Dissertations / Theses on the topic 'Mass spring model'

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Nowadays, the behavior simulation of deformable objects plays important roles in several fields such as computer graphics, computer aided design, computer aided surgery And robotics. The two main categories of deformable models are: based on continuum mechanics, like Finite Element Model (FEM) or Isogeometric Analysis (IGA); and using discrete representations, as a Mass - Spring Model (MSM). FEM methods are known for their high computational cost and precision, while MSM methods, although simple and affordable for real-time applications, are di cult to parameterize. There is no general physically based or systematic method in the literature to determine the mesh topology or MSM parameters from a known material. Therefore, in this thesis, we proposea methodology to parametrize the MSM based on continuous models with focus on the simulation of deformable objects in real-time for application in virtual environments. We developed two data-driven approaches to the parametrization of the MSM by using FEM and IGA models as reference of derivation with higher order elements. Based on experimental results, the precision achieved by these new methodologies is higher than other approaches in literature. In particular, our proposal achieves excellent results in the parametrization of the MSM with higher order elements which does not occur with other methodologies
Atualmente, a simula¸c˜ao de objetos deform´aveis desempenha papel importante em v´arios campos ligados `a Ciˆencia da Computa¸c˜ao, como a computa¸c˜ao gr´afica, projeto assistido por computador, cirurgias assistidas por computador e rob´otica. Nesse contexto, a simula¸c˜ao de objetos deform´aveis com acur´acia e em tempo-real ´e uma tarefa extremamente dificil para as aplica¸c˜oes que requerem simula¸c˜oes mecˆanicas interativas como s˜ao os casos dos ambientes virtuais, simuladores cir´urgicos e jogos. Podemos dividir as abordagens que d˜ao suporte ao tratamento de modelos deform´aveis em dois grandes grupos: baseados em mecˆanica do cont´ınuo, como M´etodo de Elementos Finitos (FEM - Finite Element Method) ou An´alise Isogeom´etrica (IGA - Isogeometric Analysis); e usando representa¸c˜oes discretas, como modelo massa-mola (MSM - Mass Spring Model). M´etodos baseados na abordagem cont´ınua s˜ao conhecidos por seu alto custo computacional e acur´acia, enquanto que os m´etodos discretos, embora simples e adequados para simula¸c˜oes mecˆanicas interativas, s˜ao dif´ıceis de parametrizar. A falta de um m´etodo geral baseado em f´ısica ou sistem´atico para determinar a topologia de malha ou os parˆametros do MSM a partir de um material conhecido foi a principal motiva¸c˜ao desse trabalho, no sentido de gerar um modelo de baixo custo computacional, como o MSM, a partir de um modelo de alta precis˜ao como o FEM. Portanto, partindo da premissa de simplicidade e adequa¸c˜ao do MSM para simula¸c˜oes mecˆanicas interativas, nesta tese propomos uma metodologia para parametrizar o MSM baseada em modelos cont´ınuos. Desenvolvemos duas abordagens orientadas `a dados (data-driven) para a parametriza¸c˜ao do MSM usando modelos FEM e IGA, este ´ultimo como referˆencia de deriva¸c˜ao com elementos de ordem superior. Com base nos resultados experimentais, a precis˜ao alcan¸cada por estas novas metodologias ´e mais elevada do que a de outros trabalhos similiares na literatura. Em particular, a nossa proposta alcan¸ca excelentes resultados na parametriza¸c˜ao do MSM com elementos de ordem superior

The goal of this project was to evaluate the viability of a mass-spring-damper based model for modeling of biological tissue. A method for automatically generating such a model from data taken from 3D medical imaging equipment including both the generation of point masses and an algorithm for generating the spring-damper links between these points is presented. Furthermore, an implementation of a simulation of this model running in real-time by utilizing the parallel computational power of modern GPU hardware through OpenCL is described. This implementation uses the fourth order Runge-Kutta method to improve stability over similar implementations. The difficulty of maintaining stability while still providing rigidness to the simulated tissue is thoroughly discussed. Several observations on the influence of the structure of the model on the consistency of the simulated tissue are also presented. This implementation also includes two manipulation tools, a move tool and a cut tool for interaction with the simulation. From the results, it is clear that the mass-springdamper model is a viable model that is possible to simulate in real-time on modern but commoditized hardware. With further development, this can be of great benefit to areas such as medical visualization and surgical simulation.
Målet med detta projekt var att utvärdera huruvida en modell baserad på massa-fjäderdämpare är meningsfull för att modellera biologisk vävnad. En metod för att automatiskt generera en sådan modell utifrån data tagen från medicinsk 3D-skanningsutrustning presenteras. Denna metod inkluderar både generering av punktmassor samt en algoritm för generering av länkar mellan dessa. Vidare beskrivs en implementation av en simulering av denna modell som körs i realtid genom att utnyttja den parallella beräkningskraften hos modern GPU-hårdvara via OpenCL. Denna implementation använder sig av fjärde ordningens Runge-Kutta-metod för förbättrad stabilitet jämfört med liknande implementationer. Svårigheten att bibehålla stabiliteten samtidigt som den simulerade vävnaden ges tillräcklig styvhet diskuteras genomgående. Flera observationer om modellstrukturens inverkan på den simulerade vävnadens konsistens presenteras också. Denna implementation inkluderar två manipuleringsverktyg, ett flytta-verktyg och ett skärverktyg för att interagera med simuleringen. Resultaten visar tydligt att en modell baserad på massa-fjäder-dämpare är en rimlig modell som är möjlig att simulera i realtid på modern men lättillgänglig hårdvara. Med vidareutveckling kan detta bli betydelsefullt för områden så som medicinsk bildvetenskap och kirurgisk simulering.

