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In this paper, we present a problem of regulating the motion of a rolling ball in a one-dimensional space in the presence of non-linear effects of friction and contact. The regulation problem is solved using a model-based reinforcement learning technique. A Gaussian process model is learned to make predictions on the motion of the ball and then, the predictive model is used to solve for the control policy using dynamic programming by estimating the value functions. Several results are shown to demonstrate the simple, yet interesting motion dynamics for the ball. Our hope is that the proposed system will serve as a simple benchmark system for reinforcement and robot learning.

Evaluate of the usefulness and reliability of structures based on the analysis of recorded parameters determining the flow through the Human Aortic Bioprosthesis (HAB) have been dealt with. By flow parameters changes determining the performance environment of prosthesis analyzed change of the motion dynamics of the valve leaflets as a function of pressure, thereby determining the degree of alignment of the prosthesis to the performance conditions. Based on the gathered measurement data a comparative analysis of flow rate valve prostheses for different frequency values of the piston pump imitating the heart, different ejection capacity and pressure conditioning work environment prosthesis were studied. Interpretation of the recorded image gave the basis for determining the Effective Orifice Area (EOC).

The maximum-likelihood probabilistic data association (ML-PDA) tracker and the maximum-likelihood probabilistic multihypothesis (ML-PMHT) tracker are tested in their capacity as algorithms for very low observable (VLO) targets (meaning 6-dB postsignal processing or even less) and are then applied to five synthetic benchmark multistatic active sonar scenarios featuring multiple targets, multiple sources, and multiple receivers. Both methods end up performing well in situations where there is a single target or widely spaced targets. However, ML-PMHT has an inherent advantage over ML-PDA in that its likelihood ratio (LR) has a simple multitarget formulation, which allows it to be implemented as a true multitarget tracker. This formulation, presented here for the first time, gives ML-PMHT superior performance for instances where multiple targets are closely spaced with similar motion dynamics.

The detachment process of a single water drop from a nozzle made of poorly wetted material is followed using high-speed video equipment. The formation and motion dynamics of various flow components are investigated. These are the drop itself; a liquid bridge (jumper), which connects the drop with the mother liquid; the primary satellite, which is formed from the jumper; and a microsatellite, which is thrown from the satellite and flies to the mother liquid. The strong influence of surface effects, under which the satellite initially moves upward and only at a certain time starts to fall along the ballistic trajectory, is established. Bounce of the microsatellite from the mother liquid, which precedes its absorption, is fixed. It is shown that a stable connection of the formation mechanism of satellites with the jumper dynamics opens the possibility of obtaining uniform-sized drops.

Forster resonance energy transfer (FRET) and bioluminescence resonance energy transfer (BRET) are two major biophysical techniques for studying nanometer-scale motion dynamics within living cells. ...

Midges (Anarete pritchardi) coordinate their flight motions to form a cohesive group during swarming. In this paper, individual midge motion dynamics, sensing abilities, and flight rules are represented with a midge swarm model. The sensing accuracy and flight rule are adjusted so that the model produces trajectory behavior, and velocity, speed, and acceleration distributions, that are remarkably similar to those found in midge swarm experiments. Mathematical analysis of the validated swarm model shows that the distances between the midges' positions and the swarm position centroid, and the midges' velocities and the swarm velocity centroid, are ultimately bounded (i.e., eventually satisfy a bound expressed in terms of individual midge parameters). Likewise, the swarm position and velocity centroids are shown to be ultimately bounded. These analytical results provide insights into why the identified individual midge sensing characteristics and flight rule lead to cohesive swarm behavior.

theoretical model for calculating the motion dynamics of the particles of different light-scattering mecha- nisms in the energy inhomogeneous optical field is suggested. The direct relationship between the motion velocity of the tested particles in the created field and the degree of coherence of mutually orthogonal linearly polarized plane waves is demonstrated. The possibilities of using the normalized value of the averaged velocity for particles of the !100 sizes to define the degree of coherence of mutually orthogonal linearly polarized fields are shown.

Despite the increasing popularity of endovascular intervention in clinical practice, there remains a lack of objective and quantitative metrics for skill evaluation of endovascular techniques. Data relating to the forces exerted during endovascular procedures and the behavioral patterns of endovascular clinicians is currently limited. This research proposes two platforms for measuring tool forces applied by operators and contact forces resulting from catheter–tissue interactions, as a means of providing accurate, objective metrics of operator skill within a realistic simulation environment. Operator manipulation patterns are compared across different experience levels performing various complex catheterization tasks, and different performance metrics relating to tool forces, catheter motion dynamics, and forces exerted on the vasculature are extracted. The results depict significant differences between the two experience groups in their force and motion patterns across different phases of the procedures, with support vector machine (SVM) classification showing cross-validation accuracies as high as 90% between the two skill levels. This is the first robust study, validated across a large pool of endovascular specialists, to present objective measures of endovascular skill based on exerted forces. The study also provides significant insights into the design of optimized metrics for improved training and performance assessment of catheterization tasks.

