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1
Choi, Sang Keun. "A Cartesian finite-volume method for the Euler equations." Diss., Virginia Polytechnic Institute and State University, 1987. http://hdl.handle.net/10919/76511.
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A numerical procedure has been developed for the computation of inviscid flows over arbitrary, complex two-dimensional geometries. The Euler equations are solved using a finite-volume method with a non-body-fitted Cartesian grid. A new numerical formulation for complicated body geometries is developed in conjunction with implicit flux-splitting schemes. A variety of numerical computations have been performed to validate the numerical methodologies developed. Computations for supersonic flow over a flat plate with an impinging shock wave are used to verify the numerical algorithm, without geometric considerations. The supersonic flow over a blunt body is utilized to show the accuracy of the non-body-fitted Cartesian grid, along with the shock resolution of flux-vector splitting scheme. Geometric complexities are illustrated with the flow through a two-dimensional supersonic inlet with and without an open bleed door. The ability of the method to deal with subsonic and transonic flows is illustrated by computations over a non-lifting NACA 0012 airfoil. The method is shown to be accurate, efficient and robust and should prove to be particularly useful in a preliminary design mode, where flows past a wide variety of complex geometries can be computed without complicated grid generation procedures.<br>Ph. D.
2
Tay, Boon Chong. "Development and implementation of new control law for vision based target tracking system onboard small Unmanned Aerial Vehicles." Thesis, Monterey, Calif. : Naval Postgraduate School, 2006. http://bosun.nps.edu/uhtbin/hyperion.exe/06Dec%5FTay.pdf.
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Thesis (M.S. in Engineering Science (Mechanical Engineering))--Naval Postgraduate School, December 2006.<br>Thesis Advisor(s): Isaac I. Kaminer, Vladimir N. Dobrokhodov. "December 2006." Includes bibliographical references (p. 89). Also available in print.
3
Byrd, Mark Steven. "Representations of SU(3) and geometric phases for three-state systems /." Digital version accessible at:, 1999. http://wwwlib.umi.com/cr/utexas/main.
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4
Lima, Júnior Renato de Souza [UNESP]. "Identificação dos ângulos do tornozelo do membro de suporte, distância entre o pé de apoio e a bola e velocidade de saída da bola em cobranças de pênalti no futebol." Universidade Estadual Paulista (UNESP), 2007. http://hdl.handle.net/11449/87493.
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limajunior_rs_me_rcla.pdf: 1681647 bytes, checksum: e5724b752b17214a18d35dc5a4d3e0ed (MD5)<br>Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)<br>As situações de cobranças de pênalti no futebol vêm se tornando um fator decisivo no resultado de muitos jogos e competições. Considerando que o número de cobranças de pênalti desperdiçadas em jogos oficiais seja de 25 a 33% das cobranças de pênalti realizadas e o aumento do número de cobranças de pênalti em jogos oficiais, torna-se evidente a necessidade de novas investigações que possam melhorar o aproveitamento do cobrador, com chutes mais precisos e eficientes sendo convertidos em gol. Portanto, o objetivo deste trabalho foi identificar, em cobranças de pênalti, os ângulos da articulação do tornozelo do membro de suporte, durante o posicionamento do pé de apoio, a distância entre o pé de apoio e a bola, a velocidade de saída da bola com chutes convertidos em gol ou desperdiçados. Para o cálculo dos ângulos utilizaramse os ângulos de Euler. Foi utilizado um sistema de bases locais para perna e pé do membro de suporte, construídas a partir da fixação de marcadores passivos em seis proeminências ósseas de interesse. O estudo contou com dez jogadores e um goleiro, todos integrantes da equipe de futebol de campo da categoria adulta da Universidade Estadual Paulista – Campus Rio Claro. Cada um dos jogadores realizou uma série de dez cobranças de pênalti. Entretanto, para análise das variáveis de interesse foram utilizadas apenas sete cobranças de cada participante em função da oclusão de marcadores. O evento analisado consistiu no posicionamento do pé de apoio do membro de suporte, dado pelo toque do calcanhar até o último contato do mesmo com o solo, durante as cobranças pênalti. As imagens foram registradas por quatro câmeras digitais para visualização dos marcadores passivos na perna e no pé dos participantes. Uma quinta câmera foi posicionada fora da grande área do goleiro com a finalidade de visualizar o gol para identificação de cobranças convertidas em gol ou desperdiçadas...<br>The soccer penalty kick has become a decisive factor in the result of many games and competitions. Considering that the number of penalty kicks wasted in official games is from 25 to 33% of the accomplished penalty kicks and the increase of the number of penalty kicks in official games, becomes evident the need of new investigations that can improve the kickers performance, with more necessary and efficient kicks being converted in goal. Therefore, the aim of this work was to identify, in penalty kicks, the joint angles of the ankle of the support member, during the positioning of the support foot, the distance between the support foot and the ball, the speed of exit of the ball with kicks converted in goal or wasted. The angles were calculated by the Euler angles. It was used a local bases system for the leg and foot of the support member, built starting from the fixation of passive markers in six bone prominences of interest. The study was composed by ten soccer players and one goalkeeper, all members of the adult soccer team of São Paulo State University – Rio Claro Campus. Each one of the players accomplished a series of ten penalty kicks. However, for analysis of the variables of interest only seven kicks of each participant were used in function of the occlusion of markers. The analyzed event consisted of the positioning of the support foot of the support member, given by the touch of the heel to the last contact to the ground, during the penalties kicks. The images were filmed by four digital cameras focusing the passive markers placed on the leg and foot of the participants. A fifty camera was placed out of goalkeeper’s great area with the purpose of focus from goal area, the identification of the kicks converted in goal or wasted. Further on, the cameras images were transferred to a computer and the cartesian coordinates of the passive markers were obtained through DVIDEOW software. It was identified an amplitude of 21.5° for ...
5
Barbieri, Fabio Augusto [UNESP]. "O chute com o membro dominante e não dominante realizado com a bola parada e em deslocamento no futsal." Universidade Estadual Paulista (UNESP), 2007. http://hdl.handle.net/11449/87427.
