Kinematic System Research Articles

Full Study, Model Verification, and Control of a Five Degrees of Freedom Hybrid Robotic-Assisted System for Neurosurgery.

Neurosurgery demands high precision, and robotic-assisted systems are increasingly employed to enhance surgical outcomes. This study focuses on a hybrid robotic-assisted system for neurosurgery, addressing forward and inverse kinematics, Jacobian matrices, and system singularities. The system is simulated using MATLAB/Simscape Multibody to achieve accurate kinematic and dynamic representations. An inverse kinematics framework was developed for generating and validating a circular trajectory at the end-effector tip. Two control strategies are compared: traditional active joint PID control and combined trajectory feedback plus feedforward control. The combined control strategy significantly improves performance, reducing the maximum absolute error of each output by an average of 46.5% and the mean square error by 50.31% under optimal conditions. The findings highlight the potential of trajectory feedback and feedforward control to enhance the precision and reliability of robotic-assisted neurosurgical procedures.

Complex surface topographic changes from explosive experiments at the Dry Alluvium Geology site, southern Nevada, United States

Understanding the surface topographic change that results from underground explosions is important for global security. Current techniques to relate the surface change to underground explosion characteristics usually involve assuming the earth has homogenous properties, leading to highly variable interpretations. Here we use an unoccupied aerial platform and a digital single lens reflex camera along with 200+ ground control points surveyed with a real-time kinematic global navigation satellite system to measure the surface topographic change resulting from two underground explosions at the Dry Alluvium Geology site in Yucca Flat, Nevada National Security Site, southern Nevada, United States. We find areas of 5–7 cm of subsidence that are not directly above the explosion source but rather 200–300 m away. For experiment DAG2, this zone is located south and west of the explosion, while for DAG4, there is a zone of subsidence located northeast of the explosion. In addition, late-time measurements show as much as 5 cm of horizontal change without measurable associated vertical change in the weeks following DAG4 but not DAG2. These indicate that the deformation resulting from underground chemical explosions can be very complex and bear little to no resemblance to predictions using half-space models. It is likely the tectonic environment plays a significant role in controlling the surface change, but the details are not fully understood.

Implementation of Inverse Kinematics System in Robotic Arm for Glass Pick and Place Operations

Implementation of Inverse Kinematics System in Robotic Arm for Glass Pick and Place Operations

Reliability and Validity of the Articulation Motion Assessment System Using a Rotary Encoder

This study aimed to validate the effectiveness of the Articulation Motion Assessment System (AMAS), a joint kinematic evaluation system, for clinical applications. AMAS enables synchronised measurement using neurophysiological indicators, overcoming laboratory setting limitations. We compared AMAS-based ankle joint kinematic evaluations, particularly the sagittal and frontal plane angles, with two-dimensional (2D) motion analysis to determine the validity and reliability of AMAS. Both AMAS and 2D motion analysis reliably detected significant differences in angles within the sagittal and frontal planes. Correlation analysis revealed a significant moderate-to-strong correlation between the AMAS and the conventional method of 2D motion analysis, proving the measurement validity of the AMAS (ρ = 0.53–0.77 for sagittal plane angles; ρ = 0.46–0.72 for frontal plane angles). The average root mean squared error (RMSE) was significantly lower in AMAS (10.90 ± 2.93° for sagittal plane angles; 13.44 ± 1.09° for frontal plane angles) than in the inertial sensor-based three-dimensional (3D) motion analysis. Reliability analysis revealed high reliability of measurements (intraclass correlation coefficients (ICC) ≥ 0.76). However, the Bland–Altman analysis identified a slightly lower fixed bias, which was observed as a characteristic of each measurement system. The AMAS accurately detects ankle joint angles without being constrained by measurement environment limitations. Synchronised measurements using neurophysiological indicators potentially contribute to understanding ankle joint control mechanisms and developing rehabilitation strategies.