Baigiamajame darbe projektuojamos ir tiriamos skaitmeninio programinio valdymo frezavimo staklės (SPV). Darbe pateikta SPV staklių konstrukcijos literatūros apžvalga. Išanalizuoti pagrindiniai staklių konstrukciniai elementai ir naudojamų pavarų valdymas. Projektuojamoje dalyje, pasirinkta staklių konstrukcija. Parengta techninė užduotis, projekto algoritmas. Apskaičiuota suklio reikalinga galia. Atlikti skaičiavimai Y ašies pavarai parinkti. Atlikta suklio poslinkių įvertinimas baigtinių elementų metodu, apkrovus jas pastovia jėga. sudaryta principinė staklių ŽEV valdymo schema. Pagamintas prototipas SPV staklių, su kuriuo tiriamojoje dalyje atlikti tyrimai ašių , X Y, Z pozicionavimo paklaidoms nustatyti. Išmatuoti virpesiai tvirtinimo stalo X ašies kryptimi, nustatyta judesio dinamika. Nustatytas tvirtinimo stalo pavaros sraigto, laisvojo galo radialinis mušimas. Ištirta ŽEV valdymo signalas. Atlikus tyrimus, pagal matavimus įvertinta pagamintų staklių būklė, padarytos išvados., This final project presents a design and analysis of a 3-axis numerically controlled milling machine (CNC). The thesis also includes literature review of CNC milling machine construction. The main machine construction elements and gear management have been analyzed. The design part chooses construction type of the machine. The technical task has been completed and the algorithm of the project has been created. The power needed to the spindle has been calculated. The right gear of the Y-axis has been determined. The deformation of framesupporting columns has been evaluated using the method of finite elements, by loading them with constant force. A fundamental controller scheme for a stepper motor has been created. A prototype for CNC milling machine has been made and used to determine positioning errors of X, Y, and Z axis. Vibrations towards the X axis of the table have been measured; motion dynamics have been determined. The radial run-out of the table gear's lead screws open end has been determined. The controlling signal of the stepper motor has been analyzed. After the analysis, the machine condition has been evaluated and conclusions have been drawn using the measurements.

We implemented and tested a wearable sensor system to measure patterns of stress responses in a professional musician under public performance conditions. Using this sensor system, we monitored the cellist's heart activity, the motion of multiple body parts, and their gradual changes during three repeated performances of a skill-demanding piece in front of a professional audience. From the cellist and her teachers, we collected stage fright self-reports and performance ratings that were related to our sensor data analysis results. Concomitant to changes in body motion and heart rate, the cellist perceived a reduction in stage fright. Performance quality was objectively improved, as technical playing errors decreased throughout repeated renditions. In particular, from performance 1 to 3, the wearable sensors measured a significant increase in the cellist's bowing motion dynamics of similar to 6% and a decrease in heart rate. Bowing motion showed a marginal correlation to the observed heart rate patterns during playing. The wearable system did not interfere with the cellist's performance, thereby allowing investigation of stress responses during natural public performances. Med Probl Perform Art 2012; 27(1):21-30

A semi-autonomous unmanned underwater vehicle (UUV), named LAURS, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions of deep water oil fields. In this work, a method of modeling and identification of yaw motion dynamic system model of an open-frame underwater vehicle is presented. Using an on-board low cost magnetic compass sensor the method is based on the utilization of an uncoupled 1-DOF (degree of freedom) dynamic system equation and the application of the integral method which is the classical least squares algorithm applied to the integral form of the dynamic system equations. Experimental trials with the actual vehicle have been performed in a test tank and diving pool. During these experiments, thrusters responsible for yaw motion are driven by sinusoidal voltage signal profiles. An assessment of the feasibility of the method reveals that estimated dynamic system models are more reliable when considering slow and small sinusoidal voltage signal profiles, i.e. with larger periods and with relatively small amplitude and offset.

