Simulating grasping behavior of people using the relational description scheme

This paper presents an enhanced relational description for the prescription of the grasp requirement and evolution of the posture of a digital human hand towards satisfaction of this requirement. Precise relational description needs anatomical segmentation of the hand geometry into palmar, dorsal and lateral patches using the palm-plane and joint locations information, and operational segmentation of the object geometry into pull,push and lateral patches with due consideration to the effect of friction. Relational description identifies appropriate patches for a desired grasp condition. Satisfaction of this requirement occurs in two discrete stages,namely,contact establishment and post-contact force exertion for object capturing. Contact establishment occurs in four potentially overlapping phases,namely,re-orientation,transfer,pre- shaping,and closing-in. The novel h and re-orientation phase,enables the palm to face the object in a task sequence scenario, transfer takes the wrist to the ball park ; pre-shaping and close-in finally achieves the contact. In this paper, an anatomically pertinent closed-form formulation is presented for the closing-in phase for identification of the point of contact on the patches ,prescribed by the relational description. Since mere contact does not ensure grasp and slip phenomenon at the point of contact on application of force is a common occurrence, the effect of slip in presence of friction has been studied for 2D and 3D object grasping endeavours and a computational generation of the slip locus is presented.A general slip locus is found to be a non-linear curve even on planar faces.Two varieties of slip phenomena,namely,stabilizing and non-stabilizing slips, and their local characteristics have been identified.Study of the evolution of this slip characteristic over the slip locus exhibited diverse grasping behaviour possibilities. Thus, the relational description paradigm not only makes the requirement specification easy and meaningful but also enables high fidelity hand object interaction studies possible.

An approach for assessing the accuracy of accelerometer responses during axial impact tests

The primary objective of the present study is to show that for the most common configuration of an impactor system, the accelerometer cannot exactly reproduce the dynamic response of a specimen subjected to impact loading. An equivalent Lumped Parameter Model (LPM) of the given impactor set-up has been formulated for assessing the accuracy of an accelerometer mounted in a drop-weight impactor set-up for an axially loaded specimen. A specimen under the impact loading is represented by a non-linear spring of varying stiffness, while the accelerometer is assumed to behave in a linear manner due to its high stiffness. Specimens made of steel, aluminium and fibre-reinforced composite (FRC) are used in the present study. Assuming the force-displacement response obtained in an actual impact test to be the true behaviour of the test specimen, a suitable numerical approach has been used to solve the governing non-linear differential equations of a three degrees-of-freedom (DOF) system in a piece-wise linear manner. The numerical solution of the governing differential equations following an explicit time integration scheme yields an excellent reproduction of the mechanical behaviour of the specimen, consequently confirming the accuracy of the numerical approach. However, the spring representing the accelerometer predicts a response that qualitatively matches the assumed force-displacement response of the test specimen with a perceptibly lower magnitude of load.

Bilinear tension softening diagrams of concrete mixes corresponding to their size-independent specific fracture energy

The study of the fracture behaviour of concrete structures using the fictitious crack model requires two fracture properties of the concrete mix, namely, the size-independent specific fracture energy G(F). and the corresponding tension softening relation sigma(w) between the residual stress carrying capacity sigma and the crack opening w in the fracture process zone ahead of a real crack. In this paper, bi-linear tension softening diagrams of three different concrete mixes, ranging in compressive strength from 57 to 122 MPa whose size-independent specific fracture energy has been previously determined, have been constructed in an inverse manner based on the concept of a non-linear hinge from the load-crack mouth opening plots of notched three-point bend beams. (C) 2013 Elsevier Ltd. All rights reserved.

Epoch extraction based on integrated linear prediction residual using plosion index

Epoch is defined as the instant of significant excitation within a pitch period of voiced speech. Epoch extraction continues to attract the interest of researchers because of its significance in speech analysis. Existing high performance epoch extraction algorithms require either dynamic programming techniques or a priori information of the average pitch period. An algorithm without such requirements is proposed based on integrated linear prediction residual (ILPR) which resembles the voice source signal. Half wave rectified and negated ILPR (or Hilbert transform of ILPR) is used as the pre-processed signal. A new non-linear temporal measure named the plosion index (PI) has been proposed for detecting `transients' in speech signal. An extension of PI, called the dynamic plosion index (DPI) is applied on pre-processed signal to estimate the epochs. The proposed DPI algorithm is validated using six large databases which provide simultaneous EGG recordings. Creaky and singing voice samples are also analyzed. The algorithm has been tested for its robustness in the presence of additive white and babble noise and on simulated telephone quality speech. The performance of the DPI algorithm is found to be comparable or better than five state-of-the-art techniques for the experiments considered.

Non-singular terminal sliding mode guidance and control with terminal angle constraints for non-maneuvering targets

In this paper guidance laws to intercept stationary and constant velocity targets at a desired impact angle, based on sliding mode control theory, are proposed. The desired impact angle, which is defined in terms of a desired line-of-sight (LOS) angle, is achieved in finite time by selecting the missile's lateral acceleration (latax) to enforce non-singular terminal sliding mode on a switching surface designed using this desired LOS angle and based on non-linear engagement dynamics. Numerical simulation results are presented to validate the proposed guidance laws for different initial engagement geometries and impact angles.

Composition dependent non-ideality in aqueous binary mixtures as a signature of avoided spinodal decomposition

We explore the potential energy landscape of structure breaking binary mixtures (SBBM) where two constituents dislike each other, yet remain macroscopically homogeneous at intermediate to high temperatures. Interestingly, we find that the origin of strong composition dependent non-ideal behaviour lies in its phase separated inherent structure. The inherent structure (IS) of SBBM exhibits bi-continuous phase as is usually formed during spinodal decomposition. We draw analogy of this correlation between non-ideality and phase separation in IS to explain observation of non-ideality in real aqueous mixtures of small amphiphilic solutes, containing both hydrophilic and hydrophobic groups. Although we have not been able to obtain IS of these liquids, we find that even at room temperature these liquids sustain formation of fluctuating, transient bi-continuous phase, with limited lifetime (tau less than or similar to 20 ps). While in the model (A, B) binary mixture, the non-ideal composition dependence can be considered as a fluctuation from a phase separated state, a similar scenario is expected to be responsible for the unusually strong non-ideality in these aqueous binary mixtures.