Effect of Angular Momentum in ZMP on Human Motion Planning

2017 ◽  
Author(s):  
Hyun-Joon Chung ◽  
Goobong Chung ◽  
Yujiang Xiang
Keyword(s):  
Angular Momentum ◽  
Motion Planning ◽  
High Speed ◽  
Human Motion ◽  
Lagrangian Method ◽  
New Approach ◽  
Zero Moment Point ◽  
Low Speed ◽  
Zero Moment

Zero moment point (ZMP) is an important balance criterion for human motion planning. An important term in the ZMP formula is the rate of angular momentum (RAM) of each link. It is not trivial to compute this term compared to other terms in ZMP formula. In this paper, we first propose an efficient recursive Lagrangian method for calculating the rate of angular momentum in ZMP. This new approach gives a direct way to calculate the rate of angular momentum for each link. Secondly, we evaluate the effects of RAM in ZMP on human motion predictions for walking and running. These two motions are characterized as low speed and high speed motions respectively. We conclude that it is critical to include RAM in ZMP to predict accurate high speed motion. It has relatively less effect on low speed motion.

Rate of Angular Momentum in ZMP Using Efficient DH-Based Recursive Lagrangian

2018 ◽  
Vol 15 (06) ◽  
pp. 1850028
Author(s):  
Hyun-Joon Chung ◽  
Joo H. Kim ◽  
Yujiang Xiang
Keyword(s):  
Angular Momentum ◽  
High Speed ◽  
Direct Method ◽  
Dynamic Balance ◽  
Necessary Condition ◽  
Ground Reaction Forces ◽  
Motion Trajectories ◽  
Global Force ◽  
Reaction Forces ◽  
Zero Moment

Dynamic balance has to be maintained during motions of biped systems when their feet are in contact with the ground. As a necessary condition, this indicates that the calculated zero moment point (ZMP) position should be within the specified foot support region throughout the entire motion. A critical term in the ZMP formulation is the rate of angular momentum (RAM) for each link, which should be evaluated accurately and efficiently in motion planning and simulations. In this study, we propose a recursive Lagrangian method based on Denavit–Hartenberg convention to calculate the RAM for each link and the corresponding sensitivity. This method allows the evaluation of each link’s dynamic contribution to the ZMP position. The effectiveness of the proposed approach is demonstrated by simulating bipedal motions of walking and running along with their comparison against existing approaches (direct method and global force method). The accurate RAM calculation in ZMP based on the proposed approach resulted in the improved motion trajectories and reliable ground reaction forces for high-speed bipedal motion predictions.

Do You Name Speedy Objects Faster Than Slow Objects: SPEEDED NAMING OR NAMING SPEED? THE AUTOMATIC EFFECT OF OBJECT SPEED ON PERFORMANCE

2018 ◽  
Author(s):  
Moshe Shay Ben-Haim ◽  
Eran Chajut ◽  
Ran Hassin ◽  
Daniel Algom
Keyword(s):  
High Speed ◽  
Mental Representations ◽  
Reading Aloud ◽  
Naming Task ◽  
Naming Speed ◽  
Low Speed ◽  
Everyday Objects ◽  
Pictures And Words

we test the hypothesis that naming an object depicted in a picture, and reading aloud an object’s name, are affected by the object’s speed. We contend that the mental representations of everyday objects and situations include their speed, and that the latter influences behavior in instantaneous and systematic ways. An important corollary is that high-speed objects are named faster than low-speed objects despite the fact that object speed is irrelevant to the naming task at hand. The results of a series of 7 studies with pictures and words support these predictions.

Yaw Galloping of a TLWP Platform Under High Speed Currents by Analytical Methods and its Comparison With Experimental Results

2017 ◽  
Author(s):  
Francisco Lamas ◽  
Miguel A. M. Ramirez ◽  
Antonio Carlos Fernandes
Keyword(s):  
High Speed ◽  
Production Systems ◽  
Experimental Tests ◽  
Experimental Results ◽  
Analytical Methodology ◽  
New Approach ◽  
Laboratory Facilities ◽  
Polynomial Curve ◽  
Computational Fluid Dynamics Cfd ◽  
Cfd Analyses

Flow Induced Motions are always an important subject during both design and operational phases of an offshore platform life. These motions could significantly affect the performance of the platform, including its mooring and oil production systems. These kind of analyses are performed using basically two different approaches: experimental tests with reduced models and, more recently, with Computational Fluid Dynamics (CFD) dynamic analysis. The main objective of this work is to present a new approach, based on an analytical methodology using static CFD analyses to estimate the response on yaw motions of a Tension Leg Wellhead Platform on one of the several types of motions that can be classified as flow-induced motions, known as galloping. The first step is to review the equations that govern the yaw motions of an ocean platform when subjected to currents from different angles of attack. The yaw moment coefficients will be obtained using CFD steady-state analysis, on which the yaw moments will be calculated for several angles of attack, placed around the central angle where the analysis is being carried out. Having the force coefficients plotted against the angle values, we can adjust a polynomial curve around each analysis point in order to evaluate the amplitude of the yaw motion using a limit cycle approach. Other properties of the system which are flow-dependent, such as damping and added mass, will also be estimated using CFD. The last part of this work consists in comparing the analytical results with experimental results obtained at the LOC/COPPE-UFRJ laboratory facilities.

