scholarly journals Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation

2017 ◽  
Vol 37 (1) ◽  
pp. 155-167 ◽  
Author(s):  
Arash Ajoudani ◽  
Cheng Fang ◽  
Nikos Tsagarakis ◽  
Antonio Bicchi
Keyword(s):  
Robotic Arm ◽  
Model Parameters ◽  
Time Model ◽  
Remote Manipulation ◽  
Proposed Model ◽  
Human Arm ◽  
Human Motor ◽  
Reduced Complexity ◽  
Stiffness Profile ◽  
Endpoint Stiffness

In this paper, a reduced-complexity model of the human arm endpoint stiffness is introduced and experimentally evaluated for the teleimpedance control of a compliant robotic arm. The modeling of the human arm endpoint stiffness behavior is inspired by human motor control principles on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the synergistic effect of muscular activations, which contributes to a coordinated modification of the task stiffness in all Cartesian directions. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and cocontraction levels of the chosen muscles. Consequently, the real-time model is used for the remote control of a compliant robotic arm while executing a drilling task, a representative example of tool use in environments with constraints and dynamic uncertainties. The results of this study illustrate that the proposed model enables the master to execute the remote task by modulation of the directions of the major axes of the endpoint stiffness ellipsoid and its volume using natural arm configurations and the cocontraction of the involved muscles, respectively.

scholarly journals An Intuitive Formulation of the Human Arm Active Endpoint Stiffness

Sensors ◽  
2020 ◽  
Vol 20 (18) ◽  
pp. 5357 ◽  
Author(s):  
Yuqiang Wu ◽  
Fei Zhao ◽  
Wansoo Kim ◽  
Arash Ajoudani
Keyword(s):  
Real Time ◽  
Muscle Activation ◽  
Human Robot Interaction ◽  
Model Parameters ◽  
Robot Interaction ◽  
Time Model ◽  
Proposed Model ◽  
Human Arm ◽  
Arm Muscles ◽  
Endpoint Stiffness

In this work, we propose an intuitive and real-time model of the human arm active endpoint stiffness. In our model, the symmetric and positive-definite stiffness matrix is constructed through the eigendecomposition Kc=VDVT, where V is an orthonormal matrix whose columns are the normalized eigenvectors of Kc, and D is a diagonal matrix whose entries are the eigenvalues of Kc. In this formulation, we propose to construct V and D directly by exploiting the geometric information from a reduced human arm skeleton structure in 3D and from the assumption that human arm muscles work synergistically when co-contracted. Through the perturbation experiments across multiple subjects under different arm configurations and muscle activation states, we identified the model parameters and examined the modeling accuracy. In comparison to our previous models for predicting human active arm endpoint stiffness, the new model offers significant advantages such as fast identification and personalization due to its principled simplicity. The proposed model is suitable for applications such as teleoperation, human–robot interaction and collaboration, and human ergonomic assessments, where a personalizable and real-time human kinodynamic model is a crucial requirement.

Optimal Realization of Endpoint Stiffness in Static Human Arm Postures

2020 ◽  
Author(s):  
Kamran Iqbal
Keyword(s):  
Mechanical Stability ◽  
Least Squares Method ◽  
Biomechanical Model ◽  
Three Dimensions ◽  
Physiological Data ◽  
Model Parameters ◽  
Human Arm ◽  
Muscle Activations ◽  
Minimal Energy Expenditure ◽  
Endpoint Stiffness

Abstract The endpoint stiffness, i.e., stiffness displayed by the wrist amid perturbations to the arm, has been used to assess the mechanical stability of the arm posture. The aim of this study is to develop an algorithm to optimally realize a desired end-point stiffness by minimizing muscle forces. The neuro-muscular behavior of the human arm during posture maintenance tasks is approximated by a two-link eight-muscle arm model. The model parameters reflect physiological data taken from published literature. The endpoint stiffness is shown to be a linear function of muscle activations. It is shown that the problem to minimize muscle activations while satisfying torque constraint at the joints can be solved by using non-negative least-squares method. Alternatively, linear programming can be used for this purpose. The biomechanical model is used to demonstrate how endpoint stiffness of desired magnitude, orientation, and eccentricity can be synthesized by activating arm muscles with minimal energy expenditure. Our simulation results suggest that bi-articular muscles play a major role in developing the desired endpoint stiffness. The model can be scaled up to three-dimensions by adding muscle groups.

