This paper presents a procedure for assessing the reinforcement force of geosynthetics required for maintaining dynamic stability of a steep soil slope. Such a procedure is achieved with the use of the discretization ...This paper presents a procedure for assessing the reinforcement force of geosynthetics required for maintaining dynamic stability of a steep soil slope. Such a procedure is achieved with the use of the discretization technique and kinematic analysis of plasticity theory, i.e. discretization-based kinematic analysis. The discretization technique allows discretization of the analyzed slope into various components and generation of a kinematically admissible failure mechanism based on an associated flow rule.Accordingly, variations in soil properties including soil cohesion, internal friction angle and unit weight are accounted for with ease, while the conventional kinematic analysis fails to consider the changes in soil properties. The spatialetemporal effects of dynamic accelerations represented by primary and shear seismic waves are considered using the pseudo-dynamic approach. In the presence of geosynthetic reinforcement, tensile failure is discussed providing that the geosynthetics are installed with sufficient length. Equating the total rates of work done by external forces to the internal rates of work yields the upper bound solution of required reinforcement force, below which slopes fail. The reinforcement force is sought by optimizing the objective function with regard to independent variables, and presented in a normalized form. Pseudo-static analysis is a special case and hence readily transformed from pseudodynamic analysis. Comparisons of the pseudo-static/dynamic solutions calculated in this study are highlighted. Although the pseudo-static approach yields a conservative solution, its ability to give a reasonable result is substantiated for steep slopes. In order to provide a more meaningful solution to a stability analysis, the pseudo-dynamic approach is recommended due to considerations of spatial etemporal effect of earthquake input.展开更多
Background China is seeing a growing demand for rehabilitation treatments for post-stroke upper limb spastic paresis(PSSP-UL).Although acupuncture is known to be effective for PSSP-UL,there is room to enhance its effi...Background China is seeing a growing demand for rehabilitation treatments for post-stroke upper limb spastic paresis(PSSP-UL).Although acupuncture is known to be effective for PSSP-UL,there is room to enhance its efficacy.Objective This study explored a semi-personalized acupuncture approach for PSSP-UL that used three-dimensional kinematic analysis(3DKA)results to select additional acupoints,and investigated the feasibility,efficacy and safety of this approach.Design,setting,participants and interventions This single-blind,single-center,randomized,controlled trial involved 74 participants who experienced a first-ever ischemic or hemorrhagic stroke with spastic upper limb paresis.The participants were then randomly assigned to the intervention group or the control group in a 1:1 ratio.Both groups received conventional treatments and acupuncture treatment 5 days a week for 4 weeks.The main acupoints in both groups were the same,while participants in the intervention group received additional acupoints selected on the basis of 3DKA results.Follow-up assessments were conducted for 8 weeks after the treatment.Main outcome measures The primary outcome was the Fugl-Meyer Assessment for Upper Extremity(FMA-UE)response rate(≥6-point change)at week 4.Secondary outcomes included changes in motor function(FMA-UE),Brunnstrom recovery stage(BRS),manual muscle test(MMT),spasticity(Modified Ashworth Scale,MAS),and activities of daily life(Modified Barthel Index,MBI)at week 4 and week 12.Results Sixty-four participants completed the trial and underwent analyses.Compared with control group,the intervention group exhibited a significantly higher FMA-UE response rate at week 4(χ^(2)=5.479,P=0.019)and greater improvements in FMA-UE at both week 4 and week 12(both P<0.001).The intervention group also showed bigger improvements from baseline in the MMT grades for shoulder adduction and elbow flexion at weeks 4 and 12 as well as thumb adduction at week 4(P=0.007,P=0.049,P=0.019,P=0.008,P=0.029,respectively).The intervention group showed a better change in the MBI at both week 4 and week 12(P=0.004 and P=0.010,respectively).Although the intervention group had a higher BRS for the hand at week 12(P=0.041),no intergroup differences were observed at week 4(all P>0.05).The two groups showed no differences in MAS grades as well as in BRS for the arm at weeks 4 and 12(all P>0.05).Conclusion Semi-personalized acupuncture prescription based on 3DKA results significantly improved motor function,muscle strength,and activities of daily living in patients with PSSP-UL.展开更多
This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobi...This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.展开更多
The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabil...The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.展开更多
