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1
Hu, Hongyao. "Atmospheres of comets: Gas dynamic models and inference of kinematic parameters". Diss., The University of Arizona, 1991. http://hdl.handle.net/10150/185429.
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Cometary nuclei may be our best available probes of the physical and chemical nature of the presolar nebula. However, in situ sampling of cometary nuclei to determine their composition is generally not feasible. Instead, remote spectroscopic observations of cometary comae are used to infer cometary composition. This approach relies on one's ability to model accurately the density distributions of gas and dust in the comae and a complex network of photochemical and molecular processes. Previously, a variety of theoretical models had been developed and, unfortunately, they are applicable only to a portion of the coma or to specific problems. In the first part of this thesis we introduce a preliminary version of a gas model built upon the concepts of dilute gas theory. This model is valid over the whole coma and it incorporates all previous models as its special cases, thus providing a new theoretical foundation for future cometary studies. In the second part of the thesis we discuss a spectral outflow model. This model is a special case of the dilute gas model and is tailored specifically to retrieve kinematic properties of cometary comae from velocity-resolved spectral line profiles. We review the formation of cometary spectral line profiles and we develop an analytic expression that maps three dimensional number density distributions into synthetic spectral line profiles. After discussing simplifications and Monte Carlo computational procedures, we apply the spectral outflow model to interpret infrared observations of H₂O in comets Halley and Wilson.
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Biasi, Nicolò. "Analysis of human motion with vision systems: kinematic and dynamic parameters estimation". Doctoral thesis, Università degli studi di Padova, 2014. http://hdl.handle.net/11577/3423555.
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This work presents a multicamera motion capture system able to digitize, measure and analyse the human motion. Key feature of this system is an easy wearable garment printed with a color coded pattern. The pattern of coloured markers allows simultaneous reconstruction of shape and motion of the subject. With the information gathered we can also estimate both kinematic and dynamic motion parameters.
In the framework of this research we developed algorithms to: design the color coded pattern, perform 3D shape reconstruction, estimate kinematic and dynamic motion parameters and calibrate the multi-camera system. We paid particular attention to estimate the uncertainty of the kinematics parameters, also comparing the results obtained with commercial systems.
The work presents also an overview of some real-world application in which the developed system has been used as measurement tool.In questo lavoro viene presentato un sistema mutlicamera per la misura e digitalizzazione del moto umano. Caratteristica peculiare di questo sistema è l’indumento che deve essere indossato dal soggetto del quale si vuole ricostruire il moto. Su tale indumento è stampato un pattern di marker colorati che permette simultaneamente una digitalizzazione della forma e del moto del soggetto. Con queste informazioni è possibile ottenere una misura dei parametri cinematici e dinamici del moto umano. Nel corso della ricerca sono stati sviluppati algoritmi per: la realizzazione del pattern di marker colorati, la ricostruzione di forma, l’analisi dei parametri cinematici e dinamici del moto e la calibrazione del sistema stesso. Particolare attenzione è stata dedicata alla analisi dell’incertezza della misura dei parametri cinematici e la comparazione con sistemi commerciali. Vengono inoltre presentati alcuni progetti in cui il sistema realizzato è stati utilizzato come strumento di misura.
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Jasanský, Michal. "Návrh dynamických modelů pro řízení trakce experimentálního vozidla". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-228949.
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The Master's thesis deals with the simulations kinematics and dynamics of experimental four-wheeled vehicle with all-wheel steering and all-wheel drive. Suggestion of vehicle stability systems ABS/ASR for traction control is included. There are several dynamics models with their comparison. The estimation of important vehicle parameters is implemented. Based on knowledge the simple vehicle stability system ABS/ASR is created.
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Simons, Raymond C., Susan A. Kassin, Jonathan R. Trump, Benjamin J. Weiner, Timothy M. Heckman, Guillermo Barro, David C. Koo i in. "KINEMATIC DOWNSIZING AT z similar to 2". IOP PUBLISHING LTD, 2016. http://hdl.handle.net/10150/624072.
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We present results from a survey of the internal kinematics of 49 star-forming galaxies at z similar to 2 in the CANDELS fields with the Keck/MOSFIRE spectrograph, Survey in the near-Infrared of Galaxies with Multiple position Angles (SIGMA). Kinematics (rotation velocity V-rot and gas velocity dispersion sg) are measured from nebular emission lines which trace the hot ionized gas surrounding star-forming regions. We find that by z similar to 2, massive star-forming galaxies (log M-*/M-circle dot less than or similar to 10.2) have assembled primitive disks: their kinematics are dominated by rotation, they are consistent with a marginally stable disk model, and they form a Tully-Fisher relation. These massive galaxies have values of V-rot sg that are factors of 2-5 lower than local well-ordered galaxies at similar masses. Such results are consistent with findings by other studies. We find that low-mass galaxies (log M-*/M-circle dot less than or similar to 10.2) at this epoch are still in the early stages of disk assembly: their kinematics are often dominated by gas velocity dispersion and they fall from the Tully-Fisher relation to significantly low values of V-rot. This "kinematic downsizing" implies that the process(es) responsible for disrupting disks at z similar to 2 have a stronger effect and/or are more active in low-mass systems. In conclusion, we find that the period of rapid stellar mass growth at z similar to 2 is coincident with the nascent assembly of low-mass disks and the assembly and settling of high-mass disks.
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Stellman, Paul Steven. "Kinematic and dynamic modeling of Nanostructured Origami". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35639.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.Includes bibliographical references (leaves 85-88).
Nanostructured Origami is a manufacturing process that folds nanopatterned thin films into a desired 3D shape. This process extends the properties of 3D design and connectivity found in origami artwork to the bulk fabrication of 3D nanostructures. Our technique is a two-step procedure that first patterns the devices in 2D and then folds the membranes to the final 3D shape along pre-defined creases. This thesis describes theoretical methods that have been developed to model the actuation of origami devices. The background of origami mathematics and advances in robotics are presented in the context of modeling Nanostructured Origami. Unfolding of single-vertex origami is discussed, and an algorithm is implemented to calculate the unfolding trajectories of several devices. Another contribution of this thesis is the presentation of a methodology for modeling the dynamics of two classes of origami: accordion origamis and single-vertex origamis. The forward dynamics and equilibrium analysis of a useful bridge structure and the corner cube origami are simulated. The response of a model of an experimental actuation technique is well-behaved, and it is shown that the final folded state of these devices is at a stable equilibrium.
by Paul Steven Stellman.
S.M.
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Zaritsky, Dennis. "Clues to the nature of ultradiffuse galaxies from estimated galaxy velocity dispersions". OXFORD UNIV PRESS, 2017. http://hdl.handle.net/10150/624738.
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We describe how to estimate the velocity dispersions of ultradiffuse galaxies (UDGs) using a previously defined galaxy scaling relationship. The method is accurate for the two UDGs with spectroscopically measured dispersions, as well as for ultracompact galaxies, ultrafaint galaxies, and stellar systems with little or no dark matter. This universality means that the relationship can be applied without further knowledge or prejudice regarding the structure of a galaxy. We then estimate the velocity dispersions of UDGs drawn from two published samples and examine the distribution of total masses. We find, in agreement with the previous studies of two individual UDGs, that these systems are dark matter dominated systems, and that they span a range of at least 10(10) < M-200/M-circle dot < 10(12). These galaxies are not, as an entire class, either all dwarfs or all failed L-* galaxies. Estimates of the velocity dispersions can also help identify interesting subsets of UDGs, such as those that are likely to have the largest mass-to-light ratios, for subsequent spectroscopic study.
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Lipfert, Susanne W. "Kinematic and dynamic similarities between walking and running". Hamburg Kovač, 2010. http://d-nb.info/100174232X/04.
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Rahgoshay, Cyril. "Editing and constraining kinematic approximations of dynamic motion". Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=107891.
