CINXE.COM

<!DOCTYPE html> <html lang="en" dir="ltr"> <head>  <script async src="https://www.googletagmanager.com/gtag/js?id=G-P63WKM1TM1"></script> <script> window.dataLayer = window.dataLayer || []; function gtag(){dataLayer.push(arguments);} gtag('js', new Date()); gtag('config', 'G-P63WKM1TM1'); </script>  <script type="text/javascript" > (function(m,e,t,r,i,k,a){m[i]=m[i]||function(){(m[i].a=m[i].a||[]).push(arguments)}; m[i].l=1*new Date(); for (var j = 0; j < document.scripts.length; j++) {if (document.scripts[j].src === r) { return; }} k=e.createElement(t),a=e.getElementsByTagName(t)[0],k.async=1,k.src=r,a.parentNode.insertBefore(k,a)}) (window, document, "script", "https://mc.yandex.ru/metrika/tag.js", "ym"); ym(55165297, "init", { clickmap:false, trackLinks:true, accurateTrackBounce:true, webvisor:false }); </script> <noscript><div><img src="https://mc.yandex.ru/watch/55165297" style="position:absolute; left:-9999px;" alt="" /></div></noscript>   <script> var _paq = window._paq = window._paq || []; /* tracker methods like "setCustomDimension" should be called before "trackPageView" */ _paq.push(['trackPageView']); _paq.push(['enableLinkTracking']); (function() { var u="//matomo.waset.org/"; _paq.push(['setTrackerUrl', u+'matomo.php']); _paq.push(['setSiteId', '2']); var d=document, g=d.createElement('script'), s=d.getElementsByTagName('script')[0]; g.async=true; g.src=u+'matomo.js'; s.parentNode.insertBefore(g,s); })(); </script>  <title>Search results for: kinematic nonlinearities</title> <meta name="description" content="Search results for: kinematic nonlinearities"> <meta name="keywords" content="kinematic nonlinearities"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button class="d-block d-lg-none navbar-toggler ml-auto" type="button" data-toggle="collapse" data-target="#navbarMenu" aria-controls="navbarMenu" aria-expanded="false" aria-label="Toggle navigation"> <span class="navbar-toggler-icon"></span> </button> <div class="w-100"> <div class="d-none d-lg-flex flex-row-reverse"> <form method="get" action="https://waset.org/search" class="form-inline my-2 my-lg-0"> <input class="form-control mr-sm-2" type="search" placeholder="Search Conferences" value="kinematic nonlinearities" name="q" aria-label="Search"> <button class="btn btn-light my-2 my-sm-0" type="submit"><i class="fas fa-search"></i></button> </form> </div> <div class="collapse navbar-collapse mt-1" id="navbarMenu"> <ul class="navbar-nav ml-auto align-items-center" id="mainNavMenu"> <li class="nav-item"> <a class="nav-link" href="https://waset.org/conferences" title="Conferences in 2025/2026/2027">Conferences</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/disciplines" title="Disciplines">Disciplines</a> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/committees" rel="nofollow">Committees</a> </li> <li class="nav-item dropdown"> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdownPublications" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> Publications </a> <div class="dropdown-menu" aria-labelledby="navbarDropdownPublications"> <a class="dropdown-item" href="https://publications.waset.org/abstracts">Abstracts</a> <a class="dropdown-item" href="https://publications.waset.org">Periodicals</a> <a class="dropdown-item" href="https://publications.waset.org/archive">Archive</a> </div> </li> <li class="nav-item"> <a class="nav-link" href="https://waset.org/page/support" title="Support">Support</a> </li> </ul> </div> </div> </nav> </div> </header> <main> <div class="container mt-4"> <div class="row"> <div class="col-md-9 mx-auto"> <form method="get" action="https://publications.waset.org/abstracts/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="kinematic nonlinearities"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 263</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: kinematic nonlinearities</h1> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">263</span> Dynamic Investigation of Brake Squeal Problem in The Presence of Kinematic Nonlinearities</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Shahroz%20Khan">Shahroz Khan</a>, <a href="https://publications.waset.org/abstracts/search?q=Osman%20Taha%20%C5%9Een"> Osman Taha Şen</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In automotive brake systems, brake noise has been a major problem, and brake squeal is one of the critical ones which is an instability issue. The brake squeal produces an audible sound at high frequency that is irritating to the human ear. To study this critical problem, first a nonlinear mathematical model with three degree of freedom is developed. This model consists of a point mass that simulates the brake pad and a sliding surface that simulates the brake rotor. The model exposes kinematic and clearance nonlinearities, but no friction nonlinearity. In the formulation, the friction coefficient is assumed to be constant and the friction force does not change direction. The nonlinear governing equations of the model are first obtained, and numerical solutions are sought for different cases. Second, a computational model for the squeal problem is developed with a commercial software, and computational solutions are obtained with two different types of contact cases (solid-to-solid and sphere-to-plane). This model consists of three rigid bodies and several elastic elements that simulate the key characteristics of a brake system. The response obtained from this model is compared with numerical solutions in time and frequency domain. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=contact%20force" title="contact force">contact force</a>, <a href="https://publications.waset.org/abstracts/search?q=nonlinearities" title=" nonlinearities"> nonlinearities</a>, <a href="https://publications.waset.org/abstracts/search?q=brake%20squeal" title=" brake squeal"> brake squeal</a>, <a href="https://publications.waset.org/abstracts/search?q=vehicle%20brake" title=" vehicle brake"> vehicle brake</a> </p> <a href="https://publications.waset.org/abstracts/52950/dynamic-investigation-of-brake-squeal-problem-in-the-presence-of-kinematic-nonlinearities" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/52950.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">250</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">262</span> The Complete Modal Derivatives</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sebastian%20Andersen">Sebastian Andersen</a>, <a href="https://publications.waset.org/abstracts/search?q=Peter%20N.%20Poulsen"> Peter N. Poulsen</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The use of basis projection in the structural dynamic analysis is frequently applied. The purpose of the method is to improve the computational efficiency, while maintaining a high solution accuracy, by projection the governing equations onto a small set of carefully selected basis vectors. The present work considers basis projection in kinematic nonlinear systems with a focus on two widely used basis vectors; the system mode shapes and their modal derivatives. Particularly the latter basis vectors are given special attention since only approximate modal derivatives have been used until now. In the present work the complete modal derivatives, derived from perturbation methods, are presented and compared to the previously applied approximate modal derivatives. The correctness of the complete modal derivatives is illustrated by use of an example of a harmonically loaded kinematic nonlinear structure modeled by beam elements. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=basis%20projection" title="basis projection">basis projection</a>, <a href="https://publications.waset.org/abstracts/search?q=finite%20element%20method" title=" finite element method"> finite element method</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities" title=" kinematic nonlinearities"> kinematic nonlinearities</a>, <a href="https://publications.waset.org/abstracts/search?q=modal%20derivatives" title=" modal derivatives"> modal derivatives</a> </p> <a href="https://publications.waset.org/abstracts/92260/the-complete-modal-derivatives" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/92260.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">241</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">261</span> Modeling and Shape Prediction for Elastic Kinematic Chains</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Jiun%20Jeon">Jiun Jeon</a>, <a href="https://publications.waset.org/abstracts/search?q=Byung-Ju%20Yi"> Byung-Ju Yi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper investigates modeling and shape prediction of elastic kinematic chains such as colonoscopy. 2D and 3D models of elastic kinematic chains are suggested and their behaviors are demonstrated through simulation. To corroborate the effectiveness of those models, experimental work is performed using a magnetic sensor system. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=elastic%20kinematic%20chain" title="elastic kinematic chain">elastic kinematic chain</a>, <a href="https://publications.waset.org/abstracts/search?q=shape%20prediction" title=" shape prediction"> shape prediction</a>, <a href="https://publications.waset.org/abstracts/search?q=colonoscopy" title=" colonoscopy"> colonoscopy</a>, <a href="https://publications.waset.org/abstracts/search?q=modeling" title=" modeling"> modeling</a> </p> <a href="https://publications.waset.org/abstracts/4177/modeling-and-shape-prediction-for-elastic-kinematic-chains" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/4177.