Articular human joint modelling

Copyright @ Cambridge University Press 2009.The work reported in this paper encapsulates the theories and algorithms developed to drive the core analysis modules of the software which has been developed to model a musculoskeletal structure of anatomic joints. Due to local bone surface and contact geometry based joint kinematics, newly developed algorithms make the proposed modeller different from currently available modellers. There are many modellers that are capable of modelling gross human body motion. Nevertheless, none of the available modellers offer complete elements of joint modelling. It appears that joint modelling is an extension of their core analysis capability, which, in every case, appears to be musculoskeletal motion dynamics. It is felt that an analysis framework that is focused on human joints would have significant benefit and potential to be used in many orthopaedic applications. The local mobility of joints has a significant influence in human motion analysis, in understanding of joint loading, tissue behaviour and contact forces. However, in order to develop a bone surface based joint modeller, there are a number of major problems, from tissue idealizations to surface geometry discretization and non-linear motion analysis. This paper presents the following: (a) The physical deformation of biological tissues as linear or non-linear viscoelastic deformation, based on spring-dashpot elements. (b) The linear dynamic multibody modelling, where the linear formulation is established for small motions and is particularly useful for calculating the equilibrium position of the joint. This model can also be used for finding small motion behaviour or loading under static conditions. It also has the potential of quantifying the joint laxity. (c) The non-linear dynamic multibody modelling, where a non-matrix and algorithmic formulation is presented. The approach allows handling complex material and geometrical nonlinearity easily. (d) Shortest path algorithms for calculating soft tissue line of action geometries. The developed algorithms are based on calculating minimum ‘surface mass’ and ‘surface covariance’. An improved version of the ‘surface covariance’ algorithm is described as ‘residual covariance’. The resulting path is used to establish the direction of forces and moments acting on joints. This information is needed for linear or non-linear treatment of the joint motion. (e) The final contribution of the paper is the treatment of the collision. In the virtual world, the difficulty in analysing bodies in motion arises due to body interpenetrations. The collision algorithm proposed in the paper involves finding the shortest projected ray from one body to the other. The projection of the body is determined by the resultant forces acting on it due to soft tissue connections under tension. This enables the calculation of collision condition of non-convex objects accurately. After the initial collision detection, the analysis involves attaching special springs (stiffness only normal to the surfaces) at the ‘potentially colliding points’ and motion of bodies is recalculated. The collision algorithm incorporates the rotation as well as translation. The algorithm continues until the joint equilibrium is achieved. Finally, the results obtained based on the software are compared with experimental results obtained using cadaveric joints

The introduction of an holistic design approach through a teaching company scheme

Traditional design approaches separate the various functions of design such as material selection, performance modelling and tolerance specification into discrete entities. Whilst this allows more focused methods to be used at each stage, areas of conflict or benefit may be overlooked, and the designer is left to bring the loose ends together. This paper looks at a synthesis approach that draws upon a number of current design themes. The design process is considered along with various aspects such as product development, design-for-`X' methodologies and material selection. The need for the preservation of design knowledge and reasoning, the so called wh-? questions, within the process are considered along with various models of the design process. The paper draws these various aspects together to form a more holistic approach to design. The application of this technique within the Teaching Company Scheme is briefly discussed

Bioinspired Psi Intelligent Control for autonomous dynamic systems

Psi Intelligent Control aims to provide a framework for controlling autonomous dynamic systems with prediction capabilities inspired by Psi precognition. Psi in nature relates to an event or state not yet experienced. Although Psi phenomenon is unexplained, it is an inspiration for the present study. The research intends to define and develop frameworks and systems capable of providing information for predicting future events (e.g., for motion control of an autonomous vehicle) and use that information in control of autonomous dynamic systems. A generalized approach inspired by Psi precognition is proposed, and the effect of this technique in the response of dynamic systems is explored. The corresponding parameters and constraints to develop and analyze Psi Intelligent Control for dynamic systems are discussed. Obtaining optimized solutions while considering uncertainties in the system and input parameters are investigated. Optimal Uncertainty Quantification is used to obtain optimized solutions for the control of the autonomous dynamic system, with imperfectly known response functions, input probability measures and parameters.The first author would like to acknowledge Brunel Research and Innovation Fund Award for support of the research carried out in this paper

Self-Powered and Bio-Inspired Dynamic Systems: Research and Education

Brunel Research and Innovation Fund Awar

[Calligraphic specimen, 1205?, i.e. 1790 or 1791?].

