Search results for: Brownian motion and thermophoresis

Authors: A. Abbasi Moshaii, F. Najafi

Abstract:

In this paper a new model for center of motion creating is proposed. This new method uses cables. So, it is very useful in robots because it is light and has easy assembling process. In the robots which need to be in touch with some things this method is so useful. It will be described in the following. The accuracy of the idea is proved by two experiments. This system could be used in the robots which need a fixed point in the contact with some things and make a circular motion.

Keywords: Center of Motion, Robotic cables, permanent touching.

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Authors: Giovanni Incerti

Abstract:

The paper presents a method for a simple and immediate motion planning of a SCARA robot, whose end-effector has to move along a given trajectory; the calculation procedure requires the user to define in analytical form or by points the trajectory to be followed and to assign the curvilinear abscissa as function of the time. On the basis of the geometrical characteristics of the robot, a specifically developed program determines the motion laws of the actuators that enable the robot to generate the required movement; this software can be used in all industrial applications for which a SCARA robot has to be frequently reprogrammed, in order to generate various types of trajectories with different motion times.

Keywords: Motion planning, SCARA robot, trajectory tracking.

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Authors: Insaf Ajili, Malik Mallem, Jean-Yves Didier

Abstract:

Motion recognition from videos is actually a very complex task due to the high variability of motions. This paper describes the challenges of human motion recognition, especially motion representation step with relevant features. Our descriptor vector is inspired from Laban Movement Analysis method. We propose discriminative features using the Random Forest algorithm in order to remove redundant features and make learning algorithms operate faster and more effectively. We validate our method on MSRC-12 and UTKinect datasets.

Keywords: Human motion recognition, Discriminative LMA features, random forest, features reduction.

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Authors: Alpha Agape Gopalai, S. M. N. Arosha Senanayake

Abstract:

This paper explores the opportunity of using tri-axial wireless accelerometers for supervised monitoring of sports movements. A motion analysis system for the upper extremities of lawn bowlers in particular is developed. Accelerometers are placed on parts of human body such as the chest to represent the shoulder movements, the back to capture the trunk motion, back of the hand, the wrist and one above the elbow, to capture arm movements. These sensors placement are carefully designed in order to avoid restricting bowler-s movements. Data is acquired from these sensors in soft-real time using virtual instrumentation; the acquired data is then conditioned and converted into required parameters for motion regeneration. A user interface was also created to facilitate in the acquisition of data, and broadcasting of commands to the wireless accelerometers. All motion regeneration in this paper deals with the motion of the human body segment in the X and Y direction, looking into the motion of the anterior/ posterior and lateral directions respectively.

Keywords: Motion Regeneration, Virtual Instrumentation, Wireless Accelerometers.

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Authors: S. Seyedtabaii, L. Seyedtabaii

Abstract:

Artifact free photoplethysmographic (PPG) signals are necessary for non-invasive estimation of oxygen saturation (SpO2) in arterial blood. Movement of a patient corrupts the PPGs with motion artifacts, resulting in large errors in the computation of Sp02. This paper presents a study on using Kalman Filter in an innovative way by modeling both the Artillery Blood Pressure (ABP) and the unwanted signal, additive motion artifact, to reduce motion artifacts from corrupted PPG signals. Simulation results show acceptable performance regarding LMS and variable step LMS, thus establishing the efficacy of the proposed method.

Keywords: Kalman filter, Motion artifact, PPG, Photoplethysmography.

