scholarly journals 3D Device for Forces in Swimming Starts and Turns

2019 ◽  
Vol 9 (17) ◽  
pp. 3559 ◽  
Author(s):  
Karla de Jesus ◽  
Luis Mourão ◽  
Hélio Roesler ◽  
Nuno Viriato ◽  
Kelly de Jesus ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Plate ◽  
Three Dimensional ◽  
Wheatstone Bridge ◽  
Vertical Axis ◽  
Dynamic Force ◽  
Resonance Frequencies ◽  
Bridge Circuits ◽  
External Forces ◽  
Development And Validation

Biomechanical tools capable of detecting external forces in swimming starts and turns have been developed since 1970. This study described the development and validation of a three-dimensional (six-degrees of freedom) instrumented block for swimming starts and turns. Seven force plates, a starting block, an underwater structure, one pair of handgrips and feet supports for starts were firstly designed, numerically simulated, manufactured and validated according to the Fédération Internationale de Natation rules. Static and dynamic force plate simulations revealed deformations between 290 to 376 µε and 279 to 545 µε in the anterior-posterior and vertical axis and 182 to 328.6 Hz resonance frequencies. Force plates were instrumented with 24 strain gauges each connected to full Wheatstone bridge circuits. Static and dynamic calibration revealed linearity ( R 2 between 0.97 and 0.99) and non-meaningful cross-talk between orthogonal (1%) axes. Laboratory and ecological validation revealed the similarity between force curve profiles. The need for discriminating each upper and lower limb force responses has implied a final nine-force plates solution with seven above and two underwater platforms. The instrumented block has given an unprecedented contribution to accurate external force measurements in swimming starts and turns.

Eye-head coordination during large gaze shifts

1995 ◽  
Vol 73 (2) ◽  
pp. 766-779 ◽  
Author(s):  
D. Tweed ◽  
B. Glenn ◽  
T. Vilis
Keyword(s):  
Degrees Of Freedom ◽  
Human Subjects ◽  
Three Dimensional ◽  
Vertical Axis ◽  
Head Movements ◽  
Gaze Shifts ◽  
Healthy Human ◽  
Vertical Movements ◽  
The Gaze ◽  
Acceleration And Deceleration

1. Three-dimensional (3D) eye and head rotations were measured with the use of the magnetic search coil technique in six healthy human subjects as they made large gaze shifts. The aims of this study were 1) to see whether the kinematic rules that constrain eye and head orientations to two degrees of freedom between saccades also hold during movements; 2) to chart the curvature and looping in eye and head trajectories; and 3) to assess whether the timing and paths of eye and head movements are more compatible with a single gaze error command driving both movements, or with two different feedback loops. 2. Static orientations of the eye and head relative to space are known to resemble the distribution that would be generated by a Fick gimbal (a horizontal axis moving on a fixed vertical axis). We show that gaze point trajectories during eye-head gaze shifts fit the Fick gimbal pattern, with horizontal movements following straight "line of latitude" paths and vertical movements curving like lines of longitude. However, horizontal (and to a lesser extent vertical) movements showed direction-dependent looping, with rightward and leftward (and up and down) saccades tracing slightly different paths. Plots of facing direction (the analogue of gaze direction for the head) also showed the latitude/longitude pattern, without looping. In radial saccades, the gaze point initially moved more vertically than the target direction and then curved; head trajectories were straight. 3. The eye and head components of randomly sequenced gaze shifts were not time locked to one another. The head could start moving at any time from slightly before the eye until 200 ms after, and the standard deviation of this interval could be as large as 80 ms. The head continued moving for a long (up to 400 ms) and highly variable time after the gaze error had fallen to zero. For repeated saccades between the same targets, peak eye and head velocities were directly, but very weakly, correlated; fast eye movements could accompany slow head movements and vice versa. Peak head acceleration and deceleration were also very weakly correlated with eye velocity. Further, the head rotated about an essentially fixed axis, with a smooth bell-shaped velocity profile, whereas the axis of eye rotation relative to the head varied throughout the movement and the velocity profiles were more ragged. 4. Plots of 3D eye orientation revealed strong and consistent looping in eye trajectories relative to space.(ABSTRACT TRUNCATED AT 400 WORDS)

Quaternion-Based Algorithm for Direct Kinematic Model of a Kawasaki FS10E Articulated Arm Robot

2015 ◽  
Vol 762 ◽  
pp. 249-254 ◽  
Author(s):  
Stelian Popa ◽  
Alexandru Dorin ◽  
Florin Adrian Nicolescu ◽  
Andrei Mario Ivan
Keyword(s):  
Degrees Of Freedom ◽  
Dimensional Space ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Number System ◽  
Simulation Software ◽  
Six Degrees Of Freedom ◽  
Mathematical Algorithm ◽  
Development And Validation ◽  
Three Dimensional Space

This article follows a detailed description of development and validation for the direct kinematic model of six degrees of freedom articulated arm robot - Kawasaki FS10E model. The development of the kinematic model is based on widely used Denavit-Hartenberg notation, but, after the initial parameter identification, the mathematical algorithm itself follows an approach that uses the quaternion number system, taking advantage of their efficiency in describing spatial rotation - providing a convenient mathematical notation for expressing rotations and orientations of objects in three-dimensional space. The proposed algorithm concludes with two quaternion-based relations that express both the position of robot tool center point (TCP) position and end-effector orientation with respect to robot base coordinate system using Denavit-Hartenberg parameters and joint values as input data. Furthermore, the developed direct kinematic model was validated using the programming and offline simulation software Kawasaki PC Roset.

