Stewart Platform Research Articles

Clinical Utility of Integrant’s FrameIt

This paper explores Integrant’s FrameIt, a novel external fixator based on the Taylor Spatial Frame (TSF). The TSF, invented by Dr. Charles Taylor, offers significant advantages over traditional Ilizarov frames in treating complex bone deformities and fractures. FrameIt leverages the TSF’s ability for precise six-axis adjustments and computer-assisted planning to achieve faster correction times and improved patient outcomes. The paper delves into the TSF’s background, highlighting its development as a solution to the limitations of the Ilizarov frame. It emphasizes the TSF’s reliance on principles from projective geometry, the Chasles’ Theorem and the Stewart Platform to achieve its superior accuracy. Furthermore, the paper explores the factors impacting the TSF’s success. It analyzes the influence of: Available and Emerging Technologies: The paper stresses the importance of utilizing advancements enhancing the TSF’s design and functionality Historical and Cultural Factors: The paper acknowledges the historical context that led to the development of external fixation systems, with the Ilizarov frame paving the way for the TSF Economic Factors: The paper discusses the economic considerations surrounding the TSF’s adoption, including equipment costs, procedures and aftercare. It highlights the limitations imposed by high costs on accessibility for some patients In conclusion, the paper positions Integrant’s FrameIt as a promising advancement in bone deformity correction. By building upon the TSF’s foundation and addressing economic barriers, FrameIt has the potential to revolutionize patient care in this field.

Preparation of Non Locomotor Basic Movement Assessment Instruments for Class III Moderate Mentally Retarded Children at SLB Negeri Luragung Kuningan

Assessment is an access used to determine the abilities, difficulties and needs of a child which is then used as a reference to develop an appropriate learning program. A teacher, especially a teacher who handles children with special needs, is required to be able to compile assessment instruments that are suitable for the children he handles. The purpose of this study was to develop a non-locomotor basic motion assessment instrument for class III moderate mental retardation child at SDLB SLB Negeri Luragung. Non-locomotor basic movements are used in learning activities usually in warming up or cooling down during sports that contain motion patterns such as bending, twisting, swinging and bending. This study used a qualitative approach and descriptive method. The data in this study were obtained from observations, interviews, FGDs, and validation. The results of observations made by research to three grade III moderate mental retardation child show that children experience obstacles in gross motor non-locomotor basic movements such as in sports lessons during warm-ups the child looks stiff and less able to maintain body balance so as not to fall, while in daily activities maintaining body balance while doing activities in place is very necessary. Therefore, researchers are interested in compiling a non-locomotor basic motion assessment instrument for grade III moderate disability children to find out more about what the child's difficulties are in basic non-locomotor movements, then the results of the assessment instruments that have been prepared are validated to determine readability and applicability.

A State-Based Language for Enhanced Video Surveillance Modeling (SEL)

SEL, a State-based Language for Video Surveillance Modeling, is a formal language designed to represent and identify activities in surveillance systems through scenario semantics and the creation of motion primitives structured in programs. Motion primitives represent the temporal evolution of motion evidence. They are the most basic motion structures detected as motion evidence, including operators such as sequence, parallel, and concurrency, which indicate trajectory evolution, simultaneity, and synchronization. SEL is a very expressive language that characterizes interactions by describing the relationships between motion primitives. These interactions determine the scenario’s activity and meaning. An experimental model is constructed to demonstrate the value of SEL, incorporating challenging activities in surveillance systems. This approach assesses the language’s suitability for describing complicated tasks.

Pose detection and docking control for autonomous dynamic docking mechanism with non-cooperative targets

PurposeThis study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking control architecture that integrates perception, planning, and motion control.Design/methodology/approachFirstly, the proposed dynamic docking control architecture uses laser sensors and a charge-coupled device camera to perceive the pose of the target. The sensor data are mapped to a high-dimensional potential field space and fused to reduce interference caused by detection noise. Next, a new potential function based on multi-dimensional space is developed for docking path planning, which enables the docking mechanism based on Stewart platform to rapidly converge to the target axis of the locking mechanism, which improves the adaptability and terminal docking accuracy of the docking state. Finally, to achieve precise tracking and flexible docking in the final stage, the system combines a self-impedance controller and an impedance control algorithm based on the planned trajectory.FindingsExtensive simulations and experiments have been conducted to validate the effectiveness of the dynamic docking system and its control architecture. The results indicate that even if the target moves randomly, the system can successfully achieve accurate, stable and flexible dynamic docking.Originality/valueThis research can provide technical guidance and reference for docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.

