scholarly journals Effects of upper body parameters on biped walking efficiency studied by dynamic optimization

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141668270 ◽  
Author(s):  
Kang An ◽  
Chuanjiang Li ◽  
Zuhua Fang ◽  
Chengju Liu
Keyword(s):  
Body Length ◽  
Dynamic Optimization ◽  
Optimal Solution ◽  
Optimization Method ◽  
Step Length ◽  
Joint Torque ◽  
Upper Body ◽  
Walking Gait ◽  
Body Parameters ◽  
Walking Efficiency

Walking efficiency is one of the considerations for designing biped robots. This article uses the dynamic optimization method to study the effects of upper body parameters, including upper body length and mass, on walking efficiency. Two minimal actuations, hip joint torque and push-off impulse, are used in the walking model, and minimal constraints are set in a free search using the dynamic optimization. Results show that there is an optimal solution of upper body length for the efficient walking within a range of walking speed and step length. For short step length, walking with a lighter upper body mass is found to be more efficient and vice versa. It is also found that for higher speed locomotion, the increase of the upper body length and mass can make the walking gait optimal rather than other kind of gaits. In addition, the typical strategy of an optimal walking gait is that just actuating the swing leg at the beginning of the step.

scholarly journals Architectural Models Enabled Dynamic Optimization for System-of-Systems Evolution

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhemei Fang ◽  
Xiaozhou Zhou ◽  
Ani Song
Keyword(s):  
Dynamic Optimization ◽  
Systems Engineering ◽  
Conceptual Models ◽  
Mathematical Optimization ◽  
Optimal Solution ◽  
Optimization Methods ◽  
Optimization Method ◽  
System Of Systems ◽  
Architectural Representation ◽  
Architecture Framework

System of Systems (SoS) is designed to deliver value to participant stakeholders in a dynamic and uncertain environment where new systems are added and current systems are removed continuously and on their own volition. This requires effective evolution management at the SoS architectural level with adequate support of process, methods, and tools. This paper follows the principle of Model-Based Systems Engineering (MBSE) and develops a holistic framework integrating MBSE conceptual representations and approximate dynamic programming (ADP) to support the SoS evolution. The conceptual models provide a common architectural representation to improve communication between various decision makers while the dynamic optimization method suggests evolution planning decisions from the analytical perspective. The Department of Defense Architecture Framework (DoDAF) models using Systems Modeling Language (SysML) are used as MBSE artifacts to connect with ADP modeling elements through DoDAF metamodels to increase information traceability and reduce unnecessary information loss. Using a surface warfare SoS as an example, this paper demonstrates and explains the procedures of developing DoDAF models, mapping DoDAF models to ADP elements, formulating ADP formulation, and generating evolutionary decisions. The effectiveness of using ADP in supporting evolution to achieve a near-optimal solution that can maximize the SoS capability over time is illustrated by comparing ADP solution to other alternative solutions. The entire framework also sheds light on bridging the DoDAF-based conceptual models and other mathematical optimization methods.

scholarly journals Dynamic Optimization of Inner Dump in Open-Pit Mining With Irregular Boundary

CONVERTER ◽  
2021 ◽  
pp. 456-469
Author(s):  
Haoran Li, Et al.
Keyword(s):  
Dynamic Optimization ◽  
Optimal Solution ◽  
Optimization Method ◽  
Production Model ◽  
Open Pit ◽  
Open Pit Mining ◽  
Internal Drainage ◽  
Irregular Boundary ◽  
Established Relationship ◽  
The Relationship

In order to maximize the profit of open-pit mining with irregular boundary, a dynamic optimization method of internal drainage field is proposed according to the open-pit mining principle. The method according to the site within the space and the relationship between the volume of debris, there will be no rules state within the cross mining row of open pit mining engineering is divided into three periods, namely: site within the space of stage saturated site, inner space, site in excess phase space; By building the stope - inside the mine production model, will work in mine stope and line contact with the three periods established relationship, analyses the various periods stripping engineering problems, and puts forward the corresponding solutions, and for optimal solution. This method is applied to the henan open-pit mine of hollin, a state power investment group. In another mining period, the internal drainage space is fully utilized, which reduces the area of land expropriation by the external drainage and achieves the purpose of reducing cost and increasing efficiency.

scholarly journals Dynamic optimization analysis of hydraulic pipeline system based on a developed response surface method

2020 ◽  
Vol 2 (2) ◽  
Author(s):  
Hongquan QU ◽  
Jianlin SUN ◽  
Xu YAN ◽  
Yuanlin ZHANG ◽  
Xuefeng LIU ◽  
...  
Keyword(s):  
Response Surface ◽  
Dynamic Optimization ◽  
Optimal Solution ◽  
Optimization Procedure ◽  
Optimization Method ◽  
Vibration Characteristics ◽  
Surface Model ◽  
Pipeline System ◽  
Long Distance ◽  
Offshore Pipeline