Exquisite album of calligraphy (muraqqaʻ or murakkaa) with design for a monumental inscription to appear in stone on a commemorative range marker (menzil taşı) of Bilâl Ağa (d.1807?), likely executed by Yesari Mehmed Esad Efendi (d.1798), the great Ottoman master of nastaʻlīq (talik).Shelfmark: Ann Arbor, University of Michigan, Special Collections Research Center, Isl. Ms. 402Origin: Date at close, 1205 [1790 or 91] during the reign of Sultan Selim III (r.1789-1807). Most likely executed by the master calligrapher Mehmet Esat Yesari (d.1798) as proposed by Muhittin Serin (see note on catalog card dated "20.4.1993") and Mohamed Zakariya and confirmed by Uğur Derman.Former shelfmark: "538 T. De M. [i.e. Tammaro De Marinis]" inscribed in pencil on upper cover.Binding: Pasteboards faced in cream silk with dark red leather over spine and edges / turn-ins (silk faced, leather edged, framed binding) ; Type III binding (without flap) ; boards and recto of opening and final panel lined in marbled paper (kumlu or kılçıklı ebru in pink, light blue, and dark blue) ; upper and lower covers carry gold-tooled border in a series of s-shaped stamps ; panels hinged together with dark red leather ; in somewhat poor condition with lifting of silk and leather, delamination of boards, much abrasion, staining, panels detaching from spine, etc.Support: Well-burnished laid paper (with roughly 8 vertical laid lines per cm.) mounted on heavy paper with pieced marbled paper (kumlu or kılçıklı ebru in blue and cream) framing the written area.Decoration: Written area surrounded by frame consisting of inner orange band and heavy gold outer band, outlined in black fillets.Script: Exquisite specimen of Ottoman calligraphy ; text throughout in an elegant, large nastaʻlīq (celi talik) in a heavy line ; pin-pricks surround each letter, presumably for transfer to the commemorative stone by pouncing.Layout: Written in a single line per page (opens vertically with lines running parallel to the spine).Collation: Eight heavy leaves or 'panels' hinged together.Explicit: "قيروب بيك ايكيوز بش سالى دستى پيك اديم يرده"Incipit: "جناب حضرت سلطان سليم خان جهانبانك ..."Title supplied by cataloguer.Ms. codex.Derman, M. Uğur. Letters in gold : Ottoman calligraphy from the Sakıp Sabancı collection, Istanbul. (New York : Metropolitian Museum of Art : Distributed by H.N. Abrams, c1998),Zakariya, Mohamed. "Islamic calligraphy: A technical overview." In Brocade of the pen: the art of Islamic writing. Carol Garrett Fisher, ed. (East Lansing, MI: Kresge Art Museum, Michigan State University, 1991):Brocade of the pen : the art of Islamic writing. Carol Garrett Fisher, ed. (East Lansing, MI: Kresge Art Museum, Michigan State University, 1991),Exquisite album of calligraphy (muraqqaʻ or murakkaa) with design for a monumental inscription to appear in stone on a commemorative range marker (menzil taşı) of Bilâl Ağa (d.1807?), likely executed by Yesari Mehmed Esad Efendi (d.1798), the great Ottoman master of nastaʻlīq (talik).Mode of access: Internet.Acquired by purchase (funds donated by Horace Rackham).Inscription in pencil on upper cover "538 T. De M. [i.e. Tammaro De Marinis]" ; clean copy

[Hulasatü't-tebyin fi tefsiri Suret Yasin ...etc., late 18th or early 19th century?].