Research on improved active disturbance rejection control strategy for hydraulic-driven Stewart stabilization platform

Purpose In response to the severe lag in tracking the response of the Stewart stability platform after adding overload, as well as the impact of nonlinear factors such as load and friction on stability accuracy, a new error attenuation function and a parallel stable platform active disturbance rejection control (ADRC) strategy combining cascade extended state observer (ESO) are proposed. Design/methodology/approach First, through kinematic modeling of the Stewart platform, the relationship between the desired pose and the control quantities of the six hydraulic cylinders is obtained. Then, a linear nonlinear disturbance observer was established to observe noise and load, to enhance the system’s anti-interference ability. Finally, verification was conducted through simulation. Findings Finally, stability analysis was conducted on the cascaded observer. Experiments were carried out on a parallel stable platform with six degrees of freedom involving rotation and translation. In comparison to traditional PID and ADRC control methods, the proposed control strategy not only endows the stable platform with strong antiload disturbance capability but also exhibits faster response speed and higher stability accuracy. Originality/value A new error attenuation function is designed to address the lack of smoothness at d in the error attenuation function of the ADRC controller, reducing the system ripple caused by it. Finally, a combination of linear and nonlinear ESOs is introduced to enhance the system's response speed and its ability to observe noise and load disturbances. Stability analysis of the cascade observer is carried out, and experiments are conducted on a six-degree-of-freedom parallel stable platform with both rotational and translational motion.

초등학교 저학년 신체활동교육에 관한 담임교사의 경험과 시사점

Objectives This study explored the reality of physical activity education in the lower grades through the experi-ences of elementary school teachers and made suggestions for strengthening and revitalizing physical activity ed-ucation in the lower grades. Methods Four lower elementary school classroom teachers interested in and experienced in physical activity edu-cation were selected as participants in the study, and data were collected through in-dept interviews and analysis of literature and documents. The collected data were analyzed through Yin’s five-step analytical cycle, and the an-alyzed data were subjected to triangulation, participant verification, and peer review to enhance the validity of the study. Results In “Students Growing Up Physically Active,” teachers believed that lower elementary students love to be physically active and that diverse and active physical education can help them adjust to school life and grow physi-cally, mentally, and emotionally. However, in “Teachers who are overwhelmed by physical activity,” teachers felt burdened and challenged to teach physical activity due to a variety of factors. In “Teaching Physical Activity Necessary,” there was a lack of physical activity in the lower elementary curriculum and a lack of physical activity education in schools. Conclusions In order to strengthen and revitalize physical activity education in the lower grades of elementary school, we suggested strengthening the importance of basic movement competency education in the lower grades, implementing systematic physical education in the lower grades, improving awareness of physical activity education in the lower grades, and improving the educational environment.

Efektifitas belajar gerak dasar berbasis permainan tradisional Aceh untuk siswa sekolah dasar

The primary objective of the study is to assess the efficacy of teaching fundamental movements using traditional Acehnese sports among elementary school children. This study employs descriptive quantitative research methodologies. The participants in this study consisted of primary school pupils from upper and lower socioeconomic classes. The study included 35 students, and its efficacy was tested. The findings of this study indicate that kids in primary school might enhance their fundamental motions by utilizing traditional Acehnese games. This can be demonstrated by the disparity between the average pretest and posttest scores, which amounts to 19.34286. This discrepancy reflects the variation in scores obtained from the fundamental movement ability test. Moreover, the key finding from this data set is the computed t value of 68.864 with degrees of freedom (df) equal to 34, resulting in an associated table value of 2.032. When comparing the estimated t value to the t table, it is found that the sig value or the p-value is 0.000, which is greater than 0.05. Therefore, the null hypothesis (H0) is discarded. Consequently, there are disparities in the outcomes of the fundamental movement aptitude tests conducted on the experimental population before (pretest) and following (posttest) therapy utilizing the basic motion learning model derived from traditional Acehnese games. The novel aspect of acquiring fundamental movements through traditional Acehnese games serves as both a means of learning these motions and a platform for understanding the inherent values inside these games