Thesis (M.S.V.S.)--Massachusetts Institute of Technology, Dept. of Architecture, February 1990.
Videocassette is VHS format.
Includes bibliographical references.
by Shiva Ayyadurai.
M.S.V.S.

We introduce to computer graphics the Pseudo-Rigid-Body Mechanism (PRBM) and the chain algorithm from mechanical engineering, with a unified tutorial from disparate source materials. The PRBM has been used successfully to simplify the simulation of non-linearly elastic beams, using deflections of an analogous spring and rigid-body linkage. It offers computational efficiency as well as an automatic parameterization in terms of physically measurable, intuitive inputs which fit naturally into existing animation work flows for character articulation. The chain algorithm is a technique for simulating the deflection of complicated elastic bodies in terms of straight elastic elements, which has recently been extended to incorporate PRBM beam-elements in three dimensions. We present a new, mathematically equivalent optimization of the 3D PRBM chain algorithm, from its former asymptotic complexity of O(n^2) in the number of elements n, to O(n). We also extend an existing PRBM for combined moment-force loads to 3D, where the existing 3D PRBM chain algorithm was limited to 3D PRBM elements for a moment-only load. This optimization and extension are validated by duplicating prior experimental results, but substituting the new optimization and combined-load elements. Finally, a loose road-map is provided with several key considerations for future extension of the techniques to dynamic simulations.

MAJOR PROFESSORS: DR. UCHE ONYEBADI & DR. KATHERINE T. FRITH This dissertation was conducted to determine whom the Kuwaiti newspapers indexed in their news reports during the Karamat Watan protests, and how Twitter influenced the indexing process. This study also examined how and why Twitter affected Kuwaiti journalists' agenda building process during their coverage of the protests. For the purpose of this study, the theoretical framework was the indexing model and the agenda building theory. To answer the research questions and hypothesis in this dissertation the researcher used a mixed method approach, comprising the quantitative content analysis of Kuwaiti newspapers and qualitative in-depth interviews with Kuwaiti journalists. The content analysis results show that Kuwaiti newspapers indexed more public views than official views in their coverage of the Karamat Watan protests and the number of non-official sources is larger than the number of official sources in the coverage of the event- driven news. Also, the analysis shows that during the protests the independent newspapers indexed more public views than the semi- official newspapers in Kuwait. Furthermore, the interviews show that Kuwaiti journalists were not unanimous in their opinions regarding the role of twitter in their agenda building process during the protests. While some of them believed that twitter was a good tool that helped them in their coverage of the protests in particular and other events in general, others said that it was hard to be confident about the credibility of the online sources.

