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Tesi sul tema "Arm"

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Autore: Grafiati
Pubblicato: 4 giugno 2021
Ultima modifica: 30 luglio 2024

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1

Nore, Miko, e Caspar Westerberg. "Robotic Arm controlled by Arm Movements". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264509.

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Abstract (sommario):
In recent decades human workers in manufacturing and overall industry have largely been replaced with robots and automated machines, but there are still plenty of tasks where human cognition is necessary. This paper presents the development of a wireless robotic arm controlled by a human arm, allowing both for the combination of a robotic arms strength to be combined with a humans cognition, and also for a human to execute dynamic tasks without being present. An application suited for work in toxic or otherwise harmful environments. This was accomplished by using a controller in the form of an exo-skeleton attached to the operators right arm and connected to the robotic arm through a transmitter. The controller measures the movements in each joint using potentiometers and the robotic arm mimics these movements. A glove with a flex sensor on the index finger was then attached to the controller to measure the finger motions. All the information containing the angle of rotations are sent wirelessly to the robotic arm using Arduino Uno and transceiver modules. The robotic arm received the information through another set of Arduino Uno and transceiver module which made each servomotor on the robotic arm to move accordingly. The result showed that the robotic arm could imitate the operator’s arm very well and was able to grab and move dierent objects with dierent weight and surfaces. The wireless control was reliable and could control the robotic arm while being in a dierent room, making it possible to use this robot for harmful environments for humans.
Under senare årtionden har mänskliga arbetare inom tillverkning och industri över lag i stor utsträckning ersatts av robotar och automatiserade maskiner, men det finns fortfarande uppgifter som kräver mänsklig tankeförmåga. Denna rapport presenterar utvecklingen av en trådlös robotarm styrd av en människas arm, vilket möjliggör både att kombinera en maskins styrka med en människas intelligens, samt för en människa att utföra dynamiska uppgifter utan att vara närvarande. En applikation lämplig för arbete i farliga miljöer. Detta uppnåddes med en styrenhet i form av ett exo-skelett fastsatt på operatörens högra arm och kopplad till robotarmen genom en sändare. Styrenheten mäter rörelserna i varje led med potentiometrar och robotarmen härmar dessa rörelser. En handske med en flexsensor på pekfingret fästes sedan på styrenheten för att mäta fingerrörelsen. All information som innehåller vinklar skickas trådlöst till robotarmen med hjälp av Arduino Uno och transceiver moduler. Robotarmen mottog informationen via en annan uppsättning Arduino Uno och transceiver modul som fick varje servomotor på robotarmen att rotera i enlighet. Resultatet visade att robotarmen kunde imitera operatörens arm väl och kunde bära olika föremål med olika vikter och ytor. Den trådlösa styrningen var pålitlig och kunde styra robotarmen från ett annat rum, vilket gör det möjligt att använda denna robot i skadliga miljöer för människor.
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2

Immenschuh, Ursula. ""My arm und leg they are just sleeping"". Saarbrücken VDM Verlag Dr. Müller, 2005. http://d-nb.info/987893564/04.

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3

On, Calvin. "ANA : a method for ARM-on-ARM execution". Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/45973.

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Abstract (sommario):
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2007.
Includes bibliographical references (p. 61-62).
This thesis proposes and implements ANA, a new method for the simulation of ARM programs on the ARM platform. ANA is a lightweight ARM instruction interpreter that uses the hardware to do a lot of the work for the read-decode-execute piece of simulation. We compare this method to the two existing methods of full simulation and direct execution that have been traditionally used to achieve this. We demonstrate that despite some setbacks caused by the prefetching and caching behaviors of the ARM, ANA continues to be a very useful tool for prototyping and for increasing simulator performance. Finally, we identify the important role that ANA can play in our current efforts to virtualize the ARM.
by Calvin On.
M.Eng.
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4

Loburenko, M. V. "Bionic arm". Thesis, Сумський державний університет, 2013. http://essuir.sumdu.edu.ua/handle/123456789/33723.

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Abstract (sommario):
A new prosthetic arm has been developed by a researcher in Switzerland that not only provides the user with a working limb, but also lets them feel rudimentary sensations from the hand and fingers. It's being tested out on an anonymous patient later this year. The artificial limb was designed by Dr. Silvestro Micera at the Ecole Polytechnique Federale de Lausanne in Switzerland. It works by tapping directly into the median and ulnar nerves in the arm, allowing signals from the brain to reach the limb — and vice versa. When you are citing the document, use the following link http://essuir.sumdu.edu.ua/handle/123456789/33723
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5

MARKOVSKA, MARIA, e VIEIDER FELICIA GIHL. "Drawing robotic arm". Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226660.

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Abstract (sommario):
A drawing robot requires precise steering and high accuracy.The purpose with this project is to design a roboticarm with 3-dof that can be fed with a gray scale picture anddraw it on a paper. This thesis investigates which drawingtechnique that fits better for the robot, which controller isthe most suitable and what accuracy is achieved with thechosen controller. During the project a drawing robot iscreated and two different controllers are implemented andtested PD and PID. The implementation shows that PDcontrol is not working for this application. Therefore, PIDcontrol is the most suitable. Experiments are set up tomeasure the drawing accuracy using the PID-controller. Adrawing accuracy of ±11mm is achieved by the robot. Theachieved accuracy is a result depending on several factors,for instance the resolution of the potentiometers.
En ritande robot kräver en precis styrning och hög noggrannhet. Syftet med detta projekt är att skapa en robot arm med tre frihetsgrader som kan matas med en svartvit bild och rita upp den på ett papper. Projektet undersöker vilken ritteknik som är mest passande för ändamålet, vilken regulator som passar bäst samt vilken noggrannhet som uppnås för den ritade bilden. Under projektets gång skapas en ritande robot och två olika regulatorer testas och implementeras, PD- och PID-regulatorn. Implementeringen visar att en PD-regulator inte fungerar för denna applikation. PID-regulatorn är därför den lämpligaste. Experiment utförs med PID-regulatorn implementerad för att mäta den noggrannhet som roboten ritar med. Roboten uppnår en noggrannhet på ±11mm. Den uppnådda noggrannheten är ett resultat beroende av flera faktorer, bland annat upplösningen på potentiometrarna.
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6

WALLÉN, KIESSLING ALEXANDER, e NICLAS MÄÄTTÄ. "Anthropomorphic Robot Arm". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279804.

