Search results for: motion trajectories.

Authors: Altab Hossain, Ataur Rahman, A. K. M. Mohiuddin, Yulfian Aminanda

Abstract:

Fuzzy logic system (FLS) is used in this study to predict the tractive performance in terms of traction force, and motion resistance for an intelligent air cushion track vehicle while it operates in the swamp peat. The system is effective to control the intelligent air –cushion system with measuring the vehicle traction force (TF), motion resistance (MR), cushion clearance height (CH) and cushion pressure (CP). Ultrasonic displacement sensor, pull-in solenoid electromagnetic switch, pressure control sensor, micro controller, and battery pH sensor are incorporated with the Fuzzy logic system to investigate experimentally the TF, MR, CH, and CP. In this study, a comparison for tractive performance of an intelligent air cushion track vehicle has been performed with the results obtained from the predicted values of FLS and experimental actual values. The mean relative error of actual and predicted values from the FLS model on traction force, and total motion resistance are found as 5.58 %, and 6.78 % respectively. For all parameters, the relative error of predicted values are found to be less than the acceptable limits. The goodness of fit of the prediction values from the FLS model on TF, and MR are found as 0.90, and 0.98 respectively.

Keywords: Cushion pressure, Fuzzy logic, Motion resistance, Traction force.

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Authors: Monika Jain, Shikhar Puri, Shivali Unishree

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This paper presents the ‘Eye Ball Motion Controlled Wheelchair using IR Sensors’ for the elderly and differently abled people. In this eye tracking based technology, three Proximity Infrared (IR) sensor modules are mounted on an eye frame to trace the movement of the iris. Since, IR sensors detect only white objects; a unique sequence of digital bits is generated corresponding to each eye movement. These signals are then processed via a micro controller IC (PIC18F452) to control the motors of the wheelchair. The potential and efficiency of previously developed rehabilitation systems that use head motion, chin control, sip-n-puff control, voice recognition, and EEG signals variedly have also been explored in detail. They were found to be inconvenient as they served either limited usability or non-affordability. After multiple regression analyses, the proposed design was developed as a cost-effective, flexible and stream-lined alternative for people who have trouble adopting conventional assistive technologies.

Keywords: Eye tracking technology, Intelligent wheelchair, IR module, rehabilitation technology.

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Authors: Altab Hossain, Ataur Rahman, A. K. M. Mohiuddin, Yulfian Aminanda

Abstract:

Fuzzy logic approach is used in this study to predict the tractive performance in terms of traction force, and motion resistance for an intelligent air cushion track vehicle while it operates in the swamp peat. The system is effective to control the intelligent air –cushion system with measuring the vehicle traction force (TF), motion resistance (MR), cushion clearance height (CH) and cushion pressure (CP). Sinkage measuring sensor, magnetic switch, pressure sensor, micro controller, control valves and battery are incorporated with the Fuzzy logic system (FLS) to investigate experimentally the TF, MR, CH, and CP. In this study, a comparison for tractive performance of an intelligent air cushion track vehicle has been performed with the results obtained from the predicted values of FLS and experimental actual values. The mean relative error of actual and predicted values from the FLS model on traction force, and total motion resistance are found as 5.58 %, and 6.78 % respectively. For all parameters, the relative error of predicted values are found to be less than the acceptable limits. The goodness of fit of the prediction values from the FLS model on TF, and MR are found as 0.90, and 0.98 respectively.

Keywords: Cushion pressure, Fuzzy logic, Motion resistance, Traction force.

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Authors: Ali Mithad Emre

Abstract:

In military aviation, the use of flight simulators has proliferated recently in order to train fifth generation fighter pilots. With these simulators, pilots can carry out real-time flights resulting in seeing their faults and can perform emergency drills prior to real flights. Since we cannot risk losing the aircraft and the pilot himself/herself in the flight training process, flight simulators are of great importance to adapt the fighter pilots competently to real flights aboard the fifth generation aircraft. The real flights are impossible to simulate thoroughly on the ground. To some extent, the fixed-based simulators may assist the pilot to steer aircraft technically and visually but flight simulators can’t trick the pilot’s vestibular, sensory, and perceptual systems without motion platforms. This paper discusses the benefits of motion simulators for fifth generation fighter pilots’ training in preference to the fixed-based counterparts by analyzing their pros and cons.

