Real-time measurement of radiocarpal joint angle during dart-thrower's movement

Recently, a renewed attention has been drawn into the dart-thrower's motion as the radiocarpal joint is unique to humans and this is believed to have played a pivotal role in human evolution. Considering the importance of the motion and the complexity of the wrist joint, there have been many articles discussing the kinematics behind this movement. CT scan techniques have been used in a number of these research activities. Due to limitations in the speed of the image acquisition, the positions of the wrist were recorded in static postures. To our knowledge, a data acquisition for the motion with realtime capturing has not been reported. This paper presents the use of a 3D vision-based motion capture device. Leap Motion Controller (LMC), for measuring the radiocarpal joint angles during the dart-thrower's motion in a real-time analysis. The practical capability of the LMC in measuring dart-thrower's motion was examined in a trial involving four subjects and the angles were compared to the angles acquired from an inertial measurement unit (IMU). The results confirmed the LMC can successfully be used in the application of measuring radiocarpal kinematics" of dart-thrower's motion.

Communication Architecture Design for Real-Time Networked Control Systems

Networked control over data networks has received increasing attention in recent years. Among many problems in networked control systems (NCSs) is the need to reduce control latency and jitter and to deal with packet dropouts. This paper introduces our recent progress on a queuing communication architecture for real-time NCS applications, and simple strategies for dealing with packet dropouts. Case studies for a middle-scale process or multiple small-scale processes are presented for TCP/IP based real-time NCSs. Variations of network architecture design are modelled, simulated, and analysed for evaluation of control latency and jitter performance. It is shown that a simple bandwidth upgrade or adding hierarchy does not necessarily bring benefits for performance improvement of control latency and jitter. A co-design of network and control is necessary to maximise the real-time control performance of NCSs