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">613</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">260</span> Experimental Determination of Aluminum 7075-T6 Parameters Using Stabilized Cycle Tests to Predict Thermal Ratcheting</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Armin%20Rahmatfam">Armin Rahmatfam</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammad%20Zehsaz"> Mohammad Zehsaz</a>, <a href="https://publications.waset.org/abstracts/search?q=Farid%20Vakili%20Tahami"> Farid Vakili Tahami</a>, <a href="https://publications.waset.org/abstracts/search?q=Nasser%20Ghassembaglou"> Nasser Ghassembaglou</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper the thermal ratcheting, kinematic hardening parameters C, γ, isotropic hardening parameters and also k, b, Q combined isotropic/kinematic hardening parameters have been obtained experimentally from the monotonic, strain controlled cyclic tests at room and elevated temperatures of 20°C, 100°C, and 400°C. These parameters are used in nonlinear combined isotropic/kinematic hardening model to predict better description of the loading and reloading cycles in the cyclic indentation as well as thermal ratcheting. For this purpose, three groups of specimens made of Aluminum 7075-T6 have been investigated. After each test and using stable hysteretic cycles, material parameters have been obtained for using in combined nonlinear isotropic/kinematic hardening models. Also the methodology of obtaining the correct kinematic/isotropic hardening parameters is presented. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=combined%20hardening%20model" title="combined hardening model">combined hardening model</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20hardening" title=" kinematic hardening"> kinematic hardening</a>, <a href="https://publications.waset.org/abstracts/search?q=isotropic%20hardening" title=" isotropic hardening"> isotropic hardening</a>, <a href="https://publications.waset.org/abstracts/search?q=cyclic%20tests" title=" cyclic tests"> cyclic tests</a> </p> <a href="https://publications.waset.org/abstracts/18280/experimental-determination-of-aluminum-7075-t6-parameters-using-stabilized-cycle-tests-to-predict-thermal-ratcheting" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/18280.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">488</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">259</span> Aeroelastic Analysis of Nonlinear All-Movable Fin with Freeplay in Low-Speed</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Laith%20K.%20Abbas">Laith K. Abbas</a>, <a href="https://publications.waset.org/abstracts/search?q=Xiaoting%20%20Rui"> Xiaoting Rui</a>, <a href="https://publications.waset.org/abstracts/search?q=Pier%20Marzocca"> Pier Marzocca</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Aerospace systems, generally speaking, are inherently nonlinear. These nonlinearities may modify the behavior of the system. However, nonlinearities in an aeroelastic system can be divided into structural and aerodynamic. Structural nonlinearities can be subdivided into distributed and concentrated ones. Distributed nonlinearities are spread over the whole structure representing the characteristic of materials and large motions. Concentrated nonlinearities act locally, representing loose of attachments, worn hinges of control surfaces, and the presence of external stores. The concentrated nonlinearities can be approximated by one of the classical structural nonlinearities, namely, cubic, free-play and hysteresis, or by a combination of these, for example, a free-play and a cubic one. Compressibility, aerodynamic heating, separated flows and turbulence effects are important aspects that result in nonlinear aerodynamic behavior. An issue related to the low-speed flutter and its catastrophic/benign character represented by Limit Cycle Oscillation (LCO) of all-movable fin, as well to their control is addressed in the present work. To the approach of this issue: (1) Quasi-Steady (QS) Theory and Computational Fluid Dynamics (CFD) of subsonic flow are implemented, (2) Flutter motion equations of a two-dimensional typical section with cubic nonlinear stiffness in the pitching direction and free play gap are established, (3) Uncoupled bending/torsion frequencies of the selected fin are computed using recently developed Transfer Matrix Method of Multibody System Dynamics (MSTMM), and (4) Time simulations are carried out to study the bifurcation behavior of the aeroelastic system. The main objective of this study is to investigate how the LCO and chaotic behavior are influenced by the coupled aeroelastic nonlinearities and intend to implement a control capability enabling one to control both the flutter boundary and its character. By this way, it may expand the operational envelop of the aerospace vehicle without failure. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=aeroelasticity" title="aeroelasticity">aeroelasticity</a>, <a href="https://publications.waset.org/abstracts/search?q=CFD" title=" CFD"> CFD</a>, <a href="https://publications.waset.org/abstracts/search?q=MSTMM" title=" MSTMM"> MSTMM</a>, <a href="https://publications.waset.org/abstracts/search?q=flutter" title=" flutter"> flutter</a>, <a href="https://publications.waset.org/abstracts/search?q=freeplay" title=" freeplay"> freeplay</a>, <a href="https://publications.waset.org/abstracts/search?q=fin" title=" fin"> fin</a> </p> <a href="https://publications.waset.org/abstracts/65172/aeroelastic-analysis-of-nonlinear-all-movable-fin-with-freeplay-in-low-speed" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/65172.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">374</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">258</span> Design and Analysis of Flexible Slider Crank Mechanism</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Thanh-Phong%20Dao">Thanh-Phong Dao</a>, <a href="https://publications.waset.org/abstracts/search?q=Shyh-Chour%20Huang"> Shyh-Chour Huang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This study presents the optimal design and formulation of a kinematic model of a flexible slider crank mechanism. The objective of the proposed innovative design is to take extra advantage of the compliant mechanism and maximize the fatigue life by applying the Taguchi method. A formulated kinematic model is developed using a Pseudo-Rigid-Body Model (PRBM). By means of mathematic models, the kinematic behaviors of the flexible slider crank mechanism are captured using MATLAB software. Finite Element Analysis (FEA) is used to show the stress distribution. The results show that the optimal shape of the flexible hinge includes a force of 8.5N, a width of 9mm and a thickness of 1.1mm. Analysis of variance shows that the thickness of the proposed hinge is the most significant parameter, with an F test of 15.5. Finally, a prototype is manufactured to prepare for testing the kinematic and dynamic behaviors. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=kinematic%20behavior" title="kinematic behavior">kinematic behavior</a>, <a href="https://publications.waset.org/abstracts/search?q=fatigue%20life" title=" fatigue life"> fatigue life</a>, <a href="https://publications.waset.org/abstracts/search?q=pseudo-rigid-body%20model" title=" pseudo-rigid-body model"> pseudo-rigid-body model</a>, <a href="https://publications.waset.org/abstracts/search?q=flexible%20slider%20crank%20mechanism" title=" flexible slider crank mechanism"> flexible slider crank mechanism</a> </p> <a href="https://publications.waset.org/abstracts/4242/design-and-analysis-of-flexible-slider-crank-mechanism" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/4242.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">466</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">257</span> Derivation of Generic Kinematic Equations of Above-Knee Prosthetic Legs Using DH Parameters</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Serdar%20Kucuk">Serdar Kucuk</a>, <a href="https://publications.waset.org/abstracts/search?q=Redwan%20Alqasemi"> Redwan Alqasemi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the generic kinematic equations of 1-Degrees-Of-Freedom (DOF), 2-DOF, and 3-DOF above-knee prosthetic legs are derived using the mathematical tools used in science of robotics. As it is known, since the human leg performs rotational motions in the knee joint and foot-ankle joint, the axial rotational motions in the above-knee prosthetic legs are performed by using one or more revolute joints. When deriving the kinematic equations of the 1-DOF, 2-DOF, and 3-DOF above-knee prosthetic legs, the foot-ankle is treated as if there were a fixed non-rotating joint, a revolute joint, and a universal joint, respectively. The kinematic equations of the prosthetic legs presented in this article are obtained using DH method. The main advantages of this method are the easy physical interpretation of robot mechanisms and the use of 4x4 homogeneous transformation matrices, which are widely used in the literature. It is thought that the equations presented in this article contribute positively to the design, control, simulation and hence easy production of above-knee prosthetic legs. