Kinematics & Dynamics


 Sharleen Robbins
 1 years ago
 Views:
Transcription
1 Kinematics & Dynamics Thomas Funkhouser Princeton University C0S 46, Fall 000 Overview Kinematics Considers only motion Determined by positions, velocities, accelerations Dynamics Considers underlying forces Compute motion from initial conditions and physics
2 Example: Link Structure Two links connected by rotational joints Θ EndEffector Θ Forward Kinematics Animator specifies joint angles: Θ and Θ Computer finds positions of endeffector: X Θ Θ X = ( l cos Θ + l cos( Θ + Θ), l sin Θ + l sin( Θ + Θ))
3 Forward Kinematics Joint motions can be specified by spline curves Θ Θ Θ Θ t Forward Kinematics Joint motions can be specified by initial conditions and velocities Θ Θ Θ (0) = 60 Θ (0) = 50 dθ dt =. dθ dt = 0. 3
4 Example: Link Structure What if animator knows position of endeffector Θ EndEffector Θ Inverse Kinematics Animator specifies endeffector positions: X Computer finds joint angles: Θ and Θ : Θ Θ Θ = Θ = cos ( l sin( Θ) x + ( l ( l sin( Θ )) y + ( l x + x l l l + l cos( Θ + l cos( Θ l )) y )) x 4
5 Inverse Kinematics Endeffector postions can be specified by spline curves Θ Θ x y t Inverse Kinematics Problem for more complex structures System of equations is usually underdefined Multiple solutions Θ 3 Θ 3 Θ Three unknowns: Θ, Θ, Θ 3 Two equations: x, y 5
6 Inverse Kinematics Solution for more complex structures: Find best solution (e.g., minimize energy in motion) Nonlinear optimization Θ 3 Θ 3 Θ Inverse Kinematics Ballboy Fujito, Milliron, Ngan, & Sanocki Princeton University 6
7 Summary of Kinematics Forward kinematics Specify conditions (joint angles) Compute positions of endeffectors Inverse kinematics Goaldirected motion Specify goal positions of end effectors Compute conditions required to achieve goals Inverse kinematics provides easier specification for many animation tasks, but it is computationally more difficult Overview Kinematics Considers only motion Determined by positions, velocities, accelerations Dynamics Considers underlying forces Compute motion from initial conditions and physics 7
8 Dynamics Simulation of physics insures realism of motion Lasseter 87 Animator specifies constraints: What the character s physical structure is» e.g., articulated figure What the character has to do» e.g., jump from here to there within time t What other physical structures are present» e.g., floor to push off and land How the motion should be performed» e.g., minimize energy 8
9 Computer finds the best physical motion satisfying constraints Example: particle with jet propulsion x(t) is position of particle at time t f(t) is force of jet propulsion at time t Particle s equation of motion is: mx f mg = 0 Suppose we want to move from a to b within t 0 to t with minimum jet fuel: Minimize t t 0 f ( t) dt subject to x(t 0 )=a and x(t )=b Witkin & Kass 88 Discretize time steps: xi xi x i = h xi+ x x i = h i + x i xi+ xi + xi m x i = fi mg h = 0 i f i Minimize h subject to x 0 =a and x =b Witkin & Kass 88 9
10 Solve with iterative optimization methods Witkin & Kass 88 Advantages: Free animator from having to specify details of physically realistic motion with spline curves Easy to vary motions due to new parameters and/or new constraints Challenges: Specifying constraints and objective functions Avoiding local minima during optimization 0
11 Adapting motion: Original Jump Heavier Base Witkin & Kass 88 Adapting motion: Hurdle Witkin & Kass 88
12 Adapting motion: Ski Jump Witkin & Kass 88 Editing motion: Li et al. 99
13 ! Morphing motion: Gleicher 98 Advantages: Free animator from having to specify details of physically realistic motion with spline curves Easy to vary motions due to new parameters and/or new constraints Challenges: Specifying constraints and objective functions Avoiding local minima during optimization 3