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barbieri_fa_me_rcla.pdf: 2262727 bytes, checksum: 09a4c61c625a0d2da558ac1e8cb96947 (MD5)<br>Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)<br>O futsal tem sido estudado sob o enfoque de diversos temas e olhares. Neste trabalho o futsal foi analisado através da perspectiva da Biomecânica. O objetivo do estudo foi descrever o chute executado com o membro dominante e com o membro não dominante realizado com a bola parada e em deslocamento no futsal. Participaram dez jogadores da equipe de futsal adulta da UNESP Campus Rio Claro, os quais realizaram dez chutes com a bola em deslocamento e dez chutes com a bola parada, sendo cinco chutes com cada membro para cada situação. Os chutes foram realizados com o dorso do pé, procurando empregar velocidade máxima a bola e objetivando acertá-la em um alvo de 1m2 colocado no centro do gol. Os movimentos foram filmados por sete câmeras posicionadas de modo que enfocassem os marcadores passivos colocados em ambos os membros inferiores dos participantes. As imagens destes chutes foram transferidas para o computador e trabalhadas no software DVIDEOW, sendo realizado os processos de desentrelaçamento, sincronização, medição e reconstrução 3D. Após isso, ocorreu a suavização das através função LOESS e através do método de Euler foram calculados os ângulos de rotação das articulações. Para isso, foi definida uma base ortonormal associada a cada segmento corporal através dos versores i, j e k. A velocidade angular foi calculada através da derivada dos ângulos em função do tempo para cada articulação. Para o desempenho foram avaliados os acertos e erros do alvo. Para a velocidade da bola e velocidade do pé do membro de chute foi realizada, em função do tempo, uma regressão linear de primeiro grau para os eixos X e Y e uma regressão linear do segundo grau para o eixo Z, sendo a xiii velocidade média da bola e do pé calculada a partir da distância percorrida dividida pelo tempo de percurso...<br>The futsal has been studied under the focus of several themes. This work analyzed the futsal in the Biomechanics perspective. The aim of this study was to describe the kick with the dominant and non-dominant limb performed with the stationary and in displacement ball in futsal. Ten players participated of the UNESP - Campus Rio Claro futsal adult team. They performed ten kicks with the ball in displacement and ten kicks with the stationary ball (five kicks with each limb for each situation). The kicks performed were the maximal instep kicks and should hit a 1 x 1 m target positioned in the goal centre. The movements were recorded by six cameras with focus in the passive markers placed in the participants inferior limbs. The kicking images were transferred to the computer and worked in the DVIDEOW software. The extracted files of this software were smoothed through the LOESS function and joints rotation angles were calculated by the Euler method. For that, it was defined the ortonormal base associated to each corporal segment through i, j and k versores. The angular speed was calculated through angles derived for the time and for each joint. The kicks performance was analyzed through the observation of the success or failure of hitting in the target. For the ball and kick limb foot speed were carried through, in function of the time, a linear regression of first degree for X and Y axles and a linear regression of second degree for Z axle. Then, the average ball and foot speed was calculated from the covered distance divided for the time for the data parameterized in each kick. The results for the angular kinematic standard and angular speed showed significant differences among dominant and not dominant kick and support limb. For the kick type small differences was 126 detected mainly at the moment of contact with the ball...(Complete abstract click eletronic access below)
6
Lima, Júnior Renato de Souza. "Identificação dos ângulos do tornozelo do membro de suporte, distância entre o pé de apoio e a bola e velocidade de saída da bola em cobranças de pênalti no futebol /." Rio Claro : [s.n.], 2007. http://hdl.handle.net/11449/87493.
Full textAbstract:
Orientador: Sergio Augusto Cunha<br>Banca: Anízio Perissinotto Junior<br>Banca: José Marques Novo Junior<br>Resumo: As situações de cobranças de pênalti no futebol vêm se tornando um fator decisivo no resultado de muitos jogos e competições. Considerando que o número de cobranças de pênalti desperdiçadas em jogos oficiais seja de 25 a 33% das cobranças de pênalti realizadas e o aumento do número de cobranças de pênalti em jogos oficiais, torna-se evidente a necessidade de novas investigações que possam melhorar o aproveitamento do cobrador, com chutes mais precisos e eficientes sendo convertidos em gol. Portanto, o objetivo deste trabalho foi identificar, em cobranças de pênalti, os ângulos da articulação do tornozelo do membro de suporte, durante o posicionamento do pé de apoio, a distância entre o pé de apoio e a bola, a velocidade de saída da bola com chutes convertidos em gol ou desperdiçados. Para o cálculo dos ângulos utilizaramse os ângulos de Euler. Foi utilizado um sistema de bases locais para perna e pé do membro de suporte, construídas a partir da fixação de marcadores passivos em seis proeminências ósseas de interesse. O estudo contou com dez jogadores e um goleiro, todos integrantes da equipe de futebol de campo da categoria adulta da Universidade Estadual Paulista - Campus Rio Claro. Cada um dos jogadores realizou uma série de dez cobranças de pênalti. Entretanto, para análise das variáveis de interesse foram utilizadas apenas sete cobranças de cada participante em função da oclusão de marcadores. O evento analisado consistiu no posicionamento do pé de apoio do membro de suporte, dado pelo toque do calcanhar até o último contato do mesmo com o solo, durante as cobranças pênalti. As imagens foram registradas por quatro câmeras digitais para visualização dos marcadores passivos na perna e no pé dos participantes. Uma quinta câmera foi posicionada fora da grande área do goleiro com a finalidade de visualizar o gol para identificação de cobranças convertidas em gol ou desperdiçadas ...<br>Abstract: The soccer penalty kick has become a decisive factor in the result of many games and competitions. Considering that the number of penalty kicks wasted in official games is from 25 to 33% of the accomplished penalty kicks and the increase of the number of penalty kicks in official games, becomes evident the need of new investigations that can improve the kickers performance, with more necessary and efficient kicks being converted in goal. Therefore, the aim of this work was to identify, in penalty kicks, the joint angles of the ankle of the support member, during the positioning of the support foot, the distance between the support foot and the ball, the speed of exit of the ball with kicks converted in goal or wasted. The angles were calculated by the Euler angles. It was used a local bases system for the leg and foot of the support member, built starting from the fixation of passive markers in six bone prominences of interest. The study was composed by ten soccer players and one goalkeeper, all members of the adult soccer team of São Paulo State University - Rio Claro Campus. Each one of the players accomplished a series of ten penalty kicks. However, for analysis of the variables of interest only seven kicks of each participant were used in function of the occlusion of markers. The analyzed event consisted of the positioning of the support foot of the support member, given by the touch of the heel to the last contact to the ground, during the penalties kicks. The images were filmed by four digital cameras focusing the passive markers placed on the leg and foot of the participants. A fifty camera was placed out of goalkeeper's great area with the purpose of focus from goal area, the identification of the kicks converted in goal or wasted. Further on, the cameras images were transferred to a computer and the cartesian coordinates of the passive markers were obtained through DVIDEOW software. It was identified an amplitude of 21.5° for ...<br>Mestre
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Barbieri, Fabio Augusto. "O chute com o membro dominante e não dominante realizado com a bola parada e em deslocamento no futsal /." Rio Claro : [s.n.], 2007. http://hdl.handle.net/11449/87427.
Full textAbstract:
Orientador: Sergio Augusto Cunha<br>Banca: Lilian Teresa Bucken Gobbi<br>Banca: René Brenzikofer<br>Resumo: O futsal tem sido estudado sob o enfoque de diversos temas e olhares. Neste trabalho o futsal foi analisado através da perspectiva da Biomecânica. O objetivo do estudo foi descrever o chute executado com o membro dominante e com o membro não dominante realizado com a bola parada e em deslocamento no futsal. Participaram dez jogadores da equipe de futsal adulta da UNESP Campus Rio Claro, os quais realizaram dez chutes com a bola em deslocamento e dez chutes com a bola parada, sendo cinco chutes com cada membro para cada situação. Os chutes foram realizados com o dorso do pé, procurando empregar velocidade máxima a bola e objetivando acertá-la em um alvo de 1m2 colocado no centro do gol. Os movimentos foram filmados por sete câmeras posicionadas de modo que enfocassem os marcadores passivos colocados em ambos os membros inferiores dos participantes. As imagens destes chutes foram transferidas para o computador e trabalhadas no software DVIDEOW, sendo realizado os processos de desentrelaçamento, sincronização, medição e reconstrução 3D. Após isso, ocorreu a suavização das através função LOESS e através do método de Euler foram calculados os ângulos de rotação das articulações. Para isso, foi definida uma base ortonormal associada a cada segmento corporal através dos versores i, j e k. A velocidade angular foi calculada através da derivada dos ângulos em função do tempo para cada articulação. Para o desempenho foram avaliados os acertos e erros do alvo. Para a velocidade da bola e velocidade do pé do membro de chute foi realizada, em função do tempo, uma regressão linear de primeiro grau para os eixos X e Y e uma regressão linear do segundo grau para o eixo Z, sendo a xiii velocidade média da bola e do pé calculada a partir da distância percorrida dividida pelo tempo de percurso...(Resumo completo, clicar acesso eletrônico abaixo)<br>Abstract: The futsal has been studied under the focus of several themes. This work analyzed the futsal in the Biomechanics perspective. The aim of this study was to describe the kick with the dominant and non-dominant limb performed with the stationary and in displacement ball in futsal. Ten players participated of the UNESP - Campus Rio Claro futsal adult team. They performed ten kicks with the ball in displacement and ten kicks with the stationary ball (five kicks with each limb for each situation). The kicks performed were the maximal instep kicks and should hit a 1 x 1 m target positioned in the goal centre. The movements were recorded by six cameras with focus in the passive markers placed in the participants inferior limbs. The kicking images were transferred to the computer and worked in the DVIDEOW software. The extracted files of this software were smoothed through the LOESS function and joints rotation angles were calculated by the Euler method. For that, it was defined the ortonormal base associated to each corporal segment through i, j and k versores. The angular speed was calculated through angles derived for the time and for each joint. The kicks performance was analyzed through the observation of the success or failure of hitting in the target. For the ball and kick limb foot speed were carried through, in function of the time, a linear regression of first degree for X and Y axles and a linear regression of second degree for Z axle. Then, the average ball and foot speed was calculated from the covered distance divided for the time for the data parameterized in each kick. The results for the angular kinematic standard and angular speed showed significant differences among dominant and not dominant kick and support limb. For the kick type small differences was 126 detected mainly at the moment of contact with the ball...(Complete abstract click eletronic access below)<br>Mestre
8
Lee, Jaewoo. "Efficient inverse methods for supersonic and hypersonic body design, with low wave drag analysis." Diss., Virginia Tech, 1991. http://hdl.handle.net/10919/37406.