Keywords: Centrifuge, g-loc, military, pilot, sickness, simulator, VMS.

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Authors: Azadeh Rouhandeh, Chris Joslin, Zhen Qu, Yuu Ono

Abstract:

The centre of rotation of the hip joint is needed for an accurate simulation of the joint performance in many applications such as pre-operative planning simulation, human gait analysis, and hip joint disorders. In human movement analysis, the hip joint center can be estimated using a functional method based on the relative motion of the femur to pelvis measured using reflective markers attached to the skin surface. The principal source of errors in estimation of hip joint centre location using functional methods is soft tissue artefacts due to the relative motion between the markers and bone. One of the main objectives in human movement analysis is the assessment of soft tissue artefact as the accuracy of functional methods depends upon it. Various studies have described the movement of soft tissue artefact invasively, such as intra-cortical pins, external fixators, percutaneous skeletal trackers, and Roentgen photogrammetry. The goal of this study is to present a non-invasive method to assess the displacements of the markers relative to the underlying bone using optical motion capture data and tissue thickness from ultrasound measurements during flexion, extension, and abduction (all with knee extended) of the hip joint. Results show that the artefact skin marker displacements are non-linear and larger in areas closer to the hip joint. Also marker displacements are dependent on the movement type and relatively larger in abduction movement. The quantification of soft tissue artefacts can be used as a basis for a correction procedure for hip joint kinematics.

Keywords: Hip joint centre, motion capture, soft tissue artefact, ultrasound depth measurement.

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Authors: Alvaro Rodriguez, Maria Bermudez, Juan R. Rabuñal, Jeronimo Puertas

Abstract:

One of the main issues in Computer Vision is to extract the movement of one or several points or objects of interest in an image or video sequence to conduct any kind of study or control process. Different techniques to solve this problem have been applied in numerous areas such as surveillance systems, analysis of traffic, motion capture, image compression, navigation systems and others, where the specific characteristics of each scenario determine the approximation to the problem. This paper puts forward a Computer Vision based algorithm to analyze fish trajectories in high turbulence conditions in artificial structures called vertical slot fishways, designed to allow the upstream migration of fish through obstructions in rivers. The suggested algorithm calculates the position of the fish at every instant starting from images recorded with a camera and using neural networks to execute fish detection on images. Different laboratory tests have been carried out in a full scale fishway model and with living fishes, allowing the reconstruction of the fish trajectory and the measurement of velocities and accelerations of the fish. These data can provide useful information to design more effective vertical slot fishways.

Keywords: Computer Vision, Neural Network, Fishway, Fish Trajectory, Tracking

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Authors: S. Jarernprasert, E. Bazan-Zurita, P. C. Rizzo

Abstract:

Currently, seismic probabilistic risk assessments (SPRA) for nuclear facilities use In-Structure Response Spectra (ISRS) in the calculation of fragilities for systems and components. ISRS are calculated via dynamic analyses of the host building subjected to two orthogonal components of horizontal ground motion. Each component is defined as the median motion in any horizontal direction. Structural engineers applied the components along selected X and Y Cartesian axes. The ISRS at different locations in the building are also calculated in the X and Y directions. The choice of the directions of X and Y are not specified by the ground motion model with respect to geographic coordinates, and are rather arbitrarily selected by the structural engineer. Normally, X and Y coincide with the “principal” axes of the building, in the understanding that this practice is generally conservative. For SPRA purposes, however, it is desirable to remove any conservatism in the estimates of median ISRS. This paper examines the effects of the direction of horizontal seismic motion on the ISRS on typical nuclear structure. We also evaluate the variability of ISRS calculated along different horizontal directions. Our results indicate that some central measures of the ISRS provide robust estimates that are practically independent of the selection of the directions of the horizontal Cartesian axes.

