Kinematic analysis and modelling of biped locomotion systems

This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose four methods to quantitatively measure the performance of the walking robot: energy analysis, perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.

Proposal of methodology for the modeling and control of manipulators

Industrial applications demand that robots operate in agreement with the position and orientation of their end effector. It is necessary to solve the kinematics inverse problem. This allows the displacement of the joints of the manipulator to be determined, to accomplish a given objective. Complete studies of dynamical control of joint robotics are also necessary. Initially, this article focuses on the implementation of numerical algorithms for the solution of the kinematics inverse problem and the modeling and simulation of dynamic systems. This is done using real time implementation. The modeling and simulation of dynamic systems are performed emphasizing off-line programming. In sequence, a complete study of the control strategies is carried out through the study of several elements of a robotic joint, such as: DC motor, inertia, and gearbox. Finally a trajectory generator, used as input for a generic group of joints, is developed and a proposal of the controller's implementation of joints, using EPLD development system, is presented.

Experimental validation of a 3-D vision-based measurement system applied to robot calibration

One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations.

Performance evaluation of 3D computer vision techniques

This work presents the implementation and comparison of three different techniques of three-dimensional computer vision as follows: • Stereo vision - correlation between two 2D images • Sensorial fusion - use of different sensors: camera 2D + ultrasound sensor (1D); • Structured light The computer vision techniques herein presented took into consideration the following characteristics: • Computational effort ( elapsed time for obtain the 3D information); • Influence of environmental conditions (noise due to a non uniform lighting, overlighting and shades); • The cost of the infrastructure for each technique; • Analysis of uncertainties, precision and accuracy. The option of using the Matlab software, version 5.1, for algorithm implementation of the three techniques was due to the simplicity of their commands, programming and debugging. Besides, this software is well known and used by the academic community, allowing the results of this work to be obtained and verified. Examples of three-dimensional vision applied to robotic assembling tasks ("pick-and-place") are presented.

Energy and Dynamics of the solar agricultural robot "SolarSprayer"

The main objective of the present study was to design an agricultural robot, which work is based on the generation of the electricity by the solar panel. To achieve the proper operation of the robot according to the assumed working cycle the detailed design of the main equipment was made. By analysing the possible areas of implementation together with developments, the economic forecast was held. As a result a decision about possibility of such device working in agricultural sector was made and the probable topics of the further study were found out.

Putkimaisten kappaleiden hitsausautomaatioratkaisun kehittäminen

Putkipalkkiliitosten käyttäminen offshore-teollisuuden rakennusten tukirakenteissa on erittäin yleistä. Liitosten valmistaminen on hankalaa ja hidasta. Hyvin usein tukirakenteiden putkipalkkiliitokset joudutaan hitsaamaan manuaalisesti tukirakenteen suuren koon vuoksi. Tukirakenteen uudella valmistustavalla, jossa rakenne kootaan pienemmistä osista, voidaan putkipalkkiliitosten valmistaminen ja hitsaaminen automatisoida. Robottihitsausasema sekä sen käyttöliittymä ja ohjelmisto todettiin toimivaksi ratkaisuksi putkipalkkiliitosten hitsaamiseen. Automaatiosuunnitteluun liittyy monia eri vaiheita, joiden huolellinen läpikäynti takaa todenmukaisemman konseptiratkaisun. Konseptiratkaisu kehittyy samalla, kun laitteistoja ja layoutia muokataan valmiimmiksi. Automaatiosuunnittelun aikana pyritään löytämään oikea taso automaatiolle. Valittu automaation taso vaikuttaa tuotannon tuottavuuteen, läpimenoaikaan ja joustavuuteen. Automaation määrällä vaikutetaan myös ihmisen tekemän työn määrään ja työnkuvaan. Tässä diplomityössä kehitettiin Pemamek Oy:lle hitsausautomaatioratkaisuja putkimaisille kappaleille. Putkiston osia valmistavan tehtaan hitsaus- ja tuotantoautomaation konseptiratkaisua tarkasteltiin esimerkkitapauksen muodossa, jolla kuvattiin, kuinka automaatiojärjestelmä voidaan suunnitella konseptitasolle. Toinen hitsausautomaatioratkaisu, joka tässä työssä kehitettiin, on robottihitsausasema käyttöliittymineen putkipalkkiliitoksen hitsaamiseen.