This paper proposes a novel numerical solution approach for the kinematic shakedown analysis of strain-hardening thin plates using the C^(1)nodal natural element method(C^(1)nodal NEM).Based on Koiter’s theorem and t...This paper proposes a novel numerical solution approach for the kinematic shakedown analysis of strain-hardening thin plates using the C^(1)nodal natural element method(C^(1)nodal NEM).Based on Koiter’s theorem and the von Mises and two-surface yield criteria,a nonlinear mathematical programming formulation is constructed for the kinematic shakedown analysis of strain-hardening thin plates,and the C^(1)nodal NEM is adopted for discretization.Additionally,König’s theory is used to deal with time integration by treating the generalized plastic strain increment at each load vertex.A direct iterative method is developed to linearize and solve this formulation by modifying the relevant objective function and equality constraints at each iteration.Kinematic shakedown load factors are directly calculated in a monotonically converging manner.Numerical examples validate the accuracy and convergence of the developed method and illustrate the influences of limited and unlimited strain-hardening models on the kinematic shakedown load factors of thin square and circular plates.展开更多
Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar slid...Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.展开更多
Objective: To explore gait kinematics analysis and evaluate the surgical efficacy of total knee arthroplasty (TKA), as well as its guiding significance for postoperative rehabilitation. Method: Fifty patients admitted...Objective: To explore gait kinematics analysis and evaluate the surgical efficacy of total knee arthroplasty (TKA), as well as its guiding significance for postoperative rehabilitation. Method: Fifty patients admitted to TKA treatment for knee osteoarthritis from December 2022 to July 2023 were included, which were divided into an intervention group (gait kinematics analysis group, n = 25) and a control group (conventional rehabilitation program group, n = 25). All patients underwent HSS score and KSS score before surgery (T0), 1 month after surgery (T1), 3 months after surgery (T2), and 6 months after surgery (T3). The intervention group underwent gait kinematics analysis at 1 month after surgery (T1) and 3 months after surgery (T2). Two groups measured the hip knee ankle angle (HKA), distal femoral lateral angle (LDFA), and proximal tibial medial angle (MPTA) on knee joint radiographs before and after surgery. Results: There was no significant difference in general information, preoperative imaging parameters, and functional scores between the two groups of patients. There was no significant difference in functional scores and postoperative prosthesis alignment between the two groups of patients in the first month after surgery. The intervention group showed a significant decrease in gait kinematic scores in the first month, with hip joint scores being particularly prominent (P 0.05). Conclusion: Gait kinematic analysis is helpful in evaluating the postoperative efficacy of TKA and can guide early and rapid recovery after TKA.展开更多
A procedure of kinematic analysis is presented in this study to assess the reinforcement force of geosynthetics required under seismic loadings, particularly for steep slopes which are hardly able to maintain its stab...A procedure of kinematic analysis is presented in this study to assess the reinforcement force of geosynthetics required under seismic loadings, particularly for steep slopes which are hardly able to maintain its stability. Note that curved sloping surfaces widely exist in natural slopes, but existing literatures were mainly focusing on a planar surface in theoretical derivation, due to complicated calculations. Moreover, the non-uniform soil properties cannot be accounted for in conventional upper bound analysis. Pseudo-dynamic approach is used to represent horizontal and vertical accelerations which vary with time and space. In an effort to resolve the above problems, the discretization technique is developed to generate a discretized failure mechanism, decomposing the whole failure block into various components. An elementary analysis permits calculations of rates of work done by external and internal forces. Finally, the upper bound solution of the required reinforcement force is formulated based on the work rate-based balance equation. A parametric study is carried out to give insights on the implication of influential factors on the performance of geosynthetic-reinforced steep slopes.展开更多
Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce t...Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce the number of the generalized coordinates and constraint functions. By solving the nonlinear equations, the motion of any points in the whole suspension and wheel system can be predicted, including the spatial changes of the wheel alignment parameters which are of great importance to the car performances.展开更多
