevas estrategias para resolverlos. Para ilustrar los diferentes resultados presentados en la tesis, la memoria contiene varios ejemplos al final de cada uno de sus capítulos.
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Šimková, Kristýna. "Návrh SW pro řízení delta robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400926.
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This thesis deals with software creation for delt robot in TwinCAT 3 program. First part describes the general characteristics of a delta robot. Next part deals with hardware and PLC coding in TwinCAT 3 and the final part discusses the creation of an application.
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Kozubík, Jiří. "Experimentální robotizované pracoviště s delta-robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229633.
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This diploma thesis was written within Czech-German study programme Production systems (VUT v Brně & TU Chemnitz). This thesis is divided into four main parts. In the first part is brought out the introduction to design of robotic cells. Following part is concentrated on analysis of present state in area of machines with parallel kinematics. The penultimate part, on which is focused the main attention, is dedicated to kinematic analysis of delta-robot. Closing part of this Thesis presents the study of experimental robotized workplace with integrated delta-robot.
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Fabricius, Maximilian Hieronymus. "Kinematics across bulge types a longslit kinematic survey and dedicated instrumentation." Diss., lmu, 2012. http://nbn-resolving.de/urn:nbn:de:bvb:19-144409.
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Centea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure." *McMaster only, 2004.
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Köhn, Daniel. "Kinematics of fibrous aggregates." [S.l. : s.n.], 2000. http://ArchiMeD.uni-mainz.de/pub/2000/0027/diss.pdf.
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Evans, Dafydd Wyn. "Galactic structures and kinematics." Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.279712.
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Shih, Yi-Fen. "Assessment of patellofemoral kinematics." Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.397798.
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Petrou, Georgios. "Kinematics of cricket phonotaxis." Thesis, University of Edinburgh, 2012. http://hdl.handle.net/1842/7944.
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Male crickets produce a species specific song to attract females which in response move towards the sound source. This behaviour, termed phonotaxis, has been the subject of many morphological, neurophysiological and behavioural studies making it one of the most well studied examples of acoustic communication in the animal kingdom. Despite this fact, the precise leg movements during this behaviour is unknown. This is of specific interest as the cricket’s ears are located on their front legs, meaning that the perception of the sound input might change as the insect moves. This dissertation describes a methodology and an analysis that fills this knowledge gap. I developed a semi-automated tracking system for insect motion based on commercially available high-speed video cameras and freely available software. I used it to collect detailed three dimensional kinematic information from female crickets performing free walking phonotaxis towards a calling song stimulus. I marked the insect’s joints with small dots of paint and recorded the movements from underneath with a pair of cameras following the insect as it walks on the transparent floor of an arena. Tracking is done offline, utilizing a kinematic model to constrain the processing. I obtained, for the first time, the positions and angles of all joints of all legs and six additional body joints, synchronised with stance-swing transitions and the sound pattern, at a 300 Hz frame rate. I then analysed this data based on four categories: The single leg motion analysis revealed the importance of the thoraco-coxal (ThC) and body joints in the movement of the insect. Furthermore the inside middle leg’s tibio-tarsal (TiTa) joint was the centre of the rotation during turning. Certain joints appear to be the most crucial ones for the transition from straight walking to turning. The leg coordination analysis revealed the patterns followed during straight walking and turning. Furthermore, some leg combinations cannot be explained by current coordination rules. The angles relative to the active speaker revealed the deviation of the crickets as they followed a meandering course towards it. The estimation of ears’ input revealed the differences between the two sides as the insect performed phonotaxis by using a simple algorithm. In general, the results reveal both similarities and differences with other cricket studies and other insects such as cockroaches and stick insects. The work presented herein advances the current knowledge on cricket phonotactic behaviour and will be used in the further development of models of neural control of phonotaxis.
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Abreu, Manuel P. "Kinematics under wind waves." Thesis, Monterey, California. Naval Postgraduate School, 1989. http://hdl.handle.net/10945/27115.
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Hallberg, Robert. "Target Classification Based on Kinematics." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81216.