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=robotic%20above-knee%20prosthetic%20legs" title="robotic above-knee prosthetic legs">robotic above-knee prosthetic legs</a>, <a href="https://publications.waset.org/abstracts/search?q=generic%20kinematic%20equations" title=" generic kinematic equations"> generic kinematic equations</a>, <a href="https://publications.waset.org/abstracts/search?q=revolute%20and%20universal%20joints" title=" revolute and universal joints"> revolute and universal joints</a>, <a href="https://publications.waset.org/abstracts/search?q=DH%20method" title=" DH method"> DH method</a> </p> <a href="https://publications.waset.org/abstracts/195454/derivation-of-generic-kinematic-equations-of-above-knee-prosthetic-legs-using-dh-parameters" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/195454.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">24</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">256</span> A Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-Redundant Manipulator</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Abolfazl%20Zaraki">Abolfazl Zaraki</a>, <a href="https://publications.waset.org/abstracts/search?q=Yoshikatsu%20Hayashi"> Yoshikatsu Hayashi</a>, <a href="https://publications.waset.org/abstracts/search?q=Harry%20Thorpe"> Harry Thorpe</a>, <a href="https://publications.waset.org/abstracts/search?q=Vincent%20Strong"> Vincent Strong</a>, <a href="https://publications.waset.org/abstracts/search?q=Gisle-Andre%20Larsen"> Gisle-Andre Larsen</a>, <a href="https://publications.waset.org/abstracts/search?q=William%20Holderbaum"> William Holderbaum</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Thanks to the high maneuverability of the cable-driven hyper-redundant manipulators (HRMs), this class of robots has shown a superior capability in highly confined and unstructured space applications. Although the large number of degrees of freedom (DOF) of HRMs enhances the motion flexibility and the robot’s reachability range, it highly increases the complexity of the kinematic configuration which makes the kinematic control problem very challenging or even impossible to solve. This paper presents our current progress achieved on the development of a kinematic-based leader-follower control system which is designed to control not only the robot’s body posture but also to control the trajectory of the robot’s movement in a semi-autonomous manner (the human operator is retained in the robot’s control loop). To obtain the forward kinematic model, the coordinate frames are established by the classical Denavit–Hartenburg (D-H) convention for a hyper-redundant serial manipulator which has a controlled cables-driven mechanism. To solve the inverse kinematics of the robot, unlike the conventional methods, a leader-follower mechanism, based on the sequential inverse kinematic, is followed. Using this mechanism, the inverse kinematic problem is solved for all sequential joints starting from the head joint to the base joint of the robot. To verify the kinematic design and simulate the robot motion, the MATLAB robotic toolbox is used. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and trajectory in our confined space application. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=hyper-redundant%20robots" title="hyper-redundant robots">hyper-redundant robots</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20analysis" title=" kinematic analysis"> kinematic analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=semi-autonomous%20control" title=" semi-autonomous control"> semi-autonomous control</a>, <a href="https://publications.waset.org/abstracts/search?q=serial%20manipulators" title=" serial manipulators"> serial manipulators</a> </p> <a href="https://publications.waset.org/abstracts/109499/a-leader-follower-kinematic-based-control-system-for-a-cable-driven-hyper-redundant-manipulator" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/109499.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">164</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">255</span> Numerical Regularization of Ill-Posed Problems via Hybrid Feedback Controls</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Eugene%20Stepanov">Eugene Stepanov</a>, <a href="https://publications.waset.org/abstracts/search?q=Arkadi%20Ponossov"> Arkadi Ponossov</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Many mathematical models used in biological and other applications are ill-posed. The reason for that is the nature of differential equations, where the nonlinearities are assumed to be step functions, which is done to simplify the analysis. Prominent examples are switched systems arising from gene regulatory networks and neural field equations. This simplification leads, however, to theoretical and numerical complications. In the presentation, it is proposed to apply the theory of hybrid feedback controls to regularize the problem. Roughly speaking, one attaches a finite state control (‘automaton’), which follows the trajectories of the original system and governs its dynamics at the points of ill-posedness. The construction of the automaton is based on the classification of the attractors of the specially designed adjoint dynamical system. This ‘hybridization’ is shown to regularize the original switched system and gives rise to efficient hybrid numerical schemes. Several examples are provided in the presentation, which supports the suggested analysis. The method can be of interest in other applied fields, where differential equations contain step-like nonlinearities. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=hybrid%20feedback%20control" title="hybrid feedback control">hybrid feedback control</a>, <a href="https://publications.waset.org/abstracts/search?q=ill-posed%20problems" title=" ill-posed problems"> ill-posed problems</a>, <a href="https://publications.waset.org/abstracts/search?q=singular%20perturbation%20analysis" title=" singular perturbation analysis"> singular perturbation analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=step-like%20nonlinearities" title=" step-like nonlinearities"> step-like nonlinearities</a> </p> <a href="https://publications.waset.org/abstracts/86303/numerical-regularization-of-ill-posed-problems-via-hybrid-feedback-controls" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/86303.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">249</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">254</span> Identification of Nonlinear Systems Structured by Hammerstein-Wiener Model </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=A.%20Brouri">A. Brouri</a>, <a href="https://publications.waset.org/abstracts/search?q=F.%20Giri"> F. Giri</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Mkhida"> A. Mkhida</a>, <a href="https://publications.waset.org/abstracts/search?q=A.%20Elkarkri"> A. Elkarkri</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20L.%20Chhibat"> M. L. Chhibat</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Standard Hammerstein-Wiener models consist of a linear subsystem sandwiched by two memoryless nonlinearities. Presently, the linear subsystem is allowed to be parametric or not, continuous- or discrete-time. The input and output nonlinearities are polynomial and may be noninvertible. A two-stage identification method is developed such the parameters of all nonlinear elements are estimated first using the Kozen-Landau polynomial decomposition algorithm. The obtained estimates are then based upon in the identification of the linear subsystem, making use of suitable pre-ad post-compensators. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=nonlinear%20system%20identification" title="nonlinear system identification">nonlinear system identification</a>, <a href="https://publications.waset.org/abstracts/search?q=Hammerstein-Wiener%20systems" title=" Hammerstein-Wiener systems"> Hammerstein-Wiener systems</a>, <a href="https://publications.waset.org/abstracts/search?q=frequency%20identification" title=" frequency identification"> frequency identification</a>, <a href="https://publications.waset.org/abstracts/search?q=polynomial%20decomposition" title=" polynomial decomposition"> polynomial decomposition</a> </p> <a href="https://publications.waset.org/abstracts/7969/identification-of-nonlinear-systems-structured-by-hammerstein-wiener-model" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/7969.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">517</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">253</span> The Development of GPS Buoy for Ocean Surface Monitoring: Initial Results</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Anuar%20Mohd%20Salleh">Anuar Mohd Salleh</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohd%20Effendi%20Daud"> Mohd Effendi Daud</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This study presents a kinematic positioning approach which is use the GPS buoy for precise ocean surface monitoring. A GPS buoy data from two experiments have been processed using a precise, medium-range differential kinematic technique. In each case the data were collected for more than 24 hours at nearby coastal site at a high rate (1 Hz), along with measurements from neighboring tidal stations, to verify the estimated sea surface heights. Kinematic coordinates of GPS buoy were estimated using the epoch-wise pre-elimination and the backward substitution algorithm. Test results show the centimeter level accuracy in sea surface height determination can be successfully achieved using proposed technique. The centimeter level agreement between two methods also suggests the possibility of using this inexpensive and more flexible GPS buoy equipment to enhance (or even replace) the current use of tidal gauge stations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=global%20positioning%20system" title="global positioning system">global positioning system</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20GPS" title=" kinematic GPS"> kinematic GPS</a>, <a href="https://publications.waset.org/abstracts/search?q=sea%20surface%20height" title=" sea surface height"> sea surface height</a>, <a href="https://publications.waset.org/abstracts/search?q=GPS%20buoy" title=" GPS buoy"> GPS buoy</a>, <a href="https://publications.waset.org/abstracts/search?q=tide%20gauge" title=" tide gauge"> tide gauge</a> </p> <a href="https://publications.waset.org/abstracts/23300/the-development-of-gps-buoy-for-ocean-surface-monitoring-initial-results" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/23300.