Simultaneous Motion Research Articles

Adaptive simultaneous motion and vibration control for a multi flexible-link mechanism with uncertain general harmonic disturbance

In this paper, a new motion and vibration synthesized control system—a linear quadratic regulator/strain rate feedback controller (LQR/SRF) with adaptive disturbance attenuation is presented for a multi flexible-link mechanism subjected to uncertain harmonic disturbances with arbitrary frequencies and unknown magnitudes. In the proposed controller, nodal strain rates are introduced into the model of the multi flexible-link mechanism, based upon which a synthesized LQR controller where both rigid-body motion and elastic deformation are considered is designed. The uncertain harmonic disturbances would be canceled in the feedback loop by its approximated value which is computed online via an adaptive update law. Asymptotic stability of the closed-loop system is proved by the Lyapunov analysis. The effectiveness of the proposed controller is shown via simulation.

Masking of random-walk motion by flicker, and its role in the allocation of motion in the on-line jitter illusion

Typically, perceptual stabilization mechanisms make us unaware of the retinal image motion produced by the small, involuntary eye movements our eyes constantly make during fixation. The breakdown of perceptual stability is demonstrated by the on-line jitter illusion, in which a circular static pattern appears to jitter coherently when surrounded by a flickering annular pattern. Although both regions of the stimulus are subject to retinal motion from eye movements, the visual system attributes this motion to the central static region in the form of visual jitter, while the surrounding flickering region remains perceptually stable. We investigated factors influencing this allocation of motion and reference frame in the on-line jitter illusion. The flickering of the surround was found to impair the detection of simultaneous random-walk motion in this area, giving a detection reliability of around 80% for motion approximating that from fixational eye movements. Changes to spatial texture and location of flicker (centre vs. surrounding annulus) had little effect on the final percept. However, use of a nonconcentric stimulus resulted in a marked reduction in apparent jitter in all subjects. Our results suggest for the on-line jitter illusion, allocation of motion and reference frame is influenced by the general principle that, if one region surrounds another, the surrounding region tends to be allocated as the frame of reference. When this factor is controlled for, spatial textures, location of flicker, and the masking of motion by flicker have a smaller but measurable influence on the final percept.

Impact pressure and void fraction due to plunging breaking wave impact on a 2D TLP structure

Violent impacts due to the plunging breaking wave impingement on a 2D tension-leg platform (TLP) structure were experimentally investigated in a laboratory. Simultaneous pressure, void fraction, fluid velocity, and structure motion measurements were performed on the multiphase, turbulent flow. The maximum mean impact pressure is 2.3ρC 2 with C being the wave phase speed. The pressure maximum and its rise time are negatively correlated, and the rise time for impulsive-type impacts is less than 15 ms or 0.18H/C with H being the wave height. Different approaches show that impact coefficients vary from 0.6 to 9.7, including relating the impact pressure maxima to the wave phase speed, local velocity, and void fraction. By modeling the plunging breaking wave impact as a filling flow, a pressure–aeration relationship was investigated and compared with the approximate solution derived by Peregrine and Thais (J Fluid Mech 325:377–397, 1996). The measured data show that a high aeration level tends to reduce the impact pressure maximum so the cushioning effect is significant for breaking wave impacts on a moving vertical wall.

Multi-segmental thoracic spine kinematics measured dynamically in the young and elderly during flexion

In contrast to the cervical and lumbar region, the normal kinematics of the thoracic spine have not been thoroughly investigated. The aim of this study was to characterize normal multi-segmental continuous motion of the whole thoracolumbar spine, during a flexion maneuver, in young and elderly subjects. Forty-two healthy volunteers were analyzed: 21 young (age=27.00±3.96) and 21 elderly (age=70.1±3.85). Spinal motion was recorded with a motion-capture system and analyzed using a 3rd order polynomial function to approximate spinal curvature throughout the motion sequence. The average motion profiles of the two age groups were characterized. Flexion timing of the thoracic region of the spine, as compared to the lumbar spine and hips, was found to be different in the two age groups (p=0.011): a delayed/sequential motion type was observed in most of the young, whereas mostly a simultaneous motion pattern was observed in the elderly subjects. A similar trend was observed in flexion of the lower thoracic segments (p=0.017). Differences between age groups were also found for regional and segmental displacements and velocities. The reported characterization of the thoracic spine kinematics may in the future support identification of abnormal movement or be used to improve biomechanical models of the spine.