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Abstract (sommario):
Robot manipulators are commonly used in today's industrial applications. In this report a 3D-printed anthropomorphic robot arm with three degrees of freedom was constructed. The robot arm operates with the use of a microcontroller and servomotors. Through utilizing the Denavit-Hartenberg method and inverse kinematics the robot’s end effector is able to reach a specified point in space. This report has found that the accuracy of the constructed robotic manipulator reaching a specific coordinate depends on the distance of the end effector from its base. The relative error of the constructed robot’s positioning falls within 1.3- 6.9%, with a 99% confidence.
Robotmanipulatorer är idag vanligt förekommande i industriella applikationer. I denna rapport konstrueras en 3D-printad antropomorf robotarm med tre frihetsgrader. Robotarmen styrs med hjälp av en mikrokontroller och servomotorer. Baserat på DenavitHartenberg metoden och inverskinematik kan robotens ändpunkt ta sig till en specificerad punkt i rummet. Vidare har rapporten funnit att den konstruerade robotens exakthet beror på avståndet emellan robotens manipulator och dess bas. Det relativa felet av robotens positionering ligger inom intervallet 1.3-6.9% med en 99% konfidens.
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7

Aronsson, Alexander, e Fahim Pirmohamed. "Multipurpose Robot Arm". Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296223.

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Abstract (sommario):
Today’s society is facing a large increase of automation and smart devices. Everything from coffee machines to fridges include some kind of electronics and embedded systems. The focus of this Bachelor’s thesis was to dive deeper into how these automated devices can be controlled and more specifically a robot arm. The main purpose revolved around constructing a robotic arm that could be controlled through three different methods using MATLAB. These three were manual control, numerical analysis control and with a neural network based control. The prototype was created by assembling six servo motors onto 3D-printed parts. The arm consisted of three main parts which were a base, an arm and a gripper. The system was controlled by an Arduino micro-controller connected to a computer. The results show that the manual control method was easy to implement, fast and reliable. It allows control of all the angels for each servo motor, which also means controlling each individual degree of freedom. The numerical way, using Newton-Raphson’s method, broadened the abilities to control the arm but was slower. The third and final solution was to use fuzzy-logic. This ended up being a powerful method allowing for great control with low latency. While unreliable, the method showed great potential and with refinement could surpass the others. The conclusion was that the neural network method was the overall best method for controlling and manoeuvring the robot arm using MATLAB.
Dagens samhälle står inför en stor ökning av automatisering och smarta produkter. Allt från kaffemaskiner till kyl och frys innehåller någon form av elektronik och inbäddade system. Det huvudsakliga syftet med detta kanditatexamensarbete var att gräva djupare i hur dessa automatiserade produkter kan kontrolleras och mer specifikt i detta fall, en robotarm. Projektet handlade om att konstruera en robotarm som kunde styras och kontrolleras genom tre olika metoder i programmet MATLAB. Dessa tre har vi valt att kalla manuell kontroll, numerisk kontroll och neuralt nätverksbaserad kontroll. Prototypen tillverkades genom att montera sexservomotorer på 3D-utskrivna delar. Armen bestod av tre huvuddelar, en bas, en arm och en gripklo. Systemet styrdes av en Arduino mikrokontroll ansluten till en dator. Resultaten visar att den manuella kontrollmetoden var enkel att implementera, snabb samt var tillförlitlig. Den gav precis styrning av alla vinklar för varje servomotor, vilket också innebar att den gav god styrning av varje frihetsgrad. Den numeriska metoden, mer bestämt Newton Raphson’s metod, vidgade möjligheterna att kontrollera armen men var långsammare. Den tredje och sista lösningen var att använda ett neuralt nätverk, fuzzy logic. Detta visade sig vara ett kraftfullt sätt att styra roboten med låg latens. Det neurala nätverket visade sig dock vara opålitligt, men metoden visade stor potential för vidare utveckling och kan då prestera mycket bättre än de andra två metoderna. Slutsatsen var att det neurala nätverket var den generellt bästa metoden för att kontrollera och manövrera robotarmen via programmeringsprogrammet MATLAB.
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8

Polson, Kathryn. "Test-retest reliability and responsiveness of the shortened disability arm shoulder hand (QuickDASH) questionnaire a pilot study : a dissertation submitted to Auckland University of Technology in partial fulfilment of the requirements for the degree of Master of Health Science (MHSc), 2007 /". Abstract. Full dissertation, 2007.

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Abstract (sommario):
Dissertation (MHSc--Health Science) -- AUT University, 2007.
Primary supervisor: Duncan Reid. Includes bibliographical references. Also held in print (ix, 60 leaves ; 30 cm.) in North Shore Campus Theses Collection (T 615.82 POL)
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9

BATOR, CHRISTOFFER, e RICKARD SVENSSON. "Exoskeleton arm : How to construct a smart support structure for an arm". Thesis, KTH, Mekatronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190843.

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Abstract (sommario):
The purpose of this thesis was to find an optimal way to construct and control a product that could help those who suffer from muscle weakness or a muscle sickness. The device was made out of two major parts (upper arm and lower arm) which were connected through a motorized joint. The focus was on finding a satisfying construction that could handle the forces and with the help of sensors measure movement of the users arm relative to the construction and then control it using that information. The device needed to be fast and reliable and react to small movements to be as comfortable for the user as possible.  The result was a construction controlled by measuring the forces from the user’s movement with the use of force sensors placed at the wrist. The construction managed to follow the users’ arm, fast and in a satisfactory way.
Tanken med detta arbete var att hitta ett optimalt sätt att konstruera en produkt som skulle hjälpa de som lider av muskel -svaghet och -sjukdom. Produkten skulle bestå av två större delar (överarmen och underarmen) som var sammanlänkade med en motoriserad led. Fokusen låg på att hitta en tillfredställande konstruktion som kunde hantera krafterna och med hjälp av sensorer kunna mäta avståndet och rörelsen på användarens arm och förflytta konstruktionen utifrån det. Produkten behövde vara snabb, pålitlig och reagera på små rörelser för att vara så bekväm för användaren som möjligt. Resultatet blev en konstruktion som styrs genom att mäta tryckkraften, när användaren flyttar armen, med hjälp av trycksensorer som placeras vid handleden. Konstruktionen lyckades följa användarens arm, snabbt och på ett tillfredställande sätt.
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10

Fillis, Alicia Jo-Anne. "Gesinsveerkragtigheid by arm enkelouergesinne". Thesis, Stellenbosch : University of Stellenbosch, 2005. http://hdl.handle.net/10019.1/1555.