L'objectif de ce travail est de développer une approche adimensionnelle de la locomotion humaine, et plus précisément de la marche et de la course. En d'autres termes, le principal enjeu de cette thèse est d'induire des similitudes locomotrices entre des hommes de tailles différentes. Ces similitudes locomotrices attendues entre des individus de différentes tailles sont les mêmes que celles que les physiciens recherchent lors de l'élaboration de prototype à partir de maquette. Dans l'approche que nous tentons de développer tout au long de ce document, nous considérons qu'un individu petit est le modèle réduit d'un plus grand. Notre approche est au croisement des champs de la physique, de la modélisation et de la biomécanique. L'application de l'analyse dimensionnelle aux modèles simples de locomotion permet de mettre en avant l'intérêt des nombres adimensionnels de Froude (vitesse adimensionnelle) et Strouhal (fréquence adimensionnelle) pour étudier la locomotion humaine. Ces modèles simples de locomotion simplifient le corps humain à la masse du corps concentrée au centre de gravité oscillant à l'extrémité d'un ressort. Ils prennent en compte une composante élastique et mettent en avant des transferts se réalisant au centre de gravité entre les énergies cinétique, potentielle de pesanteur et potentielle élastique. Le rapport de ces énergies est appelé Modela. Modela possède deux variantes, une pour la marche et l'autre pour la course, et est dépendant de Froude et Strouhal. Dans un premier temps, les conditions expérimentales de vitesse de déplacement (à partir de Froude) et de fréquence de pas (à partir de Strouhal), toutes deux relatives à l'anthropométrie des individus, ont permis d'engendrer des similitudes locomotrices pour la marche et la course chez des individus de tailles différentes. Ces résultats révèlent tout l'intérêt d'une approche adimensionnelle de la locomotion en montrant qu'exprimés indépendamment de l'anthropométrie des individus, leurs comportements adimensionnels est le même. Utiliser cette approche pour comparer des locomotions au sein même de l'espèce humaine a un grand intérêt pour étudier des comportements déviants d'un comportement standard. Aussi, cette approche peut être un moyen de mettre en avant des organisations du mouvement communes à différentes espèces. Dans un second temps, l'accent est mis sur la comparaison entre le modèle simple et le modèle complexe du corps humain. D'un coté, le modèle simple du corps humain prend en compte une composante élastique et ne s'intéresse qu'au centre de gravité. De l'autre coté, le corps humain peut être modélisé comme un ensemble de segments corporels articulés entre eux. Ici, un lien est fait entre le mouvement global du centre de gravité et les coordinations des segments poly-articulés, lors du mouvement, et tout ce que cela engendre en termes de transfert d'énergie. Le rapprochement des deux modèles explique comment un individu peut se comporter comme une masse bondissante lors de la marche et la course ou comment les expérimentations futures pourront investir le champ de l'élasticité humaine et de l'économie d'énergie
The aim of this paper is to develop a dimensionless approach of the human locomotion, and more specifically of walking and running gaits. In other terms, the main goal of this PhD thesis is to induce locomotor similarity between different-sized humans. These similarities are the same that the physicians look for when they design a prototype from a scale model. Throughout the thesis paper, this approach allows the consideration that a small human is a reduced model of a tall one. Our approach is cross-fielded like Physics, Modelization, and Biomechanics. The dimensional analysis application to the common locomotion models allows to highlight the interest of using the dimensionless numbers of Froude (dimensionless speed) and Strouhal (dimensionless frequency) to study human locomotion. These locomotion models are reduced to the body mass represented at its center of mass oscillating at the end of a massless spring. They take into account an elastic component and enlighten transfers occurring at the center of mass between the kinetic, potential and elastic energies. The ratio of these energies is called Modela. A Modela corresponds to both walking and running, and depends on Froude and Strouhal. First, the experimental conditions such as speed displacement relative to anthropometry (from Froude) and step frequency relative to anthropometry (from Strouhal) allow us to generate locomotor similarity between different-sized subjects for walking and running. These results reveal the interest of the dimensionless approach of the locomotion by showing that the dimensionless behaviors are the same when they are expressed independently of the subject anthropometry. The use of this approach to compare human locomotions is interesting to study behavior different to the gold dimensionless standard. Also, this approach may be a means to highlight a global organization of the movement which is common to many species. Then, the comparison between the simple model and the complex model is investigated. In one hand, the model takes into account an elastic component and only describe the center of mass movement. In the other hand, the human body is represented as a whole of body segment poly-articulated. A link is done between the global movement of the center of mass and the movement of the poly-articular model, and especially regarding for the energy transfers. The link between the models explain how a subject has the same behavior of a spring mass, and how the future works will be able to investigate the fields of the human elasticity and the saving energy mechanisms

Every movement has a goal. For reaching, the goal is to move the hand to a specific location. For locomotion, however, goals for each step cycle are unclear and veiled by the automatic nature of lower limb control. What mechanical variables does the nervous system "care" about during locomotion? Abundant evidence from the biomechanics literature suggests that the force generated on the ground, or endpoint force, is an important task variable during hopping and running. Hopping and running are called bouncing gaits for the reason that the endpoint force trajectory is like that of bouncing on a pogo stick. In this work, I captured kinematics and kinetics of human bouncing gaits, and tested whether structure in the inherent step-to-step variability is consistent with control of endpoint force. I found that joint torques covary from step to step to stabilize only peak force. When two limbs are used to generate force on the ground at the same time, individual forces of the limbs are not stabilized, but the total peak force is stabilized. Moreover, passive dynamics may be exploited during forward progression. These results suggest that the number of kinetic goals is minimal, and this simple control scheme involves goals for discrete times during the gait cycle. Uncovering biomechanical goals of locomotion provides a functional context for understanding how complex joints, muscles, and neural circuits are coordinated.

Les travaux réalisés pendant mon doctorat répondent à la problématique de la simulation physique, en temps interactif, du comportement d'objets déformables soumis à des changements topologiques. Mes travaux ont abouti à la définition d'un nouveau modèle unifié couplant un modèle topologique complet et un modèle physique, pour la simulation physique d'objets déformables décomposés en éléments surfaciques comme volumiques, tout en réalisant pendant cette simulation des changements topologiques comme la découpe ou la subdivision locale d'un élément du maillage. Cette dernière opération a permis de proposer une méthode adaptative où les éléments du maillage sont raffinés selon un critère géométrique au cours de la simulation. Nous avons fait le choix des cartes combinatoires et plus particulièrement celui des complexes cellulaires linéaires, comme modèle topologique de notre modèle unifié. Ils ont l'avantage d'être génériques par rapport à la dimension de l'objet représenté mais également par rapport à la topologie des cellules en lesquelles l'objet est décomposé. Le système masses-ressort a, quant à lui, été choisi comme modèle physique de notre modèle unifié. L'avantage de ce dernier réside dans la simplicité de ses équations, son implémentation intuitive, son interactivité et sa facilité à gérer les changements topologiques. Enfin, la définition d'un modèle unifié nous a permis de proposer un modèle évitant la redondance d'informations et facilitant la mise à jour de ces dernières suite à des changements topologiques
The work made during my PhD, respond to the problematic of physical simulation of the behavior of deformable objects subject to topological changes in interactive time. My work resulted in the definition of a new unified model coupling a complete topological model and a physical model for physical simulation of deformable objects decomposed in surface as volume elements, while performing during this simulation topological changes such as cutting or subdivision local of a mesh element. This operation allowed us to propose an adaptive method where mesh elements are refined during the simulation according to a geometric criterion. For the topological model of our unified model, we made the choice of combinatorial maps and more particularly linear cellular complexes. Their main advantage of the latter is the simplicity of its equations, its intuitive implementation, its interactivity and its ease to handle topological changes. Finally, the definition of a unified model allowed us to propose a model avoiding duplication of information and facilitate the update after topological changes

