Controlling legs for locomotion-insights from robotics and neurobiology.

Science.gov (United States)

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Towards a general neural controller for quadrupedal locomotion.

Science.gov (United States)

Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

2008-05-01

Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.

Development and Testing of a Mobile Robot with Hybrid Legged-Wheeled Locomotion

Directory of Open Access Journals (Sweden)

Petre Barbu

2017-06-01

Full Text Available In this paper the authors present the development and testing process of a mobile robot with hybrid legged-wheeled locomotion, that can be used for exploring dangerous environments. The robot has a high adaptability to rough terrain by being able to modify its ride height, to overpass step or ditch type obstacles and most of all, being able to operate while overturned or to revert itself into the normal operating position.

Leg-adjustment strategies for stable running in three dimensions

International Nuclear Information System (INIS)

Peuker, Frank; Maufroy, Christophe; Seyfarth, André

2012-01-01

The dynamics of the center of mass (CoM) in the sagittal plane in humans and animals during running is well described by the spring-loaded inverted pendulum (SLIP). With appropriate parameters, SLIP running patterns are stable, and these models can recover from perturbations without the need for corrective strategies, such as the application of additional forces. Rather, it is sufficient to adjust the leg to a fixed angle relative to the ground. In this work, we consider the extension of the SLIP to three dimensions (3D SLIP) and investigate feed-forward strategies for leg adjustment during the flight phase. As in the SLIP model, the leg is placed at a fixed angle. We extend the scope of possible reference axes from only fixed horizontal and vertical axes to include the CoM velocity vector as a movement-related reference, resulting in six leg-adjustment strategies. Only leg-adjustment strategies that include the CoM velocity vector produced stable running and large parameter domains of stability. The ability of the model to recover from perturbations along the direction of motion (directional stability) depended on the strategy for lateral leg adjustment. Specifically, asymptotic and neutral directional stability was observed for strategies based on the global reference axis and the velocity vector, respectively. Additional features of velocity-based leg adjustment are running at arbitrary low speed (kinetic energy) and the emergence of large domains of stable 3D running that are smoothly transferred to 2D SLIP stability and even to 1D SLIP hopping. One of the additional leg-adjustment strategies represented a large convex region of parameters where stable and robust hopping and running patterns exist. Therefore, this strategy is a promising candidate for implementation into engineering applications, such as robots, for instance. In a preliminary comparison, the model predictions were in good agreement with the experimental data, suggesting that the 3D SLIP is an

Energy Efficiency of Robot Locomotion Increases Proportional to Weight

DEFF Research Database (Denmark)

Larsen, Jørgen Christian; Støy, Kasper

2011-01-01

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...

Energy Efficiency of Robot Locomotion Increases Proportional to Weight

DEFF Research Database (Denmark)

Larsen, J. C.; Stoy, K.

2011-01-01

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...

Mechatronics by Analogy and Application to Legged Locomotion

Science.gov (United States)

Ragusila, Victor

determined, the original mechanism is optimized such that its dynamic behaviour is analogous. It is shown that, if this analogy is achieved, the control system designed based on the simpler mechanisms can be directly implemented to the more complex system, and their dynamic behaviours are close enough for the system performance to be effectively the same. Finally it is shown that, for the employed objective of fast legged locomotion, the proposed methodology achieves a better design than Reduction-by-Feedback, a competing methodology that uses control layers to simplify the dynamics of the system.

Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion

Directory of Open Access Journals (Sweden)

Runxiao Wang

2016-01-01

Full Text Available Both the linear leg spring model and the two-segment leg model with constant spring stiffness have been broadly used as template models to investigate bouncing gaits for legged robots with compliant legs. In addition to these two models, the other stiffness leg spring models developed using inspiration from biological characteristic have the potential to improve high-speed running capacity of spring-legged robots. In this paper, we investigate the effects of “J”-curve spring stiffness inspired by biological materials on running speeds of segmented legs during high-speed locomotion. Mathematical formulation of the relationship between the virtual leg force and the virtual leg compression is established. When the SLIP model and the two-segment leg model with constant spring stiffness and with “J”-curve spring stiffness have the same dimensionless reference stiffness, the two-segment leg model with “J”-curve spring stiffness reveals that (1 both the largest tolerated range of running speeds and the tolerated maximum running speed are found and (2 at fast running speed from 25 to 40/92 m s−1 both the tolerated range of landing angle and the stability region are the largest. It is suggested that the two-segment leg model with “J”-curve spring stiffness is more advantageous for high-speed running compared with the SLIP model and with constant spring stiffness.

