Pedestrian motion centroid model based on robot dynamics

In recent years, with the rapid development of computer vision technology, image-based human body research has become an important task, such as pedestrian target detection, trajectory tracking, posture estimation and behaviour recognition. The centre of mass is one of the important characteristics that can reflect the phenomenon of pedestrian movement. This paper first introduces the biped robot model in robotics, starting from forward and inverse kinematics, to find the mapping relationship between the position of each joint and the pose of the end effector. Then, corresponding to the skeleton model of the human joint points, the characteristics of the bone posture and joint angle are determined. The moment of inertia factor is introduced, and the motion superposition of different joint points is considered to establish a pedestrian motion centroid model. By calculating the equivalent dynamic centroid, the pedestrian kinematics law can be explored and the pedestrian movement mechanism can be more deeply recognized.

SYNTHESIS OF AN ADAPTIVE CONTROL SYSTEM FOR AN ELECTRIC DRIVE WITH A PRONOUNCED NONLINEARITY OF THE WORKING ELEMENT CHARACTERISTIC

The article explores the possibility of constructing an electric drive control system for the crane movement mechanism with damping of load vibrations. The proposed system includes an adaptive module, which, with the help of an exemplary model, provides control correction based on misalignment signals with changes in the weight of the load and the length of the suspension.

Concept, etiology, and pathomechanics of hallux rigidus

There is a continuous anatomical, functional and pathomechanical roadmap from functional hallux limitus to hallux rigidus. Although many etiologies for hallux rigidus have been studied it is very probable that it has a primary origin with less-than-ideal movement when we are born. Upon a restricted range of motion, symptoms may arise depending on the amount of work and how compensatory mechanisms work around the first metatarsophalangeal joint. Changes occurring at the joint that allow the transition from a sliding movement mechanism (physiological) to a rolling mechanism (pathological) may trigger anatomical and functional changes resulting in pain and dysfunction. Any surgical technique that is able to restore the sliding mechanism to the first metatarsophalangeal joint will have a positive impact on pain and function in a patient with a symptomatic functional hallux limitus/rigidus. Level of Evidence V; Therapeutic Study; Expert opinion.

Features of the construction and justification of the main parameters of the walking movement mechanism technological machines

The peculiarities of the design and process of movement of technological machines equipped with a four-axle stepping motor with the method of determining the main parameters of such a mechanism are considered. The factors influencing the operation of the drive of such a mechanism, their impact on efficiency and the main ways to improve such a mechanism of movement are shown.

Design and Feasibility Tests of a Gas-driven Bionic Flytrap Soft Robot

The research of bionic soft robot is a complex system engineering, including soft matrix material, soft actuator, soft sensor and bionic control system. Unlike most animals, plants cannot move in whole voluntarily. However, for the purpose of energy and nutrition, various parts of the plant body also carry out various movements, which vary from millisecond to hour on a large time scale. As a result, Plants are considered a source of inspiration for innovative engineering solutions, and a growing number of researchers are investigating the mechanisms of plant movement and biomimetic research. In this paper, the biological morphology, microstructure and movement mechanism of Venus flytrap leaf were studied and analyzed, and a bionic flytrap grassland machine with chamber design was designed and manufactured. Firstly, according to the research report on the biological morphology, microstructure and movement mechanism of Venus flytrap, the idea of chamber design was determined. Based on this observation, we reconstructed the leaf model and bionic structure of Venus flytrap by reverse modeling. Based on the principle of turgor pressure deformation, the chamber design rules of bionic Venus flytrap blade were formulated and optimized with silica gel as the bulk material. The flow channel design of Venus flytrap blade was studied and explored. Finally, the bionic Venus flytrap leaf was made by 3D printing technology and silica gel casting process, and the two bionic leaves were clamped at a certain opening Angle. The bending performance of bionic flytrap blade and the flytrap closure experiment were studied by air pressure excitation. The experimental results show that the bionic Venus flytrap blade can complete bending and closing experiments, and the bionic Venus flytrap can complete the whole capturing process within 5s. The leaf opening Angle of the bionic Venus flytrap reaches 80 degrees, which fits well with the real Venus flytrap blade and meets the design requirements and bionic goals. Apparently, this study is the first to design the chamber of the bionic flytrap leaf, formulate rules, and study the possibility of its deformation. It provides a new idea for the study of the movement and deformation of plant leaves, and expands the application of bionic robots, especially the robot solutions for plant types.

Detection of earthflow dynamics using medium-resolution digital terrain models: Diachronic perspective of the Jovac earthflow, Southern Serbia

The paper presents and discusses the landslide research procedure related to the topography before and after its occurrence, using the comparative analysis of two medium-resolution digital terrain models. The case study is the Jovac mega-landslide—the largest landslide to occur in Serbia in the last 100 years, active for three days in February 1977. The indicators used to determine the volume and movement mechanism were the spatial distribution of elevation differences within the two digital terrain models (DTM), and the analysis of geomorphological features before the landslide. The obtained elevation differences allowed the definition of the approximate landslide volume: 11.6 × 106 m3. All the data obtained indicate that the movement mechanism falls into the category of earthflow.

A Universal Cassette-Based System for the Dissolution of Solid Targets

Cyclotron-based radionuclides production by using solid targets has become important in the last years due to the growing demand of radiometals, e.g., 68Ga, 89Zr, 43/47Sc, and 52/54Mn. This shifted the focus on solid target management, where the first fundamental step of the radiochemical processing is the target dissolution. Currently, this step is generally performed with commercial or home-made modules separated from the following purification/radiolabelling modules. The aim of this work is the realization of a flexible solid target dissolution system to be easily installed on commercial cassette-based synthesis modules. This would offer a complete target processing and radiopharmaceutical synthesis performable in a single module continuously. The presented solid target dissolution system concept relies on an open-bottomed vial positioned upon a target coin. In particular, the idea is to use the movement mechanism of a syringe pump to position the vial up and down on the target, and to exploit the heater/cooler reactor of the module as a target holder. All the steps can be remotely controlled and are incorporated in the cassette manifold together with the purification and radiolabelling steps. The performance of the device was tested by processing three different irradiated targets under different dissolution conditions.