Basic Movement Skills for Middle Distance Running in Students Junior High School

This study aims to determine the basic movement ability of middle-distance running in junior high school students. The method of this research is descriptive qualitative which is carried out on students of class VIII A SMP Widya Sakti Denpasar. The sample in this study was 32 students from class VIII A. Data collection techniques used triangulation, namely observation, interviews, and questionnaires. Analysis of the data used is the analysis of Miles and Huberman, namely the analysis of interactive model data through the steps of data collection, data reduction, data presentation, and drawing conclusions. The results of the observations showed that there were students in the good category with the percentage of results as much as 50% (16 students) and the sufficient category with the percentage of the results of the observation scores as much as 50% (16 students). The results of the interview data show that the learning process has not been maximized due to inhibiting factors. The results of the questionnaire data showed as many as 12 students (37.5%) were in the good category and as many as 20 students (62.5%) were in the sufficient category. Based on the three sources of data, the results of the study indicate that the students' ability to perform the basic movements of middle-distance running is not yet maximal. This research can be used as a reference for teachers, coaches and sports activists in improving the ability to run basic movements, namely by coordinating physical conditions and infrastructure.

Effect Of Improving Lumbar Mobility, Spinal Stability ; With Core Stability Training To Achieve Per-sonal Best Runner

Running consists of simple basic movements, and to achieve these simple basic movements requires good mobility and stability, because the weakening of mobility and stability of the body causes misalignment or weakness of the legs so as to interfere with the absorption or propulsion phase in leg movement while running. Apply appropriate exercise methods to improve lumbar mobility and spinal stability. One training method that can be used is the core stability training method. Core stability is an exercise model to improve the ability to control the position of trunk movement through the pelvis and legs to allow optimal motion production. This study aims to ascertain whether core stability training can improve lumbar mobility and spinal stability in running athletes. The study used an experimental method with a research pattern using a group pretest-posttest design. 10 running athletes were sampled according to the criteria to be treated in the form of core stability training for 6 weeks. The athletes were assessed before and after training using the Functional Reach Test and Unilateral Hip Bridge Endurance. This study showed that there was a significant effect between core stability training and lumbar mobility (P = 0.000) and spinal stability (P = 0.000) in athletes. The results of this study show that the application of core stability exercises can increase the ability of lumbar mobility and spinal stability, so if the core stability exercises are done properly, they can increase stability in the spine and mobility in the lumbar, which causes dynamic limb movement to be more efficient. Key Words: athletics; Core Stability; Lumbar Mobility; spine stability.

Automated quadrupole magnet positioning for enhanced harmonic coil measurement

The precise measurements of the magnetic field are essential for particle accelerators, and the harmonic coil measurement system is especially suitable for the multipole field because of its unique advantages. The accurate placement of magnets is essential for accurate magnetic field measurements. The current positioning technique employed for harmonic coil measurement is inefficient due to its labor-intensive and time-consuming nature. The aim of this study is to automate the positioning of the quadrupole magnet. Therefore, a close-range photogrammetry system is utilized to monitor the position of the magnet due to its non-contact feature, and an electrically driven Stewart platform is utilized to manipulate the magnet. Meanwhile, a control system has been developed to regulate the automatic positioning. The system is capable of receiving measurements from the close-range photogrammetry system in order to ascertain the displacements of the magnet from its current position to the target. Subsequently, it can transmit commands to Stewart platform to regulate its movement. The experiments indicate that the efficiency of the quadrupole magnet positioning has increased significantly by at least 5 times, and the final positioning accuracy was verified by the laser tracker. The study also addresses the potential application of this technology in high radiation environments that are otherwise inaccessible.

Deep Residual Network with a CBAM Mechanism for the Recognition of Symmetric and Asymmetric Human Activity Using Wearable Sensors

Wearable devices are paramount in health monitoring applications since they provide contextual information to identify and recognize human activities. Although sensor-based human activity recognition (HAR) has been thoroughly examined, prior studies have yet to definitively differentiate between symmetric and asymmetric motions. Determining these movement patterns might provide a more profound understanding of assessing physical activity. The main objective of this research is to investigate the use of wearable motion sensors and deep convolutional neural networks in the analysis of symmetric and asymmetric activities. This study provides a new approach for classifying symmetric and asymmetric motions using a deep residual network incorporating channel and spatial convolutional block attention modules (CBAMs). Two publicly accessible benchmark HAR datasets, which consist of inertial measurements obtained from wrist-worn sensors, are used to assess the model’s efficacy. The model we have presented is subjected to thorough examination and demonstrates exceptional accuracy on both datasets. The ablation experiment examination also demonstrates noteworthy contributions from the residual mappings and CBAMs. The significance of recognizing basic movement symmetries in increasing sensor-based activity identification utilizing wearable devices is shown by the enhanced accuracy and F1-score, especially in asymmetric activities. The technique under consideration can provide activity monitoring with enhanced accuracy and detail, offering prospective advantages in diverse domains like customized healthcare, fitness tracking, and rehabilitation progress evaluation.