Running over unknown rough terrain with a one-legged planar robot

International Nuclear Information System (INIS)

Andrews, Ben; Miller, Bruce; Clark, Jonathan E; Schmitt, John

2011-01-01

The ability to traverse unknown, rough terrain is an advantage that legged locomoters have over their wheeled counterparts. However, due to the complexity of multi-legged systems, research in legged robotics has not yet been able to reproduce the agility found in the animal kingdom. In an effort to reduce the complexity of the problem, researchers have developed single-legged models to gain insight into the fundamental dynamics of legged running. Inspired by studies of animal locomotion, researchers have proposed numerous control strategies to achieve stable, one-legged running over unknown, rough terrain. One such control strategy incorporates energy variations into the system during the stance phase by changing the force-free leg length as a sinusoidal function of time. In this research, a one-legged planar robot capable of implementing this and other state-of-the-art control strategies was designed and built. Both simulated and experimental results were used to determine and compare the stability of the proposed controllers as the robot was subjected to unknown drop and raised step perturbations equal to 25% of the nominal leg length. This study illustrates the relative advantages of utilizing a minimal-sensing, active energy removal control scheme to stabilize running over rough terrain.

Locomotion through Morphosis

DEFF Research Database (Denmark)

Larsen, Jørgen Christian

, this is still not the case. One of the reasons for this is that science does still not fully understand the principles of dynamic locomotion which is a requirement for them to move around in our environment with stairs, obstacles etc. In this thesis the focus will be on the creation of the modular robotic...... it have been build. This will hopefully help to identify which parameters that are affecting the locomotive abilities of a legged robot the most. Experiments shows that the system in its current state is able for form legged robots of various kinds, and perform walking gaits where phenomenon’s also seen...

LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots

DEFF Research Database (Denmark)

Larsen, Jørgen Christian; Støy, Kasper

2011-01-01

Producing steady stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain is a big challenge in robotics. In addressing this challenge, it is often desirable to experiment with different morphologies and see how they influence on the way the robot walks....... legged robots. This is accomplished by giving the creator the possibility to easily do morphological changes to the robot even after it have been build, to see how it effects the robot’s ability to walk in unknown terrain....

Scaling of avian bipedal locomotion reveals independent effects of body mass and leg posture on gait.

Science.gov (United States)

Daley, Monica A; Birn-Jeffery, Aleksandra

2018-05-22

Birds provide an interesting opportunity to study the relationships between body size, limb morphology and bipedal locomotor function. Birds are ecologically diverse and span a large range of body size and limb proportions, yet all use their hindlimbs for bipedal terrestrial locomotion, for at least some part of their life history. Here, we review the scaling of avian striding bipedal gaits to explore how body mass and leg morphology influence walking and running. We collate literature data from 21 species, spanning a 2500× range in body mass from painted quail to ostriches. Using dynamic similarity theory to interpret scaling trends, we find evidence for independent effects of body mass, leg length and leg posture on gait. We find no evidence for scaling of duty factor with body size, suggesting that vertical forces scale with dynamic similarity. However, at dynamically similar speeds, large birds use relatively shorter stride lengths and higher stride frequencies compared with small birds. We also find that birds with long legs for their mass, such as the white stork and red-legged seriema, use longer strides and lower swing frequencies, consistent with the influence of high limb inertia on gait. We discuss the observed scaling of avian bipedal gait in relation to mechanical demands for force, work and power relative to muscle actuator capacity, muscle activation costs related to leg cycling frequency, and considerations of stability and agility. Many opportunities remain for future work to investigate how morphology influences gait dynamics among birds specialized for different habitats and locomotor behaviors. © 2018. Published by The Company of Biologists Ltd.

Omnidirectional Wheel-Legged Hybrid Mobile Robot

Directory of Open Access Journals (Sweden)

István Vilikó

2015-06-01

Full Text Available The purpose of developing hybrid locomotion systems is to merge the advantages and to eliminate the disadvantages of different type of locomotion. The proposed solution combines wheeled and legged locomotion methods. This paper presents the mechatronic design approach and the development stages of the prototype.