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Abstract (sommario):
Thesis (MSc (Psychology))--University of Stellenbosch, 2005.
Family resilience focuses on the salutegenic properties of families and refers to the ability of families to return to normal family functioning after experiencing adversity. The primary aim of this study was to identify factors that contribute to resilience in poor single parent families.
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11

Mulumbwa, Sebe Stanley. "Humanoid Arm Geometric Model". Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-21769.

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Abstract (sommario):
The world is slowly moving into increased human-robot interaction where both humans and robots can co-exist in the same domain. For the robot to be able to operate effectively in a man’s designed environment, it becomes necessary to model the robot with human capabilities as humans are seen as more capable. Replicating human becomes a huge challenge due to numerous degrees-of-freedom (DOFs) that human possess resulting into too many variables and nonlinear equations. Other challenges do occur like singularities.   In this thesis, the singularity challenge of a redundant humanoid arm is explored while maintaining a simple 7 DOF serial chain structure. As opposed to the 30 DOF human arm, a simpler 7 DOF humanoid arm is adopted and studied to eliminate the singularity challenges. The singularity problem mainly comes from the elbow and the spherical joints at the shoulder and wrist. A step-by-step review of available inverse kinematics techniques is made with more focus on the iterative Jacobian-based methods. A step-by-step approach is adopted so as to identify the source of singularities while using the iterative Jacobian-based techniques that are able to handle the nonlinearities of the equations.   The Singular Value Filtering (SVF) technique coupled with Selectively Damped Least Squares (SDLS) is employed. Without any restrictions to the stretch of the arm or end-effector pose, the method demonstrates, in conjunction with Euler angle singularity avoidance method, the elimination of singularity problems. This is achieved with no adjustment to kinematic model of the manipulator.
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12

Hothi, Jaspal S., Ranjit R. Philip, Melinda Lucas e Gayatri Jaishankar. "Lazy Arm Racy Infant". Digital Commons @ East Tennessee State University, 2010. https://dc.etsu.edu/etsu-works/8852.

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13

Inácio, Marcus. "Measuring hand-arm vibrationsSpecifying". Thesis, KTH, Medicinteknik och hälsosystem, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-282881.

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Abstract (sommario):
Abstract Working conditions with habitual exposure to vibration is the cause of many working related injuries, and a good example of the negative effects which environmental factors can have on workers’ health, as well as social and business economic consequences. Although there exist regulations which limit exposure levels, this is not something which is monitored in the workplace environment. The objective of the project is to propose a vibration measurement method for field use, compatible and derived from an investigation of the current measurement standards. A prototype system was developed for evaluation of the proposed measurement method, specified according to measurement and functional requirements which form the definition of “suitable technology” for the task. To answer the stated research questions, a literature review was conducted with the purpose of stating the requirements for a hand-arm vibration measurement system, as well as to collect information on the technical suitability of the components needed to design a complete prototype measurement system. Two laboratory experiments were used in order to evaluate the proposed measurement method, where the prototype system was used to carry out the data collection. The results consist of summarized findings of the measurement requirements from the literature review, presentation of the proposed measurement method and the documentation regarding the development of the prototype system. Also included are the results from the two laboratory experiments. To conclude, a proposed measurement method was developed, along with a prototype sensor system, and tested in two trials. The results indicate that the proposed measurement method and prototype system is capable of detecting vibration energy absorption in the hand tissue. The findings regarding system and method requirements provides an opportunity to further research, development and to improve safety in the working environment. Keywords: hand-arm vibration, exposure, measurement method
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14

Bidgood, Lee, e Banjo Romantika Band. "Performance at ARM Banquet". Digital Commons @ East Tennessee State University, 2018. https://dc.etsu.edu/etsu-works/3255.

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15

Karlsson, Mattias, e Axel Magnusson. "Wire and Arc Additive Manufacturing : Pre printing strategy for torque arm". Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79176.

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Abstract (sommario):
Wire and Arc Additive Manufacturing (WAAM) is a novel Additive manufacturing method. It is a high deposition rate process which can be suitable for producing low to medium quantities of medium to large sized components. Because it is such a novel method, there are still somechallenges to solve for the method to be useful. This project have been focusing on how to dealwith these challenges and how to manufacture a torque arm with WAAM. This includes the process on how to go from a CAD model to a printed product. Tests have been done during the project parallel with the design of the torque arm. The design have been modied according to the results from the tests. The result of the project was a more specic description how the softwares can be used to optimizethe process for a successful print. The used slicing software, Simplify3D, have some limitations and other options should be considered. Some limitations for the part design have been identied and some known challenges have been solved. The torque arm was successfully printed but with more time and refinement, the added offset could be reduced. The process was time consuming and needs to be more automated in the future. Some proposals on what should be further tested and evaluated is also stated in this report.
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16

Hatzitaki, Vassilia. "Patterns of interlimb coordination during asymmetrical reaching movements". Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29042.

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Abstract (sommario):
The present study investigated the patterns of interlimb organization during the concurrent performance of asymmetrical reaching movements. The inherent tendency towards interlimb synchronization often constrains activities requiring the two limbs to move over different distances or at different movement speeds. The study of bimanual coordination has shown that the amount of interlimb interference during bilateral performance of asymmetrical actions, is regulated according to the magnitude characteristics of the variable used to introduce the asymmetry between the limbs. The purpose of the present study was to examine the relationship between the degree of interlimb decoupling and the magnitude of the asymmetry between the limbs. Asymmetry was systematically manipulated by scaling the magnitude of the interlimb difference in final target distance, during bimanual performance of reaching movements. The degree of interlimb decoupling was reflected in the movement time, muscle activity onset and joint torque relationship between the limbs.
Decoupling of the asymmetrical limb movements was effected by an earlier onset of the antagonist muscles in the constrained limb which scaled the amount of muscle torque production and therefore the stiffness of the limb during the acceleration phase of the movement. Thus, the movement amplitude differentiation was achieved by an initial accelarative impulse attributed to the differential control of the muscle torque production at each joint. On the other hand, the interactive forces played a secondary role in the degree of decoupling process. Overall, the degree of decoupling scaled according to the magnitude of the interlimb difference in distance; the greater the asymmetry, the greater the differentiation between the limbs. However, systematic variations of the interlimb asymmetry in distance gave rise to a wide variety of individual decoupling trends. Bimanual practice of the asymmetrical reaching tasks did not result in the development of more independent limb movements. The results of the present study have implications to human factor design and ergonomics.
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17

