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This paper presents a framework for motion capture and musculoskeletal analysis of underground mining procedures. The framework discusses suitable motion capture solutions, musculoskeletal modelling and best practices. Preliminary analysis was conducted to assess quantitative musculoskeletal risks of rod handling and fitting with the drilling rig. The preliminary results of the analysis provide recommendations...
This paper provides a new model useful for studying and characterizing cyclostationarity. It presents the impact of random slope variation on the cyclic spectrum of the signal. We call such model the random slope modulation (RSM). We apply this model for studying biomechanical signals where we consider the slope as a specific measure extracted from the vertical ground reaction forces. The slope is...
The Dual-SLIP model has been proposed as a walking template that inherently encodes a rich set of human-like features. Previous work has used the 3D Dual-SLIP with bio-inspired leg actuation to generate a human-like dynamic walking gait over a wide range of speeds. The work presented in this paper extends the 3D Dual-SLIP walking strategy to uneven terrain. With nonlinear optimization based on a multiple-shooting...
The flapping foil based on bionics is a sort of simplified model, which can imitate the motion of the wings or fins of animals. Based on the backgrounds of underwater vehicle with high capabilities of propulsion, the paper focuses on the hydrodynamics of flapping foils with different motion models. According to different biological prototypes, numerical simulations of different motion models of flapping...
Artificial muscle is a new type of biomimetic actuator particularly promising for naturally compliant mechatronic and robotic systems. Due to their highly non-linear character, their accurate closed-loop positioning control is a true challenge. We report the design and the control of a wire-cable driven artificial muscle actuator inspired by the elbow natural musculature. We propose an original linear...
The mangrove parameters such as tree density and biomass of the mangroves were estimated based on the imagery analysis. Then, the form drags of the stilt root coefficient in inundation flow was calculated based on the mangrove parameters by a stilt root morphology model. Two-demensional numerical simulation results showed the mangroves reduced hydrodynamic force by 55%, and the stilt root contributed...
Spring network models are a useful tool when modeling elastic objects, such as red blood cells flowing in fluid, because the elastic moduli can be effectively modeled by springs or spring-like bonds between mesh nodes on the surface of the object. These bonds can conserve surface area, volume and preserve shape. Similarly to physical springs, these bonds have elastic coefficients that determine their...
The aim of this work is to improve the safety and control robustness of robots interacting physically with humans by enhancing their contact perception. More specifically in the abdominal area, respiratory motions are clearly influencing the contact dynamics but have not yet been accounted for in the estimation of the contact impedance. We propose here a combined mechanical-respiratory model of impedance...
This paper presents a method for the generation of dynamic walking gaits with a 3D Dual-SLIP model and its application to a simulated Hubo+ based humanoid. Previous approaches with the Dual-SLIP model have only focused on the planar case, wherein self-stable gaits can be found. When extended to 3D here, this model has not been found to exhibit self-stable gaits, requiring new methods for gait optimization...
The planning of courses of action for a task force component requires the evaluation of the available options and their respective impact to the operational goals. This includes considering the rules of engagement (ROE), i.e. the directives that define the circumstances and conditions in which force, or actions, which might be construed as provocative, may be applied. These rules vary across nations...
Fast and exact motions of continuum robots are hardly seen so far. Partly this is caused by physical constraints, e.g. small available actuation forces. Another reason is the dynamic coupling between the actuators that cannot be neglected during fast motions. Therefore, a model-based MIMO controller in actuator space was developed, that is based on a spatial dynamic model with one mass point per section...
This paper presents the design concept of a weight-support lower-extremity-exoskeleton (LEE) with a compliant joint to relieve compressive load in the knee. Along with a leg dynamic model and a knee bio-joint model, a compliant exoskeleton knee-joint has been designed using topology optimization and experimentally evaluated. Results suggest that the gait-based design of a LEE can be divided into two...
Molecular Dynamics simulations are widely used to obtain a deeper understanding of chemical reactions, fluid flows, phase transitions, and other physical phenomena due to molecular interactions. The main problem with this method is that it is computationally demanding because of its amount of O (N2) and requirements for prolonged simulations. The use of Graphics Processing Units (GPUs) is an attractive...
In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects. We elaborate two models for control purpose. In the first one, we take into account only the slipping effects. In the second model, we introduce only the skidding effects. For each model, we propose a robust control law against the sliding effects to solve a velocity tracking problem.
In the context of discrete-time adaptive control of plants subject to parameter variations, direct adaptive control (despite various attempts: model reference control, minimum variance self-tuning) cannot effectively be used in practice because the discrete-time plant models feature generically unstable zeros. There is however another extremely important area for application of adaptive control: rejection...
Energy efficiency and intrinsic safety are two critical challenges faced by traditional robots based on electro-mechanical systems. Bio-syncretic actuators may provide clues to overcome these challenges. Cardiomyocytes are potential biological motors that can be used for bio-syncretic robots. Current researches on bio-hybrid robots mainly focus on the realization of bio-actuators at micro/nano-scale,...
Mechanism research of myosin molecular motor provides a new way to reveal the microscopic feature of muscle contraction and has become a hot focus in biomechanical fields. Regarding the complex conformation change and multiple chemical states in the working cycle of myosin molecular motors, a four-state model which is closer to the actual compared with the two-state model used previous is proposed...
Gecko and many insects have nanoscale fibrillary structures on their feet serving as adhesive devices. In recent years, van der Waals interaction has been proven to be the primary molecular origin for this kind of phenomena. However peeling zone and cohesive zone both play significant roles in peeling process while peeling zone can be described by van der Waals force, cohesive zone is dependent of...
We present a general software architecture to carry out interactive molecular simulations in a game engine environment. Our implementation is based on the UnityMol framework and the HireRNA physics engine. With UnityMol, we pursue the goal to create an interactive virtual laboratory enabling researchers in biology to visualize biomolecular systems, run simulations and interact with physical models...
A recent study identified six mutations (three gain-of-function and three loss-of-function mutations) in the KCNA5 channel (encoding for the ultra-rapid delayed rectifier potassium current, IKur) associated with lone-atrial-fibrillation. However, the impact of the mutations on atrial electro-mechanical functions is unclear. In this study, we developed a coupled electro-mechanical model of the human...
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