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.

This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (1-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70 ± 0.35 mm Cartesian space error.

Evaluation of intravoxel incoherent motion fitting methods in low‐perfused tissue

PurposeTo investigate the robustness of constrained and simultaneous intravoxel incoherent motion (IVIM) fitting methods and the estimated IVIM parameters (D, D* and f) for applications in brain and low‐perfused tissues.Materials and MethodsModel data simulations relevant to brain and low‐perfused tumor tissues were computed to assess the accuracy, relative bias, and reproducibility (CV%) of the fitting methods in estimating the IVIM parameters. The simulations were performed at a series of signal‐to‐noise ratio (SNR) levels to assess the influence of noise on the fitting.ResultsThe estimated IVIM parameters from model simulations were found significantly different (P < 0.05) using simultaneous and constrained fitting methods at low SNR. Higher accuracy and reproducibility were achieved with the constrained fitting method. Using this method, the mean error (%) for the estimated IVIM parameters at a clinically relevant SNR = 40 were D 0.35, D* 41.0 and f 4.55 for the tumor model and D 1.87, D* 2.48, and f 7.49 for the gray matter model. The most robust parameters were the IVIM‐D and IVIM‐f. The IVIM‐D* was increasingly overestimated at low perfusion.ConclusionA constrained IVIM fitting method provides more accurate and reproducible IVIM parameters in low‐perfused tissue compared with simultaneous fitting.Level of Evidence: 3J. MAGN. RESON. IMAGING 2017;45:1325–1334

Multimodal codemeshing: Bilingual adolescents’ processes composing across modes and languages

With the growing linguistic diversity in today's classrooms, recent scholarship has begun to explore how multilingual students can use the full range of their linguistic repertoires when composing. At the same time, conceptions of writing have expanded to include multiple modes (e.g., text, images, sound, and movement). Addressing these tandem needs, this study examined how three bilingual eighth grade students composed across multiple languages and modalities – a process we call multimodal codemeshing – when creating a digital project. This comparative case study integrated translanguaging and social semiotics theoretical frameworks to understand students' multimodal codemeshing processes. Data sources included screen capture and video observations, student design interviews, and multimodal products. Findings revealed that students initiated their multimodal codemeshing processes through exploring the composing tool, collaborating with peers, and visually brainstorming. The process involved simultaneous iterative motion on multiple levels, including across modes, phases of the process, and sections of their projects. Students exhibited a range of textually-driven and visually-driven processes for creating content and followed unique compositional paths. Furthermore, students used their heritage languages for different purposes during the composing process. Along with becoming more fluent with digital tools and modes, students described increased comfort in using and sharing their heritage languages.

Three-dimensional motion analysis for validation of shoulder internal rotation.

10% of the points for the Constant-Murley score (CMS) are allocated for the capacity for internal rotation (IR), measured as unassisted active movement of the dorsum of the hand or the thumb to reach different anatomical landmarks. However, there is little information about the validity of this method and no three-dimensional measurement of the degree of IR that is necessary to reach these landmarks. Sixteen volunteers with healthy shoulders were recruited. The degree of IR was defined using the following landmarks as described in the CMS: (1) lateral aspect of thigh, (2) buttock, (3) sacroiliac joint, (4) level of waist, (5) vertebra T12, (6) interscapular. The validity of IR measurement was assessed by simultaneous 3D motion analysis. Using the thumb as pointer, there were significant increases in IR from 39.3° at position 1 to 80.4° at position 2, followed by 105.1°, 108.6°, 110.1°, and 125.3° at position 3-6. Taking the dorsum of the hand as pointer, there were significant increases in IR between all positions, starting from 71.2° (position 1) and followed by 99.3°, 104.1°, 110.3°, 115.2°, and 119.7° at positions 2 to 6. Comparing the two measurement methods, a significant difference was found for the amount of IR between positions 1 and 2. Measurement of IR as described in the CMS is a suitable method. However, there was an increase of only 10° in IR between positions 3 and 5, which may be hard to measure with a standard goniometer in clinical practice.

