Search results for: Straight legged walking

Authors: Kemalettin Erbatur, Özer Koca, Evrim Taşkıran, Metin Yılmaz, Utku Seven

Abstract:

Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots. However, the walking control for bipedal robots is a challenging task due to their complex dynamics. Stable reference generation plays a very important role in control. Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained from predefined ZMP reference trajectories by a Fourier series approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference trajectories possess pre-assigned single and double support phases, which are very useful in experimental tuning work. The ZMP based reference generation strategy is tested via threedimensional full-dynamics simulations of a 12-degrees-of-freedom biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.

Keywords: Biped robot, Linear Inverted Pendulum Model, Zero Moment Point, Fourier series approximation.

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Authors: J. Kala, V. Salajka, P. Hradil

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The main focus of this paper is on the human induced forces. Almost all existing force models for this type of load (defined either in the time or frequency domain) are developed from the assumption of perfect periodicity of the force and are based on force measurements conducted on rigid (i.e. high frequency) surfaces. To verify the different authors conclusions the vertical pressure measurements invoked during the walking was performed, using pressure gauges in various configurations. The obtained forces are analyzed using Fourier transformation. This load is often decisive in the design of footbridges. Design criteria and load models proposed by widely used standards and other researchers were introduced and a comparison was made.

Keywords: Pedestrian action, Experimental analysis, Fourier series, serviceability, cycle loading.

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Authors: Y. Lasbet, A. L. Boukhalkhal, K. Loubar

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The study of mixed convection is, usually, focused on the straight channels in which the onset of the mixed convection is well defined as function of the ratio between Grashof number and Reynolds number, Gr/Re. This is not the case for a complex channel wherein the mixed convection is not sufficiently examined in the literature. Our paper focuses on the study of the mixed convection in a complex geometry in which our main contribution reveals that the critical value of the ratio Gr/Re for the onset of the mixed convection increases highly in the type of geometry contrary to the straight channel. Furthermore, the accentuated secondary flow in this geometry prevents the thermal stratification in the flow and consequently the buoyancy driven becomes negligible. To perform these objectives, a numerical study in complex geometry for several values of the ratio Gr/Re with prescribed wall heat flux (H2), was realized by using the CFD code.

Keywords: Complex geometry, heat transfer, laminar flow, mixed convection, Nusselt number.

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Authors: Omid Heydarnia, Akbar Allahverdizadeh, Behnam Dadashzadeh, M. R. Sayyed Noorani

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Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control biped walking and running. In this paper, fuzzy partial feedback linearization is presented to overcome its drawback. Numerical simulations verify the effectiveness of the proposed method to generate stable and robust biped walking and running gaits.

Keywords: Underactuated system, biped robot, fuzzy control, partial feedback linearization.

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Authors: Zarita Zainuddin, Kumatha Thinakaran, Mohammed Shuaib

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In today-s modern world, the number of vehicles is increasing on the road. This causes more people to choose walking instead of traveling using vehicles. Thus, proper planning of pedestrians- paths is important to ensure the safety of pedestrians in a walking area. Crowd dynamics study the pedestrians- behavior and modeling pedestrians- movement to ensure safety in their walking paths. To date, many models have been designed to ease pedestrians- movement. The Social Force Model is widely used among researchers as it is simpler and provides better simulation results. We will discuss the problem regarding the ritual of circumambulating the Ka-aba (Tawaf) where the entrances to this area are usually congested which worsens during the Hajj season. We will use the computer simulation model SimWalk which is based on the Social Force Model to simulate the movement of pilgrims in the Tawaf area. We will first discuss the effect of uni and bi-directional flows at the gates. We will then restrict certain gates to the area as the entrances only and others as exits only. From the simulations, we will study the effect of the distance of other entrances from the beginning line and their effects on the duration of pilgrims circumambulate Ka-aba. We will distribute the pilgrims at the different entrances evenly so that the congestion at the entrances can be reduced. We would also discuss the various locations and designs of barriers at the exits and its effect on the time taken for the pilgrims to exit the Tawaf area.