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Modern aircraft are getting more and better sensors. As a result of this, the pilots are getting moreinformation than they can handle. To solve this problem one can automate the information processingand instead provide the pilots with conclusions drawn from the sensor information. An aircraft’smovement can be used to determine which class (e.g. commercial aircraft, large military aircraftor fighter) it belongs to. This thesis focuses on comparing three classification schemes; a Bayesianclassification scheme with uniform priors, Transferable Belief Model and a Bayesian classificationscheme with entropic priors.The target is modeled by a jump Markov linear system that switches between different modes (flystraight, turn left, etc.) over time. A marginalized particle filter that spreads its particles over thepossible mode sequences is used for state estimation. Simulations show that the results from Bayesianclassification scheme with uniform priors and the Bayesian classification scheme with entropic priorsare almost identical. The results also show that the Transferable Belief Model is less decisive thanthe Bayesian classification schemes. This effect is argued to come from the least committed principlewithin the Transferable Belief Model. A fixed-lag smoothing algorithm is introduced to the filter andit is shown that the classification results are improved. The advantage of having a filter that remembersthe full mode sequence (such as the marginalized particle filter) and not just determines the currentmode (such as an interacting multiple model filter) is also discussed.
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Jagirdar, Saurabh. "Kinematics of curved flexible beam." [Tampa, Fla] : University of South Florida, 2006. http://purl.fcla.edu/usf/dc/et/SFE0001853.
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Bajer, Konrad. "Flow kinematics and magnetic equilibria." Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305335.
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Amadi, Hippolite Onyejiaka. "Glenohumeral kinematics and ligament loading." Thesis, Imperial College London, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.437763.
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Altman, Mary Ellen 1962. "SPEECH BREATHING KINEMATICS IN WOMEN." Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/277081.
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Walker, Simon M. "Insect flight : kinematics and aerodynamics." Thesis, University of Oxford, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.670125.
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Zugel, John Martin. "Prolog implementation in robot kinematics." Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/44674.
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<p>The purpose of this study is to implement the advantages
of the relatively new field of expert systems to robot
kinematics. The research presented in this thesis illustrates
the progress in combining the two fields. An expert
system used to solve the kinematic equations of general purpose
robots is presented along with some examples.</p><br>Master of Science
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Олємской, Олександр Іванович, Александр Иванович Олемской, Oleksandr Ivanovych Oliemskoi, Ольга Володимирівна Ющенко, Ольга Владимировна Ющенко, Olha Volodymyrivna Yushchenko, Анна Юріївна Бадалян, Анна Юрьевна Бадалян, and Anna Yuriivna Badalian. "Kinematics of nonextensive statistical systems." Thesis, Видавництво СумДУ, 2011. http://essuir.sumdu.edu.ua/handle/123456789/12717.
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Nanua, Prabjot. "Direct kinematics of parallel mechanisms." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1335458031.
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Peck, Christopher Charles. "An assessment of condylar kinematics." Connect to full text, 1995. http://hdl.handle.net/2123/4208.
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Thesis (M. Sc. Dent.)--University of Sydney, 1995.<br>Includes tables. Title from title screen (viewed Apr. 16, 2009) Submitted in fulfilment of the requirements for the degree of Master of Science in Dentistry, Faculty of Dentistry. Includes bibliography. Also available in print form.
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Peck, Christopher. "An assessment of condylar kinematics." Thesis, The University of Sydney, 1995. http://hdl.handle.net/2123/4208.