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This thesis presents inverse kinodynamics (IKD), an animator friendly kinematicworkflow that both encapsulates short-lived dynamics and allows precise space-timeconstraints. Kinodynamics (KD), defines the system state at any given time asthe result of a kinematic state in the recent past, physically simulated over a shorttemporal window to the present. KD is a well suited kinematic approximation to animatedcharacters and other dynamic systems with dominant kinematic motion andshort-lived dynamics. Given a dynamic system, we first formulate an appropriatekinodynamic window size based on kinematically defined accelerations in the kinematictrajectory and physical properties of the system. We then present an inversekinodynamics (IKD) algorithm, where a kinodynamic system can precisely attain aset of animator constraints at specified times. Our approach solves the IKD problemiteratively, and is able to handle full pose or end effector constraints at both positionand velocity level, as well as multiple constraints in close temporal proximity.Our approach can also be used to solve position and velocity constraints on passivesystems attached to kinematically driven bodies. We show IKD to be a compellingapproach to the direct kinematic control of character, with secondary dynamics viaexamples of skeletal dynamics and facial animation.Cette thèse présente kinodynamique inversé (IKD) qui est un procédé kinematiquetrès pratique utilisable pour l'animateur qui consiste à la fois d'une dynamiquede courte durée et qui permet des contraintes spatio-temporelles précises. Kinodynamique (KD) définit l'état du système à un moment donné comme le résultat d'un état kinematique dans un passé récent, physiquement simulé dans une fenêtre temporelle de courte durée du temps présent. KD est une approximation kinematiquebien adaptée aux caractères animés et à d'autres systèmes dynamiques avec unmouvement kinematique dominant et une dynamique de courte durée. En ayant unsystème dynamique on peut d'abord formuler une taille de fenêtre kinodynamiqueappropriée, basée sur des accélérations définies kinematiquement dans la trajectoirekinematique et sur les propriétés physiques du système. Nous présentons ensuiteun algorithme kinodynamique inversé (IKD) dans lequel un système kinodynamiquepeut satisfaire un ensemble de contraintes des animateurs à des moments précis.Notre approche résout le problème IKD de manière itérative et permet de gérer unepose complète ou des contraintes des points fixés sur le corps à la fois au niveaude la position et de la vitesse ainsi que de multiples contraintes dans une courteproximité temporelle. Notre approche peut également être utilisée pour résoudredes contraintes de position et de vitesse dans des systèmes passifs attachés à descorps kinematiquement entrainés. Nous démontrons qu'IKD peut être une approcheconvaincante pour le contrôle kinematique direct des caractères avec des dynamiquessecondaires par des exemples de dynamiques du squelette et d'animation faciale.
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Howard, Colin Bryan. "Kinematic and dynamic modelling of foreland basin development". Thesis, University of Liverpool, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.333687.
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Lee, Changyeol. "Compressible Convection and Subduction: Kinematic and Dynamic Modeling". Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/29260.
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Subduction is a dynamic and time-dependent process which requires time-dependent models for
its study. In addition, due to the very high pressures within the Earthâ s interior, an evaluation of the role of compressibility in subduction studies should be undertaken. However, most subduction studies have been conducted by using kinematic, steady-state, and/or incompressible mantle convection models; these
simplifications may miss important elements of the subduction process. In this dissertation, I evaluate the effects of time-dependence and compressibility on the evolution of subduction by using 2-D Cartesian numerical models.
The effect of compressibility on the thermal and flow structures of subduction zones is evaluated
by using kinematically prescribed slab and steady-state models. The effect of compressibility is primarily expressed as an additional heat source created by viscous dissipation. The heat results in thinner thermal
boundary layer on the subducting slab and increases slab temperatures. With that exception, the effect of compressibility is relatively small compared with, for example, the effect of the mantle rheology on the thermal and flow structures of the mantle wedge.
Plate reconstruction models show that the convergence rate and age of the incoming plate to
trench vary with time, which poses a problem for steady-state subduction models. Thus, I consider the time-dependent convergence rate and age of the incoming plate in the kinematic-dynamic subduction models in order to understand the localization of high-Mg# andesites in the western Aleutians. The results show that the localization of high-Mg# andesites is a consequence of the time-dependent convergence rate and slab age along the Aleutian arc. The influence of mantle and slab parameters as well as compressibility on the slab dynamics is evaluated by using 2-D dynamic subduction models. The results demonstrate that periodic slab buckling in the mantle results in periodic convergence rate and dip of the subducting slab; time-dependence is a
natural expression of subduction. The effect of compressibility on the slab dynamics is not significant. The periodic convergence rate and dip of the subducting slab explain time-dependent seafloor spreading at the mid-ocean ridge, convergence rate of the oceanic plate at trench and arc-normal migration of arc volcanoes.Ph. D.
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Yin, KangKang. "Data-driven kinematic and dynamic models for character animation". Thesis, University of British Columbia, 2007. http://hdl.handle.net/2429/31759.
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Human motion plays a key role in the production of films, video games, virtual reality applications, and the control of humanoid robots. Unfortunately, it is hard to generate high quality human motion for character animation either manually or algorithmically. As a result, approaches based on motion capture data have become a central focus of character animation research in recent years. We observe three principal weaknesses in previous work using data-driven approaches for modelling human motion. First, basic balance behaviours and locomotion tasks are currently not well modelled. Second, the ability to produce high quality motion that is responsive to its environment is limited. Third, knowledge about human motor control is not well utilized. This thesis develops several techniques to generalize motion capture character animations to balance and respond. We focus on balance and locomotion tasks, with an emphasis on responding to disturbances, user interaction, and motor control integration. For this purpose, we investigate both kinematic and dynamic models. Kinematic models are intuitive and fast to construct, but have narrow generality, and thus require more data. A novel performance-driven animation interface to a motion database is developed, which allows a user to use foot pressure to control an avatar to balance in place, punch, kick, and step. We also present a virtual avatar that can respond to pushes, with the aid of a motion database of push responses. Consideration is given to dynamics using motion selection and adaption. Dynamic modelling using forward dynamics simulations requires solving difficult problems related to motor control, but permits wider generalization from given motion data. We first present a simple neuromuscular model that decomposes joint torques into feedforward and low-gain feedback components, and can deal with small perturbations that are assumed not to affect balance. To cope with large perturbations we develop explicit balance recovery strategies for a standing character that is pushed in any direction. Lastly, we present a simple continuous balance feedback mechanism that enables the control of a large variety of locomotion gaits for bipeds. Different locomotion tasks, including walking, running, and skipping, are constructed either manually or from motion capture examples. Feedforward torques can be learned from the feedback components, emulating a biological motor learning process that leads to more stable and natural motions with low gains. The results of this thesis demonstrate the potential of a new generation of more sophisticated kinematic and dynamic models of human motion.Science, Faculty of
Computer Science, Department of
Graduate
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Dugas, Martin. "Měřicí zařízení pro sportovní analýzu využívající senzory inerciálních veličin". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-378708.
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Master's thesis is dealing with desgin of a measuring unit incorporating inertial sensors, used for analysis in canoe sprint. Data from a three-axis accelerometer and a three-axis gyroscope were combined using an extended Kalman filter, yielding speed, roll, pitch and yaw of the boat and stroke rate. Calculated values were verified by a GPS. Furthermore, parameters describing dynamic behaviour of the system were identified, allowing an inclusion of dynamic quantities like force and power into the analysis.
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Bruni, Danilo <1978>. "Intraoperative kinematic evaluation with navigation system and postoperative kinematic evaluation with dynamic RSA of total knee arthroplasty". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6450/1/bruni_danilo_tesi.pdf.
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Restoring a correct implant kinematics and providing a good ligament balance and patellar tracking is mandatory to improve clinical and functional outcome after a Total Knee Replacement. Surgical navigation systems are a reliable and accurate tool to help the surgeon in achieving these goals. The aim of the present study was to use navigation system with an intra-operative surgical protocol to evaluate and determine an optimal implant kinematics during a Total Knee Replacement.
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Bruni, Danilo <1978>. "Intraoperative kinematic evaluation with navigation system and postoperative kinematic evaluation with dynamic RSA of total knee arthroplasty". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amsdottorato.unibo.it/6450/.
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Restoring a correct implant kinematics and providing a good ligament balance and patellar tracking is mandatory to improve clinical and functional outcome after a Total Knee Replacement. Surgical navigation systems are a reliable and accurate tool to help the surgeon in achieving these goals. The aim of the present study was to use navigation system with an intra-operative surgical protocol to evaluate and determine an optimal implant kinematics during a Total Knee Replacement.
