scholarly journals Changes in Center of Mass during Preliminary Motion for Prediction of Direction Change

2021 ◽  
Keyword(s):  
Control Systems ◽  
Human Behavior ◽  
Research Group ◽  
Daily Life ◽  
Center Of Mass ◽  
Velocity Change ◽  
Living Space ◽  
Direction Change ◽  
Straight Line ◽  
Prediction Parameters

Abstract. In recent years, the number of single elderly people has been increasing, and the needs of residents have been diversifying. Towards these backgrounds, we propose the concept of "Biofiled bulding". The aim of Biofied Building is to create living spaces where residents can live safely, securely and comfortably. Small robots are used as an interface between residents and living space in Biofied Building. The aim of using robots is to sense the position and movement of residents in real time and providing feedback to them. However,he present control systems of the robot do not have enough functions to estimate the risk of accidents such as falls and choose the pathways which do not disturb residents. Therefore, the purpose of this research is to recognize and predict human behavior in a living space by using a robot to realize Biofied Building. In particular, we focus on the direction change motion, which is an important behavior in a living space, and extract the prediction parameters. In particular, it is reported that the direction change motion account for about 20% of gait during the daily life. Therefore, our research group decided to focus on direction change motion. In this study, we focused on the center of the head to extract parameters for prediction of the direction change motion. There are features in the velocity change of the center of the head compared with straight-line gait. There was a velocity amplification of the opposite direction of the direction change before the start of the motion. It is assumed that the shift of the center of mass make it to easier to step out to the direction of the turn.

TO THE STABILITY OF TANK VEHICLES IN THE BRAKE MODE

2019 ◽  
pp. 27-32
Author(s):  
Denys Popelysh ◽  
Yurii Seluk ◽  
Sergyi Tomchuk
Keyword(s):  
Mathematical Model ◽  
Control Systems ◽  
Distribution Systems ◽  
Traffic Accidents ◽  
Road Traffic ◽  
Center Of Mass ◽  
Dynamic Processes ◽  
Course Stability ◽  
The Stability ◽  
Tank Vehicles

This article discusses the question of the possibility of improving the roll stability of partially filled tank vehicles while braking. We consider the dangers associated with partially filled tank vehicles. We give examples of the severe consequences of road traffic accidents that have occurred with tank vehicles carrying dangerous goods. We conducted an analysis of the dynamic processes of fluid flow in the tank and their influence on the basic parameters of the stability of vehicle. When transporting a partially filled tank due to the comparability of the mass of the empty tank with the mass of the fluid being transported, the dynamic qualities of the vehicle change so that they differ significantly from the dynamic characteristics of other vehicles. Due to large displacements of the center of mass of cargo in the tank there are additional loads that act vehicle and significantly reduce the course stability and the drivability. We consider the dynamics of liquid sloshing in moving containers, and give examples of building a mechanical model of an oscillating fluid in a tank and a mathematical model of a vehicle with a tank. We also considered the method of improving the vehicle’s stability, which is based on the prediction of the moment of action and the nature of the dynamic processes of liquid cargo and the implementation of preventive actions by executive mechanisms. Modern automated control systems (anti-lock brake system, anti-slip control systems, stabilization systems, braking forces distribution systems, floor level systems, etc.) use a certain list of elements for collecting necessary parameters and actuators for their work. This gives the ability to influence the course stability properties without interfering with the design of the vehicle only by making changes to the software of these systems. Keywords: tank vehicle, roll stability, mathematical model, vehicle control systems.

scholarly journals Validation of IMU-based gait event detection during curved walking and turning in older adults and Parkinson’s Disease patients

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Robbin Romijnders ◽  
Elke Warmerdam ◽  
Clint Hansen ◽  
Julius Welzel ◽  
Gerhard Schmidt ◽  
...  
Keyword(s):  
Older Adults ◽  
Parkinson’S Disease ◽  
Parkinson's Disease ◽  
Daily Life ◽  
Neurological Diseases ◽  
Detection Performance ◽  
Measurement Unit ◽  
Straight Line ◽  
Optical Motion ◽  
Task Conditions