On the Estimation Accuracy of the 3D Body Center of Mass Trajectory during Human Locomotion: Inverse vs. Forward Dynamics

The dynamics of body center of mass (BCoM) 3D trajectory during locomotion is crucial to the mechanical understanding of the different gaits. Forward Dynamics (FD) obtains BCoM motion from ground reaction forces while Inverse Dynamics (ID) estimates BCoM position and speed from motion capture of body segments. These two techniques are widely used by the literature on the estimation of BCoM. Despite the specific pros and cons of both methods, FD is less biased and considered as the golden standard, while ID estimates strongly depend on the segmental model adopted to schematically represent the moving body. In these experiments a single subject walked, ran, (uni- and bi-laterally) skipped, and race-walked at a wide range of speeds on a treadmill with force sensors underneath. In all conditions a simultaneous motion capture (8 cameras, 36 markers) took place. 3D BCoM trajectories computed according to five marker set models of ID have been compared to the one obtained by FD on the same (about 2,700) strides. Such a comparison aims to check the validity of the investigated models to capture the “true” dynamics of gaits in terms of distance between paths, mechanical external work and energy recovery. Results allow to conclude that: (1) among gaits, race walking is the most critical in being described by ID, (2) among the investigated segmental models, those capturing the motion of four limbs and trunk more closely reproduce the subtle temporal and spatial changes of BCoM trajectory within the strides of most gaits, (3) FD-ID discrepancy in external work is speed dependent within a gait in the most unsuccessful models, and (4) the internal work is not affected by the difference in BCoM estimates.

Reducing Peak Pressures Under the Saddle Panel at the Level of the 10th to 13th Thoracic Vertebrae May Be Associated With Improved Gait Features, Even When Saddles Are Fitted to Published Guidelines

Saddle–horse interaction is increasingly linked with back pain, performance, and welfare issues. Saddle fit and work quality influence alterations in back shape with exercise at thoracic vertebra 13 level (T13) with exercise. The objectives of experiments were to: determine a repeatable zone and stride point of peak pressure under saddles fitted to industry guidelines; compare peak pressure in this zone and limb kinematics in collected trot between horses own saddles (S) and a saddle designed to reduce pressure at T10–T13 (F); compare thoracolumbar width change after exercise between S and F and with F after 3 months use. Elite dressage (n = 13) horses/riders with no lameness/performance problem had pressure mat data acquired under S, fitted by four qualified saddle fitters, to determine zones of peak pressure. Pressure mat data at T10–T13, forelimb/hindlimb protraction, and carpal/tarsal flexion acquired using simultaneous high-speed motion capture, and difference in thoracolumbar dimensions (T8, T18 at 3, 15 cm) between before and after exercise was compared between S and F. Peak pressures were consistently detected axially around T10–T13 (sensors A4–A7, H4–H7). Peak pressures were significantly less with F than S for each cell and pooled (55%–68% difference. P = .01 to <.0001). Saddle F was associated with 13% greater forelimb and 22.7% hindlimb protraction, 3.5° greater carpal and 4.3° tarsal flexion (P = .02 to .0001), and greater increase in thoracolumbar dimensions after exercise (P = .01 to <.0001). Saddles fitted to published guidelines may still have a nonideal interface with horses. Reducing peak pressures around T10–T13 was associated with improved limb kinematics in trot and greater thoracolumbar expansion after exercise.

Combined surface electromyography, near-infrared spectroscopy and acceleration recordings of muscle contraction: The effect of motion

Noninvasive techniques, surface electromyography (sEMG) in particular, are being increasingly employed for assessing muscle activity. In these studies, local oxygen consumption and muscle metabolism are of great interest. Measurements can be performed noninvasively using optics-based methods such as near-infrared spectroscopy (NIRS). By combining energy consumption data provided by NIRS with muscle level activation data from sEMG, we may gain an insight into the metabolic and functional characteristics of muscle tissue. However, muscle motion may induce artifacts into EMG and NIRS. Thus, the inclusion of simultaneous motion measurements using accelerometers (ACMs) enhances possibilities to perceive the effects of motion on NIRS and EMG signals. This paper reviews the current state of noninvasive EMG and NIRS-based methods used to study muscle function. In addition, we built a combined sEMG/NIRS/ACM sensor to perform simultaneous measurements for static and dynamic exercises of a biceps brachii muscle. Further, we discuss the effect of muscle motion in response of NIRS and EMG when measured noninvasively. Based on our preliminary studies, both NIRS and EMG supply specific information on muscle activation, but their signal responses also showed similarities with acceleration signals which, in this case, were supposed to be solely sensitive to motions.