14 Dynamics Other physical simulations: Rigid bodies Soft bodies Cloth Liquids Gases etc. " # $ % & ' Cloth (Baraff & Witkin 98) Hot Gases (Foster & Metaxas 97) Summary Kinematics Forward kinematics» Animator specifies joints (hard)» Compute endeffectors (easy  assn 5!) Inverse kinematics» Animator specifies endeffectors (easier)» Solve for joints (harder) ( ) Dynamics + * Spacetime constraints» Animator specifies structures & constraints (easiest)» Solve for motion (hardest) Also other physical simulations 4
Motion Control of a Bipedal Walking Robot
Motion Control of a Bipedal Walking Robot Lai Wei Ying, Tang Howe Hing, Mohamed bin Hussein Faculty of Mechanical Engineering Universiti Teknologi Malaysia, 81310 UTM Skudai, Johor, Malaysia. Wylai2@live.my
More informationActivity P07: Acceleration of a Cart (Acceleration Sensor, Motion Sensor)
Activity P07: Acceleration of a Cart (Acceleration Sensor, Motion Sensor) Equipment Needed Qty Equipment Needed Qty Acceleration Sensor (CI6558) 1 Dynamics Cart (inc. w/ Track) 1 Motion Sensor (CI6742)
More informationINCLINOMETER DEVICE FOR SHIP STABILITY EVALUATION
Proceedings of COBEM 2009 Copyright 2009 by ABCM 20th International Congress of Mechanical Engineering November 1520, 2009, Gramado, RS, Brazil INCLINOMETER DEVICE FOR SHIP STABILITY EVALUATION Helena
More informationProject 2 Evaluation 32 Second Year Algebra 1 (MTHH )
Name I.D. Number Project 2 Evaluation 32 Second Year Algebra 1 (MTHH 039 059) Be sure to include ALL pages of this project (including the directions and the assignment) when you send the project to your
More informationi) Linear programming
Problem statement Sailco Corporation must determine how many sailboats should be produced during each of the next four quarters (one quarter = three months). The demand during each of the next four quarters
More informationEE 364B: Wind Farm Layout Optimization via Sequential Convex Programming
EE 364B: Wind Farm Layout Optimization via Sequential Convex Programming Jinkyoo Park 1 Introduction In a wind farm, the wakes formed by upstream wind turbines decrease the power outputs of downstream
More informationVelocity Based Stability Margins for Fast Bipedal Walking
Velocity Based Stability Margins for Fast Bipedal Walking Jerry E. Pratt 1 and Russ Tedrake 2 1 Florida Institute for Human and Machine Cognition jpratt@ihmc.us 2 Massachusettes Institute of Technology
More informationZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots
ZMP Trajectory Generation for Reduced Trunk Motions of Biped Robots Jong H. Park School of Mechanical Engineering Hanyang University Seoul, 3379, Korea email:jong.park@ieee.org Yong K. Rhee School of
More information1. A tendency to roll or heel when turning (a known and typically constant disturbance) 2. Motion induced by surface waves of certain frequencies.
Department of Mechanical Engineering Massachusetts Institute of Technology 2.14 Analysis and Design of Feedback Control Systems Fall 2004 October 21, 2004 Case Study on Ship Roll Control Problem Statement:
More informationSupplementary Figure 1 An insect model based on Drosophila melanogaster. (a)
Supplementary Figure 1 An insect model based on Drosophila melanogaster. (a) Side and ventral images of adult female flies used to calculate the sizes of body and leg segments. Scale bar is 0.3 mm. Green,
More informationResearch on Goods and the Ship Interaction Based on ADAMS
Research on Goods and the Ship Interaction Based on ADAMS Fangzhen Song, Yanshi He and Haining Liu School of Mechanical Engineering, University of Jinan, Jinan, 250022, China Abstract. The equivalent method
More informationCurrent issues regarding induced acceleration analysis of walking using the integration method to decompose the GRF
Current issues regarding induced acceleration analysis of walking using the integration method to decompose the GRF George Chen May 17, 2002 Stanford Neuromuscular Biomechanics Lab Group Muscle contribution
More informationChapter 13: The Behavior of Gases
Chapter 13: The Behavior of Gases I. First Concepts a. The 3 states of matter most important to us: solids, liquids, and gases. b. Real Gases and Ideal Gases i. Real gases exist, ideal gases do not ii.