Design of active vibration isolation system for satellite optical load based on Stewart platform

According to the requirements of hyperstatic environment of a satellite optical load during in orbit operation, the Stewart active vibration isolation platform was designed, and its dynamic equation was established by Newton Euler method. The virtual prototype model was established in ADAMS, and the accuracy of the model was verified by comparing the numerical solution and simulation solution of the modal frequency of the platform; On this basis, the dynamic model is decoupled into six SISO systems, and the optimal controller is designed for each subsystem. Finally, the whole system is simulated by ADAMS/MATLAB, and the displacement response curves of the load before and after control are obtained. The simulation results show that the Stewart active vibration isolation platform can effectively suppress the vibration.

Interaction Design on Basic Hand Movement Training Game in Taekwondo Using User-Centered Design

Interaction Design on Basic Hand Movement Training Game in Taekwondo Using User-Centered Design

OC6 project Phase IV: validation of numerical models for novel floating offshore wind support structures

Abstract. This paper provides a summary of the work done within Phase IV of the Offshore Code Comparison Collaboration, Continued with Correlation and unCertainty (OC6) project, under International Energy Agency Wind Technology Collaboration Programme Task 30. This phase focused on validating the loading on and motion of a novel floating offshore wind system. Numerical models of a 3.6 MW horizontal-axis wind turbine atop the TetraSpar floating support structure were compared using measurement data from a 1:43-Froude-scale test performed in the University of Maine's Alfond Wind–Wave (W2) Ocean Engineering Laboratory. Participants in the project ran a series of simulations, including system equilibrium, surge offsets, free-decay tests, wind-only conditions, wave-only conditions, and a combination of wind and wave conditions. Validation of the models was performed by comparing the aerodynamic loading, floating support structure motion, tower base loading, mooring line tensions, and keel line tensions. The results show a relatively good estimation of the aerodynamic loading and a reasonable estimation of the platform motion and tower base fore–aft bending moment. However, there is a significant dispersion in the dynamic loading for the upwind mooring line. Very good agreement was observed between most of the numerical models and the experiment for the keel line tensions.

Physiological Importance of Asthi and Peshi Sharira: An Ayurveda and Modern Perspective

Asthi and Peshi are terms from Ayurveda; they refer to different aspects of the human body. They refer to the skeletal system or the bone structure of body, bones are considered as Dhatus that make up the human body. Asthi Sharira is responsible for providing support and protection to the body. Peshi Sharira refers to the muscular system of body encompasses various types of muscles including skeletal muscles, smooth muscles and cardiac muscles, etc. These systems are responsible for the movement inside the body. Both Asthi Sharira and Peshi Sharira are essential components of body to provide support, holding capacity, basic skeleton frame, movement and rigidity to physical structure. This article narrates physiological importance of Asthi and Peshi Sharira

Mental Training Models in Physical Education, Sports and Health Subjects for Volleyball in Elementary School Students

The association between mental and physical fitness is critical for young people participating in physical education and sports activities. However, current evidence shows that elementary schools need a mental training learning model and a course of play strategies for volleyball material. Therefore, it is necessary to design a particular model of mental training learning and a course of play strategy on volleyball material for elementary school students. The objective of the present study was to produce a model that meets valid, practical, and effective criteria for elementary school students using the Borg and Gall model. Observation, questionnaires, and tests were used to collect data from 22 elementary school students 10–11 years old. A mental training learning model and a course of play strategies were generated to meet the valid criteria, practical category, and effective criteria to be applied to volleyball material in elementary schools and to positively impact improving basic movement abilities and basic techniques of students' volleyball games. Results showed that elementary school students' basic movement abilities in volleyball were more efficient after using the mental training model and a course of play strategy than without using it. Such an outcome highlights the importance of implementing exercise imagery to lead to more engaging and effective school-based physical activity interventions. Keywords: Youth, Mental Fitness, Physical Training, Volleyball.

Functional protein dynamics in a crystal.

Proteins are molecular machines and to understand how they work, we need to understand how they move. New pump-probe time-resolved X-ray diffraction methods open up ways to initiate and observe protein motions with atomistic detail in crystals on biologically relevant timescales. However, practical limitations of these experiments demands parallel development of effective molecular dynamics approaches to accelerate progress and extract meaning. Here, we establish robust and accurate methods for simulating dynamics in protein crystals, a nontrivial process requiring careful attention to equilibration, environmental composition, and choice of force fields. With more than seven milliseconds of sampling of a single chain, we identify critical factors controlling agreement between simulation and experiments and show that simulated motions recapitulate ligand-induced conformational changes. This work enables a virtuous cycle between simulation and experiments for visualizing and understanding the basic functional motions of proteins.