Effect of hand-wrist exercises on distal radius fracture healing based on markerless motion capture system.

With the internal volar locking plate (VLP) technique emerging as a preferred surgical approach, early post-surgery therapeutic exercises have shown promise in promoting wrist functionality after distal radial fractures (DRFs). The biomechanical microenvironment, particularly the role of biomechanical stimuli, plays a crucial role in guiding stem tissue formation at the fracture site. However, much less is known about how various hand exercises interact with the microenvironment and influence fracture healing outcomes. This study employed the Leap Motion Controller for markerless hand motion capture and utilised an enhanced OpenSim hand model to simulate these motions. An advanced DRF healing model, integrating angiogenesis and the mechano-regulated maturation of callus tissue, was applied to simulate the MSCs differentiation and predict the healing outcomes. The effects of various rehabilitation exercises on DRFs' healing outcomes were systematically analysed. The results showed rehabilitation exercises, such as wrist extension/flexion and ulnar deviation, generally had a higher contact force on the distal radius compared with the slack state. Also, the relationship between contact force and muscle activations was not always linear, reflecting the intricate dynamics of the kinematic system. Exercise could induce changes in the bony bridge and cartilage formation, while angiogenesis remained unaffected. In the initial weeks, gripping exercises proved most beneficial, but as time progressed, extension and flexion exercises became more advantageous. The study highlights the importance of tailoring rehabilitation exercises to the dynamic healing process of DRFs. As the healing trajectory progresses, the therapeutic efficacy of specific exercises evolves, necessitating adaptive and patient-specific rehabilitation programs.

Estimating the internal friction and the rotational inertia of a homemade oscillatory system

Abstract In this work, we apply the dynamics of translation and rotation to a real system-a homemade mass-spring system composed of a cart-in which the rolling without slipping constraint of the cart's wheels may be violated at any moment. In this case, we demonstrate how modeling combined with video analysis can be powerful in determining the constraint forces acting on the system. In this case, the translational and rotational accelerations are determined, and the temporal behavior of all constraint forces can be identified. Initially, we show how rotations with slipping of the cart's wheels at the return points of the system's motion impact the system's kinematics. Finally, we apply the developed methodology to estimate the system's internal friction and rotational inertia. The estimates are compared with results from the literature and with a theoretical limit, in the case of rotational inertia, achieving good agreement.

Innovative solution for the LHD loader intended for operation in low workings of underground mines

The article presents the results of comparative numerical tests of typical operating systems of LHD loaders with a proprietary solution based on a patent. LHD loaders belong to the group of basic machines working in various operating systems, including room-and-pillar systems. Due to the thickness of the deposits, mining is frequently carried out in low workings. In the case of typical T-kinematic or Z-kinematic systems, the operation of LHD loaders is more difficult. Due to the low height of the excavation, the excavated material is loaded in several cycles. A smaller machine generates less thrust force, which also negatively affects loading efficiency. Additionally, there are typical operational problems associated with the use of hydraulic actuators, the piston rods of which are exposed to mechanical damage and loss of tightness. In the presented proprietary solution of the working system, the bucket is attached to a telescopic boom system moved by hydraulic rotary actuators (Saga et al., 2019). Moreover, the loader is equipped with spreaders to stabilize the machine. The use of rotary actuators and a lowered pivot point of the bucket, together with a telescopic arm and spreaders, allows the bucket to be loaded in one cycle. In the article, the results of simulation tests of three kinematic systems have been presented. The analysis included, among others, the movement of the bucket, the duration of the cycle, and the related demand for hydraulic oil, as well as the load on the most important structural elements and nodes. The research has shown that the proposed solution can successfully compete with classic systems in terms of load and oil demand while offering an advantage in terms of functionality.

