Kind Of Motion Research Articles

Development of Genetic Algorithm for Designing Planar Link Mechanisms

We propose a method based on genetic algorithm to automatically design planar link mechanisms that satisfies inputted purpose. Link mechanisms are a type of mechanical element that connects multiple parts in relative motion, and show a useful feature of extracting complex motion from a simple structure. Because it is not easy to design link mechanisms that performs the desired motion, many methods have been proposed to design link mechanisms to achieve the desired motion. However, it is still hard to know what kind of motion is required for the desired purpose in advance. Thus, we propose a design method using genetic algorithm with “purpose” as an input. Genetic algorithm is meta-heuristic methods that searches for optimal solution based on algorithms inspired by biological evolution. We show the modification of genetic algorithm to design planar link mechanisms and its application to the actual design attempts, and discuss further improvement of the model.

Performances ‘in No Other City Possible’: Mountebanks and Theatrical Vagrancy in Seventeenth-Century London

The English word ‘mountebank’, borrowed from the Italian montimbanco to describe a performing quack doctor, crucially defines its subject in terms of motion in space: the motion of ascending a stage. In fact, the early modern mountebank in London was a player known for many kinds of motion—geographical itinerancy, rhetorical circumlocution, and even appropriative journeys from bank to theatre to print. This article articulates the mountebank’s license to roam physically and representationally across London as a kind of theatrical vagrancy, one that begs the question not only of where theatre can exist in urban space, but how—how a physically and rhetorically unfixed performance can still be recognised by an audience as a performance. Playing with and across space, as this article argues, is perhaps one of the most crucial of the mountebank’s many ‘impossible’ feats.

Modelling and simulation of soft robotic human tongue with improved motion

There is a huge demand for electronic tongues in the food and pharmaceutical industries for chemical detection and flavor analysis. The lack of availability of robots with electronic tongues has motivated us to investigate, design, and simulate a human tongue’s complex motions. Human anatomy was studied in detail to modify the standard design of the human tongue, with the addition of 32 embedded chambers at strategic locations, to replicate various 3D motions (rolling, groove, twist, and elongation) of the human tongue necessary for improving the biochemical sensing capabilities. The FEM (Finite element method) simulations showed the relation between pressure and deformation range for various kinds of motions in a human tongue, including the mechanical properties from the stress versus strain response.

Camera motion-induced systematic errors in stereo-DIC and speckle-based compensation method

Stereo-digital image correlation (stereo-DIC) is now a standard technique for determination of the mechanical properties of materials and structures. In stereo-DIC, cameras are assumed to be motionless after camera calibration, so the three-dimensional (3D) reconstruction can be implemented using pre-calibrated parameters. However, this assumption is not true in some situations, such as drop test, seismic shaking table test and non-laboratory environment. Due to the presence of ground shaking or wind blowing, it's almost impossible to avoid camera motion in these experiments even if mechanical fixing is adopted. Camera motion during the experiment can undoubtedly introduce significant errors on measured results. Generally, camera motion can be divided into pair motion and relative motion. The influence of these two kinds of motion on stereo-DIC measurement is different and worth of separate study. Keep this in mind, in this paper, the influence of camera motion on stereo-DIC is investigated and the effects of pair motion and relative motion are examined separately using precisely controllable simulated experiments. Specifically, by integrating into the stereo matching, the speckle-based compensation method for relative motion is proposed and the accuracy of the compensation methods is analyzed in detail. The reduction of camera motion-induced systematic errors will be helpful for the further applications of stereo-DIC in non-laboratory environments and engineering fields.