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">551</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">252</span> Modeling the Road Pavement Dynamic Response Due to Heavy Vehicles Loadings and Kinematic Excitations General Asymmetries</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Josua%20K.%20Junias">Josua K. Junias</a>, <a href="https://publications.waset.org/abstracts/search?q=Fillemon%20N.%20Nangolo"> Fillemon N. Nangolo</a>, <a href="https://publications.waset.org/abstracts/search?q=Petrina%20T.%20Johaness"> Petrina T. Johaness</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The deterioration of pavement can lead to the formation of potholes, which cause the wheels of a vehicle to experience unusual and uneven movement. In addition, improper loading practices of heavy vehicles can result in dynamic loading of the pavement due to the vehicle's response to the irregular movement caused by the potholes. Previous studies have only focused on the effects of either the road's uneven surface or the asymmetrical loading of the vehicle, but not both. This study aimed to model the pavement's dynamic response to heavy vehicles under different loading configurations and wheel movements. A sample of 225 cases with symmetrical and asymmetrical loading and kinematic movements was used, and 27 validated 3D pavement-vehicle interactive models were developed using SIMWISE 4D. The study found that the type of kinematic movement experienced by the heavy vehicle affects the pavement's dynamic loading, with eccentrically loaded, asymmetrically kinematic heavy vehicles having a statistically significant impact. The study also suggests that the mass of the vehicle's suspension system plays a role in the pavement's dynamic loading. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=eccentricities" title="eccentricities">eccentricities</a>, <a href="https://publications.waset.org/abstracts/search?q=pavement%20dynamic%20loading" title=" pavement dynamic loading"> pavement dynamic loading</a>, <a href="https://publications.waset.org/abstracts/search?q=vertical%20displacement%20dynamic%20response" title=" vertical displacement dynamic response"> vertical displacement dynamic response</a>, <a href="https://publications.waset.org/abstracts/search?q=heavy%20vehicles" title=" heavy vehicles"> heavy vehicles</a> </p> <a href="https://publications.waset.org/abstracts/166750/modeling-the-road-pavement-dynamic-response-due-to-heavy-vehicles-loadings-and-kinematic-excitations-general-asymmetries" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/166750.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">82</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">251</span> A Knee Modular Orthosis Design Based on Kinematic Considerations</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=C.%20Copilusi">C. Copilusi</a>, <a href="https://publications.waset.org/abstracts/search?q=C.%20Ploscaru"> C. Ploscaru</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper addresses attention to a research regarding the design of a knee orthosis in a modular form used on children walking rehabilitation. This research is focused on the human lower limb kinematic analysis which will be used as input data on virtual simulations and prototype validation. From this analysis, important data will be obtained and used as input for virtual simulations of the knee modular orthosis. Thus, a knee orthosis concept was obtained and validated through virtual simulations by using MSC Adams software. Based on the obtained results, the modular orthosis prototype will be manufactured and presented in this article. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=human%20lower%20limb" title="human lower limb">human lower limb</a>, <a href="https://publications.waset.org/abstracts/search?q=children%20orthoses" title=" children orthoses"> children orthoses</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20analysis" title=" kinematic analysis"> kinematic analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=knee%20orthosis" title=" knee orthosis"> knee orthosis</a> </p> <a href="https://publications.waset.org/abstracts/47877/a-knee-modular-orthosis-design-based-on-kinematic-considerations" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/47877.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">293</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">250</span> Modeling and Simulation of the Tripod Gait of a Hexapod Robot</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=El%20Hansali%20Hasnaa">El Hansali Hasnaa</a>, <a href="https://publications.waset.org/abstracts/search?q=Bennani%20Mohammed"> Bennani Mohammed</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Hexapod legged robot’s missions, particularly in irregular and dangerous areas, require high stability and high precision. In this paper, we consider the rectangular architecture body of legged robots with six legs distributed symmetrically along two sides, each leg contains three degrees of freedom for greater mobility. The aim of this work is planning tripod gait trajectory, based on the computing of the kinematic model to determine the joint variables in the lifting and the propelling phases. For this, appropriate coordinate frames are attached to the body and legs in order to obtain clear representation and efficient generation of the system equations. A simulation in MATLAB software platform is developed to confirm the kinematic model and various trajectories to the tripod gait adopted by the hexapod robot in its locomotion. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=hexapod%20legged%20robot" title="hexapod legged robot">hexapod legged robot</a>, <a href="https://publications.waset.org/abstracts/search?q=inverse%20kinematic%20model" title=" inverse kinematic model"> inverse kinematic model</a>, <a href="https://publications.waset.org/abstracts/search?q=simulation%20in%20MATLAB" title=" simulation in MATLAB"> simulation in MATLAB</a>, <a href="https://publications.waset.org/abstracts/search?q=tripod%20gait" title=" tripod gait"> tripod gait</a> </p> <a href="https://publications.waset.org/abstracts/66261/modeling-and-simulation-of-the-tripod-gait-of-a-hexapod-robot" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/66261.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">283</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">249</span> Finite Element Analysis of Piezolaminated Structures with Both Geometric and Electroelastic Material Nonlinearities</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Shun-Qi%20Zhang">Shun-Qi Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Shu-Yang%20Zhang"> Shu-Yang Zhang</a>, <a href="https://publications.waset.org/abstracts/search?q=Min%20Chen"> Min Chen</a>, <a href="https://publications.waset.org/abstracts/search?q="></a>, <a href="https://publications.waset.org/abstracts/search?q=Jing%20Bai">Jing Bai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Piezoelectric laminated smart structures can be subjected to the strong driving electric field, which may result in large displacements and rotations. In one hand, piezoelectric materials usually behave very significant material nonlinear effects under strong electric fields. On the other hand, thin-walled structures undergoing large displacements and rotations exist nonnegligible geometric nonlinearity. In order to give a precise prediction of piezo laminated smart structures under the large electric field, this paper develops a finite element (FE) model accounting for material nonlinearity (piezoelectric part) and geometric nonlinearity based on the first order shear deformation (FSOD) hypothesis. The proposed FE model is first validated by both experimental and numerical examples from the literature. Afterwards, it is applied to simulate for plate and shell structures with multiple piezoelectric patches under the strong applied electric field. From the simulation results, it shows that large discrepancies occur between linear and nonlinear predictions for piezoelectric laminated structures driving at the strong electric field. Therefore, both material and geometric nonlinearities should be taken into account for piezoelectric structures under strong electric. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=piezoelectric%20smart%20structures" title="piezoelectric smart structures">piezoelectric smart structures</a>, <a href="https://publications.waset.org/abstracts/search?q=finite%20element%20analysis" title=" finite element analysis"> finite element analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=geometric%20nonlinearity" title=" geometric nonlinearity"> geometric nonlinearity</a>, <a href="https://publications.waset.org/abstracts/search?q=electroelastic%20material%20nonlinearities" title=" electroelastic material nonlinearities"> electroelastic material nonlinearities</a> </p> <a href="https://publications.waset.org/abstracts/72720/finite-element-analysis-of-piezolaminated-structures-with-both-geometric-and-electroelastic-material-nonlinearities" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/72720.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">324</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">248</span> Performance Evaluation for Weightlifting Lifter by Barbell Trajectory</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ying-Chen%20Lin">Ying-Chen Lin</a>, <a href="https://publications.waset.org/abstracts/search?q=Ching-Ting%20Hsu"> Ching-Ting Hsu</a>, <a href="https://publications.waset.org/abstracts/search?q=Wei-Hua%20Ho"> Wei-Hua Ho</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The purpose of this study is to investigate the kinematic characteristics and differences of the snatch barbell trajectory of 53 kg class female weight lifters. We take the 2014 Taiwan College Cup players as examples, and tend to make kinematic applications through the proven weightlifting barbell track system. The competition videos are taken by consumer camcorder with a tripod which set up at the side of the lifter. The results will be discussed in three parts, the first part is various lifting phase, the second part is the compare lifting between success and unsuccessful, and the third part is the outstanding player compare with the general. Conclusion through the barbell can be used to observe the trajectories of our players cite the usual process cannot be observed in the presence of malfunction or habits, so that the coach can find the problem more accurately guide the players. Our system can be applied in practice and competition to increase the resilience of the lifter on the field. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=computer%20aided%20sport%20training" title="computer aided sport training">computer aided sport training</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic" title=" kinematic"> kinematic</a>, <a href="https://publications.waset.org/abstracts/search?q=trajectory" title=" trajectory"> trajectory</a>, <a href="https://publications.waset.org/abstracts/search?q=weightlifting" title=" weightlifting"> weightlifting</a> </p> <a href="https://publications.waset.org/abstracts/20462/performance-evaluation-for-weightlifting-lifter-by-barbell-trajectory" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20462.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">459</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">247</span> Regularization of Gene Regulatory Networks Perturbed by White Noise</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ramazan%20I.%20Kadiev">Ramazan I. Kadiev</a>, <a href="https://publications.waset.org/abstracts/search?q=Arcady%20Ponosov"> Arcady Ponosov</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Mathematical models of gene regulatory networks can in many cases be described by ordinary differential equations with switching nonlinearities, where the initial value problem is ill-posed. Several regularization methods are known in the case of deterministic networks, but the presence of stochastic noise leads to several technical difficulties. In the presentation, it is proposed to apply the methods of the stochastic singular perturbation theory going back to Yu. Kabanov and Yu. Pergamentshchikov. This approach is used to regularize the above ill-posed problem, which, e.g., makes it possible to design stable numerical schemes. Several examples are provided in the presentation, which support the efficiency of the suggested analysis. The method can also be of interest in other fields of biomathematics, where differential equations contain switchings, e.g., in neural field models. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=ill-posed%20problems" title="ill-posed problems">ill-posed problems</a>, <a href="https://publications.waset.org/abstracts/search?q=singular%20perturbation%20analysis" title=" singular perturbation analysis"> singular perturbation analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=stochastic%20differential%20equations" title=" stochastic differential equations"> stochastic differential equations</a>, <a href="https://publications.waset.org/abstracts/search?q=switching%20nonlinearities" title=" switching nonlinearities"> switching nonlinearities</a> </p> <a href="https://publications.waset.org/abstracts/85883/regularization-of-gene-regulatory-networks-perturbed-by-white-noise" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/85883.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">203</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">246</span> Evaluation the Influence of Trunk Bracing in Joint Contact Forces in Subjects with Scoliosis</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Azadeh%20Jafari">Azadeh Jafari</a>, <a href="https://publications.waset.org/abstracts/search?q=Mohammad%20Taghi%20Karimi"> Mohammad Taghi Karimi</a>, <a href="https://publications.waset.org/abstracts/search?q=Azadeh%20Nadi"> Azadeh Nadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Background: Scoliosis is the lateral curvature of the spine which may influence the abilities of the subjects during standing and walking. Most of the scoliotic subjects use orthosis to reduce the curve and to decrease the risk of curve progression. There was lack of information regarding the effects of orthosis on kinematic and joint contact force. Therefore, this research was done to highlight the effects of orthosis on the aforementioned parameters. Method: 5 scoliotic subjects were recruited in this study, with single curve less than 40 (females with age 13.2 ± 1.7). They were asked to walk with and without orthosis. The kinematic of the joints, force applied on the legs, moments transmitted through the joints and joint contact forces were evaluated in this study. Moreover, the lengths of muscles were determined by use of computer muscle control approach in OpenSim. Results: There was a significant difference between the second peak of vertical ground reaction force while walking with and without orthosis (p-value < 0.05). There was no difference between spatiotemporal gait parameters while walking with and without orthosis (P-value > 0.05). The mean values of joint contact forces (vertical component) increased by the use of orthosis, but the difference was not significant (p-value > 0.05). Conclusion: Although the kinematic of most of the body joints was not influenced by the use of orthosis, the joint contact force may be increased by orthosis. The increase in joint contact force may be due to the performance of orthosis which restricts the motions of pelvic and increases compensatory mechanism used by the subjects to decrease the side effects of the orthosis. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=scoliosis" title="scoliosis">scoliosis</a>, <a href="https://publications.waset.org/abstracts/search?q=joint%20contact%20force" title=" joint contact force"> joint contact force</a>, <a href="https://publications.waset.org/abstracts/search?q=kinetic" title=" kinetic"> kinetic</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic" title=" kinematic"> kinematic</a> </p> <a href="https://publications.waset.org/abstracts/88747/evaluation-the-influence-of-trunk-bracing-in-joint-contact-forces-in-subjects-with-scoliosis" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/88747.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">212</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">245</span> Analysis of Cyclic Elastic-Plastic Loading of Shaft Based on Kinematic Hardening Model</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Isa%20Ahmadi">Isa Ahmadi</a>, <a href="https://publications.waset.org/abstracts/search?q=Ramin%20Khamedi"> Ramin Khamedi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the elasto-plastic and cyclic torsion of a shaft is studied using a finite element method. The Prager kinematic hardening theory of plasticity with the Ramberg and Osgood stress-strain equation is used to evaluate the cyclic loading behavior of the shaft under the torsional loading. The material of shaft is assumed to follow the non-linear strain hardening property based on the Prager model. The finite element method with C1 continuity is developed and used for solution of the governing equations of the problem. The successive substitution iterative method is used to calculate the distribution of stresses and plastic strains in the shaft due to cyclic loads. The shear stress, effective stress, residual stress and elastic and plastic shear strain distribution are presented in the numerical results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=cyclic%20loading" title="cyclic loading">cyclic loading</a>, <a href="https://publications.waset.org/abstracts/search?q=finite%20element%20analysis" title=" finite element analysis"> finite element analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=Prager%20kinematic%20hardening%20model" title=" Prager kinematic hardening model"> Prager kinematic hardening model</a>, <a href="https://publications.waset.org/abstracts/search?q=torsion%20of%20shaft" title=" torsion of shaft"> torsion of shaft</a> </p> <a href="https://publications.waset.org/abstracts/10130/analysis-of-cyclic-elastic-plastic-loading-of-shaft-based-on-kinematic-hardening-model" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/10130.