Thesis (Nav. E. and S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (p. 42).
Numerical efficiency comparisons of a four-node finite element model (FEM), a mass-spring lattice model (MSLM), and a mass-spring-dashpot lattice model (MSDLM) are investigated. Specifically, the error in the ultrasonic phase speed with variations in Poisson's ratio and angle of incidence is evaluated in each model of an isotropic elastic solid. With regard to phase speed, materials with constant N grid spaces per P-wavelength having Poisson's ratios between 0.0 and 0.25 are modeled more accurately with the MSLM. Materials with Poisson's ratios between 0.35 and 0.5 and N grid spaces per P-wavelength are more accurately modeled with the FEM. Materials whose Poisson's ratio is between 0.25 and 0.35 are modeled equally accurately. With regard to phase speed, viscoelastic materials modeled with FEM and MSDLM show good agreement with known analytical solutions. The computational expense of all three models is also examined. The number of floating point operations (FLOPS) needed to achieve a specified phase speed accuracy is calculated for each different model. While the FEM and MSLM have nearly the same computation cost, the MSDLM is 5 times more costly than either the FEM or MSLM.
by Marianne S. Holt-Phoenix.
Nav.E.and S.M.

The dynamic properties of several rectangular and V-shaped microcantilevers were investigated. Particular attention was paid to the higher flexural eigenmodes of oscillation. The potential of the higher flexural modes was demonstrated through the use of cantilevers as standalone sensors for adsorbed mass. The mass adsorbed on the surface of a cantilever was in the form of a homogeneous water layer measured as a function of relative humidity. The minimum detectable water layer thicknesses were 13.7 Å, 3.2 Å, 1.1 Å, and 0.7 Å for the first four modes of a rectangular cantilever, clearly demonstrating enhanced accuracy for the higher eigenmodes of oscillation. These thicknesses correspond to minimum detectable masses of 33.5 pg, 7.8 pg, 2.7 pg and 1.7 pg for the first four modes. For quantitative applications the spring constants of each cantilever must be determined. Many methods exist but only a small number can calibrate the higher flexural eigenmodes. A method was developed to simultaneously calibrate all flexural modes of microcantilever sensors. The method was demonstrated for the first four eigenmodes of several rectangular and V-shaped cantilevers with nominal fundamental spring constants in the range of 0.03 to 1.75 N/m. The spring constants were determined with accuracies of 5-10 %. Spring constants of the fundamental mode were generally in agreement with those determined using the Sader method. The method is compatible with existing AFM systems. It relies on a flow of gas from a microchannel and as such poses no risk of damage to the cantilever beam, its tip, or any coating. A related method was developed for the torsional modes of oscillation. Preliminary results are shown for the fundamental mode of a rectangular cantilever. The method can be easily extended to the higher torsional modes, V-shaped cantilevers, and potentially, the flapping modes of the legs of V-shaped microcantilevers.

This thesis deals by the design of 1/4 car model for testing vehicle dampers, which can be used to simulate the real suspension of a vehicle wheel (up to a maximum car weight of 1,970 kg) and the so-called linear wheel suspension. A linear mathematical 1/4 car model with 2 DOF (Degrees Of Freedom) and data from literature search are used to design and derive the basic parameters of the device. The thesis contains a description of the linear mathematical model and its outputs (acceleration of the sprung mass and forces acting on the sprung mass), description of designed device, descriptions of created simulations (static, modal and harmonic analysis in ANSYS Workbench 2020 R2) and conceptual design of the modifications this device for another possible use for testing of bicycles.