This paper focuses on the design of a real-time particle-swarm-optimization-based proportional-integral-differential (PSO-PID) control scheme for the levitated balancing and propulsive positioning of a magnetic-levitation (maglev) transportation system. The dynamic model of a maglev transportation system, including levitated electromagnets and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics, is first constructed. The control objective is to design a real-time PID control methodology via PSO gain selections and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. The effectiveness of the proposed PSO-PID control scheme for the maglev transportation system is verified by numerical simulations and experimental results, and its superiority is indicated in comparison with PSO-PID in previous literature and conventional sliding-mode (SM) control strategies. With the proposed PSO-PID control scheme, the controlled maglev transportation system possesses the advantages of favorable control performance without chattering phenomena in SM control and robustness to uncertainties superior to fixed-gain PSO-PID control.

This paper proposes a real-time optimum feedrate planning for NURBS (Non-Uniform Rational B-Spline) motion trajectory considering motion dynamics including maximum feedrate and the limitations of acceleration and jerk. First, the estimated feedrate, which satisfies the chord accuracy and maximum feedrate limitation, can be evaluated by adaptive feedrate. Then, to achieve optimum feedrate planning, the estimated feedrate is fed into our proposed lowest feedrate first priority planning (LFFPP) algorithm, which can adapt any kind of acceleration/deceleration (ACC/DEC) profile. The curvature of an NURBS curve is calculated, and the estimated feedrate corresponding to different curvature and chord error is evaluated by adaptive feedrate. In addition, the break points, which have the local maximum curvatures and where the corresponding estimated feedrate is smaller than the maximum feedrate limitation, are picked up. The NURBS curve is separated into many segments by these break points and the estimated...

This study concerns the influence of visuomotor rotating disturbance on motion dynamics and brain activity. It involves using a PC-mouse and introducing a predefined bias angle between the direction of motion of the mouse pointer and that of the screen cursor. Subjects were asked to execute three different tasks, designed to study the effect of visuomotor rotation on direction control, extent control or the two together. During each task, mouse movement, screen cursor movement and electroencephalograph (EEG) signals were recorded. An algorithm was used to detect and discard EEG signals contaminated by artifacts. Movement performance indexes and brain activity are used to evaluate motion control, tracking ability, learning and control. The results suggest the direction control is planned before the movement and controlled by an adaptive control while extent control is controlled by a real-time feedback. The measurements also confirm that increased motion and/or brain activity occur for bias angles in the ranges ±(90-120°) for both direction and extension controls. After-effects when changing the angle of visual rotation have been seen to be proportional to the variation in the adaptation angle.

In this study, we generalize the classic thermal theory to account for both entrainment and detrainment effects occurring in the acceleration and deceleration phases of gravity current motion. Although the original thermal theory qualitatively captures the two phases of gravity current motion, the pure entrainment model appears to underpredict the gravity current velocity and the distance before the maximum velocity is reached. We theoretically show that detrainment increases the predicted maximum velocity of gravity current and extends the predicted distance before the maximum velocity is reached. Furthermore, based on the experimental data reported in the literature, the detrainment coefficient appears to increase as the bottom slope increases.

Perception of dispositions of others revealed by movement is an essential ingredient of adaptive daily-life social behavior. Brain imaging points to several brain regions involved in visual processing of social interaction represented by motion of geometric shapes. However, temporal interrelations among these regions remain unknown. Keeping in mind that successful visual social perception depends on intact communication throughout the brain, we focus here on analysis of the induced gamma neuromagnetic response to social interaction revealed by motion. A peak of induced gamma activity of 62 Hz was found at 1 s from the stimulus onset over the right parieto-temporal junction. Two further enhancements in gamma response of lower frequency of 44 Hz occurred at 1.4 s over the medial prefrontal and posterior temporal cortices in the right hemisphere. Subsequent boosts of 44 Hz were found at 1.6 s over the left temporal and right posterior temporal cortices. For the first time, the findings identify the cortical network engaged in visual processing of social interaction revealed by motion and help to better understand proper functioning of the social brain circuitry.

An experimental study was conducted to determine the influence of length, width, and protrusion of noncontinuous riprap protections on shear failure conditions. The incipient motion of particles as a failure criterion and the reference transport method as the threshold of motion were used. In each test, riprap transport rates were measured at different time intervals using a sediment trap placed immediately downstream from the test reach so that time dependence could be well described. Results reveal that incipient motion conditions of transverse (cross-sectional) protections are strongly influenced by both the protrusion and length of bed protection, which indicates that stability significantly increases as protection length increases and decreases as protrusion increases. In the case of longitudinal protections, almost the same failure conditions were found as in the case of continuous protection. Furthermore, these conditions are unrelated to the width of the protection. A coefficient to correct design formulas obtained by other authors is proposed to take into account the effect of the geometry of transverse protections on their stability.