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With the renewed interest in the supersonic and hypersonic flight vehicles, new inverse Euler methods are developed in these flow regimes where a space marching numerical technique is valid. In order to get a general understanding for the specification of target pressure distributions, a study of minimum drag body shapes was conducted over a Mach number range from 3 to 12. Numerical results show that the power law bodies result in low drag shapes, where the n=.69 (l/d = 3) or n=.70 (l/d = 5) shapes have lower drag than the previous theoretical results (n=.75 or n=.66 depending on the particular form of the theory). To validate the results, a numerical analysis was made including viscous effects and the effect of gas model. From a detailed numerical examination for the nose regions of the minimum drag bodies, aerodynamic bluntness and sharpness are newly defined.
Numerous surface pressure-body geometry rules are examined to obtain an inverse procedure which is robust, yet demonstrates fast convergence. Each rule is analyzed and examined numerically within the inverse calculation routine for supersonic (M<sub>∞ </sub>= 3) and hypersonic (M<sub>∞ </sub> = 6.28) speeds. Based on this analysis, an inverse method for fully three dimensional supersonic and hypersonic bodies is developed using the Euler equations. The method is designed to be easily incorporated into existing analysis codes, and provides the aerodynamic designer with a powerful tool for design of aerodynamic shapes of arbitrary cross section. These shapes can correspond to either "wing like" pressure distributions or to "body like" pressure distributions. Examples are presented illustrating the method for a non-axisymmetric fuselage type pressure distribution and a cambered wing type application. The method performs equally well for both nonlifting and lifting cases. For the three dimensional inverse procedure, the inverse solution existence and uniqueness problem are discussed. Sample calculations demonstrating this problem are also presented.<br>Ph. D.
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Miana, Andreia Nogueira. "Comparação entre protocolos de marcadores anatomicos e tecnicos para analise cinematica na marcha e na corrida." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/275217.
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Orientador: Ricardo Machado Leite de Barros<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Educação Fisica<br>Made available in DSpace on 2018-08-08T23:00:32Z (GMT). No. of bitstreams: 1
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Previous issue date: 2007<br>Resumo: O propósito deste trabalho foi comparar dois protocolos para análise cinemática de velocistas em função das velocidades, segmentos corporais e ângulos articulares durante a marcha e a corrida. Um protocolo utiliza marcadores fixados diretamente sobre a pele e outro utiliza marcadores montados sobre estruturas rígidas fixadas no segmento corporal. Seis velocistas do sexo masculino, usando ambos os protocolos, andaram a 5 Km/h e correram a 20 Km/h, em uma esteira ergométrica. Os velocistas foram representados por um modelo tridimensional constituído por quinze segmentos corporais: cabeça, tórax, pelve, pés, pernas, coxas, braços e antebraços. Foram utilizadas oito câmeras de vídeo digital (120 Hz) para aquisição das imagens e a calibração das câmeras e reconstrução das coordenadas 3D dos marcadores foram feitas no software Dvideo®. O tratamento e análise dos dados foram feitos em ambiente Matlab??7.0. Os resultados mostraram que a variabilidade do comprimento dos segmentos e das distâncias entre os marcadores e a diferença máxima entre os ângulos obtidos por cada protocolo foram maiores com o aumento da velocidade, mostrando que os erros na análise do movimento durante a corrida foram maiores que estes durante a marcha. Não houve efeito das velocidades na correlação entre os ângulos obtidos por cada protocolo. A variabilidade da distância entre os marcadores foi maior nos membros inferiores do que nos membros superiores e a variabilidade do comprimento da perna foi maior do que esta nos outros segmentos. Os resultados também mostraram que a maior correlação foi encontrada entre os ângulos de flexão/extensão (0,99) obtidos por cada protocolo e para cada articulação, seguido dos ângulos de adução/abdução (0,78) e dos ângulos de rotação interna/externa (0,65). E os menores valores encontrados na diferença angular máxima foram entre os ângulos de flexão/extensão (6,3° ± 3,4°) obtidos por cada protocolo e para cada articulação, seguido dos ângulos de adução/abdução (13,2° ± 7,9°) e dos ângulos de rotação interna/externa (17,2° ± 8,4°). Os protocolos não apresentaram diferenças na variabilidade do comprimento dos segmentos e também na análise da cinemática angular, porém os ângulos de adução/abdução e rotação externa/interna devem ser observados com mais cautela<br>Abstract: The purpose of this study was to compare two protocols for kinematical analysis of sprinters according to velocities, body segments and joint angles during walking and running. The first protocol uses retroreflective markers mounted on fixtures attached to the body segment and the second uses retroreflective markers directly located on the skin surface. Six male athletes were studied during treadmill running at 5 and 20 Km/h and recorded with eight 120 Hz video cameras. A three-dimensional model constituted by fifteen segments represented the sprinters: head, thorax, pelvis, the right and left feet, shanks, thighs, scapulas, arms and forearms. The calibration of the cameras, the synchronization of the registrations and the 3D reconstruction of the coordinates of the markers were done in the Dvideo ® software. All data were analyzed using Matlab® 7.0. The results show that the variability of the length of the segments and of the distances between the markers and the maximum difference maximum between the angles obtained by each protocol were higher with the increase of the velocities, showing that the errors in the analysis of the movement during the running were larger than these ones during the gait. There was no effect of the velocities in the correlation between the angles obtained by each protocol. The variability of the distances between the markers in the lower limb were higher than this one in the upper limbs and the variability of the length of the shank was higher than this one in the other segments. The results also showed a higher correlation was found between the flexion/extension angles (0,99) obtained by each protocol and for each joint, followed by the abduction/adduction angles (0,78) and the angles of internal/external rotation (0,65). The lower values found in the maximum angular difference were between the flexion/extension angles (6,3° ± 3,4°) obtained by each protocol and for each articulation, followed by the abduction/adduction angles (13,2° ± 7,9°) and the angles of internal/external rotation (17,2° ± 8,4°). No differences were found in the variability of the length of the segments and also in the analysis of the angular kinematics, however the adduction/abduction and internal/external rotation angles should be regarded with much more caution<br>Mestrado<br>Biodinamica do Movimento Humano<br>Mestre em Educação Física
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Silva, Rênad Ferreira da. "Transformações Geométricas no Plano e no Espaço." Universidade Federal da Paraíba, 2013. http://tede.biblioteca.ufpb.br:8080/handle/tede/7476.