When designing a complex pipeline with long distance and multi-supports for offshore platform, it is necessary to analyze the vibration characteristics of the complex pipeline system to ensure that there is no harmful resonance in the working conditions. Therefore, the optimal layout of support is an effective method to reduce the vibration response of hydraulic pipeline system. In this paper, a developed dynamic optimization method for the complex pipeline is proposed to investigate the vibration characteristics of complex pipeline with multi-elastic supports. In this method, the Kriging response surface model between the support position and pipeline is established. The position of the clamp in the model is parameterized and the optimal solution of performance index is obtained by genetic algorithm. The number of clamps and the interval between clamps are considered as the constraints of layout optimization, and the optimization objective is the natural frequencies of pipeline. Taking a typical offshore pipeline as example to demonstrate the effectiveness of the proposed method, the results show that the vibration performance of the hydraulic pipeline system is distinctly improved by the optimization procedure, which can provide reasonable guidance for the design of complex hydraulic pipeline system.

scholarly journals Sensory-Motor Mechanisms Increasing Falls Risk in Diabetic Peripheral Neuropathy

Medicina ◽  
2021 ◽  
Vol 57 (5) ◽  
pp. 457
Author(s):  
Neil D. Reeves ◽  
Giorgio Orlando ◽  
Steven J. Brown
Keyword(s):  
Peripheral Neuropathy ◽  
Diabetic Peripheral Neuropathy ◽  
Motor Nerve ◽  
Step Length ◽  
Falls Prevention ◽  
Motor Deficits ◽  
Falls Risk ◽  
Walking Gait ◽  
Risk Of Falls ◽  
Diabetes Patients

Diabetic peripheral neuropathy (DPN) is associated with peripheral sensory and motor nerve damage that affects up to half of diabetes patients and is an independent risk factor for falls. Clinical implications of DPN-related falls include injury, psychological distress and physical activity curtailment. This review describes how the sensory and motor deficits associated with DPN underpin biomechanical alterations to the pattern of walking (gait), which contribute to balance impairments underpinning falls. Changes to gait with diabetes occur even before the onset of measurable DPN, but changes become much more marked with DPN. Gait impairments with diabetes and DPN include alterations to walking speed, step length, step width and joint ranges of motion. These alterations also impact the rotational forces around joints known as joint moments, which are reduced as part of a natural strategy to lower the muscular demands of gait to compensate for lower strength capacities due to diabetes and DPN. Muscle weakness and atrophy are most striking in patients with DPN, but also present in non-neuropathic diabetes patients, affecting not only distal muscles of the foot and ankle, but also proximal thigh muscles. Insensate feet with DPN cause a delayed neuromuscular response immediately following foot–ground contact during gait and this is a major factor contributing to increased falls risk. Pronounced balance impairments measured in the gait laboratory are only seen in DPN patients and not non-neuropathic diabetes patients. Self-perception of unsteadiness matches gait laboratory measures and can distinguish between patients with and without DPN. Diabetic foot ulcers and their associated risk factors including insensate feet with DPN and offloading devices further increase falls risk. Falls prevention strategies based on sensory and motor mechanisms should target those most at risk of falls with DPN, with further research needed to optimise interventions.

scholarly journals Optimal solution of the fractional order breast cancer competition model

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
H. Hassani ◽  
J. A. Tenreiro Machado ◽  
Z. Avazzadeh ◽  
E. Safari ◽  
S. Mehrabi
Keyword(s):  
Breast Cancer ◽  
Fractional Order ◽  
Legendre Polynomials ◽  
Numerical Experiments ◽  
Optimal Solution ◽  
Optimization Method ◽  
Competition Model ◽  
Basis Functions ◽  
Cell Populations ◽  
Operational Matrices

AbstractIn this article, a fractional order breast cancer competition model (F-BCCM) under the Caputo fractional derivative is analyzed. A new set of basis functions, namely the generalized shifted Legendre polynomials, is proposed to deal with the solutions of F-BCCM. The F-BCCM describes the dynamics involving a variety of cancer factors, such as the stem, tumor and healthy cells, as well as the effects of excess estrogen and the body’s natural immune response on the cell populations. After combining the operational matrices with the Lagrange multipliers technique we obtain an optimization method for solving the F-BCCM whose convergence is investigated. Several examples show that a few number of basis functions lead to the satisfactory results. In fact, numerical experiments not only confirm the accuracy but also the practicability and computational efficiency of the devised technique.