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Patel, Ekta, Gurtina Besla i Sangmo Tony Sohn. "Orbits of massive satellite galaxies – I. A close look at the Large Magellanic Cloud and a new orbital history for M33". OXFORD UNIV PRESS, 2017. http://hdl.handle.net/10150/623269.
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The Milky Way (MW) and M31 both harbour massive satellite galaxies, the Large Magellanic Cloud (LMC) and M33, which may comprise up to 10 per cent of their host's total mass. Massive satellites can change the orbital barycentre of the host-satellite system by tens of kiloparsec and are cosmologically expected to harbour dwarf satellite galaxies of their own. Assessing the impact of these effects crucially depends on the orbital histories of the LMC and M33. Here, we revisit the dynamics of theMW-LMC system and present the first detailed analysis of the M31-M33 system utilizing high-precision proper motions and statistics from the dark-matter-only Illustris cosmological simulation. With the latest Hubble Space Telescope proper motion measurements of M31, we reliably constrain M33' s interaction history with its host. In particular, like the LMC, M33 is either on its first passage (t(inf) < 2 Gyr ago) or if M31 is massive (>= 2 x 10(12) M-circle dot), it is on a long-period orbit of about 6 Gyr. Cosmological analogues of the LMC and M33 identified in Illustris support this picture and provide further insight about their host masses. We conclude that, cosmologically, massive satellites such as the LMC and M33 are likely completing their first orbits about their hosts. We also find that the orbital energies of such analogues prefer an MW halo mass similar to 1.5 x 10(12) M-circle dot and an M31 halo mass >= 1.5 x 10(12)M(circle dot). Despite conventional wisdom, we conclude it is highly improbable that M33 made a close (< 100 kpc) approach to M31 recently (t(peri) < 3 Gyr ago). Such orbits are rare (< 1 per cent) within the 4s error space allowed by observations. This conclusion cannot be explained by perturbative effects through four-body encounters amongst the MW, M31, M33, and the LMC. This surprising result implies that we must search for a new explanation for M33' s strongly warped gas and stellar discs.
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Patel, Ekta, Gurtina Besla i Kaisey Mandel. "Orbits of massive satellite galaxies - II. Bayesian estimates of the Milky Way and Andromeda masses using high-precision astrometry and cosmological simulations". OXFORD UNIV PRESS, 2017. http://hdl.handle.net/10150/624428.
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In the era of high-precision astrometry, space observatories like the Hubble Space Telescope (HST) and Gaia are providing unprecedented 6D phase-space information of satellite galaxies. Such measurements can shed light on the structure and assembly history of the Local Group, but improved statistical methods are needed to use them efficiently. Here we illustrate such a method using analogues of the Local Group's two most massive satellite galaxies, the Large Magellanic Cloud (LMC) and Triangulum (M33), from the Illustris dark-matter-only cosmological simulation. We use a Bayesian inference scheme combining measurements of positions, velocities and specific orbital angular momenta (j) of the LMC/M33 with importance sampling of their simulated analogues to compute posterior estimates of the Milky Way (MW) and Andromeda's (M31) halo masses. We conclude that the resulting host halo mass is more susceptible to bias when using measurements of the current position and velocity of satellites, especially when satellites are at short-lived phases of their orbits (i.e. at pericentre). Instead, the j value of a satellite is well conserved over time and provides a more reliable constraint on host mass. The inferred virial mass of the MW(M31) using j of the LMC (M33) is M-vir,M- MW = 1.02(-0.55)(+0.77) x 10(12) M-circle dot (M-vir,M- M31 = 1.37(-0.75)(+1.39) x 10(12) M-circle dot). Choosing simulated analogues whose j values are consistent with the conventional picture of a previous (<3 Gyr ago), close encounter (<100 kpc) of M33 about M31 results in a very low virial mass for M31 (similar to 10(12) M-circle dot). This supports the new scenario put forth in Patel, Besla & Sohn, wherein M33 is on its first passage about M31 or on a long-period orbit. We conclude that this Bayesian inference scheme, utilizing satellite j, is a promising method to reduce the current factor of 2 spread in the mass range of the MW and M31. This method is easily adaptable to include additional satellites as new 6D phase-space information becomes available from HST, Gaia and the James Webb Space Telescope.
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Behi, Imeddine. "Dynamic simulation for a robot with a closed kinematic chain". Thesis, University of Ottawa (Canada), 1989. http://hdl.handle.net/10393/5511.
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MacCarthy, B. L. "A kinematic and dynamic analysis of latch needle cam systems". Thesis, University of Bradford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.374931.
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Iacobucci, Marco. "Dynamic parameter identification of a collaborative robot". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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I robot collaborativi stanno guadagnando un interesse crescente nel campo della robotica. Dal momento che l'industria 4.0 richiede nuovi livelli di flessibilità e soluzioni innovative di prodotto, robot e umani recentemente hanno iniziato ad interagire e lavorare in un 'ambiente comune senza protezioni perimetrali. Questa tecnologia emergente può provvedere all'operatore supporto fisico o assistenza nello svolgere compiti pericolosi o faticosi. In questo scenario, un controllo in tempo reale dovrebbe essere il più affidabile possibile e minimizzare ogni rischio legato alla collaborazione tra uomo e robot.
L'obiettivo di questa tesi è l'identificazione dei coefficienti dinamici che linearizzano il modello del robot e dei parametri dinamici (massa, posizione del centro di massa ed elementi dei tensori d'inerzia di ciascun membro), utili per simulare il comportamento del robot in ambiente CAD, per ottenere simulazioni dinamiche più realistiche e algoritmi di controllo in tempo reale più affidabili.
Un approccio di identificazione dinamica è presentato per il Franka Emika Panda, un robot collaborativo a 7 gradi di libertà. Questo consiste nel suddividere l'identificazione in due fasi: una prima fase in cui si analizzano le sole configurazioni statiche del robot per ottenere un set di possibili masse e centri di massa, ed una seconda fase in cui si considera il robot in movimento ed è possibile ottenere alcuni valori degli elementi dei tensori d'inerzia. Seguendo questo approccio, è possibile ottenere una stima più precisa dei parametri di massa e di posizione dei centri di massa rispetto ad un approccio in cui l'identificazione viene compiuta in una singola fase, cosa che è stata successivamente dimostrata da alcuni test eseguiti sul robot stesso, i cui risultati sono stati confrontati con quelli ottenuti seguendo un altro approccio e quelli restituiti direttamente dalla libreria del robot.
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Mekarapiruk, Wichaya. "Simultaneous optimal parameter selection and dynamic optimization using iterative dynamic programming". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ58926.pdf.
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Burger, Robert J. "Robotic manipulator calibration : development of a general method for kinematic model parameter set identification". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA298891.
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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate School, December 1994."December 1994." Thesis advisor(s): Morris Driels. Includes bibliographical references. Also available online.
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Pulido, Nelson. "Constraints for Dynamic Models of the Rupture from Kinematic Source Inversion". 京都大学 (Kyoto University), 2000. http://hdl.handle.net/2433/181128.
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Beck, Angus Spence. "A comparison of robot designs based upon kinematic and dynamic performance". Thesis, University of Ulster, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.328248.
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FRID, SANDRA DE ALMIRANTE. "STUDY OF KINEMATIC AND DYNAMIC CHARACTERISTICS OF A LARGE-SIZED CHARTPLOTTER". PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 1990. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=33240@1.
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CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICOEste trabalho apresenta um estudo experimental do funcionamento do protótipo de uma traçadora gráfica de grande porte, desenvolvida no Departamento de Engenharia Mecânica da PUC-RJ. São detalhadas as características cinemáticas e dinâmicas do modelo de posicionamento adotado. As respostas de traçados são analisadas em função de diversas variáveis. É feito um estudo sobre rampa de aceleração e sua influência na qualidade do traçado. Finalmente, é apresentado um algoritmo, de traçamento de arcos de círculo, que permite maior versatilidade no seu funcionamento.