The Palu segment,situated in the northeastern part of the East Anatolian Fault System(EAFS),is a crucial structural feature with notable seismic potential.This study examines the paleoseismic activity of the Palu segm...The Palu segment,situated in the northeastern part of the East Anatolian Fault System(EAFS),is a crucial structural feature with notable seismic potential.This study examines the paleoseismic activity of the Palu segment through trench excavations and geochronological analyses utilizing Optically Stimulated Luminescence(OSL)and radiocarbon(14C)dating methods.Two trenches,located near Karşıbahçeler,exposed evidence of multiple surface-rupturing seismic events spanning the Holocene and Pleistocene epochs.Chronological analyses identified five distinct seismic events in trench 1(P1),dated between 94.09±6.07 ka and 0.84±0.45 ka,and three events in trench 2(P2),dated between 28.83±1.61 ka and 351±21 BP.Bayesian analysis using Oxcal distribution suggested event timings between 90.52±25.99 ka and 1.25±0.55 ka.Comparative analysis with historical earthquake records correlates the most recent event with the 1789 or 1874 AD earthquakes,while the penultimate event matches the 995 AD earthquake.Earlier events reflect prehistoric tectonic activity.The recurrence intervals for these events range from 710 to 5,370 years during the Holocene,with evidence of seismic activity extending into the Pleistocene.Stress inversion analyses and geodetic data indicate a predominantly strike-slip stress regime,consistent with geometry of the fault.These findings provide critical insights into the long-term seismic behavior and recurrence patterns of the Palu segment,enhancing seismic hazard assessments for the region.展开更多
Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool.PKMs are found in medical,assembly and manufacturing industries w...Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool.PKMs are found in medical,assembly and manufacturing industries where accuracy is necessary.It is often desired to have a compact and simple architecture for the robotic mechanism.In this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is explained.The kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive joints.The kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free region.The analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system constraints.The gravity and inertial forces of all links are considered in the mathematical model.The analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.展开更多
According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinemat...According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.展开更多
Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restric...Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems （ADAMS） software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index （GDI） of the robot is calculated using Jacobean matrix at different positions of the mobile platform.展开更多
Currently, virtual assembly technology has attracted increasing attention due to considerations of solving assembly problems in virtual environment before actual assembly in manufactory. Previous studies on kinematic ...Currently, virtual assembly technology has attracted increasing attention due to considerations of solving assembly problems in virtual environment before actual assembly in manufactory. Previous studies on kinematic analysis of mechanism only aim at analyzing motion law of single mechanism, but can not simulate the multi-mechanisms motion process at the same time, let alone simulating the automatic assembly process of products in a whole assembly workshop. In order to simulate the assembly process of products in an assembly workshop and provide effective data for analyzing mechanical performance after finishing assembly simulation in virtual environment, this study investigates the kinematics analysis of mechanisms based on virtual assembly. Firstly, in view of the same function of the kinematic pairs and the assembly constraints on restricting the motion of components （subassembly or part）, the method of identifying kinematic pairs automatically based on assembly constraints is presented. The information of kinematic pairs can be obtained through calculating the constraint degree of the assembly constraints. Secondly, the incidence matrix eliminating element method is proposed in order to search the information and establish the models of mechanisms automatically after finishing assembly simulation in virtual environment. Both methods have important significance for reducing the workload of pretreatment and promoting the level of automation of kinematics analysis. Finally, the method of kinematics analysis of mechanisms is presented. Based on Descartes coordinates, three types of kinematics equations are formed. The parameters, like displacement, velocity, and acceleration, can be obtained by solving these equations. All these data are important to analyze mechanical performance. All the methods are implemented and validated in the prototype system virtual assembly process planning（VAPP）. The mechanism models are established and simulated in the VAPP system, and the result curves are shown accurately. The proposed kinematics analysis of mechanisms based on virtual assembly provides an effective method for simulating product assembly process automatically and analyzing mechanical performance after finishing assembly simulation.展开更多
This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biom...This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.展开更多