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">414</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">244</span> Analysis of the Inverse Kinematics for 5 DOF Robot Arm Using D-H Parameters</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Apurva%20Patil">Apurva Patil</a>, <a href="https://publications.waset.org/abstracts/search?q=Maithilee%20Kulkarni"> Maithilee Kulkarni</a>, <a href="https://publications.waset.org/abstracts/search?q=Ashay%20Aswale"> Ashay Aswale</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper proposes an algorithm to develop the kinematic model of a 5 DOF robot arm. The formulation of the problem is based on finding the D-H parameters of the arm. Brute Force iterative method is employed to solve the system of non linear equations. The focus of the paper is to obtain the accurate solutions by reducing the root mean square error. The result obtained will be implemented to grip the objects. The trajectories followed by the end effector for the required workspace coordinates are plotted. The methodology used here can be used in solving the problem for any other kinematic chain of up to six DOF. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=5%20DOF%20robot%20arm" title="5 DOF robot arm">5 DOF robot arm</a>, <a href="https://publications.waset.org/abstracts/search?q=D-H%20parameters" title=" D-H parameters"> D-H parameters</a>, <a href="https://publications.waset.org/abstracts/search?q=inverse%20kinematics" title=" inverse kinematics"> inverse kinematics</a>, <a href="https://publications.waset.org/abstracts/search?q=iterative%20method" title=" iterative method"> iterative method</a>, <a href="https://publications.waset.org/abstracts/search?q=trajectories" title=" trajectories"> trajectories</a> </p> <a href="https://publications.waset.org/abstracts/70099/analysis-of-the-inverse-kinematics-for-5-dof-robot-arm-using-d-h-parameters" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/70099.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">208</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">243</span> Solving Ill-Posed Initial Value Problems for Switched Differential Equations</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Eugene%20Stepanov">Eugene Stepanov</a>, <a href="https://publications.waset.org/abstracts/search?q=Arcady%20Ponosov"> Arcady Ponosov</a> </p> <p class="card-text"><strong>Abstract:</strong></p> To model gene regulatory networks one uses ordinary differential equations with switching nonlinearities, where the initial value problem is known to be well-posed if the trajectories cross the discontinuities transversally. Otherwise, the initial value problem is usually ill-posed, which lead to theoretical and numerical complications. In the presentation, it is proposed to apply the theory of hybrid dynamical systems, rather than switched ones, to regularize the problem. 'Hybridization' of the switched system means that one attaches a dynamic discrete component ('automaton'), which follows the trajectories of the original system and governs its dynamics at the points of ill-posedness of the initial value problem making it well-posed. The construction of the automaton is based on the classification of the attractors of the specially designed adjoint dynamical system. Several examples are provided in the presentation, which support the suggested analysis. The method can also be of interest in other applied fields, where differential equations contain switchings, e.g. in neural field models. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=hybrid%20dynamical%20systems" title="hybrid dynamical systems">hybrid dynamical systems</a>, <a href="https://publications.waset.org/abstracts/search?q=ill-posed%20problems" title=" ill-posed problems"> ill-posed problems</a>, <a href="https://publications.waset.org/abstracts/search?q=singular%20perturbation%20analysis" title=" singular perturbation analysis"> singular perturbation analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=switching%20nonlinearities" title=" switching nonlinearities"> switching nonlinearities</a> </p> <a href="https://publications.waset.org/abstracts/85884/solving-ill-posed-initial-value-problems-for-switched-differential-equations" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/85884.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">192</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">242</span> Quaternion Algebra Based Forward Kinematic Solution for 6-DOF Industrial Robots Instead of DH Parameters</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Cengiz%20Deniz">Cengiz Deniz</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents a novel approach to solving the forward kinematics problem for six-degree-of-freedom (6-DOF) industrial robots using quaternion algebra. Traditional methods often rely on Denavit-Hartenberg (DH) parameters, which can be computationally expensive and complex for complex robot geometries. Quaternion-based methods offer a more streamlined and efficient alternative by providing a compact and intuitive representation of rotations. The proposed approach leverages quaternion algebra to calculate the target position of the robot's end-effector. By representing rotations as quaternions, the forward kinematics equations become more concise and computationally efficient. The paper demonstrates the effectiveness of the quaternion-based solution through simulations and real-world experiments, highlighting its improved accuracy and reduced computational overhead compared to DH parameter-based methods. This quaternion-based forward kinematic solution provides a valuable tool for optimizing robotic motion planning and enhancing operational safety in industrial applications. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=industrial%20robot" title="industrial robot">industrial robot</a>, <a href="https://publications.waset.org/abstracts/search?q=forward%20kinematic" title=" forward kinematic"> forward kinematic</a>, <a href="https://publications.waset.org/abstracts/search?q=quaternion" title=" quaternion"> quaternion</a>, <a href="https://publications.waset.org/abstracts/search?q=DH%20parameters" title=" DH parameters"> DH parameters</a> </p> <a href="https://publications.waset.org/abstracts/198084/quaternion-algebra-based-forward-kinematic-solution-for-6-dof-industrial-robots-instead-of-dh-parameters" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/198084.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">15</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">241</span> Kinematic Hardening Parameters Identification with Respect to Objective Function</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Marina%20Franulovic">Marina Franulovic</a>, <a href="https://publications.waset.org/abstracts/search?q=Robert%20Basan"> Robert Basan</a>, <a href="https://publications.waset.org/abstracts/search?q=Bozidar%20Krizan"> Bozidar Krizan</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Constitutive modelling of material behaviour is becoming increasingly important in prediction of possible failures in highly loaded engineering components, and consequently, optimization of their design. In order to account for large number of phenomena that occur in the material during operation, such as kinematic hardening effect in low cycle fatigue behaviour of steels, complex nonlinear material models are used ever more frequently, despite of the complexity of determination of their parameters. As a method for the determination of these parameters, genetic algorithm is good choice because of its capability to provide very good approximation of the solution in systems with large number of unknown variables. For the application of genetic algorithm to parameter identification, inverse analysis must be primarily defined. It is used as a tool to fine-tune calculated stress-strain values with experimental ones. In order to choose proper objective function for inverse analysis among already existent and newly developed functions, the research is performed to investigate its influence on material behaviour modelling. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=genetic%20algorithm" title="genetic algorithm">genetic algorithm</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20hardening" title=" kinematic hardening"> kinematic hardening</a>, <a href="https://publications.waset.org/abstracts/search?q=material%20model" title=" material model"> material model</a>, <a href="https://publications.waset.org/abstracts/search?q=objective%20function" title=" objective function"> objective function</a> </p> <a href="https://publications.waset.org/abstracts/3561/kinematic-hardening-parameters-identification-with-respect-to-objective-function" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/3561.