The cost of leg forces in bipedal locomotion: a simple optimization study.

Directory of Open Access Journals (Sweden)

John R Rebula

Full Text Available Simple optimization models show that bipedal locomotion may largely be governed by the mechanical work performed by the legs, minimization of which can automatically discover walking and running gaits. Work minimization can reproduce broad aspects of human ground reaction forces, such as a double-peaked profile for walking and a single peak for running, but the predicted peaks are unrealistically high and impulsive compared to the much smoother forces produced by humans. The smoothness might be explained better by a cost for the force rather than work produced by the legs, but it is unclear what features of force might be most relevant. We therefore tested a generalized force cost that can penalize force amplitude or its n-th time derivative, raised to the p-th power (or p-norm, across a variety of combinations for n and p. A simple model shows that this generalized force cost only produces smoother, human-like forces if it penalizes the rate rather than amplitude of force production, and only in combination with a work cost. Such a combined objective reproduces the characteristic profiles of human walking (R² = 0.96 and running (R² = 0.92, more so than minimization of either work or force amplitude alone (R² = -0.79 and R² = 0.22, respectively, for walking. Humans might find it preferable to avoid rapid force production, which may be mechanically and physiologically costly.

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

2007-01-01

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

[The concept and definition of locomotive syndrome in a super-aged society].

Science.gov (United States)

Nakamura, Kozo; Yoshimura, Noriko; Akune, Toru; Ogata, Toru; Tanaka, Sakae

2014-10-01

The population of elderly individuals who need nursing care is rapidly increasing in Japan. Locomotive syndrome involves a decrease in mobility due to locomotive organ dysfunction, and increases risk for dependency on nursing care service. Because gait speed and chair stand time are correlated with such risks, patients with locomotive syndrome are assessed using brief methods such as the two-step test, which involves dividing the maximum stride length by the height of the patient, and the stand-up test, which involves standing on one or both legs at different heights. One leg standing and squatting are recommended as beneficial locomotive home exercises. Locomotive syndrome has been recognized widely in Japan, and included in the National Health Promotion Movement (2013-2022).

Influence of Soft or Hard Floors before and after First Calving on Dairy Heifer Locomotion, Claw and Leg Health

Directory of Open Access Journals (Sweden)

Christer Bergsten

2015-08-01

Full Text Available Claw health, an important dairy cow welfare parameter, may be affected by early-life foot/leg stresses. To investigate this, groups of pregnant heifers were allocated to deep straw bedding (Soft or cubicles (Hard, both with scraped concrete feeding alleys. After the grazing season, they were re-housed in cubicle systems, half on slatted concrete (Hard and half on slatted rubber (Soft alleys. Claw measurements, contact area and pressure distribution claw/flooring, claw disorders and leg lesions were recorded at the start and end of each housing season. Locomotion and leg lesions were also scored monthly after calving. Prevalence of sole haemorrhages was higher among pregnant heifers in cubicles than in deep straw. After calving, first-calvers on Hard floors had higher odds for lameness (OR = 3.6; P < 0.01, sole haemorrhages/ulcers (OR = 2.2; P < 0.05, white-line haemorrhages (OR = 2.8; P < 0.01 and leg lesions (OR = 2.6; P < 0.02 than those on Soft floors. Lowest prevalence and severity of sole and white-line haemorrhages (non-significant in first-calvers was found in those on Soft floors and reared on Hard floors and the highest prevalence and severity on those on Hard floors reared on Soft floors. Soft flooring after calving is of most importance for healthy feet and legs.

Peristaltic Wave Locomotion and Shape Morphing with a Millipede Inspired System

Science.gov (United States)

Spinello, Davide; Fattahi, Javad S.

2017-08-01

We present the mechanical model of a bio-inspired deformable system, modeled as a Timoshenko beam, which is coupled to a substrate by a system of distributed elements. The locomotion action is inspired by the coordinated motion of coupling elements that mimic the legs of millipedes and centipedes, whose leg-to-ground contact can be described as a peristaltic displacement wave. The multi-legged structure is crucial in providing redundancy and robustness in the interaction with unstructured environments and terrains. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing. Features and limitations of the model are illustrated with numerical simulations.