Dynamic Behavior of Spatial Linkages: Part 1—Exact Equations of Motion, Part 2—Small Oscillations About Equilibrium

1969 ◽  
Vol 91 (1) ◽  
pp. 251-265 ◽  
Author(s):  
J. J. Uicker
Keyword(s):  
Differential Equations ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Dynamic Force ◽  
Lagrange Equations ◽  
Oscillation Analysis ◽  
Restricted Problems ◽  
The Matrix ◽  
Laplace Transformations ◽  
External Forces

Part 1: Over the past several years, the matrix method of linkage analysis has been developed to give the kinematic, static and dynamic force, error, and equilibrium analyses of three-dimensional mechanical linkages. This two-part paper is an extension of these methods to include some aspects of dynamic analysis. In Part 1, expressions are developed for the kinetic and potential energies of a system consisting of a multiloop, multi-degree-of-freedom spatial linkage having springs and damping devices in any or all of its joints, and under the influence of gravity as well as time varying external forces. Using the Lagrange equations, the exact differential equations governing the motion of such a system are derived. Although these equations cannot be solved directly, they form the basis for the solution of more restricted problems, such as a linearized small oscillation analysis which forms Part 2 of the paper. Part 2: This paper is a direct extension of Part 1 and it is assumed that the reader has a thorough knowledge of the previous material. Assuming that the spatial linkage has a stable position of static equilibrium and oscillates with small displacements and small velocities about this position, the general differential equations of motion are linearized to describe these oscillations. The equations lead to an eigenvalue problem which yields the resonant frequencies and associated damping constants of the system for the equilibrium position. Laplace transformations are then used to solve the linearized equations. Digital computer programs have been written to lest these methods and an example solution dealing with a vehicle suspension is presented.

Adult Acquired Flatfoot

2020 ◽  
Vol 62 (1) ◽  
pp. 55-59
Author(s):  
Krzysztof Mataczyński ◽  
Mateusz Pelc ◽  
Halina Romualda Zięba ◽  
Zuzana Hudakova
Keyword(s):  
Soft Tissues ◽  
Three Dimensional ◽  
Clinical Diagnostics ◽  
Clinical Image ◽  
Tibialis Posterior ◽  
Dynamic Force ◽  
Posterior Tibial ◽  
Flat Feet ◽  
Foot Arch ◽  
Motion Range

Acquired adult flatfoot is a three-dimensional deformation, which consists of hindfoot valgus, collapse of the longitudinal arch of the foot and adduction of the forefoot. The aim of the work is to present problems related to etiology, biomechanics, clinical diagnostics and treatment principles of acquired flatfoot. The most common cause in adults is the dysfunction of the tibialis posterior muscle, leading to the lack of blocking of the transverse tarsal joint during heel elevation. Loading the unblocked joints consequently leads to ligament failure. The clinical image is dominated by pain in the foot and tibiotarsal joint. The physical examination of the flat feet consists of: inspection, palpation, motion range assessment and dynamic force assessment. The comparable attention should be paid to the height of the foot arch, the occurrence of “too many toes” sign, evaluate the heel- rise test and correction of the flatfoot, exclude Achilles tendon contracture. The diagnosis also uses imaging tests. In elastic deformations with symptoms of posterior tibial tendonitis, non-steroidal anti-inflammatory drugs, short-term immobilization, orthotics stabilizing the medial arch of the foot are used. In rehabilitation, active exercises of the shin muscles and the feet, especially the eccentric exercises of the posterior tibial muscle, are intentional. The physiotherapy and balneotherapy treatments, in particular hydrotherapy, electrotherapy and laser therapy, are used as a support. In advanced lesions, surgical treatment may be necessary, including plastic surgery of soft tissues, tendons, as well as osteotomy procedures.

Three-Dimensional Computation during Off-Vertical Axis Rotation (OVAR) in Monkeys

2006 ◽  
Vol 65 (6) ◽  
pp. 429-439 ◽  
Author(s):  
Keisuke Kushiro ◽  
Jun Maruta
Keyword(s):  
Three Dimensional ◽  
Vertical Axis ◽  
Axis Rotation

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

Performance enhancement of Savonius wind turbine by blade shape and twisted angle modifications

2021 ◽  
pp. 095765092098794
Author(s):  
Ahmed M Nagib Elmekawy ◽  
Hassan A Hassan Saeed ◽  
Sadek Z Kassab
Keyword(s):  
Wind Turbine ◽  
Performance Enhancement ◽  
Three Dimensional ◽  
Turbulence Models ◽  
Vertical Axis ◽  
Cfd Simulations ◽  
Sliding Mesh ◽  
Blade Shape ◽  
Rotor Shape ◽  
Twisting Angle

