Motion/Posture Modeling and Simulation Verification of Physically Handicapped in Manufacturing System Design

Non-obstacle design is critical to tailor physically handicapped workers in manufacturing system. Simultaneous consideration of variability in physically disabled users, machines and environment of the manufacturing system is extremely complex and generally requires modeling of physically handicapped interaction with the system. Most current modeling either concentrates on the task results or functional disability. The integration of physical constraints with task constraints is far more complex because of functional disability and its extended influence on adjacent body parts. A framework is proposed to integrate the two constraints and thus model the specific behavior of the physical handicapped in virtual environment generated by product specifications. Within the framework a simplified model of physical disabled body is constructed, and body motion is generated based on 3 levels of constraints（effecter constraints, kinematics constraints and physical constraints）. The kinematics and dynamic calculations are made and optimized based on the weighting manipulated by the kinematics constraints and dynamic constraints. With object transferring task as example, the model is validated in Jack 6.0. Modelled task motion elements except for squatting and overreaching well matched with captured motion elements. The proposed modeling method can model the complex behavior of the physically handicapped by integrating both task and physical disability constraints.

Complex Motion Modeling and State Estimation in Road Coordinates

Constrained modeling and state estimation have attracted much attention in recent years. This paper focuses on target motion modeling and tracking in road coordinates. An improved initialization method,which uses the optimal fusion of the position measurements in different directions,is presented for the constraint coordinate Kalman filter(CCKF). The CCKF is evaluated with a comprehensive comparison to the state-of-art linear equality constraint estimation methods. Numerical simulation results demonstrate the better performance of the CCKF. Then the interacting multiple model CCKF(IMM-CCKF) is proposed to manifest the advantages of the CCKF in complex motion modeling and state estimations. The effectiveness of the IMM-CCKF in maneuvering target tracking with spatial equality constraints is demonstrated by numerical experiments.

Physics-based Modeling and Simulation for Motional Cable Harness Design

The design work of motional cable in products is vital due to the difficulty in estimating the potential issues in current researches.In this paper,a physics-based modeling and simulation method for the motional cable harness design is presented.The model,based on continuum mechanics,is established by analyzing the force of microelement in equilibrium.During the analysis procedure,three coordinate systems：inertial,Frenet and main-axis coordinate systems are used.By variable substitution and dimensionless processing,the equation set is discretized by differential quadrature method and subsequently becomes an overdetermined nonlinear equation set with boundary conditions solved by Levenberg-Marquardt method.With the profile of motional cable harness obtained from the integral of arithmetic solution,a motion simulation system based on＂path＂and＂profile＂as well as the experimental equipments is built.Using the same parameters as input for the simulation and the real cable harness correspondingly,the issue in designing,such as collision,can be easily found by the simulation system.This research obtains a better result which has no potential collisions by redesign,and the proposed method can be used as an accurate and efficient way in motional cable harness design work.

Error Modeling and Sensitivity Analysis of a Parallel Robot with SCARA(Selective Compliance Assembly Robot Arm) Motions

Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.

Vertical coherency function model of spatial ground motion

Many studies have focused on horizontal ground motion, resulting in many coherency functions for horizontal ground motion while neglecting related problems arising from vertical ground motion. However, seismic events have demonstrated that the vertical components of ground motion sometimes govern the ultimate failure of structures. In this paper, a vertical coherency function model of spatial ground motion is proposed based on the Hao model and SMART 1 array records, and the validity of the model is demonstrated. The vertical coherency function model of spatial ground motion is also compared with the horizontal coherency function model, indicating that neither model exhibits isotropic characteristics. The value of the vertical coherency function has little correlation with that of the horizontal coherency function. However, the coherence of the vertical ground motion between a pair of stations decreases with their projection distance and the frequency of the ground motion. When the projection distance in the wave direction is greater than 800 meters, the coherency between the two points can be neglected.

NONLINEAR MOTION MECHANICS MODEL OF CURVED BLOOD VESSEL

A geometric model of curved blood vessels is established based on some reasonable hypotheses; the nonlinear motion mechanics model of the curved blood vessel is established according to basic mechanics laws. This model includes much more physiological factors. It couples the interaction of blood flow with mechanical factors such as the displacement, deformation, strain and stress etc. of the curved blood vessel. It is of great importance for investigating the circulation rules of the cardiovascular system and the nonlinear pulse wave propagation in curved blood vessels.