Shah, Shridhar. "Musculoskeletal simulation of upper extremity motion effect of selective muscle weakness and application to rehabilitation /". Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 147 p, 2009. http://proquest.umi.com/pqdweb?did=1889099081&sid=9&Fmt=2&clientId=8331&RQT=309&VName=PQD.

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18

Erlhagen, Wolfram. "Lokalisierte, stationäre Verteilung in neuronalen Feldern : Modellierung experimenteller Befunde zur Planung und Kontrolle zielgerichteter Bewegungen /". Thun ; Frankfurt am Main : Deutsch, 1997. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=009134234&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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19

Müller, Stefan. "Psychophysik willkürlicher Bewegungen: Kinästhesie der Geschwindigkeit eine neuartige Methode zur erstmaligen Erhebung von Unterschiedsschwellen in der kinästhetischen Wahrnehmung der Geschwindigkeit von willkürlich ausgeführten Armbewegungen /". [S.l. : s.n.], 2001. http://deposit.ddb.de/cgi-bin/dokserv?idn=963416324.

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20

Knarr, Brian A. "Design and analysis of a finite element model of the biceps brachii integrated with dynamic in vivo strain fields". Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 196 p, 2008. http://proquest.umi.com/pqdweb?did=1650507211&sid=4&Fmt=2&clientId=8331&RQT=309&VName=PQD.

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21

Kelly, Richard E. "An investigation of the necessity of an upper extremity injury prevention program". Online version, 1999. http://www.uwstout.edu/lib/thesis/1999/1999kellyr.pdf.

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22

Abdulhadi, Sami. "ARM i inbyggt system - med prototyp". Thesis, Karlstad University, Faculty of Technology and Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-4612.

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Abstract (sommario):

Inbyggda system blir allt vanligare i dagens samhälle. De inbyggda systemen finns i nästan allt nuförtiden, från diverse fordon till leksaker för barn.

Dagens teknik innebär bland annat att gårdagens lösningar kan realiseras på en bråkdel av den tidigare ytan. Allt mer blir ytmonterat med mindre och mer komplexa kretsar. Detta är inte alltid till utvecklarnas fördel då montering av prototypkort blir en svår och/eller dyr process.

Målet är att ta fram ett inbyggt system med en ARM-processor. Systemet ska innehålla USB-OTG, ethernet, minne av olika slag som FRAM och microSD samt en display med pekskärm för användargränssnitt. Projektet omfattar allt från komponentval till test och verifiering med programkod.

Tiden räckte inte till för att få med alla delar som planerats. Resultatet av projektet blev ett prototypkort och två små programsekvenser, en som blinkar två lysdioder på kortet och en som skriver ut en bild på displayen.

Detta inbyggda system är i första hand till för utvärdering av ARM-processorer för Mikrodidakt AB.


Embedded systems has become more and more common in today's society. The embedded systems are included in almost everything today, from various vehicles to children's toys.

Today's technology means that yesterday's solutions can be realised on a fraction of the area. More and more become surface mounted with smaller and more complex circuits. This is not always an advantage for the developers when assembling and soldering prototype circuit boards become a more difficult and/or an expensive process.

The goal is to create an embedded system with an ARM-processor. The system will consist of USB-OTG, ethernet, various memory like FRAM and microSD and a display with touchscreen for user interface. The project includes everything from choice of components to test and verification with program code.

The time was too short to include all the parts that was planned. The result of the project was a prototype card and two small program sequences, one that blinks the two light diodes on the card and one that writes a picture on the display.

This embedded system is intended for evaluating ARM-processors by Mikrododakt AB.

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23

Gabriel, David Abraham. "Muscle activation patterns for goal-directed multijoint arm movements". Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=28748.

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Abstract (sommario):
The purpose of this dissertation was to determine if the CNS produces relatively simple alterations in muscle activity to accomplish goal-directed reaching motions of the upper limb under a variety of movement conditions.
To this end, six subjects performed goal-directed arm movements in the horizontal plane. Two movement amplitudes (300 mm and 400 mm) were completed at a moderate speed (1050 mm/s) and as-fast-as possible. The speed and amplitude conditions were repeated for the 45$ sp circ$ and 90$ sp circ$ movement directions. Finally, each of the movement conditions mentioned thus far, were performed within the right and left sections of the work-space. Surface electro-myographic activity was recorded from the pectoralis major, posterior deltoid, biceps brachii short head, brachioradialis, triceps brachii long head, and triceps brachii lateral head. Motion recordings were obtained with a spatial imaging system that monitored the positions of infrared emitting diodes attached to the subject's upper arm and forearm-hand complex.
Several simplification schemes were found to be operative at the level of the electro-myogram. These include: (a) simple timing relationships for agonists between joints and agonist/antagonist intermuscle latencies within each joint; (b) tightly coupled timing between agonists within a single joint; (c) for a particular movement direction, the form and shape of EMG burst activity followed a strategy associated with modulation of pulse height and width; (d) the slope, duration, and onset were further affected by the direction of hand movement which resulted in the greatest RMS-EMG signal amplitude, changing in a predictable manner, and finally (e) there was tuning in which elbow muscles were activated earlier for goal-directed arm movements in the left area of the work-space.
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Leeb, Adam Paul. "Anthro Arm : the design of a seven degree of freedom arm with human attributes". Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40458.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 24).
Studying biological systems has given robotics researchers valuable insight into designing complex systems. This thesis explores one such application of a biomimetic robotic system designed around a human arm. The design of an anthropomorphic arm, an arm that is similar to that of a human's, requires deep insight into the kinematics and physiology of the biological system. Investigated here is the design and completion of an arm with 7 degrees of freedom and human-like range of motion in each joint. The comparison of actuation schemes and the determination of proper kinematics enable the arm to be built at a low cost while maintaining high performance and similarity to the biological analog. Complex parts are built by dividing structures into interlocking 2d shapes that can easily be cut out using a waterjet and then welded together with high reliability. The resulting arm will become part of a bionic system when combined with an existing bionic hand platform that is being developed in the Intelligent Machines Laboratory at MIT. With a well thought out modular design, the system will be used as a test bed for future research involving data simplification and neurological control. The completion of the anthropomorphic arm reveals that is indeed feasible to use simple DC motors and quick fabrication techniques. The final result is a reliable, modularized, and anthropomorphic arm.
by Adam Paul Leeb.
S.B.
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25

Sæstad, Ane. "Dependability modelling of Jgroup/ARM". Thesis, Norwegian University of Science and Technology, Department of Telematics, 2008. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-8871.