Keywords: Seismic, Directionality, In-Structure Response Spectra, Probabilistic Risk Assessment.

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Authors: Sadaoui Djaouida

Abstract:

In the paper, the predictive control method is proposed to control the synchronization of two perturbed satellites attitude motion. Based on delayed feedback control of continuous-time systems combines with the prediction-based method of discrete-time systems, this approach only needs a single controller to realize synchronization, which has considerable significance in reducing the cost and complexity for controller implementation.

Keywords: Predictive control, Synchronization, Satellite attitude.

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Authors: Daohong Yang, Xiang Zhang, Wanting Zhou, Lei Li

Abstract:

Visual Simultaneous Localization and Mapping (VSLAM) is a technology that gathers information about the surrounding environment to ascertain its own position and create a map. It is widely used in computer vision, robotics, and various other fields. Many visual SLAM systems, such as OBSLAM3, utilize a constant velocity motion model. The utilization of this model facilitates the determination of the initial pose of the current frame, thereby enhancing the efficiency and precision of feature matching. However, it is often difficult to satisfy the constant velocity motion model in actual situations. This can result in a significant deviation between the obtained initial pose and the true value, leading to errors in nonlinear optimization results. Therefore, this paper proposes a motion model based on acceleration that can be applied to most SLAM systems. To provide a more accurate description of the camera pose acceleration, we separate the pose transformation matrix into its rotation matrix and translation vector components. The rotation matrix is now represented by a rotation vector. We assume that, over a short period, the changes in rotating angular velocity and translation vector remain constant. Based on this assumption, the initial pose of the current frame is estimated. In addition, the error of the constant velocity model is analyzed theoretically. Finally, we apply our proposed approach to the ORBSLAM3 system and evaluate two sets of sequences from the TUM datasets. The results show that our proposed method has a more accurate initial pose estimation, resulting in an improvement of 6.61% and 6.46% in the accuracy of the ORBSLAM3 system on the two test sequences, respectively.

Keywords: Error estimation, constant acceleration motion model, pose estimation, visual SLAM.

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Authors: Min Kook Choi, Hyun Gyu Lee, Ryan You, Byeong-Seok Shin, Sang-Chul Lee

Abstract:

Wireless capsule Endoscopy (WCE) has rapidly shown its wide applications in medical domain last ten years thanks to its noninvasiveness for patients and support for thorough inspection through a patient-s entire digestive system including small intestine. However, one of the main barriers to efficient clinical inspection procedure is that it requires large amount of effort for clinicians to inspect huge data collected during the examination, i.e., over 55,000 frames in video. In this paper, we propose a method to compute meaningful motion changes of WCE by analyzing the obtained video frames based on regional optical flow estimations. The computed motion vectors are used to remove duplicate video frames caused by WCE-s imaging nature, such as repetitive forward-backward motions from peristaltic movements. The motion vectors are derived by calculating directional component vectors in four local regions. Our experiments are performed on small intestine area, which is of main interest to clinical experts when using WCEs, and our experimental results show significant frame reductions comparing with a simple frame-to-frame similarity-based image reduction method.

Keywords: Wireless capsule endoscopy, optical flow, duplicated image, duplicated frame.

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Authors: Konstantinos G. Kostinakis, Asimina M. Athanatopoulou

Abstract:

A key issue in seismic risk analysis within the context of Performance-Based Earthquake Engineering is the evaluation of the expected seismic damage of structures under a specific earthquake ground motion. The assessment of the seismic performance strongly depends on the choice of the seismic Intensity Measure (IM), which quantifies the characteristics of a ground motion that are important to the nonlinear structural response. Several conventional IMs of ground motion have been used to estimate their damage potential to structures. Yet, none of them has been proved to be able to predict adequately the seismic damage. Therefore, alternative, scalar intensity measures, which take into account not only ground motion characteristics but also structural information have been proposed. Some of these IMs are based on integration of spectral values over a range of periods, in an attempt to account for the information that the shape of the acceleration, velocity or displacement spectrum provides. The adequacy of a number of these IMs in predicting the structural damage of 3D R/C buildings is investigated in the present paper. The investigated IMs, some of which are structure specific and some are non structure-specific, are defined via integration of spectral values. To achieve this purpose three symmetric in plan R/C buildings are studied. The buildings are subjected to 59 bidirectional earthquake ground motions. The two horizontal accelerograms of each ground motion are applied along the structural axes. The response is determined by nonlinear time history analysis. The structural damage is expressed in terms of the maximum interstory drift as well as the overall structural damage index. The values of the aforementioned seismic damage measures are correlated with seven scalar ground motion IMs. The comparative assessment of the results revealed that the structure-specific IMs present higher correlation with the seismic damage of the three buildings. However, the adequacy of the IMs for estimation of the structural damage depends on the response parameter adopted. Furthermore, it was confirmed that the widely used spectral acceleration at the fundamental period of the structure is a good indicator of the expected earthquake damage level.

Keywords: Damage measures, Bidirectional excitation, Spectral based IMs, R/C buildings.

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Authors: S. M. H. Karimian, F. S. Salehi, H. Alisadeghi

Abstract:

A two-dimensional moving mesh algorithm is developed to simulate the general motion of two rotating bodies with relative translational motion. The grid includes a background grid and two sets of grids around the moving bodies. With this grid arrangement rotational and translational motions of two bodies are handled separately, with no complications. Inter-grid boundaries are determined based on their distances from two bodies. In this method, the overset concept is applied to hybrid grid, and flow variables are interpolated using a simple stencil. To evaluate this moving mesh algorithm unsteady Euler flow is solved for different cases using dual-time method of Jameson. Numerical results show excellent agreement with experimental data and other numerical results. To demonstrate the capability of present algorithm for accurate solution of flow fields around moving bodies, some benchmark problems have been defined in this paper.

Keywords: Moving mesh, Overset grid, Unsteady Euler, Relative motion.

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Authors: Diego Abbo

Abstract:

On February 15, 2012 off the Indian coast of Kerala, in position 091702N-0760180E by the oil tanker Enrica Lexie, flying the Italian flag, bursts of 5.56 x45 caliber shots were fired from assault rifles AR/70 Italian-made Beretta towards the Indian fisher boat St. Anthony. The shots that hit the St. Anthony fishing boat were six, of which two killed the Indian fishermen Ajesh Pink and Valentine Jelestine. From the analysis concerning the kinematic engagement of the two ships and from the autopsy and ballistic results of the Indian judicial authorities it is possible to reconstruct the trajectories of the six aforementioned shots. This essay reconstructs the trajectories of the six shots that cannot be of direct shooting but have undergone a rebound on the water. The investigation carried out scientifically demonstrates the rebound of the blows on the water, the gyrostatic deviation due to the rebound and the tumbling effect always due to the rebound as regards intermediate ballistics. In consideration of the four shots that directly impacted the fishing vessel, the current examination proves, with scientific value, that the trajectories could not be downwards but upwards. Also, the trajectory of two shots that hit to death the two fishermen could not be downwards but only upwards. In fact, this paper demonstrates, with scientific value: The loss of speed of the projectiles due to the rebound on the water; The tumbling effect in the ballistic medium within the two victims; The permanent cavities subject to the injury ballistics and the related ballistic trauma that prevented homeostasis causing bleeding in one case; The thermo-hardening deformation of the bullet found in Valentine Jelestine's skull; The upward and non-downward trajectories. The paper constitutes a tool in forensic ballistics in that it manages to reconstruct, from the final spot of the projectiles fired, all phases of ballistics like the internal one of the weapons that fired, the intermediate one, the terminal one and the penetrative structural one. In general terms the ballistics reconstruction is based on measurable parameters whose entity is contained with certainty within a lower and upper limit. Therefore, quantities that refer to angles, speed, impact energy and firing position of the shooter can be identified within the aforementioned limits. Finally, the investigation into the internal bullet track, obtained from any autopsy examination, offers a significant “lesson learned” but overall a starting point to contain or mitigate bleeding as a rescue from future gunshot wounds.