Keywords: circumambulation, Ka'aba, pedestrian flow, SFM, Tawaf , entrance, exit

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Authors: Jehnming Lin

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In the laser cleavage of glass, the laser is mostly adopted as a heat source to generate a thermal stress state on the substrates. The crack propagation of the soda-lime glass in the laser thermal cleavage with the straight-turning paths was investigated in this study experimentally and numerically. The crack propagation was visualized by a high speed camera with the off-line examination on the micro-crack propagation. The temperature and stress distributions induced by the laser heat source were calculated by ANSYS software based on the finite element method (FEM). With the cutting paths in various turning directions, the experimental and numerical results were in comparison and verified. The fracture modes due to the normal and shear stresses were verified at the turning point of the laser cleavage path. It shows a significant variation of the stress profiles along the straight-turning paths and causes a change on the fracture modes.

Keywords: Laser cleavage, glass, fracture, stress analysis.

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Authors: Hassan M. Abo Salem, Xiaolin Huang

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Background: The effectiveness of mirror therapy (MT) has been investigated in acute hemiplegia. The present study examines whether MT, given during chronic stroke, was more effective in promoting motor recovery of the lower extremity and walking speed than standard rehabilitation alone. Methods: The study enrolled 30 patients with chronic stroke. Fifteen patients each were assigned to the treatment group and the control group. All patients received a conventional rehabilitation program for a 4-week period. In addition to this rehabilitation program, patients in the treatment group received mirror therapy for 4 weeks, 5 days a week. Main measures: Passive ankle joint dorsiflexion range of motion, gait speed, Brunnstrom stages of motor recovery, plantar flexor muscle tone by Modified Ashworth Scale. Results: No significant difference was found in the outcome measures among groups before treatment. When compared with standard rehabilitation, mirror therapy improved Ankle ROM, Brunnstrom stages and waking speed (p < 0.05). However, there were no significant differences between two groups on MAS (P > 0.05).Conclusion: Mirror therapy combined with a conventional stroke rehabilitation program enhances lowerextremity motor recovery and walking speed in chronic stroke patients.

Keywords: Mirror therapy, stroke, MAS, walking speed.

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Authors: Yue Zhao, Chao Li

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Camera calibration is an important step in 3D reconstruction. Camera calibration may be classified into two major types: traditional calibration and self-calibration. However, a calibration method in using a checkerboard is intermediate between traditional calibration and self-calibration. A self is proposed based on a square in this paper. Only a square in the planar template, the camera self-calibration can be completed through the single view. The proposed algorithm is that the virtual circle and straight line are established by a square on planar template, and circular points, vanishing points in straight lines and the relation between them are be used, in order to obtain the image of the absolute conic (IAC) and establish the camera intrinsic parameters. To make the calibration template is simpler, as compared with the Zhang Zhengyou-s method. Through real experiments and experiments, the experimental results show that this algorithm is feasible and available, and has a certain precision and robustness.

Keywords: Absolute conic, camera calibration, circle point, vanishing point.

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Authors: Zhen-Hui Hu, Jyh-Shong Ju, Ming-Hwei Perng

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This paper presents a useful sub-pixel image registration method using line segments and a sub-pixel edge detector. In this approach, straight line segments are first extracted from gray images at the pixel level before applying the sub-pixel edge detector. Next, all sub-pixel line edges are mapped onto the orientation-distance parameter space to solve for line correspondence between images. Finally, the registration parameters with sub-pixel accuracy are analytically solved via two linear least-square problems. The present approach can be applied to various fields where fast registration with sub-pixel accuracy is required. To illustrate, the present approach is applied to the inspection of printed circuits on a flat panel. Numerical example shows that the present approach is effective and accurate when target images contain a sufficient number of line segments, which is true in many industrial problems.

Keywords: Defect detection, Image registration, Straight line segment, Sub-pixel.