On the classical and quantum dynamics of a class of nonpolynomial oscillators

We consider two one dimensional nonlinear oscillators, namely (i) Higgs oscillator and (ii) a k-dependent nonpolynomial rational potential, where k is the constant curvature of a Riemannian manifold. Both the systems are of position dependent mass (PDM) form, , belonging to the quadratic Linard type nonlinear oscillators. They admit different kinds of motions at the classical level. While solving the quantum versions of the systems, we consider a generalized PDM Hamiltonian in which the ordering parameters of the mass term are treated as arbitrary. We observe that the quantum version of the Higgs oscillator is exactly solvable under appropriate restrictions of the ordering parameters, while the second nonlinear system is shown to be quasi exactly solvable using the Bethe ansatz method in which the arbitrariness of ordering parameters also plays an important role to obtain quasi-polynomial solutions. We extend the study to three dimensional generalizations of these nonlinear oscillators and obtain the exact solutions for the classical and quantum versions of the three dimensional Higgs oscillator. The three dimensional generalization of the quantum counterpart of the k-dependent nonpolynomial potential is found out to be quasi exactly solvable.

The Hodgkin–Huxley neuron model for motion detection in image sequences

In this paper, we consider a biologically inspired spiking neural network model for motion detection. The proposed model simulates the neurons’ behavior in the cortical area MT to detect different kinds of motion in image sequences. We choose the conductance-based neuron model of the Hodgkin–Huxley to define MT cell responses. Based on the center-surround antagonism of MT receptive fields, we model the area MT by its great proportion of cells with directional selective responses. The network’s spiking output corresponds to an MT neuron population’s firing rates and enables to extract motion boundaries. We conduct several experiments on real image sequences. The experimental results show the proposed network’s ability to segregate multiple moving objects from an image sequence and reproduce the MT cells’ responses. We perform a quantitative evaluation on the YouTube Motion Boundaries (YMB) dataset, and we compare the result to state-of-the-art methods for boundary detection in videos: boundary flow estimation (BF) and temporal boundary difference (BD). The proposed network model provides the best results on YMB compared to BF and BD methods.

Thrust Characteristics of Ducted Propeller and Hydrodynamics of an Underwater Vehicle in Control Motions

A numerical technique to simulate the hydrodynamic behavior of ducted propellers attached to an underwater vehicle traveling under the mutually interacting flow fields of the vehicle and the propellers is proposed; the hydrodynamic performance of the propellers and the hydrodynamic loading on the main body of the vehicle when it is in different kinds of motion is investigated numerically. In the research, 3D geometric models of the duct, propeller, and main body of the vehicle are first constructed according to their geometrical features. A computational fluid dynamics (CFD) technique based on the hybrid algorithm of dynamic mesh-nested sliding mesh is applied to solve the Navier–Stokes equations that govern the fluid motion around the duct, propeller, and main body of the vehicle when it is in motion. These equations are solved numerically with the CFD code Fluent. With the proposed numerical simulation technique, the hydrodynamic characteristics of the thrusts generated by the ducted propellers and the loading on the main body in the vehicle system under the mutually interacting flow fields are observed. The results of our numerical simulation indicate that the hybrid algorithm of dynamic mesh-nested sliding mesh can simulate multiple degrees of freedom of motion in underwater vehicle systems. In different motion states, the main body exerts a significant influence on the investigated flow fields; during the vehicle motions, negative wakes are formed on both sides of the main body, which lead to a decrease in the thrusts generated by the propellers on both sides. The thrust of the middle propeller is greater than that of the normal single one because of the obstructing effect in the tunnel caused by the main body.

Research on denoising algorithm of thoracic impedance signal for respiratory monitoring during running exercise