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Most studies of condylar movement are based on the movement of an arbitrary condylar point. As the condyle is a 3-dimensional body which undergoes complex rotations and translations in function, the movement of one point in the vicinity of the condyle may not accurately represent condylar movement. The aims of this investigation were to determine in human subjects, during open-close and excursive jaw movements, the movement patterns of arbitrary and anatomical condylar points; and whether the trajectory of a single selected point can accurately reflect the movement of the condyle. In 44 subjects, condylar point movements were recorded with an opto-electronic tracking system (JAWS3D), which recoded the position of three light-emitting diodes attached to each dental arch. The primary point, selected to represent movement of the condyle, was 15 mm medial to the palpated lateral condylar pole, parallel to the Frankfort horizontal plane. Additionally, four points were selected along orthogonal axes in the sagittal plane, and four in the horizontal plane: each was 5 mm from the primary point. In two subjects, the mandibular condyles were imaged by computerised tomography (CT) and the lateral and medial poles, most superior, anterior and posterior points of their condyles were selected. The trajectories of each point were compared for each subject for the mandibular movements listed above. Variability in both path form and dimension was noted between the subjects for all mandibular movements. For example, in an open-close mandibular movement the condylar point translation varied in the antero-posterior direction between 1.8-22.8 mm, and in the supero-inferior direction between 4.5-12.1 mm. For each subject, the pathway of each point was different in form and dimension from that subject’s other condylar points for the open-close, and ipsilateral lateral mandibular movements. For the open-close movement, in only four of the 44 subjects were the arbitrary point traces similar in form within a subject; and the tracings of each subject’s condylar points showed, on average, a 3.2 mm difference in maximal horizontal (i.e. antero-posterior) translation and 2.9 mm in maximal vertical (i.e. supereo-inferior) translation. For contralateral lateral mandibular movements, the path form and dimension in the sagittal plane of the condylar points were similar within a subject; however the lateral component showed variability in path length for the different points within a subject. The pathways of the condylar points for a protrusive movement displayed the most similarity within a subject, with an average of 0.4 mm variation in maximal horizontal or vertical displacement between each subject’s arbitrary condylar points’ tracings. The anatomical condylar points of the two subjects showed variability between and within each subject. For these two subjects the trajectories of the arbitrary condylar points moved in directions similar to the anatomical points of all movements except for the ipsilateral lateral mandibular movement, where in one subject, the arbitrary condylar points moved posteriorly, inferiorly and laterally whereas the anatomical points moved anteriorly, inferiorly and laterally. There is much variability in both form and dimension for mandibular condylar movement between human subjects. There is also considerable variability within subjects in the form and dimension of condylar point movement, whether arbitrary or anatomical, depending on the point selected. By inference therefore, a single condylar point cannot accurately reflect the movement of the mandibular condyle, except perhaps for a protrusive mandibular movement. Multiple mandibular points are therefore required to describe the motion of the condyle. In an ipsilateral lateral mandibular movement, for example, an arbitrary point may move in a completely different direction to the mandibular condyle, and so anatomically derived condylar points should be utilised to assess accurately condylar movement.
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Peck, Christopher. "An assessment of condylar kinematics." University of Sydney, 1995. http://hdl.handle.net/2123/4208.
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Master of Science<br>Most studies of condylar movement are based on the movement of an arbitrary condylar point. As the condyle is a 3-dimensional body which undergoes complex rotations and translations in function, the movement of one point in the vicinity of the condyle may not accurately represent condylar movement. The aims of this investigation were to determine in human subjects, during open-close and excursive jaw movements, the movement patterns of arbitrary and anatomical condylar points; and whether the trajectory of a single selected point can accurately reflect the movement of the condyle. In 44 subjects, condylar point movements were recorded with an opto-electronic tracking system (JAWS3D), which recoded the position of three light-emitting diodes attached to each dental arch. The primary point, selected to represent movement of the condyle, was 15 mm medial to the palpated lateral condylar pole, parallel to the Frankfort horizontal plane. Additionally, four points were selected along orthogonal axes in the sagittal plane, and four in the horizontal plane: each was 5 mm from the primary point. In two subjects, the mandibular condyles were imaged by computerised tomography (CT) and the lateral and medial poles, most superior, anterior and posterior points of their condyles were selected. The trajectories of each point were compared for each subject for the mandibular movements listed above. Variability in both path form and dimension was noted between the subjects for all mandibular movements. For example, in an open-close mandibular movement the condylar point translation varied in the antero-posterior direction between 1.8-22.8 mm, and in the supero-inferior direction between 4.5-12.1 mm. For each subject, the pathway of each point was different in form and dimension from that subject’s other condylar points for the open-close, and ipsilateral lateral mandibular movements. For the open-close movement, in only four of the 44 subjects were the arbitrary point traces similar in form within a subject; and the tracings of each subject’s condylar points showed, on average, a 3.2 mm difference in maximal horizontal (i.e. antero-posterior) translation and 2.9 mm in maximal vertical (i.e. supereo-inferior) translation. For contralateral lateral mandibular movements, the path form and dimension in the sagittal plane of the condylar points were similar within a subject; however the lateral component showed variability in path length for the different points within a subject. The pathways of the condylar points for a protrusive movement displayed the most similarity within a subject, with an average of 0.4 mm variation in maximal horizontal or vertical displacement between each subject’s arbitrary condylar points’ tracings. The anatomical condylar points of the two subjects showed variability between and within each subject. For these two subjects the trajectories of the arbitrary condylar points moved in directions similar to the anatomical points of all movements except for the ipsilateral lateral mandibular movement, where in one subject, the arbitrary condylar points moved posteriorly, inferiorly and laterally whereas the anatomical points moved anteriorly, inferiorly and laterally. There is much variability in both form and dimension for mandibular condylar movement between human subjects. There is also considerable variability within subjects in the form and dimension of condylar point movement, whether arbitrary or anatomical, depending on the point selected. By inference therefore, a single condylar point cannot accurately reflect the movement of the mandibular condyle, except perhaps for a protrusive mandibular movement. Multiple mandibular points are therefore required to describe the motion of the condyle. In an ipsilateral lateral mandibular movement, for example, an arbitrary point may move in a completely different direction to the mandibular condyle, and so anatomically derived condylar points should be utilised to assess accurately condylar movement.