Keywords: Impact physics, intermediate ballistics, terminal ballistics, tumbling effect.

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Authors: Nicoletta Adamo-Villani

Abstract:

In this paper we report a study aimed at determining the most effective animation technique for representing ASL (American Sign Language) finger-spelling. Specifically, in the study we compare two commonly used 3D computer animation methods (keyframe animation and motion capture) in order to ascertain which technique produces the most 'accurate', 'readable', and 'close to actual signing' (i.e. realistic) rendering of ASL finger-spelling. To accomplish this goal we have developed 20 animated clips of fingerspelled words and we have designed an experiment consisting of a web survey with rating questions. 71 subjects ages 19-45 participated in the study. Results showed that recognition of the words was correlated with the method used to animate the signs. In particular, keyframe technique produced the most accurate representation of the signs (i.e., participants were more likely to identify the words correctly in keyframed sequences rather than in motion captured ones). Further, findings showed that the animation method had an effect on the reported scores for readability and closeness to actual signing; the estimated marginal mean readability and closeness was greater for keyframed signs than for motion captured signs. To our knowledge, this is the first study aimed at measuring and comparing accuracy, readability and realism of ASL animations produced with different techniques.

Keywords: 3D Animation, American Sign Language, DeafEducation, Motion Capture.

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Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj

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In this paper, we propose a solution to the motion planning and control problem for a swarm of three-dimensional boids. The swarm exhibit collective emergent behaviors within the vicinity of the workspace. The capability of biological systems to autonomously maneuver, track and pursue evasive targets in a cluttered environment is vastly superior to any engineered system. It is considered an emergent behavior arising from simple rules that are followed by individuals and may not involve any central coordination. A generalized, yet scalable algorithm for attraction to the centroid and inter-individual swarm avoidance is proposed. We present a set of new continuous time-invariant velocity control laws, formulated via the Lyapunov-based control scheme for target attraction and collision avoidance. The controllers provide a collision-free trajectory. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the control laws is demonstrated via computer simulations.

Keywords: Swarm, Practical stability, Motion planning.

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Authors: G. V. Novikov, V. S. Sivozhelezov, S. S. Kolesnikov, K. V. Shaitan

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The study reports about the influence of binding of orthosteric ligands as well as point mutations on the conformational dynamics of β-2-adrenoreceptor. Using molecular dynamics simulation we found that there was a little fraction of active states of the receptor in its apo (ligand free) ensemble corresponded to its constitutive activity. Analysis of MD trajectories indicated that such spontaneous activation of the receptor is accompanied by the motion in intracellular part of its alpha-helices. Thus receptor’s constitutive activity directly results from its conformational dynamics. On the other hand the binding of a full agonist resulted in a significant shift of the initial equilibrium towards its active state. Finally, the binding of the inverse agonist stabilized the receptor in its inactive state. It is likely that the binding of inverse agonists might be a universal way of constitutive activity inhibition in vivo. Our results indicate that ligand binding redistribute pre-existing conformational degrees of freedom (in accordance to the Monod-Wyman-Changeux-Model) of the receptor rather than cause induced fit in it. Therefore, the ensemble of biologically relevant receptor conformations is encoded in its spatial structure, and individual conformations from that ensemble might be used by the cell in conformity with the physiological behavior.

Keywords: Seven-transmembrane receptors, constitutive activity, activation, x-ray crystallography, principal component analysis, molecular dynamics simulation.

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Authors: Aree A. Mohammed

Abstract:

In this work we develop an object extraction method and propose efficient algorithms for object motion characterization. The set of proposed tools serves as a basis for development of objectbased functionalities for manipulation of video content. The estimators by different algorithms are compared in terms of quality and performance and tested on real video sequences. The proposed method will be useful for the latest standards of encoding and description of multimedia content – MPEG4 and MPEG7.

Keywords: Object extraction, Video indexing, Segmentation, Optical flow, Motion estimators.

