Trajectory Of Body Research Articles

Trajectory estimation model for a solid body with an irregular shape undergoing extremely high aerodynamic forces

A generalized (6DOF) model for evaluating fragment trajectory elements is defined, which incorporates a novel model for estimating the projected surface of the body and novel model for estimating aerodynamic force and moment. This 6DOF model is developed on the basis of differential equations of the center of mass motion and movement around the center of mass (currently no known model incorporates movement of the body around its center of mass), and can model the parameters that play an essential role in movement of the bodies with irregular shape through the atmosphere. In our model the basic parameters (i.e. body dimensions) can be arbitrarily changed in the initial part of the analysis, and based on their values and values of initial kinematic parameters (initial velocity, position, orientation), trajectories can be determined (as well as other parameters: velocities, orientation) in a relatively short amount of time. The calculation of the complete trajectory of the fragments can be used in a number of applications: the analysis of the effects of the fragments (i.e. the safety analysis of the location of the ammunition depots, due to the potential explosion of the projectile) or in the estimation of a danger zones when demining larger quantities of the munition. Also, from the point of view of the parameters of the lethal zone of HE projectiles, it is generally important to estimate the trajectory of the fragments in the range up to 50m, so this model can be used to model such a scenario also. This model could also be potentially used wherever there is a need to calculate flight mechanics parameters of irregularly shaped bodies. Generalized (6DOF) model for estimation of an irregularly shaped body trajectory is implemented in a computer program, written in MatLab. Based on the model, the trajectory calculations were performed for the complete trajectory and for shorter distances to the center of the explosion, with varied geometric-inertial parameters and initial kinematic conditions for the given fragment.

Trajectory estimation model for a solid body with an irregular shape undergoing extremely high aerodynamic forces

A generalized (6DOF) model for evaluating fragment trajectory elements is defined, which incorporates a novel model for estimating the projected surface of the body and novel model for estimating aerodynamic force and moment. This 6DOF model is developed on the basis of differential equations of the center of mass motion and movement around the center of mass (currently no known model incorporates movement of the body around its center of mass), and can model the parameters that play an essential role in movement of the bodies with irregular shape through the atmosphere. In our model the basic parameters (i.e. body dimensions) can be arbitrarily changed in the initial part of the analysis, and based on their values and values of initial kinematic parameters (initial velocity, position, orientation), trajectories can be determined (as well as other parameters: velocities, orientation) in a relatively short amount of time. The calculation of the complete trajectory of the fragments can be used in a number of applications: the analysis of the effects of the fragments (i.e. the safety analysis of the location of the ammunition depots, due to the potential explosion of the projectile) or in the estimation of a danger zones when demining larger quantities of the munition. Also, from the point of view of the parameters of the lethal zone of HE projectiles, it is generally important to estimate the trajectory of the fragments in the range up to 50m, so this model can be used to model such a scenario also. This model could also be potentially used wherever there is a need to calculate flight mechanics parameters of irregularly shaped bodies. Generalized (6DOF) model for estimation of an irregularly shaped body trajectory is implemented in a computer program, written in MatLab. Based on the model, the trajectory calculations were performed for the complete trajectory and for shorter distances to the center of the explosion, with varied geometric-inertial parameters and initial kinematic conditions for the given fragment.

Online Intelligent Perception of Pantograph and Catenary System Status Based on Parameter Adaptation

Online autonomous perception of pantograph catenary system status is of great significance for railway autonomous operation and maintenance (RIOM). Image sensors combined with an image processing algorithm can realize the automatic acquisition of the pantograph catenary condition; however, it is difficult to meet the demand of long-term stable condition acquisition, which restricts the implementation of online contact state feedback and the realization of railway automation. This paper proposes an online intelligent perception of the pantograph and catenary system (PCS) status based on parameter adaptation to realize fast and stable state analysis when the train is in long-term operation outdoors. First, according to the feature of the contact point, we used histogram of gradient (HoG) features and one-dimensional signal combined with a KCF tracker as the baseline method. Then, a result discriminator located by L1 and hash similarity constraints was used to construct a closed-loop parameter adaptive localization framework, which retrieves and updates parameters when tracking failure occurs. After that, a pruned RefineDet method was used to detect pantograph horns and sparks, which, together with the contact points localization method, ensure the long-term stability of feature localization in PCS images. Then, based on the stereo cameras model, the three-dimensional trajectory of the whole pantograph body can be reconstructed by the image features, and we obtained pantograph catenary contact parameters including the pantograph slide posture, contact line offset, arc detection, separation detection, etc. Our method has been tested on more than 16,000 collected image pairs and the results show that the proposed method has a better positioning effect than the state-of-art method, and realizes the online acquisition of pantograph catenary contact state, representing a significant contribution to RIOM.