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Authors: Dong-Hyung Kim, Ji Yeong Lee, Chang-Soo Han

Abstract:

This paper presents a sensor-based motion planning algorithm for 3-DOF car-like robots with a nonholonomic constraint. Similar to the classic Bug family algorithms, the proposed algorithm enables the car-like robot to navigate in a completely unknown environment using only the range sensor information. The car-like robot uses the local range sensor view to determine the local path so that it moves towards the goal. To guarantee that the robot can approach the goal, the two modes of motion are repeated, termed motion-to-goal and wall-following. The motion-to-goal behavior lets the robot directly move toward the goal, and the wall-following behavior makes the robot circumnavigate the obstacle boundary until it meets the leaving condition. For each behavior, the nonholonomic motion for the car-like robot is planned in terms of the instantaneous turning radius. The proposed algorithm is implemented to the real robot and the experimental results show the performance of proposed algorithm.

Keywords: Motion planning, car-like robot, bug algorithm, autonomous motion planning, nonholonomic constraint.

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Authors: Barış Can Yalçın

Abstract:

Motion sensors have been commonly used as a valuable component in mechatronic systems, however, many mechatronic designs and applications that need motion sensors cost enormous amount of money, especially high-tech systems. Design of a software for communication protocol between data acquisition card and motion sensor is another issue that has to be solved. This study presents how to design a low cost motion data acquisition setup consisting of MPU 6050 motion sensor (gyro and accelerometer in 3 axes) and Arduino Mega2560 microcontroller. Design parameters are calibration of the sensor, identification and communication between sensor and data acquisition card, interpretation of data collected by the sensor.

Keywords: Calibration of sensors, data acquisition.

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Authors: Alpha Agape Gopalai, Darwin Gouwanda, S.M.N. Arosha Senanayake

Abstract:

This paper explores the opportunity of using tri-axial wireless accelerometers for supervised monitoring of sports movements. A motion analysis system for the upper extremities of lawn bowlers in particular is developed. Accelerometers are placed on parts of human body such as the chest to represent the shoulder movements, the back to capture the trunk motion, back of the hand, the wrist and one above the elbow, to capture arm movements. These sensors placement are carefully designed in order to avoid restricting bowler-s movements. Data is acquired from these sensors in soft-real time using virtual instrumentation; the acquired data is then conditioned and converted into required parameters for motion regeneration. A user interface was also created to facilitate in the acquisition of data, and broadcasting of commands to the wireless accelerometers. All motion regeneration in this paper deals with the motion of the human body segment in the X and Y direction, looking into the motion of the anterior/ posterior and lateral directions respectively.

Keywords: Motion Regeneration, Virtual Instrumentation, Wireless Accelerometers

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Authors: Xia Zhou, Shouming Zhong

Abstract:

The problem of delay-range-dependent exponential synchronization is investigated for Lur-e master-slave systems with delay feedback control and Markovian switching. Using Lyapunov- Krasovskii functional and nonsingular M-matrix method, novel delayrange- dependent exponential synchronization in mean square criterions are established. The systems discussed in this paper is advanced system, and takes all the features of interval systems, Itˆo equations, Markovian switching, time-varying delay, as well as the environmental noise, into account. Finally, an example is given to show the validity of the main result.

Keywords: Synchronization, delay-range-dependent, Markov chain, generalized Itō's formula, brownian motion, M-matrix.

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Authors: R. Amornmaneekul, S. Chadsuthi, D. Triampo, W. Triampo

Abstract:

We apply a particle tracking technique to track the motion of individual pathogenic Leptospira. We observe and capture images of motile Leptospira by means of CCD and darkfield microscope. Image processing, statistical theories and simulations are used for data analysis. Based on trajectory patterns, mean square displacement, and power spectral density characteristics, we found that the motion modes are most likely to be directed motion mode (70%) and the rest are either normal diffusion or unidentified mode. Our findings may support the fact that why leptospires are very well efficient toward targeting internal tissues as a result of increase in virulence factor.

Keywords: Leptospirosis, spirochetes, patterns, motion.