scholarly journals Splatters and Aerosols Contamination in Dental Aerosol Generating Procedures

2021 ◽  
Vol 11 (4) ◽  
pp. 1914
Author(s):  
Pingping Han ◽  
Honghui Li ◽  
Laurence J. Walsh ◽  
Sašo Ivanovski
Keyword(s):  
Particle Size ◽  
Disease Transmission ◽  
High Speed ◽  
Low Speed ◽  
Dental Procedures ◽  
Dental Equipment ◽  
Produce Contamination ◽  
Fluorescein Dye ◽  
Filter Papers ◽  
Airborne Disease

Dental aerosol-generating procedures produce a large amount of splatters and aerosols that create a major concern for airborne disease transmission, such as COVID-19. This study established a method to visualise splatter and aerosol contamination by common dental instrumentation, namely ultrasonic scaling, air-water spray, high-speed and low-speed handpieces. Mock dental procedures were performed on a mannequin model, containing teeth in a typodont and a phantom head, using irrigation water containing fluorescein dye as a tracer. Filter papers were placed in 10 different locations to collect splatters and aerosols, at distances ranging from 20 to 120 cm from the source. All four types of dental equipment produced contamination from splatters and aerosols. At 120 cm away from the source, the high-speed handpiece generated the greatest amount and size (656 ± 551 μm) of splatter particles, while the triplex syringe generated the largest amount of aerosols (particle size: 1.73 ± 2.23 μm). Of note, the low-speed handpiece produced the least amount and size (260 ± 142 μm) of splatter particles and the least amount of aerosols (particle size: 4.47 ± 5.92 μm) at 120 cm. All four dental AGPs produce contamination from droplets and aerosols, with different patterns of distribution. This simple model provides a method to test various preventive strategies to reduce risks from splatter and aerosols.

Nonlinear transport of rarefied Couette flows from low speed to high speed

2020 ◽  
Vol 32 (11) ◽  
pp. 112021
Author(s):  
Jihui Ou ◽  
Jie Chen
Keyword(s):  
High Speed ◽  
Nonlinear Transport ◽  
Low Speed

scholarly journals Energy Absorption Characteristics of PVC Coarse Aggregate Concrete under Impact Load

2021 ◽  
Vol 15 (1) ◽  
Author(s):  
Shi Hu ◽  
Huaming Tang ◽  
Shenyao Han
Keyword(s):  
Compressive Strength ◽  
Energy Absorption ◽  
High Speed ◽  
Coarse Aggregate ◽  
Specific Energy Absorption ◽  
Low Speed ◽  
High Speed Impact ◽  
Aggregate Content ◽  
Dynamic Compressive Strength ◽  
Absorption Characteristics

AbstractIn this paper, polyvinyl chloride (PVC) coarse aggregate with different mixing contents is used to solve the problems of plastic pollution, low energy absorption capacity and poor damage integrity, which provides an important reference for PVC plastic concrete used in the initial support structures of highway tunnels and coal mine roadway. At the same time, the energy absorption characteristics and their relationship under different impact loads are studied, which provides an important reference for predicting the energy absorption characteristics of concrete under other PVC aggregate content or higher impact speed. This study replaced natural coarse aggregate in concrete with different contents and equal volume of well-graded flaky PVC particles obtained by crushing PVC soft board. Also, slump, compression, and splitting strength tests, a free falling low-speed impact test of steel balls and a high-speed impact compression test of split Hopkinson pressure bar (SHPB) were carried out. Results demonstrate that the static and dynamic compressive strength decreases substantially, and the elastic modulus and slump decrease slowly with the increase of the mixing amount of PVC aggregate (0–30%). However, the energy absorption rate under low-speed impact and the specific energy absorption per MPa under high-speed impact increase obviously, indicating that the energy absorption capacity is significantly enhanced. Regardless of the mixing amount of PVC aggregate, greater strain rate can significantly enhance the dynamic compressive strength and the specific energy absorption per MPa. After the uniaxial compression test or the SHPB impact test, the relative integrity of the specimen is positively correlated with the mixing amount of PVC aggregate. In addition, the specimens are seriously damaged with the increase of the impact strain rate. When the PVC aggregate content is 20%, the compressive strength and splitting strength of concrete are 33.8 MPa and 3.26 MPa, respectively, the slump is 165 mm, the energy absorption rate under low-speed impact is 89.5%, the dynamic compressive strength under 0.65 Mpa impact air pressure is 58.77 mpa, and the specific energy absorption value per MPa is 13.33, which meets the requirements of shotcrete used in tunnel, roadway support and other impact loads. There is a linear relationship between the energy absorption characteristics under low-speed impact and high-speed impact. The greater the impact pressure, the larger the slope of the fitting straight line. The slope and intercept of the fitting line also show a good linear relationship with the increase of impact pressure. The conclusions can be used to predict the energy absorption characteristics under different PVC aggregate content or higher-speed impact pressure, which can provide important reference for safer, more economical, and environmental protection engineering structure design.

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