Pulmonary Function Exercise Test (PFET) or Cardio Pulmonary Exercise Test (CPET) using spirometer, as a method for early detection of pulmonary dysfunction or an effective supplement method to conventional pulmonary function test, has considerable clinical significance. However, the spirometer that uses air flowmeter to measure exhale/inhale air flowrate and flow velocity, increases respiratory resistance and is not comfortable for using during physical exercise. Thoracic impedance is sensitive to pulmonary ventilation and has no disturbance to human airway, hence is more suitable for respiratory monitoring, nevertheless it is influenced by many other factors, such as body movement during running exercises. In this paper, we first analyze the characteristics of thoracic impedance collected during running exercise, then put forward a wpsTID (wavelet and polynomial smoothing methods based Thoracic Impedance Denoising) algorithm to remove high-frequency alternating noises and motion artifacts to obtain clean thoracic impedance information that varies only with the pulmonary ventilation. The wpsTID algorithm is compared with a few other denoising algorithms using synthetic thoracic impedance data that containing known noises, and demonstrated to have the best performance in retaining respiratory information from the original signal and suppressing noises, which lays a foundation for the undisturbed monitoring of pulmonary ventilation during running with impedance method. Finally, the wpsTID algorithm is further verified with thoracic impedance signals of healthy volunteers measured during different kinds of motions.

Investigation of Preliminary Motions from a Static State and Their Predictability

Humans observe the actions of others and predict their movements slightly ahead of time in everyday life. Many studies have been conducted to automate such a prediction ability computationally using neural networks; however, they implicitly assumed that preliminary motions occurred before significant movements. In this study, we quantitatively investigate when and how long a preliminary motion appears in motions from static states and what kinds of motion can be predicted in principle. We consider this knowledge fundamental for movement prediction in interaction techniques. We examined preliminary motions of basic movements such as kicking and jumping, and confirmed the presence of preliminary motions by using them as inputs to a neural network. As a result, although we did not find preliminary motion for a hand-moving task, a left-right jumping task had the most preliminary motion, up to 0.4 s before the main movement.

Characteristics of Pneumatic Artificial Rubber Muscle Using Two Shape-Memory Polymer Sheets

We have developed a pneumatic artificial rubber muscle having a bending direction that can be changed using two shape-memory polymer (SMP) sheets, the stiffness of which depends on the temperature. In the present study, we attached two SMP sheets with embedded electrical heating wires to both sides of a pneumatic artificial rubber muscle in order to realize multidirectional actuation and evaluated the basic characteristics of the artificial muscle. The actuator is based on the design of a conventional curved-type artificial rubber muscle. Since only a heated SMP sheet becomes soft, the rigid SMP sheet inhibits the extension of the side of the actuator. Therefore, bending motion can be induced when air is supplied to the internal bladder. By controlling the temperature of the SMP sheets, the bending direction of the prototype actuator could be changed. Namely, three kinds of motions, such as two-directional bending and axial extension, became possible. Moreover, we improved the manufacturing method and the structure of the artificial muscle, such as the stitching method and the SMP sheet thickness, and evaluated the characteristics of the two-directional bending and the axial extension motions of the prototype actuator. We also calculated the theoretical values and compared these values with the experimental results. Furthermore, we examined the application of the actuators to a robot hand. Using the two-directional motion of the actuator, the proposed robot hand can grasp either small or large objects. The experimental results conducted using this prototype confirm the feasibility of the newly proposed actuator.

Posture Dynamic Modeling and Stability Analysis of a Magnetic Driven Dual-Spin Spherical Capsule Robot.

In order to realize the intervention operation in the unstructured and ample environments such as stomach and colon, a dual-spin spherical capsule robot (DSCR) driven by pure magnetic torque generated by the universal rotating magnetic field (URMF) is proposed. The coupled magnetic torque, the viscoelastic friction torque, and the gravity torque were analyzed. Furthermore, the posture dynamic model describing the electric-magnetic-mechanical-liquid coupling dynamic behavior of the DSCR in the gastrointestinal (GI) tract was established. This model is a second-order periodic variable coefficient dynamics equation, which should be regarded as an extension of the Lagrange case for the dual-spin body system under the fixed-point motion, since the external torques were applied. Based on the Floquet–Lyapunov theory, the stability domain of the DSCR for the asymptotically stable motion and periodic motion were obtained by investigating the influence of the angular velocity of the URMF, the magnetic induction intensity, and the centroid deviation. Research results show that the DSCR can realize three kinds of motion, which are asymptotically stable motion, periodic motion, and chaotic motion, according to the distribution of the system characteristic multipliers. Moreover, the posture stability of the DSCR can be improved by increasing the angular velocity of the URMF and reducing the magnetic induction intensity.