Performance analysis and kinematic design of the 3-PUU pure translational parallel mechanism with vertical guide-ways are investigated. Two novel performance indices, the critical slider stroke and the main section ar...Performance analysis and kinematic design of the 3-PUU pure translational parallel mechanism with vertical guide-ways are investigated. Two novel performance indices, the critical slider stroke and the main section area of workspace, are defined; The expressions of two other indices, i.e. the global dexterity and global force transfer ratio are revised based on the main section of workspace. Using these indices, performance changes versus the varieties of dimensional parameters of mechanism are investigated in detail and the graphic descriptions of change tendencies of the performance indices are illustrated. By means of these obtained graphic descriptions, kinematic parameters for the 3-PUU pure translational parallel mechanism with better characteristics can be directly acquired.展开更多
This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform.Then an artificial neural network to realize the coordination motion betwe...This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform.Then an artificial neural network to realize the coordination motion between manipulator and mobile platform is developed.On the basis of the task specifications,the algorithm determines the appropriate control variables to respond to the well tracking trajectory.The control strategy employed for either subsystem is achieved by using a robust supervised controller.A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the sys- tem.Simulation results are presented to show the effectiveness of this approach.展开更多
Forward kinematics analysis of a novel 5-DOF parallel mechanism using tetrahedron configurations is presented. Such mechanism is suitable to many tasks requiring less than 6 DOFs. It consists of a movable platform con...Forward kinematics analysis of a novel 5-DOF parallel mechanism using tetrahedron configurations is presented. Such mechanism is suitable to many tasks requiring less than 6 DOFs. It consists of a movable platform connected to the base by five identical 6-DOF active limbs plus one active limb with its DOF being exactly the same as the specified DOF of the movable platform, which leads to its legs＇ topology 4-UPS/UPU. Based on the tetmhedron geometry, both closed-form solution with an extra sensor and numerical method using iterative algorithm are employed to obtain the forward kinematics solutions of the mechanism. Compared with the conventional methods, the proposed closed-form solution has the advantages in automatically avoiding unnecessary complex roots and getting a unique solution for the forward kinematics. Finally, an example shows that the proposed numerical algorithm is so effective that it enables a real-time forward kinematics solution to be achieved and the initial value can be chosen easily.展开更多
In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ana...In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.展开更多
This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-gr...This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-groove welds,the computational process of welding gun orientation is first simplified.Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula.Finally,Solidworks and SimMechanics are employed to simulate the kinematics of the welding robot,which proves the feasibility of the kinematic algorithm.展开更多
基金financial support for the first author’s PhD program by the President’s Graduate Fellowship in Singapore
文摘This paper presents a procedure for assessing the reinforcement force of geosynthetics required for maintaining dynamic stability of a steep soil slope. Such a procedure is achieved with the use of the discretization technique and kinematic analysis of plasticity theory, i.e. discretization-based kinematic analysis. The discretization technique allows discretization of the analyzed slope into various components and generation of a kinematically admissible failure mechanism based on an associated flow rule.Accordingly, variations in soil properties including soil cohesion, internal friction angle and unit weight are accounted for with ease, while the conventional kinematic analysis fails to consider the changes in soil properties. The spatialetemporal effects of dynamic accelerations represented by primary and shear seismic waves are considered using the pseudo-dynamic approach. In the presence of geosynthetic reinforcement, tensile failure is discussed providing that the geosynthetics are installed with sufficient length. Equating the total rates of work done by external forces to the internal rates of work yields the upper bound solution of required reinforcement force, below which slopes fail. The reinforcement force is sought by optimizing the objective function with regard to independent variables, and presented in a normalized form. Pseudo-static analysis is a special case and hence readily transformed from pseudodynamic analysis. Comparisons of the pseudo-static/dynamic solutions calculated in this study are highlighted. Although the pseudo-static approach yields a conservative solution, its ability to give a reasonable result is substantiated for steep slopes. In order to provide a more meaningful solution to a stability analysis, the pseudo-dynamic approach is recommended due to considerations of spatial etemporal effect of earthquake input.
基金funded by Science Foundation for Youth supported by Shanghai Municipal Health Commission(No.20204Y0313)Sailing Program with the support of Science and Technology Commission of Shanghai Municipality(No.21YF1443800).