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">339</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">240</span> Two Degree of Freedom Spherical Mechanism Design for Exact Sun Tracking</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Osman%20Acar">Osman Acar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Sun tracking systems are the systems following the sun ray by a right angle or by predetermined certain angle. In this study, we used theoretical trajectory of sun for latitude of central Anatolia in Turkey. A two degree of freedom spherical mechanism was designed to have a large workspace able to follow the sun's theoretical motion by the right angle during the whole year. An inverse kinematic analysis was generated to find the positions of mechanism links for the predicted trajectory. Force and torque analysis were shown for the first day of the year. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=sun%20tracking" title="sun tracking">sun tracking</a>, <a href="https://publications.waset.org/abstracts/search?q=theoretical%20sun%20trajectory" title=" theoretical sun trajectory"> theoretical sun trajectory</a>, <a href="https://publications.waset.org/abstracts/search?q=spherical%20mechanism" title=" spherical mechanism"> spherical mechanism</a>, <a href="https://publications.waset.org/abstracts/search?q=inverse%20kinematic%20analysis" title=" inverse kinematic analysis"> inverse kinematic analysis</a> </p> <a href="https://publications.waset.org/abstracts/37062/two-degree-of-freedom-spherical-mechanism-design-for-exact-sun-tracking" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/37062.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">428</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">239</span> Nonuniformity of the Piston Motion in a Radial Aircraft Engine</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=K.%20Pietrykowski">K. Pietrykowski</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Bialy"> M. Bialy</a>, <a href="https://publications.waset.org/abstracts/search?q=M.%20Duk"> M. Duk</a> </p> <p class="card-text"><strong>Abstract:</strong></p> One of the main disadvantages of radial engines is non-uniformity of operating cycles of each cylinder. This paper discusses the results of the kinematic analysis of pistons motion of the ASz-62IR radial engine. The ASz-62IR engine is produced in Poland and mounted in the M-18 Dromader and the An-2. The results are shown as the courses of the motion of the pistons. The discrepancies in the courses for individual pistons can result in different masses of the charge to fill the cylinders. Besides, pistons acceleration of individual cylinders is different, which triggers an additional vibration in the engine. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=nonuniformity" title="nonuniformity">nonuniformity</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20analysis" title=" kinematic analysis"> kinematic analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=piston%20motion" title=" piston motion"> piston motion</a>, <a href="https://publications.waset.org/abstracts/search?q=radial%20engine" title=" radial engine"> radial engine</a> </p> <a href="https://publications.waset.org/abstracts/49925/nonuniformity-of-the-piston-motion-in-a-radial-aircraft-engine" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/49925.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">391</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">238</span> Dust Ion Acoustic Shock Waves in Dissipative Superthermal Plasmas</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Hamid%20Reza%20Pakzad">Hamid Reza Pakzad</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, the properties of dust-ion-acoustic (DIA) shock waves in an unmagnetized dusty plasma, whose constituents are inertial ions, superthermal electrons, and stationary dust particles, are investigated by employing the reductive perturbation method. The dissipation is taken into account the kinematic viscosity among the plasma constituents. It is shown that the basic features of DIA shock waves are significantly modified by the effects of electron superthermality and ion kinematic viscosity. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=reductive%20perturbation%20method" title="reductive perturbation method">reductive perturbation method</a>, <a href="https://publications.waset.org/abstracts/search?q=dust%20ion%20acoustic%20shock%20wave" title=" dust ion acoustic shock wave"> dust ion acoustic shock wave</a>, <a href="https://publications.waset.org/abstracts/search?q=superthermal%20electron" title=" superthermal electron"> superthermal electron</a>, <a href="https://publications.waset.org/abstracts/search?q=dissipative%20plasmas" title=" dissipative plasmas"> dissipative plasmas</a> </p> <a href="https://publications.waset.org/abstracts/51026/dust-ion-acoustic-shock-waves-in-dissipative-superthermal-plasmas" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/51026.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">319</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">237</span> Contribution of Upper Body Kinematics on Tennis Serve Performance</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Ikram%20Hussain">Ikram Hussain</a>, <a href="https://publications.waset.org/abstracts/search?q=Fuzail%20Ahmad"> Fuzail Ahmad</a>, <a href="https://publications.waset.org/abstracts/search?q=Tawseef%20Ahmad%20Bhat"> Tawseef Ahmad Bhat</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Tennis serve is characterized as one of the most prominent techniques pertaining to the success of winning a point. The study was aimed to explore the contributions of the upper body kinematics on the tennis performance during Davis Cup (Oceania Group). Four Indian International tennis players who participated in the Davis Cup held at Indore, India were inducted as the subjects for this study, with mean age 27 ± 4.79 Years, mean weight 186 ± 6.03 cm, mean weight 81.25 ± 7.41kg, respectively. The tennis serve was bifurcated into three phases viz, preparatory phase, force generation phase and follow through phase. The kinematic data for the study was recorded through the high speed canon camcorder having a shuttle speed of 1/2000, at a frame rate of 50 Hz. The data was analysed with the motion analysis software. The descriptive statistics and F-test was employed through SPSS version 17.0 for the determination of the undertaken kinematic parameters of the study, and was computed at a 0.05 level of significance with 46 degrees of freedom. Mean, standard deviation and correlation coefficient also employed to find out the relationship among the upper body kinematic parameter and performance. In the preparatory phase, the analysis revealed that no significant difference exists among the kinematic parameters of the players on the performance. However, in force generation phase, wrist velocity (r= 0.47), torso velocity (r= -0.53), racket velocity r= 0.60), and in follow through phase, torso acceleration r= 0.43), elbow angle (r= -0.48) play a significant role on the performance of the tennis serve. Therefore, players should ponder upon the velocities of the above segments at the time of preparation for the competitions. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Davis%20Cup" title="Davis Cup">Davis Cup</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematics" title=" kinematics"> kinematics</a>, <a href="https://publications.waset.org/abstracts/search?q=motion%20analysis" title=" motion analysis"> motion analysis</a>, <a href="https://publications.waset.org/abstracts/search?q=tennis%20serve" title=" tennis serve"> tennis serve</a> </p> <a href="https://publications.waset.org/abstracts/57590/contribution-of-upper-body-kinematics-on-tennis-serve-performance" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/57590.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">310</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">236</span> A TFETI Domain Decompositon Solver for von Mises Elastoplasticity Model with Combination of Linear Isotropic-Kinematic Hardening</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Martin%20Cermak">Martin Cermak</a>, <a href="https://publications.waset.org/abstracts/search?q=Stanislav%20Sysala"> Stanislav Sysala</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper we present the efficient parallel implementation of elastoplastic problems based on the TFETI (Total Finite Element Tearing and Interconnecting) domain decomposition method. This approach allow us to use parallel solution and compute this nonlinear problem on the supercomputers and decrease the solution time and compute problems with millions of DOFs. In our approach we consider an associated elastoplastic model with the von Mises plastic criterion and the combination of linear isotropic-kinematic hardening law. This model is discretized by the implicit Euler method in time and by the finite element method in space. We consider the system of nonlinear equations with a strongly semismooth and strongly monotone operator. The semismooth Newton method is applied to solve this nonlinear system. Corresponding linearized problems arising in the Newton iterations are solved in parallel by the above mentioned TFETI. The implementation of this problem is realized in our in-house MatSol packages developed in MATLAB. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=isotropic-kinematic%20hardening" title="isotropic-kinematic hardening">isotropic-kinematic hardening</a>, <a href="https://publications.waset.org/abstracts/search?q=TFETI" title=" TFETI"> TFETI</a>, <a href="https://publications.waset.org/abstracts/search?q=domain%20decomposition" title=" domain decomposition"> domain decomposition</a>, <a href="https://publications.waset.org/abstracts/search?q=parallel%20solution" title=" parallel solution"> parallel solution</a> </p> <a href="https://publications.waset.org/abstracts/20197/a-tfeti-domain-decompositon-solver-for-von-mises-elastoplasticity-model-with-combination-of-linear-isotropic-kinematic-hardening" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/20197.