A new type of bilateral vibro-impact model: random vibration analysis

In this work, a novel class of bilateral vibro-impact model is proposed. Unlike the traditional impact model, the energy dissipation of the novel bilateral system is measured by the model of the restitution coefficient dependent with velocity. Then the random vibration of the system is investigated in the presence of Gaussian white noise excitations. The motions of the unperturbed impact system are firstly considered and grouped into two categories. Then, the mean drift and diffusion coefficients of the two kinds of motion are calculated with the stochastic averaging methodology for energy envelope under the assumed condition that the impact vibration system is quasi-conservative. Subsequently, the probability density functions of stationary responses are computed with solving the averaged Fokker-Plank-Kolmogorov equation. Finally, two illustrations are chosen to demonstrate the reliability of the presented technique. And, the validation of analytical results is verified by the simulation data generated by Monte Carlo.

Journal of Scientific Temper

Science communication is not a new concept; scientists have been trying to communicate their scientific findings and theories to the general population for centuries. The communication meant for non-scientists is particularly complex, considering their limited understanding of the subject and weak grasp of certain concepts. Visual communication design has been used in the form of infographics, photographs and illustrations for the popularisation of science. The use of cinemagraphs or images with isolated looped motion could present an interesting option to communicators to convey focused visual messages. A survey was conducted to see if a group of students (n=120) and teachers (n=28) of a science & technology university saw any value in the use of cinemagraphs. The cinemagraph was deemed to be 42% more informative than the still image by the students and 29% more informative by the teachers. The participants also found the cinemagraphs to be more useful and attractive than the other formats. Different kinds of motions were defined in the cinemagraphs. participants preferred “small slow subtle motion”, “large intermittent motion” and “dispersed localized motion” over the still images and the videos by a wider margin. While making cinemagraphs, picking the right subject to highlight and using the right kind of motion can be used to improve focus and convey messages in a more attractive and useful manner and this could be crucial in improving science communication, especially for the non-scientists.

An experimental study on deictic verbs and the coding patterns of deixis in Ilami Kurdish: A comparative study

Conducting a video-based experiment in English, Japanese and Thai, Matsumoto et al. (2017) report that deictic verbs are more frequently used when the motion is not just toward the speaker but also into his/her functional space (i.e. functional HERE of the speaker) defined by limits of interaction and visibility as well as when the motion is accompanied by an interactional behaviour of the Figure such as greeting the speaker. They claim that directional venitive prepositional phrases (henceforth PPs) like toward me do not exhibit this feature, though. This paper aims to reevaluate these proposals (Matsumoto et al. 2017) in Ilami Kurdish (henceforth IK), thereby figuring out whether the functional nature of deictic verbs observed in the three studied languages is also attested in this dialect. In line with the findings reported by Matsumoto et al. (2017), results of this research reveal that the semantics of venitive verbs of motion in IK is spatial and functional at the same time. In other words, these verbs are more often used in the verbal descriptions of the IK participants, when the Figure shares a functional space with the speaker induced by limits of interaction and visibility, and also when he/she smiles at or greets the speaker. Importantly, results show that venitive PPs in IK can be functional in nature or add some functional meaning (in addition to their spatial meaning) to the verb, so that participants utilize venitive adpositions along with the venitive verb to add emphasis on the kind of motion (to be a venitive one) and express that the Figure would be “very close” to the speaker at the end of motion.