More informationA NEW GOLFSWING ROBOT MODEL UTILIZING SHAFT ELASTICITY
Journal of Sound and Vibration (1998) 17(1), 17 31 Article No. sv981733 A NEW GOLFSWING ROBOT MODEL UTILIZING SHAFT ELASTICITY S. SUZUKI Department of Mechanical System Engineering, Kitami Institute of
More informationComputer aided sand wedge shape assessment by using particle simulation
Computational Methods and Experimental Measurements XII 281 Computer aided sand wedge shape assessment by using particle simulation T. Koizumi, N. Tsujiuchi, H. Horii, M. Miki & J. Hidaka Doshisha University,
More informationKinematic Differences between Set and JumpShot Motions in Basketball
Proceedings Kinematic Differences between Set and JumpShot Motions in Basketball Hiroki Okubo 1, * and Mont Hubbard 2 1 Department of Advanced Robotics, Chiba Institute of Technology, 2171 Tsudanuma,
More informationOPTIMAL TRAJECTORY GENERATION OF COMPASSGAIT BIPED BASED ON PASSIVE DYNAMIC WALKING
OPTIMAL TRAJECTORY GENERATION OF COMPASSGAIT BIPED BASED ON PASSIVE DYNAMIC WALKING Minseung Kim Dept. of Computer Science Illinois Institute of Technology 3201 S. State St. Box 2082 Chicago IL 60616
More informationModal Analysis of Barrels for Assault Rifles
PROBLEMS OF MECHATRONICS ARMAMENT, AVIATION, SAFETY ENGINEERING ISSN 20815891 2 (8), 2012, 716 Modal Analysis of Barrels for Assault Rifles Peter LISÝ, Mário ŠTIAVNICKÝ Academy of the Armed Forces of
More informationPhys 101 College Physics I ` Student Name: Additional Exercises on Chapter 3
Phys 0 College Physics I ` Student Name: Additional Exercises on Chapter ) A displacement vector is.0 m in length and is directed 60.0 east of north. What are the components of this vector? Choice Northward
More informationSimulation of the Hybtor Robot
Simulation of the Hybtor Robot Pekka Aarnio, Kari Koskinen and Sami Salmi Information and Computer Systems in Automation Helsinki University of Technology ABSTRACT A dynamic rigid body simulation model
More informationAvailable online at ScienceDirect. Procedia Engineering 112 (2015 )
Available online at www.sciencedirect.com ciencedirect Procedia ngineering 112 (2015 ) 443 448 7th AsiaPacific Congress on ports Technology, APCT 2015 Kinematics of arm joint motions in basketball shooting
More informationLINEAR AND ANGULAR KINEMATICS Readings: McGinnis Chapters 2 and 6 DISTANCE, DISPLACEMENT, SPEED, VELOCITY, AND ACCELERATION:
LINEAR AND ANGULAR KINEMATICS Readings: McGinnis Chapters 2 and 6 1 DISTANCE, DISPLACEMENT, SPEED, VELOCITY, AND ACCELERATION: How far? Describing change in linear or angular position Distance (Scalar
More informationGrit chambers are basin to remove the inorganic particles to prevent damage to the pumps, and to prevent their accumulation in sludge digestors.
Home Lecture Quiz Design Example Grit Chambers Types of Grit Chambers Aerated Grit Chamber Principle of Working of Grit Chamber Design of Grit Chambers Primary Sedimentation Grit Chambers Grit chambers
More informationNote! In this lab when you measure, round all measurements to the nearest meter!
Distance and Displacement Lab Note! In this lab when you measure, round all measurements to the nearest meter! 1. Place a piece of tape where you will begin your walk outside. This tape marks the origin.