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Authors: Alò Roberta, Bottiglione Francesco, Mantriota Giacomo

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The efficiency of the actuation system of exoskeletons and active orthoses for lower limbs is a significant aspect of the design of such devices because it affects their efficacy. The F-IVT is an innovative actuation system to power artificial knee joint with energy recovery capabilities. Its key and non-conventional elements are a flywheel that acts as a mechanical energy storage system, and an Infinitely Variable Transmission (IVT). The design of the F-IVT can be optimized for a certain walking condition, resulting in a heavy reduction of both the electric energy consumption and of the electric peak power. In this work, by means of simulations of level ground walking at different speeds, it is demonstrated that the F-IVT is still an advantageous actuator which permits to save energy consumption and to downsize the electric motor even when it does not work in nominal conditions.

Keywords: Active orthoses, actuators, lower extremity exoskeletons, knee joint.

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Authors: H. Mat Kiah, Rafiziana M. Kasmani, Norazana Ibrahim, Roshafima R. Ali, Aziatul N.Sadikin

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An experimental study has been done to investigate the flame acceleration in a closed pipe. A horizontal steel pipe, 2m long and 0.1m in diameter (L/D of 20), was used in this work. For tests with 90 degree bends, the bend had a radius of 0.1m and thus, the pipe was lengthened 1m (based on the centreline length of the segment). Ignition was affected at one end of the vessel while the other end was closed. Only stoichiometric concentration (Ф, = 1.0) of natural gas/air mixtures will be reported in this paper. It was demonstrated that bend pipe configuration gave three times higher in maximum overpressure (5.5 bars) compared to straight pipe (2.0 bars). From the results, the highest flame speed, of 63ms^-1, was observed in a gas explosion with bent pipe; greater by a factor of ~3 as compared with straight pipe (23ms^-1). This occurs because bending acts similar to an obstacle, in which this mechanism can induce more turbulence, initiating combustion in an unburned pocket at the corner region and causing a high mass burning rate, which increases the flame speed.

Keywords: Bending, gas explosion, bending, flame acceleration, overpressure.

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Authors: Marco Raciti Castelli, Stefano De Betta, Ernesto Benini

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This paper presents a mean for reducing the torque variation during the revolution of a vertical-axis wind turbine (VAWT) by increasing the blade number. For this purpose, twodimensional CDF analysis have been performed on a straight-bladed Darreius-type rotor. After describing the computational model, a complete campaign of simulations based on full RANS unsteady calculations is proposed for a three, four and five-bladed rotor architecture characterized by a NACA 0025 airfoil. For each proposed rotor configuration, flow field characteristics are investigated at several values of tip speed ratio, allowing a quantification of the influence of blade number on flow geometric features and dynamic quantities, such as rotor torque and power. Finally, torque and power curves are compared for the analyzed architectures, achieving a quantification of the effect of blade number on overall rotor performance.

Keywords: CFD, VAWT, NACA 0021, blade number

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Authors: M.R. Safizadeh, M. Hussein, K. F. Samat, M.S. Che Kob, M.S. Yaacob, M.Z. Md Zain

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The aim of this paper is to present the kinematic analysis and mechanism design of an assistive robotic leg for hemiplegic and hemiparetic patients. In this work, the priority is to design and develop the lightweight, effective and single driver mechanism on the basis of experimental hip and knee angles- data for walking speed of 1 km/h. A mechanism of cam-follower with three links is suggested for this purpose. The kinematic analysis is carried out and analysed using commercialized MATLAB software based on the prototype-s links sizes and kinematic relationships. In order to verify the kinematic analysis of the prototype, kinematic analysis data are compared with the experimental data. A good agreement between them proves that the anthropomorphic design of the lower extremity exoskeleton follows the human walking gait.

Keywords: Kinematic analysis, assistive robotic leg, lower extremity exoskeleton, cam-follower mechanism.