Robottihitsauksen toimintojen kehittäminen hitsaustuotannossa

Tämän diplomityön tarkoituksena oli kehittää robottihitsauksen toimintoja KKR Steel Oy:ssä. Tärkeimmät tutkimuskohteet olivat robottisolujen toiminnan tehostaminen ja uusien robottihitsaukseen sopivien tuotteiden kartoittaminen. Työ on jaettu teoreettiseen ja käytännön osuuteen. Teoriaosassa perehdytään kirjallisuuskatsauksen kautta robottihitsauksen perusteisiin, hitsauksen robotisointiin sekä tuottavuuteen ja laatuun. Robottihitsauksen osuudessa käsitellään hitsausrobotin rakennetta, siihen liittyviä oheislaitteita ja robottien ohjelmointia. Hitsauksen robotisoinnissa selvitetään syitä robottihitsauksen käyttöönotolle, robotisoitavilta tuotteilta vaadittavia ominaisuuksia sekä erilaisia toimenpiteitä robottiaseman toiminnan tehostamiseksi. Tuottavuuteen liittyvässä osuudessa selvitetään erilaisten laskentakaavojen ja tunnuslukujen käyttöä ja merkitystä hitsauksessa. Käytännön osuudessa kartoitettiin yrityksen robottihitsauksen lähtötilanne ja selvitettiin ongelmakohtien perusteella kehittämistoimenpiteitä. Tutkimuksissa seurattiin ja havainnoitiin hitsaustuotannon eri vaiheita, minkä perusteella laadittiin erilaisia parannuskeinoja. Toimenpiteistä saatavan hyödyn arviointiin käytettiin yrityksen tuotantoon sopivia mittareita kuten läpimenoaikaa ja kaariaikasuhdetta. Havaittujen ongelmakohtien perusteella ryhdyttiin kehittämään hitsauskiinnittimien suunnittelua ja käsittelylaitteiden käyttöä hitsaustuotannossa sekä hyödyntämään etäohjelmointia tuotteiden viennissä robottiasemille. Lisäksi robottiasemien käyttöastetta pyrittiin nostamaan tutkimalla käsinhitsattavia tuotteita ja siirtämällä niistä robotille soveltuvimmat robottiasemille hitsattavaksi.

Modulaarinen arkkitehtuuri tuoteperheen kehittämisessä

Modulaarisen tuotteen kehittäminen tehostaa yrityksen kilpailukykyä ja helpottaa asiakkaiden tarpeiden tyydyttämistä. Tuoteperheen edut verrattaessa massatuotantoon ovat laajempi tuotevalikoima sekä parempi tuotettavuus massaräätälöintiin verrattuna. Eri tuotevaihtoehtoja ja moduuleja on mahdollista kehittää rinnakkain. Moduloitava tuoteperhe helpottaa yrityksen eri vaiheita aina tuotteen suunnittelusta huoltotoimenpiteisiin ja lopulta tuotteen purkamiseen. Asiakkaille tärkeitä hyötyjä moduloinnin osalta ovat tuotteiden parempi laatu ja huollettavuus. Täysin uuden modulaarisen tuoteperheen kehittäminen vaatii runsaasti resursseja suunnitteluosastolla. Modulaarisessa tuotteessa suunnittelutyö voidaan kohdistaa vain tietyn moduulin kohdalle ja suunnitteluaikoja saadaan täten lyhennettyä. Tässä kandidaatintyössä tutkittiin, miten hitsausautomaatiosovelluksissa modulaarisuus on toteutettu sekä pohditaan kehityskohteita, koska hitsausautomaatiosovelluksia tuotetaan runsaasti asiakasräätälöintinä. Tarkasteltavana tuoteperheenä oli robottihitsausportaalit ja hitsaustornit.