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Authors: M. M. Abutaleb, A. Hamdy, M. E. Abuelwafa, E. M. Saad

Abstract:

Optical flow is a research topic of interest for many years. It has, until recently, been largely inapplicable to real-time applications due to its computationally expensive nature. This paper presents a new reliable flow technique which is combined with a motion detection algorithm, from stationary camera image streams, to allow flow-based analyses of moving entities, such as rigidity, in real-time. The combination of the optical flow analysis with motion detection technique greatly reduces the expensive computation of flow vectors as compared with standard approaches, rendering the method to be applicable in real-time implementation. This paper describes also the hardware implementation of a proposed pipelined system to estimate the flow vectors from image sequences in real time. This design can process 768 x 576 images at a very high frame rate that reaches to 156 fps in a single low cost FPGA chip, which is adequate for most real-time vision applications.

Keywords: Optical flow, motion detection, real-time systems, FPGA.

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Authors: M. A. Hasan, M. R. Islam, R. A. Tarefder

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Currently, there are few user friendly Weigh-in- Motion (WIM) data analysis softwares available which can produce traffic input data for the recently developed AASHTOWare pavement Mechanistic-Empirical (ME) design software. However, these softwares have only rudimentary Quality Control (QC) processes. Therefore, they cannot properly deal with erroneous WIM data. As the pavement performance is highly sensible to the quality of WIM data, it is highly recommended to use more refined QC process on raw WIM data to get a good result. This study develops a userfriendly software, which can produce traffic input for the ME design software. This software takes the raw data (Class and Weight data) collected from the WIM station and processes it with a sophisticated QC procedure. Traffic data such as traffic volume, traffic distribution, axle load spectra, etc. can be obtained from this software; which can directly be used in the ME design software.

Keywords: Weigh-in-motion, software, axle load spectra, traffic distribution, AASHTOWare.

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Authors: Atilla Bayram

Abstract:

This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Also, the manipulator contains a twist motion part attached to the top of the second VGT module to supply the missing orientation of the endeffector. These three modules constitute totally 7-DOF hybrid (parallel-parallel) redundant spatial manipulator. The forward kinematics equations of this manipulator are obtained, then, according to these equations, the inverse kinematics is solved based on an optimization with the joint limit avoidance. The dynamic equations are formed by using virtual work method. In order to test the performance of the redundant manipulator and the controllers presented, two different desired trajectories are followed by using the computed force control method and a switching control method. The switching control method is combined with the computed force control method and genetic algorithm. In the switching control method, the genetic algorithm is only used for fine tuning in the compensation of the trajectory tracking errors.

Keywords: Computed force control method, genetic algorithm, hybrid manipulator, inverse kinematics of redundant manipulators, variable geometry truss.

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Authors: Cheuk Wing Lee, Kit Lun Yick, Sun Pui Ng, Joanne Yip

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Daily activities and exercise may result in large displacements of the breasts, which lead to breast pain and discomfort. Therefore, a proper bra design and fit can help to control excessive breast motion to prevent the over-stretching of the connective tissues. Nevertheless, bra fit problems, such as excessively high tension of the shoulder straps and a tight underband could have substantially negative effects on the wear comfort and health of the wearer. The purpose of this study is to, therefore, examine the effects of bra band tension on breast displacement. Usually, human wear trials are carried out, but there are inconsistencies during testing. Therefore, a soft manikin torso is used to examine breast displacement at walking speeds of 2.30 km/h and 4.08 km/h. The breast displacement itself is determined by using a VICON motion capture system. The 3D geometric changes of the underwire bra band tension and the corresponding control of breast movement are also analyzed by using a 3D handheld scanner along with Rapidform software. The results indicate that an appropriate bra band tension can help to reduce breast displacement and provide a comfortable angle for the underwire. The findings can be used by designers and bra engineers as a reference source to advance bra design and development.

Keywords: Bra band, bra features, breast displacement, underwire angle.

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Authors: Shiuh-Jer Huang, Su-Shean Chen, Sheam-Chyun Lin

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Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.

Keywords: Balance control, speed control, intelligent controller and two wheel inverted pendulum.