Modeling and Motion Simulation for A Flying-Wing Underwater Glider with A Symmetrical Airfoil

The flying-wing underwater glider (UG), shaped as a blended wing body, is a new type of underwater vehicle and still requires further research. The shape layout and the configuration of the internal actuators of the flying-wing UG are different from those of "legacy gliders" which have revolving bodies, and these two factors strongly affect the dynamic performance of the vehicle. Considering these differences, we propose a new configuration of the internal actuators for the flying-wing UG and treat the flying-wing UG as a multi-body system when establishing its dynamic model. In this paper, a detailed dynamic model is presented using the Newton-Euler method for the flying-wing UG. Based on the full dynamic model, the effect of the internal actuators on the steady gliding motion of vehicle is studied theoretically, and the relationship between the state parameters of the steady gliding motion and the controlled variables is obtained by solving a set of equilibrium equations. Finally, the behaviors of two classical motion modes of the glider are analyzed based on the simulation. The simulation results demonstrate that the motion performance of the proposed flying-wing UG is satisfactory.

Wave Motion Compensation Scheme and Its Model Tests for the Salvage of An Ancient Sunken Boat

The application of the vertical hoisting jack and wave motion compensation techniques to the salvage of an ancient sunken boat is introduced. The boat is wooden, loaded with cultural relics. It has been immersed at the bottom of the South China Sea for more than 800 years. In order to protect the structure of the boat and the cultural relics inside to the largest extent, an open caisson is used to hold the sunken beat and the silts around before they are raised from the seabed all together as a whole. In the paper, first, the seakeeping model test of the system of the salvage barge and the open caisson is done to determine some important wave response parameters. And then a further experimental study of the ap- plication of the vertical hoisting jack and wave motion compensation scheme to the salvage of the sunken boat is carried out. In the model tests, the techniques of the integrative mechanic-electronic-hydraulic control, wave motion forecast and wave motion compensation are used to minimize the heave motion of the open caisson. The results of the model tests show that the heave motion of the open caisson can be reduced effectively by the use of the present method.

A Multi-Task Motion Generation Model that Fuses a Discriminator and a Generator

The human motion generation model can extract structural features from existing human motion capture data,and the generated data makes animated characters move.The 3D human motion capture sequences contain complex spatial-temporal structures,and the deep learning model can fully describe the potential semantic structure of human motion.To improve the authenticity of the generated human motion sequences,we propose a multi-task motion generation model that consists of a discriminator and a generator.The discriminator classifies motion sequences into different styles according to their similarity to the mean spatial-temporal templates from motion sequences of 17 crucial human joints in three-freedom degrees.And target motion sequences are created with these styles by the generator.Unlike traditional related works,our model can handle multiple tasks,such as identifying styles and generating data.In addition,by extracting 17 crucial joints from 29 human joints,our model avoids data redundancy and improves the accuracy of model recognition.The experimental results show that the discriminator of the model can effectively recognize diversified movements,and the generated data can correctly fit the actual data.The combination of discriminator and generator solves the problem of low reuse rate of motion data,and the generated motion sequences are more suitable for actual movement.

SIZE DISTRIBUTION OF DROPLETS ABOVE A ROTATING STREAM TRAY AND MODEL OF DROPLET MOTION THEREIN

Droplet size distributions have been investigated with a two-probe system above a rotatingstream tray of 300 mm diameter.The measured distributions are found to follow the upper limitedlognormal distribution with three parameters dependent primarily on gas hole F-factor.A probabilitymethod is used to describe the initial state of the droplet population above the tray,and a model fordroplet motion is presented.The results computed with model agree well with experimental data.

IN-PLANE WAVE MOTION IN FINITE ELEMENT MODEL

The analysis method of lattice dynamics in classical physics is extended to study the properties of in-plane wave motion in the hybrid-mass finite element model in this paper. The dispersion equations of P and SV waves in the discrete model are first obtained by means of separating the characteristic equation of the motion equation, and then used to analyse the properties of P-and SV-homogeneous, inhomogeneous waves and other types of motion in the model. The dispersion characters, cut-off frequencies of P and SV waves, the polarization drift and appendent anisotropic property of wave motion caused by the discretization are finally discussed.

