Semiactive Control of Multiple Degree of Freedom Systems

1997 ◽  
Author(s):  
Mehdi Ahmadian
Keyword(s):  
Degrees Of Freedom ◽  
Hybrid Control ◽  
Control Policy ◽  
The Body ◽  
Semiactive Control ◽  
Dynamic Simulations ◽  
Passive Dampers ◽  
Suspension Model ◽  
The Cost ◽  
Resonance Control

Abstract Semiactive control of systems with multiple degrees of freedom is addressed. Two systems representing a pitch-plane model of a vehicle and a single suspension are used to illustrate the results. The dynamic simulations show the well-known compromise between resonance control and isolation, due to passive dampers. It is shown that semiactive dampers also compromise between controlling different bodies. For skyhook and groundhook control policies, the control of one body is achieved at the cost of less control on the other bodies. For instance, in a single suspension model, skyhook semiactive dampers better control the body resonance, but significantly increase the axle resonance (wheelhop). The groundhook dampers provide a better control of wheelhop at the expense of increasing body resonance. A hybrid control policy that combines the effect of skyhook and groundhook policies is introduced. This policy can be used to provide the proper control on all bodies, while using the hardware common to existing semiactive dampers.

scholarly journals Jumping in frogs: assessing the design of the skeletal system by anatomically realistic modeling and forward dynamic simulation

2002 ◽  
Vol 205 (12) ◽  
pp. 1683-1702 ◽  
Author(s):  
William J. Kargo ◽  
Frank Nelson ◽  
Lawrence C. Rome
Keyword(s):  
Degrees Of Freedom ◽  
The Body ◽  
Joint Torque ◽  
Rotational Degree ◽  
Skeletal System ◽  
Dynamic Simulations ◽  
Inverse Dynamic ◽  
Maximal Distance ◽  
Out Of Plane ◽  
Rotational Degrees Of Freedom

SUMMARY Comparative musculoskeletal modeling represents a tool to understand better how motor system parameters are fine-tuned for specific behaviors. Frog jumping is a behavior in which the physical properties of the body and musculotendon actuators may have evolved specifically to extend the limits of performance. Little is known about how the joints of the frog contribute to and limit jumping performance. To address these issues, we developed a skeletal model of the frog Rana pipiens that contained realistic bones, joints and body-segment properties. We performed forward dynamic simulations of jumping to determine the minimal number of joint degrees of freedom required to produce maximal-distance jumps and to produce jumps of varied take-off angles. The forward dynamics of the models was driven with joint torque patterns determined from inverse dynamic analysis of jumping in experimental frogs. When the joints were constrained to rotate in the extension—flexion plane, the simulations produced short jumps with a fixed angle of take-off. We found that, to produce maximal-distance jumping,the skeletal system of the frog must minimally include a gimbal joint at the hip (three rotational degrees of freedom), a universal Hooke's joint at the knee (two rotational degrees of freedom) and pin joints at the ankle,tarsometatarsal, metatarsophalangeal and iliosacral joints (one rotational degree of freedom). One of the knee degrees of freedom represented a unique kinematic mechanism (internal rotation about the long axis of the tibiofibula)and played a crucial role in bringing the feet under the body so that maximal jump distances could be attained. Finally, the out-of-plane degrees of freedom were found to be essential to enable the frog to alter the angle of take-off and thereby permit flexible neuromotor control. The results of this study form a foundation upon which additional model subsystems (e.g. musculotendon and neural) can be added to test the integrative action of the neuromusculoskeletal system during frog jumping.

Muscle Synergies Modify Optimization Estimates of Joint Stiffness During Walking

2019 ◽  
Vol 142 (1) ◽  
Author(s):  
Mohammad S. Shourijeh ◽  
Benjamin J. Fregly
Keyword(s):  
Degrees Of Freedom ◽  
Computational Models ◽  
Joint Stiffness ◽  
The Body ◽  
Grand Challenge ◽  
Lower Body ◽  
Inverse Dynamic ◽  
Co Activation ◽  
Muscle Activations ◽  
The Cost