Distortion Correction in Fetal EPI Using Non-Rigid Registration With a Laplacian Constraint.

Geometric distortion induced by the main B0 field disrupts the consistency of fetal echo planar imaging (EPI) data, on which diffusion and functional magnetic resonance imaging is based. In this paper, we present a novel data-driven method for simultaneous motion and distortion correction of fetal EPI. A motion-corrected and reconstructed T2 weighted single shot fast spin echo (ssFSE) volume is used as a model of undistorted fetal brain anatomy. Our algorithm interleaves two registration steps: estimation of fetal motion parameters by aligning EPI slices to the model; and deformable registration of EPI slices to slices simulated from the undistorted model to estimate the distortion field. The deformable registration is regularized by a physically inspired Laplacian constraint, to model distortion induced by a source-free background B0 field. Our experiments show that distortion correction significantly improves consistency of reconstructed EPI volumes with ssFSE volumes. In addition, the estimated distortion fields are consistent with fields calculated from acquired field maps, and the Laplacian constraint is essential for estimation of plausible distortion fields. The EPI volumes reconstructed from different scans of the same subject were more consistent when the proposed method was used in comparison with EPI volumes reconstructed from data distortion corrected using a separately acquired B0 field map.

Analysis of a variational model for motion compensated inpainting

We study a variational problem for simultaneous video inpainting and motion estimation. We consider a functional proposed by Lauze and Nielsen [25] and we study, by means of the relaxation method of the Calculus of Variations, a slightly modified version of this functional. The domain of the relaxed functional is constituted of functions of bounded variation and we compute a representation formula of the relaxed functional. The representation formula shows the role of discontinuities of the various functions involved in the variational model. The present study clarifies the variational properties of the functional proposed in [25] for motion compensated video inpainting.

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

Traditional motion planning approaches for multi-legged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling theses problems has required either the assumption of a fixed gait sequence and flat terrain condition, or non-convex optimization with intractable computation time. In this paper, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions and motion, in a computationally efficient fashion. In contrast to previous works, our approach is not limited to flat terrain nor to a pre-specified gait sequence. Instead, we incorporate the friction cone stability margin, approximate the robot's torque limits, and plan the gait using mixed-integer convex constraints. We experimentally validated our approach on the HyQ robot by traversing different challenging terrains, where non-convexity and flat terrain assumptions might lead to sub-optimal or unstable plans. Our method increases the motion generality while keeping a low computation time.

Balancing and Reconstruction of Segmented Postures for Humanoid Robots in Imitation of Motion

This paper introduces an imitation system based on the similarity of the replaying motions of robots with the sequential poses of a demonstrator. The system is composed of three modules—key pose elicitation, real robot balance control, and memorization for motion replay. The elicitation of key poses drives the balance learning and motion replay of the robot. Dissimilarity values associated with the defined spatiotemporal function of simultaneous joint motion are used to analyze the degree of similarity. To overcome the difference in mechanical structures and kinematics, such as the number of joints between robots and human demonstrators, the key poses extracted from the motions of demonstrators are modified by a Q-Learning process that considers the kinematic constraints and maintains the balance of the robot while executing imitation. The rewards were designed not only to encourage a robot to execute as many consecutive poses as possible, but also to guide the robot to maintain its balance even though the biped lacks information on the ankle joint. These modified key poses are stored in databases for replaying or composing new motions in an ordered sequence. The experimental results demonstrate that a robot could adjust the poses, mapped from the movements of the demonstrator, to its static stable states, thereby imitating human motions by self-learning.

Motion Estimation and Correction in Photoacoustic Tomographic Reconstruction

Motion, e.g., due to patient movement or improper device calibration, is inevitable in many imaging modalities such as photoacoustic tomography (PAT) by a rotating system and can lead to undesirable motion artifacts in image reconstructions, if ignored. In this paper, we establish a hybrid-type model for PAT that incorporates motion in the model. We introduce an approximate continuous model and establish two uniqueness results for some specific parametrized motion models. Then we formulate the discrete problem of simultaneous motion estimation and image reconstruction as a separable nonlinear least squares problem and describe an automatic approach to detect and eliminate motion artifacts during the reconstruction process. Numerical examples validate our methods.

