scholarly journals Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity

2021 ◽  
Vol 33 (3) ◽  
pp. 619-628
Author(s):  
Hitoshi Kino ◽  
Hiroaki Ochi ◽  
Kenji Tahara ◽  
◽  
◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Sufficient Conditions ◽  
Potential Method ◽  
Internal Force ◽  
Joint Movement ◽  
Muscle System ◽  
Tensile Direction ◽  
Musculoskeletal Structure ◽  
Mechanical Elements ◽  
Muscle Viscosity

Muscle contractions (or equivalent mechanical elements) are responsible for joint movement in systems with musculoskeletal structure. Because muscles can only transmit force in the tensile direction in such systems, the internal force exists between the muscles. By utilizing the potential field generated by the internal force, the musculoskeletal potential method makes it possible to control the position without complex real-time calculations or sensory feedback by entering step-inputs of the balanced internal force at the target posture. However, the conditions of convergence to the target posture strongly depend on muscular arrangement. Previous studies have elucidated the mathematical conditions of the muscular arrangement; however, they provide sufficient conditions that must be satisfied by the muscular arrangement to converge to the target posture, which do not necessarily lead to optimal muscular arrangement conditions. This study proposes a method to determine the optimal muscular arrangement of a two-joint six-muscle system, wherein muscle viscosity is considered, that uses a genetic algorithm and an evaluation function considering the motion response time. The effect of the obtained muscular arrangement is verified in a simulation.

Riccati Transfer Equations for Linear Multibody Systems with Indeterminate In-Span Conditions

2019 ◽  
Vol 86 (6) ◽  
Author(s):  
Jianshu Zhang ◽  
Xiaoting Rui ◽  
Junjie Gu
Keyword(s):  
Transfer Matrix ◽  
Transfer Matrix Method ◽  
Transfer Equation ◽  
Matrix Method ◽  
Multibody Systems ◽  
Internal Force ◽  
State Variables ◽  
Transfer Matrices ◽  
Transfer Equations ◽  
Mechanical Elements

The transfer matrix method for linear multibody systems is capable of providing precise solutions for the dynamics of various mechanical systems, but it may also suffer from numerical instability in some cases, where serial chains with a large number of mechanical elements are involved or high-frequency harmonic responses are computed. Combining such a transfer strategy with the Riccati transformation yields the Riccati transfer matrix method (RTMM), which can help improve the numerical stability. According to the existing method, the conventional transfer matrices of all the mechanical elements should be obtained first; in other words, the existence of conventional transfer matrices is a prerequisite for the application of the RTMM. Thus, it seems that the RTMM is incapable of performing the dynamics analysis of linear multibody systems with indeterminate in-span conditions due to the nonexistence of the corresponding conventional transfer matrices. Observe that, for any state variables with indeterminate input–output relationships, the complementary state variables (the complementary state variable of a displacement is the corresponding internal force and vice versa) are identically equal to zero, and that the dimension of the Riccati transfer equation is only half of that of the conventional transfer equation. It reveals that the Riccati transfer equations for the connection points associated with indeterminate in-span conditions can be formulated directly, and that there is no need to rely on the conventional transfer equation. Two numerical examples are simulated and the computational results are compared with those obtained by the finite element method, which verifies the proposed method.

scholarly journals Internal Force Analysis of Buried-boring Piles in the Yuanzishan Landslide

2020 ◽  
Vol 10 (16) ◽  
pp. 5416 ◽  
Author(s):  
Hao Wang ◽  
Zhiying Lv ◽  
Jianwei Zhang ◽  
Jianwei Yue ◽  
Hongyu Qin ◽  
...  
Keyword(s):  
Driving Force ◽  
Limit Equilibrium ◽  
Bending Moment ◽  
Potential Method ◽  
Internal Force ◽  
Distribution Coefficients ◽  
Factors Affecting ◽  
Pile Diameter ◽  
Unstable Slope ◽  
Internal Forces

The Yuanzishan landslide is an unstable slope in Langzhong County, located in northeast Sichuan province, China. The Guangyuan-Nanchong expressway passes through the front edge of the unstable slope, and subgrade excavation has resulted in slope deformation, which threatens the safety of the highway construction. Emergency landslide control requires reduction of the slope disturbance. This study aims to investigate the use of buried-boring piles as a potential method for emergency landslide control. A simplified calculation method was used for the design of the buried-boring piles, according to the limit equilibrium of the soil and the elastic foundation coefficient method. The measured internal force changes of the pile were compared, in order to determine the distribution coefficients of the driving force. A relationship between the driving force of the shared pile ratio and the buried depth ratios was then established. Furthermore, a variety of factors affecting the internal forces of the buried-boring pile and the lateral reaction of the soil were also studied. The results revealed that (1) there was a quadratic relationship between the driving force of the pile-shared ratio and the sliding depth ratios; (2) the maximum bending moment of the pile increased with an increase in the sliding depth ratio of the pile, following a power law relationship; (3) increasing the buried depth of the pile head reduced the influence of the pile diameter on the maximum internal forces; (4) increasing the pile diameter decreased the maximum lateral reaction of the soil. The buried-boring piles can be used in similarly unstable regions for emergency control of deforming slopes.

scholarly journals A REVIEW ON LOWER APPENDICULAR MUSCULOSKELETAL SYSTEM OF HUMAN BODY