More informationMultiple User Defined EndEffectors with Shared Memory Communication for Posture Prediction
2008011922 Multiple User Defined EndEffectors with Shared Memory Communication for Posture Prediction Brent Rochambeau, Timothy Marler, Anith Mathai, and Karim AbdelMalek Virtual Soldier Research (VSR)
More informationPHYSICAL REQUIREMENTS FOR A TAKEOFF IN SURFING. Akihiko Kimura 1 and Taro Kakinuma 2
PHYSICAL REQUIREMENTS FOR A TAKEOFF IN SURFING Akihiko Kimura 1 and Taro Kakinuma 2 The conditions required for a takeoff in surfing, are discussed, with the waves simulated numerically, considering two
More informationThe springboard diving techniques analysis
ISSN 17509823 (print) 185 International Journal of Sports Science and Engineering Vol. 02 (2008) No. 03, pp. 185192 The springboard diving techniques analysis Qining Wang Nanjing sports institute, Nanjing,
More informationNumerical study on the wrist action during the golf downswing
Numerical study on the wrist action during the golf downswing C.C. Chen, Y. Inoue and K. Shibara Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, Kochiprefecture,
More informationGEA FOR ADVANCED STRUCTURAL DYNAMIC ANALYSIS
SMART SOLUTIONS FOR VIBRATION MONITORING GEA FOR ADVANCED STRUCTURAL DYNAMIC ANALYSIS ANALYSIS OF CIVIL STRUCTURES  EXPO MERLATA PEDESTRIAN BRIDGE ABSTRACT Civil structures and in particular bridges and
More informationProjectile Motion. Regardless of its path, a projectile will always follow these rules:
Projectile Motion What is a projectile? Regardless of its path, a projectile will always follow these rules: 1. A horizontally launched projectile moves both horizontally and vertically and traces out
More informationToward a Humanlike Biped Robot with Compliant Legs
Book Title Book Editors IOS Press, 2003 1 Toward a Humanlike Biped Robot with Compliant Legs Fumiya Iida a,b,1, Yohei Minekawa a Juergen Rummel a and Andre Seyfarth a a Locomotion Laboratory, University
More informationInverse Kinematics Kicking in the Humanoid RoboCup Simulation League
Inverse Kinematics Kicking in the Humanoid RoboCup Simulation League Adrian LopezMobilia Advisors: Peter Stone, Patrick MacAlpine May 3, 2012 Abstract This paper describes the inverse kinematics kicking
More informationForces that govern a baseball s flight path
Forces that govern a baseball s flight path Andrew W. Nowicki Physics Department, The College of Wooster, Wooster, Ohio 44691 April 21, 1999 The three major forces that affect the baseball while in flight
More information*Author for Correspondence
COMPARISON OF SELECTED KINEMATIC PARAMETERS OF THE BALL MOVEMENT AT FREE THROW AND JUMP SHOT OF BASKETBALL ADULT PLAYERS *Mahdi Arab Khazaeli 1, Heydar Sadeghi 1, Alireza Rahimi 2 And Masoud Mirmoezzi
More informationEmergency Stop Algorithm for Walking Humanoid Robots
Emergency Stop Algorithm for Walking Humanoid Robots Mitsuharu Morisawa, Shuuji Kajita, Kensuke Harada, Kiyoshi Fujiwara Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa National Institute of Advanced Industrial
More informationEg.#1 A diver steps off a 10. m. high diving board with an initial vertical velocity of zero and experiences an average acceleration 2
1.3.1 Acceleration due to Gravity Defined as: For many years, it was thought that higher mass objects fall towards the Earth more quickly than lower mass objects. This idea was introduced in approximately
More informationDesigning Tomorrow s Snow Park Jump
Submitted to Sports Engineering Designing Tomorrow s Snow Park Jump James A. McNeil Department of Physics, Colorado School of Mines, Golden, C, 841, USA Mont Hubbard Department of Mechanical Engineering,
More informationBiomechanics Sample Problems
Biomechanics Sample Problems Forces 1) A 90 kg ice hockey player collides head on with an 80 kg ice hockey player. If the first person exerts a force of 450 N on the second player, how much force does
More information5. A bead slides on a curved wire, starting from rest at point A in the figure below. If the wire is frictionless, find each of the following.
Name: Work and Energy Problems Date: 1. A 2150 kg car moves down a level highway under the actions of two forces: a 1010 N forward force exerted on the drive wheels by the road and a 960 N resistive force.