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Authors: Comingstarful Marthong, Deba Kumar Sarma

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Concrete is strong in compression however weak in tension. The tensile strength as well as ductile property of concrete could be improved by addition of short dispersed fibers. Polyethylene terephthalate (PET) fiber obtained from hand cutting or mechanical slitting of plastic sheets generally used as discrete reinforcement in substitution of steel fiber. PET fiber obtained from the former process is in the form of straight slit sheet pattern that impart weaker mechanical bonding behavior in the concrete matrix. To improve the limitation of straight slit sheet fiber the present study considered two additional geometry of fiber namely (a) flattened end slit sheet and (b) deformed slit sheet. The mix for plain concrete was design for a compressive strength of 25 MPa at 28 days curing time with a watercement ratio of 0.5. Cylindrical and beam specimens with 0.5% fibers volume fraction and without fibers were cast to investigate the influence of geometry on the mechanical properties of concrete. The performance parameters mainly studied include flexural strength, splitting tensile strength, compressive strength and ultrasonic pulse velocity (UPV). Test results show that geometry of fiber has a marginal effect on the workability of concrete. However, it plays a significant role in achieving a good compressive and tensile strength of concrete. Further, significant improvement in term of flexural and energy dissipation capacity were observed from other fibers as compared to the straight slit sheet pattern. Also, the inclusion of PET fiber improved the ability in absorbing energy in the post-cracking state of the specimen as well as no significant porous structures.

Keywords: Concrete matrix, polyethylene terephthalate (PET) fibers, mechanical bonding, mechanical properties, UPV.

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Authors: K. Chalernpon, P. Aroonjarattham, K. Aroonjarattham

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Total hip replacement had been one of the most successful operations in hip arthritis surgery. The purpose of this research had been to develop a dynamic hip contact of Thai femoral bone to analyze the stress distribution on the implant and the strain distribution on the bone model under daily activities and compared with the static load simulation. The results showed the different of maximum von Mises stress 0.14 percent under walking and 0.03 percent under climbing stair condition and the different of equivalent total strain 0.52 percent under walking and 0.05 percent under climbing stair condition. The muscular forces should be evaluated with dynamic condition to reduce the maximum von Mises stress and equivalent total strain.

Keywords: Dynamic loading, Static Load, Hip prosthesis, Thai femur, Femoral bone, Finite Element Analysis.

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Authors: Wann-Ming Wey

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In recent years, in addition to face the external threats such as energy shortages and climate change, traffic congestion and environmental pollution have become anxious problems for many cities. Considering private automobile-oriented urban development had produced many negative environmental and social impacts, the transit-oriented development (TOD) has been considered as a sustainable urban model. TOD encourages public transport combined with friendly walking and cycling environment designs, however, non-motorized modes help improving human health, energy saving, and reducing carbon emissions. Due to environmental changes often affect the planners’ decision-making; this research applies dynamic network process (DNP) which includes the time dependent concept to promoting friendly walking and cycling environmental designs as an advanced planning support system for environment improvements.

This research aims to discuss what kinds of design strategies can improve a friendly walking and cycling environment under TOD. First of all, we collate and analyze environment designing factors by reviewing the relevant literatures as well as divide into three aspects of “safety”, “convenience”, and “amenity” from fifteen environment designing factors. Furthermore, we utilize fuzzy Delphi Technique (FDT) expert questionnaire to filter out the more important designing criteria for the study case. Finally, we utilized DNP expert questionnaire to obtain the weights changes at different time points for each design criterion. Based on the changing trends of each criterion weight, we are able to develop appropriate designing strategies as the reference for planners to allocate resources in a dynamic environment. In order to illustrate the approach we propose in this research, Taipei city as one example has been used as an empirical study, and the results are in depth analyzed to explain the application of our proposed approach.

Keywords: Environment Planning Support Systems, Walking and Cycling, Transit-oriented Development (TOD), Dynamic Network Process (DNP).

