Distributed Control of Multi-Robot Deployment Motion

Yu, Zhou

doi:10.5772/6970

Cited by 4 publications

(3 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The CH computation in MatLab uses the Delaunay triangulation. 33,34 The area of statokinesiogram of the CoP excursion in the transverse plane was used to compare the 2D data obtained by the stabilometric (posturography) platforms with 3D data obtained by the IMU. The Synapsys posturography system directly calculates the areas.…”

Section: Discussionmentioning

confidence: 99%

Volume of Convex Hull: A Technique for Quantifying Human Postural Stability

Kutílek

Čakrt

Socha

et al. 2016

J. Mech. Med. Biol.

View full text Add to dashboard Cite

Many disorders, such as nervous system disorders, can affect orientation of the body segments in 3D space negatively. Patients with these disorders often show body segments instability during stance tasks. Nowadays, 3-axis gyroscopes are about to be used to measure postural stability. The main objective of the paper is to describe a method which would be suitable for quantifying postural stability and 3D movement as a whole using a cheap 3-axis gyroscope. New method based on the volume of a 3D convex hull (CH) obtained by plotting pitch, roll and yaw angles versus each other was proposed for quantitative evaluation of 3D trunk sway. The sway was measured while patients with degenerative cerebellar disorder (Pts) and eleven healthy subjects (HSs) performed quiet stance on a firm surface (FiS) and foam surface (FoS) with open eyes (OE) and closed eyes (CE). The CH was used to identify differences in balance control, and there were significant differences found between the two groups. The median (Mdn) of the volume of Pts with OE on FiS is four times larger than the Mdn of the volume of HS with OE on FiS. The Mdn of the volume of Pts with CE on FoS is 80 times larger than the Mdn of the volume of HS with CE on FoS. It was therefore found that the volume of CH is suitable for quantifying postural sway and identifying differences in balance control.

show abstract

Section: Discussionmentioning

confidence: 99%

Volume of Convex Hull: A Technique for Quantifying Human Postural Stability

Kutílek

Čakrt

Socha

et al. 2016

J. Mech. Med. Biol.

View full text Add to dashboard Cite

show abstract

“…For a convex polyhedron computation in MatLab, Delaunay triangulation [ 26 , 27 ] was used, (see Figure 5 ). Since no other method for calculating the convex polyhedron volume [ 28 , 29 ] is known, equations for the calculation of volume of any polyhedron may be used.…”

Section: Methodsmentioning

confidence: 99%

Postural Stability Evaluation of Patients Undergoing Vestibular Schwannoma Microsurgery Employing the Inertial Measurement Unit

Kutílek

Svoboda

Čakrt

et al. 2018

Journal of Healthcare Engineering

View full text Add to dashboard Cite

The article focuses on a noninvasive method and system of quantifying postural stability of patients undergoing vestibular schwannoma microsurgery. Recent alternatives quantifying human postural stability are rather limited. The major drawback is that the posturography system can evaluate only two physical quantities of body movement and can be measured only on a transverse plane. A complex movement pattern can be, however, described more precisely while using three physical quantities of 3-D movement. This is the reason why an inertial measurement unit (Xsens MTx unit), through which we obtained 3-D data (three Euler angles or three orthogonal accelerations), was placed on the patient's trunk. Having employed this novel method based on the volume of irregular polyhedron of 3-D body movement during quiet standing, it was possible to evaluate postural stability. To identify and evaluate pathological balance control of patients undergoing vestibular schwannoma microsurgery, it was necessary to calculate the volume polyhedron using the 3-D Leibniz method and to plot three variables against each other. For the needs of this study, measurements and statistical analysis were made on nine patients. The results obtained by the inertial measurement unit showed no evidence of improvement in postural stability shortly after surgery (4 days). The results were consistent with the results obtained by the posturography system. The evaluated translation variables (acceleration) and rotary variables (angles) measured by the inertial measurement unit correlate strongly with the results of the posturography system. The proposed method and application of the inertial measurement unit for the purpose of measuring patients with vestibular schwannoma appear to be suitable for medical practice. Moreover, the inertial measurement unit is portable and, when compared to other traditional posturography systems, economically affordable. Inertial measurement units can alternatively be implemented in mobile phones or watches.

show abstract

“…Mr. Yu studied a single-deck mower, and designed the cutter suspension system, analyzed the cutter movement by Matlab software simulation [8]. The blade speed, cutting efficiency and cutting height adjustment were studied by Mr. Zhou [9]. Mechanical Engineering Laboratory in University of Milwaukee studied the dynamic characteristics of rotating blades.…”

Section: Introductionmentioning

confidence: 99%

Optimization Design of the Lawn Mowing Vehicle's Blade Based on Aerodynamics

Zhang

Wang

2011

AMR

View full text Add to dashboard Cite

In this paper, air movement states within the cutter deck caused by high-speed rotating blades are studied, impacts on the mowing blade by the air movement are analyzed with the consideration of the cutter structure. It will provide important references for the blade optimal design. By Computational Fluid Dynamics (shortened as CFD) method, the high relative speed motion model between the blade and air flow is established, the flow field through the blade tip section are simulated, and the instantaneous movement of air flow around the blade can be known. By the analysis of the aerodynamic influence, the optimized design of the mowing blade can be achieved. The lawn mowing vehicle with the optimized blade can have a good and stable flow conditions when cutting the grass, the performance and the value of the vehicle thereby are enhanced.

show abstract

Distributed Control of Multi-Robot Deployment Motion

Cited by 4 publications

References 33 publications

Volume of Convex Hull: A Technique for Quantifying Human Postural Stability

Volume of Convex Hull: A Technique for Quantifying Human Postural Stability

Postural Stability Evaluation of Patients Undergoing Vestibular Schwannoma Microsurgery Employing the Inertial Measurement Unit

Optimization Design of the Lawn Mowing Vehicle's Blade Based on Aerodynamics

Contact Info

Product

Resources

About