Classification of orbits in three-dimensional exoplanetary systems

The three-dimensional version of the circular restricted problem of three bodies is utilized to describe a system comprising a host star and an exoplanet. The third body, playing the role of a test particle, can be a comet or an asteroid, or even a small exomoon. Combining the grid classification method with two-dimensional color-coded basin maps, we determine the nature of the motion of the test particle by distinguishing between collision, escaping, and bounded motion. In the case of ordered bounded motion, we also obtain the orientation (retrograde or prograde) as well as the geometry (circulating around one or both of the two main bodies) of the trajectories of the third body, which starts from either the pericenter or apocenter. Following this approach, we are able to systematically explore the dependence of the motion type of the test particle on the initial values of the semimajor axis, eccentricity, and inclination of its orbit.

Deep Positional Attention-based Bidirectional RNN with 3D Convolutional Video Descriptors for Human Action Recognition

This article presents the Joints and Trajectory-pooled 3D-Deep Positional Attention-based Bidirectional Recurrent convolutional Descriptors (JTPADBRD) for recognizing the human activities from video sequences. At first, the video is partitioned into clips and these clips are given as input of a two-stream Convolutional 3D (C3D) network in which the attention stream is used for extracting the body joints locations and the feature stream is used for extracting the trajectory points including spatiotemporal features. Then, the extracted features of each clip is needed to aggregate for creating the video descriptor. Therefore, the pooled feature vectors in all the clips within the video sequence are aggregated to a video descriptor. This aggregation is performed by using the PABRNN that concatenates all the pooled feature vectors related to the body joints and trajectory points in a single frame. Thus, the convolutional feature vector representations of all the clips belonging to one video sequence are aggregated to be a descriptor of the video using Recurrent Neural Network (RNN)-based pooling. Besides, these two streams are multiplied with the bilinear product and end-to-end trainable via class labels. Further, the activations of fully connected layers and their spatiotemporal variances are aggregated to create the final video descriptor. Then, these video descriptors are given to the Support Vector Machine (SVM) for recognizing the human behaviors in videos. At last, the experimental outcomes exhibit the considerable improvement in Recognition Accuracy (RA) of the JTDPABRD is approximately 99.4% achieved on the Penn Action dataset as compared to the existing methods.

Human Modeling for Efficient Predictive Collision Detection

As demands on manufacturing rapidly evolve, flexible manufacturing is becoming more essential for acquiring the necessary productivity to remain competitive. An innovative approach to flexible manufacturing is the introduction of fenceless robotic manufacturing cells to acquire and leverage greater human-robot collaboration (HRC). This involves operations in which a human and a robot share a space, complete tasks together, and interact with each other. Such operations, however, pose serious safety concerns. Before HRC can become a viable possibility, robots must be capable of safely operating within and responding to events in dynamic environments. Furthermore, the robot must be able to do this quickly during online operation. This paper outlines an algorithm for predictive collision detection. This algorithm gives the robot the ability to look ahead at its trajectory, and the trajectories of other bodies in its environment and predict potential collisions. The algorithm approximates a continuous swept volume of any articulated body along its trajectory by taking only a few time sequential samples of the predicted orientations of the body and creating surfaces that patch the orientations together with Coons patches. Run time data collected on this algorithm suggest that the algorithm can accurately predict future collisions in under 30 ms.

Constraining the orientation of the spin axes of extrasolar minor bodies 1I/2017 U1 (‘Oumuamua) and 2I/Borisov