In-Plane Flexible Ring Tire Model—Part 1: Modeling and Parameter Identification

2018 ◽  
Vol 46 (3) ◽  
pp. 174-219 ◽  
Author(s):  
Bin Li ◽  
Xiaobo Yang ◽  
James Yang ◽  
Yunqing Zhang ◽  
Zeyu Ma
Keyword(s):  
Static Load ◽  
Model Parameters ◽  
Tire Model ◽  
Test Results ◽  
Lumped Mass ◽  
Virtual Test ◽  
Proposed Model ◽  
Particle Swarm Method ◽  
Vehicle Dynamic Simulation ◽  
Flexible Ring

ABSTRACT The tire model is essential for accurate and efficient vehicle dynamic simulation. In this article, an in-plane flexible ring tire model is proposed, in which the tire is composed of a rigid rim, a number of discretized lumped mass belt points, and numerous massless tread blocks attached on the belt. One set of tire model parameters is identified by approaching the predicted results with ADAMS® FTire virtual test results for one particular cleat test through the particle swarm method using MATLAB®. Based on the identified parameters, the tire model is further validated by comparing the predicted results with FTire for the static load-deflection tests and other cleat tests. Finally, several important aspects regarding the proposed model are discussed.

EXPONENTIATED HALF-LOGISTIC LOMAX DISTRIBUTION WITH PROPERTIES AND APPLICATION

2019 ◽  
Vol XVI (2) ◽  
pp. 1-11
Author(s):  
Farrukh Jamal ◽  
Hesham Mohammed Reyad ◽  
Soha Othman Ahmed ◽  
Muhammad Akbar Ali Shah ◽  
Emrah Altun
Keyword(s):  
Real Data ◽  
Continuous Model ◽  
Model Parameters ◽  
Data Set ◽  
Lomax Distribution ◽  
Mathematical Properties ◽  
Proposed Model ◽  
Probability Weighted Moment ◽  
Record Statistics ◽  
Maximum Likelihood Criterion

A new three-parameter continuous model called the exponentiated half-logistic Lomax distribution is introduced in this paper. Basic mathematical properties for the proposed model were investigated which include raw and incomplete moments, skewness, kurtosis, generating functions, Rényi entropy, Lorenz, Bonferroni and Zenga curves, probability weighted moment, stress strength model, order statistics, and record statistics. The model parameters were estimated by using the maximum likelihood criterion and the behaviours of these estimates were examined by conducting a simulation study. The applicability of the new model is illustrated by applying it on a real data set.

scholarly journals A General Temperature-Dependent Stress–Strain Constitutive Model for Polymer-Bonded Composite Materials

Polymers ◽  
2021 ◽  
Vol 13 (9) ◽  
pp. 1393
Author(s):  
Xiaochang Duan ◽  
Hongwei Yuan ◽  
Wei Tang ◽  
Jingjing He ◽  
Xuefei Guan
Keyword(s):  
Composite Materials ◽  
Constitutive Model ◽  
Model Parameters ◽  
Temperature Dependent ◽  
Stress Strain ◽  
Proposed Model ◽  
Single Temperature ◽  
Testing Data ◽  
Bonded Composite ◽  
Tension And Compression