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Authors: S. Etaig, R. Hasan, N. Perera

Abstract:

This paper analyses the heat transfer performance and fluid flow using different nanofluids in a square enclosure. The energy equation and Navier-Stokes equation are solved numerically using finite volume scheme. The effect of volume fraction concentration on the enhancement of heat transfer has been studied icorporating the Brownian motion; the influence of effective thermal conductivity on the enhancement was also investigated for a range of volume fraction concentration. The velocity profile for different Rayleigh number. Water-Cu, water AL2O3 and water-TiO2 were tested.

Keywords: Computational fluid Dynamics, Natural convection, Nanofluid and Thermal conductivity.

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Authors: Giovanni Incerti

Abstract:

The motion planning procedure described in this paper has been developed in order to eliminate or reduce the residual vibrations of electromechanical positioning systems, without augmenting the motion time (usually imposed by production requirements), nor introducing overtime for vibration damping. The proposed technique is based on a suitable choice of the motion law assigned to the servomotor that drives the mechanism. The reference profile is defined by a Bezier curve, whose shape can be easily changed by modifying some numerical parameters. By means of an optimization technique these parameters can be modified without altering the continuity conditions imposed on the displacement and on its time derivatives at the initial and final time instants.

Keywords: Servomechanism, residual vibrations, motion optimization.

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Authors: Mohammad Saleh Vahdatpour, Yanqing Zhang

Abstract:

Understanding the neural mechanisms underlying motion detection in the human visual system has long been a fascinating challenge in neuroscience and artificial intelligence. This paper presents a spiking neural network model inspired by the processing of motion information in the primate visual system, particularly focusing on the Middle Temporal (MT) area. In our study, we propose a multi-layer spiking neural network model to perform motion detection tasks, leveraging the idea that synaptic delays in neuronal communication are pivotal in motion perception. Synaptic delay, determined by factors like axon length and myelin insulation, affects the temporal order of input spikes, thereby encoding motion direction and speed. Overall, our spiking neural network model demonstrates the feasibility of capturing motion detection principles observed in the primate visual system. The combination of synaptic delays, learning mechanisms, and shared weights and delays in SMD provides a promising framework for motion perception in artificial systems, with potential applications in computer vision and robotics.

Keywords: Neural networks, motion detection, signature detection, convolutional neural network.

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Authors: K. Abbaspoursani, M. Allahyari, M. Rahmani

Abstract:

Thermal conductivity is an important characteristic of a nanofluid in laminar flow heat transfer. This paper presents an improved model for the prediction of the effective thermal conductivity of nanofluids based on dimensionless groups. The model expresses the thermal conductivity of a nanofluid as a function of the thermal conductivity of the solid and liquid, their volume fractions and particle size. The proposed model includes a parameter which accounts for the interfacial shell, brownian motion, and aggregation of particle. The validation of the model is verified by applying the results obtained by the experiments of Tio2-water and Al2o3-water nanofluids.

Keywords: Critical particle size, nanofluid, model, and thermal conductivity.

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Authors: Jer-Rong Chang

Abstract:

The flexible follower response of a translating cam with four different profiles for rise-dwell-fall-dwell (RDFD) motion is investigated. The cycloidal displacement motion, the modified sinusoidal acceleration motion, the modified trapezoidal acceleration motion, and the 3-4-5 polynomial motion are employed to describe the rise and the fall motions of the follower and the associated four kinds of cam profiles are studied. Since the follower flexibility is considered, the contact point of the roller and the cam is an unknown. Two geometric constraints formulated to restrain the unknown position are substituted into Hamilton-s principle with Lagrange multipliers. Applying the assumed mode method, one can obtain the governing equations of motion as non-linear differential-algebraic equations. The equations are solved using Runge-Kutta method. Then, the responses of the flexible follower undergoing the four different motions are investigated in time domain and in frequency domain.