Extended Dummy Node Rule for analysis and characterization of pin-jointed periodic cellular materials: An approach based on Bloch-wave method

Micro-truss lattice materials are a class of hybrid periodic cellular solids that consist of a combination of solids and voids. The material is partitioned into cells structured in a given cell topology tessellated to form an almost unbounded micro-truss framework. The Bloch-wave method is one technique that can describe the propagation of a wave function over a periodic infinite lattice. It demonstrated the effectiveness of modeling the static and dynamic responses of lattices of various topologies. However, the Bloch-wave method presents limitations when applied to unit cell topologies whose structural elements extend across their envelopes to adjacent unit cells, as a given unit cell may not contain the full nodal parameters and periodicity information necessary to describe the kinematic and static wave propagations across the periodic lattice. The first part of this paper presents the Dummy Node Rule (DNR), which overcomes this limitation. The rule introduces dummy nodes at the intersection points between cell envelopes and elements extending between the adjacent unit cells, which are initially treated as part of the finite unit cell structure. Then, the rule establishes mathematical relationships between the static and kinematic wave functions propagating across dummy nodes and those propagating across the connected cell elements. The second part of the paper describes DNR for specific applications such as (a) the development of static and kinematic systems of the unit cell finite structure, which aids in the determinacy analysis of periodic lattice structures, and (b) the development of the Cauchy–Born kinematic boundary condition that is used to homogenize the kinematic response of the infinite periodic structure to an assumed macroscopic strain field, which in turn, forms the effective properties of the lattice material. Furthermore, the last part of the paper shows examples where the scheme is applied for the stiffness characterization of selected lattice topologies.

Development and testing of a precision hoeing system for re-compacted ridge tillage in maize

Ridge tillage (RT) is a conservation practice that provides several benefits such as enhanced root growth and reduced soil erosion. The objectives of this study were to develop an autosteered living mulch seeder and hoeing prototype for RT systems using RTK-GNSS (real-time kinematic global navigation satellite systems) created ridges as a guide. It was also aimed to compare weed control efficacy and crop response of ridge-hoeing compared to conventional hoeing in flat tillage (FT). It was further aimed to investigate the impact of a new RT technology (with ridge re-compaction) on maize root development, yield, soil temperature, and moisture compared to FT.Field experiments were conducted with maize in 2021 and 2022 in a two-factorial split-plot design with tillage (RT and FT) as main treatment and weed control (untreated, herbicide, twice hoeing, hoeing + living mulch) as sub-treatment factors. Weed density, coverage, biomass, crop density, weed control efficacy (WCE) and maize silage yield were assessed. Temperature loggers were installed within RT and FT to take temperature readings at 20 min. Soil moisture and root penetrability were measured every two weeks in each plot using soil samples and a penetrometer.The WCE and yield did not differ significantly between the tillage systems. Twice hoeing resulted in 71–80 % WCE, which was equal to herbicide treatment. Hoeing + living mulch achieved 70–72 % WCE. Different from previous studies with ridge tillage, temperatures in the compacted ridges did not consistently differ from the ridge valleys and flat seedbeds. Root penetration (against 1.4 MPa penetrometer cone index) was 40 % higher in RT than in FT. On average, RT maize produced more (53.6 g m−2) root biomass compared to FT. In summary, re-compacted ridges built along RTK-GNSS lines can allow post-emergent hoeing and living mulch seeding along ridges and also provide good growing conditions for maize.

Remote Kinematic Analysis for Mobility Scooter Riders Leveraging Edge AI

Current kinematic analysis for patients with upper or lower extremity challenges is usually performed indoors at the clin- ics, which may not always be accessible for all patients. On the other hand, mobility scooter is a popular assistive tool used by people with mobility disabilities. In this study, we introduce a remote kinematic analysis system for mobility scooter riders to use in their local communities. In order to train the human pose estimation model for the kinematic anal- ysis application, we have collected our own mobility scooter riding video dataset which captures riders’ upper-body move- ments. The ground truth data is labeled by the collaborating clinicians. The evaluation results show high system accuracy both in the keypoints prediction and in the downstream kine- matic analysis, compared with the general-purpose pose mod- els. Our efficiency test results on NVIDIA Jetson Orin Nano also validate the feasibility of running the system in real-time on edge devices.