Карташев Александр Леонидович, доктор технических наук, профессор кафедры «Летательные аппараты и автоматические установки», Южно-Уральский государственный университет, г. Челябинск, al_kartashev@mail.ru. Пантилеев Андрей Сергеевич, преподаватель кафедры «Летательные аппараты и автоматические установки», Южно-Уральский государственный университет, г. Челябинск, andyfly@mail.ru. A.L. Kartashev, al_kartashev@mail.ru, A.S. Pantileev, andyfly@mail.ru South Ural State University, Chelyabinsk, Russian Federation Проводится обзор существующих подходов для снижения дистанции пробега и горизонтальной скорости приземления беспилотного летательного аппарата. В настоящей работе исследуется динамика движения беспилотного летательного аппарата с постоянным углом стреловидности крыла. Для совершения маневра приземления используется балансирный способ управления. Такой способ управления осуществляется путем смещения части аппарата, именуемой грузом, относительно платформы, основной части аппарата. Для математического описания выбранного принципа управления используются уравнения динамики движения системы твердых тел. Математические модели коэффициентов аэродинамических сил апроксимируются тригонометрическими функциями, для их использования в широком диапазоне углов атаки. Реализация математической модели движения осуществляется средствами библиотеки SimMechanics программного комплекса Matlab/Simulink. На фоне общей динамики движения дополнительно рассматривается использование гоширования (перекоса) крыла для увеличения силы сопротивления с целью сокращения горизонтальной скорости приземления. Рассматриваются конструктивные решения привода гоширования, выделяются конструктивные параметры, влияющие на динамику движения беспилотного летательного аппарата в целом. Предлагается к рассмотрению следующая структура математической модели, состоящая из двух частей: общая динамика движения системы твердых тел и внутренняя динамика работы привода. Указанный подход позволяет оценить влияние на общую динамику движения беспилотного летательного аппарата с изменяемой в полете структурой внутренней динамики привода. В настоящей работе выполняется численное моделирование и обсуждаются полученные результаты, характеризующие работу привода. Исследуется кинематические параметры привода: угол поворота, скорость вращения и угловое ускорение, а также исходный задаваемый закон управления. Полученные результаты позволяют сделать вывод о целесообразности предлагаемого подхода. A review of existing approaches to reduce the distance run and a horizontal speed landing unmanned aerial vehicle. In this paper we investigate the dynamics of movement of the unmanned aerial vehicle with a constant angle of wing sweep.Balancing control method used to commit the landing maneuver. Such a control process is carried out by displacing part of the machine, called the load platform relative to the main portion of the apparatus. For the mathematical description of the selected control principle uses dynamic equations of motion of the system of rigid body. Mathematical models of the aerodynamic force coefficients are approximated by trigonometric functions, for use in a wide range of angles ofattack. The implementation of the mathematical model of the motion is carried out by means of the library SimMechanics Matlab / Simulink software. Against the background of the overall driving dynamics further discusses the use wing warping to increase the power of resistance in order to reduce the horizontal landing speed. We consider constructive solutions drive wing warping, stand design parameters influencing the driving dynamics of an unmanned aircraft as a whole. It is proposed to consider the following structure of a mathematical model consisting of two parts: a general driving dynamics system of rigid body and the internal dynamics of the drive.This approach allows you to evaluate the impact on the overall dynamics of the movement of unmanned aircraft in flight with a variable structure of the internal dynamics of the drive. In this paper we performed numerical simulations and discuss the results characterizing the operation of the drive. We study kinematic parameters of the drive: the angle of rotation, rotational speed and angular acceleration, as well as the source specified by the control law. The results suggest the feasibility of the proposed approach.

The problem of optimal (with minimum value of the path functional) control over a spatial reorientation of a spacecraft is considered. Using the quaternion method, an analytical solution to this problem is obtained. For the symmetrical optimality index, the complete solution to the problem of spacecraft reorientation is represented in a closed form. The results of mathematical modeling of the spacecraft motion dynamics are presented, demonstrating the practical efficiency of the developed algorithm of control.

In this paper a series of recurrent controllers for mobile robots have been developed. The system combines the iterative learning capability of neural controllers and the optimisation ability of particle swarms. In particular, three controllers have been developed: an Exo-sensing, an Ego-sensing and a Composite controller which is the hybrid of the latter two. The task for each controller is to learn to follow a moving target and identify its trajectory using only local information. We show how the learned behaviours of each architecture rely on different sensory representations, although good results are obtained in all cases.

