Imitation of Human Body Poses by the Formation Control of a Fluidic Swarm

2012 ◽  
Author(s):  
Umut Tilki ◽  
Ismet Erkmen ◽  
Aydan M. Erkmen
Keyword(s):  
Human Body ◽  
Formation Control ◽  
Fluid Flows ◽  
The Body ◽  
Body Parts ◽  
Particle Hydrodynamics ◽  
Smoothed Particle ◽  
Fluid Particles ◽  
Control Layer ◽  
Fluid Parameters

Imitation learning is one of the forms of social learning that enables the human or robot agents to learn new skills. The knowledge acquired for imitation can be basically represented as action mapping based on “organ matching” which determines the correspondence between imitator and imitatee, if the imitator and the demonstrator share the same embodiment. In this paper, we aim at imitation of two system with totally different dynamics, imitating each other, where any correspondence is missing. Towards this aim, we adopt a case where the imitator is a fluidic system which dynamics is totally different than the imitatee, that is a human performing different body poses. Our work proposes the fluidics formation control of fluid particles where the formation results from the imitation of observed human body poses. Fluidic formation control layer is responsible of assigning the correct fluid parameters to the swarm formation layer according to the body poses adopted by the human performer. The movement of the fluid particles is modeled using the Smoothed Particle Hydrodynamics (SPH) which is a particle based Lagrangian method for simulation of fluid flows. The region based controller first extract the human body parts generating the regions where the attention is attracted by the imitatee and fits an appropriate ellipses to delimite boundaries of those regions. The ellipse parameters such as center of the ellipses, eccentricity, length of the major and minor axis etc. are used by the fludic layer in order to generate human body poses. This paper introduces our technique and demonstrates the imitation performance of our system.

Catching Continuum Between Preshape and Grasping Based on Fluidics

2010 ◽  
Author(s):  
Baris Ozyer ◽  
Ismet Erkmen ◽  
Aydan M. Erkmen
Keyword(s):  
Momentum Transfer ◽  
Minimum Energy ◽  
Fluid Flows ◽  
Robotic Hand ◽  
Robot Hand ◽  
Impact Forces ◽  
Initial Stage ◽  
Particle Hydrodynamics ◽  
Smoothed Particle ◽  
Fluid Particles

We propose a new fluidics based methodology to determine a continuum between preshaping and grasping so as to appropriately preshape a multifingered robot hand for creating an optimal initialization of grasp, with minimum energy loss towards task execution, upon landing on an object. In this paper, we investigate the effects of impact forces and momentum transfer between different hand preshapes landing on an object. Momentum transfer parameters lead to modification of object orientation and position at the very initial stage of task after that preshaped fingers land on the object. We model fingers as particles in a solidified environment while the medium squeezed by hand preshape that is closing upon an object, is modeled as a compressible fluid where momentum is propagated until hitting the surface of the solidified particle medium of the object. Smoothed particle hydrodynamics model (SPH) is used to simulate the general dynamic of fluid flows and momentum transfer between particles of different media. The fingers of the robotic hand are modeled by solidified fluid particles interacting with compressible surrounding fluids in which objects are defined as rigid-body solidified fluid particles. The developed model has been applied, in this paper, to the simulation of various simple robot hand preshaping and the generated momentum transfer profiles an object surface have been analyzed.

Bodily Dasein and Chinese Script Components

2017 ◽  
Vol 2017 (2) ◽  
Author(s):  
Kwan Tze-wan
Keyword(s):  
Human Body ◽  
The Body ◽  
Chinese Script ◽  
Chinese Characters ◽  
Body Parts ◽  
Constitutive Principle ◽  
New Perspective ◽  
Social Environmental ◽  
The One ◽  
Definition Of

AbstractIn the Shuowen, one of the earliest comprehensive character dictionaries of ancient China, when discussing where the Chinese characters derive their structural components, Xu Shen proposed the dual constitutive principle of “adopting proximally from the human body, and distally from things around.” This dual emphasis of “body” and “things around” corresponds largely to the phenomenological issues of body or corporeality on the one hand, and lifeworld on the other. If we borrow Heidegger’s definition of Dasein as Being-in-the world, we can easily arrive at a reformulation of Xu Shen’s constitutive principle of the Chinese script as one that concerns “bodily Dasein.” By looking into various examples of script tokens we can further elaborate on how the Chinese make use not only of the body in general but various body parts, and how they differentiate their life world into material nature, living things, and a multifaceted world of equipment in forming a core basis of Chinese characters/components, upon which further symbolic manipulation such as “indication”, “phonetic borrowing”, semantic combination, and “annotative derivation”, etc. can be based. Finally, examples will be cited to show how in the Chinese scripts the human body (and its parts) might interact with other’s bodies (and their parts) or with “things around” (whether nature, living creatures, or artifacts) in various ways to cover the social, environmental, ritual, technical, economical, and even intellectual aspects of human experience. Bodily Dasein, so to speak, provides us with a new perspective of understanding and appreciating the entire scope of the Chinese script.