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Peck, Christopher Charles. "An Assessment Of Condylar Kinematics." Thesis, The University of Sydney, 1988. http://hdl.handle.net/2123/4982.
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Kašėta, Julius. "Jaunių ir suaugusiųjų plaukikų – vyrų starto atlikimo ypatumų lyginamoji analizė." Bachelor's thesis, Lithuanian Academic Libraries Network (LABT), 2014. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2014~D_20140619_113540-43290.
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Tyrimo objektas – vyrų plaukimo starto atlikimo kinematinių parametrų ypatumai, plaukiant 50 ir 100 m laisvu stiliumi. Darbo tikslas – nustatyti stipriausių Europos plaukikų, plaukiančių 50 ir 100 m laisvuoju stiliumi, starto atlikimo kinematinių parametrų ypatumus 50 m ilgio baseine. Hipotezė – povandeninės starto atkarpos įveikimo ypatumai turi vienodą įtaką jaunių ir suaugusiųjų sportiniams rezultatams, sprinto (50 ir 100 m) laisvuoju stiliumi rungtyje. Tyrimo uždaviniai: 1. Nustatyti stipriausių Europos plaukikų, plaukiančių 50 ir 100 m laisvuoju stiliumi atlikimo kinematinius parametrus 50 m ilgio baseine. 2. Palyginti Europos jaunių ir suaugusiųjų plaukikų, plaukiančių 50 ir 100 m laisvuoju stiliumi starto atlikimo kinematinius parametrus. 3. Nustatyti plaukimo laisvuoju stiliumi starto kinematinių parametrų tarpusavio ir su sportiniu rezultatu sąveiką 50 ir 100 m nuotoliuose. Išvados: 1. Europos jaunių ir suaugusiųjų plaukikų, plaukiančių 50 ir 100 m laisvuoju stiliumi, veiksmų ant bokštelio trukmė, atstumas, įveiktas po vandeniu starto metu patikimai nesiskiria (p > 0,05) 2. Suaugusieji Europos čempionatuose statistiskai reikšmingai pranašesni visuose tirtuose parametruose, išskyrus 50 m laisvu stiliumi povandeninės starto atkarpos ilgį. 3. Povandeninės starto atkarpos įveikimo greitis neigiamai įtakojo abiejų amžiaus grupių starto atkarpos įveikimo greitį 100 m laisvuoju stiliumi rungtyje ir suaugusiųjų 50 m laisvuoju stiliumi rungtyje.<br>Research object – kinematic parameters features of start performance in 50 and 100 meters freestyle men swimming. Research aim – determine kinematic parameters features of best European swimmers in 50 and 100 meters freestyle swimming. Hypothesis − distance traveled under the water overcoming features has same influence for adult and junior swimmers 50 and 100 meters freestyle swimming. Objectives of the study: 1. Assess kinematic parameters features of best European swimmers in 50 and 100 meters freestyle swimming. 2. Compare kinematic parameters features of best European Adult and Junior swimmers in 50 and 100 meters freestyle swimming. 3. Assess kinematic parameters features interaction between each other and sport results in 50 and 100 meters freestyle swimming. Conclusions: 1. The time that it takes to for the swimmer to leave the block and distance traveled under the water of European Adult and Junior swimmers in 50 and 100 meters freestyle swimming does not differ significantly. 2. Adults of European championship were better and significantly correlated in all researched parameters except distance traveled under water in 50 m freestyle. 3. Distance traveled under water negatively influenced start distance speed of both adults and juniors in 100 meters and adults in 50 meters freestyle swimming.