This paper presents analytical models to investigate the steering maneuvers of planetary exploration rovers on loose soil. The models are based on wheel-soil interaction mechanics, or terramechanics, with which the traction and disturbance forces of a wheel are evaluated for various slip conditions. These traction forces are decomposed into the longitudinal and lateral directions of the wheel. The latter component, termed the side force has a major influence in characterizing the steering maneuvers of the rover. In this paper, the wheel-soil mechanics models are developed with particular attention to the side force and the validity of the model is confirmed by using a single-wheel test bed. The motion profile of the entire rover is numerically evaluated by incorporating the wheel-soil models into an articulated multibody model that describes the motion dynamics of the vehicle’s body and chassis. Steering maneuvers are investigated under different steering angles by using a four-wheel rover test bed on simulated lunar soil regolith simulant. The experimental results are compared with the simulation results using the corresponding model parameters. The proposed wheel-and-vehicle model demonstrates better accuracy in predicting steering maneuvers as compared to the conventional kinematics-based model. ©

Inadequate tools for evaluating construction machinery management have resulted in engineers relying heavily on experience to plan and replan site management during short time frames, with a lack of consideration for the movement of different construction machinery and the coordination of multiple construction machines. This study proposes a four-step motion planning and coordination method to evaluate construction machinery management. The method includes four steps: (1) model development, (2) configuration space construction, (3) path finding, and (4) machine coordination. This method can be used to perform motion planning for mobile construction machinery to generate a collision-free path for multiple construction machines moving simultaneously on a construction site, based on the true movement of construction machinery. Two virtual construction sites were constructed to test the efficiency of the developed method. The results indicate that the method can provide a collision-free path for two s...

This paper addresses issues in fall detection from videos. Since it has been a broadly accepted intuition that a falling person usually undergoes large physical movement and displacement in a short time interval, the study is thus focused on measuring the intensity and temporal variation of pose change and body motion. The main novelties of this paper include: (a) characterizing pose/motion dynamics based on centroid velocity, head-to-centroid distance, histogram of oriented gradients and optical flow; (b) extracting compact features based on the mean and variance of pose/motion dynamics; (c) detecting human by combining depth information and background mixture models. Experiments have been conducted on an RGB-D video dataset for fall detection. Tests and evaluations show the effectiveness of the proposed method.

Desingularized boundary integral equation methods (DBIEM) and their applications in water wave dynamics and body motion dynamics over the past 30 years are reviewed. In solving the potential flow problem for wave dynamics, unlike conventional boundary integral methods, a DBIEM separates the integration surface and the control (collocation) surface, resulting in a BIE with non-singular kernels. The desingularization allows simpler and faster numerical evaluation of the boundary integrals, and thus a fast numerical solution. The paper reviews the fundamental aspects and advantages of DBIEMs. Examples of applications of DBIEMs in wave dynamics and body motion dynamics are given and the outlook of future DBIEMs development is discussed.Copyright © 2015 by ASME

The formation of a solitary wave during the propagation of acoustic perturbations in a liquid containing heat-conducting gas bubbles is revealed for the first time by means of numerical modeling. A physical mechanism explaining the existence of a nondecaying solitary wave in this dissipative medium is proposed, which is based on the reverse influence of the bubble motion dynamics on the heat balance between gas and liquid. This phenomenon is called the moving boundary effect.

This paper presents a dynamics-based Effort simulator so that a given motion can be modified according to specified Effort qualities. The basic idea of our approach is to establish relations between Effort factors such as Space, Weight, Time, and Flow, and their corresponding dynamics parameters such as force, stiffness, inertia, damping, gravity, and etc in the simulator. Then, a motion with specified Effort quality can be realized by mapping it to appropriate dynamics parameters of the simulator. The proposed simulator has two merits: it is motion capture-driven, therefore it is able to synthesize motion details and easily to be incorporated into popular motion capture applications. Besides, it is dynamics based and therefore it provides high-level control intuition of motion dynamics in specifying Effort qualities. To demonstrate the effectiveness of the proposed simulator, several experimental examples are presented and their results are discussed. Copyright © 2006 John Wiley & Sons, Ltd.

This tutorial paper provides an overview, from a systems perspective, of the topic of motion dynamics of surface marine vessels and models. It presents a classification of parametric models currently used to describe marine vessel dynamics. The models presented have validity only for particular vessel operational conditions (VOCs), and a large number of work has already been dedicated to system identification of these models. Due to the increase of complexity of vessels and the operations they perform, however, more applications of system identification are needed to obtain to models valid across different VOCs. The main aim of the paper is therefore to highlight the essential characteristics of marine system dynamics to provide a background for researchers and engineers attempting future applications of system identification to marine systems.