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Previous issue date: 2013-08-14<br>Abstract: In this work we study some geometric transformations in the plane
and the space. Initially, we present some special types of transformations in the
plane and find the matrix of each of these transformations. In the second part we
discourse the transformations in the space, emphasizing the rotations. We will use
the angles of Euler to determine a rotation in the space around the Cartesian axes
and define an equation which allows to rotate a vector around any axis. We also
discuss the homogeneous spaces aiming the matrix representation of transformations
of translation. Finally, we use the structure of the quaternions group to present a
second form to rotation vectors and composition of rotations in the space. We
emphasize that this study is essential to describe the motion of objects in the plane
and in the space.<br>Neste trabalho estudamos algumas das transformações geométricas no Plano e
no Espaço. Inicialmente, apresentamos alguns tipos de transformações especiais no
Plano e encontramos a matriz de cada uma destas transformações. Na segunda parte
abordamos as transformações no Espaço, dando ênfase as rotações. Utilizamos os
ângulos de Euler para determinar uma rotação no espaço em torno dos eixos cartesianos
e definimos uma equação que permite rotacionar um vetores em torno de um
eixo qualquer. Também abordamos os espaços homogêneos objetivando a representa
ção matricial da transformação de translação. Por último, usamos a estrutura do
grupo dos Quatérnios para apresentar uma segunda forma de fazer rotações de vetores
e composição de rotações no espaço. Ressaltamos que este estudo é fundamental
para descrever o movimento de objetos no plano e no espaço.
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Olgemar, Markus. "Camera Based Navigation : Matching between Sensor reference and Video image." Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15952.
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<p>an Internal Navigational System and a Global Navigational Satellite System (GNSS). In navigational warfare the GNSS can be jammed, therefore are a third navigational system is needed. The system that has been tried in this thesis is camera based navigation. Through a video camera and a sensor reference the position is determined. This thesis will process the matching between the sensor reference and the video image.</p><p>Two methods have been implemented: normalized cross correlation and position determination through a homography. Normalized cross correlation creates a correlation matrix. The other method uses point correspondences between the images to determine a homography between the images. And through the homography obtain a position. The more point correspondences the better the position determination will be.</p><p>The results have been quite good. The methods have got the right position when the Euler angles of the UAV have been known. Normalized cross correlation has been the best method of the tested methods.</p>
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Bouffard, Joshua Lee. "An Alternative Sensor Fusion Method For Object Orientation Using Low-Cost Mems Inertial Sensors." ScholarWorks @ UVM, 2016. https://scholarworks.uvm.edu/graddis/537.
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This thesis develops an alternative sensor fusion approach for object orientation using low-cost MEMS inertial sensors. The alternative approach focuses on the unique challenges of small UAVs. Such challenges include the vibrational induced noise onto the accelerometer and bias offset errors of the rate gyroscope. To overcome these challenges, a sensor fusion algorithm combines the measured data from the accelerometer and rate gyroscope to achieve a single output free from vibrational noise and bias offset errors.
One of the most prevalent sensor fusion algorithms used for orientation estimation is the Extended Kalman filter (EKF). The EKF filter performs the fusion process by first creating the process model using the nonlinear equations of motion and then establishing a measurement model. With the process and measurement models established, the filter operates by propagating the mean and covariance of the states through time.
The success of EKF relies on the ability to establish a representative process and measurement model of the system. In most applications, the EKF measurement model utilizes the accelerometer and GPS-derived accelerations to determine an estimate of the orientation. However, if the GPS-derived accelerations are not available then the measurement model becomes less reliable when subjected to harsh vibrational environments. This situation led to the alternative approach, which focuses on the correlation between the rate gyroscope and accelerometer-derived angle. The correlation between the two sensors then determines how much the algorithm will use one sensor over the other. The result is a measurement that does not suffer from the vibrational noise or from bias offset errors.
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López, Revuelta Álvaro. "Orientation estimation and movement recognition using low cost sensors." Thesis, Blekinge Tekniska Högskola, Institutionen för tillämpad signalbehandling, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-14949.
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Orientation estimation is a very well known topic in many fields such as in aerospace or robotics. However, the sensors used are usually very ex- pensive, heavy and big, which make them not suitable for IoT (Internet of Things) based applications. This thesis presents a study of how different sensor fusion algorithms perform in low cost hardware and in high acceler- ation scenarios. For this purpose, an Arduino MKR1000 is used together with an accelerometer, gyroscope and magnetometer. The objective of the thesis is to choose the most suitable algorithm for the purposed practical application, which consists on attaching the device to a moving object, such as a skate board or a bike. Once the orientation is estimated, a movement recognition algorithm that was developed is able to match what trick or movement was performed. The algorithm chosen was the Madgwick one with some minor adjustments, which uses quaternions for the estimation and is very resilient when the device is under strong external accelerations.
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Zendegan, Saeid. "3D trajectory optimization of an acrobatic air race with direct collocation method and quaternion equations of motion." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/18025/.
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The main purpose of this thesis is to develop a software to optimize the 3D air race trajectory. Air race competitions such as Red Bull are becoming very popular around the world, but behind this eye catching competitions there are always engineers supporting every team to help their pilots to make the fastest lap time in order to win the competition.
Nowadays, by the help of advanced computing systems and proficient optimization algorithm, engineers are able to model the trajectory of these air races and optimize them offline. These optimized trajectories are handed to the pilots before the competition, in order to help them train themselves in a simulator and then with a real aircraft.
In this thesis the equations of motion (EOM) of point-mass model is used for optimization. The first approach was with the EOM based on Euler angles. As we know from flight dynamics, with the Euler angles we will have a singularity in our equations when the aircraft is experiencing the ±π/2 pitch angle. In order to avoid the singularity in the Euler case, we switch to EOM based on Quaternions. Although the quaternions are used for the optimization of the trajectory, we will also represent the results for Euler based EOM.
The software used to develop the code for this optimization is MATLAB 2016b. Algorithm is proposed and implemented by the author. Build-in optimization function (FMINCON) is used to optimize the trajectory based on the proposed algorithm.
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Norman, Rikard. "Intelligent Body Monitoring." Thesis, Linköpings universitet, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72579.
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The goal of this project was to make a shirt with three embedded IMU sensors (Inertial Measurement Unit) that can measure a person’s movements throughout an entire workday. This can provide information about a person’s daily routine movements and aid in finding activities which can lead to work-related injuries in order to prevent them. The objective was hence to construct a sensor fusion framework that could retrieve the measurements from these three sensors and to create an estimate of the human body orientation and to estimate the angular movements of the arms. This was done using an extended Kalman filter which uses the accelerometer and magnetometer values to retrieve the direction of gravity and north respectively, thus providing a coordinate system that can be trusted in the long term. Since this method is sensitive to quick movements and magnetic disturbance, gyroscope measurements were used to help pick up quick movements. The gyroscope measurements need to be integrated in order to get the angle, which means that we get accumulated errors. This problem is reduced by the fact that we retrieve a correct long-term reference without accumulated errors from the accelerometer and magnetometer measurements. The Kalman filter estimates three quaternions describing the orientation of the upper body and the two arms. These quaternions were then translated into Euler angles in order to get a meaningful description of the orientations. The measurements were stored on a memory card or broadcast on both the local net and the Internet. These data were either used offline in Matlab or shown in real-time in the program Unity 3D. In the latter case the user could see that a movement gives rise to a corresponding movement on a skeleton model on the screen.
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Růžička, Jiří. "9DOF senzor pro měření orientace zbraně v prostoru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-316393.