文摘Background China is seeing a growing demand for rehabilitation treatments for post-stroke upper limb spastic paresis(PSSP-UL).Although acupuncture is known to be effective for PSSP-UL,there is room to enhance its efficacy.Objective This study explored a semi-personalized acupuncture approach for PSSP-UL that used three-dimensional kinematic analysis(3DKA)results to select additional acupoints,and investigated the feasibility,efficacy and safety of this approach.Design,setting,participants and interventions This single-blind,single-center,randomized,controlled trial involved 74 participants who experienced a first-ever ischemic or hemorrhagic stroke with spastic upper limb paresis.The participants were then randomly assigned to the intervention group or the control group in a 1:1 ratio.Both groups received conventional treatments and acupuncture treatment 5 days a week for 4 weeks.The main acupoints in both groups were the same,while participants in the intervention group received additional acupoints selected on the basis of 3DKA results.Follow-up assessments were conducted for 8 weeks after the treatment.Main outcome measures The primary outcome was the Fugl-Meyer Assessment for Upper Extremity(FMA-UE)response rate(≥6-point change)at week 4.Secondary outcomes included changes in motor function(FMA-UE),Brunnstrom recovery stage(BRS),manual muscle test(MMT),spasticity(Modified Ashworth Scale,MAS),and activities of daily life(Modified Barthel Index,MBI)at week 4 and week 12.Results Sixty-four participants completed the trial and underwent analyses.Compared with control group,the intervention group exhibited a significantly higher FMA-UE response rate at week 4(χ^(2)=5.479,P=0.019)and greater improvements in FMA-UE at both week 4 and week 12(both P<0.001).The intervention group also showed bigger improvements from baseline in the MMT grades for shoulder adduction and elbow flexion at weeks 4 and 12 as well as thumb adduction at week 4(P=0.007,P=0.049,P=0.019,P=0.008,P=0.029,respectively).The intervention group showed a better change in the MBI at both week 4 and week 12(P=0.004 and P=0.010,respectively).Although the intervention group had a higher BRS for the hand at week 12(P=0.041),no intergroup differences were observed at week 4(all P>0.05).The two groups showed no differences in MAS grades as well as in BRS for the arm at weeks 4 and 12(all P>0.05).Conclusion Semi-personalized acupuncture prescription based on 3DKA results significantly improved motor function,muscle strength,and activities of daily living in patients with PSSP-UL.
基金supported by the National Natural Science Foundation of China(No.12072304).
文摘This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.
文摘The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.
基金supported by the Chinese Postdoctoral Science Foundation(2013M540934).
文摘This paper proposes a novel numerical solution approach for the kinematic shakedown analysis of strain-hardening thin plates using the C^(1)nodal natural element method(C^(1)nodal NEM).Based on Koiter’s theorem and the von Mises and two-surface yield criteria,a nonlinear mathematical programming formulation is constructed for the kinematic shakedown analysis of strain-hardening thin plates,and the C^(1)nodal NEM is adopted for discretization.Additionally,König’s theory is used to deal with time integration by treating the generalized plastic strain increment at each load vertex.A direct iterative method is developed to linearize and solve this formulation by modifying the relevant objective function and equality constraints at each iteration.Kinematic shakedown load factors are directly calculated in a monotonically converging manner.Numerical examples validate the accuracy and convergence of the developed method and illustrate the influences of limited and unlimited strain-hardening models on the kinematic shakedown load factors of thin square and circular plates.
基金funded by National Natural Science Foundation,China(Grant Nos.41972264 and 42207214)Zhejiang Provincial Natural Science Foundation,China(Grant No.LR22E080002).
文摘Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.
文摘Objective: To explore gait kinematics analysis and evaluate the surgical efficacy of total knee arthroplasty (TKA), as well as its guiding significance for postoperative rehabilitation. Method: Fifty patients admitted to TKA treatment for knee osteoarthritis from December 2022 to July 2023 were included, which were divided into an intervention group (gait kinematics analysis group, n = 25) and a control group (conventional rehabilitation program group, n = 25). All patients underwent HSS score and KSS score before surgery (T0), 1 month after surgery (T1), 3 months after surgery (T2), and 6 months after surgery (T3). The intervention group underwent gait kinematics analysis at 1 month after surgery (T1) and 3 months after surgery (T2). Two groups measured the hip knee ankle angle (HKA), distal femoral lateral angle (LDFA), and proximal tibial medial angle (MPTA) on knee joint radiographs before and after surgery. Results: There was no significant difference in general information, preoperative imaging parameters, and functional scores between the two groups of patients. There was no significant difference in functional scores and postoperative prosthesis alignment between the two groups of patients in the first month after surgery. The intervention group showed a significant decrease in gait kinematic scores in the first month, with hip joint scores being particularly prominent (P 0.05). Conclusion: Gait kinematic analysis is helpful in evaluating the postoperative efficacy of TKA and can guide early and rapid recovery after TKA.
文摘A procedure of kinematic analysis is presented in this study to assess the reinforcement force of geosynthetics required under seismic loadings, particularly for steep slopes which are hardly able to maintain its stability. Note that curved sloping surfaces widely exist in natural slopes, but existing literatures were mainly focusing on a planar surface in theoretical derivation, due to complicated calculations. Moreover, the non-uniform soil properties cannot be accounted for in conventional upper bound analysis. Pseudo-dynamic approach is used to represent horizontal and vertical accelerations which vary with time and space. In an effort to resolve the above problems, the discretization technique is developed to generate a discretized failure mechanism, decomposing the whole failure block into various components. An elementary analysis permits calculations of rates of work done by external and internal forces. Finally, the upper bound solution of the required reinforcement force is formulated based on the work rate-based balance equation. A parametric study is carried out to give insights on the implication of influential factors on the performance of geosynthetic-reinforced steep slopes.