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Fabricius, Maximilian Hieronymus [Verfasser], and Ralf [Akademischer Betreuer] Bender. "Kinematics across bulge types : a longslit kinematic survey and dedicated instrumentation / Maximilian Hieronymus Fabricius. Betreuer: Ralf Bender." München : Universitätsbibliothek der Ludwig-Maximilians-Universität, 2012. http://d-nb.info/1023930382/34.
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List, Renate Barbara. "Joint kinematics of unconstrained ankle arthroplasties /." [S.l.] : [s.n.], 2009. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=18404.
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Lader, Pål Furset. "Geometry and Kinematics of Breaking Waves." Doctoral thesis, Norwegian University of Science and Technology, Faculty of Engineering Science and Technology, 2002. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-69.
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<p>The objective of this thesis is to experimentally study different breaking waves cases. This is done by measuring in detail the free surface geometry and the internal kinematics of the waves as they approach breaking. Three principal wave cases were chosen for the study: A plunging breaker, a spilling breaker, and an intermediate breaker.</p><p>A major part of this work is the design, construction and building of a wave laboratory. The laboratory contains a glass wall waveflume which is 13.5m long, 1m deep and 0.6m wide, as well as equipment for measuring both the wave kinematics and geometry optically. The wave kinematics is measured using the Particle Image Velocimetry (PIV) method, while the wave profile geometry is measured using image analysis (space domain geometry), as well as standard wave gauges (time domain geometry).</p><p>The analysis of both the wave kinematics and geometry is done using parameters describing quantitatively important features in the wave evolution. The surface geometry is described using the commonly known zero-downcross parameters, and in addition, new parameters are suggested and used in the study, The kinematics are described by a set of four parameters suggested for the first time in this work. These parameters are: Velocity at the surface, velocity at the still water line (z = 0), mean velocity direction, and local wave number. The purpose of these parameters is to give a better understanding of the space and time domain development of the kinematics, and they appear to be a reasonable compromise between simplicity and accuracy.</p><p>The results presented here represents a thorough and detailed mapping of the breaking process. Much data is gathered and analysed, and throughout this thesis it is sought to present the data in the most intuitive way, so that other investigations may benefit from it. </p>
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McNamee, Louis P. "Photogrammetric calibration of mobile robot kinematics." Thesis, University of Ottawa (Canada), 2003. http://hdl.handle.net/10393/26522.
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Numerous simulation and control applications of mobile robotics require accurate kinematic models. A kinematic model relates the position and orientation of a robot to control inputs. This thesis proposes a non-intrusive methodology to calibrate kinematic models for wheeled mobile robots. Model calibration requires accurate measurement of kinematic state and robust estimation techniques to account for process and measurement uncertainty. A photogrammetric camera system is used to measure the kinematic trajectory of wheeled mobile robot. A fully projective formulation of Lowe's pose recovery algorithm is used to estimate robot pose from monocular images. A derivative free form of the extended Kalman filter is applied to the time series pose data to estimate robot model parameters. Experimental results are presented for a differential wheeled mobile robot. Calibration by photogrammetry is shown to be viable for typical mobile robot applications.
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Tingley, Susan Joanne. "Articulatory kinematics in adductor spasmodic dysphonia." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape9/PQDD_0004/MQ46182.pdf.
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Narasimhan, Sundar. "Dexterous Robotic Hands: Kinematics and Control." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/6834.
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This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are addressed in this report. A multiprocessor architecture has been built with high performance microcomputers on which real-time algorithms can be efficiently implemented. A large software library has also been built to facilitate flexible software development on this architecture. The position and force control algorithms described herein have been implemented and tested on this hardware.
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Kenyon, C. M. P. "The kinematics of the rib cage." Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334132.
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Bouroullec, Renaud. "Synsedimentary fault kinematics and stratigraphic response." Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268915.
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Wilson, David Robert. "Three-dimensional kinematics of the knee." Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.320163.
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Sansom, A. E. "Kinematics and structure of radio ellipticals." Thesis, University of Sussex, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.380532.
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Dickson, Ruth. "The kinematics of human tool use." Thesis, Bangor University, 2018. https://research.bangor.ac.uk/portal/en/theses/the-kinematics-of-human-tool-use(ae098f00-5385-4e16-9d01-60c0d173452c).html.