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Authors: Tayebeh Saghapour, Sara Moridpour, Russell George Thompson

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One of the common aims of transport policy makers is to switch people’s travel to active transport. For this purpose, a variety of transport goals and investments should be programmed to increase the propensity towards active transport mode choice. This paper aims to investigate whether built environment features in neighbourhoods could enhance the odds of active transportation. The present study introduces an index measuring public transport accessibility (PTAI), and a walkability index along with socioeconomic variables to investigate mode choice behaviour. Using travel behaviour data, an ordered logit regression model is applied to examine the impacts of explanatory variables on walking trips. The findings indicated that high rates of active travel are consistently associated with higher levels of walking and public transport accessibility.

Keywords: Active transport, public transport accessibility, walkability, ordered logit model.

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Authors: M. Yoneda

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In this paper, a lateral walking design force per person is proposed and compared with Imperial College test results. Numerical simulations considering the proposed walking design force which is incorporated into the neural-oscillator model are carried out placing much emphasis on the synchronization (the lock-in phenomenon) for a pedestrian bridge model with the span length of 50 m. Numerical analyses are also conducted for an existing pedestrian suspension bridge. As compared with full scale measurements for this suspension bridge, it is confirmed that the analytical method based on the neural-oscillator model might be one of the useful ways to explain the synchronization (the lock-in phenomenon) of pedestrians being on the bridge.

Keywords: Pedestrian bridge, human-induced lateral vibration, neural-oscillator, full scale measurement, dynamic response analysis.

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Authors: Nigel Q. Kelly, Zaid Siddiqi, Jin W. Lee

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It is known that using Coanda aerosurfaces can drastically augment the lift forces when applied to an Unmanned Aerial Vehicle (UAV) platform. However, Coanda saucer UAVs, which commonly use a dish-like, radially-extending structure, have shown no significant increases in thrust/lift force and therefore have never been commercially successful: the additional thrust/lift generated by the Coanda surface diminishes since the airstreams emerging from the rotor compartment expand radially causing serious loss of momentums and therefore a net loss of total thrust/lift. To overcome this technical weakness, we propose to examine a Coanda surface of straight, cylindrical design and optimize its geometry for highest thrust/lift utilizing computational fluid dynamics software ANSYS Fluent®. The results of this study reveal that a Coanda UAV configured with 4 sides of straight, cylindrical Coanda surface achieve an overall 45% increase in lift compared to conventional Coanda Saucer UAV configurations. This venture integrates with an ongoing research project where a Coanda prototype is being assembled. Additionally, a custom thrust-stand has been constructed for thrust/lift measurement.

Keywords: CFD, Coanda, Lift, UAV.

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Authors: Jose A. Romero-Navarrete, Frank Otremba, Gerardo Hurtado-Hurtado

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Turning maneuvers originate higher forces exerted on the rail and the loss of locomotive energy, at a rate that is function of several parameters that influence the magnitude of the developed horizontal wheel-rail forces, including the friction at the centre plate and the bogie´s yaw stiffness. However, such a friction at the contact surfaces of the centre plate is needed to mitigate the hunting phenomenon when the train moves on straight track segments. In this paper, a self-centering centre plate is proposed, consisting of a lubricated centre plate, equipped with a spring- and damper-based self-centering mechanism. Simulation results of the proposed mechanism suggest that the energy performance in turns of a train car equipped with such self-centering centre plate is comparatively better, as the peak friction forces linked to the dry friction at the contact surfaces of current centre plate designs, are avoided. The assessment of the hunting performance of the proposed device in straight track segments is proposed as the continuation of this work.

Keywords: Bogie´s yaw stiffness, bogie´s yaw friction, centre plate, self-centering mechanism, turning.

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Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman

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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.

Keywords: Preview control, walking, stabilization, humanoid robot.