文摘Based on the theory of multibody system dynamics, the spatial kinematics analysis of the Mcpherson independent suspension widely used in the car was carried out. A practical and simpler method was provided to reduce the number of the generalized coordinates and constraint functions. By solving the nonlinear equations, the motion of any points in the whole suspension and wheel system can be predicted, including the spatial changes of the wheel alignment parameters which are of great importance to the car performances.
基金partially supported by the Fırat University Scientific Research Project in Elazığ,Türkiye,under Project Number ADEP.23.12.
文摘The Palu segment,situated in the northeastern part of the East Anatolian Fault System(EAFS),is a crucial structural feature with notable seismic potential.This study examines the paleoseismic activity of the Palu segment through trench excavations and geochronological analyses utilizing Optically Stimulated Luminescence(OSL)and radiocarbon(14C)dating methods.Two trenches,located near Karşıbahçeler,exposed evidence of multiple surface-rupturing seismic events spanning the Holocene and Pleistocene epochs.Chronological analyses identified five distinct seismic events in trench 1(P1),dated between 94.09±6.07 ka and 0.84±0.45 ka,and three events in trench 2(P2),dated between 28.83±1.61 ka and 351±21 BP.Bayesian analysis using Oxcal distribution suggested event timings between 90.52±25.99 ka and 1.25±0.55 ka.Comparative analysis with historical earthquake records correlates the most recent event with the 1789 or 1874 AD earthquakes,while the penultimate event matches the 995 AD earthquake.Earlier events reflect prehistoric tectonic activity.The recurrence intervals for these events range from 710 to 5,370 years during the Holocene,with evidence of seismic activity extending into the Pleistocene.Stress inversion analyses and geodetic data indicate a predominantly strike-slip stress regime,consistent with geometry of the fault.These findings provide critical insights into the long-term seismic behavior and recurrence patterns of the Palu segment,enhancing seismic hazard assessments for the region.
文摘Parallel Kinematic Machines(PKMs)are being widely used for precise applications to achieve complex motions and variable poses for the end effector tool.PKMs are found in medical,assembly and manufacturing industries where accuracy is necessary.It is often desired to have a compact and simple architecture for the robotic mechanism.In this paper,the kinematic and dynamic analysis of a novel 3-PRUS(P:prismatic joint,R:revolute joint,U:universal joint,S:spherical joint)parallel manipulator with a mobile platform having 6 Degree of Freedom(Do F)is explained.The kinematic equations for the proposed spatial parallel mechanism are formulated using the Modified Denavit-Hartenberg(DH)technique considering both active and passive joints.The kinematic equations are used to derive the Jacobian matrix of the mechanism to identify the singular points within the workspace.A Jacobian based sti ness analysis is done to understand the variations in sti ness for different poses of the mobile platform and further,it is used to decide trajectories for the end effector within the singularity free region.The analytical model of the robot dynamics is presented using the Euler-Lagrangian approach with Lagrangian multipliers to include the system constraints.The gravity and inertial forces of all links are considered in the mathematical model.The analytical results of the dynamic model are compared with ADAMS simulation results for a pre-defined trajectory of the end effector.
基金This project is supported by National Natural Science Foundation of China (No.59775006)Postdoctoral Science Foundation of China (No.200031).
文摘According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.
文摘Parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. Parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems （ADAMS） software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index （GDI） of the robot is calculated using Jacobean matrix at different positions of the mobile platform.