Abstract Because of its simplicity, static optimization (SO) is frequently used to resolve the muscle redundancy problem (i.e., more muscles than degrees-of-freedom (DOF) in the human musculoskeletal system). However, SO minimizes antagonistic co-activation and likely joint stiffness as well, which may not be physiologically realistic since the body modulates joint stiffness during movements such as walking. Knowledge of joint stiffness is limited due to the difficulty of measuring it experimentally, leading researchers to estimate it using computational models. This study explores how imposing a synergy structure on the muscle activations estimated by optimization (termed “synergy optimization,” or SynO) affects calculated lower body joint stiffnesses during walking. By limiting the achievable muscle activations and coupling all time frames together, a synergy structure provides a potential mechanism for reducing indeterminacy and improving physiological co-activation but at the cost of a larger optimization problem. To compare joint stiffnesses produced by SynO (2–6 synergies) and SO, we used both approaches to estimate lower body muscle activations and forces for sample experimental overground walking data obtained from the first knee grand challenge competition. Both optimizations used a custom Hill-type muscle model that permitted analytic calculation of individual muscle contributions to the stiffness of spanned joints. Both approaches reproduced inverse dynamic joint moments well over the entire gait cycle, though SynO with only two synergies exhibited the largest errors. Maximum and mean joint stiffnesses for hip and knee flexion in particular decreased as the number of synergies increased from 2 to 6, with SO producing the lowest joint stiffness values. Our results suggest that SynO increases joint stiffness by increasing muscle co-activation, and furthermore, that walking with a reduced number of synergies may result in increased joint stiffness and perhaps stability.

scholarly journals Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Alaa Abdulrahman ◽  
Kamran Iqbal ◽  
Gannon White
Keyword(s):  
Human Body ◽  
Reference Point ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
The Body ◽  
Sensor Position ◽  
Reaction Forces ◽  
The Cost

Physiologically and biomechanically, the human body represents a complicated system with an abundance of degrees of freedom (DOF). When developing mathematical representations of the body, a researcher has to decide on how many of those DOF to include in the model. Though accuracy can be enhanced at the cost of complexity by including more DOF, their necessity must be rigorously examined. In this study a planar seven-segment human body walking model with single DOF joints was developed. A reference point was added to the model to track the body’s global position while moving. Due to the kinematic instability of the pelvis, the top of the head was selected as the reference point, which also assimilates the vestibular sensor position. Inverse dynamics methods were used to formulate and solve the equations of motion based on Newton-Euler formulae. The torques and ground reaction forces generated by the planar model during a regular gait cycle were compared with similar results from a more complex three-dimensional OpenSim model with muscles, which resulted in correlation errors in the range of 0.9–0.98. The close comparison between the two torque outputs supports the use of planar models in gait studies.

Representing utility and deploying the body

2020 ◽  
Vol 43 ◽  
Author(s):  
David Spurrett
Keyword(s):  
Functional Activity ◽  
Degrees Of Freedom ◽  
The Body ◽  
Target Article ◽  
Processing Demands ◽  
The Many

Abstract Comprehensive accounts of resource-rational attempts to maximise utility shouldn't ignore the demands of constructing utility representations. This can be onerous when, as in humans, there are many rewarding modalities. Another thing best not ignored is the processing demands of making functional activity out of the many degrees of freedom of a body. The target article is almost silent on both.

scholarly journals Scalable co-optimization of morphology and control in embodied machines

2018 ◽  
Vol 15 (143) ◽  
pp. 20170937 ◽  
Author(s):  
Nick Cheney ◽  
Josh Bongard ◽  
Vytas SunSpiral ◽  
Hod Lipson
Keyword(s):  
Embodied Cognition ◽  
Initial Conditions ◽  
Control Policy ◽  
Sensorimotor Control ◽  
Body Plan ◽  
The Body ◽  
Test Bed ◽  
Local Optima ◽  
Close Coupling ◽  
And Control

Evolution sculpts both the body plans and nervous systems of agents together over time. By contrast, in artificial intelligence and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The task of simultaneously co-optimizing the morphology and controller of an embodied robot has remained a challenge. In psychology, the theory of embodied cognition posits that behaviour arises from a close coupling between body plan and sensorimotor control, which suggests why co-optimizing these two subsystems is so difficult: most evolutionary changes to morphology tend to adversely impact sensorimotor control, leading to an overall decrease in behavioural performance. Here, we further examine this hypothesis and demonstrate a technique for ‘morphological innovation protection’, which temporarily reduces selection pressure on recently morphologically changed individuals, thus enabling evolution some time to ‘readapt’ to the new morphology with subsequent control policy mutations. We show the potential for this method to avoid local optima and converge to similar highly fit morphologies across widely varying initial conditions, while sustaining fitness improvements further into optimization. While this technique is admittedly only the first of many steps that must be taken to achieve scalable optimization of embodied machines, we hope that theoretical insight into the cause of evolutionary stagnation in current methods will help to enable the automation of robot design and behavioural training—while simultaneously providing a test bed to investigate the theory of embodied cognition.