Kinematically stable bipedal locomotion using ionic polymer–metal composite actuators

International Nuclear Information System (INIS)

Hosseinipour, Milad; Elahinia, Mohammad

2013-01-01

Ionic conducting polymer–metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical–mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force–torque generation of IPMCs for biped locomotion concludes this paper. (paper)

Successive substitution one-leg hybrid P-stable LMM for initial value ...

African Journals Online (AJOL)

This paper derives P-stable successive substitution one-leg hybrid linear multistep methods for the numerical solution of second order initial value problems in ordinary differential equations without explicit first order derivative. The methods are demonstrated by a numerical example also considered by Fatunla, et al (1997) ...

Axial dynamics during locomotion in vertebrates: lesson from the salamander

OpenAIRE

GOSSARD, JEAN-PIERRE; DUBUC, RÉJEAN; KOLTA, ARLETTE; Cabelguen, Jean-Marie; Ijspeert, Auke; Lamarque, Stéphanie; Ryczko, Dimitri

2010-01-01

Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion: they produce the thrust during undulatory locomotion and they help to increase the stride length during legged locomotion. In this chapter, we review our current knowledge about the flexibility in the neuronal circuits controlling the body...

Bioinspired legged-robot based on large deformation of flexible skeleton

International Nuclear Information System (INIS)

Mayyas, Mohammad

2014-01-01

In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot’s leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot. (paper)

Bioinspired legged-robot based on large deformation of flexible skeleton.

Science.gov (United States)

Mayyas, Mohammad

2014-11-11

In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot's leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot.

Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

Directory of Open Access Journals (Sweden)

Huiming Xing

2018-01-01

Full Text Available We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

Task driven optimal leg trajectories in insect-scale legged microrobots

Science.gov (United States)

Doshi, Neel; Goldberg, Benjamin; Jayaram, Kaushik; Wood, Robert

Origami inspired layered manufacturing techniques and 3D-printing have enabled the development of highly articulated legged robots at the insect-scale, including the 1.43g Harvard Ambulatory MicroRobot (HAMR). Research on these platforms has expanded its focus from manufacturing aspects to include design optimization and control for application-driven tasks. Consequently, the choice of gait selection, body morphology, leg trajectory, foot design, etc. have become areas of active research. HAMR has two controlled degrees-of-freedom per leg, making it an ideal candidate for exploring leg trajectory. We will discuss our work towards optimizing HAMR's leg trajectories for two different tasks: climbing using electroadhesives and level ground running (5-10 BL/s). These tasks demonstrate the ability of single platform to adapt to vastly different locomotive scenarios: quasi-static climbing with controlled ground contact, and dynamic running with un-controlled ground contact. We will utilize trajectory optimization methods informed by existing models and experimental studies to determine leg trajectories for each task. We also plan to discuss how task specifications and choice of objective function have contributed to the shape of these optimal leg trajectories.

Development of human locomotion.

Science.gov (United States)

Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

2012-10-01

Neural control of locomotion in human adults involves the generation of a small set of basic patterned commands directed to the leg muscles. The commands are generated sequentially in time during each step by neural networks located in the spinal cord, called Central Pattern Generators. This review outlines recent advances in understanding how motor commands are expressed at different stages of human development. Similar commands are found in several other vertebrates, indicating that locomotion development follows common principles of organization of the control networks. Movements show a high degree of flexibility at all stages of development, which is instrumental for learning and exploration of variable interactions with the environment. Copyright © 2012 Elsevier Ltd. All rights reserved.

One Leg hybrid P-stable substitution LMM for oscilatory IVPs in ODEs.

African Journals Online (AJOL)

This presents P-stable successive substitution one-leg hybrid LMM for the numerical solution of oscillatory second order IVPs in ODEs without explicitly defined first order derivative. These problems occurs amongst others, in orbital mechanics where the methods to be presented finds ready applications and need not any a ...

Design and analysis of an optimal hopper for use in resonance-based locomotion

NARCIS (Netherlands)

Wanders, Ivor; Folkertsma, Gerrit Adriaan; Stramigioli, Stefano

Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an

Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

DEFF Research Database (Denmark)

Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

2013-01-01

such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast...... on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models...... allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show...

Balanced gait generations of a two-legged robot on sloping surface

Indian Academy of Sciences (India)

legged robot moving up and down through the sloping surface is presented. The gait of the lower links during locomotion is obtained after assuming suitable trajectories for the swing leg and hip joint. The trunk motion is initially generated based on ...