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In the later years, fault tolerant distributed systems have been applied to a variety of network internal and external services. Keeping distributed systems consistent and fault tolerant require management functionality. Jgroup/ARM is a java based prototype system which automates this management functionality for fault tolerant distributed systems. This thesis presents an evaluation of the dependability characteristics of the Jgroup/ARM system. Both static and dynamic modelling techniques are introduced, but the main focus is on the dynamic techniques; state-diagrams and Petri net models. Previous work is evaluated to nd an approach suitable for dependability modelling of Jgroup/ARM. A system delivery model for Jgroup/ARM is developed based on its functionality. The monitored subsystem is dened to include the hardware (processors), a given number of services in the system and the replication management functionality (ARM framework). A Petri net model of Jgroup/ARM is developed in the Möbius modelling tool based on the system delivery model. A model of a single service replicated on a cluster of processors is developed, analyzed and expanded to include multiple services and the ARM framework functionality. The dependability of Jgroup/ARM is evaluated through simulating example scenarios in Möbius. The results show that the system availability is very high, even with a relatively high failure rate.

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26

Yilmaz, Serter. "Passive Haptic Robotic Arm Design". Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.

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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery. In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques. Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.
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27

Rönnqvist, Oskar. "Pekskärmsanvändargränssnittsmodul till ARM Cortex-M3". Thesis, KTH, Maskinkonstruktion (Inst.), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-40281.

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SammanfattningDenna rapport utreder hur ett pekskärmsanvändargränssnitt kan implementeras på Syntronic AB’s hård- och mjukvaruplattform baserad på ARM Cortex-M3.Ett pekskärmsanvändargränssnitt kräver två system, ett tryckkänsligtsystem för att detektera och positionera när användaren ger input till systemet och en skärm för att presentera ett grafiskt användargränssnitt.Rapporten börjar med att beskriva de tillgängliga teknikerna för pekpaneler och skärmar. Detta syftar till att ge djupare kunskap om de olika teknologierna och deras för- och nackdelar. Denna kunskap används sedan för att i samarbete med Syntronic AB utvärdera de olika teknologierna utifrån Syntronic AB’s krav. Utvärderingen leder till val av teknik för både pekpanel och skärm som köps in och implementeras på plattformen.Implementationen består av både hårdvarunära programmering för kommunikationen med pekpanel och skärm och API mjukvaror för att hantera hårdvaran på ett enkelt sätt.Både hård- och mjukvara är dokumenterad för att visa hur systemet är uppbyggt. Denna dokumentation skall också kunna användas som en manual till mjukvaran vid vidareutveckling eller tillämpning.Resultatet av implementationen är en pekpanel och en skärm med ett förenklat användargränssnitt. Implementationen visar tydligt hur ett pekkänsligt användargränssnitt kan se ut på plattformen och tillhandahåller mjukvara som är återanvändbar.
AbstractThis report investigates how a touch sensitive user interface can be implemented on Syntronic AB’s hardware and software platform based on an ARM Cortex-M3 microcontroller.A touch sensitive user interface consists of two systems, one touch sensitive system to detect and position user input and one display to present a graphical user interface.The first part of the report describes available touch and display technologies. The purpose is to deepen the knowledge about the different technologies and their advantages and disadvantages. This knowledge is then used to evaluate the technologies in collaboration with Syntronic AB based on their needs. The evaluation leads to a choice of technology both for the touch sensitive system and display technology. Hardware corresponding to the technology choices is ordered and implemented.The implementation consists of both software that is strongly connected to the hardware to handle the communication with the touch panel and display and API software to enable easier interfacing to the hardware.Both hard- and software are documented to describe the system structure. This documentation can also be used as a software manual to ease further development or implementation.The result of the implementation is a touch panel and a display with a simple GUI. The implementation clearly shows how a touch sensitive interface can be implemented on the platform and provides software that is reusable.
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28

Makha, Mohamed 1965. "Novel sulfonated extended arm calixarenes". Monash University, School of Chemistry, 2001. http://arrow.monash.edu.au/hdl/1959.1/8295.

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29

Nojonen, Matti. "Guanxi : the Chinese third arm /". Helsinki : Helsinki School of Economics, 2007. http://www.loc.gov/catdir/toc/fy0716/2007462330.html.

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30

Gezgin, Erkin Alizade Rasim. "Biokinematic analysis of human arm". [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezler/master/makinamuh/T000547.pdf.

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Thesis (Master)--İzmir Institute of Technology, İzmir, 2006.
Keywords: Biokinematic analysis, quaternionlar, structural groups, mechanism theory,robot manipulators. Includes bibliographical references (leaves 78-85).
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31

Sundberg, Edward D. "Arm sales to Latin America". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Dec%5FSundberg.pdf.

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Thesis (M.A. in National Security Affairs)--Naval Postgraduate School, December 2003.
Thesis advisor(s): Harold Trinkunas, Robert Looney. Includes bibliographical references (p. 63-66). Also available online.
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32

Ledvina, Jan. "Využítí ARM GCC vývojového řetězce". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219831.

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The subject of this thesis is to study the existing development toolchain for the microprocessor LPC23xx in course MPOA. Main goal is to explore the feasibility of new development toolchain, based on the GCC. The outcomes of this thesis are demo applications with the microprocessor LPC2378 and the GCC. Parts of the outputs are also tutorials for the students, how to implement these demo applications. The demos include basic applications, RTOS and Ethernet
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33

Tesař, Jan. "Web server s mikroprocesorem ARM". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-219962.