This study develops a general temperature-dependent stress–strain constitutive model for polymer-bonded composite materials, allowing for the prediction of deformation behaviors under tension and compression in the testing temperature range. Laboratory testing of the material specimens in uniaxial tension and compression at multiple temperatures ranging from −40 ∘C to 75 ∘C is performed. The testing data reveal that the stress–strain response can be divided into two general regimes, namely, a short elastic part followed by the plastic part; therefore, the Ramberg–Osgood relationship is proposed to build the stress–strain constitutive model at a single temperature. By correlating the model parameters with the corresponding temperature using a response surface, a general temperature-dependent stress–strain constitutive model is established. The effectiveness and accuracy of the proposed model are validated using several independent sets of testing data and third-party data. The performance of the proposed model is compared with an existing reference model. The validation and comparison results show that the proposed model has a lower number of parameters and yields smaller relative errors. The proposed constitutive model is further implemented as a user material routine in a finite element package. A simple structural example using the developed user material is presented and its accuracy is verified.

scholarly journals Flexural behavior of composite structural insulated panels with magnesium oxide board facings

2020 ◽  
Vol 20 (4) ◽  
Author(s):  
Łukasz Smakosz ◽  
Ireneusz Kreja ◽  
Zbigniew Pozorski
Keyword(s):  
Magnesium Oxide ◽  
Material Model ◽  
Expanded Polystyrene ◽  
Flexural Behavior ◽  
Joint Analysis ◽  
Model Parameters ◽  
Fe Model ◽  
Computational Results ◽  
Four Point Bending ◽  
Proposed Model

Abstract The current report is devoted to the flexural analysis of a composite structural insulated panel (CSIP) with magnesium oxide board facings and expanded polystyrene (EPS) core, that was recently introduced to the building industry. An advanced nonlinear FE model was created in the ABAQUS environment, able to simulate the CSIP’s flexural behavior in great detail. An original custom code procedure was developed, which allowed to include material bimodularity to significantly improve the accuracy of computational results and failure mode predictions. Material model parameters describing the nonlinear range were identified in a joint analysis of laboratory tests and their numerical simulations performed on CSIP beams of three different lengths subjected to three- and four-point bending. The model was validated by confronting computational results with experimental results for natural scale panels; a good correlation between the two results proved that the proposed model could effectively support the CSIP design process.

scholarly journals Mixture of Inverse Weibull and Lognormal Distributions: Properties, Estimation, and Illustration

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
K. S. Sultan ◽  
A. S. Al-Moisheer
Keyword(s):  
Information Matrix ◽  
Real Data ◽  
Likelihood Method ◽  
Model Parameters ◽  
Component Mixture ◽  
Data Set ◽  
Hazard Functions ◽  
Lognormal Distributions ◽  
Proposed Model ◽  
Estimation Of Model Parameters

We discuss the two-component mixture of the inverse Weibull and lognormal distributions (MIWLND) as a lifetime model. First, we discuss the properties of the proposed model including the reliability and hazard functions. Next, we discuss the estimation of model parameters by using the maximum likelihood method (MLEs). We also derive expressions for the elements of the Fisher information matrix. Next, we demonstrate the usefulness of the proposed model by fitting it to a real data set. Finally, we draw some concluding remarks.

Anatomical movement replicator applied to activities in ionizing radiation fields

2021 ◽  
Vol 8 (3A) ◽  
Author(s):  
Amir Zacarias Mesquita
Keyword(s):  
Ionizing Radiation ◽  
Radiological Protection ◽  
Control Center ◽  
Control Programs ◽  
Remote Manipulation ◽  
Radiation Fields ◽  
Working Environments ◽  
Operation Costs ◽  
Human Arm ◽  
And Robotics

The aim of this work is to demonstrate the need to develop more efficient means for radiological protection, making use of the latest automation and robotics technologies. A manipulator model has been developed that has technological differentials that can positively influence the performance and cost of remote manipulation. The built-in equipment has a Slave manipulator, developed without using semiconductor elements. They are housed in the control center, which is attached to the manipulator via umbilical cord, facilitating the equipment adaptation in hot cells and other working environments. The arrangement of the joints and the links, have similarities with the anatomy of the human arm, improving the instinctively of the operation. To demonstrate its technological feasibility, a prototype Master-Slave manipulator was designed, and built using three control programs, which were written exclusively for this work. It was also designed to reduce construction and operation costs, making it accessible to most areas. The results obtained with the prototype construction are shown to be promising, providing an incentive to continue the development of manipulators using similar technologies. The equipment, obtained satisfactory results in relation to the operability, being able to perform movement tasks of loads, as foreseen in the project.