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This thesis deals with multi-axis position sensors, their nature and individual parts and types of these sensors. It is outlined their historical origin and the most used modern types, such as micro-electro-mechanical sensors. Further, the properties of these sensors, error sources and their compensation are discussed. Output data formats are also discussed here, such as Euler angles, their calculation and applications. The selected sensor is implemented in the simulator electronics, and the graphical application demonstrates its functions.
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Usta, Umit Y. "Comparison of quaternion and euler angle methods for joint angle animation of human figure models." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1999. http://handle.dtic.mil/100.2/ADA361544.
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Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1999.<br>Thesis advisor(s): Robert B. McGhee, Michael J. Zyda. "March 1999". Includes bibliographical references (p. 201-203). Also available online.
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Zhang, Sheng. "GPS/INS Combination for a Beam Tracking System." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-10650.
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In recent years, Land vehicle navigation system (LVNS) technology is a subject of great interest due to its potential for both consumer and business vehicle markets. GPS/INS ( Global Positioning System/ Inertial Navigation System ) integrated system is an effective solution to realize the LVNS. And how to keep communication between the vehicle and satellite while the vehicle is running in a bad environment is the main task in this thesis. The thesis provides an introduction to beam tracking system and two algorithms of how to improve the performance, then compare these two algorithms and choose the suitable one and implement it on ArduPilotMega board using Arduino language, at last test the integrated GPS/INS system in practice in order to estimate the performance. The requirements of the project are the maximum angular speed and angular acceleration speed of the vehicle are and , respectively. Two algorithms which are Direction Cosine Matrix (DCM) and Euler Angle are evaluated in the system. In this thesis, there are many rotations due to the hostile environment, and DCM algorithm is not suitable for the requirement according to the results of simulation. Therefore, an innovated method which is Euler Angle Algorithm can be one effective way to solve the probelm. The primary idea of Euler Angle algorithm is to calculate the difference between the reference direction vector and the measurement direction vector from GPS and accelerometers, once there is an error rotation, take the cross product and rotate the incorrect direction vector back to original direction. The simulation results show that by implementing EA algorithm, system requirements can be achievable with a 10kHz update rate antenna and a 4000Hz sampling rate gyroscope, also with EA implementation in ArduPilotMega board, the real system tracking ability can be enhanced effectively.
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Santiago, Paulo Roberto Pereira [UNESP]. "Rotações tridimensionais em biomecânica via quatérnions: aplicações na análise dos movimentos esportivos." Universidade Estadual Paulista (UNESP), 2009. http://hdl.handle.net/11449/100404.
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santiago_prp_dr_rcla.pdf: 2163510 bytes, checksum: 5a3d88f241b63eecc316abda948bc85a (MD5)<br>Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)<br>Algumas abordagens matemáticas são utilizadas para descrever o componente rotacional das articulações durante o movimento humano, como por exemplo, as matrizes de rotação do tipo 3x3, ângulos de Euler e Cardan, os eixos helicais e os quatérnions, sendo este último o menos difundido na biomecânica. O presente estudo teve como objetivo apresentar e aplicar o método dos quatérnions como ferramenta biomecânica para a análise de rotação em movimentos esportivos. Para isso, o trabalho foi subdivido em três capítulos. No primeiro, são apresentadas e discutidas as definições e propriedades básicas dos quatérnions e também os cálculos matemáticos para as conversões entre três métodos utilizados para descrever rotações no espaço tridimensional (matriz de rotação, ângulos de Euler e quatérnions). No segundo, são apresentados os procedimentos para o cálculo dos quatérnions e dos ângulos de Euler através de variáveis cinemáticas. No terceiro, foram apresentadas três aplicações dos quatérnions. A primeira trata-se de um estudo no qual a representação dos quatérnions foi empregada com a finalidade de descrever e analisar as rotações ocorridas no joelho durante a aterrissagem unipodal (single leg drop landing); na segunda os quatérnions e os ângulos de Euler foram utilizados para representar os movimentos de rotação que ocorrem na articulação do tornozelo do membro de apoio durante o chute no futebol; e na terceira foram realizadas simulações para o estudo dos quatérnions. Conclui-se que a representação do movimento de rotação das articulações de humanos através dos quatérnions é uma abordagem nova e alternativa, pois possibilita representar o eixo instantâneo de rotação com cálculos matemáticos mais simples quando comparado com outras representações. Este é um tópico relevante uma vez que os movimentos humanos são gerados por...<br>Mathematical approaches have been utilized to describe joint rotational components during human movement, such as the rotational matrices, Euler angles, Cardan angles, helical axis, and quaternions, in which the last one is the least employed in biomechanics. The objective of the present study was to present and apply the quaternions method as a biomechanical tool to analyze rotation in sport movements. Thus, the thesis was divided into three chapters. In the first chapter, the basic quaternion definitions and properties are presented and discussed, along with the mathematical calculations for the conversion among the three most used methods to describe rotations in three-dimensional space (rotational matrices, Euler angles, and quaternions). In the second chapter, the procedures to calculate the quaternions and Euler angles are presented by means of kinematic variables. The third chapter submitted three applications of quaternions. The first the quaternions were used to describe the rotational movement of the human knee joint during a landing task; the second the quaternions and Euler angle were used to describe the rotational movement of the ankle joint of the foot of support during a soccer kick; In the third application opted-to implement simulations of movements for the study of quaternions. It was conclude that the representation of rotational movements observed in human joints by means of the quaternions is an interesting alternative because it is possible to represent the joint rotational axis with fairly simple mathematical calculations when compared to other forms of representation. The quaternions provide a more adequate representation system to operate rotations without constraints. This is a relevant topic once movements are product of internal and external forces that result in rotations through axis (quaternions), which naturally occurs repeatedly in human joints.
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Pospíšil, Aleš. "Detekce a sledování polohy hlavy v obraze." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2011. http://www.nusl.cz/ntk/nusl-218928.
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Diplomová práce je zaměřena na problematiku detekce a sledování polohy hlavy v obraze jako jednu s možností jak zlepšit možnosti interakce mezi počítačem a člověkem. Hlavním přínosem diplomové práce je využití inovativních hardwarových a softwarových technologií jakými jsou Microsoft Kinect, Point Cloud Library a CImg Library. Na úvod je představeno shrnutí předchozích prací na podobné téma. Následuje charakteristika a popis databáze, která byla vytvořena pro účely diplomové práce. Vyvinutý systém pro detekci a sledování polohy hlavy je založený na akvizici 3D obrazových dat a registračním algoritmu Iterative Closest Point. V závěru diplomové práce je nabídnuto hodnocení vzniklého systému a jsou navrženy možnosti jeho budoucího zlepšení.
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Santiago, Paulo Roberto Pereira. "Rotações tridimensionais em biomecânica via quatérnions : aplicações na análise dos movimentos esportivos /." Rio Claro : [s.n.], 2009. http://hdl.handle.net/11449/100404.