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Authors: Maurizio Dapor, Isabel Abril, Pablo de Vera, Rafael Garcia-Molina

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The ionization yield of ion tracks in polymers and bio-molecular systems reaches a maximum, known as the Bragg peak, close to the end of the ion trajectories. Along the path of the ions through the materials, many electrons are generated, which produce a cascade of further ionizations and, consequently, a shower of secondary electrons. Among these, very low energy secondary electrons can produce damage in the biomolecules by dissociative electron attachment. This work deals with the calculation of the energy distribution of electrons produced by protons in a sample of polymethylmethacrylate (PMMA), a material that is used as a phantom for living tissues in hadron therapy. PMMA is also of relevance for microelectronics in CMOS technologies and as a photoresist mask in electron beam lithography. We present a Monte Carlo code that, starting from a realistic description of the energy distribution of the electrons ejected by protons moving through PMMA, simulates the entire cascade of generated secondary electrons. By following in detail the motion of all these electrons, we find the radial distribution of the energy that they deposit in PMMA for several initial proton energies characteristic of the Bragg peak.

Keywords: Monte Carlo method, secondary electrons, energetic ions, ion-beam cancer therapy, ionization cross section, polymethylmethacrylate, proton beams, secondary electrons, radial energy distribution.

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Authors: A. Elsayed Ahmed, A. Hafez, A. N. Ouda, H. Eldin Hussein Ahmed, H. Mohamed Abd-Elkader

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Unmanned aircraft systems (UAS) are playing increasingly prominent roles in defense programs and defense strategies around the world. Technology advancements have enabled the development of it to do many excellent jobs as reconnaissance, surveillance, battle fighters, and communications relays. Simulating a small unmanned aerial vehicle (SUAV) dynamics and analyzing its behavior at the preflight stage is too important and more efficient. The first step in the UAV design is the mathematical modeling of the nonlinear equations of motion. . In this paper, a survey with a standard method to obtain the full non-linear equations of motion is utilized, and then the linearization of the equations according to a steady state flight condition (trimming) is derived. This modeling technique is applied to an Ultrastick-25e fixed wing UAV to obtain the valued linear longitudinal and lateral models. At the end the model is checked by matching between the behavior of the states of the nonlinear UAV and the resulted linear model with doublet at the control surfaces.

Keywords: Equations of motion, linearization, modeling, nonlinear model, UAV.

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Authors: Barenten Suciu, Ryoichi Kinoshita

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In this paper, an experimental and theoretical study on the bogie pseudo-hunting motion of a reduced-scale model railway vehicle, running on double-curved rails, is presented. Since the actual bogie hunting motion, occurring for real railway vehicles running on straight rails at high travelling speeds, cannot be obtained in laboratory conditions, due to the speed and wavelength limitations, a pseudo- hunting motion was induced by employing double-curved rails. Firstly, the test rig and the experimental procedure are described. Then, a geometrical model of the double-curved rails is presented. Based on such model, the variation of the carriage rotation angle relative to the bogies and the working conditions of the yaw damper are clarified. Vibration spectra recorded during vehicle travelling, on straight and double-curved rails, are presented and interpreted based on a simple vibration model of the railway vehicle. Ride comfort of the vehicle is evaluated according to the ISO 2631 standard, and also by using some particular frequency weightings, which account for the discomfort perceived during the reading and writing activities. Results obtained in this work are useful for the adequate design of the yaw dampers, which are used to attenuate the lateral vibration of the train car bodies.

Keywords: Double-curved rail, octave analysis, lateral vibration, ride comfort, yaw damper, railway vehicle.

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Authors: Hasan Hassoun, Jaafar Hallal, Denis Duhamel, Mohammad Hammoud, Ali Hage Diab

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This paper aims to prove the accuracy of an inexpensive smartphone camera as a non-contact vibration sensor to recover the vibration modes of a vibrating structure such as a cantilever beam. A video of a vibrating beam is filmed using a smartphone camera and then processed by the motion magnification technique. Based on this method, the first two natural frequencies and their associated mode shapes are estimated experimentally and compared to the analytical ones. Results show a relative error of less than 4% between the experimental and analytical approaches for the first two natural frequencies of the beam. Also, for the first two-mode shapes, a Modal Assurance Criterion (MAC) value of above 0.9 between the two approaches is obtained. This slight error between the different techniques ensures the viability of a cheap smartphone camera as a non-contact vibration sensor, particularly for structures vibrating at relatively low natural frequencies.