Keywords: translating cam, flexible follower, rise-dwell-falldwell, response

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Authors: Najm Alotaibi

Abstract:

Human motion capture has become one of the major area of interest in the field of computer vision. Some of the major application areas that have been rapidly evolving include the advanced human interfaces, virtual reality and security/surveillance systems. This study provides a brief overview of the techniques and applications used for the markerless human motion capture, which deals with analyzing the human motion in the form of mathematical formulations. The major contribution of this research is that it classifies the computer vision based techniques of human motion capture based on the taxonomy, and then breaks its down into four systematically different categories of tracking, initialization, pose estimation and recognition. The detailed descriptions and the relationships descriptions are given for the techniques of tracking and pose estimation. The subcategories of each process are further described. Various hypotheses have been used by the researchers in this domain are surveyed and the evolution of these techniques have been explained. It has been concluded in the survey that most researchers have focused on using the mathematical body models for the markerless motion capture.

Keywords: Human Motion Capture, Computer Vision, Vision based, Tracking.

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Authors: P. Latha, L. Ganesan, N. Ramaraj, P. V. Hari Venkatesh

Abstract:

Motion detection is a basic operation in the selection of significant segments of the video signals. For an effective Human Computer Intelligent Interaction, the computer needs to recognize the motion and track the moving object. Here an efficient neural network system is proposed for motion detection from the static background. This method mainly consists of four parts like Frame Separation, Rough Motion Detection, Network Formation and Training, Object Tracking. This paper can be used to verify real time detections in such a way that it can be used in defense applications, bio-medical applications and robotics. This can also be used for obtaining detection information related to the size, location and direction of motion of moving objects for assessment purposes. The time taken for video tracking by this Neural Network is only few seconds.

Keywords: Frame separation, Correlation Network, Neural network training, Radial Basis Function, object tracking, Motion Detection.

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Authors: Seongsoo Lee

Abstract:

Motion estimation occupies the heaviest computation in HEVC (high efficiency video coding). Many fast algorithms such as TZS (test zone search) have been proposed to reduce the computation. Still the huge computation of the motion estimation is a critical issue in the implementation of HEVC video codec. In this paper, motion estimator architecture with optimized number of PEs (processing element) is presented by exploiting early termination. It also reduces hardware size by exploiting parallel processing. The presented motion estimator architecture has 8 PEs, and it can efficiently perform TZS with very high utilization of PEs.

Keywords: Motion estimation, test zone search, high efficiency video coding, processing element, optimization.

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Authors: Yasuhisa Tamura, Koji Yamaoka, Masataka Uehara, Takeshi Shima

Abstract:

This paper proposes a three-dimensional motion capture and feedback system of flying disc throwing action learners with use of Kinect device. Rather than conventional 3-D motion capture system, Kinect has advantages of cost merit, easy system development and operation. A novice learner of flying disc is trained to keep arm movement in steady height, to twist the waist, and to stretch the elbow according to the waist angle. The proposing system captures learners- body movement, checks their skeleton positions in pre-motion / motion / post-motion in several ways, and displays feedback messages to refine their actions.

Keywords: Flying disc, throwing movement, Kinect, capture, feedback

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Authors: Giovanni Incerti

Abstract:

The motion planning technique described in this paper has been developed to eliminate or reduce the residual vibrations of belt-driven rotary platforms, while maintaining unchanged the motion time and the total angular displacement of the platform. The proposed approach is based on a suitable choice of the motion command given to the servomotor that drives the mechanical device; this command is defined by some numerical coefficients which determine the shape of the displacement, velocity and acceleration profiles. Using a numerical optimization technique, these coefficients can be changed without altering the continuity conditions imposed on the displacement and its time derivatives at the initial and final time instants. The proposed technique can be easily and quickly implemented on an actual device, since it requires only a simple modification of the motion command profile mapped in the memory of the electronic motion controller.

Keywords: Command shaping, residual vibrations, belt transmission, servomechanism.