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">423</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">235</span> Adaptive Motion Planning for 6-DOF Robots Based on Trigonometric Functions</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Jincan%20Li">Jincan Li</a>, <a href="https://publications.waset.org/abstracts/search?q=Mingyu%20Gao"> Mingyu Gao</a>, <a href="https://publications.waset.org/abstracts/search?q=Zhiwei%20He"> Zhiwei He</a>, <a href="https://publications.waset.org/abstracts/search?q=Yuxiang%20Yang"> Yuxiang Yang</a>, <a href="https://publications.waset.org/abstracts/search?q=Zhongfei%20Yu"> Zhongfei Yu</a>, <a href="https://publications.waset.org/abstracts/search?q=Yuanyuan%20Liu"> Yuanyuan Liu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Building an appropriate motion model is crucial for trajectory planning of robots and determines the operational quality directly. An adaptive acceleration and deceleration motion planning based on trigonometric functions for the end-effector of 6-DOF robots in Cartesian coordinate system is proposed in this paper. This method not only achieves the smooth translation motion and rotation motion by constructing a continuous jerk model, but also automatically adjusts the parameters of trigonometric functions according to the variable inputs and the kinematic constraints. The results of computer simulation show that this method is correct and effective to achieve the adaptive motion planning for linear trajectories. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=kinematic%20constraints" title="kinematic constraints">kinematic constraints</a>, <a href="https://publications.waset.org/abstracts/search?q=motion%20planning" title=" motion planning"> motion planning</a>, <a href="https://publications.waset.org/abstracts/search?q=trigonometric%20function" title=" trigonometric function"> trigonometric function</a>, <a href="https://publications.waset.org/abstracts/search?q=6-DOF%20robots" title=" 6-DOF robots"> 6-DOF robots</a> </p> <a href="https://publications.waset.org/abstracts/87082/adaptive-motion-planning-for-6-dof-robots-based-on-trigonometric-functions" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/87082.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">278</span> </span> </div> </div> <div class="card paper-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">234</span> Recession Rate of Gangotri and Its Tributary Glacier, Garhwal Himalaya, India through Kinematic GPS Survey and Satellite Data</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Harish%20Bisht">Harish Bisht</a>, <a href="https://publications.waset.org/abstracts/search?q=Bahadur%20Singh%20Kotlia"> Bahadur Singh Kotlia</a>, <a href="https://publications.waset.org/abstracts/search?q=Kireet%20Kumar"> Kireet Kumar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In order to reconstruct past retreating rates, total area loss, volume change and shift in snout position were measured through multi-temporal satellite data from 1989 to 2016 and kinematic GPS survey from 2015 to 2016. The results obtained from satellite data indicate that in the last 27 years, Chaturangi glacier snout has retreated 1172.57 ± 38.3 m (average 45.07 ± 4.31 m/year) with a total area and volume loss of 0.626 ± 0.001 sq. Km and 0.139 Km³, respectively. The field measurements through differential global positioning system survey revealed that the annual retreating rate was 22.84 ± 0.05 m/year. The large variations in results derived from both the methods are probably because of higher difference in their accuracy. Snout monitoring of the Gangotri glacier during the ablation season (May to September) in the years 2005 and 2015 reveals that the retreating rate has been comparatively more declined than that shown by the earlier studies. The GPS dataset shows that the average recession rate is 10.26 ± 0.05 m/year. In order to determine the possible causes of decreased retreating rate, a relationship between debris thickness and melt rate was also established by using ablation stakes. The present study concludes that remote sensing method is suitable for large area and long term study, while kinematic GPS is more appropriate for the annual monitoring of retreating rate of glacier snout. The present study also emphasizes on mapping of all the tributary glaciers in order to assess the overall changes in the main glacier system and its health. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=Chaturangi%20glacier" title="Chaturangi glacier">Chaturangi glacier</a>, <a href="https://publications.waset.org/abstracts/search?q=Gangotri%20glacier" title=" Gangotri glacier"> Gangotri glacier</a>, <a href="https://publications.waset.org/abstracts/search?q=glacier%20snout" title=" glacier snout"> glacier snout</a>, <a href="https://publications.waset.org/abstracts/search?q=kinematic%20global%20positioning%20system" title=" kinematic global positioning system"> kinematic global positioning system</a>, <a href="https://publications.waset.org/abstracts/search?q=retreat%20rate" title=" retreat rate"> retreat rate</a> </p> <a href="https://publications.waset.org/abstracts/124529/recession-rate-of-gangotri-and-its-tributary-glacier-garhwal-himalaya-india-through-kinematic-gps-survey-and-satellite-data" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/124529.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">152</span> </span> </div> </div> <ul class="pagination"> <li class="page-item disabled"><span class="page-link">&lsaquo;</span></li> <li class="page-item active"><span class="page-link">1</span></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=2">2</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=3">3</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=4">4</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=5">5</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=6">6</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=7">7</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=8">8</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=9">9</a></li> <li class="page-item"><a class="page-link" href="https://publications.waset.org/abstracts/search?q=kinematic%20nonlinearities&page=2" rel="next">&rsaquo;</a></li> </ul> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Account <li><a href="https://waset.org/profile">My Account</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Explore <li><a href="https://waset.org/disciplines">Disciplines</a></li> <li><a href="https://waset.org/conferences">Conferences</a></li> <li><a href="https://waset.org/conference-programs">Conference Program</a></li> <li><a href="https://waset.org/committees">Committees</a></li> <li><a href="https://publications.waset.org">Publications</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Research <li><a href="https://publications.waset.org/abstracts">Abstracts</a></li> <li><a href="https://publications.waset.org">Periodicals</a></li> <li><a href="https://publications.waset.org/archive">Archive</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Open Science <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Philosophy.pdf">Open Science Philosophy</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Award.pdf">Open Science Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Society-Open-Science-and-Open-Innovation.pdf">Open Innovation</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Postdoctoral-Fellowship-Award.pdf">Postdoctoral Fellowship Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Scholarly-Research-Review.pdf">Scholarly Research Review</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Support <li><a href="https://waset.org/page/support">Support</a></li> <li><a href="https://waset.org/profile/messages/create">Contact Us</a></li> <li><a href="https://waset.org/profile/messages/create">Report Abuse</a></li> </ul> </div> </div> </div> </div> </div> <div class="container text-center"> <hr style="margin-top:0;margin-bottom:.3rem;"> <a href="https://creativecommons.org/licenses/by/4.0/" target="_blank" class="text-muted small">Creative Commons Attribution 4.0 International License</a> <div id="copy" class="mt-2">© 2025 World Academy of Science, Engineering and Technology</div> </div> </footer> <a href="javascript:" id="return-to-top"><i class="fas fa-arrow-up"></i></a> <div class="modal" id="modal-template"> <div class="modal-dialog"> <div class="modal-content"> <div class="row m-0 mt-1"> <div class="col-md-12"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> </div> </div> <div class="modal-body"></div> </div> </div> </div> <script src="https://cdn.waset.org/static/plugins/jquery-3.3.1.min.js"></script> <script src="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.waset.org/static/js/site.js?v=150220211556"></script> <script> jQuery(document).ready(function() { /*jQuery.get("https://publications.waset.org/xhr/user-menu", function (response) { jQuery('#mainNavMenu').append(response); });*/ jQuery.get({ url: "https://publications.waset.org/xhr/user-menu", cache: false }).then(function(response){ jQuery('#mainNavMenu').append(response); }); }); </script> </body> </html>