Context.The orientation of the spin axis of a comet is defined by the values of its equatorial obliquity and its cometocentric longitude of the Sun at perihelion. These parameters can be computed from the components of the nongravitational force caused by outgassing if the cometary activity is well characterized. The trajectories of known interstellar bodies passing through the Solar System show nongravitational accelerations.Aims.The spin-axis orientation of 1I/2017 U1 (‘Oumuamua) remains to be determined; for 2I/Borisov, the already released results are mutually exclusive. In both cases, the values of the components of the nongravitational force are relatively well constrained. Here, we investigate – within the framework of the forced precession model of a nonspherical cometary nucleus – the orientation of the spin axes of ‘Oumuamua and 2I/Borisov using public orbit determinations that consider outgassing.Methods.We applied a Monte Carlo simulation using the covariance matrix method together with Monte Carlo random search techniques to compute the distributions of equatorial obliquities and cometocentric longitudes of the Sun at perihelion of ‘Oumuamua and 2I/Borisov from the values of the nongravitational parameters.Results.We find that the equatorial obliquity of ‘Oumuamua could be about 93°, if it has a very prolate (fusiform) shape, or close to 16°, if it is very oblate (disk-like). Different orbit determinations of 2I/Borisov gave obliquity values of 59° and 90°. The distributions of cometocentric longitudes were in general multimodal.Conclusions.Our calculations suggest that the most probable spin-axis direction of ‘Oumuamua in equatorial coordinates is (280°, +46°) if very prolate or (312°, −50°) if very oblate. Our analysis favors a prolate shape. For the orbit determinations of 2I/Borisov used here, we find most probable poles pointing near (275°, +65°) and (231°, +30°), respectively. Although our analysis favors an oblate shape for 2I/Borisov, a prolate one cannot be ruled out.

Vortex-induced vibrations of a flexible cylinder at subcritical Reynolds number

Abstract

Spatiotemporal Bundle Adjustment for Dynamic 3D Human Reconstruction in the Wild.

Bundle adjustment jointly optimizes camera intrinsics and extrinsics and 3D point triangulation to reconstruct a static scene. The triangulation constraint, however, is invalid for moving points captured in multiple unsynchronized videos and bundle adjustment is not designed to estimate the temporal alignment between cameras. We present a spatiotemporal bundle adjustment framework that jointly optimizes four coupled sub-problems: estimating camera intrinsics and extrinsics, triangulating static 3D points, as well as sub-frame temporal alignment between cameras and computing 3D trajectories of dynamic points. Key to our joint optimization is the careful integration of physics-based motion priors within the reconstruction pipeline, validated on a large motion capture corpus of human subjects. We devise an incremental reconstruction and alignment algorithm to strictly enforce the motion prior during the spatiotemporal bundle adjustment. This algorithm is further made more efficient by a divide and conquer scheme while still maintaining high accuracy. We apply this algorithm to reconstruct 3D motion trajectories of human bodies in dynamic events captured by multiple uncalibrated and unsynchronized video cameras in the wild. To make the reconstruction visually more interpretable, we fit a statistical 3D human body model to the asynchronous video streams. Compared to the baseline, the fitting significantly benefits from the proposed spatiotemporal bundle adjustment procedure. Because the videos are aligned with sub-frame precision, we reconstruct 3D motion at much higher temporal resolution than the input videos. Website: http://www.cs.cmu.edu/~ILIM/projects/IM/STBA.

Firing range optimization of a 155mm uni-modular charge howitzer by ETC technology

Electrothermal-chemical (ETC) launch technology can accurately control and enhance the ignition and combustion of solid propellants to improve the consistency and accuracy of ballistics. In this paper, a calculation model including the transient burning rate formula and six-degree-of-freedom rigid body trajectory equation is established to simulate both interior and exterior ballistics processes for a 155mm uni-modular charge howitzer. The simulation results show that the muzzle velocities are optimized via the ETC technology. The 155mm uni-modular charge ETC howitzer can effectively obtain the minimum range, increase the range overlap and maximum range, and improve the ballistic stability and consistency.

Flight stability for the anti-aircraft guided projectile firing on the move

Aiming at the rapid manoeuvring launching requirements of anti-aircraft guided projectiles, the flight stability analysis of a guided projectile launch is carried out, and the initial disturbance parameters model based on equivalent analysis is established. The initial disturbance parameters model and the guided projectile rigid body trajectory model are combined. The relationship between the dynamics and kinematics of the guided projectile is described. The flight performance of the guided projectile is analysed by the stability theory and the criterion. The influence of the launch disturbance on the flight stability is obtained, and the allowed boundary of the guided projectile launch is determined.

Multibody Models for the Analysis of a Fall From Height: Accident, Suicide, or Murder?