Kinematic Seismic Isolation System with Magnetic Dampers

Kinematic Seismic Isolation System with Magnetic Dampers

Brittle Regime Slip Partitioned Damage and Deformation Mechanisms Along the Eastern Denali Fault Zone in Southwestern Yukon

AbstractRare bedrock exposures of the eastern Denali fault zone in southwestern Yukon allow for the measurement, sampling, and analyses of brittle regime fault slip data and deformation mechanisms to explore relations to far field, oblique plate motions. Host rock lithologies and associated slip surfaces show episodic damage zone‐related deformation and calcite ± hematite ± chlorite related hydrothermal fluid flow. This regional scale network of asymmetric fault damage is spatially and kinematically linked to a discrete and narrow fault core. Fault network observations, orientations, slip data, and strain inversions document a slip partitioned strike‐slip fault system with locally and mutually overprinting strike‐, oblique‐, and dip‐slip components. Microstructural analyses reveal crystal plastic and co‐seismic brittle deformation mechanisms active in a narrow range of upper crustal temperature, pressure, fluid, and chemical conditions. The net damage related slip is not exclusively formed by a single kinematic system, but rather a fully partitioned, time integrated system likely operative for much of the fault's brittle regime evolution temporally constrained by previously published thermochronometric data. Although the fault slip data was collected from outcrop‐scale exposures at sites tens of kilometers apart, results show remarkable correlation between fault kinematics and plate motions along the ∼580 km long eastern Denali fault segment. End member, subhorizontal, northeast directed reverse and north directed dextral strike slip fault strain axes closely reflect relative plate motion interactions over at least the last 30 m.y. and act as a proxy for far‐field stresses compatible with the kinematics of the damage zone network.

Multiple lubricated joints with long and short bearings in multibody mechanical systems - Modeling, simulation, and performance analysis

This study examines the effect of multiple lubricated imperfect long and short bearings on the performance of a multibody mechanical system. Unlike the typical assumption of a single perfect or imperfect lubricated joint due to modeling difficulties, this research considers the practical impacts of clearances in multiple joints. While unlubricated joints generally cause significant performance issues, lubricants reduce these effects, creating more localized peaks. The findings show that as the number of lubricated joints increases, both the magnitude and frequency of these peaks rise. In systems with multiple journal bearings, torque peaks become more noticeable due to the additional degrees of freedom introduced by the clearances. These degrees of freedom amplify acceleration, leading to higher lubricant reaction forces, which in turn require greater motor torque peaks to maintain the system's kinematics. Shorter lubricated joints exhibit more severe peaks than longer ones, mainly due to side leakage causing axial pressure variation and reduced damping capacity. The study highlights the need to replace idealized joints with imperfect ones for more accurate modeling of practical systems.

Structural System and Computational Dynamic Model of a Life-Saving Multi-Storey Building with a Kinematic Seismic Isolation System

Introduction. In design of a life-saving multi-storey building, a seismic isolation system in the form of the kinematic supports is used to ensure the seismic resistance and reduce the seismic loads. The structural system, the computational dynamic model and the results of the intermediate in-situ tests of a life-saving multi-storey building with a kinematic seismic isolation system being built in Grozny have been analysed in the article.Materials and Methods. The research included modeling and computation of the structural system of a building with a kinematic seismic isolation system. In-situ tests were carried out to confirm the working capacity of the seismic isolation system connections.Results. A multi-storey life-saving building was designed according to a frame-core wall structure, where the vertical load-bearing elements were core walls, columns and connections between the columns in the form of the stiffening diaphragms. The high-rise part of a building was designed using a kinematic seismic isolation system consisting of the seismic isolating concrete-filled steel tubular supports. The results of the calculations of the main and specific load combinations and internal forces in the load-bearing structures have been presented.Discussion and Conclusion. The research has shown that the use of the developed structural system of seismic isolation with kinematic supports makes it possible to reduce the seismic loads and the total weight of a building and at the same time to increase its mechanical reliability and safety. The conducted intermediate in-situ tests have confirmed the working capacity of the joints connecting the supports with the monolithic reinforced concrete structures of a building, which makes it possible to implement the kinematic seismic isolation supports into the construction industry practices.