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Authors: Marco Raciti Castelli, Ernesto Benini

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This paper presents a model for the evaluation of energy performance and aerodynamic forces acting on a small straight-bladed Darrieus-type vertical axis wind turbine depending on blade geometrical section. It consists of an analytical code coupled to a solid modeling software, capable of generating the desired blade geometry based on the desired blade design geometric parameters. Such module is then linked to a finite volume commercial CFD code for the calculation of rotor performance by integration of the aerodynamic forces along the perimeter of each blade for a full period of revolution.After describing and validating the computational model with experimental data, the results of numerical simulations are proposed on the bases of two candidate airfoil sections, that is a classical symmetrical NACA 0021 blade profile and the recently developed DU 06-W-200 non-symmetric and laminar blade profile.Through a full CFD campaign of analysis, the effects of blade geometrical section on angle of attack are first investigated and then the overall rotor torque and power are analyzed as a function of blade azimuthal position, achieving a numerical quantification of the influence of airfoil geometry on overall rotor performance.

Keywords: Wind turbine, NACA 0021, DU 06-W-200.

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Authors: A. Harras, A. Tsuji, K. Terada

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Tracking of moving people has gained a matter of great importance due to rapid technological advancements in the field of computer vision. The objective of this study is to design a motion based detection and tracking multiple walking pedestrians randomly in different directions. In our proposed method, Gaussian mixture model (GMM) is used to determine moving persons in image sequences. It reacts to changes that take place in the scene like different illumination; moving objects start and stop often, etc. Background noise in the scene is eliminated through applying morphological operations and the motions of tracked people which is determined by using the Kalman filter. The Kalman filter is applied to predict the tracked location in each frame and to determine the likelihood of each detection. We used a benchmark data set for the evaluation based on a side wall stationary camera. The actual scenes from the data set are taken on a street including up to eight people in front of the camera in different two scenes, the duration is 53 and 35 seconds, respectively. In the case of walking pedestrians in close proximity, the proposed method has achieved the detection ratio of 87%, and the tracking ratio is 77 % successfully. When they are deferred from each other, the detection ratio is increased to 90% and the tracking ratio is also increased to 79%.

Keywords: Automatic detection, tracking, pedestrians.

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Authors: Mkhinini Maher, Knani Jilani

Abstract:

We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented.

The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels would not be equi-distributed in terms of wheels configuration and of robot movement.

Thus, the threshold of sliding is not the same for the three wheels of the vehicle. We suggest exploiting the redundancy of actuation to reduce the risk of wheels sliding and to ameliorate, thereby, its accuracy of displacement. This kind of approach was the subject of study for the legged robots.

Keywords: Mobile robot, actuation, redundancy, omnidirectional, inverse pseudo Moore-Penrose, reductive control.

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Authors: Lavanya Srinivasan

Abstract:

Biometric identification is to identify unique features in a person like fingerprints, iris, ear, and voice recognition that need the subject's permission and physical contact. Gait biometric is used to identify the unique gait of the person by extracting moving features. The main advantage of gait biometric to identify the gait of a person at a distance, without any physical contact. In this work, the gait biometric is used for person re-identification. The person walking naturally compared with the same person walking with bag, coat and case recorded using long wave infrared, short wave infrared, medium wave infrared and visible cameras. The videos are recorded in rural and in urban environments. The pre-processing technique includes human identified using You Only Look Once, background subtraction, silhouettes extraction and synthesis Gait Entropy Image by averaging the silhouettes. The moving features are extracted from the Gait Entropy Energy Image. The extracted features are dimensionality reduced by the Principal Component Analysis and recognized using different classifiers. The comparative results with the different classifier show that Linear Discriminant Analysis outperform other classifiers with 95.8% for visible in the rural dataset and 94.8% for longwave infrared in the urban dataset.