Combined adaptive control law, using both variable and identification approaches for an autopilot of the unmanned aerial vehicle (UAV) homing guidance system is proposed. The combined adaptive controller design is based upon shunting method and passification with FeedbackKal man–Yakubovich Lemma. The adaptation algorithm provides prescribed attitude motion dynamics for different flight conditions. Simulation results verify efficiency of the combined adaptive controller in the case of significant uncertainty of the UAV parameters and time dependence of the guidance loop.

The emphasis of this note is placed on finding out whether dynamic snap-through will occur when a shallow arch resting on an elastic foundation with elastic constant β is stretched or compressed with constant speed. It is found that for β>8/7 no dynamic snap-through will occur when the arch is stretched. However, as long as β

Semen was collected from six adult (3.5-7-year-old) Murrah buffalo bulls at weekly intervals for 1 year and evaluated for routine parameters, motion characteristics, reactivity in hypoosmotic solution, and acrosomal and other morphological abnormalities of the spermatozoa. The overall motility (MOT), straight line velocity (VSL), curvilinear velocity (VCL), linearity (LIN), lateral head displacement (ALH) and average path velocity (VAP) were 66.85+/-2.79%, 26.58+/-0.24 and 107.07+/-1.47 microm/s, 26.91+/-0.01%, 11.19+/-0.09 and 61.78+/-2.79 microm/s, respectively. Significant seasonal variation was observed in sperm kinematics and hypoosmotic swelling (HOS) reactivity. Except for LIN, the mean values of sperm dynamics were higher during summer and rainy season and significantly lower in winter season. Sperm kinematics showed significant (P0.01) positive correlation (r=0.25-0.60) with plasmallemal integrity. Ejaculates with less than 50% HOS-reactive spermatozoa had significantly lowered MOT, VSL, VCL and VAP as compared to the ejaculates with50% HOS-positive spermatozoa. No significant difference was observed in sperm kinematics among the ejaculates having 50-70% and70% HOS-reactive spermatozoa. The trend of motion dynamics of the spermatozoa with respect to HOS reactivity was similar in all the three seasons (summer, rainy and winter). The results indicate that ejaculates having more than 50% of HOS-reactive sperm show a higher magnitude of sperm kinematics compared to ejaculates having less than 50% HOS-positive spermatozoa.

キャラクタアニメーションの制作に於いては，登場するキャラクタの動きは，重要な演出上の要素である．アニメータは，ある特定の意図した動きを，キャラクタに振り付ける必要がある．しかしこの作業は，アニメータの経験，ノウハウ，技能に大きく依存すると共に時間を要する．本論文では，キャラクタへのポーズ付け作業を，一回の操作で簡単に行える新しいインターフェイスについて提案する．操作する関節と関連する関節が，同時に動いてポーズが決定できるように，運動力学計算を操作と同時並行に実施することで実現している．さらに，決定されたキーフレーム間の補間と力学的最適化を，順動力学計算と逆動力学計算を連続的に実施して，動きを生成する方法について提案する．この時，より滑らかで自然な動きとなるように緩和係数を導入する．また，干渉チェックを高速に実施する方法についても提案する．

The human tolerance for wind-induced building motion can vary greatly and poses a challenge in new buildings of ever-increasing height and complexity of shape. Property developers, building owners, and design professionals working on tall buildings will use this report to ensure that occupants remain comfortable and secure in tall buildings during periods of strong wind.

A comprehensive study of the magnetic skyrmion dynamics in terms of size, velocity, energy, and stability in width-varying nanotracks is reported by micromagnetic simulations. We find that the diameter of a skyrmion reduces with the decrease in the nanotrack width in the spin Hall effect (SHE)-induced skyrmion motion. Accordingly, the skyrmion energy increases giving rise to the growing instability of the skyrmion. It is also numerically demonstrated that the velocity of the skyrmion varies during the motion, since the repulsive force of the nanotrack edges acting on the skyrmion as well as the driving force created by the SHE associated with the size of the skyrmion have a joint impact on the skyrmion motion dynamics in the width-varying nanotrack. In addition, one interesting finding reveals that skyrmions with small sizes, which may be inaccessible to typical approaches by means of directly injecting a spin-polarized current, could be obtained by utilizing this structure. This finding is potential for ...

The imperative challenge simulating vehicle wading water is the capturing time accurate fluid and structure interaction of the hydro elastics under-floor components and front bumper for failure. The unsteady flow around the components on the under-floor is highly affected by the vehicle motion dynamics, the inertial field of vehicle, water flow and the wheels. This highly complex flow can be captured by a combination of MBS and CFD. The real life scenario is that the vehicle approaches the water trough at constant speed and enters the trough over a ram. The water hit the vehicle underbody at the approach angle of the ram. The impact force at this instance is of great magnitude.