2016 ◽  
Vol 17 (1) ◽  
pp. 83-102 ◽  
Author(s):  
M. Akhtaruzzaman ◽  
A. A. Shafie ◽  
M. R. Khan
Keyword(s):  
Musculoskeletal System ◽  
Human Body ◽  
Autonomous Robots ◽  
Lower Limbs ◽  
Body Motion ◽  
Skeletal Structure ◽  
Joint Movement ◽  
Therapeutic Exercise ◽  
Musculoskeletal Structure ◽  
Muscle Groups

Rehabilitation engineering plays an important role in designing various autonomous robots to provide better therapeutic exercise to disabled patients. Hence it is necessary to study human musculoskeletal system and also needs to be presented in scientific manner in order to describe and analyze the biomechanics of human body motion. This review focuses on lower appendicular musculoskeletal structure of human body to represent joints and links architectures; to identify muscle attachments and functions; and to illustrate muscle groups which are responsible for a particular joint movement. Firstly, human lower skeletal structure, linking systems, joint mechanisms, and their functions are described with a conceptual representation of joint architecture of human skeleton. This section also represents joints and limbs by comparing with mechanical systems. Characteristics of ligaments and their functions to construct skeletal joints are also discussed briefly in this part. Secondly, the study focuses on muscular system of human lower limbs where muscle structure, functions, roles in moving endoskeleton structure, and supporting mechanisms are presented elaborately. Thirdly, muscle groups are tabulated based on functions that provide mobility to different joints of lower limbs. Finally, for a particular movement action of lower extremity, muscles are also grouped and tabulated to have a better understanding on functions of individual muscle. Basically the study presents an overview of the structure of human lower limbs by characterizing and classifying skeletal and muscular systems.KEYWORDS:   Musculoskeletal system; Human lower limbs; Muscle groups; Joint motion; Biomechatronics; Rehabilitation.

Some Contributions to the Theory of Near-Critical Bisexual Branching Processes

2007 ◽  
Vol 44 (02) ◽  
pp. 492-505
Author(s):  
M. Molina ◽  
M. Mota ◽  
A. Ramos
Keyword(s):  
Branching Process ◽  
Branching Processes ◽  
Sufficient Conditions ◽  
Positive Probability ◽  
Limit Laws ◽  
Bisexual Branching Processes ◽  
Probabilistic Evolution

We investigate the probabilistic evolution of a near-critical bisexual branching process with mating depending on the number of couples in the population. We determine sufficient conditions which guarantee either the almost sure extinction of such a process or its survival with positive probability. We also establish some limiting results concerning the sequences of couples, females, and males, suitably normalized. In particular, gamma, normal, and degenerate distributions are proved to be limit laws. The results also hold for bisexual Bienaymé–Galton–Watson processes, and can be adapted to other classes of near-critical bisexual branching processes.

The extinction time of a general birth and death process with catastrophes

1986 ◽  
Vol 23 (04) ◽  
pp. 851-858 ◽  
Author(s):  
P. J. Brockwell
Keyword(s):  
Laplace Transform ◽  
Size Distribution ◽  
Sufficient Conditions ◽  
Necessary And Sufficient Conditions ◽  
Death Process ◽  
Extinction Time ◽  
Birth And Death Process ◽  
Different Types ◽  
The Laplace Transform ◽  
Necessary And Sufficient

The Laplace transform of the extinction time is determined for a general birth and death process with arbitrary catastrophe rate and catastrophe size distribution. It is assumed only that the birth rates satisfyλ0= 0,λj> 0 for eachj> 0, and. Necessary and sufficient conditions for certain extinction of the population are derived. The results are applied to the linear birth and death process (λj=jλ, µj=jμ) with catastrophes of several different types.

Normal approximations to discrete unimodal distributions

1986 ◽  
Vol 23 (04) ◽  
pp. 1013-1018
Author(s):  
B. G. Quinn ◽  
H. L. MacGillivray
Keyword(s):  
Stationary Distribution ◽  
Sufficient Conditions ◽  
Random Variables ◽  
Hypergeometric Distribution ◽  
Death Process ◽  
Normal Approximations ◽  
Discrete Random Variables ◽  
Birth Death

Sufficient conditions are presented for the limiting normality of sequences of discrete random variables possessing unimodal distributions. The conditions are applied to obtain normal approximations directly for the hypergeometric distribution and the stationary distribution of a special birth-death process.

Modulated structures in (Bi,Pb)-Sr-Ca-Cu-O films

1990 ◽  
Vol 48 (4) ◽  
pp. 62-63
Author(s):  
Shozo Ikeda ◽  
Hirotoshi Hayakawa ◽  
Daniel R. Dietderich
Keyword(s):  
Rf Magnetron Sputtering ◽  
Potential Method ◽  
High Tc ◽  
Bscco System ◽  
Heat Treated ◽  
Modulated Structures ◽  
High Tc Phase ◽  
Deposited Films ◽  
Sputtering System

Pb addition makes easier to form the high Tc phase in the BSCCO system. However, Pb easily vaporized at high temperature. A controlled Pb potential method has been applied to grow the high Tc phase in films. Initially, films are deposited on cleaved MgO substrates using an rf magnetron sputtering system. These amorphous as-deposited films are heat treated in a sealed gold capsule along with a large pellet of Pb-added BSCCO. Details of the process and characterization of the films have been reported elsewhere (1). Films trated for 0.5h at 850° C contain mainly the low Tc phase with a small amount of the high Tc phase. Hawever, films treated for 3h at 850°C consist mainly of the high Tc phase. This film is superconductive with a Tc(zero) of 106K. The Pb/Bi ratio of the films, analysed by SEM- EDS, are 0.12 and 0.18 for heat tratment times of 0.5 and 3h, respectively. The present study investigates the modulated structures of these films using HREM.

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