Robotiikkatuoteperheen kehittäminen

Robottiikkatuoteperheeseen kuuluu robottihitsausportaalit, joiden päärunko rakentuu kote-lopalkeista. Koteloprofiilien käyttö on suosittua teollisuuden eri aloilla ja se soveltuu hyvin raskaaseen konepajateollisuuteen. Hitsausrobottiportaalin suunnitteluun liittyy monia eri vaiheita ja valituilla teknisillä ratkaisuilla voidaan vaikuttaa valmistettavan tuotteen hitsin laatuun ja työn onnistumiseen. Hitsausrobottiportaalit ovat usein asiakasräätälöityjä ratkaisuja, jolloin suunnittelutyö sekä valmistusvaihe vaativat runsaasti kapasiteettia. Modulaarisuuden avulla suunnittelu- ja valmistusvaiheita on mahdollista nopeuttaa sekä parantaa tuotteen testausta, huollettavuutta ja laatua. Tässä diplomityössä tutkittiin, miten hitsausrobottiportaalin vaakapuomi käyttäytyy ja taipuu erilaisissa kuormitustilanteissa. Lisäksi työssä määritettiin alkuperäisen koteloprofiilin tilalle uusi optimoitu koteloprofiili sekä tarkasteltiin moduloinnin mahdollistamista robo-tiikkatuoteperheen portaalisovelluksiin.

Bone properties and skeletal maturity in adolescent males, as assessed by quantitative ultrasound

ABSTRACT Background: Previous studies have implied that weight-bearing, intense and prolonged physical activities optimize bone accretion during the grow^ing years. The majority of past inquiries have used dual-energy X-ray absorptiometry (DXA) to examine bone strength and hand-wrist radiography to determine skeletal maturity in children. Recently, quantitative ultrasound (QUS) technologies have been developed to examine bone properties and skeletal maturity in a safe, noninvasive and cost-effective manner. Objective: The purpose of this study was to compare bone properties and skeletal maturity in competitive male child and adolescent athletes with minimallyactive, age-matched controls, using QUS technology. >. Methods: In total, 224 males were included in the study. The 115 pre-pubertal boys aged 10-12 years consisted of control, minimally-active children (n=34), soccer players (n=26), gymnasts (n=25) and hockey players (n=30). In addition, the 109 late-pubertal boys aged 14-16 years consisted of control, minimally-active adolescents (n=31), soccer players (n=30), gymnasts (n=17) and hockey players (n=31). The athletic groups were elite level players that predominantly trained year-round. Physical activity, nutrition and sports participation were assessed with various questionnaires. Anthropometries, such as height, weight and relative body fat percentage (BF%) were assessed using standard measures. Skeletal strength and age were evaluated using bone QUS. Lastly, salivary testosterone (sT) concentration was measured using Radioimmunoassay (RIA). Results: Within each age group, there were no significant differences between the activity groups in age and pubertal stage. An age effect was apparent in all variables, as expected. A sport effect was noted in all physical characteristics: the child and adolescent gymnasts were shorter and lighter than other sports groups. Adiposity was greater in the controls and in the hockey players. All child subjects were pubertal stage (fanner) I or II, while adolescent subjects were pubertal stage IV or V. There were no differences in daily energy and mineral intakes between sports groups. In both age groups, gymnasts had a higher training volume than other athletic groups. Bone speed of sound (50s) was higher in adolescents compared with the children. Gymnasts had signifieantly higher radial 50S than controls, hockey and soccer players in both age cohorts. Hockey athletes also had higher radial 50S than controls and soccer players in the child and adolescent groups, respectiyely. Child gymnasts and soccer players had greater tibial 50S compared with the hockey players and control groups. Likewise, adolescent gymnasts and soccer players had higher tibial SoS compared with the control group. No interaction was apparent between age and type of activity in any of the bone measures. » Lastly, maturity as assessed by sT and secondary sex characteristics (Tanner stage) was not different between sports group within each age group. Despite the similarity in chronological age, androgen levels and sexual maturity, differences between activity groups were noted in skeletal maturity. In the younger group, hockey players had the highest bone age while the soccer players had the lowest bone age. In the adolescent group, gymnasts and hockey players were characterized by higher skeletal maturity compared with controls. An interaction between the age and sport type effects was apparent in skeletal maturity, reflecting the fact that among the children, the soccer players were significantly less mature than the rest of the groups, while in the adolescents, the controls were the least skeletally mature. Summary and Conclusions: In summary, radial and tibial SOS are enhanced by the unique loading pattern in each sport (i.e, upper and lower extremities in gymnastics, lower extremities in soccer), with no cumulative effect between childhood and adolescence. That is, the effect of sport participation on bone SOS was apparent already among the young athletes. Enhanced bone properties among athletes of specific sports suggest that participation in these sports can improve bone strength and potential bone health.