Elegant copy of a collection (mecmua / majmūʻah) of three works of tafsīr by the Ottoman şeyhülislâm Mehmet Esat Efendi (d.1752 or 3) son of Șeyhülislâm Ebu İshak İsmâil. Descriptive contributions from Nick Krabbenhoeft.Shelfmark: Ann Arbor, University of Michigan, Special Collections Research Center, Isl. Ms. 368Origin: Lacks dated colophon ; hand, paper, etc. suggest late 18th or possibly early 19th century.Former shelfmark: "346 T. D. M. [T. Dell ?]" inscribed in pencil on recto of opening leaf (p.1) ; "243" inscribed in pencil on 'title page' (p.3).Binding: Pasteboards covered in red brown leather with red leather over spine ; Type II binding (with flap) ; board linings in red laid paper ; upper and lower covers carry blind-stamped mandorla filled with vegetal composition (compare Déroche class OSd 1) with pendants and tooled border consisting of a heavy gold band in a series of s-shape stamps flanked by two thin gold fillets inside and outside ; sewn in yellow thread, two stations ; worked endbands in red and yellow thread in a chevron pattern ; overall in fair condition with some abrasion and lifting of leather on the hinges.Support: European laid paper with roughly 8 laid lines per cm. (mainly vertical), chain lines (horizontal or vertical) spaced roughly 25 mm. apart, and watermark only faintly visible at gutter (very tightly bound, see p.244, 298, 300, etc.) ; well-burnished ; thin and crisp.Decoration: Elegant illuminated headpiece (ʻunwān / sarlawḥ) at opening of Hulasatü't-tebyin on p.4 consisting of a rectangular piece with cartouche outlined in gold carrying the ḥamdalah in black ink, surmounted by a gold rectangular piece with a cartouche carrying the title in red ink, itself surmounted by a scalloped semi-circular piece (dome) filled with floral and vegetal designs in orange, red, pale purple, blue, yellow, and pale green, all set in a well consisting of thick orange and blue bands and surmounted by vertical stalks (tīgh) in blue ; simple illuminated headpieces at opening of second work (p.246) and third work (p.268) each consisting of a scalloped semi-circular piece (dome) with floral motifs and surmounting tīgh all in gold ; written area surrounded by a thick gold band outlined in black with outer fillets of black and red ; textual dividers in gold discs and red inverted commas ; Qurʼānic excerpts overlined in red.Script: Naskh ; neat, compact Turkish hand in a thin line ; serifless with slight inclination to the left, curvilnear descenders, kāf mashqūqah preferred, Qurʼānic passages vocalized ; excerpt on pp.243-244 in a different hand.Layout: Written in 23 lines per page ; frame-ruled.Collation: VI (12), 14 V(304) ; opening senion followed by quinions ; leaves between works left blank ; oblique catchwords on the verso of each leaf ; pagination in pencil, Western numerals, supplied during cataloging.Colophon: [Hulasatü't-tebyin] Authorial, reads "غب هذا اشبو خلاصة التبيين في تفسير سورة يس ايله نام زد اولان كتاب كزين تاريخ رنتم و تزبار عقبنده كى عدد تامك اول ثلث ثانيسنك آخرى سنه سنده بعون