A robust possibilistic programming model for production-routing problem in a three-echelon supply chain

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Mohammad Ali Beheshtinia ◽  
Narjes Salmabadi ◽  
Somaye Rahimi
Keyword(s):  
Supply Chain ◽  
Real Life ◽  
Model Parameters ◽  
Pickup And Delivery ◽  
Distribution Centers ◽  
Routing Problem ◽  
Remarkable Feature ◽  
Content Type ◽  
Proposed Model ◽  
Production Routing

Purpose This paper aims to provide an integrated production-routing model in a three-echelon supply chain containing a two-layer transportation system to minimize the total costs of production, transportation, inventory holding and expired drugs treatment. In the proposed problem, some specifications such as multisite manufacturing, simultaneous pickup and delivery and uncertainty in parameters are considered. Design/methodology/approach At first, a mathematical model has been proposed for the problem. Then, one possibilistic model and one robust possibilistic model equivalent to the initial model are provided regarding the uncertain nature of the model parameters and the inaccessibility of their probability function. Finally, the performance of the proposed model is evaluated using the real data collected from a pharmaceutical production center in Iran. The results reveal the proper performance of the proposed models. Findings The results obtained from applying the proposed model to a real-life production center indicated that the number of expired drugs has decreased because of using this model, also the costs of the system were reduced owing to integrating simultaneous drug pickup and delivery operations. Moreover, regarding the results of simulations, the robust possibilistic model had the best performance among the proposed models. Originality/value This research considers a two-layer vehicle routing in a production-routing problem with inventory planning. Moreover, multisite manufacturing, simultaneous pickup of the expired drugs and delivery of the drugs to the distribution centers are considered. Providing a robust possibilistic model for tackling the uncertainty in demand, costs, production capacity and drug expiration costs is considered as another remarkable feature of the proposed model.

Kinetic Model of Adiabatic Temperature Rise of Mass Concrete

2021 ◽  
Vol 13 (5) ◽  
pp. 771-780
Author(s):  
Shou-Kai Chen ◽  
Bo-Wen Xu
Keyword(s):  
Temperature Field ◽  
Temperature Rise ◽  
Initial Conditions ◽  
Dynamic Change ◽  
Adiabatic Temperature ◽  
Model Parameters ◽  
Hydration Reaction ◽  
Mass Concrete ◽  
Adiabatic Temperature Rise ◽  
Proposed Model

The adiabatic temperature rise model of mass concrete is very important for temperature field simulation, same to crack resistance capacity and temperature control of concrete structures. In this research, a thermal kinetics analysis was performed to study the exothermic hydration reaction process of concrete, and an adiabatic temperature rise model was proposed. The proposed model considers influencing factors, including initial temperature, temperature history, activation energy, and the completion degree of adiabatic temperature rise and is theoretically mature and definitive in physical meaning. It was performed on different initial temperatures for adiabatic temperature rise test; the data were employed in a regression analysis of the model parameters and initial conditions. The same function was applied to describe the dynamic change of the adiabatic temperature rise rates for different initial temperatures and different temperature changing processes and subsequently employed in a finite element analysis of the concrete temperature field. The test results indicated that the proposed model adequately fits the data of the adiabatic temperature rise test, which included different initial temperatures, and accurately predicts the changing pattern of adiabatic temperature rise of concrete at different initial temperatures. Compared with the results using the traditional age-based adiabatic temperature rise model, the results of a calculation example revealed that the simulated calculation results using the proposed model can accurately reflect the temperature change pattern of concrete in heat dissipation conditions.

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