Motion planning for robotic manipulators using robust constrained control

Since their first appearance in the 1970's, industrial robotic manipulators have considerably extended their application fields, allowing end-users to adopt this technology in previously unexplored scenarios. Correspondingly, the way robot motion can be specified has become more and more complex, requiring new capabilities to the robot, such as reactivity and adaptability. For an even enhanced and widespread use of industrial manipulators, including the newly introduced collaborative robots, it is necessary to simplify robot programming, thus allowing this activity to be handled by non-expert users. Next generation robot controllers should intelligently and autonomously interpret production constraints, specified by an application expert, and transform them into motion commands only at a lower and real-time level, where updated sensor information or other kind of events can be handled consistently with the higher level specifications. The availability of several execution strategies could be then effectively exploited in order to further enhance the flexibility of the resulting robot motion, especially during collaboration with humans.This paper presents a novel methodology for motion specification and robust reactive execution. Traditional trajectory generation techniques and optimisation-based control strategies are merged into a unified framework for simultaneous motion planning and control. An experimental case study demonstrates the effectiveness and the robustness of this approach, as applied to an image-guided grasping task.

Diversity in Morphology and Locomotory Behavior Is Associated with Niche Expansion in the Semi-aquatic Bugs

SummaryAcquisition of new ecological opportunities is a major driver of adaptation and species diversification [1, 2, 3, 4]. However, how groups of organisms expand their habitat range is often unclear [3]. We study the Gerromorpha, a monophyletic group of heteropteran insects that occupy a large variety of water surface-associated niches, from small puddles to open oceans [5, 6]. Due to constraints related to fluid dynamics [7, 8, 9] and exposure to predation [5, 10], we hypothesize that selection will favor high speed of locomotion in the Gerromorpha that occupy water-air interface niches relative to the ancestral terrestrial life style. Through biomechanical assays and phylogenetic reconstruction, we show that only species that occupy water surface niches can generate high maximum speeds. Basally branching lineages with ancestral mode of locomotion, consisting of tripod gait, achieved increased speed on the water through increasing midleg length, stroke amplitude, and stroke frequency. Derived lineages evolved rowing as a novel mode of locomotion through simultaneous sculling motion almost exclusively of the midlegs. We demonstrate that this change in locomotory behavior significantly reduced the requirement for high stroke frequency and energy expenditure. Furthermore, we show how the evolution of rowing, by reducing stroke frequency, may have eliminated the constraint on body size, which may explain the evolution of larger Gerromorpha. This correlation between the diversity in locomotion behaviors and niche specialization suggests that changes in morphology and behavior may facilitate the invasion and diversification in novel environments.

Gyroscope vs. accelerometer measurements of motion from wrist PPG during physical exercise

Many wearable devices include PPG (photoplethysmography) sensors for non-invasive heart rate monitoring. However, PPG signals are heavily corrupted by motion interference, and rely on simultaneous motion measurements to remove the interference. Accelerometers are used commonly, but cannot differentiate between acceleration due to movement and acceleration due to gravity. This paper compares measurements of motion using accelerometers and gyroscopes to give a more complete estimate of wrist motion. Results show the two sensor signals are very different, with low correlations present. When used in a wrist PPG heart rate algorithm gyroscope motion estimates obtain better performance in half of the cases.

Nonsimilar Solutions of Unsteady Mixed Convection Along a Moving Cylinder

This paper describes the nonsimilar solutions of unsteady mixed convection along a moving cylinder. The problem is formulated in a more general fashion by using the parameter \(\lambda \). When \(\lambda =0\), we have the case of stationary cylinder in a moving stream, whereas when \(\lambda =1\) we have the case of moving cylinder with no external motion imposed on the free stream. For the intermediate values of \(\lambda \) we have the case of simultaneous motion of the cylinder and the free stream. The governing unsteady boundary layer equations (nonlinear coupled PDEs) are solved by the quasilinearization technique. Fluid flow and heat transfer characteristics for a variety of accelerating and decelerating situations are presented graphically and discussed.