The final subject position is often the only evidence in the case of the fall of a human being from a given height. Foreseeing the body trajectory and the respective driving force may not be trivial due to the possibility of rotations and to an unknown initial position and momentum of the subject. This article illustrates how multibody models can be used for this aim, with specific reference to an actual case, where a worker fell into a stair well, prior to stair mounting, and he was found in an unexpected posture. The aim of the analysis was establishing if this worker was dead in that same place, if he had been pushed, and which was his initial position. A multibody model of the subject has been built (“numerical android”), given his stature and his known mass. Multiple simulations have been performed, following a design of experiments where various initial positions and velocity as well as pushing forces have been considered, while the objective function to be minimized was the deviation of the numerical android position from the actual worker position. At the end of the analysis, it was possible to point how a very limited set of conditions, all including the application of an external pushing force (or initial speed), could produce the given final posture with an error on the distance function equal to 0.39 m. The full analysis gives a demonstration of the potentiality of multibody models as a tool for the analysis of falls in forensic inquiries.

Mathematical model of the vibratory mill body movement with biharmonic oscillations

Vibratory mills are widely used in various industries such as construction, mining, chemical, energy ones in order to obtain powders with the size of a particle less than 5 microns. Vibratory mills with harmonic oscillations of a cylindrical body are most widely used in world practice. The disadvantage of such mills is the presence of stagnant zones in the central part of the load which reach 40% of the total mass of milling bodies. This significantly reduces the efficiency of the grinding process. In recent years, vibratory mills with two drives have been used. The body of these mills makes biharmonic vibrations; as a result, the volume of stagnant zones decreases to 15–20%. We have proposed a new design of a vibratory mill equipped with two imbalanced vibration drives, the axes of which are shifted in different directions from the horizontal axis of the mill, passing through the center of mass of the oscillating system. This article discusses the method that allows one to calculate the trajectory of the mill body in polar coordinates. This method is contemplated for the first time. The resulting equation of the motion trajectory of the vibromill body takes into account: the geometrical parameters of the cylindrical body; body weight and load; weight of imbalances; eccentricities of imbalances; imbalance angular velocity; the forces created by imbalances; imbalance offset angles; spring stiffness and damping coefficient.

Obstacle Avoidance of Semi-Trailers Based on Nonlinear Model Predictive Control

Obstacle avoidance is a core part of the autonomous driving of off-road vehicles, such as semi-trailers. Due to the long length of semi-trailers, the traditional obstacle avoidance controller based on the circumcircle model can ensure that there is no collision between the semi-trailer and the obstacle, but it also greatly reduces the passable area. To solve this problem, we propose a new obstacle avoidance model. In this model, the distance between the obstacle and the middle line of semi-trailers is used as the indicator of obstacle avoidance. Based on this model, we design a new obstacle avoidance controller for semi-trailers. The simulation results show that the proposed controller can ensure that no collision occurs between the semi-trailer and the obstacle. The minimum distance between the obstacle center and the semi-trailer body trajectory is greater than the sum of the obstacle radius and the safety margin. Compared with the traditional obstacle avoidance controller based on the circumcircle model, the proposed controller greatly reduces the error between the semi-trailer and the reference path during obstacle avoidance.

Body Joints and Trajectory Guided 3D Deep Convolutional Descriptors for Human Activity Identification

Human Activity Identification (HAI) in videos is one of the trendiest research fields in the computer visualization. Among various HAI techniques, Joints-pooled 3D-Deep convolutional Descriptors (JDD) have achieved effective performance by learning the body joint and capturing the spatiotemporal characteristics concurrently. However, the time consumption for estimating the locale of body joints by using large-scale dataset and computational cost of skeleton estimation algorithm were high. The recognition accuracy using traditional approaches need to be improved by considering both body joints and trajectory points together. Therefore, the key goal of this work is to improve the recognition accuracy using an optical flow integrated with a two-stream bilinear model, namely Joints and Trajectory-pooled 3D-Deep convolutional Descriptors (JTDD). In this model, an optical flow/trajectory point between video frames is also extracted at the body joint positions as input to the proposed JTDD. For this reason, two-streams of Convolutional 3D network (C3D) multiplied with the bilinear product is used for extracting the features, generating the joint descriptors for video sequences and capturing the spatiotemporal features. Then, the whole network is trained end-to-end based on the two-stream bilinear C3D model to obtain the video descriptors. Further, these video descriptors are classified by linear Support Vector Machine (SVM) to recognize human activities. Based on both body joints and trajectory points, action recognition is achieved efficiently. Finally, the recognition accuracy of the JTDD model and JDD model are compared.

Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method

Many tasks, such as walking in narrow environments, detecting land mines, coordinating with manipulators, and avoiding obstacles, demand multi-legged walking robots to accurately and robustly track predefined body trajectories. Tracking body position trajectory must be accurate and robust in these situations, but research on this topic is rarely carried out. In this study, we propose a nonsingular terminal sliding mode (NTSM) control algorithm to implement accurate and robust body position trajectory tracking of six-legged walking robots. The NTSM control algorithm is constructed on the basis of the body position trajectory tracking model with a new NTSM reaching law. The performance of the NTSM control method is evaluated through several verifications. Results demonstrate that the proposed algorithm is effective for accurate and robust body position trajectory tracking. The findings of this study can provide insights into improving multi-legged walking robots’ walking and operation abilities in special environments and expanding the application fields of these robots.

Bone formation and resorption markers at 7 years of age: Relations with growth and bone mineralization.

PurposeWe aimed to describe bone formation and resorption markers in generally healthy prepubertal children using total alkaline phosphatase (tALP), osteocalcin (OC) and β-isomerized C-terminal telopeptides of type I collagen (β-CTx) serum concentrations and to estimate markers’ correlations with anthropometric growth (height, weight, body mass index and trajectories of weight gain) as well as bone mineral content (BMC) and areal density (aBMD).MethodsWe assessed 395 7-year-old children from the Generation XXI cohort with tALP, OC and β-CTx concentrations determined from a fasting venous blood sample and BMC/aBMD measured by dual-energy X-ray absorptiometry. Gender-specific reference intervals for tALP, OC and β-CTx in 7-year-old children were established by calculating the 2.5th and 97.5th percentiles. Pearson and partial correlation coefficients (controlling for sex, age, body size and season) between bone markers and growth measures were computed.ResultstALP increased with height (rpartial controlled for sex = 0.26, 95%CI: 0.17, 0.35), was higher in overweight than in healthy weight children, and in children who gained weight above average during infancy. No correlations were found between OC or β-CTx and growth. In girls, OC was slightly correlated with subtotal BMC (rpartial = 0.22, 95%CI: 0.08, 0.35), subtotal aBMD (rpartial = 0.20, 95%CI: 0.06, 0.33) and lumbar spine aBMD (rpartial = 0.23, 95%CI: 0.09, 0.36). tALP and β-CTx were not correlated with any of the DXA-derived bone measures.ConclusionThis study contributed to the description of bone turnover at 7 years of age and suggested that bone metabolism markers measured in a single point in time have limited ability to describe anthropometric growth and overall bone status in generally healthy prepubertal children.

Control of Mechatronic System Based on Multilink Robot-Manipulators

The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.

A Computationally Efficient Finite Element Pedestrian Model for Head Safety: Development and Validation.

Head injuries are often fatal or of sufficient severity to pedestrians in vehicle crashes. Finite element (FE) simulation provides an effective approach to understand pedestrian head injury mechanisms in vehicle crashes. However, studies of pedestrian head safety considering full human body response and a broad range of impact scenarios are still scarce due to the long computing time of the current FE human body models in expensive simulations. Therefore, the purpose of this study is to develop and validate a computationally efficient FE pedestrian model for future studies of pedestrian head safety. Firstly, a FE pedestrian model with a relatively small number of elements (432,694 elements) was developed in the current study. This pedestrian model was then validated at both segment and full body levels against cadaver test data. The simulation results suggest that the responses of the knee, pelvis, thorax, and shoulder in the pedestrian model are generally within the boundaries of cadaver test corridors under lateral impact loading. The upper body (head, T1, and T8) trajectories show good agreements with the cadaver data in vehicle-to-pedestrian impact configuration. Overall, the FE pedestrian model developed in the current study could be useful as a valuable tool for a pedestrian head safety study.

Controlled-advancement rigid-body optimization of nanosystems.

In this study, we propose a novel optimization algorithm, with application to the refinement of molecular complexes. Particularly, we consider optimization problem as the calculation of quasi-static trajectories of rigid bodies influenced by the inverse-inertia-weighted energy gradient and introduce the concept of advancement region that guarantees displacement of a molecule strictly within a relevant region of conformational space. The advancement region helps to avoid typical energy minimization pitfalls, thus, the algorithm is suitable to work with arbitrary energy functions and arbitrary types of molecular complexes without necessary tuning of its hyper-parameters. Our method, called controlled-advancement rigid-body optimization of nanosystems (Carbon), is particularly useful for the large-scale molecular refinement, as for example, the putative binding candidates obtained with protein-protein docking pipelines. Implementation of Carbon with user-friendly interface is available in the SAMSON platform for molecular modeling at https://www.samson-connect.net. © 2019 Wiley Periodicals, Inc.