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Orientador: Sergio Augusto Cunha<br>Banca: Margarida Pinheiro Mello<br>Banca: Luciano Allegretti Mercadante<br>Banca: Dirce Kiyomi Hayashida Mochida<br>Banca: Anizio Perissinotto Junior<br>Resumo: Algumas abordagens matemáticas são utilizadas para descrever o componente rotacional das articulações durante o movimento humano, como por exemplo, as matrizes de rotação do tipo 3x3, ângulos de Euler e Cardan, os eixos helicais e os quatérnions, sendo este último o menos difundido na biomecânica. O presente estudo teve como objetivo apresentar e aplicar o método dos quatérnions como ferramenta biomecânica para a análise de rotação em movimentos esportivos. Para isso, o trabalho foi subdivido em três capítulos. No primeiro, são apresentadas e discutidas as definições e propriedades básicas dos quatérnions e também os cálculos matemáticos para as conversões entre três métodos utilizados para descrever rotações no espaço tridimensional (matriz de rotação, ângulos de Euler e quatérnions). No segundo, são apresentados os procedimentos para o cálculo dos quatérnions e dos ângulos de Euler através de variáveis cinemáticas. No terceiro, foram apresentadas três aplicações dos quatérnions. A primeira trata-se de um estudo no qual a representação dos quatérnions foi empregada com a finalidade de descrever e analisar as rotações ocorridas no joelho durante a aterrissagem unipodal (single leg drop landing); na segunda os quatérnions e os ângulos de Euler foram utilizados para representar os movimentos de rotação que ocorrem na articulação do tornozelo do membro de apoio durante o chute no futebol; e na terceira foram realizadas simulações para o estudo dos quatérnions. Conclui-se que a representação do movimento de rotação das articulações de humanos através dos quatérnions é uma abordagem nova e alternativa, pois possibilita representar o eixo instantâneo de rotação com cálculos matemáticos mais simples quando comparado com outras representações. Este é um tópico relevante uma vez que os movimentos humanos são gerados por ... (Resumo completo, clicar acesso eletrônico abaixo)<br>Abstract: Mathematical approaches have been utilized to describe joint rotational components during human movement, such as the rotational matrices, Euler angles, Cardan angles, helical axis, and quaternions, in which the last one is the least employed in biomechanics. The objective of the present study was to present and apply the quaternions method as a biomechanical tool to analyze rotation in sport movements. Thus, the thesis was divided into three chapters. In the first chapter, the basic quaternion definitions and properties are presented and discussed, along with the mathematical calculations for the conversion among the three most used methods to describe rotations in three-dimensional space (rotational matrices, Euler angles, and quaternions). In the second chapter, the procedures to calculate the quaternions and Euler angles are presented by means of kinematic variables. The third chapter submitted three applications of quaternions. The first the quaternions were used to describe the rotational movement of the human knee joint during a landing task; the second the quaternions and Euler angle were used to describe the rotational movement of the ankle joint of the foot of support during a soccer kick; In the third application opted-to implement simulations of movements for the study of quaternions. It was conclude that the representation of rotational movements observed in human joints by means of the quaternions is an interesting alternative because it is possible to represent the joint rotational axis with fairly simple mathematical calculations when compared to other forms of representation. The quaternions provide a more adequate representation system to operate rotations without constraints. This is a relevant topic once movements are product of internal and external forces that result in rotations through axis (quaternions), which naturally occurs repeatedly in human joints.<br>Doutor
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Gautam, Ishwor. "Quaternion based attitude estimation technique involving the extended Kalman filter." University of Akron / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=akron1556196539847396.
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Kárníková, Pavlína. "Grafické demo s inverzní kinematikou." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2010. http://www.nusl.cz/ntk/nusl-237219.
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This work deals with the creation of a graphic demo with the use of inverse kinematics. It explains the motivations that led to the creation of the demo; it briefly mentions the history of the demo as well as the principles of animation. It describes in detail the fundamentals of inverse kinematics as well as the terminology needed for the understanding of inverse kinematics. It also includes some selected algorithms. The issue of inverse kinematics is further developed in the part of the work where the principles of skinning are being described. The principles of the collision detection are also mentioned here. The conclusion consists of a detailed explanation of some of the techniques used in graphic demo, such as the L-systems or procedural textures.
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Ishak, Saiddi A. F. bin Mohamed. "Vibration transmission through structural connections in beams." Thesis, Loughborough University, 2018. https://dspace.lboro.ac.uk/2134/33007.
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Analysis of vibration transmission and reflection in beam-like engineering structures requires better predictive models to optimise structural behaviour further. Numerous studies have used flexural and longitudinal structural wave motion to model the vibrational response of angled junctions in beam-like structures, to better understand the transmission and reflection properties. This study considers a model of a variable joint angle which joins two semi-infinite rectangular cross-section beams. In a novel approach, the model allows for the joint to expand in size as the angle between the two beams is increased. The material, geometric and dynamics properties were consistently being considered. Thus, making the model a good representation of a wide range of angles. Predicted results are compared to an existing model of a joint between two semi-infinite beams where the joint was modelled as a fixed inertia regardless of the angle between the beams, thus limiting its physical representation, especially at the extremes of angle (two beams lay next to each other at 180 degree joint). Results from experimentation were also compared to the modelling, which is in good agreement for the range of angles investigated. Optimum angles for minimum vibrational power transmission are identified in terms of the frequency of the incoming flexural or longitudinal wave. Extended analysis and effect of adding stiffness and damping (rubber material) at the joint are also reported.
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Mulumbwa, Sebe Stanley. "Humanoid Arm Geometric Model." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-21769.
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The world is slowly moving into increased human-robot interaction where both humans and robots can co-exist in the same domain. For the robot to be able to operate effectively in a man’s designed environment, it becomes necessary to model the robot with human capabilities as humans are seen as more capable. Replicating human becomes a huge challenge due to numerous degrees-of-freedom (DOFs) that human possess resulting into too many variables and nonlinear equations. Other challenges do occur like singularities. In this thesis, the singularity challenge of a redundant humanoid arm is explored while maintaining a simple 7 DOF serial chain structure. As opposed to the 30 DOF human arm, a simpler 7 DOF humanoid arm is adopted and studied to eliminate the singularity challenges. The singularity problem mainly comes from the elbow and the spherical joints at the shoulder and wrist. A step-by-step review of available inverse kinematics techniques is made with more focus on the iterative Jacobian-based methods. A step-by-step approach is adopted so as to identify the source of singularities while using the iterative Jacobian-based techniques that are able to handle the nonlinearities of the equations. The Singular Value Filtering (SVF) technique coupled with Selectively Damped Least Squares (SDLS) is employed. Without any restrictions to the stretch of the arm or end-effector pose, the method demonstrates, in conjunction with Euler angle singularity avoidance method, the elimination of singularity problems. This is achieved with no adjustment to kinematic model of the manipulator.
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Clark, Adam. "Predicting the Crosswind Performance of High Bypass Ratio Turbofan Engine Inlets." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1476265135449178.
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Horsin, Romain. "Comportement en temps long d'équations de type Vlasov : études mathématiques et numériques." Thesis, Rennes 1, 2017. http://www.theses.fr/2017REN1S062/document.
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Cette thèse porte sur le comportement en temps long de solutions d’équations de type Vlasov, principalement le modèle Vlasov-HMF. On s’intéresse en particulier au phénomène d’amortissement Landau, prouvé mathématiquement dans divers cadres, pour plusieurs équations de type Vlasov, comme l’équation de Vlasov-Poisson ou le modèle Vlasov-HMF, et présentant certaines analogies avec le phénomène d’amortissement non visqueux pour l’équation d’Euler 2D. Les résultats qui y sont décrits sont les suivants. Le premier est un théorème d’amortissement Landau pour des solutions numériques du modèle Vlasov-HMF, obtenues par discrétisation en temps de ce dernier via des méthodes de splitting. Nous prouvons en outre la convergence des schémas numériques. Le second est un théorème d’amortissment Landau pour des solutions du modéle Vlasov-HMF linéarisé autour d’états stationnaires inhomogènes. Ce théorème est accompagné de nombreuses simulations numériques destinées à étudier numériquement le cas non-linéaire, et semblant mettre en lumière de nouveaux phénomènes. Enfin, le dernier résultat porte sur la discrétisation en temps de l’équation d’Euler 2D par un intégrateur de Crouch-Grossman symplectique. Nous prouvons la convergence du schéma<br>This thesis concerns the long time behavior of certain Vlasov equations, mainly the Vlasov- HMF model. We are in particular interested in the celebrated phenomenon of Landau damp- ing, proved mathematically in various frameworks, foar several Vlasov equations, such as the Vlasov-Poisson equation or the Vlasov-HMF model, and exhibiting certain analogies with the inviscid damping phenomenon for the 2D Euler equation. The results described in the document are the following.The first one is a Landau damping theorem for numerical solutions of the Vlasov-HMF model, constructed by means of time-discretizations by splitting methods. We prove more- over the convergence of the schemes. The second result is a Landau damping theorem for solutions of the Vlasov-HMF model linearized around inhomogeneous stationary states. We provide moreover a quite large amount of numerical simulations, which are designed to study numerically the nonlinear case, and which seem to show new phenomenons. The last result is the convergence of a scheme that discretizes in time the 2D Euler equation by means of a symplectic Crouch-Grossmann integrator
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Hsu, Ti-chia, and 徐蒂珈. "Euler Angles Representation of N-dimemsional Homogeneous Transformation." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/17585440898516995144.