Influence of the cost of technological equipment of body production on indicators of efficiency of working processes

2021 ◽  
pp. 28-32
Author(s):  
Keyword(s):  
Quality Index ◽  
Production Efficiency ◽  
Statistical Data ◽  
The Body ◽  
Technological Equipment ◽  
Production Body ◽  
Body Production ◽  
The Cost ◽  
Efficiency Indicators ◽  
Selection Of

The possibilities for the development of bodywork in the context of the growing level of competition are analyzed in the article. The technological processes of bodywork are considered and the problem of choosing technological equipment is indicated. The statistical data about the efficiency indicators of company body divisions, operating in the body repair market in Krasnoyarsk, are presented. A composite quality index for the equipment of the bodywork department (using the example of body stocks) is proposed and calculated, and on its basis, some recommendations are given for companies which plan to enter the market of body repair services. Keywords: body production, body repair, body equipment, body production efficiency, selection of technological equipment

Improving the efficiency of metal-bonded diamond abrasive end tools by improving manufacturing technology

2021 ◽  
Vol 23 (2) ◽  
pp. 66-80
Author(s):  
Valentin Smirnov ◽  
◽  
Dmitry Lobanov ◽  
Vadim Skeeba ◽  
Ivan Golyushov ◽  
...  
Keyword(s):  
High Speed ◽  
High Speed Steel ◽  
Carbon Steels ◽  
Manufacturing Technology ◽  
The Body ◽  
Processing Technologies ◽  
Medium Carbon ◽  
The Cost ◽  
Diamond Abrasive ◽  
Bearing Part

Introduction. Difficult-to-machine materials with enhanced physical and mechanical properties are increasingly being used in various industries. Such materials are used in mechanical engineering for the manufacture of parts and assemblies of machines and mechanisms, in the production and processing of food products where increased operational requirements are required. In modern production, along with traditional methods of intensifying technological operations, combined and hybrid processing technologies are used. For the finishing of products, abrasive grinding with a diamond tool is used. One of the problems hindering the wide practical application of this method in industry is the fact that it has a high prime cost caused by the cost of materials used in the manufacture and the laboriousness of the tool shaping process. This leads to the need to develop a new technology for manufacturing diamond tools. The purpose of the work is to increase the efficiency of the end diamond abrasive tool with a metal bond by using carbon steels as a body material, increasing the strength of the connection between the body and the diamond-bearing part, as well as choosing an effective tool manufacturing technology. Research methodology. To gain this task, a technology for manufacturing end diamond abrasive tools is developed and tested. Allowing using the technology of capacitor welding to connect the diamond-bearing part with the shank and use medium-carbon hardened high-quality steels with a hardness of 45-60 HRC as the shank material. The strength of the connection of the body with the working diamond-bearing part of the grinding head samples is determined by tensile testing on a 1958U10 tensile machine with maximum load 100 kN. The quality of the joint is assessed visually by the presence of discontinuities in the joint, as well as by examining the microstructure and measuring the microhardness of the weld and heat-affected zones. The microhardness of the welded joint is measured using an HMV-G21ST semi-automatic microhardness tester (Shimadzu, Japan) at a load of 50 g. Results and discussion. Thus, the results of comparative studies allow us to assert that the strength of the connection between the shank and the working diamond-bearing part according to the proposed technology surpasses similar characteristics of the strength of the connection between the shank and the diamond-bearing layer of grinding heads obtained by the method selected by the prototype. Conclusions. The proposed technology for the manufacture of diamond heads increases the strength of the connection between the body and the diamond-bearing working part, reduces the cost of manufacturing the grinding heads due to the use of hardened medium-carbon steels as the material of the tool body instead of high-speed steel grades, the technology is simplified and the possibility of automating the manufacture of tools appears.

scholarly journals Unstable Hemostasis and Specific Postoperative Complications (Literature Review)

2020 ◽  
Vol 5 (4) ◽  
pp. 98-102
Author(s):  
D. V. Lebedeva ◽  
E. A. Ilyicheva
Keyword(s):  
Postoperative Complications ◽  
Rapid Development ◽  
Point Of View ◽  
The Body ◽  
Cost Of Treatment ◽  
Duration Of Hospital Stay ◽  
Technical Errors ◽  
Perioperative Bleeding ◽  
The Cost