Three-dimensional CFD simulations are carried out to study the increase of power generated from Savonius vertical axis wind turbines by modifying the blade shape and blade angel of twist. Twisting angle of the classical blade are varied and several proposed novel blade shapes are introduced to enhance the performance of the wind turbine. CFD simulations have been performed using sliding mesh technique of ANSYS software. Four turbulence models; realizable k -[Formula: see text], standard k - [Formula: see text], SST transition and SST k -[Formula: see text] are utilized in the simulations. The blade twisting angle has been modified for the proposed dimensions and wind speed. The introduced novel blade increased the power generated compared to the classical shapes. The two proposed novel blades achieved better power coefficients. One of the proposed models achieved an increase of 31% and the other one achieved 32.2% when compared to the classical rotor shape. The optimum twist angel for the two proposed models achieved 5.66% and 5.69% when compared with zero angle of twist.

scholarly journals Theoretical modelling of the three-dimensional wake of vertical axis turbines

Flow ◽  
2021 ◽  
Vol 1 ◽  
Author(s):  
Pablo Ouro ◽  
Maxime Lazennec
Keyword(s):  
Three Dimensional ◽  
Vertical Axis ◽  
Theoretical Modelling

Graphical Abstract

scholarly journals Asymmetry in Three-Dimensional Sprinting with and without Running-Specific Prostheses

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 580
Author(s):  
Anna Lena Emonds ◽  
Katja Mombaur
Keyword(s):  
Degrees Of Freedom ◽  
Body Position ◽  
Three Dimensional ◽  
Problem Formulation ◽  
Contact Phase ◽  
Individual Level ◽  
Lower Trunk ◽  
Floating Base ◽  
The Asymmetry ◽  
Limb Asymmetry

As a whole, human sprinting seems to be a completely periodic and symmetrical motion. This view is changed when a person runs with a running-specific prosthesis after a unilateral amputation. The aim of our study is to investigate differences and similarities between unilateral below-knee amputee and non-amputee sprinters—especially with regard to whether asymmetry is a distracting factor for sprint performance. We established three-dimensional rigid multibody models of one unilateral transtibial amputee athlete and for reference purposes of three non-amputee athletes. They consist of 16 bodies (head, ipper, middle and lower trunk, upper and lower arms, hands, thighs, shanks and feet/running specific prosthesis) with 30 or 31 degrees of freedom (DOFs) for the amputee and the non-amputee athletes, respectively. Six DOFs are associated with the floating base, the remaining ones are rotational DOFs. The internal joints are equipped with torque actuators except for the prosthetic ankle joint. To model the spring-like properties of the prosthesis, the actuator is replaced by a linear spring-damper system. We consider a pair of steps which is modeled as a multiphase problem with each step consisting of a flight, touchdown and single-leg contact phase. Each phase is described by its own set of differential equations. By combining motion capture recordings with a least squares optimal control problem formulation including constraints, we reconstructed the dynamics of one sprinting trial for each athlete. The results show that even the non-amputee athletes showed less symmetrical sprinting than expected when examined on an individual level. Nevertheless, the asymmetry is much more pronounced in the amputee athlete. The amputee athlete applies larger torques in the arm and trunk joints to compensate the asymmetry and experiences a destabilizing influence of the trunk movement. Hence, the inter-limb asymmetry of the amputee has a significant effect on the control of the sprint movement and the maintenance of an upright body position.

scholarly journals A Fast Two-Dimensional Numerical Method for the Wake Simulation of a Vertical Axis Wind Turbine

Energies ◽  
2020 ◽  
Vol 14 (1) ◽  
pp. 49
Author(s):  
Zheng Yuan ◽  
Jin Jiang ◽  
Jun Zang ◽  
Qihu Sheng ◽  
Ke Sun ◽  
...  
Keyword(s):  
Velocity Distribution ◽  
Numerical Method ◽  
Three Dimensional ◽  
Particle Method ◽  
Vortex Method ◽  
Vertical Axis ◽  
Two Dimensional ◽  
Vertical Axis Wind Turbine ◽  
Wake Effect ◽  
Array Design

In the array design of the vertical axis wind turbines (VAWT), the wake effect of the upstream VAWT on the downstream VAWT needs to be considered. In order to simulate the velocity distribution of a VAWT wake rapidly, a new two-dimensional numerical method is proposed, which can make the array design easier and faster. In this new approach, the finite vortex method and vortex particle method are combined to simulate the generation and evolution of the vortex, respectively, the fast multipole method (FMM) is used to accelerate the calculation. Based on a characteristic of the VAWT wake, that is, the velocity distribution can be fitted into a power-law function, a new correction model is introduced to correct the three-dimensional effect of the VAWT wake. Finally, the simulation results can be approximated to the published experimental results in the first-order. As a new numerical method to simulate the complex VAWT wake, this paper proves the feasibility of the method and makes a preliminary validation. This method is not used to simulate the complex three-dimensional turbulent evolution but to simulate the velocity distribution quickly and relatively accurately, which meets the requirement for rapid simulation in the preliminary array design.

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