基金supported by National Natural Science Foundation of China (Grant No. 50805009)National Defense Pre-Research Fund of China during the 11th Five-Year Plan Period (Grant No. 51318010205)
文摘Currently, virtual assembly technology has attracted increasing attention due to considerations of solving assembly problems in virtual environment before actual assembly in manufactory. Previous studies on kinematic analysis of mechanism only aim at analyzing motion law of single mechanism, but can not simulate the multi-mechanisms motion process at the same time, let alone simulating the automatic assembly process of products in a whole assembly workshop. In order to simulate the assembly process of products in an assembly workshop and provide effective data for analyzing mechanical performance after finishing assembly simulation in virtual environment, this study investigates the kinematics analysis of mechanisms based on virtual assembly. Firstly, in view of the same function of the kinematic pairs and the assembly constraints on restricting the motion of components （subassembly or part）, the method of identifying kinematic pairs automatically based on assembly constraints is presented. The information of kinematic pairs can be obtained through calculating the constraint degree of the assembly constraints. Secondly, the incidence matrix eliminating element method is proposed in order to search the information and establish the models of mechanisms automatically after finishing assembly simulation in virtual environment. Both methods have important significance for reducing the workload of pretreatment and promoting the level of automation of kinematics analysis. Finally, the method of kinematics analysis of mechanisms is presented. Based on Descartes coordinates, three types of kinematics equations are formed. The parameters, like displacement, velocity, and acceleration, can be obtained by solving these equations. All these data are important to analyze mechanical performance. All the methods are implemented and validated in the prototype system virtual assembly process planning（VAPP）. The mechanism models are established and simulated in the VAPP system, and the result curves are shown accurately. The proposed kinematics analysis of mechanisms based on virtual assembly provides an effective method for simulating product assembly process automatically and analyzing mechanical performance after finishing assembly simulation.
基金supported by the Brain Korea 21 Project and SNU-IAMD.
文摘This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematic model.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research. The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditions that maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motion of the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degrees of freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model is simulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko's motion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combination of closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground. The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three other gaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.The result can be used in biomimetic robot design and motion planning.
基金This project is supported by National Natural Science Foundation of China (No.60275031)Municipal Key Lab Open Fund of Beijing, China (No.KP01-072200384).
文摘Performance analysis and kinematic design of the 3-PUU pure translational parallel mechanism with vertical guide-ways are investigated. Two novel performance indices, the critical slider stroke and the main section area of workspace, are defined; The expressions of two other indices, i.e. the global dexterity and global force transfer ratio are revised based on the main section of workspace. Using these indices, performance changes versus the varieties of dimensional parameters of mechanism are investigated in detail and the graphic descriptions of change tendencies of the performance indices are illustrated. By means of these obtained graphic descriptions, kinematic parameters for the 3-PUU pure translational parallel mechanism with better characteristics can be directly acquired.
文摘This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform.Then an artificial neural network to realize the coordination motion between manipulator and mobile platform is developed.On the basis of the task specifications,the algorithm determines the appropriate control variables to respond to the well tracking trajectory.The control strategy employed for either subsystem is achieved by using a robust supervised controller.A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the sys- tem.Simulation results are presented to show the effectiveness of this approach.
文摘Forward kinematics analysis of a novel 5-DOF parallel mechanism using tetrahedron configurations is presented. Such mechanism is suitable to many tasks requiring less than 6 DOFs. It consists of a movable platform connected to the base by five identical 6-DOF active limbs plus one active limb with its DOF being exactly the same as the specified DOF of the movable platform, which leads to its legs＇ topology 4-UPS/UPU. Based on the tetmhedron geometry, both closed-form solution with an extra sensor and numerical method using iterative algorithm are employed to obtain the forward kinematics solutions of the mechanism. Compared with the conventional methods, the proposed closed-form solution has the advantages in automatically avoiding unnecessary complex roots and getting a unique solution for the forward kinematics. Finally, an example shows that the proposed numerical algorithm is so effective that it enables a real-time forward kinematics solution to be achieved and the initial value can be chosen easily.
基金National Natural Science Foundation of China(Grant No.51875495)National Key R&D Program of China(Grant No.2017YFB1301901)Hebei Provincial Science and Technology Project of China(Grant No.206Z1805G).
文摘In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research objective.In this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are analyzed.Then,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is analyzed.After that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the simulation.Based on the obtained results from the force analysis,the manipulator structure is designed.Then,the structure optimization is carried out to improve the robot stiffness.Finally,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the prototype.This work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.
基金Supported by National Natural Science Foundation of China (No. 50975195)Tianjin Research Program of Application Foundation and Advanced Technology (No. 10JCYBJC06500)
文摘This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-groove welds,the computational process of welding gun orientation is first simplified.Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula.Finally,Solidworks and SimMechanics are employed to simulate the kinematics of the welding robot,which proves the feasibility of the kinematic algorithm.