scholarly journals El Cuerpo como Fábrica y el Cirujano como su Arquitecto / The Body as a Factory and the Surgeon as its Architect

2012 ◽  
Vol 1 (1) ◽  
Author(s):  
Cristóbal Pera
Keyword(s):  
Foreign Body ◽  
Human Body ◽  
El Paso ◽  
The Body ◽  
Body Parts ◽  
Expiration Date ◽  
Internal Organs ◽  
The Subject ◽  
The Way

ABSTRACTIf the human body is really a fabric, should surgeons be considered architects, as some surgeons describe themselves today? The author raises and analyzes this question, and he concludes that vsurgeons cannot be considered as such: the architect is the creator of his work —fabric or building—, but the surgeon is not the creator of this complex biological fabric —vulnerable and subject to deterioration and with an expiration date— which is the human body. This body is the object upon which his hands and instruments operate. The surgeon cures and heals wounds, immobilizes and aligns fractured bones in order to facilitate their good and timely repair, and cuts open the body’s surface in order to reach its internal organs. He also explores the body with his hands or instruments, destroys and reconstructs its ailing parts, substitutes vital organs taken from a donor’s foreign body, designs devices or prostheses, and replaces body parts, such as arteries and joints, that are damaged or worn out. In today’s culture, dominated by the desire to perfect the body, other surgeons keep retouching its aging façade, looking for an iconic and timeless beauty. This longing can drive, sometimes, to surgical madness. The surgeon is not capable of putting into motion, from scratch, a biological fabric such as the human body. Thus, he can’t create the subject of his work in the way that an architect can create a building. In contrast, the surgeon restores the body’s deteriorated or damaged parts and modifies the appearance of the body’s façade.RESUMEN¿Si el cuerpo humano fuera realmente una fábrica, podría el cirujano ser considerado su arquitecto, como algunos se pregonan en estos tiempos? Esta es la cuestión planteada por el autor y, a tenor de lo discurrido, su respuesta es negativa: porque así como el arquitecto es el artífice de su obra —fábrica o edificio— el cirujano no es el artífice de la complejísima fábrica biológica —vulnerable, deteriorable y caducable— que es el cuerpo humano, la cual le es dada como objeto de las acciones de sus manos y de sus instrumentos. El cirujano cura y restaña sus heridas, alinea e inmoviliza sus huesos fracturados para que su reparación llegue a buen término, penetra por sus orificios naturales o dibuja sobre la superficie corporal incisiones que le permitan llegar a sus entrañas, las explora con sus manos o mediante instrumentos, destruye y reconstruye sus partes enfermas, sustituye órganos vitales que no le ayudan a vivir por los extraídos de cuerpos donantes, y concibe, diseña y hace fabricar artefactos o prótesis, como recambio fragmentos corporales deteriorados o desgastados, como arterias o articulaciones. Otros cirujanos, en la predominante cultura de la modificación del cuerpo, retocan una y otra vez su fachada envejecida ineludiblemente por el paso del tiempo, empeñados en la búsqueda incesante de una belleza icónica y mediática e intemporal, una pretensión que puede conducir, y a veces conduce, al desvarío quirúrgico. En definitiva, el cirujano es incapaz de poner de pie, ex novo, una fábrica biológica como la del cuerpo humano y, por lo tanto, no puede ser su artífice, como lo es el arquitecto de su edificio. A lo sumo, es el restaurador de sus entrañas deterioradas y el modificador de su fachada, de su apariencia.

Natural convection from heated fin shapes in a nanofluid-filled porous cavity using incompressible smoothed particle hydrodynamics

2019 ◽  
Vol 29 (12) ◽  
pp. 4569-4597 ◽  
Author(s):  
Abdelraheem M. Aly ◽  
Zehba Raizah ◽  
Mitsuteru Asai
Keyword(s):  
Heat Transfer ◽  
Porous Medium ◽  
Natural Convection ◽  
Smoothed Particle Hydrodynamics ◽  
Fluid Flows ◽  
Content Type ◽  
Particle Hydrodynamics ◽  
Smoothed Particle ◽  
Incompressible Smoothed Particle Hydrodynamics ◽  
Darcy Parameter