Robotic arm dynamics modelling and robust control based on model recognition method

This paper analyzes the dynamics modelling and robust control of the robotic arm by using a model-based defines method. Firstly, the motion coupling relationship between the front and rear joints of the robotic arm is analyzed, and two kinds of motion decoupling modules based on planetary gear and pulley system are proposed, and the decoupling principle of the motion decoupling module is analyzed to realize the mechanical decoupling of the joint motion of the robotic arm. After that, a comprehensive test bench of two-degree-of-freedom robotic arm joint motion is constructed, and the factors influencing the decoupling effect of the mechanical decoupling module are analyzed through experiments to verify the effectiveness of the motion decoupling module. At the same time, the analysis also shows that: with the increase of the number of robotic arm joints, the number and volume of required decoupling modules increase, and the application of decoupling modules will significantly increase the volume, weight, and torque loss of the robotic arm, thus leading to the robotic arm’s large load to weight ratio which is not an advantage, therefore, mechanical decoupling is not suitable for robotic arms with more than 3 degrees of freedom. The design of a fuzzy incremental controller based on the model dialectic method is proposed for application in parallel robot control; it has universal approximation characteristics and can self-organize the velocity and position information of the parallel robot legs, and dynamically adjust the output of the controller by the designed affiliation function and control rules.

Dynamic dot displays reveal material motion network in the human brain

There is growing research interest in the neural mechanisms underlying the recognition of material categories and properties. This research field, however, is relatively more recent and limited compared to investigations of the neural mechanisms underlying object and scene category recognition. Motion is particularly important for the perception of non-rigid materials, but the neural basis of non-rigid material motion remains unexplored. Using fMRI, we investigated which brain regions respond preferentially to material motion versus other types of motion. We introduce a new database of stimuli – dynamic dot materials – that are animations of moving dots that induce vivid percepts of various materials in motion, e.g. flapping cloth, liquid waves, wobbling jelly. Control stimuli were scrambled versions of these same animations and rigid three-dimensional rotating dots. Results showed that isolating material motion properties with dynamic dots (in contrast with other kinds of motion) activates a network of cortical regions in both ventral and dorsal visual pathways, including areas normally associated with the processing of surface properties and shape, and extending to somatosensory and premotor cortices. We suggest that such a widespread preference for material motion is due to strong associations between stimulus properties. For example viewing dots moving in a specific pattern not only elicits percepts of material motion; one perceives a flexible, non-rigid shape, identifies the object as a cloth flapping in the wind, infers the object's weight under gravity, and anticipates how it would feel to reach out and touch the material. These results are a first important step in mapping out the cortical architecture and dynamics in material-related motion processing.

RETRACTED: Real-time monitoring of the athlete's musculoskeletal health based on an embedded processor

In this paper, we use wireless sensor network in motion analysis and computer vision processing. We mainly monitor and analyze various kinds of motion through wireless sensor network. When dealing with computer vision, we use wireless sensor networks to capture moving objects and analyze their detailed motion parameters. We mainly use two types of sensors to receive information, and then fuse the data they receive. These data can be applied in various fields, such as robot field. In this study, we also proposed the predictive data analysis technology, which can be used to determine the health status of the body by monitoring the robot's movement under certain conditions. At the same time, this technology can also be applied to the rehabilitation training of the injured patients. This technique can not only be used in exercise analysis, but also provide some useful suggestions and optimal exercise time for patients' rehabilitation training, which is very helpful for patients' rehabilitation and strength training. In this paper, the pilot's work is simulated by different actions, and a large number of visual motion data are generated in the experiment. In addition, we also explored some elderly patients with dyskinesia, and carried out disease monitoring and exercise monitoring on them.

Privacy-Preserved Fall Detection Method with Three-Dimensional Convolutional Neural Network Using Low-Resolution Infrared Array Sensor.