More informationUnit 4: Projectiles ( Angled Projectiles )
Unit 4: Projectiles ( Angled Projectiles ) When dealing with a projectile that is not launched/thrown perfectly horizontal, you must start by realizing that the initial velocity has two components: an
More informationOPTIMIZING THE LENGTH OF AIR SUPPLY DUCT IN CROSS CONNECTIONS OF GOTTHARD BASE TUNNEL. Rehan Yousaf 1, Oliver Scherer 1
OPTIMIZING THE LENGTH OF AIR SUPPLY DUCT IN CROSS CONNECTIONS OF GOTTHARD BASE TUNNEL Rehan Yousaf 1, Oliver Scherer 1 1 Pöyry Infra Ltd, Zürich, Switzerland ABSTRACT Gotthard Base Tunnel with its 57 km
More informationINTERACTION OF STEP LENGTH AND STEP RATE DURING SPRINT RUNNING
INTERACTION OF STEP LENGTH AND STEP RATE DURING SPRINT RUNNING Joseph P. Hunter 1, Robert N. Marshall 1,, and Peter J. McNair 3 1 Department of Sport and Exercise Science, The University of Auckland, Auckland,
More informationResearch and optimization of intake restrictor for Formula SAE car engine
International Journal of Scientific and Research Publications, Volume 4, Issue 4, April 2014 1 Research and optimization of intake restrictor for Formula SAE car engine Pranav Anil Shinde Mechanical Engineering,
More informationCHAPTER 10: LINEAR KINEMATICS OF HUMAN MOVEMENT
CHAPTER 10: LINEAR KINEMATICS OF HUMAN MOVEMENT 1. Vector mechanics apply to which of the following? A. displacement B. velocity C. speed D. both displacement and velocity 2. If velocity is constant, then
More informationDiscussion Session 3 2D Relative Motion Week 04
PHYS 100 Discussion Session 3 2D Relative Motion Week 04 The Plan This week is about two main ideas, practicing vector addition and understanding relative motion. You ll accomplish both by looking at two
More informationAvailable online at Prediction of energy efficient pedal forces in cycling using musculoskeletal simulation models
Available online at www.sciencedirect.com Engineering 2 00 (2010) (2009) 3211 3215 000 000 Engineering www.elsevier.com/locate/procedia 8 th Conference of the International Sports Engineering Association
More informationCFD SIMULATIONS OF GAS DISPERSION IN VENTILATED ROOMS
CFD SIMULATIONS OF GAS DISPERSION IN VENTILATED ROOMS T. Gélain, C. Prévost Institut de Radioprotection et de Sûreté Nucléaire (IRSN), Saclay, France Abstract In order to better understand the risks due
More informationFigure 1 Schematic of opposing air bearing concept
Theoretical Analysis of Opposing Air Bearing Concept This concept utilizes air bearings to constrain five degrees of freedom of the optic as shown in the figure below. Three pairs of inherently compensated
More informationOIL AND GAS INDUSTRY
This case study discusses the sizing of a coalescer filter and demonstrates its fouling life cycle analysis using a Flownex model which implements two new pressure loss components:  A rated pressure loss
More informationZIN Technologies PHi Engineering Support. PHiRPT CFD Analysis of Large Bubble Mixing. June 26, 2006
ZIN Technologies PHi Engineering Support PHiRPT0002 CFD Analysis of Large Bubble Mixing Proprietary ZIN Technologies, Inc. For nearly five decades, ZIN Technologies has provided integrated products and
More informationTHE USE OF ENERGY BUILD UP TO IDENTIFY THE MOST CRITICAL HEELING AXIS DIRECTION FOR STABILITY CALCULATIONS FOR FLOATING OFFSHORE STRUCTURES
10 th International Conference 65 THE USE OF ENERGY BUILD UP TO IDENTIFY THE MOST CRITICAL HEELING AXIS DIRECTION FOR STABILITY CALCULATIONS FOR FLOATING OFFSHORE STRUCTURES Joost van Santen, GustoMSC,
More informationFrom Constraints to Components at Marin Bicycles
From Constraints to Components at Marin Bicycles A Case Study for The Mechanical Design Process Introduction This case study details the development of the Marin Mount Vision Pro mountain bicycle rear
More informationSimulator For Performance Prediction Of Reciprocating Compressor Considering Various Losses
Simulator For Performance Prediction Of Reciprocating Considering Various Losses Aditya S. Bawane 1, Dr. V.K. Bhojwani 2, Mitali B. Deshmukh 3 1 (Mechanical Engineering Department, JSCOE, S.P. Pune University,
More informationModeling a Pressure Safety Valve
Modeling a Pressure Safety Valve Pressure Safety Valves (PSV), Pressure Relief Valves (PRV), and other pressure relieving devices offer protection against overpressure in many types of hydraulic systems.
More informationInternational Journal of Technical Research and Applications eissn: , Volume 4, Issue 3 (MayJune, 2016), PP.
DESIGN AND ANALYSIS OF FEED CHECK VALVE AS CONTROL VALVE USING CFD SOFTWARE R.Nikhil M.Tech Student Industrial & Production Engineering National Institute of Engineering Mysuru, Karnataka, India 570008
More informationChapter 11 Math Skills
Skills Worksheet Chapter 11 Math Skills Velocity After you study each sample problem and solution, work out the practice problems on a separate sheet of paper. Write your answers in the spaces provided.