Purpose This study aims to focus on the numerical simulation of natural convection from heated novel fin shapes in a cavity filled with nanofluid and saturated with a partial layer of porous medium using improved incompressible smoothed particle hydrodynamics (ISPH) method. Design/methodology/approach The dimensionless of Lagrangian description for the governing equations were numerically solved using improved ISPH method. The current ISPH method was improved in term of wall boundary treatment by using renormalization kernel function. The effects of different novel heated (Tree, T, H, V, and Z) fin shapes, Rayleigh number Ra(103 – 106 ), porous height Hp (0.2-0.6), Darcy parameter Da(10−5 − 10−1 ) and solid volume fraction ϕ(0.0-0.05) on the heat transfer of nanofluid have been investigated. Findings The results showed that the variation on the heated novel fin shapes gives a suitable choice for enhancement heat transfer inside multi-layer porous cavity. Among all fin shapes, the H-fin shape causes the maximum stream function and Z-fin shape causes the highest value of average Nusselt number. The concentrations of the fluid flows in the nanofluid region depend on the Rayleigh and Darcy parameters. In addition, the penetrations of the fluid flows through porous layers are affected by porous heights and Darcy parameter. Originality/value Natural convection from novel heated fins in a cavity filled with nanofluid and saturated with a partial layer of porous medium have been investigated numerically using improved ISPH method.

scholarly journals An Efficient Sleepy Algorithm for Particle-Based Fluids

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Xiao Nie ◽  
Leiting Chen ◽  
Tao Xiang
Keyword(s):  
Smoothed Particle Hydrodynamics ◽  
Flow Behavior ◽  
Visual Quality ◽  
Repulsive Force ◽  
Performance Gain ◽  
Weakly Compressible ◽  
Particle Hydrodynamics ◽  
Smoothed Particle ◽  
Fluid Particles ◽  
Computational Resources

We present a novel Smoothed Particle Hydrodynamics (SPH) based algorithm for efficiently simulating compressible and weakly compressible particle fluids. Prior particle-based methods simulate all fluid particles; however, in many cases some particles appearing to be at rest can be safely ignored without notably affecting the fluid flow behavior. To identify these particles, a novel sleepy strategy is introduced. By utilizing this strategy, only a portion of the fluid particles requires computational resources; thus an obvious performance gain can be achieved. In addition, in order to resolve unphysical clumping issue due to tensile instability in SPH based methods, a new artificial repulsive force is provided. We demonstrate that our approach can be easily integrated with existing SPH based methods to improve the efficiency without sacrificing visual quality.

The Role of the Hand During Freestyle Swimming

2015 ◽  
Vol 137 (11) ◽  
Author(s):  
Raymond C. Z. Cohen ◽  
Paul W. Cleary ◽  
Bruce R. Mason ◽  
David L. Pease
Keyword(s):  
Fluid Model ◽  
Three Dimensional ◽  
The Body ◽  
Cfd Modeling ◽  
Vortical Structures ◽  
Video Footage ◽  
Particle Hydrodynamics ◽  
Smoothed Particle ◽  
Computational Fluid Dynamics Cfd ◽  
Lift And Drag

The connections between swimming technique and the fluid dynamical interactions they generate are important for assisting performance improvement. Computational fluid dynamics (CFD) modeling provides a controlled and unobtrusive way for understanding the fundamentals of swimming. A coupled biomechanical–smoothed particle hydrodynamics (SPH) fluid model is used to analyze the thrust and drag generation of a freestyle swimmer. The swimmer model was generated using a three-dimensional laser body scan of the athlete and digitization of multi-angle video footage. Two large distinct peaks in net streamwise thrust are found during the stroke, which coincide with the underwater arm strokes. The hand motions generate vortical structures that travel along the body toward the kicking legs and the hands are shown to produce thrust using both lift and drag. These findings advance understanding of the freestyle stroke and may be used to improve athlete technique.

scholarly journals Genes and Spleens: Property, Contract, or Privacy Rights in the Human Body?

2007 ◽  
Vol 35 (3) ◽  
pp. 371-382 ◽  
Author(s):  
Radhika Rao
Keyword(s):  
Biomedical Research ◽  
Human Body ◽  
Legal Status ◽  
Raw Materials ◽  
The Body ◽  
Body Parts ◽  
Privacy Rights ◽  
Human Genes ◽  
The Subject ◽  
The Law

The legal status of the human body is hotly contested, yet the law of the body remains in a state of confusion and chaos. Sometimes the body is treated as an object of property, sometimes it is dealt with under the rubric of contract, and sometimes it is not conceived as property at all, but rather as the subject of privacy rights. Which body of law should become the law of the body? This question is even more pressing in the context of current biomedical research, which permits commodification and commercialization of the body by everyone except the person who provides the “raw materials.” The lack of property protection for tangible parts of the human body is in stark contrast to the extensive protection granted to intellectual property in the body in the form of patents upon human genes and cell lines. Moreover, even courts that reject ownership claims on the part of those who supply body parts appear willing to grant property rights to scientists, universities, and others who use those body parts to conduct research and create products.

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