Performance Evaluation of Real-Time Kinematic Global Navigation Satellite System with Survey-Grade Receivers and Short Observation Times in Forested Areas

The Real-Time Kinematic (RTK) method is currently the most widely used method for positioning using Global Navigation Satellite Systems (GNSSs) due to its accuracy, efficiency and ease of use. In forestry, position is a critical factor for numerous applications, with GNSS currently being the preferred solution for obtaining such data. However, the decreased performance of GNSS observations in challenging environments, such as under the forest canopy, must be considered. This paper analyzes the performance of a survey-grade GNSS receiver under coniferous/deciduous tree cover. Unlike most previous research concerning this topic, the focus here is on employing a methodology that is as close as possible to real working conditions in the field of forestry. To achieve this, short observation times of 30 s were used, with corrections received directly in the field from a Continuously Operating Reference Station (CORS) of the national RTK network in Romania. In total, 84 test points were determined, randomly distributed under the canopy, with reference data collected by topographical surveys using total station equipment. In terms of the overall horizontal accuracy, an RMSE of 2.03 m and MAE of 1.63 m are found. Meanwhile, the overall vertical accuracy is lower, as expected, with an RMSE of 4.85 m and MAE of 4.01 m. The variation in GNSS performance under the different forest compositions was found to be statistically significant, while GNSS-specific factors such as DOP values only influenced the precision and not the accuracy of observations. We established that this methodology offers sufficient accuracy, which is application-dependent, even if the majority of GNSS solutions were code-based, rather than carrier-phase-based, due to strong interference from the vegetation.

Effectiveness of an object moving depending on its orientation in the environment: a kinematic analysis of motor planning and execution

Background. Grasping objects with the hand is one of the most common movements in everyday life. It requires training involving the cognitive processes of goal selection and motor planning.Aim. To investigate the effect of object rotation on motor planning using an experiment where participants moved abstract objects that sometimes required rotation, and movement was assessed using a kinematic analysis system. We hypothesized that reaction times and movements would be longer for tasks with rotation.Materials and methods. Sixteen subjects participated in the study (11 females and 5 males), mean age – 23.375 ± 2.277 years. Participants were required to perform a task of moving 4 abstract objects onto corresponding platforms with their right hand, while periodically rotating the object by 90°, 180°, or 270°. The motion tracking system monitored the movement of trackers located on the subject’s right thumb and index finger, on the subject’s right wrist, and on the object and the subject’s special glasses.Results. To assess the effect of object rotation on motor planning, the data were grouped according to the angle of rotation. A one-factor analysis of variance with repeated measures was used. The results showed statistically significant differences:total movement time as a function of turning angle: F(3.45) = 5.014, p = 0.004;time to reach the grasping target: F(3.45) = 61.79, p = 0.001;object motion time: F(3.45) = 14.641, p = 0.001;time to reach maximum capture aperture: F(3.45) = 8.559, p = 0.001.Conclusion. Overall, our results support the hypothesis that object rotation during movement affects both the preparation and execution of the movement itself. The planning and executing the movement with the object rotated 180° was easier and faster than with 90° and 270° rotations. The testing allows distinguishing the stages of planning and preparation of the movement from the execution of the movement itself. Using this approach in patients with central nervous system lesions helps to assess and monitor the state of motor function, which is important for monitoring the recovery process.