Improvement of manipulative skills of 6-year-old children through "Si buyung" gymnastics

This study aims to determine the effectiveness of Si Buyung Gymnastics in improving the manipulative skills of learners aged 6 years. The research method used was an experiment, and the sample used was 15 learners. The manipulative skill test instrument is adapted from the basic motion skills test, which is the test of catching and bouncing the ball. The sampling technique used is purposive sampling, namely: (1) individuals who are willing to be subjects or permitted by parents or guardians; (2) kindergarten students; (3) 6 years old; and (4) students who are physically and spiritually healthy. Pretest and post-test data analysis techniques use paired T-test statistical techniques. The results showed that movement and song learning had an influence on improving the manipulative skills of kindergarten students; this was shown from the pretest and post-test results. The results of the statistical test T-paired pretest amounted to 16.67, while the post-test was 19.44. The paired T-test shows higher post-test results than the pretest. The results of the data analysis showed a real improvement in the students' ball-bouncing skills after being given the Si Buyung Gymnastics treatment.

Automatic Evaluation Method for Functional Movement Screening Based on a Dual-Stream Network and Feature Fusion

Functional Movement Screening (FMS) is a movement pattern quality assessment system used to assess basic movement capabilities such as flexibility, stability, and pliability. Movement impairments and abnormal postures can be identified through peculiar movements and postures of the body. The reliability, validity, and accuracy of functional movement screening are difficult to test due to the subjective nature of the assessment. In this sense, this paper presents an automatic evaluation method for functional movement screening based on a dual-stream network and feature fusion. First, the RAFT algorithm is used to estimate the optical flow of a video, generating a set of optical flow images to represent the motion between consecutive frames. By inputting optical flow images and original video frames separately into the I3D model, it can better capture spatiotemporal features compared to the single-stream method. Meanwhile, this paper introduces a simple but effective attention fusion method that combines features extracted from optical flow with the original frames, enabling the network to focus on the most relevant parts of the input data, thereby improving prediction accuracy. The prediction of the four categories of FMS results was performed. It produced better correlation results compared to other more complex fusion protocols, with an accuracy improvement of 3% over the best-performing fusion method. Tests on public datasets showed that the evaluation metrics of the method proposed in this paper were the most advanced, with an accuracy improvement of approximately 4% compared to the currently superior methods. The use of deep learning methods makes it more objective and reliable to identify human movement impairments and abnormal postures.

A comprehensive evaluation of marker-based, markerless methods for loose garment scenarios in varying camera configurations

In support of smart wearable researchers striving to select optimal ground truth methods for motion capture across a spectrum of loose garment types, we present an extended benchmark named DrapeMoCapBench (DMCB+). This augmented benchmark incorporates a more intricate limb-wise Motion Capture (MoCap) accuracy analysis, and enhanced drape calculation, and introduces a novel benchmarking tool that encompasses multicamera deep learning MoCap methods. DMCB+ is specifically designed to evaluate the performance of both optical marker-based and markerless MoCap techniques, taking into account the challenges posed by various loose garment types. While high-cost marker-based systems are acknowledged for their precision, they often require skin-tight markers on bony areas, which can be impractical with loose garments. On the other hand, markerless MoCap methods driven by computer vision models have evolved to be more cost-effective, utilizing smartphone cameras and exhibiting promising results. Utilizing real-world MoCap datasets, DMCB+ conducts 3D physics simulations with a comprehensive set of variables, including six drape levels, three motion intensities, and six body-gender combinations. The extended benchmark provides a nuanced analysis of advanced marker-based and markerless MoCap techniques, highlighting their strengths and weaknesses across distinct scenarios. In particular, DMCB+ reveals that when evaluating casual loose garments, both marker-based and markerless methods exhibit notable performance degradation (>10 cm). However, in scenarios involving everyday activities with basic and swift motions, markerless MoCap outperforms marker-based alternatives. This positions markerless MoCap as an advantageous and economical choice for wearable studies. The inclusion of a multicamera deep learning MoCap method in the benchmarking tool further expands the scope, allowing researchers to assess the capabilities of cutting-edge technologies in diverse motion capture scenarios.