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Authors: Zhenyu Zhang, Qingbin Gao

Abstract:

Low-resolution digital encoder (LRDE) is commonly adopted as a position sensor in low-cost and resource-constraint applications. Traditionally, a digital encoder is modeled as a quantizer without considering the initial position of the LRDE. However, it cannot be applied to extreme LRDE for which stroke of angular motion is only a few times of resolution of the encoder. Besides, the actual angular motion is substantially distorted by this extreme LRDE so that the encoder reading does not faithfully represent the actual angular motion. This paper presents a modeling method for extreme LRDE by taking into account the initial position of the LRDE. For a control system with sinusoidal reference signal and extreme LRDE, this paper analyzes the characteristics of angular motion. Specifically, two descriptors of sinusoidal angular motion are studied, which essentially sheds light on the actual angular motion from extreme LRDE.

Keywords: Low resolution digital encoder, resource-constraint control system, sinusoidal reference signal, servo motion control.

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Authors: V. Sacca, A. Sarica, F. Novellino, S. Barone, T. Tallarico, E. Filippelli, A. Granata, P. Valentino, A. Quattrone

Abstract:

In the last few years, resting-state functional MRI (rs-fMRI) was widely used to investigate the architecture of brain networks by investigating the Blood Oxygenation Level Dependent response. This technique represented an interesting, robust and reliable approach to compare pathologic and healthy subjects in order to investigate neurodegenerative diseases evolution. On the other hand, the elaboration of rs-fMRI data resulted to be very prone to noise due to confounding factors especially the head motion. Head motion has long been known to be a source of artefacts in task-based functional MRI studies, but it has become a particularly challenging problem in recent studies using rs-fMRI. The aim of this work was to evaluate in MS patients a well-known motion correction algorithm from the FMRIB's Software Library - MCFLIRT - that could be applied to minimize the head motion distortions, allowing to correctly interpret rs-fMRI results.

Keywords: Head motion correction, MCFLIRT algorithm, multiple sclerosis, resting state fMRI.

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Authors: Kahraman Ayyildiz, Stefan Conrad

Abstract:

In this paper we illuminate a frequency domain based classification method for video scenes. Videos from certain topical areas often contain activities with repeating movements. Sports videos, home improvement videos, or videos showing mechanical motion are some example areas. Assessing main and side frequencies of each repeating movement gives rise to the motion type. We obtain the frequency domain by transforming spatio-temporal motion trajectories. Further on we explain how to compute frequency features for video clips and how to use them for classifying. The focus of the experimental phase is on transforms utilized for our system. By comparing various transforms, experiments show the optimal transform for a motion frequency based approach.

Keywords: action recognition, frequency, transform, motion recognition, repeating movement, video classification

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Authors: Kahraman Ayyildiz, Stefan Conrad

Abstract:

In this paper we present a system for classifying videos by frequency spectra. Many videos contain activities with repeating movements. Sports videos, home improvement videos, or videos showing mechanical motion are some example areas. Motion of these areas usually repeats with a certain main frequency and several side frequencies. Transforming repeating motion to its frequency domain via FFT reveals these frequencies. Average amplitudes of frequency intervals can be seen as features of cyclic motion. Hence determining these features can help to classify videos with repeating movements. In this paper we explain how to compute frequency spectra for video clips and how to use them for classifying. Our approach utilizes series of image moments as a function. This function again is transformed into its frequency domain.

Keywords: action recognition, frequency feature, motion recognition, repeating movement, video classification

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Authors: XueSong Yu, JiaFeng Liu, XiangLong Tang, JianHua Huang

Abstract:

For improving the efficiency of human 3D tracking, we present an algorithm to track 3D Arm Motion. First, the Hierarchy Limb Model (HLM) is proposed based on the human 3D skeleton model. Second, via graph decomposition, the arm motion state space, modeled by HLM, can be discomposed into two low dimension subspaces: root nodes and leaf nodes. Finally, Rao-Blackwellised Particle Filter is used to estimate the 3D arm motion. The result of experiment shows that our algorithm can advance the computation efficiency.