More informationBall Toss. Vernier Motion Detector
Experiment 6 When a juggler tosses a ball straight upward, the ball slows down until it reaches the top of its path. The ball then speeds up on its way back down. A graph of its velocity vs. time would
More informationNew Technologies applied to the design and optimization of tunnel ventilation systems
New Technologies applied to the design and optimization of tunnel ventilation systems Ing. Justo Suárez Area Manager  ZITRON Dot. Ing. Massimiliano Bringiotti Managing Director  GEOTUNNEL Ing. Ana Belén
More informationC) miles per hour. D) all of the above. 2) When you look at the speedometer in a moving car, you can see the car's
Practice Kinematics Questions (Answers are at the end ) 1) One possible unit of speed is. A) light years per century. B) kilometers per hour. C) miles per hour. D) all of the above.. 2) When you look at
More informationRobot motion by simultaneously wheel and leg propulsion
Robot motion by simultaneously wheel and leg propulsion Aarne Halme, Ilkka Leppänen, Miso Montonen, Sami Ylönen Automation Technology Laboratory Helsinki University of Technology PL 5400, 02015 HUT, Finland
More informationBoyle s Law: PressureVolume Relationship in Gases. PRELAB QUESTIONS (Answer on your own notebook paper)
Boyle s Law: PressureVolume Relationship in Gases Experiment 18 GRADE LEVEL INDICATORS Construct, interpret and apply physical and conceptual models that represent or explain systems, objects, events
More informationGolf Ball Impact: Material Characterization and Transient Simulation
12 th International LSDYNA Users Conference Blast/Impact(1) Golf Ball Impact: Material Characterization and Transient Simulation Xiaohu Liu, David Quinn and Jorgen Bergström Veryst Engineering, LLC 47A
More informationThe Hurdle Events. Jeff Martin IATCCC Clinic. Indianapolis, Indiana. 5 Myth s about Hurdling
The Hurdle Events Jeff Martin Indianapolis, Indiana 5 Myth s about Hurdling  Speed is not a necessity to hurdle fast  Good form not pure speed makes a good hurdler  An athlete that can t jump, throw,
More informationFree Fall, Hang Time, and Projectile Motion Worksheet NO WORK NO CREDIT
Free Fall, Hang Time, and Projectile Motion Worksheet d = d + v t + ½ a t 2 Hang Time: time = time v = v + a t time = 2 time Free Fall These equations can be used to solve for the motion in the xdirection
More informationBIOMECHANICAL MOVEMENT
SECTION PART 5 5 CHAPTER 12 13 CHAPTER 12: Biomechanical movement Practice questions  text book pages 169172 1) For which of the following is the athlete s centre of mass most likely to lie outside of
More informationby Michael Young Human Performance Consulting
by Michael Young Human Performance Consulting The high performance division of USATF commissioned research to determine what variables were most critical to success in the shot put The objective of the
More informationAcoustical Modeling of Reciprocating Compressors With Stepless Valve Unloaders
Acoustical Modeling of Reciprocating Compressors With Stepless Valve Unloaders Kelly Eberle, P.Eng. Principal Engineer keberle@betamachinery.com Brian C. Howes, M.Sc., P.Eng. Chief Engineer bhowes@betamachinery.com
More informationCleveland State University MCE441: Intr. Linear Control Systems. Lecture 6: The Transfer Function Poles and Zeros Partial Fraction Expansions
Cleveland State University MCE441: Intr. Linear Control Systems Lecture 6: The and Zeros Partial Fraction Expansions Prof. Richter 1 / 12 System and Zeros and Zeros in Decomposition Obtaining the  in
More informationSimulationbased design to reduce metabolic cost
Simulationbased design to reduce metabolic cost Overview: Lecture + Hands On Exercise 1. Generating and evaluating a muscledriven simulation of walking 2. Metabolics 101 3. Designing and evaluating devices
More informationand its weight (in newtons) when located on a planet with an acceleration of gravity equal to 4.0 ft/s 2.