Abstract Background Identification of individual gait events is essential for clinical gait analysis, because it can be used for diagnostic purposes or tracking disease progression in neurological diseases such as Parkinson’s disease. Previous research has shown that gait events can be detected from a shank-mounted inertial measurement unit (IMU), however detection performance was often evaluated only from straight-line walking. For use in daily life, the detection performance needs to be evaluated in curved walking and turning as well as in single-task and dual-task conditions. Methods Participants (older adults, people with Parkinson’s disease, or people who had suffered from a stroke) performed three different walking trials: (1) straight-line walking, (2) slalom walking, (3) Stroop-and-walk trial. An optical motion capture system was used a reference system. Markers were attached to the heel and toe regions of the shoe, and participants wore IMUs on the lateral sides of both shanks. The angular velocity of the shank IMUs was used to detect instances of initial foot contact (IC) and final foot contact (FC), which were compared to reference values obtained from the marker trajectories. Results The detection method showed high recall, precision and F1 scores in different populations for both initial contacts and final contacts during straight-line walking (IC: recall $$=$$ = 100%, precision $$=$$ = 100%, F1 score $$=$$ = 100%; FC: recall $$=$$ = 100%, precision $$=$$ = 100%, F1 score $$=$$ = 100%), slalom walking (IC: recall $$=$$ = 100%, precision $$\ge$$ ≥ 99%, F1 score $$=$$ = 100%; FC: recall $$=$$ = 100%, precision $$\ge$$ ≥ 99%, F1 score $$=$$ = 100%), and turning (IC: recall $$\ge$$ ≥ 85%, precision $$\ge$$ ≥ 95%, F1 score $$\ge$$ ≥ 91%; FC: recall $$\ge$$ ≥ 84%, precision $$\ge$$ ≥ 95%, F1 score $$\ge$$ ≥ 89%). Conclusions Shank-mounted IMUs can be used to detect gait events during straight-line walking, slalom walking and turning. However, more false events were observed during turning and more events were missed during turning. For use in daily life we recommend identifying turning before extracting temporal gait parameters from identified gait events.

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

Brief Analysis of the Lacquer Art Application Value for Indoor Environment Art Design

2014 ◽  
Vol 587-589 ◽  
pp. 480-483
Author(s):  
Lei Liang
Keyword(s):  
Indoor Environment ◽  
Daily Life ◽  
Physical Property ◽  
Traditional Culture ◽  
Environmental Art ◽  
Aesthetic Appreciation ◽  
Chinese Traditional Culture ◽  
Living Space ◽  
Space Function

Since ancient time till now, the lacquer art was accepted by thousands of households via decoration of curio shelves. Nowadays the lacquer art is merged into people’s daily life, as it can not only decorate our environmental art, but also apply lively lacquer language to beautify people’s vision and actual living space, even represent the essence of Chinese traditional culture furthermore. This paper, based upon physical property of lacquer art that embodies its intrinsic decoration function, introduces the application value of lacquer art used for environment art in fields of the space function classification of lacquer screen to the environmental protection, decoration of lacquer art as well as the inherent aesthetic appreciation interest in detail.

The Evaluation of Agreement Between Dynamics of Electric Wheelchair and Human Behavior

2004 ◽  
Vol 16 (4) ◽  
pp. 434-442 ◽  
Author(s):  
Shigenobu Shimada ◽  
◽  
Kosei Ishimura ◽  
Mitsuo Wada ◽  
Keyword(s):  
Mathematical Model ◽  
Computer Simulation ◽  
Stability Analysis ◽  
Human Behavior ◽  
User Behavior ◽  
Electric Wheelchair ◽  
Straight Line ◽  
Almost All

We studied the problem of interaction of movement between the electric wheelchair and the user. Almost all current products have indexes such as roll stability and operability, but such indexes do not always agree with user behavior because such indexes are static. Another problem arises from the fact that the disagreement of movement causes uncontrollable situations and turnover of the wheelchairs. We evaluated wheelchairs that consider user behavior, first in an experiment to understand the cause of disagreement among users during movement by measuring straight line ands turning, then, based on this result, derived a mathematical model for disagreement in wheelchair motion. Computer simulation, showed that vibration occurred within certain parameters. We present simple roll stability analysis of wheelchairs turning. Simulation confirmed the viability of our proposals.