An experimental study of the performance of a large scale plotter developed and built at the Mechanical Engineering Department of PUC-RJ is undertaken. After analysis of the kinematical solution, the study is concerned with the dynamical response of the pen positioning system. The need of acceleration ramps becomes clear and their influence on the drawing quality is compared for several time delays. Finally, an algorithm for drawing circles and arcs based on a look-up table is presented. This algorithm is suitable for reducing data transfer between the controlling computer and the plotter.
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Tsai, Der-Liang 1958. "Kinematic and dynamic analyses of cascades of planar four-bar mechanisms". Thesis, The University of Arizona, 1988. http://hdl.handle.net/10150/276690.
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Computer programs have been developed for the kinematic and dynamic analyses of cascades of planar four-bar mechanisms. Since the analytic approach has high efficiency and accuracy in computation, a chain of four-bar linkages is developed horizontally and vertically by using the relative coordinates and the absolute coordinates, from which the explicit equations and the simultaneous equations are respectively derived in the kinematic analysis. In this analysis, the actions of transmission of linkages, from left to right, from right to left and from lower to upper, are performed by the image method and transformation procedures. Based on the kinematic analysis, the dynamic analysis is also developed by using both sets of coordinate systems. The generalized equation of motion, the general form of Lagrange's equations, Lagrange multipliers and the theorem of power balance are used to construct various formulations of the governing equations of motion for some particular problems. The problem of a linkage with a moving frame (the ground link) is the most interesting focus in this analysis.
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Maranesi, Elvira. "Kinematic, dynamic and electromyographic analysis of functional reach in diabetic subjects". Doctoral thesis, Università Politecnica delle Marche, 2013. http://hdl.handle.net/11566/242702.
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La tesi prende in esame un particolare test clinico, il Functional Reach (FR) Test, utilizzato in clinica per l’identificazione del soggetto anziano a rischio di cadute ricorrenti. Come è mostrato in letteratura, tale test non è in grado di discriminare al meglio il soggetto anziano sano dall’individuo con problemi di equilibrio. Maggiori informazioni potrebbero essere ottenuto esaminando più nel dettaglio il comportamento cinematico, le strategie motorie utilizzate e i pattern elettromiografici messi in atto dal soggetto durante lo svolgimento del test. lo studio si compone di due parti: la prima si concentra sulla descrizione dei principali parametri cinematici che caratterizzano il task motorio e sull’individuazione delle strategie motorie usate durante il test. la seconda si focalizza sull’analisi elettromiografica di specifici muscoli del corpo per capire le tempistiche delle attivazioni muscolari durante il FR. Lo studio è stato condotto su soggetti diabetici e diabetici neuropatici. I risultati mostrano come simili valori di FR possono essere ottenuti da differenti strategie di movimento: per i diabetici non neuropatici il FR è maggiormente dovuto a una flessione del tronco nel piano sagittale, invece, per i diabetici neuropatici il movimento è accompagnato anche da una significativa rotazione del tronco nel piano sagittale. Quindi, durante il FR, anche se gran parte del movimento si verifica nel piano sagittale, si verificano anche movimenti rotazionali nel piano trasverso e coronale. Da un punto di vista elettromiografico, i due gruppi mostrano un comportamento simile, con un’attività anticipatoria del Tibiale Anteriore necessaria per muovere il centro di pressione all’indietro e dare luogo a un momento di dorsi-flessione della caviglia capace di sbilanciare il corpo in avanti. La differenza si registra nel timing di attivazione di questo muscolo, che per i diabetici neuropatici si attiva prima rispetto a quello che accade per i diabetici non neuropatici.This study analysed the Functional Reach Test used in the clinical practice to identify elderly subjects at risk of recurrent falls. Functional Reach (FR) is defined as the maximal distance one can reach forward beyond arm’s length while maintaining a fixed base of support in the standing position. As shown in literature, the FR measure is not able to differentiate between healthy elderly people and individuals with balance impairments. More information can be obtained from this motor task by looking in more detail at the kinematic behaviour, the motor strategies employed and also at the electromyographic activity pattern. The study is composed of two parts: the first one is focused on the description of the principal kinematic parameters that characterise the motor task and on the investigation of the motor strategies used during the test. The second one is carried out in the electromyographic analysis of specific muscles of the body to understand timing of muscle activity during the FR. The study was conducted on non-neuropathic (CTRL) and neuropathic diabetic (DN) subjects. Results highlight how similar FR values can be obtained by different movement strategies: for CTRL subjects, FR is mainly performed by trunk flexion in the sagittal plane; instead, for DN patients, FR is also significantly accomplished by trunk rotation in the horizontal plane. So, during the FR test, although a great part of movement occurs in the sagittal plane, rotational movements in the transverse and coronal planes also occur and cannot be disregarded. From the electromyographic point of view, the two groups analysed, show a similar behaviour, with anticipatory activity of tibialis anterior, necessary to move the centre of pressure backward and to give rise to the ankle dorsi-flexor moment able to unbalance the body forward. The difference is in the timing of this muscle activation: in fact, in DN patients, the tibialis anterior is activated earlier than its activation in CTRL subjects.
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BRILLARELLI, STEFANO. "Elasto-dynamic modeling of a parallel kinematic robot with flexible links". Doctoral thesis, Università Politecnica delle Marche, 2022. http://hdl.handle.net/11566/295530.
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Il settore industriale negli ultimi anni sta vivendo una radicale trasformazione legata alle nuove esigenze del mercato. In risposta a queste ultime, la robotica sta proponendo da una parte soluzioni collaborative in modo da rendere più rapida l'installazione dei robot semplificandone la programmazione e la messa in opera e consentendo una interazione uomo-macchina, dall'altra sta affinando le prestazioni dei robot più propriamente industriali in modo da renderli sempre più veloci e accurati. In questo secondo ambito, la versatilità e la rapidità di risposta al mercato richiesta ai produttori alimenta quindi la ricerca di soluzioni tecniche orientate alla riduzione dei tempi ciclo con conseguente contenimento dei costi di produzione.
I materiali, le taglie dei motori elettrici utilizzati, le architetture cinematiche e le scelte progettuali in genere sono fattori importanti che incidono sulle prestazioni dinamiche dei robot. Ben noto è l'esempio dei robot a cinematica parallela utilizzati in numerosi settori per le elevate accelerazioni e velocità di esercizio che sono in grado di sviluppare. L'alleggerimento delle parti meccaniche in movimento consente una riduzione delle inerzie in modo da aumentare i range di velocità e accelerazione raggiungibili.
Queste scelte meccaniche comportano l'insorgere di risposte dinamiche indesiderate, legate alla maggiore incidenza della flessibilità nella dinamica delle macchine.
Il presente lavoro è focalizzato sulla dinamica dei meccanismi a cinematica parallela nell'ipotesi che alcuni membri, resi più leggeri con una riduzione dello spessore dei profili meccanici, siano soggetti a deformazione elastica. La loro cedevolezza determina infatti errori nell'inseguimento di traiettoria oltre che differenti comportamenti nella stabilizzazione di posa all'inizio e alla fine del movimento assegnato.
Nel presente lavoro verranno presentati dei modelli dinamici per i link flessibili dei robot, i quali verranno utilizzati per la creazione di due modelli elasto-dinamici di robot a cinematica parallela a due gradi di libertà. Nel primo modello verrà applicata la Formulazione Aumentata di Lagrange nella ricerca delle relative equazioni del moto, mentre nel secondo verrà impiegato il Principio dei Lavori Virtuali con un set di parametri minimo.
Un modello ottimale deve infatti fornire le informazioni sulla dinamica flessibile di un robot nella maniera più efficiente possibile dal punto di vista computazionale. Tale criterio ha orientato la scelta del modello più promettente in termini di tempo di calcolo.
La scelta dei parametri fisici e geometrici del robot preso come esempio per lo studio è stata trattata nel dettaglio considerando le problematiche che si possono verificare nel caso dell'allestimento di un banco prova, dove si suppone che la posizione dell'end effector venga acquisita con un sistema di visione.
I parametri geometrici hanno certamente una influenza sia sui modi di vibrare dei link flessibili che sulla geometria e dimensione dello spazio di lavoro: questi sono stati scelti in modo da far cadere le prime tre frequenze naturali delle aste all'interno di un range assegnato, in linea con la strumentazione disponibile nel laboratorio di Meccatronica e Robotica Industriale (MIR) dell'Università Politecnica delle Marche.