STUDY ON THE MATHEMATICAL MODEL FOR DRILL WANDERING MOTION

Based on the kinematic relationship of the drill, drill point and workpiece and the coordinate systems founded,the mathematical models of the drill point wandering motion for the drill initial penetration, i. e. the formulae for the drill point center locus, hole shape and cutting edge locus, are established. According to these formulae the hole shape to be made is simulated and analyzed. It is verified that the bending chatter of the drill during the drill penetrating is the main cause to form a polygon like hole.

Strong motion simulation by the composite source modeling:A case study of 1679 M8.0 Sanhe-Pinggu earthquake

In this study, a composite source model has been used to calculate the realistic strong ground motions in Beijing area, caused by 1679 Ms8.0 earthquake in Sanhe-Pinggu. The results could provide us the useful physical parameters for the future seismic hazard analysis in this area. Considering the regional geological/geophysical background, we simulated the scenario earthquake with an associated ground motions in the area ranging from 39.3°N to 41. 1°N in latitude and from 115.35°E to 117.55°E in longitude. Some of the key factors which could influence the characteristics of strong ground motion have been discussed, and the resultant peak ground acceleration （PGA） distribution and the peak ground velocity （PGV） distribution around Beijing area also have been made as well. A comparison of the simulated result with the results derived from the attenuation relation has been made, and a sufficient discussion about the advantages and disadvantages of composite source model also has been given in this study. The numerical results, such as the PGA, PGV, peak ground displacement （PGD）, and the three-component time-histories developed for Beijing area, have a potential application in earthquake engineering field and building code design, especially for the evaluation of critical constructions, government decision making and the seismic hazard assessment by financial/insurance companies.

The use of the greater trochanter marker in the thigh segment model:Implications for hip and knee frontal and transverse plane motion

Background:The greater trochanter marker is commonly used in 3-dimensional(3D) models;however,its influence on hip and knee kinematics during gait is unclear.Understanding the influence of the greater trochanter marker is important when quantifying frontal and transverse plane hip and knee kinematics,parameters which are particularly relevant to investigate in individuals with conditions such as patellofemoral pain,knee osteoarthritis,anterior cruciate ligament(ACL) injury,and hip pain.The aim of this study was to evaluate the effect of including the greater trochanter in the construction of the thigh segment on hip and knee kinematics during gait.Methods:3D kinematics were collected in 19 healthy subjects during walking using a surface marker system.Hip and knee angles were compared across two thigh segment definitions(with and without greater trochanter) at two time points during stance:peak knee flexion(PKF) and minimum knee flexion(Min KF).Results:Hip and knee angles differed in magnitude and direction in the transverse plane at both time points.In the thigh model with the greater trochanter the hip was more externally rotated than in the thigh model without the greater trochanter(PKF:-9.34°± 5.21° vs.1.40°± 5.22°,Min KF:-5.68°± 4.24° vs.5.01°± 4.86°;p < 0.001).In the thigh model with the greater trochanter,the knee angle was more internally rotated compared to the knee angle calculated using the thigh definition without the greater trochanter(PKF:14.67°± 6.78° vs.4.33°± 4.18°,Min KF:10.54°± 6.71° vs.-0.01°± 2.69°;p < 0.001).Small but significant differences were detected in the sagittal and frontal plane angles at both time points(p < 0.001).Conclusion:Hip and knee kinematics differed across different segment definitions including or excluding the greater trochanter marker,especially in the transverse plane.Therefore when considering whether to include the greater trochanter in the thigh segment model when using a surface markers to calculate 3D kinematics for movement assessment,it is important to have a clear understanding of the effect of different marker sets and segment models in use.