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Diploma thesis is dealing with design and implementation of the web server and manage- ment website in the developing kit FriendlyARM Mini6410 with installed OS GNU/Linux. The embedded packaging system PTXdist is described in terms of Kernel configuration and selection of suitable applications. The device should be later used for the remote management of atmospheric optical link.
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34

Hejdová, Martina. "Hudební přehrávač s mikrokontrolérem ARM". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-220144.

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This thesis is dedicated to the principles of a MP3 audio format decoding on available develpoment kits powered by ARM processors. It compares kit MCB2300 with LPC2378 microcontroller and kit Raspberry Pi with Debian operation system. The comparsion is focused on their suitability for MP3 decoder implementation. A complete design of support hardware modules, which complement the missing hardware of development kits is described in detail. Thesis includes the realization of an implementation of a MP3 decoder with additional visual effects in a form of an attached RGB LED strip developed on a Raspberry Pi development kit.
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35

Barstorp, Marcus. "Optimering av ARM-maskinkod med predikatbaserad exekvering : En undersökning av predikatbaserad exekvering i ARM-arkitekturen". Thesis, Högskolan i Skövde, Institutionen för kommunikation och information, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-4353.

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Arbetet har undersökt hur predikatbaserad exekvering, i form av ARM-arkitekturens stöd för villkorlig exekvering, fungerar som optimering av specifika implementationer av if- och if-else-satser i ARM-maskinkod. Som en del av arbetet implementerades en för ändamålet konstruerad optimeringsalgoritm som optimerar if- och if-else-satser med hjälp av predikatbaserad exekvering, vilken användes för att kunna utföra de mätningar som ligger till grund för resultatet. Fokus låg på den skillnad i kodstorlek och/eller tidseffektivitet som optimeringen gav upphov till. Resultatet tyder på att predikatbaserad exekvering använd som optimering kan leda till vissa vinster i kodstorlek (direkt beroende på antalet if-/if-else-satser) och lite större vinster i tidseffektivitet (beroende på hur stora if-/if-else-satserna är, samt hur ofta de exekveras).
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Pieterse, Simone Gerarda Elisabeth Maria. "Nutritional vulnerability of older refugees". Thesis, London School of Hygiene and Tropical Medicine (University of London), 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.312847.

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37

Nelson, Josh. "Surgical repair of a biceps tendon rupture a systematic review /". Morgantown, W. Va. : [West Virginia University Libraries], 2010. http://hdl.handle.net/10450/10936.

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Abstract (sommario):
Thesis (M.S.)--West Virginia University, 2010.
Title from document title page. Document formatted into pages; contains vi, 84 p. : ill. (some col.). Includes abstract. Includes bibliographical references.
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38

Jonsson, Fredrik. "Arm-P : Almost Reliable Multicast protocol". Thesis, Linköping University, Department of Computer and Information Science, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-14954.

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Distribution of information across IP based networks is today part of our everyday life. IP is the backbone of the Internet and most office networks. We use IP to access web pages, listen to radio, and to create computation clusters. All these examples use bandwidth, and bandwidth is a limited resource.

Many applications distribute the same information to multiple receivers, but in many cases the same information is sent to a single receiver at a time, thus multiple copies of the same information is sent, thus consuming bandwidth.

What if the information could be broadcasted to all the clients at the same time, similar to a television broadcast. TCP/IP provides some means to do that. For example UDP supports broadcasting; the problem faced when using UDP is that it’s not reliable. There is no guarantee that the information actually reaches the clients.

This Bachelor thesis in Computer Science aims to investigate the problems and solutions of how to achieve reliable distribution of fixed size data sets using a non reliable multicast communication channel, like UDP, in a LAN environment.

The thesis defines a protocol (Almost Reliable Multicast Protocol – Arm-P) that provides maximum scalability for delivery of versioned data sets that are designed to work in a LAN-environment. A proof-of-concept application is implemented for testing purposes.

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Hägg, Magnus. "Controlling a robotic arm using linux". Thesis, Mälardalen University, School of Innovation, Design and Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7546.

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40

Uskarci, Algan. "Human Arm Mimicking Using Visual Data". Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/12605620/index.pdf.

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This thesis analyzes the concept of robot mimicking in the field of Human-Machine Interaction (HMI). Gestures are investigated for HMI applications and the preliminary work of the mimicking of a model joint with markers is presented. Two separate systems are proposed finally which are capable of detecting a moving human arm in a video sequence and calculating the orientation of the arm. The angle of orientation found is passed to robot arm in order to realize robot mimicking. The simulations show that it is possible to determine human arm orientation either by using some markers or some initial background image information or tracking of features.
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Eder, Moritz. "Blutdruckmessung am bekleideten und unbekleideten Arm". Diss., lmu, 2008. http://nbn-resolving.de/urn:nbn:de:bvb:19-94964.

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42

Hernández, González Francisco. "Planar Robot Arm Modelling and Control". Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14883.

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The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface. Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera. Afterwards the control is generalized for sloping grounds. This chapter will seek situations closer to reality, the purpose is to design something with practical interests, like model a Segway.
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43

Kappassov, Zhanat. "Touch driven dexterous robot arm control". Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.