Le travail de thèse présenté ici vise à caractériser et simuler les forces mécaniques impliquées dans le processus de fermeture dorsale chez l’organisme Drosophila melanogaster. Ce processus participe à l’acquisition par l’embryon de sa forme finale. Ainsi, l’objectif du travail présenté ici est d’approfondir nos connaissances sur la mécanique des tissus,ainsi que sur leur rôle dans l’embryogenèse.La fermeture dorsale est un processus similaire à la cicatrisation, dans lequel la fermeture du trou dorsal est réalisée par l'amnioséreuse, qui couvre le trou dorsal, et la rangée la plus dorsale des cellules de l'épiderme: les leading edge cells.Une partie du travail présenté ici étudie aussi les mouvements des cellules du leading edge,dans le but de comprendre l’effet du câble d’actine sur la dynamique de la fermeture dorsale.Un algorithme permettant de détecter les contours des cellules, leur position ainsi que celle de leurs jonctions multiples a été développé, ainsi qu'un interface utilisateur.Différents modèles dynamiques ont ensuite été construits, prenant en compte différents comportements mécaniques, selon l’approche lagrangienne. Les systèmes d’équations ont été résolus numériquement, et leurs prédictions comparées aux données biologiques selon l’approche des moindres carrés. Les résultats ont été validés par le test de la fonction d’auto corrélation.Les résultats présentés dans cette thèse nous permettent de mieux comprendre les processus mécaniques impliqués dans les oscillations des cellules de l’amnioséreuse. Ils nous donnent aussi des indices sur leurs caractéristiques biologiques. Ils nous permettent enfin de mieux appréhender le rôle du cabled’actine dans ce processus
The work presented here aims at characterizing and simulating the mechanical forces involved in the process of Dorsal Closure in the organism Drosophila melanogaster, an embryonic process. In particular, Dorsal Closure participates in the acquisition of the final form of the embryo. Therefore, the work presented here aims at fathoming our knowledge on tissues mechanics, as well as their role in the acquisition of shape. The tissues involved in Dorsal Closure are the epidermis and the amnioserosa. At this stage of development, the epidermis surrounds almost all the embryo. Nevertheless, the amnioserosa still covers a large area of the dorsal side called dorsal hole. Hence, Dorsal Closure aims at shutting this hole and joining the lateral sides of the epidermis, in a process similar to wound healing. In order to fuse the two sides of the epidermis on the dorsal line, the epidermis must be drawn dorsalward. This movement is driven by the amnioserosa on the one hand, and by the dorsalmost row of the epidermis (called Leading Edge cells) on the other hand. The latter first form a transcellular Actin Cable around the dorsal hole. The cable, contracting, will reduce the area of the dorsal hole, covered by the amnioserosa. Second, the Leading Edge cells emit protrusions that will attach to the opposite Leading Edge and drag it toward themselves, untill the two sides of the epidermis fuse. These protrusions have a limited range, hence the dragging and fusion only take place at the ends of the dorsal hole (called canthi), where the distance between the two Leading Edges is small enough. The Amnioserosa also drags the epidermis toward the dorsal line. Its cells produce a contractile network. Interstingly, Amnioserosa cells see the area of their top side (apical side) vary in a periodic way. Although these variations have been widely studied, their role in Dorsal Closure remains unknown. This PhD aims at improving our knowledge of the mechanical concepts involved in these oscillations, and to build a physical model representing these movements. The work presented here also studies the movements of the Leading Edge cells, in order to understand the effect of the Actin Cableon the dynamics of Dorsal Closure. In order to study the cells movements and the role of the tissues involved in Dorsal Closure, an algorithm was developped, allowing to detect the cells edges, their position, as well as those of their vertices (multiple junction between three or four cells) and to track them over time. A user interface was also developped, in order to facilitate the adjustment of the parameters allowing the detection, as well as the correction of possible errors. Various dynamical models were then built following the lagrangian approach. The systems of equations deriving from the Euler-Lagrange equations were numerically solved, and their predictions compared to the biological data extracted thanks to the algorithm presented earlier, following the least square approach. The model validation was performed thanks to the autocorrelation function test. Finally, the Leading Edge dynamics was studied characterising the cellular movements at the interface between the epidermis and the amnioserosa. Wild type embryos dynamics were compared to those of mutated embryos showing specific defects in the Actin Cable formation. The results presented in this manuscript allow a better understanding of the processes involved in in Amnioserosa cells oscicllations. They also give clues on their biological characteristics. Finally, they assess the role of the actin cable in this process similar to wound healing

La présente thèse a pour but d'approfondir l'étude du geste dans le cadre de l'interaction Homme Machine. Il s'agit de créer de nouveaux paradigmes d'interaction qui offrent à l'utilisateur de plus amples possibilités d'expression basées sur le geste. Un des vecteurs d'expression du geste, très rarement traité en Interaction Homme Machine, qui lui confère sa coloration et son aspect, est ce que les théoriciens et praticiens de la danse appellent " les qualités de mouvement ". Nous mettons à profit des collaborations avec le domaine de la danse pour étudier la notion de qualités de mouvement et l'intégrer à des paradigmes d'interaction gestuelle. Notre travail analyse les apports de l'intégration des qualités de mouvement comme modalité d'interaction, fournit les outils propices à l'élaboration de cette intégration (en termes de méthodes d'analyse, de visualisation et de contrôle gestuel), en développe et évalue certaines techniques d'interaction.Les contributions de la thèse se situent d'abord dans la formalisation de la notion de qualités de mouvement et l'évaluation de son intégration dans un dispositif interactif en termes d'expérience utilisateur. Sur le plan de la visualisation des qualités de mouvement, les travaux menés pendant la thèse ont permis de démontrer que les modèles physiques masses-ressorts offrent de grandes possibilités de simulation de comportements dynamiques et de contrôle en temps réel. Sur le plan de l'analyse, la thèse a permis de développer des approches novatrices de reconnaissance automatique des qualités de mouvement de l'utilisateur. Enfin, à partir des approches d'analyse et de visualisation des qualités de mouvement, la thèse a donné lieu à l'implémentation d'un ensemble de techniques d'interaction. Elle a appliqué et évalué ses techniques dans le contexte de la pédagogie de la danse et de la performance.

