48,418 research outputs found
Muscle Fatigue Analysis Using OpenSim
In this research, attempts are made to conduct concrete muscle fatigue
analysis of arbitrary motions on OpenSim, a digital human modeling platform. A
plug-in is written on the base of a muscle fatigue model, which makes it
possible to calculate the decline of force-output capability of each muscle
along time. The plug-in is tested on a three-dimensional, 29 degree-of-freedom
human model. Motion data is obtained by motion capturing during an arbitrary
running at a speed of 3.96 m/s. Ten muscles are selected for concrete analysis.
As a result, the force-output capability of these muscles reduced to 60%-70%
after 10 minutes' running, on a general basis. Erector spinae, which loses
39.2% of its maximal capability, is found to be more fatigue-exposed than the
others. The influence of subject attributes (fatigability) is evaluated and
discussed
Development and application of unified algorithms for problems in computational science
A framework is presented for developing computationally unified numerical algorithms for solving nonlinear equations that arise in modeling various problems in mathematical physics. The concept of computational unification is an attempt to encompass efficient solution procedures for computing various nonlinear phenomena that may occur in a given problem. For example, in Computational Fluid Dynamics (CFD), a unified algorithm will be one that allows for solutions to subsonic (elliptic), transonic (mixed elliptic-hyperbolic), and supersonic (hyperbolic) flows for both steady and unsteady problems. The objectives are: development of superior unified algorithms emphasizing accuracy and efficiency aspects; development of codes based on selected algorithms leading to validation; application of mature codes to realistic problems; and extension/application of CFD-based algorithms to problems in other areas of mathematical physics. The ultimate objective is to achieve integration of multidisciplinary technologies to enhance synergism in the design process through computational simulation. Specific unified algorithms for a hierarchy of gas dynamics equations and their applications to two other areas: electromagnetic scattering, and laser-materials interaction accounting for melting
Analyzing helicopter evasive maneuver effectiveness against rocket-propelled grenades
It has long been acknowledged that military helicopters are vulnerable to ground-launched threats, in particular, the RPG-7 rocket-propelled grenade. Current helicopter threat mitigation strategies rely on a combination of operational tactics and selectively placed armor plating, which can help to mitigate but not entirely remove the threat. However, in recent years, a number of active protection systems designed to protect land-based vehicles from rocket and missile fire have been developed. These systems all use a sensor suite to detect, track, and predict the threat trajectory, which is then employed in the computation of an intercept trajectory for a defensive kill mechanism. Although a complete active protection system in its current form is unsuitable for helicopters, in this paper, it is assumed that the active protection system’s track and threat trajectory prediction subsystem could be used offline as a tool to develop tactics and techniques to counter the threat from rocket-propelled grenade attacks. It is further proposed that such a maneuver can be found by solving a pursuit–evasion differential game. Because the first stage in solving this problem is developing the capability to evaluate the game, nonlinear dynamic and spatial models for a helicopter, RPG-7 round, and gunner, and evasion strategies were developed and integrated into a new simulation engine. Analysis of the results from representative vignettes demonstrates that the simulation yields the value of the engagement pursuit–evasion game. It is also shown that, in the majority of cases, survivability can be significantly improved by performing an appropriate evasive maneuver. Consequently, this simulation may be used as an important tool for both designing and evaluating evasive tactics and is the first step in designing a maneuver-based active protection system, leading to improved rotorcraft survivability
Artificial Intelligence and Systems Theory: Applied to Cooperative Robots
This paper describes an approach to the design of a population of cooperative
robots based on concepts borrowed from Systems Theory and Artificial
Intelligence. The research has been developed under the SocRob project, carried
out by the Intelligent Systems Laboratory at the Institute for Systems and
Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the
project stands both for "Society of Robots" and "Soccer Robots", the case study
where we are testing our population of robots. Designing soccer robots is a
very challenging problem, where the robots must act not only to shoot a ball
towards the goal, but also to detect and avoid static (walls, stopped robots)
and dynamic (moving robots) obstacles. Furthermore, they must cooperate to
defeat an opposing team. Our past and current research in soccer robotics
includes cooperative sensor fusion for world modeling, object recognition and
tracking, robot navigation, multi-robot distributed task planning and
coordination, including cooperative reinforcement learning in cooperative and
adversarial environments, and behavior-based architectures for real time task
execution of cooperating robot teams
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
We introduce a real-time, constrained, nonlinear Model Predictive Control for
the motion planning of legged robots. The proposed approach uses a constrained
optimal control algorithm known as SLQ. We improve the efficiency of this
algorithm by introducing a multi-processing scheme for estimating value
function in its backward pass. This pass has been often calculated as a single
process. This parallel SLQ algorithm can optimize longer time horizons without
proportional increase in its computation time. Thus, our MPC algorithm can
generate optimized trajectories for the next few phases of the motion within
only a few milliseconds. This outperforms the state of the art by at least one
order of magnitude. The performance of the approach is validated on a quadruped
robot for generating dynamic gaits such as trotting.Comment: 8 page
Investigation of hypersonic rarefied flow on a spherical nose of the AOTV
The Navier-Stokes (NS) equations were integrated numerically for investigating the flow characteristics on the forepart of the spherical nose of a space vehicle such as the AOTV or AFE by a modified Accelerated Successive Replacement (ASR) scheme under hypersonic rarefied conditions. Technical feasibility of the mathematical approach was demonstrated by computing the flowfield on a spherical nose under conditions that the AFE encounters at times t = 15 and 20 seconds after its reentry into the atmosphere. Local similar solutions for the merged layer flow along the stagnation line of the sphere were developed. These are correct to the same degree of accuracy as the NS equations. These solutions provided stagnation line boundary conditions for the domain of integration on the spherical noise. Also, a parametric study of the stagnation line solution was made with a view to understand the flow characteristics in tunnels with different ambient fluids. Analytical expressions for surface slip temperature, jump conditions, and concentration level in the presence of the real gas effects at the top of the Knudsen layer were derived and used to calculate the stagnation line flowfield with nonequilibrium dissociation and ionization. A number of graphics were drawn to illustrate the basic physics of the flowfields. The present analysis can be extended to include real gas effects and to bodies of arbitrary shapes. It can further provide boundary conditions for integrating the NS equations in the near wake region
Concurrent processing simulation of the space station
The development of a new capability for the time-domain simulation of multibody dynamic systems and its application to the study of a large angle rotational maneuvers of the Space Station is described. The effort was divided into three sequential tasks, which required significant advancements of the state-of-the art to accomplish. These were: (1) the development of an explicit mathematical model via symbol manipulation of a flexible, multibody dynamic system; (2) the development of a methodology for balancing the computational load of an explicit mathematical model for concurrent processing; and (3) the implementation and successful simulation of the above on a prototype Custom Architectured Parallel Processing System (CAPPS) containing eight processors. The throughput rate achieved by the CAPPS operating at only 70 percent efficiency, was 3.9 times greater than that obtained sequentially by the IBM 3090 supercomputer simulating the same problem. More significantly, analysis of the results leads to the conclusion that the relative cost effectiveness of concurrent vs. sequential digital computation will grow substantially as the computational load is increased. This is a welcomed development in an era when very complex and cumbersome mathematical models of large space vehicles must be used as substitutes for full scale testing which has become impractical
- …