1.26. A certain object weighs 300 N at the earth's surface. Determine the mass of the object (in kilograms) and its weight (in newtons) when located on a planet with an acceleration of gravity equal to
More informationCHAPTER 6 PROJECTILE MOTION
CHAPTER 6 PROJECTILE MOTION 1 Basic principle of analyzing projecting motion Independency of vertical and horizontal motion 2 A simple case: Horizontally projected motion An angry bird is fired horizontally
More informationRUNNING ON SOFT GROUND: SIMPLE, ENERGYOPTIMAL DISTURBANCE REJECTION
CLAWAR 2012 Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, MD, USA, 23 26 July 2012 543 RUNNING ON SOFT
More informationFour forces on an airplane
Four forces on an airplane By NASA.gov on 10.12.16 Word Count 824 Level MAX TOP: An airplane pictured on June 30, 2016. Courtesy of Pexels. BOTTOM: Four forces on an airplane. Courtesy of NASA. A force
More informationLOW PRESSURE EFFUSION OF GASES adapted by Luke Hanley and Mike Trenary
ADH 1/7/014 LOW PRESSURE EFFUSION OF GASES adapted by Luke Hanley and Mike Trenary This experiment will introduce you to the kinetic properties of lowpressure gases. You will make observations on the
More informationTrim and Stabilisation systems NEXT GENERATION IN BOAT CONTROL.
Trim and Stabilisation systems NEXT GENERATION IN BOAT CONTROL www.humphree.com WHEN EFFICIENCY AND PERFORMANCE REALLY MATTERS! Humphree proudly presents the new HCS5 The HCS5 combines exceptional mechanical
More informationInjector Dynamics Assumptions and their Impact on Predicting Cavitation and Performance
Injector Dynamics Assumptions and their Impact on Predicting Cavitation and Performance Frank Husmeier, Cummins Fuel Systems Presented by Laz Foley, ANSYS Outline Overview Computational Domain and Boundary
More informationMechanical System Simulation of the XM307 Advanced Crew Served Weapon
National Defense Industrial Association Joint Services Small Arms Systems Annual Symposium May 710 2007 Mechanical System Simulation of the XM307 Advanced Crew Served Weapon Presenter: Callista Rodriguez
More informationSimulation and mathematical modeling for racket position and attitude of table tennis
Acta Technica 62 No. 3A/2017, 135 142 c 2017 Institute of Thermomechanics CAS, v.v.i. Simulation and mathematical modeling for racket position and attitude of table tennis Jiansi Song 1 Abstract. Racket
More informationWorld Academy of Science, Engineering and Technology International Journal of Mechanical and Mechatronics Engineering Vol:6, No:1, 2012
Perfect Plastic Deformation of a Circular Thin Bronze Plate due to the Growth and Collapse of a Vapour Bubble M.T. ShervaniTabar, M. Rezaee and E. Madadi Kandjani Abstract Dynamics of a vapour bubble
More informationModelling of Extreme Waves Related to Stability Research
Modelling of Extreme Waves Related to Stability Research Janou Hennig 1 and Frans van Walree 1 1. Maritime Research Institute Netherlands,(MARIN), Wageningen, the Netherlands Abstract: The paper deals
More informationGait Motion Analysis Ashley Forbes, PT, DPT Ann Marie Schroeder Pace, PT, MPT
Gait Motion Analysis Ashley Forbes, PT, DPT Ann Marie Schroeder Pace, PT, MPT Walking How we get from one place to another 1 Reciprocal Symmetric Reproducible Efficient Dynamic Components of gait Stride
More informationAdvancements in Personnel Incapacitation Methodologies for Multiple Cartridge Projectiles (MPCs)
U.S. Army Research, Development and Engineering Command Advancements in Personnel Incapacitation Methodologies for Multiple Cartridge Projectiles (MPCs) NDIA Joint Armaments: Conference, Exhibition, and
More informationHomework on Manual Lifting IE665.
Homework on Manual Lifting IE665. For the following three manual handling scenarios, use NIOSH revised lifting equation to perform a hazard assessment and suggest improvements in job design. Use the Job
More informationRELIABILITY ASSESSMENT, STATIC AND DYNAMIC RESPONSE OF TRANSMISSION LINE TOWER: A COMPARATIVE STUDY
RELIABILITY ASSESSMENT, STATIC AND DYNAMIC RESPONSE OF TRANSMISSION LINE TOWER: A COMPARATIVE STUDY Yusuf Mansur Hashim M. Tech (Structural Engineering) Student, Sharda University, Greater Noida, (India)
More informationThe Effect of Impeller Width on the Location of BEP in a Centrifugal Pump
The Effect of Impeller Width on the Location of BEP in a Centrifugal Pump Vinayak Manur 1, Sharanabasappa 2, M. S. Hebbal 3 P.G.Students, Department of Mechanical Engineering, Basaveshwar Engineering College,
More informationChapter 11 Waves. Waves transport energy without transporting matter. The intensity is the average power per unit area. It is measured in W/m 2.