We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It is well-known that steady-state animal running can be approximated by spring-mass models, but these passive dynamic models describe only steady-state running and are sensitive to disturbances that animals can accommodate. While animals rely on their passive dynamics for energy economy, they also incorporate active control for disturbance rejection. The same approach can be used for spring-mass walking and running, but an active controller is needed that interferes minimally with the passive dynamics of the system. We demonstrate, in simulation, how force control combined with a leg spring stiffness tuned for the desired hopping frequency provides robustness to disturbances on a model for robot hopping, while maintaining the energy economy of a completely passive system during steady-state operation. Our strategy is promising for robotics applications, because there is a clear distinction between the passive dynamic behavior of the model and the active controller, it does not require sensing of the environment, and it is based on a sound theoretical background that is compatible with existing high-level controllers for ideal spring-mass models.
Graduation date: 2012

碩士
國立臺北科技大學
資訊工程系
107
The localization algorithm of Wireless Sensor Network is a hot research issue. Global Positioning System (GPS) positioning technology has been widely used for outdoor positioning, but it cannot be employed successfully in indoor positioning. On the other hand, the popular indoor positioning techniques, such as AOA ,TOA ,TODA, can only be realized on the devices with relatively high costs, thus they are not suitable for low cost applications. The sensor nodes in Industrial internet of things are typically operated in the low-powered and Lossy Networks(LLN) network environments. For this reason, we write the firmware programming codes according to both standard documents of RFC6550(RPL) and RFC7554(IEEE 802.15.4e) to deploy them on the low cost sensor nodes and meet the requirement of Industrial internet of things. This research proposes the location estimation mechanism for wireless devices in the indoor 2D environment. This localization algorithm uses Mass-Spring Model positioning technique, by which each node finds its location by balancing the geometric relationships with neighboring nodes iteratively until the system reaches an equilibrium state. In addition, the proposed method develops a distance ranging method using the widely used log-distance path loss model and actual Received Signal Strength Indicator (RSSI) measurement. Finally, the cooja simulation tool of the Contiki OS platform is executed to collect average distance error and convergence speed of the localization algorithm for evaluating the estimation accuracy and feasibility of the proposed mechanism.

Computation model is presented for mass spring systems of one and two dimensional phononic band gap crystals and micro-electro-mechanical systems. The computation model is veri ed with existing work, and phononic band gap microelectro- mechanical systems are analyzed. Phononic band gap in the scienti c and industrial community is discussed. The motivation and the recent popular methods are discussed. The computation models are highlighted with their pros and cons and adequate computational applications. The one dimensional mass spring model is developed and the simulator operation is validated through comparison with the published simulation data in the original paper by J.S. Jensen et al.. Additionally, the one dimensional mass spring simulator is validated for a micro-electro-mechanical system band structure. The two dimensional mass spring model is developed, as well, the simulator operation is validated through comparison with the published simulation data in the original paper by J.S. Jensen et al.. The two-dimensional simulator is utilized to analyze solid square-shaped, hollow square-shaped, solid diamond-shaped, and hollow diamond-shaped inclusion micro-electro-mechanical band gap structures. The solid inclusion-based micro-electro-mechanical band gap results are compared with hollow inclusion-based micro-electro-mechanical structures.

abstract: With improvements in technology, intensive longitudinal studies that permit the investigation of daily and weekly cycles in behavior have increased exponentially over the past few decades. Traditionally, when data have been collected on two variables over time, multivariate time series approaches that remove trends, cycles, and serial dependency have been used. These analyses permit the study of the relationship between random shocks (perturbations) in the presumed causal series and changes in the outcome series, but do not permit the study of the relationships between cycles. Liu and West (2016) proposed a multilevel approach that permitted the study of potential between subject relationships between features of the cycles in two series (e.g., amplitude). However, I show that the application of the Liu and West approach is restricted to a small set of features and types of relationships between the series. Several authors (e.g., Boker & Graham, 1998) proposed a connected mass-spring model that appears to permit modeling of more general cyclic relationships. I showed that the undamped connected mass-spring model is also limited and may be unidentified. To test the severity of the restrictions of the motion trajectories producible by the undamped connected mass-spring model I mathematically derived their connection to the force equations of the undamped connected mass-spring system. The mathematical solution describes the domain of the trajectory pairs that are producible by the undamped connected mass-spring model. The set of producible trajectory pairs is highly restricted, and this restriction sets major limitations on the application of the connected mass-spring model to psychological data. I used a simulation to demonstrate that even if a pair of psychological time-varying variables behaved exactly like two masses in an undamped connected mass-spring system, the connected mass-spring model would not yield adequate parameter estimates. My simulation probed the performance of the connected mass-spring model as a function of several aspects of data quality including number of subjects, series length, sampling rate relative to the cycle, and measurement error in the data. The findings can be extended to damped and nonlinear connected mass-spring systems.
Dissertation/Thesis
Masters Thesis Psychology 2019

Thesis (M.S.)--University of Wisconsin--Madison, 1992.
Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 58-61).