Due to the rapid aging of the population in recent years, the number of elderly people in hospitals and nursing homes is increasing, which results in a shortage of staff. Therefore, the situation of elderly citizens requires real-time attention, especially when dangerous situations such as falls occur. If staff cannot find and deal with them promptly, it might become a serious problem. For such a situation, many kinds of human motion detection systems have been in development, many of which are based on portable devices attached to a user’s body or external sensing devices such as cameras. However, portable devices can be inconvenient for users, while optical cameras are affected by lighting conditions and face privacy issues. In this study, a human motion detection system using a low-resolution infrared array sensor was developed to protect the safety and privacy of people who need to be cared for in hospitals and nursing homes. The proposed system can overcome the above limitations and have a wide range of application. The system can detect eight kinds of motions, of which falling is the most dangerous, by using a three-dimensional convolutional neural network. As a result of experiments of 16 participants and cross-validations of fall detection, the proposed method could achieve 98.8% and 94.9% of accuracy and F1-measure, respectively. They were 1% and 3.6% higher than those of a long short-term memory network, and show feasibility of real-time practical application.

Как языку обойтись без глаголов падения: семантическое поле неконтролируемого перемещения вниз в агульском языке

The article focuses on verbs expressing the semantics of uncontrolled downward motion in the Aghul language. The peculiarity of the Aghul system is the lack of dedicated lexical means for the idea of falling: this kind of motion is described by stems that are derived from verbal roots meaning ‘to fi nd oneself somewhere’, ‘to hit against smth’, ‘to tear off ’, etc., which are combined with various spatial preverbs. Despite such an unusual system, the principles of its lexical division are in line with general typological trends. Out of four frames, which are cross-linguistically relevant for the domain of falling (motion from an upper surface, detaching, loss of a vertical orientation, and destruction), Aghul co-lexifies two — upper surface and detaching (both are encoded with the root -arxas ‘to fi nd oneself somewhere’). Each of the two other frames uses several verbs which specify the type of trajector and/or the manner of motion. Thus, the loss of a vertical orientation is further subdivided into three zones, viz. non-specifi ed falling of a person (-urq’as ‘hit against smth’), falling of a person backwards (al-ʁ-adarkas ‘SUPER-UP-move’), and falling of an inanimate subject, which is lexically combined with falling of a person sideways (al-at’t’as ‘SUPER-tear_off ’). Falling- destruction may be described by the verbs ʕʷas ‘go’, ajč’ʷas ‘go out’, and -uq’as ‘sit down’, the choice of the verb here depends on the degree and nature of damage. Semantic shifts have been discovered only for two of the verbs considered in the study (-arxas and -urq’as). Though these verbs in their basic meanings do not belong to the domain of falling, their shifts follow the same patterns as those observed for dedicated falling verbs, cf., e.g., the metaphors of getting into an unpleasant situation, falling behind a group, falling to one’s lot, the onset of a season or a daytime. Our data shows that the derivation of similar meanings from verbs of diverging semantics allows us to elucidate the motivation for each shift

Design of a Tele-operable Soft Actuator

Communication delay between robotic control systems and the robotic actuator is a major issue since the soft robotic motion requires controls to be precise and have quick responses. This is also essential for real time control of robots where the user should be able to send and receive signals with minimum delay to emulate a real time control. Specifically, in soft robotics , the communication delay could become a bigger issue due to the fact that soft robots require mode of pressure exerted into the actuator to make any kind of motion. A delay in such instances could cause the whole system to malfunction and even could cause the actuator to explode in the case of rapid and subtle changes in internally applied pressure. In this research, available IoT (Internet of Things) related systems and models have been studied and suitable IoT system was designed. The main focus of this research was to study the communication delay in IoT embedded hand gesture controlled soft robot finger (actuator). Two separate data processing units have been introduced in the master side and in the slave side to rapid capturing and sending data. By using this approach, processing delay is expected to be minimized. Transmission delay, propagation delay and queuing delay are found to be handled through external factors. These factors could be changed by using various kinds of servers and service providers. Soft elastomer actuator was designed and developed using standard rapid prototyping and soft lithography techniques generally used in soft robotics. Testing, data collecting and analyzing the system are carried out at various locations in Sri lanka and finally the Round Trip Delay Time (RTD) for each case was compared.