Il modello scelto è stato prima verificato tramite un modello agli elementi finiti e poi analizzato nel dettaglio. In particolare, è stato possibile ricavare delle mappe di cedevolezza, le quali hanno evidenziato le regioni dello spazio di lavoro del robot a maggiore cedevolezza, così che il progettista ne possa tenere conto in fase di progettazione e durante la fase di pianificazione dei task. 'E stato infine valutata l'efficienza computazionale del modello mettendolo a confronto con altri ottenuti per via numerica e per via software, da cui emergono le possibilità di implementazione dello stesso in algoritmi di controllo basati sul modello.In recent years, the industrial sector has undergone a radical transformation linked to new market needs. In response to the latter, robotics is proposing, on the one hand, collaborative solutions in order to speed up the installation of robots, simplifying their programming and implementation and allowing human-machine interaction, and, on the other hand, it is refining the performances of industrial robots in order to make them faster and more accurate. In this second area, the versatility and rapidity of response to the market feeds the manufacturers' search for technical solutions oriented to the reduction of cycle times with consequent containment of production costs. The materials, the sizes of the electric motors used, the kinematic architectures and the design choices in general are important factors that affect the dynamic performance of robots. The example of parallel kinematic robots is well known and is used in many sectors for the high accelerations and operating speeds that they are able to develop. The lightening of their moving mechanical parts allows a reduction of the inertia in order to increase the speed and acceleration ranges that they can reach. These mechanical choices lead to the onset of undesirable dynamic responses, related to the greater incidence of flexibility in the dynamics of the machines. The present work is focused on the dynamics of Parallel Kinematic Mechanisms (PKMs) under the hypothesis that some members, made lighter by reducing the thickness of their mechanical profiles, are subject to elastic deformation. In fact, their compliance determines errors in trajectory tracking as well as different behaviors in the stabilization of pose at the beginning and at the end of the assigned movement. In the present work, dynamic models for flexible robot links will be presented and used to create two elasto-dynamic models of robots with parallel kinematics with two degrees of freedom. In the first model, the Augmented Lagrange Formulation will be applied in the search for the relevant equations of motion, while in the second, the Principle of Virtual Works with a minimum set of parameters will be employed. In fact, an optimal model must provide the information about the flexible dynamics of a robot in the most computationally efficient way. This criterion guided the choice of the most promising model in terms of computational time. The choice of the physical and geometrical parameters of the robot taken as an example for the study has been treated in detail considering the problems that may occur in the case of the setup of a test bench, where it is assumed that the position of the end effector is acquired with a vision system. Geometrical parameters certainly have an influence both on the vibration modes of the flexible links and on the geometry and size of the working space: these have been chosen so that the first three natural frequencies of the rods fall within an assigned range, in line with the instrumentation available in the laboratory of Mechatronics and Industrial Robotics (MIR) of the Polytechnic University of Marche. The chosen model has been first verified by means of a finite element model and then analyzed in detail. In particular, it has been possible to derive compliance maps, which highlighted the regions of the robot workspace with higher compliant behaviour so that the designer could take them into account during the design phase and during the task planning phase. Finally, the computational efficiency of the model has been evaluated by comparing it with others obtained numerically and via software, from which the possibilities of implementing it in model-based control algorithms emerge.
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Rydström, Sara. "Regularization of Parameter Problems for Dynamic Beam Models". Licentiate thesis, Växjö University, School of Mathematics and Systems Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:vxu:diva-7367.
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The field of inverse problems is an area in applied mathematics that is of great importance in several scientific and industrial applications. Since an inverse problem is typically founded on non-linear and ill-posed models it is a very difficult problem to solve. To find a regularized solution it is crucial to have a priori information about the solution. Therefore, general theories are not sufficient considering new applications.
In this thesis we consider the inverse problem to determine the beam bending stiffness from measurements of the transverse dynamic displacement. Of special interest is to localize parts with reduced bending stiffness. Driven by requirements in the wood-industry it is not enough considering time-efficient algorithms, the models must also be adapted to manage extremely short calculation times.
For the developing of efficient methods inverse problems based on the fourth order Euler-Bernoulli beam equation and the second order string equation are studied. Important results are the transformation of a nonlinear regularization problem to a linear one and a convex procedure for finding parts with reduced bending stiffness.
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Wenzel, Thomas A. "State and parameter estimation for vehicle dynamic control". Thesis, Coventry University, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.422507.
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Vakalis, Ioannis. "Kinematic and dynamic modeling of interacting many-body systems, with applications to robotics". Case Western Reserve University School of Graduate Studies / OhioLINK, 1990. http://rave.ohiolink.edu/etdc/view?acc_num=case1054835538.
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Gao, Jian. "Dynamic position sensing for parallel kinematic machine and new generation machine tool". Thesis, University of Nottingham, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268479.
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Li, Junxu. "A Dynamic Parameter Tuning Algorithm For Rbf Neural Networks". Fogler Library, University of Maine, 1999. http://www.library.umaine.edu/theses/pdf/LiJ1999.pdf.
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Lundberg, Ted. "Analysis of simplified dynamic truck models for parameter evaluation". Thesis, KTH, Fordonsdynamik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-177304.
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The ride comfort in heavy commercial trucks is an important property that requires detailed testing to investigate how different vehicle components affect the response to road input. Trucks come in many different configurations and a customer purchasing a new truck often has the choice to specify number of axles, drive line and cabin type, type of suspension and so on. This gives that there are many vehicle variations that have to be tested to ensure good ride comfort. Testing many combinations of, for example, dampers in different environments and road conditions might be time consuming. The work could be helped by pre-test computer simulations where the vehicle is simulated with the same conditions as in the tests. The simulation results could then be used to better understand how different components affect the vehicle response to a certain road input. By using a MultiBody System (MBS) software, a full truck could be modeled and simulated to acquire accurate results. The simulation would however be computationally demanding and take long time. It also requires that the test engineer is familiar with the MBS software to be able to create the model and run the simulations. This thesis focuses on investigating if simplified dynamic truck models developed in Matlab could be an alternative to more complex models created in an MBS software. Three different models are developed: a quarter car model, a 2D half truck model and a 3D truck model. The models are derived using the Lagrangian energy method and the dynamic response from a given road input is calculated numerically in Matlab. Different methods of solving the systems of differential equations are discussed and the implementation of the implicit Newmark -method is explained. To validate the truck models and solver, the models are replicated in the MBS software Adams View. The response of the Adams and Matlab models from an excitation on the wheels are compared to determine that the equations and solver are correctly derived and implemented. To test the models capabilities to predict the response in a real truck, tests on a road simulator are performed. A four-wheel Scania tractor is tested in a hydraulic road simulator rig. The road simulator excited the truck through the wheels with a sinus sweep from 0-20 Hz and the resulting accelerations in the tractor are measured. Three different setups of front axle dampers are tested to get a parameter variation to study with the models: a standard damper, harder damper and undamped front axle. The same tests are simulated in Matlab and the acceleration responses are compared to see how well the models predict the accelerations seen in the real truck. The models in Matlab and Adams give the same results and are therefore reasoned to be mathematically correct. The Newmark -method is efficient and gives reasonable computing times. In the comparison with the road simulator test the models do not give the same results as measured on the truck. To be able to compare the results from the measurements and simulations, the tire stiffnesses have to be trimmed so that the correct eigenfrequency of the axles are found. The results with modified tire stiffnesses give better results but still with considerable deviations from the experimental results. The measurements on the truck show that the eigenfrequency of the front axle decrease when removing the front axle damper while the models show that the eigenfrequency increase. Also there are differences in the acceleration measured in the cabin and frame as the models do not predict many of the higher eigenfrequencies. In conclusion it is discussed that the models have to be more complex to give useful information about the effects of variation of dampers on the axles. It is also discussed that using commercially available software to perform the same simulations might be a better alternative that gives the user more freedom to overlook and make changes to the model.