Dynamic flight stability of hovering model insects:theory versus simulation using equations of motion coupled with Navier-Stokes equations

In the present paper, the longitudinal dynamic flight stability properties of two model insects are predicted by an approximate theory and computed by numerical sim- ulation. The theory is based on the averaged model （which assumes that the frequency of wingbeat is sufficiently higher than that of the body motion, so that the flapping wings＇ degrees of freedom relative to the body can be dropped and the wings can be replaced by wingbeat-cycle-average forces and moments）; the simulation solves the complete equations of motion coupled with the Navier-Stokes equations. Comparison between the theory and the simulation provides a test to the validity of the assumptions in the theory. One of the insects is a model dronefly which has relatively high wingbeat frequency （164 Hz） and the other is a model hawkmoth which has relatively low wingbeat frequency （26 Hz）. The results show that the averaged model is valid for the hawkmoth as well as for the dronefly. Since the wingbeat frequency of the hawkmoth is relatively low （the characteristic times of the natural modes of motion of the body divided by wingbeat period are relatively large） compared with many other insects, that the theory based on the averaged model is valid for the hawkmoth means that it could be valid for many insects.

Contouring error modeling and simulation of a four-axis motion control system

A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.

Lg-Q model and its implication on high-frequency ground motion for earthquakes in the Sichuan and Yunnan region

Low-rise buildings are susceptible to high-frequency ground motion.The high-frequency ground motions at regional distances are mainly controlled by crustal Lg waves whose amplitudes are typically much larger than those of body waves.In this study,we develop a Lg-wave Q model for the Sichuan and Yunnan region in the frequency band of 0.3–2.0 Hz using regional seismic records of 1166 earthquakes recorded at 152 stations.Comparison between the observed pattern of ground motion from real earthquake and model prediction demonstrates the robustness and effectiveness of our Lg-Q model.Then,assuming that the Lg-wave Q structure is the main factor affecting the propagation of the high-frequency ground motions,we calculate the spatial distributions of high-frequency ground motions from scenario earthquakes at different locations in the region using the average Lg-wave attenuation model over the frequency band of 0.3–2.0 Hz.We also use the Lg-Q model to estimate the distribution of cumulative energy of high-frequency ground motions based on the historical seismicity of the Sichuan and Yunnan region.Results show that the Lg-Q model can be used effectively in estimating the spatial distribution of high-frequency seismic energies and thus can contribute to the assessment of seismic hazard to low-rise buildings.

Seismic ground motion relationships in southern China based on stochastic finite-fault model

The characteristics of seismic ground motions in southern China are difficult to determine statistically due to a lack of strong ground motion data.In this study,a stochastic finite-fault ground motion model was adopted to simulate the seismic ground motions at bedrock for southern China,based on parameters derived from small and medium earthquakes that have occurred in the region.From these,the response spectra was estimated.A set of ground motion attenuation relationships was then developed based on simulated peak ground motions and response spectral parameters through regression,which would be applicable for use in engineering practice.Through comparisons,it was demonstrated that the proposed ground motion relationships are generally consistent with those obtained from other reported ground motion attenuation models for southern China.

LAGRANGIAN MODEL ON THE TURBULENT MOTION OF SMALL SOLID PARTICLE IN TURBULENT BOUNDARY LAYER FLOWS

The Lagrangian equations of motion of small particle in turbulent boundary layer flows, taking into account the effects of the drug force caused by the wall presence, the Saffman and the Magus lift forces et al., is studied. Using the spectral method, analytical expression relating to the Lagrangian power spectra of particle velocity to that of the fluid are developed and the results are used to evaluate various responses statistics. In this paper, the results clearly show that the turbulent diffusivity of the particle may be larger than that of the fluid for a period of long-time.

3-D physical model in strong ground motion numerical simulation:A case study of Kunming basin

Seismic hazard assessment based on urban active faults can provide scientific bases for city planning and project construction, while numerical simulation of strong ground motion is an important method for seismic hazard prediction and assessment. A 3-D physical model in conformity with real strata configuration of （mainly） the Quaternary is a prerequisite to ensure the reliability of the simulation results. In this paper, we give a detailed account of the technical scheme and process for creating a 3-D physical model in Kunming basin. The data used are synthe- sized from seismogeological data, borehole data, topographic data, digital elevation mode （DEM） data, seismic exploration results and wave velocity measurements. Strafigraphic division is based mainly on shear wave velocity, with strata sequence taken into consideration. The model construction is finally accomplished with ArcGIS and many relevant programming techniques via layer-by-layer stacking （in depth direction） of the adjacent medium interfaces （meshes）. Meanwhile, a database of 3-D physical models is set up, which provides model data and parameters for strong ground motion simulation. Some processing methods and significant issues are also addressed in the paper in accordance with different types of exploration and experimental data.