الله الملك العلام رسيدۀ حسن ختام اولدى م" ; [Tefsir Âyetü'l-Kürsî] Authorial, reads "لقد كمل ما نمقته في هذه الكراسه بالاعتماد علي اقوا من هو الراقي الي رتبه الاستاد في بلده هي صيغه المصدر لفعل الجهاد ... تو ضيحه ان تاريخ الختام هى الغاية الحاوية ... وبهذا النمط يعلم المدد خذ هذا التوضيح وكن به فريحا م" ; [Nasriye] Authorial, reads "اشبو اسم نصريه ايله مسمى اولان رسالۀ فاخره تاريخ رسول اكرم ونبى محترم صلى الله عليه و سلم حضرتلرينك الف ثانيسنك ثانئ مات عشره سنك جزؤ اخير عشرات خامسه سنك اجزاي اثلاث اربعه سندن ثلث ثالثنك ثانئ احاد اسبوعنك ارباع سته سنك اخر ربع ثانيسي كه يوم احدك قبيل وقت عصرنده تمام و بو كونه توريخ نوين ايله رسيدۀ حسن تدوين اولدى والحمد لله رب العالمين والصلوة على رسوله الامين وآله وصحبه اجمعين آمين تم"Explicit: [Hulasatü't-tebyin] "و عنايت ايليوب انوار قلب قران ايله قلوبمزي منور ايليه بجاه طمويس عليه افضل صلوات الله الملك المعين" ; [Tefsir-i Âyetü'l-Kürsî] "وصلى الله على من هو حبيبه ورسوله وعلي الال والاصحاب والتابعين رضوان الله تعالى عليهم اجمعين" ; [Nasriye] "بيوريلورسه سر افتخارم فلك الافلاكه برابراولمق امر مقدردر وما ذلك على الله بعزيز ... اسئلك اللهم غبطا لاهبطا"Incipit: [Hulasatü't-tebyin] "سبحان من سلخ من ليل البشرية نهار الروحانية ثم قدر لقمر القلب منازل العرفان مستفيضا من شمس نور الرحمانية ..." ; [Tefsir-i Âyetü'l-Kürsî] "حمد بيقياس وبيحد وشكر وسپاس لا يعد من الازل الى الابد اول آفريده كار ششن جهت وزمين و آسمان ... بعد هذا بو عبد حقير كثير العصيان محمد اسعد ناتوان استدعاى اخوان خلان ايله اعظم آيات فرقان عظيم الشان اولان آية كرسينك تفسيرينى وفضائل جليله وجزيله سنى لسان تركى ايله تعبير وتحرير وحسب الطاقة تقريره شروع وابتدا ايلدم بسم الله الرحمن الرحيم ..." ; [Nasriye] "حمد وثناء بيقياس وهزار وهزار [كذا] درود وسپاس پاروچۀ آفريدن و تكيونده طينت ستوده هيئت ادمى ... بو نعمت وعنايتى تحديث ايجون بدايت قرآن كريمدن نهايتنه دكين ذكر كروۀ جناب رب الارباب اولان آيات نصر وظفرى مع قلة البضاعة وقصر الباعة جمع وترقيم واسم نصريه ايله تسميه وتوسيم ايدوب ..."Title from illuminated headpiece at opening (p.4).Ms. codex.6. p.268-p.302 : Nasriye / Ebu İshak Efendizade Mehmet Esat Efendi.5. p.262-p.267 : [blank].4. p. 246-p.261 : [Tefsir-i Âyetü'l-Kürsî] / Ebu İshak Efendizade Mehmet Esat Efendi.3. p.245 : [blank].2. p.243-p.244 : [excerpt from Tafsīr Rūḥ al-bayān of Bursalı İsmail Hakkı].1. p.4-p.242 : Hulasatü't-tebyin fi tefsir-i Suret Yasin / Ebu İshak Efendizade Mehmet Esat Efendi.Fihris al-makhṭūṭāt al-Turkīyah al-ʻUthmānīyah allatī iqtanatʹhā Dār al-Kutub al-Qawmīyah mundhu ʻām 1870 ḥattá nihāyat 1980,Fihris al-makhṭūṭāt al-Turkīyah al-ʻUthmānīyah allatī iqtanatʹhā Dār al-Kutub al-Qawmīyah mundhu ʻām 1870 ḥattá nihāyat 1980,Bursalı Mehmet Tahir. Osmanlı müellifleri (1971),Elegant copy of a collection (mecmua / majmūʻah) of three works of tafsīr by the Ottoman şeyhülislâm Mehmet Esat Efendi (d.1752 or 3) son of Șeyhülislâm Ebu İshak İsmâil. Descriptive contributions from Nick Krabbenhoeft.Mode of access: Internet.Acquired by purchase (funds donated by Horace Rackham).Inscriptions in pencil on opening leaf (p.1) "346 T. De M. [i.e. Tammaro De Marinis]" and 'title page' (p.3) "243" ; fairly clean copy