Reactive and constrained motion primitive merging and adaptation

Author(s):  
Weiyong Si ◽  
Ning Wang ◽  
Chenguang Yang
Mathematics ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 1088
Author(s):  
Cristina Nuevo-Gallardo ◽  
José Emilio Traver ◽  
Inés Tejado ◽  
Blas M. Vinagre

This paper studies the displacement and efficiency of a Purcell’s three-link microswimmer in low Reynolds number regime, capable of moving by the implementation of a motion primitive or gait. An optimization is accomplished attending to the geometry of the swimmer and the motion primitives, considering the shape of the gait and its amplitude. The objective is to find the geometry of the swimmer, amplitude and shape of the gaits which make optimal the displacement and efficiency, in both an individual way and combined (the last case will be referred to as multiobjective optimization). Three traditional gaits are compared with two primitives proposed by the authors and other three gaits recently defined in the literature. Results demonstrate that the highest displacement is obtained by the Tam and Hosoi optimal velocity gait, which also achieves the best efficiency in terms of energy consumption. The rectilinear and Tam and Hosoi optimal efficiency gaits are the second optimum primitives. Regarding the multiobjective optimization and considering the two criteria with the same weight, the optimum gaits turn out to be the rectilinear and Tam and Hosoi optimal efficiency gaits. Thus, the conclusions of this study can help designers to select, on the one hand, the best swimmer geometry for a desired motion primitive and, on the other, the optimal method of motion for trajectory tracking for such a kind of Purcell’s swimmers depending on the desired control objective.


1996 ◽  
Vol 85 (2) ◽  
pp. 316-322 ◽  
Author(s):  
Curtis A. Dickman ◽  
Neil R. Crawford ◽  
Christopher G. Paramore

✓ The biomechanical characteristics of four different methods of C1–2 cable fixation were studied to assess the effectiveness of each technique in restoring atlantoaxial stability. Biomechanical testing was performed on the upper cervical spines of four human cadaveric specimens. Physiological range loading was applied to the atlantoaxial specimens and three-dimensional motion was analyzed with stereophotogrammetry. The load–deformation relationships and kinematics were measured, including the stiffness, the angular ranges of motion, the linear ranges of motion, and the axes of rotation. Specimens were nondestructively tested in the intact state, after surgical destabilization, and after each of four different methods of cable fixation. Cable fixation techniques included the interspinous technique, the Brooks technique, and two variants of the Gallie technique. All specimens were tested immediately after fixation and again after the specimen was fatigued with 6000 cycles of physiological range torsional loading. All four cable fixation methods were moderately flexible immediately; the different cable fixations allowed between 5° and 40° of rotational motion and between 0.6 and 7 mm of translational motion to occur at C1–2. The Brooks and interspinous methods controlled C1–2 motion significantly better than both of the Gallie techniques. The motion allowed by one of the Gallie techniques did not differ significantly from the motion of the unfixed destabilized specimens. All cable fixation techniques loosened after cyclic loading and demonstrated significant increases in C1–2 rotational and translational motions. The bone grafts shifted during cyclic loading, which reduced the effectiveness of the fixation. The locations of the axes of rotation, which were unconstrained and mobile in the destabilized specimens, became altered with cable fixation. The C1–2 cables constrained motion by shifting the axes of rotation so that C-1 rotated around the fixed cable and graft site. After the specimen was fatigued, the axes of rotation became more widely dispersed but were usually still localized near the cable and graft site. Adequate healing requires satisfactory control of C1–2 motion. Therefore, some adjunctive fixation is advocated to supplement the control of motion after C1–2 cable fixation (that is, a cervical collar, a halo brace, or rigid internal fixation with transarticular screws).


Author(s):  
Ling Guo

For the detection of a moving target position in video monitoring images, the existing locating tracking systems mainly adopt binocular or structured light stereoscopic technology, which has drawbacks such as system design complexity and slow detection speed. In light of these limitations, a tracking method for monocular sequence moving targets is presented, with the introduction of ground constraints into monocular visual monitoring; the principle and process of the method are introduced in detail in this paper. This method uses camera installation information and geometric imaging principles combined with nonlinear compensation to derive the calculation formula for the actual position of the ground moving target in monocular asymmetric nonlinear imaging. The footprint location of a walker is searched in the sequence imaging of a monitoring test platform that is built indoors. Because of the shadow of the walker in the image, the multi-threshold OTSU method based on test target background subtraction is used here to segment the images. The experimental results verify the effectiveness of the proposed method.


1998 ◽  
Vol 36 (6) ◽  
pp. 334-335
Author(s):  
Oscar Bollina ◽  
J. Rodrigo Parreira
Keyword(s):  

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