Chapter 11 Waves Energy can be transported by particles or waves A wave is characterized as some sort of disturbance that travels away from a source. The key difference between particles and waves is a
More informationAPPLICATION NOTE: MARINE APPLICATIONS Trim, Roll and Leeway.
APPLICATION NOTE: MARINE APPLICATIONS Trim, Roll and Leeway. An Alternative VBOX Application Examples of Trim Angle effects Traditionally, the VBOX has been used by automotive markets but the wealth of
More informationStudent Outcomes. Lesson Notes. Classwork. Discussion (20 minutes)
Student Outcomes Students explain a proof of the converse of the Pythagorean Theorem. Students apply the theorem and its converse to solve problems. Lesson Notes Students had their first experience with
More informationDynamic Simulation of the Norne Heidrun 10 x 16 Dewatering Pig
Dynamic Simulation of the Norne Heidrun 10 x 16 Dewatering Pig Aidan O'Donoghue, Pipeline Research Limited, Glasgow, UK ( contact@pipelineresearch.com, www.pipelineresearch.com ) Introduction The 10
More informationAcceleration: Galileo s Inclined Plane
Teacher s Notes Main Topic Subtopic Learning Level Technology Level Activity Type Motion Acceleration High Low Student Description: Use a water clock to measure a ball s acceleration as it rolls down an
More informationWrite these equations in your notes if they re not already there. You will want them for Exam 1 & the Final.
Tuesday January 30 Assignment 3: Due Friday, 11:59pm.like every Friday PreClass Assignment: 15min before class like every class Office Hours: Wed. 1011am, 204 EAL Help Room: Wed. & Thurs. 69pm, here
More informationCHAPTER 13 SAN DIEGO STATE UNIVERSITY
CHAPTER 13 SAN DIEGO STATE UNIVERSITY College of Engineering Department of Mechanical Engineering San Diego, CA 921821323 Principal Investigator: Karen D. MayNewman (619) 5945652 kmaynewm@mail.sdsu.edu
More informationThe Physics of Martial Arts Brian McGonagill. for: Classical Mechanics, Fall 2004 Dr. Charles W. Myles
The Physics of Martial Arts Brian McGonagill for: Classical Mechanics, Fall 004 Dr. Charles W. Myles Martial Arts as a Whole Allow me to begin with a basic lesson in the differences between different styles
More informationGuidance of Flocks of Vehicles Using Virtual Signposts
Preprints of the 8th IFAC World Congress Milano (Italy) August 8  September, Guidance of Flocks of Vehicles Using Virtual Signposts Y. Rochefort H. PietLahanier S. Bertrand D. Beauvois D. Dumur ONERA
More informationIntroduction to Transportation Engineering. Discussion of Stopping and Passing Distances
Introduction to Transportation Engineering Discussion of Stopping and Passing Distances Dr. Antonio A. Trani Professor of Civil and Environmental Engineering Virginia Polytechnic Institute and State University
More informationDetermining Occurrence in FMEA Using Hazard Function
Determining Occurrence in FMEA Using Hazard Function Hazem J. Smadi Abstract FMEA has been used for several years and proved its efficiency for system s risk analysis due to failures. Risk priority number
More informationOptimal Football Pressure as a Function of a Footballer s Physical Abilities
Proceedings Optimal Football Pressure as a Function of a Footballer s Physical Abilities Andrew Christenson 1, *, Pei Cao 2 and Jiong Tang 2 1 Edwin O. Smith High School, 1235 Storrs Road, Storrs, CT 06268,
More informationSection 1 Types of Waves. Distinguish between mechanical waves and electromagnetic waves.
Section 1 Types of Waves Objectives Recognize that waves transfer energy. Distinguish between mechanical waves and electromagnetic waves. Explain the relationship between particle vibration and wave motion.
More informationKinematics of Vorticity
Kinematics of Vorticity Vorticity Ω Ω= V 2 circumferentially averaged angular velocity of the fluid particles Sum of rotation rates of perpendicular fluid lines Nonzero vorticity doesn t imply spin.ω=0.
More informationChapter 14. Vibrations and Waves
Chapter 14 Vibrations and Waves Chapter 14 Vibrations and Waves In this chapter you will: Examine vibrational motion and learn how it relates to waves. Determine how waves transfer energy. Describe wave
More information