Keywords: biometric, gait, silhouettes, You Only Look Once

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Authors: Dyah Titisari Widyastuti

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Rail-station area development that is based on the concept of TOD (Transit Oriented Development) is principally oriented to pedestrian accessibility for daily mobility. The aim of this research is elaborating how far the existing physical elements of a rail-station district could facilitate pedestrian mobility and establish a pedestrian friendly district toward implementation of a TOD concept. This research was conducted through some steps: (i) mapping the rail-station area pedestrian sidewalk and pedestrian network as well as activity nodes and transit nodes, (ii) assessing the level of pedestrian sidewalk connectivity joining trip origin and destination. The research area coverage in this case is limited to walking distance of the rail station (around 500 meters or 10-15 minutes walking). The findings of this research on the current condition of the street and pedestrian sidewalk network and connectivity, show good preference for the foot modal share (more than 50%) is achieved. Nevertheless, it depends on the distance from the trip origin to destination.

Keywords: Accessibility of daily mobility, pedestrian friendly district, rail-station district, Transit Oriented Development.

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Authors: A. Zahiri, A. A. Dehghani

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Although many researchers have studied the flow hydraulics in compound channels, there are still many complicated problems in determination of their flow rating curves. Many different methods have been presented for these channels but extending them for all types of compound channels with different geometrical and hydraulic conditions is certainly difficult. In this study, by aid of nearly 400 laboratory and field data sets of geometry and flow rating curves from 30 different straight compound sections and using artificial neural networks (ANNs), flow discharge in compound channels was estimated. 13 dimensionless input variables including relative depth, relative roughness, relative width, aspect ratio, bed slope, main channel side slopes, flood plains side slopes and berm inclination and one output variable (flow discharge), have been used in ANNs. Comparison of ANNs model and traditional method (divided channel method-DCM) shows high accuracy of ANNs model results. The results of Sensitivity analysis showed that the relative depth with 47.6 percent contribution, is the most effective input parameter for flow discharge prediction. Relative width and relative roughness have 19.3 and 12.2 percent of importance, respectively. On the other hand, shape parameter, main channel and flood plains side slopes with 2.1, 3.8 and 3.8 percent of contribution, have the least importance.

Keywords: ANN model, compound channels, divided channel method (DCM), flow rating curve

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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: D. Muley, H. S. Al-Mandhari

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This paper evaluates the performance of a multi-lane four legged modern roundabout operating in Muscat using SIDRA model. The performance measures include Degree of Saturation (DOS), average delay, and queue lengths. The geometric and traffic data were used for model preparation. Gap acceptance parameters, critical gap and follow up headway, were used for calibration of SIDRA model. The results from the analysis showed that currently the roundabout is experiencing delays up to 610 seconds per vehicle with DOS 1.67 during peak hour. Further, sensitivity analysis for general and roundabout parameters was performed, amongst lane width, cruise speed, inscribed diameter, entry radius and entry angle showed that inscribed diameter is most crucial factor affecting delay and DOS. Up gradation of roundabout to fully signalized junction was found as the suitable solution which will serve for future years with LOS C for design year having DOS of 0.9 with average control delay of 51.9 seconds per vehicle.

Keywords: Performance analysis, roundabout, sensitivity analysis, SIDRA.

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Authors: Chung-Chun Hsiao, Yu-Kai, Ting, Kai-Yuan Liu, Pang-Wei Yen, Jia-Ying Tu

Abstract:

In this paper, a new design of spherical robotic system based on the concepts of gimbal structure and gyro dynamics is presented. Robots equipped with multiple wheels and complex steering mechanics may increase the weight and degrade the energy transmission efficiency. In addition, the wheeled and legged robots are relatively vulnerable to lateral impact and lack of lateral mobility. Therefore, the proposed robotic design uses a spherical shell as the main body for ground locomotion, instead of using wheel devices. Three spherical shells are structured in a similar way to a gimbal device and rotate like a gyro system. The design and mechanism of the proposed robotic system is introduced. In addition, preliminary results of the dynamic model based on the principles of planar rigid body kinematics and Lagrangian equation are included. Simulation results and rig construction are presented to verify the concepts.

Keywords: Gyro, gimbal, Lagrange equation, spherical robots.

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