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KONDEPUDI, RAMABALARAJENDRASESH. "NUMERICAL ANALYSIS OF LUMPED PARAMETER DYNAMIC SYSTEMS WITH FRICTION". University of Cincinnati / OhioLINK, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1083622496.
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Souza, Juliana Crestani Ribeiro de. "Spatial distribution of galactic globular clusters : distance uncertainties and dynamical effects". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2017. http://hdl.handle.net/10183/156776.
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Fornecemos uma amostra de 170 Aglomerados Globulares Galácticos (GCs) e analisamos as propriedades de sua distribuição espacial. Utilizando um vasto catálogo de nuvens escuras identificadas, listamos os GCs que estão atrás de uma ou mais delas e que podem estar submetidos a uma extinção mais complexa do que a considerada por mapas de extinção. Valores de incerteza em distância são obtidos da literatura recente e comparados com valores derivados de uma fórmula de propagação de erro. GCs são agrupados de acordo com características inusitadas, tais como idades relativamente jovens ou possível conexão com núcleos de galáxias anãs, de forma que o efeito desses grupos pode ser isolado na distribuição espacial geral. Adicionalmente, computamos o centróide da distribuição de GCs e estudamos como esse se relaciona com a distância ao centro da Galáxia. Considerando que uma formação galáctica via colapso monolítico é supostamente simétrica, investigamos assimetrias e como os valores de incerteza das distâncias as modificam. Velocidades espaciais e um potencial Galáctico são empregados para verificar se quaisquer assimetrias na distribuição espacial são devidas a objetos em movimento coerente, ou se são somente efeitos transientes.We provide a sample of 170 Galactic Globular Clusters (GCs) and analyse its spatial distribution properties. Using a comprehensive dust cloud catalogue, we list the GCs that are behind one or more identified dust clouds and could be subjected to a more complex extinction curve than extinction catalogues consider. Distance uncertainty values are gathered from recent literature and compared to values derived from an error propagation formula. GCs are grouped according to unusual characteristics, such as relatively young age or possible connection to dwarf galaxy nuclei, so that their effect on the general distribution can be isolated. Additionally, we compute the centroid of the GC distribution and study how it relates to the distance to the centre of the Galaxy. Considering that galactic formation via monolithic collapse is expected to be symmetrical, we probe asymmetries and how distance uncertainty values modify them. Spatial velocities and a Galactic potential are used to verify if any asymmetries in the spatial distribution are due to co-moving objects, or if they are merely transient effects.
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Yurttagul, Berk. "Kinematic Calibration Of Industrial Robots Using Full Pose Measurements And Optimal Pose Selection". Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12612829/index.pdf.
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This study focuses on kinematic calibration of industrial robots. Kinematic modeling, parameter
identification and optimal pose selection methods are presented. A computer simulation
of the kinematic calibration is performed using generated measurements with normally distributed
noise. Furthermore, kinematic calibration experiments are performed on an ABB
IRB 6600 industrial robot using full pose measurements taken by a laser tracking system.
The kinematic model of the robot is developed using the modified Denavit - Hartenberg convention.
A nonlinear least-squares method is employed during the parameter identification
stage. According to the experiment results, the initial robot positioning errors are reduced by
more than 80%.
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Schneider, Allison (Allison M. ). "A comparison of kinematic and dynamic schemes for calculating long-range atmospheric trajectories". Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/114336.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Earth, Atmospheric, and Planetary Sciences, 2017.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 57-58).
Two numerical models, one kinematic and one dynamic, were created and compared in their ability to predict trajectories of atmospheric parcels over eight days. While kinematic models are more widely used due to their accuracy, dynamic models can be used pedagogically to visualize the balance of forces in the atmosphere. The kinematic model used gridded wind speed data from the Global Forecast System (GFS) to predict parcel flow, while the dynamic model calculated wind speeds from advection equations using geopotential height fields from GFS. The trajectories of ensembles of parcels were simulated from five launch locations. The spread of parcels from each location was calculated along with the deviation from reference trajectories. The dynamic model performed comparably to the kinematic model, despite the presence of inertial oscillations in some computed trajectories at mid- and high- latitudes which are likely to be physically unrealistic. The dynamic model was more sensitive to changes in spatial resolution than the kinematic model. Dynamic trajectory models were shown to be accurate enough to be used as a tool to visualize the interplay of forces acting in the atmosphere.
by Allison Schneider.
S.B.
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Ruiz, Sergio. "Kinematic and dynamic inversions of subduction earthquakes using strong motion and cGPS data". Paris, Institut de physique du globe, 2012. http://www.theses.fr/2012GLOB0006.
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L’objectif principal de cette thèse est d'effectuer des inversions des données sismologiques afin d'obtenir la distribution de glissement de cinq tremblements de terre qui ont eu lieu dans des zones de subduction. Ils sont les séismes de : Tocopilla 2007( Mw 7. 8) ; Michilla 2007 (Mw 6. 7) et Maule 2010 (Mw 8. 8) lesquelles ont frappé le Chili, et ceux de Iwate 2008 (Mw 6. 8) et Tohoku 2011 (Mw9. 0) au Japon. Nous avons calculé des inversions cinématiques pour tous ces événements et avons fait des inversions dynamiques pour Michilla 2007 et Iwate 2008. Ces inversions ont été réalisées proposant une distribution géométrique a priori de forme elliptique pour la zone de rupture avec une distribution gaussienne de glissement. La recherche de la meilleure solution est réalisée en utilisant l'algorithme de voisinage. Accélérogrammes et GPS en continu (cGPS) ont été utilisés dans l’inversion. Pour l'inversion du séisme de Tocopilla 2007 la solution converge vers une distribution de glissement modélisée par deux ellipses. Similaire a celle proposée par Peyrat et la. (2010). Pour le tremblement de terre de Maule 2010, la solution converge vers une distribution de glissement modelisée par deux ellipses, le glissement maximal est situé sur la cote nord de la rupture sismique. De inversion des accélérogrammes, deux aspérités étaient localisées dans le nord de la rupture, ces aspérités contrôlaient le mouvement dans la zone de fréquences intermédiaires (0,02 Hz a 0,1 Hz). Le tremblement de terre de Tohoku 2011 a été caractérisé par la rupture d'une seule ellipse. A partir de ces résultats, nous avons exploré l'espace de solutions avec une méthode de Monte Carlo ou seulement 3 paramètres sont libérés: la vitesse de rupture, la taille maximale de glissement l'ellipse et la taille de l'ellipse (en gardant le ratio d'aspect fixe entre leurs axes). Entre ces trois paramètres, il existe une forte ambiguïté, ce qui confirme que la solution n'est pas unique. Aussi pour ce tremblement de terre est effectuée une inversion préliminaire avec une discrétisation classique en rectangles, et nous avons trouvé des résultats similaires à l’inversion elliptique. Enfin nous avons fait l'inversion de deux tremblements de terre intraplaques de profondeur intermédiaire (Mw 6. 8). Nous avons fait les premières inversions dynamiques avec la libération de tous les paramètres. Par les inversions de Monte Carlo, nous confirmons que les inversions dynamiques ne sont pas uniques, et que la rupture des séismes est contrôlé par les paramètres de la loi de frottement. Ces paramètres peuvent prendre des valeurs différentes, mais ils sont regroupés dans une valeur spécifique de moment sismique et du paramètre kappa (kappa est un paramètre proportionnel au rapport entre ligue l'énergie libérée et l’énergie disponible pour la rupture sismique)We study the inversion of the slip distribution of five earthquakes: 3 that occurred in Chile (Tocopilla 2007, Mw 7. 8; Michilla 2007, Mw 6. 7; Maule 2010, Mw 8. 8) and two from Japan (Iwate 2008, Mw 6. 8, Tohoku 2011, Mw 9. 0). Kinematic inversions are made for them with the exception of Michilla 2007 and dynamic inversions were made for Michilla 2007 and Iwate 2008. Inversions are made using an elliptical rupture area which is characterized by a Gaussian distribution of slip. The search for the best solution is approached using the neighborhood algorithm. Strong motion and continuous GPS (cGPS) data were used in the inversion. For Tocopilla 2007 we proposed a slip distribution characterized by two ellipses confirming previous work by Peyrat et al. (2010). For the Maule 2010 earthquake two ellipses were proposed, the results showed that the maximum slip is located on the northern part of the rupture. Here also we identified the asperities that controlled the movement in the range of intermediate frequencies (0. 