A Temporal Analysis of Emotions in Girls' Secondary School Physical Education Games and Fitness Classes

Female enthusiasm towards engaging in physical education (PE) significantly decreases with age as it provides females with positive and negative emotional experiences. This study examined emotions within four grade nine female PE soccer and fitness classes (N = 67). Emotional patterns were studied over time and across two units of instruction and in relation to student grades. A mixed-method approach was utilized assessing the state emotions of shame, enjoyment, anxiety, and social physique anxiety (SPA). Results revealed unsatisfactory internal consistency for shame and thus it was removed. Statistical analysis revealed no significant changes in emotions over time, whereas qualitative analysis found that state emotions were inconsistent. Statistical analysis indicated that students in the fitness classes reported significantly higher levels of anxiety and SPA on the final class (p < .01). Qualitative analysis signaled different origins and themes of students‟ emotions. No predictive relationship between emotion and students‟ grade was found.

Adult Participants’ Experiences of a Sport Program Implementing the Easy-Play Model: Implications for an Active Lifestyle

The Easy-Play Model is a useful framework for facilitating sport among a diverse group of participants of different ages and ability levels. The model’s focus on de-emphasizing competitiveness in an effort to establish an optimally competitive environment has facilitated positive play experiences. This study investigated the experiences of players who have been a part of a weekly soccer program implementing the Easy-Play Model. In-depth interviews of 8 participants provided insight concerning the benefits and weaknesses of the approach and the notable experiences of the players. Results provided data confirming the model’s effectiveness in facilitating positive social interactions, safe play experiences where injury is generally a negligible concern, and productive opportunities to be physically active through sport. This study of the Easy-Play Model sets the foundation for future research which should further add to our understanding of productive ways to engage people in physical activity through sport.

Nationalism and Sporting Culture: A Media Analysis of Croatia’s Participation in the 1998 World Cup

The past two centuries have witnessed the rise of nationalist movements and widespread nationalism. As these movements gained strength in Europe, sport played a role in their development. Media representations of sport recount events in a way that reinforces cultural values and this research investigates media representations of Croatian nationalism in the weeks surrounding the country’s third place victory in the 1998 FIFA World Cup. Sociological theories alongside more contemporary theories of sport and nation construction are considered. Croatian newspapers were analyzed for elements of national identity construction. The study concludes that the 1998 World Cup played an important role in Croatia’s on-going construction of nationhood and invention of nationalist traditions. This research further demonstrates sport’s ability to evoke strong emotions that are difficult to witness in other areas of social life and the direct role of sport in garnering nationalism.

Planificación y desarrollo de la resistencia aeróbica en el período preparatorio en la etapa general por medio del sistema de capacidades motrices en futbolistas de la segunda y tercera etapa por medio del deporte escolar

Tesis (Maestría en Ciencias del Ejercicio con Especialidad en Alto Rendimiento) UANL

El vídeo en el entrenamiento de la técnica del fútbol en jugadores de 12 años por Mario Wilfredo Ayllón Salas

Tesis (Maestría en Ciencias del Ejercicio con Especialidad en Deporte de Alto Rendimiento) U.A.N.L.