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碩士<br>國立成功大學<br>製造工程研究所碩博士班<br>95<br>In the two-dimensional space, a Cartesian coordinate system might be transformed into another Cartesian coordinate system by rotations and translations, and their relation can be calculated via the geometric graph. Similarly, that kind of relationship in the three-dimensional space can also be calculated via the geometric graph. On the other hand, the geometric graph in the N-dimensional space cannot be visual as long as N is greater than three. Consequently, transformation relations among N-dimensional coordinate systems cannot be calculated via the geometric graph. For this reason, we set out to derive the relation between two coordinate systems by utilizing the two-dimensional transformation matrices as the basic component. When the transformation matrices in homogeneous coordinate system, the translations and rotations can be taken for an affine transformation where the dimensional size of those matrices is equal to the size of the homogeneous coordinate system. Therefore, the translations and rotations can be expressed by homogeneous matrices. Additionally, the N-dimensional homogeneous transformation matrix can be readily applied to represent 2nd-order (N-1)-dimensional space curves in the N-dimension space such as hyper-ellipses. geometric graphs which are after rotation and translation. For illustration, parametric expressions of an ellipse in various transformed coordinate systems are presented in this thesis, where the final parametric expressions of ellipses are obtained via multiplying the rotation matrix and followed by adding the position vector.
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"Body Motion Capture Using Multiple Inertial Sensors." Thesis, 2012. http://hdl.handle.net/10388/ETD-2012-01-311.
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Near-fall detection is important for medical research since it can help doctors diagnose fall-related diseases and also help alert both doctors and patients of possible falls. However, in people’s daily life, there are lots of similarities between near-falls and other Activities of Daily Living (ADLs), which makes near-falls particularly difficult to detect. In order to find the subtle difference between ADLs and near-fall and accurately identify the latter, the movement of whole human body needs to be captured and displayed by a computer generated avatar.
In this thesis, a wireless inertial motion capture system consisting of a central control host and ten sensor nodes is used to capture human body movements. Each of the ten sensor nodes in the system has a tri-axis accelerometer and a tri-axis gyroscope. They are attached to separate locations of a human body to record both angular and acceleration data with which body movements can be captured by applying Euler angle based algorithms, specifically, single rotation order algorithm and the optimal rotation order algorithm.
According to the experiment results of capturing ten ADLs, both the single rotation order algorithm and the optimal rotation order algorithm can track normal human body movements without significantly distortion and the latter shows higher accuracy and lower data shifting. Compared to previous inertial systems with magnetometers, this system reduces hardware complexity and software computation while ensures a reasonable accuracy in capturing human body movements.
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Wang, Lei. "Multibody Dynamics Using Conservation of Momentum with Application to Compliant Offshore Floating Wind Turbines." Thesis, 2012. http://hdl.handle.net/1969.1/ETD-TAMU-2012-08-11740.
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Environmental, aesthetic and political pressures continue to push for siting off-shore wind turbines beyond sight of land, where waters tend to be deeper, and use of floating structures is likely to be considered. Savings could potentially be realized by reducing hull size, which would allow more compliance with the wind thrust force in the pitch direction. On the other hand, these structures with large-amplitude motions will make dynamic analysis both more challenging and more critical. Prior to the present work, there were no existing dynamic simulation tools specifically intended for compliant wind turbine design.
Development and application of a new computational method underlying a new time-domain simulation tool is presented in this dissertation. The compliant floating wind turbine system is considered as a multibody system including tower, nacelle, rotor and other moving parts. Euler's equations of motion are first applied to the compliant design to investigate the large-amplitude motions. Then, a new formulation of multibody dynamics is developed through application of the conservation of both linear momentum and angular momentum to the entire system directly. A base body is prescribed within the compliant wind turbine system, and the equations of motion (EOMs) of the system are projected into the coordinate system associated with this body. Only six basic EOMs of the system are required to capture 6 unknown degrees of freedom (DOFs) of the base body when mechanical DOFs between contiguous bodies are prescribed. The 6 x 6 mass matrix is actually composed of two decoupled 3 x 3 mass matrices for translation and rotation, respectively. Each element within the matrix includes the inertial effects of all bodies. This condensation decreases the coupling between elements in the mass matrix, and so minimizes the computational demand. The simulation results are verified by critical comparison with those of the popular wind turbine dynamics software FAST.
The new formulation is generalized to form the momentum cloud method (M- CM), which is particularly well suited to the serial mechanical N-body systems connected by revolute joints with prescribed relative rotation. The MCM is then expanded to multibody systems with more complicated joints and connection types.
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Ji-ChenLo and 羅際詮. "The Consultation System for Alzheimer's Disease based on Inertial Sensor and Euler Angle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/c4n584.
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碩士<br>國立成功大學<br>電腦與通信工程研究所<br>104<br>The purpose of the thesis is use inertial sensors to collect the movement signal and calculated the participants’ body angle. Then, the thesis use the Euler angle algorithm for Alzheimer’s disease(AD) subjects to classification. First, the thesis designed a series of dynamic procedures to determine subjects’ balance ability. The dynamic procedures will asked the subjects wore the inertial sensors on waist and toe. Second, the thesis designed the consultation system for Alzheimer's disease based on inertial sensor including signal preprocessing, Euler angle, feature extraction, feature normalization, and support vector machine-based classifier to separate AD patients from healthy people. And then, we design two movement grading mechanism to patient’s behave. One is multiple classifiers voting, and the other is collaborative filtering. Finally, the results showed that the optimal accuracy was closed to 82.22 percent for classifier to separate Alzheimer’s disease patients and healthy participants. We expect the proposed the consultation system for Alzheimer's disease may help the medical care practitioners to reduce the burden.
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Tilma, Todd Edward. "SU(N) and U(N) Euler angle parameterization with applications for multi-particle entanglement modeling." 2002. http://hdl.handle.net/2152/11780.
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Tilma, Todd Edward Sudarshan E. C. G. Turner Jack S. "SU(N) and U(N) Euler angle parameterization with applications for multi-particle entanglement modeling." 2002. http://wwwlib.umi.com/cr/utexas/fullcit?p3110593.
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Fu, Weng-Lin, and 翁林甫. "Steady State and Free Vibration Analysis of a Three Dimensional Rotating Inclined Euler Beam with Precone Angle by Finite Element Method." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/06796800885685276570.
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碩士<br>國立交通大學<br>機械工程學系<br>99<br>In this paper a co-rotational finite element formulation combined with the floating frame method is proposed to derive the equations of motion for a rotating Euler beam at constant angular velocity. The steady state deformation and natural frequency of the infinitesimal free vibration measured from the position of the corresponding steady state deformation are investigated for rotating Euler beams with setting angle, inclination angle and precone angle.