02 Hz to 0. 1 Hz) in the north of the rupture. The Tohoku 2011 earthquake was characterized by the rupture of one ellipse. Then we searched for the best solution using a Monte Carlo method, we fixed some parameters and released 3 of them: rupture velocity, maximum slip and ellipse size (keeping fixed the aspect ratio between their axes), finding that between these three parameters there are strong links, confirming that the solution is non unique. Also for this earthquake is develops a preliminary inversion using a classical discretization with rectangles, finding similar results to the elliptical inversion. Finally we made the inversion of two intraplate intermediate depth earthquakes of magnitudes around Mw 6. 8. For these earthquakes we made the first full dynamic inversions. Here we confirmed, making Monte Carlo inversion, those dynamics inversions are not unique and that are characterized by the parameters of the friction law. These parameters can take different values, but they share common values of seismic moment and kappa values (kappa is a parameter that relates the energy released with the energy available for the earthquake rupture)
Se invierte la distribucion de deslizamiento de cinco terremotos, 3 ocurridos en Chile (Tocopilla 2007, Mw 7. 8; Michilla 2007, Mw 6. 7; Maule 2010; Mw 8. 8) y dos de Japon (Iwate 2008, Mw 6. 8 y Tohoku 2011, Mw 9. 0). Se realizan inversiones cinematicas para ellos con la excepcion de Michilla 2007 e inversiones dinamicas para Michilla 2007 e Iwate 2008. Las inversiones son hechas proponiendo a priori una distribucion geometrica del area de ruptura formada por una o dos elipses y distribucion gaussiana de deslizamiento. La busqueda de la mejor solucion se realiza utilizando el algoritmo de vecindad. Acelerogramas y GPS continuos (cGPS) fueron invertidos. Para Tocopilla 2007 se obtiene una distribucion de slip caracterizado por 2 elipses. Para el terremoto del Maule dos elipses fueron propuestas encontrandose que el maximo deslizamiento se ubica en la zona norte de una ruptura de casi 500 km; para este terremoto ademas se identificaron las asperezas que controlaron el movimiento en el rango de frecuencias intermedias (0. 02 Hz a 0. 1 Hz) en la zona norte de la ruptura. El terremoto de Tohoku 2011 pudo ser caracterizado por la ruptura de una elipses y luego se realizo una busqueda de la mejor solucion utilizando un metodo de Monte Carlo fijando algunos parametros y liberando solo 3 de ellos: velocidad de ruptura, deslizamiento maximo y el tamano de la elipse (manteniendo fija la razon de aspecto entre sus ejes), encontrando que entre estos tres parametros existen fuertes acoplamientos, confirmando que la solucion no es unica. Tambien para este terremoto se realiza desarrolla una preliminar inversion utilizando una discretizacion clasica de rectangulos, encontrandose resultados similares a la inversion por elipse. Finalmente realizamos la inversion de dos terremotos intraplaca de profundidad intermedia de magnitud cercana a Mw 6. 8. Para estos terremotos nosotros realizamos las primeras inversiones dinamicas liberando todos los parametros. Aqui se confirma, realizando inversiones del tipo Monte Carlo, que las inversiones no son unicas y que la ruptura de los terremotos queda controlada por los parametros de la ley de friccion, pudiendo tomar diferentes valores pero agrupandose en valores especificos de momento sismico y kappa (kappa es un parametro que relaciona la energia liberada con la energia disponible para que el terremoto se propague)
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Bayram, Çağdaş Alizade Rasim. "Kinematic and dynamic analysis of spatial six degree of freedom parallel structure manipulator/". [s.l.]: [s.n.], 2003. http://library.iyte.edu.tr/tezler/master/makinamuh/T000281.pdf.
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Mauntler, Nathan A. "Kinematic and dynamic behavior of a wearing joint in a crank-slider mechanism". [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0024958.
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Ruiz, Tapia Sergio. "Kinematic and dynamic inversions of subduccion earthquakes using strong motion and cGPS data". Tesis, Universidad de Chile, 2012. http://repositorio.uchile.cl/handle/2250/111903.
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Doctor en Ciencias, Mención GeologíaSe invierte la distribución de deslizamiento de cinco terremotos, 3 ocurridos en Chile (Tocopilla 2007, Mw 7.8; Michilla 2007, Mw 6.7; Maule 2010; Mw 8.8) y dos de Japón (Iwate 2008, Mw 6.8 y Tohoku 2011, Mw 9.0). Se realizan inversiones cinemáticas para ellos con la excepción de Michilla 2007 e inversiones dinámicas para Michilla 2007 e Iwate 2008. Las inversiones son hechas proponiendo a priori una distribución geométrica del área de ruptura formada por una o dos elipses y distribución gaussiana de deslizamiento. La búsqueda de la mejor solución se realiza utilizando el algoritmo de vecindad. Acelerogramas y GPS continuos (cGPS) fueron invertidos. Para Tocopilla 2007 se obtiene una distribución de slip caracterizado por 2 elipses. Para el terremoto del Maule dos elipses fueron propuestas encontrándose que el máximo deslizamiento se ubica en la zona norte de una ruptura de casi 500 km; para este terremoto además se identificaron las asperezas que controlaron el movimiento en el rango de frecuencias intermedias (0.02 Hz a 0.1 Hz) en la zona norte de la ruptura. El terremoto de Tohoku 2011 pudo ser caracterizado por la ruptura de una elipses y luego se realizó una búsqueda de la mejor solución utilizando un método de Monte Carlo fijando algunos parámetros y liberando solo 3 de ellos: velocidad de ruptura, deslizamiento máximo y el tamaño de la elipse (manteniendo fija la razón de aspecto entre sus ejes), encontrando que entre estos tres parámetros existen fuertes acoplamientos, confirmando que la solución no es única. También para este terremoto se realiza desarrolla una preliminar inversión utilizando una discretización clásica de rectángulos, encontrándose resultados similares a la inversión por elipse. Finalmente realizamos la inversión de dos terremotos intraplaca de profundidad intermedia de magnitud cercana a Mw 6.8. Para estos terremotos nosotros realizamos las primeras inversiones dinámicas liberando todos los parámetros. Aquí se confirma, realizando inversiones del tipo Monte Carlo, que las inversiones no son únicas y que la ruptura de los terremotos queda controlada por los parámetros de la ley de fricción, pudiendo tomar diferentes valores pero agrupándose en valores específicos de momento sísmico y kappa (kappa es un parámetro que relaciona la energía liberada con la energía disponible para que el terremoto se propague).
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Ettarid, Mohamed. "Investigation into parameter functional groupings associated with dynamic camera calibration /". The Ohio State University, 1992. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487777901661374.
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Hungenahalli, Shivanna Bharath. "Musculoskeletal Modeling of Ballet". Thesis, Linköpings universitet, Mekanik och hållfasthetslära, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171924.
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This thesis work comprises the working and simulation procedures being involved in simulating motion capture data in AnyBody Modeling System. The motion capture data used in this thesis are ballet movements from dancers of Östgöta ballet and dance academy. The ballet movements taken into consideration are the arabesque on demi-pointe and pirouette. The arabesque on demi-pointe was performed by two dancers but the pirouette is performed by only one dancer. The method involved recording ballet movements by placing markers on the dancer's body and using this motion capture data as input to AnyBody Modeling System to create a musculoskeletal simulation. The musculoskeletal modeling involved creating a very own Qualisys marker protocol for the markers placed on the ballet dancers. Then implementing the marker protocol onto a human model in AnyBody Modeling System by making use of the AnyBody Managed Modeling Repository (TM) and obtain the kinematics from the motion capture. To best fit the human model to the dancer's anthropometry, scaling of the human model is done, environmental conditions such as the force plates are provided. An optimization algorithm is conducted for the marker positions to best fit the dancer's anthropometry by running parameter identification. From the kinematics of the motion capture data, we simulate the inverse dynamics in AnyBody Modeling System. The simulations explain a lot of parameters that describe the ballet dancers. Results such as the center of mass, the center of pressure, muscle activation, topple angle are presented and discussed. Moreover, we compare the models of the dancers and draw conclusions about body balance, effort level, and muscles activated during the ballet movements.