Perioperative bleeding occupies a leading place among all surgical complications and, despite the rapid development of surgery, remains relevant to this day. In addition to an increase in mortality, bleeding can cause the development of other postoperative complications, which lead to disability of patients and to a decrease in the quality of life in all age groups. Most perioperative bleeding are caused by technical errors. This article reviews the problem of perioperative bleeding from the point of view of impaired coagulation capabilities of the body. The main etiopathogenetic features of hemostasis during the development of this complication are considered. The analysis of postoperative complications, which were directly or indirectly caused by bleeding during or after surgery, is presented. The prevalence of these complications in various areas of surgery has been demonstrated. More detailed study of the hemostasis system and the identification of predictors of hemostasis difficulties before the surgery may cause an improvement in the results of surgical treatment and reduce the number of postoperative complications and the duration of hospital stay. Accordingly, this will lead to a decrease in the cost of treatment and an increase in patient satisfaction with the medical care. In connection with the above, there is a great interest among surgeons and anesthesiologists in preventing the development of perioperative bleeding.

scholarly journals The Peculiarities of Civil-Legal Regulation of Transplantation in Ukraine and Europe

2018 ◽  
Vol 8 (1) ◽  
pp. 33-48
Author(s):  
Alla Herts
Keyword(s):  
Treatment Process ◽  
Developed Countries ◽  
Legal Regulation ◽  
Modern Medicine ◽  
The Body ◽  
Accessibility Of Health Services ◽  
Surgical Field ◽  
Processed Form ◽  
The Cost ◽  
Cadaveric Transplantation

Abstract In modern realities the issue of the quality and accessibility of health services, the cost of medicines, examinations and treatment in general is being increasingly frequently discussed. The attention is focused on such a narrow surgical field as transplantation, because in Ukraine thousands of patients are waiting in line for organ transplantation and very few operations are performed. The main, most secure and common type of transplantation is the transplantation of organs and tissues from a deceased person, the dead body. Cadaveric transplantation, which is used in most developed countries, is hardly carried out in Ukraine. This is due to the fact that the current regulatory base of Ukraine in the field of transplantation does not fully meet the needs of modern medicine and has many gaps. The aim of donation is a future transplantation (including and in cases of blood transfusion and reproductive cells use). The parts (tissues, organs, their parts, individual cells) extracted (separated) from the body in the process of donation can be used generally in the treatment process in a processed form (blood plasma) or in the original state (fertilized reproductive cells). The detailed analysis of the provisions of the national legal system makes it possible to conclude that, despite the absence of direct regulation of relations concerning organ donation and transplantation as material relations, the legal regulations provide the fundamental provisions, which determine their material nature, and therefore offer opportunities for agreementbased regulation. In our opinion, one of the essential legal means of ensuring the rights of participants in the relations of donation and transplantation can be their agreement-based regulation. The peculiarities of civil-legal regulation of transplantation in Ukraine and Europe are simultaneously analysed; and the grounds of its legitimacy are defined.

scholarly journals A MODIFIED GENETIC ALGORITHM FOR FINDING FUZZY SHORTEST PATHS IN UNCERTAIN NETWORKS

2016 ◽  
Vol XLI-B2 ◽  
pp. 299-304 ◽  
Author(s):  
A. A. Heidari ◽  
M. R. Delavar
Keyword(s):  
Genetic Algorithm ◽  
Shortest Path ◽  
Shortest Paths ◽  
The Body ◽  
Shortest Path Problems ◽  
Conventional Procedure ◽  
Path Lengths ◽  
The Cost ◽  
Uncertain Networks ◽  
Exploration Exploitation

In realistic network analysis, there are several uncertainties in the measurements and computation of the arcs and vertices. These uncertainties should also be considered in realizing the shortest path problem (SPP) due to the inherent fuzziness in the body of expert's knowledge. In this paper, we investigated the SPP under uncertainty to evaluate our modified genetic strategy. We improved the performance of genetic algorithm (GA) to investigate a class of shortest path problems on networks with vague arc weights. The solutions of the uncertain SPP with considering fuzzy path lengths are examined and compared in detail. As a robust metaheuristic, GA algorithm is modified and evaluated to tackle the fuzzy SPP (FSPP) with uncertain arcs. For this purpose, first, a dynamic operation is implemented to enrich the exploration/exploitation patterns of the conventional procedure and mitigate the premature convergence of GA technique. Then, the modified GA (MGA) strategy is used to resolve the FSPP. The attained results of the proposed strategy are compared to those of GA with regard to the cost, quality of paths and CPU times. Numerical instances are provided to demonstrate the success of the proposed MGA-FSPP strategy in comparison with GA. The simulations affirm that not only the proposed technique can outperform GA, but also the qualities of the paths are effectively improved. The results clarify that the competence of the proposed GA is preferred in view of quality quantities. The results also demonstrate that the proposed method can efficiently be utilized to handle FSPP in uncertain networks.

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