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The aim of this thesis was to use kinematic analysis to further our understanding of tool Use. We wanted to investigate whether there were similarities in how people picked up objects with their hand and with a tool, and whether these remained when we manipulated the ratio and motor equivalence of the tool. This allowed us to investigate the concepts of end-effector control and internal tool models. Participants compensated for the ratio of the red 1.4:1 tool to the same extent when only cued with tool colour as when having all of the information. This shows that information about the tool must have been stored in memory, supporting the idea of internal tool models. Participants produced qualitatively similar movements with our tools and the hand, showing no difference in the peak velocity and altering peak end-effector aperture based on tool ratio. Further to this, participants displayed similar adaptive mechanisms in response to visual uncertainty with the hand, the blue 1:1 tool and the red tool, but not with the yellow 0.7:1 tool however. Throughout the thesis participants also compensated less for the ratio of this tool than the red one. Whilst attempting to investigate the imperfect compensation seen with both tools we understood this issue more. Participants overestimated object size with the yellow tool and performed more poorly at a size discrimination task as well. This pointed towards a biased internal tool model, tending towards the aperture of the hand. This accounted for the asymmetric compensation seen between the red and yellow tools. We concluded that the imperfect compensation for tool ratio was caused by noise in the internal tool models and that the yellow tool model was then biased as well, further reducing compensation. Our findings support the idea that the precision with which we can use a tool could be modulated by prior experience with that transformation. We also believe that the degree of motor equivalence of the tool contributes to precision of use, with tools that are not directly equivalent taking longer to develop a robust internal model for. However, even tools without direct motor equivalence display some of the hallmarks of reaching and grasping with the hand, suggesting that grasping movements could be encoded in end-effector units.
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Eberman, Brian Scott. "Whole-arm manipulation : kinematics and control." Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14428.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1989.<br>Includes bibliographical references.<br>Support provided in part by the Office of Naval Research University Initiative Program under the Office of Naval Research. N00014-86-K-0685 Support provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research. N00014-85-K-0124<br>by Brian Scott Eberman.<br>M.S.
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Penney, Camilla Emily. "Kinematics and dynamics of continental deformation." Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/278649.
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In contrast to the oceans, deformation in the continental lithosphere is distributed over broad regions. This dissertation is composed of three separate but related studies investigating the kinematics and dynamics of such deformation. The first two studies look at the Makran subduction zone, and the third focusses on deformation in South East Tibet. The first study is an investigation of the 11 May 2013 M w 6.1 Minab earthquake which occurred at the western end of the Makran subduction zone, adjacent to the transition to continent-continent collision in the Zagros mountains. Seismological, geodetic and field results are used to study the source parameters and slip distribution of this earthquake, and demonstrate that the earthquake was left-lateral and occurred on a fault striking ENE–WSW; approximately perpendicular to previously studied faults in the adjacent Minab-Zendan-Palami fault zone. Geological and geomorphological observations of similar faults in the vicinity are used to infer that vertical-axis rotations allow a series of such faults to accommodate ∼15–19 mm/yr of N–S right-lateral shear. The dynamic implications for the transition between subduction and continental collision are discussed. The second study looks at the Makran region as a whole. First, the shape and depth of the interface with the Arabian plate is constrained by modelling the depths and mechanisms of earthquakes across the region, and combining these with additional seismological constraints. These constraints on the subduction interface are used to investigate elastic strain accumulation on the megathrust in the western Makran, which has important implications for seismic and tsunami hazard in the region. Second, the kinematics at the northern edge of the Makran accretionary prism are investigated using a combination of geodetic and geomorphological observations, addressing the long-standing tectonic problem of how the right-lateral shear taken up by strike-slip faulting in the Sistan Suture Zone in eastern Iran is accommodated at the zone’s southern end. Finally, the kinematics and dynamics of the accretionary prism are investigated. By considering the kinematics of the 2013 Balochistan and Minab earthquakes, local gravitational and far-field compressive forces in the Makran accretionary prism are inferred to be balanced. This force balance allows the mean shear stress and effective coefficient of friction on the Makran megathrust to be calculated, 5–35 MPa and 0.01–0.03 respectively. The final part of this thesis focusses on the temporal evolution of topography in South East Tibet. Recently published paleoaltimetry results based on stable-isotope geochemistry are used to provide constraints on vertical motions. These demonstrate that uplift is much slower than had previously been suggested from thermochronometric data. Numerical modelling of the time evolution of a gravitationally-driven fluid is used to investigate the effect of lateral rheological contrasts on the shape and evolution of topography. In such a flow, material at the surface can be transported hundreds of kilometres, an effect which should be accounted for in paleoaltimetric analysis. Lateral rheological contrasts, analogous to the relatively undeforming Sichuan Basin and Central Lowlands of Myanmar, can reproduce the main features of the present-day topography, GPS velocity field and earthquake-derived strain rate without the need for a low-viscosity lower-crustal channel.