We examined the exact shapes of the thread-like wind-receptor hairs in the cricket and cockroach. The diameters of hairs at various distances from the hair tip as measured by scanning electron microscopy revealed unexpected hair shapes. We had expected, a priori, that the shape of the hair would be a slender linearly tapered cone, but the measurements revealed hairs in the form of extremely elongated paraboloids. The diameter of the wind-receptor hairs varies with the square root of the distance from the hair tip, i.e., the diameter rapidly increases with the distance from the tip and is asymptotic to the base diameter. Both the cricket, Gryllus bimaculatus, and the cockroach, Periplaneta americana, showed the same hair shape. In both insects, the formation of the wind-receptor hair during metamorphosis seems to be controlled by a common cytological program. The shape of the hair constrains the mobility of the wind-receptor hair, because both the drag force caused by moving air and the moment of inertia of motion dynamics are functions of shaft diameter. The shape of the hair is a biological trait which affects the sensory information transmitted to the central nervous system.

Magnetic particle inspection (MPI) has been widely utilized for decades, and sees considerable use in the aerospace industry with a majority of the steel parts being inspected with MPI at some point in the lifecycle. Typical aircraft locations inspected are landing gear, engine components, attachment hardware, and doors. In spite of its numerous applications the method remains poorly understood, and there are many aspects of that method which would benefit from in-depth study. This shortcoming is due to the fact that MPI combines the complicated nature of electromagnetics, metallurgical material effects, fluid-particle motion dynamics, and physiological human factors into a single inspection. To promote understanding of the intricate method issues that affect sensitivity, or to assist with the revision of industry specifications and standards, research studies will be prioritized through the guidance of a panel of industry experts, using an approach which has worked successfully in the past to guide fluorescent penetrant inspection (FPI) research efforts.

This paper reports our investigation into the effects of bodily mood expression of a humanoid robot in a scenario close to real life. To this end, we used the NAO robot to perform as a lecturer in a university class. To display either a positive or a negative mood, we modulated 41 co-verbal gestures by adjusting behavior parameters that control spatial extent and motion dynamics, without modifying gesture function. Unique in this study is that (a) the robot gave an actual lecture to real students, (b) the interaction is one-to-many and relatively long (30 min), and (c) mood modulation was applied to a large set of behaviors. The robot presented the same lecture either in a positive or a negative mood to two audiences (between subjects). Although statistical analysis does not show that participants consciously recognized the robot mood, the results do show that participants in the positive mood condition rated their own arousal significantly higher than in the negative condition. Further, video annotation showed increased valence and arousal of the audience in the positive condition. Finally, participants' ratings of the lecturing quality and the gesture quality of the robot are higher in the positive condition, demonstrating the importance of robot mood expression in a one-to-many interaction setting.

This paper reports our investigation into the effects of bodily mood expression of a humanoid robot in a scenario close to real life. To this end, we used the NAO robot to perform as a lecturer in a university class. To display either a positive or a negative mood, we modulated 41 co-verbal gestures by adjusting behavior parameters that control spatial extent and motion dynamics, without modifying gesture function. Unique in this study is that (a) the robot gave an actual lecture to real students, (b) the interaction is one-to-many and relatively long (30 min), and (c) mood modulation was applied to a large set of behaviors. The robot presented the same lecture either in a positive or a negative mood to two audiences (between subjects). Although statistical analysis does not show that participants consciously recognized the robot mood, the results do show that participants in the positive mood condition rated their own arousal significantly higher than in the negative condition. Further, video annotation showed increased valence and arousal of the audience in the positive condition. Finally, participants' ratings of the lecturing quality and the gesture quality of the robot are higher in the positive condition, demonstrating the importance of robot mood expression in a one-to-many interaction setting.

This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower helicopters are abstracted to finite state machines. Then, a discrete supervisor is designed in a modular way for different components of the formation mission including reaching the formation, keeping the formation, and collision avoidance. Furthermore, a formal technique is developed to design the local supervisors decentralizedly, so that the team of helicopters as whole, can cooperatively accomplish a collision-free formation task.

This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot. In experiments, the dynamic window approach safely controlled the mobile robot RHINO at speeds of up to 95 cm/sec, in populated and dynamic environments.