scholarly journals Economic Development Based on a Mathematical Model: An Optimal Solution Method for the Fuel Supply of International Road Transport Activity

Energies ◽  
2021 ◽  
Vol 14 (10) ◽  
pp. 2963
Author(s):  
Melinda Timea Fülöp ◽  
Miklós Gubán ◽  
György Kovács ◽  
Mihály Avornicului
Keyword(s):  
Decision Making ◽  
Ad Hoc ◽  
Market Competition ◽  
Optimal Solution ◽  
Cost Savings ◽  
Cost Effective ◽  
Optimization Method ◽  
Optimal Decision ◽  
Environmental Damage ◽  
Fuel Cost

Due to globalization and increased market competition, forwarding companies must focus on the optimization of their international transport activities and on cost reduction. The minimization of the amount and cost of fuel results in increased competition and profitability of the companies as well as the reduction of environmental damage. Nowadays, these aspects are particularly important. This research aims to develop a new optimization method for road freight transport costs in order to reduce the fuel costs and determine optimal fueling stations and to calculate the optimal quantity of fuel to refill. The mathematical method developed in this research has two phases. In the first phase the optimal, most cost-effective fuel station is determined based on the potential fuel stations. The specific fuel prices differ per fuel station, and the stations are located at different distances from the main transport way. The method developed in this study supports drivers’ decision-making regarding whether to refuel at a farther but cheaper fuel station or at a nearer but more expensive fuel station based on the more economical choice. Thereafter, it is necessary to determine the optimal fuel volume, i.e., the exact volume required including a safe amount to cover stochastic incidents (e.g., road closures). This aspect of the optimization method supports drivers’ optimal decision-making regarding optimal fuel stations and how much fuel to obtain in order to reduce the fuel cost. Therefore, the application of this new method instead of the recently applied ad-hoc individual decision-making of the drivers results in significant fuel cost savings. A case study confirmed the efficiency of the proposed method.

Three-dimensional asymmetric maximum weight lifting prediction considering dynamic joint strength

2021 ◽  
pp. 095441192098703
Author(s):  
Rahid Zaman ◽  
Yujiang Xiang ◽  
Jazmin Cruz ◽  
James Yang
Keyword(s):  
Experimental Data ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Three Dimensional ◽  
Optimization Method ◽  
Weight Lifting ◽  
Joint Torque ◽  
Maximum Weight ◽  
Angular Velocities ◽  
Asymmetric Lifting

In this study, the three-dimensional (3D) asymmetric maximum weight lifting is predicted using an inverse-dynamics-based optimization method considering dynamic joint torque limits. The dynamic joint torque limits are functions of joint angles and angular velocities, and imposed on the hip, knee, ankle, wrist, elbow, shoulder, and lumbar spine joints. The 3D model has 40 degrees of freedom (DOFs) including 34 physical revolute joints and 6 global joints. A multi-objective optimization (MOO) problem is solved by simultaneously maximizing box weight and minimizing the sum of joint torque squares. A total of 12 male subjects were recruited to conduct maximum weight box lifting using squat-lifting strategy. Finally, the predicted lifting motion, ground reaction forces, and maximum lifting weight are validated with the experimental data. The prediction results agree well with the experimental data and the model’s predictive capability is demonstrated. This is the first study that uses MOO to predict maximum lifting weight and 3D asymmetric lifting motion while considering dynamic joint torque limits. The proposed method has the potential to prevent individuals’ risk of injury for lifting.

Well Placement Technique and Production Optimization for Mature Field - A Case Study of L-X Field

2020 ◽  
Vol 46 ◽  
pp. 168-179
Author(s):  
Patrick Nwafor ◽  
Kelani Bello
Keyword(s):  
Oil And Gas ◽  
Optimization Technique ◽  
Optimal Solution ◽  
Oil And Gas Industry ◽  
Optimization Method ◽  
Simulation Software ◽  
Production Optimization ◽  
Direct Optimization ◽  
Well Placement ◽  
Local Optimal Solution

A Well placement is a well-known technique in the oil and gas industry for production optimization and are generally classified into local and global methods. The use of simulation software often deployed under the direct optimization technique called global method. The production optimization of L-X field which is at primary recovery stage having five producing wells was the focus of this work. The attempt was to optimize L-X field using a well placement technique.The local methods are generally very efficient and require only a few forward simulations but can get stuck in a local optimal solution. The global methods avoid this problem but require many forward simulations. With the availability of simulator software, such problem can be reduced thus using the direct optimization method. After optimization an increase in recovery factor of over 20% was achieved. The results provided an improvement when compared with other existing methods from the literatures.

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