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Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans les humains, elle décroit énormément pour les robots: ils sont limités à des environnements statiques, mais le monde réel est très changeant. Dans cette thèse, nous proposons une approche différente qui considère le contrôle du contact pendant les interaction physiques entre un robot et l'environnement.Néanmoins, les approches actuelles pour l'interaction physique sont pauvres par rapport au numéro de tâches qu'elles peuvent exécuter. Pour permettre aux robots d'exécuter plus de tâches, nous dérivons des caractéristiques tactiles représentant les déformations de la surface molle d'un capteur tactile et nous incorporons ces caractéristiques dans le contrôleur d'un robot à travers des matrices de mapping tactile basées sur les informations tactiles et sur les tâches à développer.Dans notre première contribution, nous montrons comment les algorithmes de traitement d'images peuvent être utilisés pour découvrir la structure tridimensionnelle subjacente du repère de contact entre un objet et une matrice de capteurs de pression avec une surface molle attachée à l’effecteur d'un bras robotique qui interagit avec cet objet. Ces algorithmes obtiennent comme sorties les soi-disant caractéristiques tactiles. Dans notre deuxième contribution, nous avons conçu un contrôleur qui combine ces caractéristiques tactiles avec un contrôleur position-couple du bras robotique.Il permet à l'effecteur du bras déplacer le repère du contact d'une manière désirée à travers la régulation d'une erreur dans ces caractéristiques. Finalement, dans notre dernière contribution,avec l'addition d'une couche de description des tâches, nous avons étendu ce contrôleur pour adresser quatre problèmes communs dans la robotique: exploration, manipulation, reconnaissance et co-manipulation d'objets.Tout au long de cette thèse, nous avons mis l'accent sur le développement d'algorithmes qui marchent pas simplement avec des robots simulés mais aussi avec de robots réels. De cette manière, toutes ces contributions ont été évaluées avec des expériences faites avec au moins un robot réel. En général, ce travail a comme objectif de fournir à la communauté robotique un cadre unifié qui permet aux bras robotique d'être plus dextres et autonomes. Des travaux préliminaires ont été proposés pour étendre ce cadre au développement de tâches qui impliquent un contrôle multi-contact avec des mains robotiques multi-doigts
Robots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environmentsco-shared with humans is their poor skills in physical interaction tasks, includingmanipulation of objects. While the dexterity in manipulation is not affected by the blindnessin humans, it dramatically decreases in robots. With no visual perception, robotoperations are limited to static environments, whereas the real world is a highly variantenvironment.In this thesis, we propose a different approach that considers controlling contact betweena robot and the environment during physical interactions. However, current physicalinteraction control approaches are poor in terms of the range of tasks that can beperformed. To allow robots to perform more tasks, we derive tactile features representingdeformations of the mechanically compliant sensing surface of a tactile sensor andincorporate these features to a robot controller via touch-dependent and task-dependenttactile feature mapping matrices.As a first contribution, we show how image processing algorithms can be used todiscover the underlying three dimensional structure of a contact frame between an objectand an array of pressure sensing elements with a mechanically compliant surfaceattached onto a robot arm’s end-effector interacting with this object. These algorithmsobtain as outputs the so-called tactile features. As a second contribution, we design a tactileservoing controller that combines these tactile features with a position/torque controllerof the robot arm. It allows the end-effector of the arm to steer the contact frame ina desired manner by regulating errors in these features. Finally, as a last contribution, weextend this controller by adding a task description layer to address four common issuesin robotics: exploration, manipulation, recognition, and co-manipulation of objects.Throughout this thesis, we make emphasis on developing algorithms that work notonly with simulated robots but also with real ones. Thus, all these contributions havebeen evaluated in experiments conducted with at least one real robot. In general, thiswork aims to provide the robotics community with a unified framework to that will allowrobot arms to be more dexterous and autonomous. Preliminary works are proposedfor extending this framework to perform tasks that involve multicontact control withmultifingered robot hands
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44

Derhami, Shahriar. "Software Performance Analysis for ARM architectures". Thesis, Linnéuniversitetet, Institutionen för datavetenskap (DV), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-48443.

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Abstract This bachelor thesis discusses existing performance analysis techniques for ARM based architecture processors. This includes a comparison between couple of performance analysis applications installed on two Android test devices. Each application monitored CPU performance of the device in three test scenarios. Each test was done in five iterations. The results were compared for each test and for each application. The results of these iterations were compared to find the most stable application among the rest.
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45

Norinder, Ludvig. "Breeding power-viruses for ARM devices". Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-211944.

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Designing power-viruses, programs created for consuming as much power as possible, is a non-trivial task. This task is often performed by hand and is both time-consuming and complicated. As power-viruses may be used for testing the stability of hardware it is important that the viruses are well designed. This thesis presents an approach to automate the process of creating power-viruses with the help of Artificial Intelligence. Furthermore, the process of generating these programs will be performed on real hardware rather than using simulators. The hardware considered in this thesis is the Pandaboard ES and Raspberry PI, two boards built around ARM-based System-on-a- chip's. During the thesis, power-viruses have been successfully generated on both the Pandaboard ES and Raspberry PI. On the Pandaboard ES up to a 7.1% power-consumption increase has been achieved when compared with hand-written power-viruses for the same hardware. The process used in this thesis is easy to use and reduces the effort required for designing a power-virus.
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Sibindi, Tafadzwa. "Arm-turnk coordination in vestibular patients". Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=96802.

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Laboratory-based 3D motion tracking systems are expensive and complicated. The Ultrasonic Motion Tracking (UMT) system is a lightweight, portable and low-cost motion tracking system designed for clinical use. We validated the system by comparing pointing movements involving the trunk recorded simultaneously with UMT and Optotrak systems. UMT precision was acceptable compared to the Optotrak gold standard. In a second study UMT was used to detect arm-trunk coordination deficits in vestibular patients in two tasks using a gain or comparison measure. Movement tests were justified since hand position is maintained through vestibulospinal compensation and vestibular patients have less compensatory arm-trunk movement (lower gain) when maintaining a constant hand position during trunk flexion. Results from 16 patients and age- and gender-matched controls, showed that gains/comparisons were lower in vestibulo-deficient patients on both tasks. Results support the validity of using arm-trunk coordination tasks to identify motor deficits and their severity in vestibulo-deficient patients.
Les systèmes d'enregistrement du mouvement 3D trouvées aux laboratoires de recherche sont coûteuses et compliquées. Le Ultrasound Motion Tracking (UMT) système est léger, portable et à faible coût pour mieux répondre aux besoins de cliniques. Nous avons validé le système en comparant la précision des mouvements d'atteints impliquant le tronc enregistré simultanément avec les systèmes UMT et Optotrak. La précision du UMT a été acceptable en ce qui concerne la précision du mouvement en comparaison avec le système 'standard d'or' de Optotrak. Dans une deuxième étude, UMT a été utilisé pour détecter des déficits du mouvement coordonné chez des patients vestibulaire pour deux taches du mouvement à l'aide d'une mesure de 'gain' ou de comparaison. Les tests du mouvement sont justifiés parce que la position de la main est maintenue grâce à la compensation vestibulo-spinale et les patients vestibulaires ont moins de compensation bras-tronc lors du mouvement (gain plus bas) quant ils essaient de maintenir stable la position de la main pendant les mouvements du tronc. Les résultats de 16 patients et les témoins jumelés par l'âge et le sexe ont démontrés que les gains/comparaisons ont été plus bas chez les patients et ce pour les deux types de tâches. Les résultats supportent la validité de l'utilisation des tâches de coordination bras-tronc d'identifier les déficits moteurs et de leur gravité chez les patients présentant des déficits vestibulaires.
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47

Stossel, Deborah Louise. "The engineering geology of Frankton Arm". Thesis, University of Canterbury. Geology, 1999. http://hdl.handle.net/10092/6815.