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Wagner, Timothy Paul. "The Mechanical Design of a Suspension Parameter Identification and Evaluation Rig (SPIdER) for Wheeled Military Vehicles". The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1322502477.
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Can, Fatih Cemal. "Inertial Parameter Design Of Spatial Mechanisms". Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1254895/index.pdf.
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In this thesis, the inertial parameters of a spatial mechanism are used in order to optimize various aspects of the dynamic behaviour of the mechanism (such as minimizing actuator torque/ force fluctuations, shaking force/moment balancing, etc.) while the effects of loads are considered as well. Here, inertial parameters refer to the mass, 6 elements of the inertia tensor and coordinates of the center of mass of the links.
The concept of Force Fluctuation Number (FFN) is utilized to optimize the dynamic behaviour of the mechanism. By using the FFN concept, one obtains a number of linear equations to be satisfied by the optimal inertial parameters. In general, the number of such equations is less than the number of the inertial parameters. Therefore, some of the inertial parameters may be selected freely in order to satisfy other design constraints.
Using MATHEMATICA, a program has been developed to obtain the linear equations to be satisfied by the optimal inertial parameters. The developed program includes a kinematic and force analysis module, which
can be used independently for a complete kinematic and dynamic analysis of any one degree of freedom, single loop, spatial mechanism. The different closures of the mechanism may be identified by using the developed package and these analyses can be performed on any selected closure of the mechanism.
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McInnis, Timothy. "Acute Effects of Peristaltic Pulse Dynamic Compression on Recovery: Kinetic, Kinematic, and Perceptual Factors". Digital Commons @ East Tennessee State University, 2014. https://dc.etsu.edu/etd/2414.
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The purpose of this dissertation was to determine the effects of peristaltic pulse dynamic compression administered via NormaTec recovery system provides measurable kinetic, kinematic, or perceptual benefits following a weightlifting training session. During 2 testing sessions separated by 1 week, 6 weightlifters performed dynamic mid thigh pulls on a force plate with potentiometers at loads equal to 50%, 60%, 70%, 80%, 90%, 100%, 110%, and 120% of 1 RM clean before and after a weightlifting training session consisting of 5 sets of 5 repetitions of clean pulls from the floor with 90% of 1 RM clean and treatment with the NormaTec recovery system or a sham treatment. Following a cross over design the weightlifters served as their own control receiving NomaTec treatment during 1 testing session and sham treatment during 1 testing session. Pre- and postdynamic mid thigh pulls were analyzed for peak force, force at 50 ms, force at 90 ms, force at 250 ms, impulse at 50 ms, impulse at 90 ms, impulse at 250 ms, rate of force development, peak velocity, peak power, and peak displacement. A 2x2 (treatment, time) repeated measures ANOVA showed no statistical differences in the interaction of treatment and time with the exception of impulse at 250 ms at the 70% load. The minimal effects of NormaTec on recovery from a weightlifting training session demonstrated in this study suggest that NormaTec recovery system does not provide substantial benefits following clean pulls from the floor. However, it is possible that NormaTec may be more effective following a greater level of eccentric damage or a test of strength endurance.
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Manchu, Sreenivasarao. "Parameter Identification for Mechanical Joints". Thesis, Blekinge Tekniska Högskola, Avdelningen för maskinteknik, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-4309.
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All but the simplest physical systems contains mechanical joints. The behavior of these joints is sometimes the dominant factor in over all system behavior. The potential for occurence of microslip and macroslip normally makes the behavior of joints non-linear. Accurate modeling of joints requires a non-linear ramework. As clamping pressures are typically random ad variable, the behavior of the joints becomes random. Joint geometries are random along with other unknowns of the joints. Two different methods for measuring the energy dissipation are explained. In the experimental method, the energy dissipation of a non-linear joint is calculated from the slope of the envelope of the time response of acceleration. The simulation work is carried out by considering a smooth hysteresis model with the help of Matlab programming. Finally, the parameters are extracted for a specific non-linear system by comparing analytical and experimental results.0736988322
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Espie, David Miller. "The use of nonlinear parameter estimation for dynamic chemical reactor modelling". Thesis, Imperial College London, 1986. http://hdl.handle.net/10044/1/7692.
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Guo, Song. "Adaptive parameter estimation of power system dynamic models using modal information". Thesis, Durham University, 2014. http://etheses.dur.ac.uk/10576/.
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Knowledge of the parameter values of the dynamic generator models is of paramount importance for creating accurate models for power system dynamics studies. Traditionally, power systems consists of a relatively limited numbers of large power stations and the values of generator parameters were provided by manufacturers and validated by utilities. Recently however, with the increasing penetration of distributed generation, the accuracy of these models and parameters cannot be guaranteed. This thesis addresses the above concerns by developing a methodology to estimate the parameter values of a power system dynamic model online, employing dynamic system modes, i.e. modal frequencies and damping. The dynamic modes are extracted from real-time measurements. The aim of the proposed methodology is to minimise the differences between the observed and modelled modes of oscillation. It should be emphasised that the proposed methodology does not aim to develop the dynamic model itself but rather modify its parameter using WAMS measurements. The developed methodology is general and can be used to identify any generator parameters., However, thesis concentrates on the estimation of generator inertia constants. The results suggest that the proposed methodology can estimate inertias and replicate the dynamic behaviour of the power system accurately, through the inclusion of pseudo-measurements in the optimisation process. The pseudo-measurements not only improves the accuracy of the parameter estimation but also the robustness of it. Observability, a problem when there are fewer numbers of measurements than the numbers of parameters to be estimated, has also been successfully tackled. It has been shown that the damping measurements do not influence the accuracy and robustness of generator inertia estimation significantly.
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BABAR, MUHAMMAD ZEESHAN. "Optimal Input Design for Active Parameter Identification of Dynamic Nonlinear Systems". Doctoral thesis, Università degli studi di Genova, 2018. http://hdl.handle.net/11567/929646.
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There are many important aspects to be considered while designing optimal excitation signal for system identification experiment in control applications. Active parameter identification is an important issue in system and control theory. In this dissertation, the problem of optimal input design for active parameter identification of dynamic nonlinear system is addressed. Real life physical systems are identified by excitation with a suitable input signal and observing the resulting output behavior of the system. It is important to choose the input signal intelligently in the sense that it is responsible to determine the accuracy and nature of the unknown system characteristics. This leads to a spurred interest in designing such an optimal excitation signals that can yield maximal information from the identification experiment. The information obtained from parameter identification is usually not accurate due to incomplete knowledge of the system, disturbance as exogenous inputs and noisy measurements. Hence, the input spectrum is designed in such a way that it can improve the system performance and shape the quality of obtained information. A welldesigned input signal can maximize the amount of information and reduce the experimental cost and time. The input signal is usually given some a-priori characteristics (knowledge on the pdf) so that “excitation” of the system is guaranteed. In this thesis, a closed-loop method is investigated which is able to improve the parameter identification on the basis of the actual system’s behavior. The effectiveness of the proposed algorithm is presented by the experimental results which corresponds to the perfect identification of the unknown parameter vector. The major technical contribution of this work is to propose an optimal feedback input design method for active parameter identification of dynamic nonlinear systems. The proposed framework can design such optimal excitation signals, considering the information from the identified parameters, that can maximize the
amount of information from the identified parameters, guarantee to meet the specified control performance and minimize some cost function of the error covariance matrix of the identified parameters. The problem is formulated in a receding horizon framework where extended Kalman filter is used for system identification and the optimal input is designed in a nonlinear model predictive control framework. In order to carry out a comparison study, also Unscented Kalman Filter and Gaussian Sum Filter are used for the active parameter identification of dynamic nonlinear system. Towards this end, a suitable optimality criterion related to the unknown parameters is proposed and motivated as an information measure. The aim of the optimal input design is to yield maximal information from the unknown system by minimizing the cost related to the unknown parameters while maintaining some process performance and satisfying the possible constraints. Simulations are performed to show the effectiveness of the proposed algorithm.