Keywords: Modal Analysis, motion magnification, smartphone camera, structural vibration, vibration modes.

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Authors: Ran Bernstein, Tal Shafir, Rachelle Tsachor, Karen Studd, Assaf Schuster

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Laban Movement Analysis (LMA), developed in the dance community over the past seventy years, is an effective method for observing, describing, notating, and interpreting human movement to enhance communication and expression in everyday and professional life. Many applications that use motion capture data might be significantly leveraged if the Laban qualities will be recognized automatically. This paper presents an automated recognition method of Laban qualities from motion capture skeletal recordings and it is demonstrated on the output of Microsoft’s Kinect V2 sensor.

Keywords: Laban Movement Analysis, Kinect, Machine Learning.

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Authors: Jinsuk Yang, Choongjae Joo, Kyoungsu Oh

Abstract:

Existing methods in which the animation data of all frames are stored and reproduced as with vertex animation cannot be used in mobile device environments because these methods use large amounts of the memory. So 3D animation data reduction methods aimed at solving this problem have been extensively studied thus far and we propose a new method as follows. First, we find and remove frames in which motion changes are small out of all animation frames and store only the animation data of remaining frames (involving large motion changes). When playing the animation, the removed frame areas are reconstructed using the interpolation of the remaining frames. Our key contribution is to calculate the accelerations of the joints of individual frames and the standard deviations of the accelerations using the information of joint locations in the relevant 3D model in order to find and delete frames in which motion changes are small. Our methods can reduce data sizes by approximately 50% or more while providing quality which is not much lower compared to original animations. Therefore, our method is expected to be usefully used in mobile device environments or other environments in which memory sizes are limited.

Keywords: Data Reduction, Interpolation, Vertex Animation, 3D Animation.

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Authors: Wissem Saidani, Yacine Morsly, Mohand Saïd Djouadi

Abstract:

In this paper, we consider the problem of tracking multiple maneuvering targets using switching multiple target motion models. With this paper, we aim to contribute in solving the problem of model-based body motion estimation by using data coming from visual sensors. The Interacting Multiple Model (IMM) algorithm is specially designed to track accurately targets whose state and/or measurement (assumed to be linear) models changes during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. In this paper we propose to avoid the Extended Kalman filter because of its limitations and substitute it with the Unscented Kalman filter which seems to be more efficient especially according to the simulation results obtained with the nonlinear IMM algorithm (IMMUKF). To resolve the problem of data association, the JPDA approach is combined with the IMM-UKF algorithm, the derived algorithm is noted JPDA-IMM-UKF.

Keywords: Estimation, Kalman filtering, Multi-Target Tracking, Visual servoing, data association.

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Authors: V. Arabadzhi

Abstract:

We attempted investigate a boat model, based on the conversion of energy of surface wave into a sequence of unidirectional pulses of jet spurts, in other words - model of the boat, which is thrusting by the waves field on water surface. These pulses are forming some average reactive stream from the output nozzle on the stern of boat. The suggested model provides the conversion of its oscillatory motions (both pitching and rolling) into a jet flow. This becomes possible due to special construction of the boat and due to several details, sensitive to the local wave field. The boat model presents the uniflow jet engine without slow conversions of mechanical energy into intermediate forms and without any external sources of energy (besides surface waves). Motion of boat is characterized by fast jerks and average onward velocity, which exceeds the velocities of liquid particles in the wave.

Keywords: Flat-bottomed boat, Underwater wing, Input and output nozzles, Wave thrust, Conversion of wave into a jet stream, Oscillatory motion and onward motion, Squid-like pump, Hatch-like pump, The thrust due to lifting float, The thrust due to radiation reaction.

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