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Seven bedrock landslides situated within quartzofeldspathic schist exist up slope of the residential area along the Frankton Arm of Lake Wakatipu, South Island, New Zealand. Engineering geological and geotechnical failure models for these landslides have been established using engineering geological mapping at scales of 1:5000 and 1:10000, geotechnical testing, and the development of limit-equilibriurn sensitivity models. Geotechnical testing of artificially fractured schist bedrock obtained shear strength values of Φ = 24°-36° and zero cohesion, and point load strength indexes of 0.6-3.83MPa for rock tested perpendicular to foliation, and 0.11-0.92 for rock tested parallel to foliation. Testing of shear zone material gave values of Φ 60°-110° and zero cohesion. The largest failure is the Queenstown Hill Landslide, with an estimated volume of 240M m³ which is interpreted as a retrogressive translational landslide with the toe forming a compressional bulge in the mid-slope area of Queenstown Hill. Three phases of movement have taken place, the earliest phase probably being initiated in the southeastern area of the slide mass by ice scouring and the over steepening of slopes during the final stages of the Last Glaciation. On retreat of the glacial ice, lateral support was removed and increased pore water pressures may have acted to reduce the shear strength of the slope along critical failure or shear surfaces. Movement is inferred to have been by translational planar sliding by slow rock mass creep, not from buckling in the toe, partly along foliation shear zones and a stepped failure surface in fractured schist bedrock immediately following glacial retreat. The second and third phases of movement were initiated as a result of the removal of support by the previous phase, with the second phase forming small translational- slides and. retrogressive features, and the third phase forming the toe bulging by gravitational creep down slope. Six smaller bedrock failures (up to 2.8M m³ each in volume) are situated further east along Frankton Arm. These landslides are interpreted as shallow retrogressive translational failures, with their slide bases orientated sub-parallel to the schist foliation. These failures may have initially occurred following glacial retreat (similar to the Queenstown Hill Landslide), with the slides situated at lower elevations activated by seismic events at a much later stage following deposition of lake beaches as the enlarged Lake Wakatipu was lowering. The only evidence for continual movement for within the last 100 years is on Slide No.3 and Slide No.4. Minor wedge failures have occurred from the head scarp, but the high frictional interlock between the displaced blocks creates minimal risk to the residential areas below and if further development was to occur in these areas, prudent engineering geological practices should be implemented. Future sub-surface work needs to be completed to accurately locate the depth, shape and angle of the failure surfaces for each landslide. This work would also determine the parts of the failure surfaces that occur through foliation shear zones, or fractured schist.
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48

Eid, Hussein M. H. "Computer simulation of crawl arm stroke". Thesis, Loughborough University, 1988. https://dspace.lboro.ac.uk/2134/10323.

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A four segment model of the crawl arm stroke is developed and validated. The construction of a theoretical model is discussed in a number of progressive stages. First, discussion is focussed on a basic two segment model; second, on a linearly configured simple three segment model; third, on the same model extended by introducing hand angle changes: then fourth, on modification of the forearm-hand configuration and on the effects of progressive lateral displacements changing as a functionofnormalised cycle time. Validation is sought from the start in a step-by-step process in which a physical model of the arm, first as a one and then a two segment system, is designed. built and tested in parallel. Thus, during the early stages of development, the behaviour of the physical model can be used to check the computer simulation of the theoretical model. Subsequently, as the theoretical model is extended to a four segment system, its validation is achieved by comparison with a series of experimental observations of five highly skilled competitive crawl-stroke swimmers. Film analysis procedures are developed to establish the velocities, lift, drag and total propulsive forces acting on, or generated from the arm and body segments. These parameters are obtained from an analysis of the digitized coordinates of eight body landmarks from two camera views. The two cameras are used with the aid of specially designed open plan periscopes for underwater filming. The initial values of the measured parameters from film are then incorporated into the model and the output values of the simulation are compared with the swimmers actual performances to establish the accuracy of the theoretical model. The comparison use of the theoretical model and the physical model results in a range of error between 6% and 30% for the total force and 6% and 11% for the body velocity. The comparison of the theoretical model and film analysis results in maximum error of 12% for the body velocity and 18% for the total propulsive force. Simulations of the crawl arm stroke during the underwater phase provide examples of the procedure. The examples illustrate the value of such simulations in that quantitative results are obtained which can be used to alter and improve performance. Considerable changes in the total force occur when the force acting on the hand is related to the angle of attack and to the rate at which the angle is altered. A maximum increase of 18% in the total force is obtained when the hand isorientated at 20 degrees to the horizontal on entry compared with an increase of only 14% at 40 degrees. During mid-stroke an entty angle of 10 degrees inaeases total force by 16%. The difference between maximum and minimum peak velocity is 19% when angles increase from 10 to 40 degrees on entry. The body velocity is found to increase by 25% if the input power is increased by 30%. The hand is able to deliver about 46% to 63% of the total propulsive force, the forearm is found to contribute by 28%. and the upper arm by about 2O%. Within limits a 5% change in hand size results in about a 1.6% change in velocity. A maximumin increase of 0.15% in body velocity is obtained as a result of a gradual increase followed by a gradual decreases of the hand angle of pitch, 0.72% as a result of modifying the forearm lateral movement and 2.6% as a result of combined modification.
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49

Heide, Anna Maria von der. "Der Camera Augmented Mobile C-arm". Diss., Ludwig-Maximilians-Universität München, 2015. http://nbn-resolving.de/urn:nbn:de:bvb:19-179446.

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50

Shuttleworth, P. J. "Visual feedback for maniplulator arm control". Thesis, Nottingham Trent University, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.327879.

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