Honda humanoid robots development

2006 ◽  
Vol 365 (1850) ◽  
pp. 11-19 ◽  
Author(s):  
Masato Hirose ◽  
Kenichi Ogawa
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Bipedal Walking ◽  
Development Work ◽  
Human Society ◽  
Legged Robot ◽  
Continuous Transition ◽  
Living Space ◽  
Straight Line ◽  
Further Development

Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism and the control system. ASIMO's configuration allows it to operate freely in the human living space. It could be of practical help to humans with its ability of five-finger arms as well as its walking function. The target of further development of ASIMO is to develop a robot to improve life in human society. Much development work will be continued both mechanically and electronically, staying true to Honda's ‘challenging spirit’.

scholarly journals WEDI ISIN (TAKUT MALU); AJINING DIRI (HARGA DIRI) ORANG JAWA DALAM PERSPEKTIF WONG CILIK (RAKYAT JELATA)

2014 ◽  
Vol 10 (1) ◽  
pp. 1
Author(s):  
Moh Soehadha
Keyword(s):  
Human Behavior ◽  
Local Knowledge ◽  
Daily Life ◽  
Self Esteem ◽  
The Self ◽  
General Knowledge ◽  
A Value ◽  
Knowl Edge ◽  
Western Values

This article discuss self-esteem, one of  the Javanese attitude. Dignity or self- esteem for the Javanese is part of  the humanist character. Self-esteem is related to humanity (kamanungsan), namely the attitude of the self that prioritizes human behavior in treating others. Anthropologically, the Javanese self-esteem can be seen from the concept of local knowledge, which is a form of local knowl- edge that comes from daily life that is still growing in Java. The Javanese emic concept of self-esteem can be transformed into a value of wisdom and the spiri- tual insight on the present, when there is a stagnation in the application of general knowledge that has been dominated by Western values.

scholarly journals MEMBANGUN TOLERANSI DALAM MASYARAKAT MAJEMUK TELAAH PEMIKIRAN NURCHOLIS MADJID

Harmoni ◽  
2020 ◽  
Vol 12 (2) ◽  
pp. 31-42
Author(s):  
Ngainun Naim
Keyword(s):  
Civil Society ◽  
Human Behavior ◽  
Daily Life ◽  
Human Being ◽  
Islamic Religion ◽  
Important Position ◽  
Unity Of God ◽  
The Way

Philosophically, human can be called as dialogical creature. The way to apply dialogical consciousness among human being needs the seriousness. In a daily life, dialogical consciousness will give big impact to the human behavior. In this case, tolerance has an important position to create this condition. According to Nurcholish Madjid, tolerance in Islamic religion is something to be based. Unity of God becomes the main destination. Tolerance can develop well to the human being having understanding and openness. The application of tolerance will create strong civil society. It is also appropriate with the pluralism of Indonesian society.

scholarly journals Quality estimation of stochastic control system using simulation methods

2021 ◽  
Vol 61 ◽  
pp. 29-37
Author(s):  
Linas Aidokas ◽  
Laimutis Adolfas Telksnys
Keyword(s):  
Control System ◽  
Control Systems ◽  
Stochastic Control ◽  
Human Behavior ◽  
Experimental Research ◽  
Simulation Modeling ◽  
Management Systems ◽  
Simulation Methods ◽  
Quality Estimation ◽  
Stochastic Control System

The stochastic control system is investigated.  The article solves the problem of human-robot humanoid communication.  The problem arises in the development of human behavior formation management systems. They describe human behavior in terms of probabilistic characteristics. Such control systems are stochastic. The management system of human behavior formation and its functioning is described quality assessment. The problem is solved by simulation modeling. The software implementing the method is described. The results of experimental research are presented.

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