Mathematical Model of the Electronic Cam in Terms of Application in a Dosing Machine

The article analyses the use of servomotors in the control systems of industrial equipment, focusing on the alternative offered by position and speed synchronization in relation to classical mechanical mechanisms. A complete methodology is presented to determine the dynamic parameters of the adopted kinematic system using electronic motion profiles. The results obtained constitute a mathematical model of the execution chain and an analysis of the basic quantities for linear motion, supported by actual measurements of the drive parameters. The merit of the article is to show that the servomotors can significantly simplify the design of the device, make it more flexible in adaptation to different assortments, and allow integration with systems predicting the technical condition of the device. The analysis of the results revealed significant differences in the constant rotational speed of the servomotor, which do not align with previous findings. The results suggest that changing the angular working range of the assembly to the range (205°;270°) could significantly affect the generated linear acceleration, reducing the risk of stalling. The calculations and graphs conducted allowed for the accurate representation of the actual mechanical system, considering its dynamic characteristics. The key conclusion is that precise mathematical modelling is essential to ensure the stability and durability of engineering components.

Low-Cost Real-Time Localisation for Agricultural Robots in Unstructured Farm Environments

Agricultural robots have demonstrated significant potential in enhancing farm operational efficiency and reducing manual labour. However, unstructured and complex farm environments present challenges to the precise localisation and navigation of robots in real time. Furthermore, the high costs of navigation systems in agricultural robots hinder their widespread adoption in cost-sensitive agricultural sectors. This study compared two localisation methods that use the Error State Kalman Filter (ESKF) to integrate data from wheel odometry, a low-cost inertial measurement unit (IMU), a low-cost real-time kinematic global navigation satellite system (RTK-GNSS) and the LiDAR-Inertial Odometry via Smoothing and Mapping (LIO-SAM) algorithm using a low-cost IMU and RoboSense 16-channel LiDAR sensor. These two methods were tested on unstructured farm environments for the first time in this study. Experiment results show that the ESKF sensor fusion method without a LiDAR sensor could save 36% of the cost compared to the method that used the LIO-SAM algorithm while maintaining high accuracy for farming applications.

A versatile 5-axis melt electrowriting platform for unprecedented design freedom of 3D fibrous scaffolds

Melt electrowriting (MEW) is an electrohydrodynamic additive manufacturing technology for the fabrication of precise microfiber scaffold architectures but is so far restricted to printing onto simple collector geometries and, therefore, constrained in design freedom. This is due to current limitations in print head designs, kinematic systems, and software to generate motion commands. We address these aspects by upgrading a low-cost 5-axis kinematic system and complete it with a custom-designed print head and a collector fabrication workflow to enable collision-free MEW onto arbitrarily shaped multicurvature 3D geometries. A universal graphical approach enables generation of Gcodes customized to the 5-axis MEW requirements. The print head is validated by producing polycaprolactone fibers with diameters ranging from 5.6 ± 1.7 µm to 50.7 ± 5.5 µm and by writing both linear and non-linear fiber patterns onto collectors featuring concave and convex surfaces. Stable printing conditions are achieved by continuously reorienting the print head and collector surface perpendicular to each other at a constant working distance. Ultimately, we demonstrate the system’s potential in shaping anatomically relevant scaffold geometries by stacking microfibers onto collectors resembling a trileaflet valve and a bifurcating vessel. This multi-axis MEW platform unlocks exciting avenues towards unprecedented design freedom for MEW scaffolds.

Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach

<p>The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA manipulator as a representative case within the M-DOF manipulator. The research employs Jacobian matrix for the kinematics system that can solve the singularity, and deep deterministic policy gradient (DDPG) as the kinematics solver. This chosen technique offers enhancing speed and ensuring stability. The results of inverse kinematic solution using DDPG were experimentally validated on a 6-DOF PUMA arm robot. The DDPG successfully solves inverse kinematic solution and avoids the singularity with 1,000 episodes and yielding a commendable total reward of 1,018.</p>