In this thesis we present a computational study of “ion crystals”, the interesting patterns in which ions arrange themselves in ion traps such as Paul and Penning traps. In ion crystals the ions are in equilibrium due to the balance of the repulsive forces between the ions and the overall tendency of the ion trap to pull ions towards the trap centre. We have carried out a detailed investigation of ion crystals in Paul traps by solving their equations of motion numerically. We also propose a model called the spring–mass model to explain the formation of ion crystals. This model is far more efficient than direct numerical simulation for predicting ion crystal structures. Finally, we demonstrate that there is a power law relating distance of an ion from the trap centre in ion crystals to the applied RF voltage amplitude.

During heel-toe running, the vertical ground reaction force (VGRF) profile has both impact and active peaks. Although the mass-spring model (a single mass and a linear spring) is simple and useful to predict running characteristics, its simulation of VGRF profiles produces only a single peak rather than the double peak typically observed in running. In contrast, the mass-spring-damper model (two masses, two springs and a damper) produces a simulated force profile with two separate peak values. Running barefoot versus with shoes of varying stiffness produces VGRF profiles with quite different characteristics. The purpose of this study was to use the mass-spring and mass-spring-damper models to investigate the stiffness characteristics of human running in barefoot, hard-shoe and soft-shoe conditions. Ten recreational runners ran overground at 3.83 m/s and completed five trials of each footwear condition. Force data and two-dimensional kinematic data were recorded simultaneously at 1000 and 250 Hz respectively. Using the mass-spring model, vertical stiffnesses with the barefoot, hard-shoe and soft-shoe conditions were 27.6, 25.3 and 24.6 kN/m, respectively. Hard-shoe and soft-shoe material stiffnesses were about 150 and 100 kNm�����. Considering the leg and shoe as two springs in series, the leg's actual vertical stiffness could be estimated as 30 and 33 kNm����� for hard and soft-shoe conditions. The result suggested that runners increased their actual vertical stiffness with the sequence of barefoot, hard-shoe, and soft-shoe conditions. Using the mass-spring-damper model, the upper spring stiffness was relatively constant while the lower spring stiffness changed with footwear condition: 274, 136 and 126 kN/m, respectively. While it is mathematically convenient to model the leg and body with constant spring characteristics over time, physiologically it is likely that muscle-tendon stiffness does change during stance as muscle activity changes. This suggests that mass-spring models of running would be improved by time varying spring characteristics. Variable stiffness of the simple mass-spring model was tested using a smoothly varying stiffness function. This provided a significantly better force profile simulation for each of the footwear conditions than did the constant stiffness model. Further mass-spring-damper modeling may also be improved through incorporation of such time varying characteristics.
Graduation date: 2002

CIVINS
Numerical efficiency comparisons of a four-node finite element model (FEM), a mass-spring lattice model (MSLM), and a mass-spring-dashpot lattice model (MSDLM) are investigated. Specifically, the error in the ultrasonic phase speed with variations in Poisson's ratio and angle of incidence is evaluated in each model of an isotropic elastic solid. With regard to phase speed, materials with constant N grid spaces per P-wavelength having Poisson's ratios between 0.0 and 0.25 are modeled more accurately with the MSLM. Materials with Poisson's ratios between 0.35 and 0.5 and N grid spaces per P-wavelength are more accurately modeled with the FEM. Materials whose Poisson's ratio is between 0.25 and 0.35 are modeled equally accurately. With regard to phase speed, viscoelastic materials modeled with FEM and MSDLM show good agreement with known analytical solutions. The computational expense of all three models is also examined. The number of floating point operations (FLOPS) needed to achieve a specified phase speed accuracy is calculated for each different model. While the FEM and MSLM have nearly the same computation cost, the MSDLM is 5 times more costly than either the FEM or MSLM.

This thesis deals with the design of two-axis displacement-amplifying compliant mechanisms (DaCMs) using topology optimization. The two-axis compliant mechanisms considered here are XY positioners and two-axis inertial sensors. A building block approach, with several single-axis DaCMs as building blocks, is used to conceive designs of compliant platforms that provide two orthogonal and independent movement of a common platform. Spring-mass-lever (SML) models of these designs are developed to simplify the analysis and design of the complicated arrangements of building blocks. The XY positioners designed in this work have perfectly de-coupled motion without compromising on the frequency; the best design of the stage has a displacement amplification of five resulting in the enhanced range of 4.2 % of the mechanism size–a significant improvement from the 1.67 %, the maximum range of the designs reported so far. Nearly 100% improvement is observed in the sensitivity of the two-axis accelerometer as compared with an existing design that occupied the same area. Multiple prototypes of XY positioners were fabricated on polypropylene sheets using CNC machining; and on spring steel and aluminium using wire-cut electro discharge machining. Mask layouts for two-layer two-axis accelerometers are designed for micro-fabrication using reactive ion etching and wafer bonding.