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Warner, Martin Bryan. "Measurement and classification of scapular kinematics." Thesis, University of Southampton, 2011. https://eprints.soton.ac.uk/210967/.
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Shoulder pain is associated with abnormal movement of the scapula. Quantitative measurement and classification of abnormal scapular kinematics, however, is difficult due to the gliding nature of the scapula beneath the skin surface, and large variation in data. The aims of this study were to determine the validity and reliability of the acromion marker cluster (AMC) in measuring scapular kinematics during the arm lowering phase, to measure poor control of the scapula in people with a history of shoulder pain and a group with shoulder impingement, and objectively classify poor control scapular control. The validity and reliability of the AMC was compared to the scapular locator. The AMC was valid during sagittal and scapular plane arm lowering movements (max root mean square error = 6.1°), but had poor to fair reliability (ICC = 0.12 – 0.76). The AMC was used to determine whether a group of people with a history of pain, and those with shoulder impingement, exhibited poor scapular control when performing a scapular repositioning clinical manoeuvre, compared to a healthy control group. The history of pain group exhibited an increased position of scapular downward rotation (-7.9° ± 6.3) at the end of the manoeuvre when compared to the healthy control group (0.3° ± 4.4). There were no statistical differences in people with shoulder impingement. A statistical classification technique based on the Dempster-Shafer Theory of Evidence (DST) was used to objectively classify participants as having poor scapular control. Six kinematic variables were was used as input in to the DST classifier which classified 5 out of the 6 history of pain participants as having poor scapular control, with an accuracy of 72%. The DST multivariate classifier was reasonably successful at classifying participants with poor scapular control suggesting its potential use for future analysis of abnormal scapular kinematics.
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Pandit, Hemant Govind. "Sagittal plane kinematics after knee arthroplasty." Thesis, University of Oxford, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.510203.
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Eftaxiopoulou, Theofano. "Measuring elbow kinematics in cricket bowling." Thesis, Imperial College London, 2011. http://hdl.handle.net/10044/1/9133.
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In the sport of cricket the objective of the ‘no-ball’ law is to allow no performance advantage through elbow extension during ball delivery. Since the advent of high-speed video photography it has been revealed that some straightening occurs in bowlers who have actions that are traditionally considered in accordance with the law. Measuring the three-dimensional movement of the elbow is vital when assessing bowling legality in cricket. However, the elbow joint is a complex structure with a remarkable range of motion and tracking its movement through skin-based techniques can be highly erroneous due to the thick layer of skin overlying the joint. Within this work, a biomechanical model was mathematically developed and experimentally validated to assess bowling legality in cricket. The new model meets all of the specifications of a measurement method to be used in sports-related biomechanical studies for non-invasive measurement of joint kinematics at high speeds whilst allowing for the subject to move freely within a large volume. The model was compared with existing methods via a series of sensitivity analyses and was found to significantly improve repeatability compared to available elbow measurement techniques particularly in measuring subtle elbow rotations, such as elbow abduction and forearm pronation. In addition this model can be easily implemented within the existing experimental protocol for assessing bowling legality in cricket as proposed by the England and Wales Cricket Board and will be used in future clinical and sport-related studies.
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Long, Manda Marie. "Kinematics of the fingers during typing." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-06162009-063244/.
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Emiris, Ioannis Z. "Sparse elimination and applications in kinematics /." Berkeley, CA US : Univ. of California at Berkeley, 1994. http://www-sop.inria.fr/saga/personnel/Ioannis.Emiris/index.html.
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Szyszka, Cezary Tadeusz. "The kinematics of selected planetary nebulae." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/the-kinematics-of-selected-planetery-nebulae(cf2aa518-fd62-4b9e-8e1c-885edea52ceb).html.