Transport-technological machines due to combining several op­erations in one production cycle, providing treatment continuity and easy adherence to production lines are in wide demand in the fields of agro-industrial complex. The use of vibrating conveyor machines adds potential capabilities of technological action intensification to the noted features. Thus, the main problems remain, such as reduc­tion of dynamic loads on supporting units and system balancing.To solve such problems, the constructive and technological mea­sures are substantiated in this research paper to reduce the dynamic loads on supporting units of the drive mechanism by defining the basic criteria of assessing the elastic system of technological machine and obtaining their analytical expressions, combining the elements of kinematic and force vibroexcitation. Calculation of the kine­matic characteristics of mechanical vibroexciters of technological machines allows determining the main dependencies of parameters of transport-technological or conveyor vibrating systems, that is important in their design and construction of the elastic system of vibration equipment.Based on the analysis of modern equipment of vibration tech­nological and transport-technological machines, the classification of the main structural elements of their elastic system was developed. The effect of additional elastic component from the deformed trans­porting element in the design of vibroexciters was justified by the example of calculation of conveyor vibrating machine., В данной научной работе обосновываются конструктивные и технологические мероприятия для уменьшения динамических нагрузок на опорные узлы приводного механизма путем определения основных критериев оценки упругой системы технологической машины и получения их аналитических выражений. На примере расчета конвейерной вибромашины было обосновано влияние дополнительной упругой составляющей со стороны транспортирующего элемента при конструировании вибровозбудителя., В даній роботі обґрунтовуються конструктивні та технологічні заходи для зменшення динамічних навантажень на опорні вузли приводного механізму шляхом визначення основних критеріїв оцінки пружної системи технологічної машини та отримання їх аналітичних виразів. На прикладі розрахунку конвеєрної вібромашини було обґрунтовано вплив додаткової пружної складової з боку транспортуючого елементу при конструюванні віброзбуджувачів.

In this paper, we address the problem of recognizing human actions with motion dynamics alone. For this purpose, we propose to use silhouette sequences to represent the human actions by discarding the appearance information, and then model the sequences with linear dynamical systems (LDSs). Recognition is achieved by directly comparing the distance between LDSs, rather than resorting to complex Bayesian learning and inference. In particular, we introduce an efficient optimization method to learn robust LDSs, and develop a shift invariant distance metric to measure the similarity on the LDSs space. We evaluate our approach on the human action data set and achieve comparable results.

There is no fault-tolerant design in Automatic Identification System data link, so the fault message is inevitable. The DS theory is able to simulate the artificial judgment on AIS messages, but the motion and lane evidences conflict with each other occasionally. The improved evidence similarity method would solve the problem, simulate human thinking, take the evidence priorities as a new parameter to revise the combination, and improve the model. In field testing, the method shows very good performance.

Top of Form, Goals to be achieved in this study was to determine the effect of leadership, motivation and environment affect the performance of employees in Malang Regency Community Empowerment Board and the dominant variables affecting the performance of employees in Malang Regency Community Empowerment Board is motivation. Therefore, based on the results of the analysis in this study, then the suggestions can be given is the Community Empowerment Board should leader Malang more attention to issues of leadership and motivation to employees, because it can improve performance. Guidance, supervision and education of employees should be synergized with the interests of the institution, so as to support the motion dynamics of performance measures and work environment needs to be improved to enhance the performance of employees.

International audience; Motor imagery, i.e., a mental state during which an individual internally represents an action without any overt motor output, is a potential tool to investigate action representation during development. Here, we took advantage of the inertial anisotropy phenomenon to investigate whether children can generate accurate motor predictions for movements with varying dynamics. Children (9 and 11 years), adolescents (14 years) and young adults (21 years) carried-out actual and mental arm movements in two different directions in the horizontal plane: rightwards (low inertia) and leftwards (high inertia). We recorded and compared actual and mental movement times. We found that actual movement times were greater for leftward than rightward arm movements in all groups. For mental movements, differences between leftward versus rightward movements were observed in the adults and adolescents, but not among the children. Furthermore, significant differences between actual and mental times were found at 9 and 11 years of age in the leftward direction. The ratio R/L (rightward direction/leftward direction), which indicates temporal differences between low inertia and high inertia movements, was inferior to 1 at all ages, except for the mental movements at 9 years of age, indicating than actual and mental movements were shorter for the rightward than leftward direction. Interestingly, while the ratio R/L of actual movements was constant across ages, it gradually decreased with age for mental movements. The ratio A/M (actual movement/mental movement), which indicates temporal differences between actual and mental movements, was near to 1 in the adults' groups, denoting accurate mental timing. In children and adolescents, an underestimation of mental movement times appeared for the leftward movements only. However, this overestimation gradually decreased with age. Our results showed a refinement in the motor imagery ability during development. Action representation reached maturation at adolescence, during which mental actions were tightly related to their actual production.