Keywords: Hierarchy Limb Model; Rao-Blackwellised Particle Filter; 3D tracking

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Authors: P.Saravanan, Narayanan .C.K., P.V.S.S Prakash, Prabhakara Rao .G.V

Abstract:

Video Mosaicing is the stitching of selected frames of a video by estimating the camera motion between the frames and thereby registering successive frames of the video to arrive at the mosaic. Different techniques have been proposed in the literature for video mosaicing. Despite of the large number of papers dealing with techniques to generate mosaic, only a few authors have investigated conditions under which these techniques generate good estimate of motion parameters. In this paper, these techniques are studied under different videos, and the reasons for failures are found. We propose algorithms with incorporation of outlier removal algorithms for better estimation of motion parameters.

Keywords: Motion parameters, Outlier removal algorithms, Registering , and Video Mosaicing.

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Authors: Gopu Sreenivasulu, Bimlesh Kumar, Achanta Ramakrishna Rao

Abstract:

To define or predict incipient motion in an alluvial channel, most of the investigators use a standard or modified form of Shields- diagram. Shields- diagram does give a process to determine the incipient motion parameters but an iterative one. To design properly (without iteration), one should have another equation for resistance. Absence of a universal resistance equation also magnifies the difficulties in defining the model. Neural network technique, which is particularly useful in modeling a complex processes, is presented as a tool complimentary to modeling incipient motion. Present work develops a neural network model employing the RBF network to predict the average velocity u and water depth y based on the experimental data on incipient condition. Based on the model, design curves have been presented for the field application.

Keywords: Incipient motion, Prediction error, Radial-Basisfunction, Sediment transport, Shields' diagram.

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Authors: Seda Yavuz, Anıl Çelebi, Aysun Taşyapı Çelebi, Oğuzhan Urhan

Abstract:

Nowadays, demand for using real-time video transmission capable devices is ever-increasing. So, high resolution videos have made efficient video compression techniques an essential component for capturing and transmitting video data. Motion estimation has a critical role in encoding raw video. Hence, various motion estimation methods are introduced to efficiently compress the video. Low bit‑depth representation based motion estimation methods facilitate computation of matching criteria and thus, provide small hardware footprint. In this paper, a hardware implementation of a two-bit transformation based low-complexity motion estimation method using local binary pattern approach is proposed. Image frames are represented in two-bit depth instead of full-depth by making use of the local binary pattern as a binarization approach and the binarization part of the hardware architecture is explained in detail. Experimental results demonstrate the difference between the proposed hardware architecture and the architectures of well-known low-complexity motion estimation methods in terms of important aspects such as resource utilization, energy and power consumption.

Keywords: Binarization, hardware architecture, local binary pattern, motion estimation, two-bit transform.

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Authors: Ö. Tolga Altınöz

Abstract:

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conversion is performed by taking functions of unknown parameters and dynamics of the system. By using motion control model equations, inverted pendulum is simulated without any information about not only parameters but also measurable dynamics. Also these results are compare with the adaptive backstepping controller which extended with integral action that given from [1].

Keywords: Adaptive backstepping, inverted pendulum, nonlinear adaptive control.

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Authors: V.K.Ananthashayana, Pushpa.M.K

Abstract:

In this paper a new Joint Adaptive Block Matching Search (JABMS) algorithm is proposed to generate motion vector and search a best match macro block by classifying the motion vector movement based on prediction error. Diamond Search (DS) algorithm generates high estimation accuracy when motion vector is small and Adaptive Rood Pattern Search (ARPS) algorithm can handle large motion vector but is not very accurate. The proposed JABMS algorithm which is capable of considering both small and large motions gives improved estimation accuracy and the computational cost is reduced by 15.2 times compared with Exhaustive Search (ES) algorithm and is 1.3 times less compared with Diamond search algorithm.

Keywords: Adaptive rood pattern search, Block matching, Diamond search, Joint Adaptive search, Motion estimation.

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