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Planetary nebulae are formed from the ejecta of evolved stars. These ejecta are swept up by the fast low density wind from the hot central star, as it evolves towards a white dwarf. The sweep-up mechanism is called the Interacting Stellar Winds model (Kwok et al. 1978). The history of mass loss is imprinted on the nebular ejecta. The velocity field of the ejecta traces the mass loss event. A continuous mass loss gives a different velocity field from a brief mass loss event. We employed Integral Field Unit spectroscopy to study the velocity fields of three Bulge Planetary Nebulae. The preliminary results show the advantage of continuously sampled IFU spectroscopy over long slit spectroscopy. The kinematic of the nebula NGC 6302 was studied in the plane of the sky by com- parison of two epochs of Hubble Space Telescope images separated by 10 years. A two dimensional velocity field was created from 200 measurements. The nebular lobes are found to follow a Hubble-Flow, and were ejected in a brief event 2250 ± 35 yr ago. The ejection of lobes occurred about 700 yr after the end of AGB mass loss. The distribution of ages revealed that the inner nebula appears to be younger. This effect can be explained with additional acceleration at later stages of nebula evolution. The central star of NGC 6302 is believed to be extremely hot based on observed ionization stages in the spectrum. In this thesis the detection of the NGC 6302 central star is reported. The luminosity of the star was determined to be 4 010 L⊙. Together with age of the nebula age the mass of the star could be considerably narrowed down the mass determination of the star to 0.64 ± 0.01 M⊙.
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Petruška, Bohumil. "Lineární jednotka s hydraulickým pohonem pro robot s paralelní kinematickou strukturou." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230328.
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This thesis deals with new construction of hydraulic linear drive for paralell kinematics structures of robots. In the first section provides a historical development of robots with this structures. There are also described differences between each machine with this structures and compares them with machines with linear structures. In the second section is made a proposal of hydraulic actuator. Designed actuators are arranged into hexapod. There is also included a proposal of possible solutions to fixing hydraulic actuator to platform and base. This thesis include drawings of selected parts and drawing of a whole set of new designed hydraulic actuator. It is included a block diagram of the hydraulic circuit.
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Налимова, П. Н., та А. В. Скорик. "Вариант представления основных понятий кинематики в блоковой форме". Thesis, Сумский государственный университет, 2015. http://essuir.sumdu.edu.ua/handle/123456789/39908.
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Vacek, Václav. "Aplikace technologie MOLECUBES v robotice." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-242848.
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The aim of the thesis is to propose and make a robot, which is made of identical modules. These modules are able to connect or disconnect themselves and thanks to this feature new structures of robot can be achieved. This problem is solved by the design proposal of a module, which is capable to rotate in two axis and has connection connectors for other modules. Communication is carried out by Wi-fi connection to the computer and angles required for reconfiguration are calculated by inverse kinematics in Matlab program. On these modules the reconfiguration test was succesfully demonstrated.
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Vítek, Filip. "Konfigurace robotické struktury za použití MOLECUBES." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232194.
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This master thesis is focused on Modular Self-Reconfigurable Robotic Systems. Their description is made at first and then possibilities of their use are listed. The next chapter concerns Molecubes modular system. The design of similar system where the construction of the individual modules is described follows. The transformations of coordinated systems in the individual modules are described and the calculation of forward kinematics and simulation of inverse kinematics is made at the end of the thesis.
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Larsson, Fredrik. "Visual Servoing Based on Learned Inverse Kinematics." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710.
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<p>Initially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [2]. The correctness of the analytic model could be confirmed through a simulated ideal robot and the source of the problem was deemed to be nonlinearities introduced by weak servos unable to compensate for the effect of gravity. Instead of developing a new analytical model that took the effect of gravity into account, which would be erroneous when the characteristics of the robotic arm changed, e.g. when picking up a heavy object, a learning approach was selected.</p><p>As learning method Locally Weighted Projection Regression (LWPR) [27] is used. It is an incremental supervised learning method and it is considered a state-ofthe-art method for function approximation in high dimensional spaces. LWPR is further combined with visual servoing. This allows for an improvement in accuracy by the use of visual feedback and the problems introduced by the weak servos can be solved. By combining the trained LWPR model with visual servoing, a high level of accuracy is reached, which is sufficient for the shape sorting puzzle setup used in COSPAL.</p>
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Xu, Qing Song. "Kinematics, dynamics and control of parallel robots." Thesis, University of Macau, 2004. http://umaclib3.umac.mo/record=b1446180.
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Bull, Anthony Michael James. "Measurement and computer simulation of knee kinematics." Thesis, Imperial College London, 1999. http://hdl.handle.net/10044/1/8379.
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