Modelling of Forward Fall on Outstretched Hands as a System with Ground Contact

The main aim of this paper was to examine the association between prematch well-being status with match internal and external load in field (FR) and assistant (AR) soccer referees. Twenty-three FR and 46 AR participated in this study. The well-being state was assessed using the Hooper Scale and the match external and internal loads were monitored with Stryd Power Meter and heart monitors. While no significant differences were found in Hooper indices between match officials, FR registered higher external loads (p < 0.01; ES: 0.75 to 5.78), spent more time in zone 4 and zone 5, and recorded a greater training impulse (TRIMP) value (p < 0.01; ES: 1.35 to 1.62) than AR. Generally, no associations were found between the well-being variables and external loads for FR and AR. Additionally, no associations were found between the Hooper indices and internal loads for FR and AR. However, several relationships with different magnitudes were found between internal and external match loads, for FR, between power and speed with time spent in zone 2 (p < 0.05; r = −0.43), ground contact time with zone 2 and zone 3 (p < 0.05; r = 0.50 to 0.60) and power, speed, cadence and ground contact time correlated with time spent in zone 5 and TRIMP (p < 0.05 to 0.01; r = 0.42 to 0.64). Additionally, for AR, a relationship between speed and time in zone 1 was found (p < 0.05; r = −0.30; CL = 0.22). These results suggest that initial well-being state is not related to match officials’ performances during match play. In addition, the Stryd Power Meter can be a useful device to calculate the external load on soccer match officials.

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Feedback Linearization of Inertially Actuated Jumping Robots

Actuators ◽

10.3390/act10060114 ◽

2021 ◽

Vol 10 (6) ◽

pp. 114

Author(s):

Adam Cox ◽

Pouria Razzaghi ◽

Yildirim Hurmuzlu

Keyword(s):

Feedback Linearization ◽

Experimental Results ◽

Family Tree ◽

Ground Contact ◽

Jump Height ◽

3 Dimensional ◽

Hybrid Nature ◽

Design Paradigm ◽

Motion Complexity ◽

Research Studies

Inertially Actuated Jumping Robots (IAJR) provide a promising new means of locomotion. The difficulty of IAJR is found in the hybrid nature of the ground contact/flying dynamics. Recent research studies in our Systems Lab have provided a family tree of inertially actuated locomotion systems. The proposed Tapping Robot is the most prompt member of this tree. In this paper, a feedback linearization controller is introduced to provide controllability given the 3-dimensional motion complexity. The research objective is to create a general controller that can regulate the locomotion of Inertially Actuated Jumping Robots. The expected results can specify a desired speed and/or jump height, and the controller ensures the desired values are achieved. The controller can achieve the greatest response for the Basketball Robot at a maximum jump height of 0.25 m, which is greater than the former performance with approximately 0.18 m. The design paradigm used on the Basketball Robot was extended to the Tapping Robot. The Tapping Robot achieved a stable average forward velocity of 0.0773 m/s in simulation and 0.157 m/s in experimental results, which is faster than the forward velocity of former robot, Pony III, with 0.045 m/s.

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Natural durability and improved resistance of 20 Amazonian wood species after 30 years in ground contact

Holzforschung ◽

10.1515/hf-2020-0192 ◽

2021 ◽

Vol 0 (0) ◽

Author(s):

Fernando Nunes Gouveia ◽

Marcelo Fontana da Silveira ◽

Alencar Garlet

Keyword(s):

Wood Species ◽

Climatic Conditions ◽

Natural Durability ◽

Amazon Forest ◽

Ground Contact ◽

Forest Environment ◽

Ground Test ◽

The Tropics ◽

Dipteryx Odorata ◽

Copper Arsenate

Abstract This study aimed to assess the natural durability of 20 Amazonian wood species preserved with chromated copper arsenate (CCA) after 30 years in ground contact in an experimental field test at National Forest of Tapajós, Pará state - Brazil. Heartwood samples with a cross-section of 5 × 5 cm and 50 cm of length were half-buried in soil and inspected every year for decay. The species were classified according to natural durability following the classification method proposed by Findlay (Findlay, W.P.K. (1985). The nature and durability of wood. In: Findlay, W.P.K. (Ed.), Preservation of timber in the tropics. Springer Science, Whitchurch, pp. 1–13). After 30 years in ground test, six species were classified as Perishable, seven as Non-durable, three as Durable and four as Very durable, namely: Trichilia lecointei, Lecythis pisonis, Pseudopiptadenia suaveolens, and Dipteryx odorata (Very durable), Protium tenuifolium, Dinizia excelsa, and Ormosia paraensis (Durable), Endopleura uchi, Goupia glabra, Pouteria egregia, Tachigali chrysophylla, Tachigali paraensis, Vatairea sericea, and Vochysia maxima (Non-durable) and Chrysophyllum lucentifolium, Couratari oblongifolia, Didymopanax morototoni, Lueheopsis duckeana, Sterculia excelsa, and Xylopia nitida (Perishable). CCA preservative treatment was effective to promote timber protection, even under harsh climatic conditions of the Amazon forest environment.

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