The equations of motion of the rotating beam are defined in an inertia global coordinates which are coincident with a global moving coordinates rigidly tied to the hub of the rotating beam. The inertia and moving element coordinates, constructed at the current configuration of the beam element, are coincident. The velocity, acceleration, angular velocity, and angular acceleration of the current moving element coordinates are set to be the same as those of the global coordinates of the rotating beam. The element deformation nodal forces and inertia nodal forces are systematically derived by consistent linearization of the fully geometrically non-linear beam theory using the d'Alembert principle and the virtual work principle in the current inertia element coordinates. The element stiffness matrix may be obtained by differentiating the element deformation nodal forces with respect to the element nodal parameters. The element centripetal stiffness matrix, mass matrix, and gyroscopic matrix may be obtained by differentiating the element inertia nodal forces with respect to the element nodal parameters, the second time derivative of the element nodal parameters and the first time derivative of the element nodal parameters, respectively. In order to include the nonlinear coupling among the bending, torsional, and stretching deformations, the terms up to the second order of deformation parameters and their spatial derivatives, and the third order term of twist rate are retained in element deformation nodal forces. However, only infinitesimal free vibration is considered here; thus only the terms up to the first order of deformation parameters, and their spatial derivatives and time derivatives are retained in element inertia nodal forces.
The steady state equilibrium equations may be obtained by dropping the terms of the time derivatives in the equation of motion. The governing equations for linear vibration may be obtained by the first order power series expansion of the equation of motion at the position of the corresponding steady state deformation. The frequency equation for free vibration of rotating beam is a quadratic eigenvalue problem.
An incremental-iterative method based on the Newton-Raphson method is employed for the solution of nonlinear steady state equilibrium equations. The natural frequencies are determined by solving the quadratic eigenvalue problem using the bisection method.
Numerical examples are studied to investigate the steady state deformations and the natural frequencies of rotating Euler beams with different cross sections, inclined angles, setting angles, precone angle, angular velocities, radiuses of hub, and slenderness ratios.
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Γκριτζάπης, Δημήτρης. "Υπολογιστική ανάλυση εξωτερικής βλητικής. Διερεύνηση αεροδυναμικής συμπεριφοράς αξονοσυμμετρικών βλημάτων σε ελεύθερη ατμοσφαιρική πτήση". Thesis, 2009. http://nemertes.lis.upatras.gr/jspui/handle/10889/2343.
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Η σύγχρονη επιστήμη της εξωτερικής βλητικής έχει εξελιχθεί ως εξειδικευμένος κλάδος της δυναμικής των στερεών σωμάτων, που κινούνται υπό την επίδραση της βαρύτητας και των αεροδυναμικών δυνάμεων και ροπών.
Στην παρούσα διατριβή μελετάται η προσομοίωση του δυναμικού μοντέλου ατμοσφαιρικής τροχιάς των 6 βαθμών ελευθερίας (6-DOF), εφαρμόζεται για ακριβή πρόβλεψη τροχιών από διάφορες γωνίες βολής σε μικρά και σε μεγάλα βεληνεκή και γίνεται σύγκριση με το γραμμικό μοντέλο τροχιάς, για περιστρεφόμενα ή μη περιστρεφόμενα βλήματα και σφαίρες λαμβάνοντας υπόψη τον αριθμό Mach και τις μεταβολές της συνολικής γωνίας εκτροπής σε σχέση με τους μεταβλητούς και σταθερούς αεροδυναμικούς συντελεστές.
Επίσης, μελετώνται τα δύο είδη ευστάθειας του βλήματος: η στατική ή γυροσκοπική ευστάθεια που αφορά τη στατική θέση ισορροπίας του βλήματος και η δυναμική ευστάθεια που αφορά την κινητική του κατάσταση.
Η λύση της διαφορικής εξίσωσης για ολοκληρωμένη ή απλοποιημένη κίνηση περιστρεφόμενων αξονοσυμμετρικών βλημάτων, μπορεί να μας περιγράψει την ακρογωνιαία φύση της επικυκλικής κίνησης των βλημάτων.
Τέλος, αναπτύσσεται νέα σχέση υπολογισμού της επίδρασης του φαινόμενου της αεροδυναμικής αναπήδησης της ταχύτητας για περιστρεφόμενα βλήματα τα οποία πυροδοτούνται οριζόντια από μεταβλητές γωνίες, μέσα από ιπτάμενο όχημα (ελικόπτερο, πολεμικό αεροπλάνο).<br>On the battlefield, it is well known that the target effects using artillery systems diminish exponentially with the number of rounds fired at a particular target. To maximize target effects, rounds must be designed to hit a target with a minimum number of rounds that impact the target in rapid succession. The modern science of the exterior ballistics has evolved as a specialized branch of the dynamics of rigid bodies, moving under the influence of gravitational and aerodynamic forces and moments.
The six degrees of freedom (6-DOF) simulation flight dynamics model is applied for the accurate prediction of short and long-range trajectories of high and low fin spin-stabilized projectiles and small bullets. Variable coefficients of aerodynamic forces, moments and Magnus effects are taken into account depending on Mach number and total angle of attack variations.
The above analysis is compared to the modified linear modified simulation model for rapid trajectory predictions and high accuracy impact point computations for constant and variable aerodynamic coefficients is also applied for the accurate prediction of short and long range trajectories.
The computational results of the proposed synthesized analysis give satisfactory agreement with other technical data and recognized exterior atmospheric projectile flight investigations. The variable modified atmospheric flight model can be further coupled to a suitable trajectory tracking control system for current and future control actions applied to projectiles for minimizing the estimated error to target impact area.
Epicyclic motion and gyroscopic stability analysis are also examined for spinning and non-spinning projectiles. A new engineering correlation is proposed for the flat-fire disturbance due to aerodynamic jump performance firing at different angles which relative to the helicopter’s flight path motion. The computational results of the generalized aerodynamic jump formula are verified compared to McCoy’s recognized simulation modelling.
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Holland, Giles. "Looking for a Simplicity Principle in the Perception of Human Walking Motion." Thesis, 2010. http://hdl.handle.net/1974/6187.
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The simplicity principle posits that we interpret sense data as the simplest consistent distal cause, or that our high level perceptual representations of stimuli are optimized for simplicity. The traditional paradigm used to test this principle is coding theory, where alternate representations of stimuli are constructed, simplicity is measured as shortness of representation length, and behavioural experiments attempt to show that the shortest representations correspond best to perception. In this study we apply coding theory to marker-based human walking motion. We compare two representation schemes. The first is based on marker coordinates in a body-centred Cartesian coordinate system. The second is based on a model of 15 rigid body segments with Euler angles and a Cartesian translation for each. Both of our schemes are principal component (PC)-based implementations of a norm-based multidimensional object space – a type of model for high level perceptual schemes that has received attention in the literature over the past two decades. Representation length is quantified as number of retained PC’s, with error increasing with discarded PC’s. We generalize simplicity to efficiency measured as error across all possible lengths, where more efficient schemes admit less error across lengths. We find that the Cartesian coordinates-based scheme is more efficient than the Euler angles and translations-based scheme across a database of 100 walkers. In order to link this finding to perception we turn to the caricature effect that subjects can identify caricatures of familiar stimuli more accurately than veridicals. Our design was to compare walker caricatures generated in our two schemes in the hope of finding that one gives caricatures that benefit identification more than the other, from which we would conclude the former to be a better model of the true perceptual scheme. However, we find that analogous caricatures between the two schemes are only distinguishable at caricature levels so extreme that identification performance breaks down, so our design became infeasible and no conclusion for a simplicity principle in walker perception is reached. We also measure a curve of increasing then decreasing identification performance with caricature level and an optimal level at approximately double the distinctiveness of a typical walker.<br>Thesis (Master, Neuroscience Studies) -- Queen's University, 2010-10-29 19:16:39.943