A pragmatic method for designing compliant mechanisms is developed in this thesis, by selecting among existing mechanisms one that may be modified as required. This method complements existing techniques by answering questions of the existence and multiplicity of solutions for the given specifications of a practical problem. The premise for the method is a 2D map that juxta- poses the problem-specifications and the characteristics of compliant mechanisms in a database. The selection of the most suitable mechanisms is similar to Ashby's method of material selection. In our method, stuffiness, inertia, and the inherent kinematic characteristics of compliant mechanisms are analogous to material properties in Ashby's method. These characteristics capture the lumped behavior of compliant mechanisms in static and dynamic situations using spring-lever (SL) and spring-mass-lever (SML) models. The work includes the development of computation- ally efficient methods to compute the SL and SML model characteristics of single-input and single-output compliant mechanisms. Also developed in this work is a method to determine a feasible map by solving the governing equations of equilibrium and several inequalities pertaining to problem- specifications. The map helps not only in assessing the feasibility of the specifications but also in re-designing the mechanisms in predetermined ways to nd multiple solutions, all of which account for practical considerations. The method pays due attention to the overall size, strength considerations, manufacturability, and choice of material. It also enables minimal alterations of the problem-specifications when the user prefers a particular mechanism in the database. All these features are implemented in a web-based Java program with a graphical user interface that can be accessed at http://www.mecheng.iisc.ernet.in/ m2d2/CM design. Six case- studies that include micro machined inertial sensors, miniature valve mechanisms, ultra-sensitive force sensors, etc., are documented in detail to demonstrate the usefulness of the method in practice.

Despite many advances in the design methods for compliant mechanisms, it is still not possible to know if a set of user-specifications has a solution. Furthermore, practical considerations such as failure limits and manufacturing limitations cannot be easily incorporated into existing methods. To address these issues, we have recently developed the concept of feasible stiffness and inertia maps. This thesis extends the concept of feasible maps and proposes another kind of maps that comprehensively depict the nonlinear kinetoelastostatic behaviour of compliant mechanisms. Feasible maps drawn as per user-specifications, with compliant mechanisms of the database overlaid on it, instantly inform the reader whether the specifications are feasible; whether the specifications are stringent; whether any mechanisms in the database meet the specifications, and whether any mechanism can be interactively modified to meet the specifications including size, strength and manufacturability. This thesis extends the earlier work on feasible maps by relaxing one condition that all beam segments in a compliant mechanism must retain their relative proportions. This is achieved by using size optimization. Thus, a certain degree of automation is brought into the procedure, which enhances the ease of use of the feasible maps. Illustrative examples are presented and implementation into a software is demonstrated. A major contribution of this work is the development of the concept of kinetoelastostatic maps of compliant mechanisms with fixed topology, shape, and relative proportions of beam segments in them. The map is drawn on a 2D plot using two non-dimensional quantities, one that captures the response of the mechanism and the other that combines the force, geometry, and material parameters. The map encloses a region that indicates the kinetoelastostatic capability of the mechanism. Another contribution of this work is the observation that the enclosed region can be parameterized using average slenderness ratio of the beam segments. The resulting curves help designers in assessing the capability and limits of a mechanism in terms of geometric advantage, mechanical advantage, normalized output displacement, inherent stiffness, etc. Numerous examples are presented to explain various uses of the non-dimensional maps.

The use of cross-correlation analysis on spring discharge and precipitation data in karst aquifer basins has been used for many years to develop a conceptual understanding of an aquifer and estimate aquifer properties. However, to this point, the application of these processes has relied on gaged precipitation at discrete locations. The use of spatially varying precipitation data and cross-correlation analysis provides a means of spatially characterizing recharge locations on a karst aquifer. NEXRAD provides a spatial estimate of precipitation based by combining reflectivity measurements from radar stations and traditional precipitation gages. This study combines NEXRAD precipitation data with spring discharge data to develop maps of contributing areas for two karst springs in Central Texas. By calculating the cross-correlation of each NEXRAD measurement to spring flow data for the same period of time a map showing the locations hydraulically connected to the spring can be developed. Both numerical experiments and field applications were conducted as part of the study. The numerical experiments conducted by Padilla and Pulido-Bosch are revisited using the numerical groundwater model MODFLOW. This allowed the introduction of spatially varying parameters into the model. The results show that spatially varying parameters can be inferred based on the results cross-correlation of spatially varying precipitation with respect to a single spring discharge location. Also, contributing area maps are prepared for both Barton Springs and Jacob’s Well. Barton Springs has a precise estimate of the recharge area. The current map of the recharge area and the NEXRAD derived map show good agreement with the cross-correlation results. Conversely, Jacob’s Well has not been sufficiently studied to delineate a contributing area map. This study provides an preliminary estimate of the area contributing to flow at Jacob’s Well. Finally, the development of these maps can also be applied to the construction of regional groundwater models. An application of this methodology with the groundwater availability model for the Barton Springs portion of the Edward’s aquifer is introduced. The application of spatial cross-correlation analysis to constrain recharge in the model showed a reduction in the objective function with respect to discharge at Barton Springs of 15%.
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