Genetic association between leg conformation in young pigs and sow reproduction

DEFF Research Database (Denmark)

Le, Thu Hong; Nilsson, Katja; Norberg, Elise

2015-01-01

Lameness is an issue of concern in pig production due both to animal welfare and to economical aspects. Lame sows are believed to suffer from pain and stress which is reported to have a negative influence on reproduction. Leg conformation and locomotion traits in young animals are associated...... with the risk of lameness at higher age. The purpose of this study was to estimate the genetic parameters of leg conformation traits recorded at performance testing (around 5 months of age) and their genetic correlations with reproduction traits. Information on leg conformation traits from 123,307 pigs scored...... and on reproduction traits from 22,204 litters in the first and second parity from Swedish Yorkshire nucleus herds were available for genetic analysis. Eight conformation and locomotion traits, coming from the old or the new scoring system in Sweden, included old movement, old overall leg score, new movement, new...

Continuum limbed robots for locomotion

Science.gov (United States)

Mutlu, Alper

This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

Neural Control and Adaptive Neural Forward Models for Insect-like, Energy-Efficient, and Adaptable Locomotion of Walking Machines

Directory of Open Access Journals (Sweden)

Poramate eManoonpong

2013-02-01

Full Text Available Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs and sensory feedback (afferent-based control but also on internal forward models (efference copies. They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.

Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walkers

OpenAIRE

Matsushita, Kojiro; Yokoi, Hiroshi

2008-01-01

An objective of this paper is to illustrate a physical representation of the embodiment on legged locomotion. Embodiment is here defined as physical features that reduce control complexity and energy consumption of legged robots. In this method, the embodiment of

Muscle Coordination and Locomotion in Humans.

Science.gov (United States)

Sylos-Labini, Francesca; Zago, Myrka; Guertin, Pierre A; Lacquaniti, Francesco; Ivanenko, Yury P

2017-01-01

Locomotion is a semi-automatic daily task. Several studies show that muscle activity is fairly stereotyped during normal walking. Nevertheless, each human leg contains over 50 muscles and locomotion requires flexibility in order to adapt to different conditions as, for instance, different speeds, gaits, turning, obstacle avoidance, altered gravity levels, etc. Therefore, locomotor control has to deal with a certain level of flexibility and non-linearity. In this review, we describe and discuss different findings dealing with both simplicity and variability of the muscular control, as well as with its maturation during development. Despite complexity and redundancy, muscle activity patterns and spatiotemporal maps of spinal motoneuron output during human locomotion show both stereotypical features as well as functional re-organization. Flexibility and different solutions to adjust motor patterns should be considered when considering new rehabilitation strategies to treat disorders involving deficits in gait. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

A Dung Beetle-like Leg and its Adaptive Neural Control

DEFF Research Database (Denmark)

Di Canio, Giuliano; Stoyanov, Stoyan; Larsen, Jørgen Christian

2016-01-01

Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external pe...... also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps....

Intersegmental coordination of cockroach locomotion: adaptive control of centrally coupled pattern generator circuits

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Einat eFuchs

2011-01-01

Full Text Available Animals’ ability to demonstrate both stereotyped and adaptive locomotor behavior is largely dependent on the interplay between centrally-generated motor patterns and the sensory inputs that shape them. We utilized a combined experimental and theoretical approach to investigate the relative importance of CPG interconnections vs. intersegmental afferents in the cockroach: an animal that is renowned for rapid and stable locomotion. We simultaneously recorded coxal levator and depressor motor neurons (MN in the thoracic ganglia of Periplaneta americana, while sensory feedback was completely blocked or allowed only from one intact stepping leg. In the absence of sensory feedback, we observed a coordination pattern with consistent phase relationship that shares similarities with a double tripod gait, suggesting central, feedforward control. This intersegmental coordination pattern was then reinforced in the presence of sensory feedback from a single stepping leg. Specifically, we report on transient stabilization of phase differences between activity recorded in the middle and hind thoracic MN following individual front-leg steps, suggesting a role for afferent phasic information in the coordination of motor circuits at the different hemiganglia. Data were further analyzed using stochastic models of coupled oscillators and maximum likelihood techniques to estimate underlying physiological parameters, such as uncoupled endogenous frequencies of hemisegmental oscillators and coupling strengths and directions. We found that descending ipsilateral coupling is stronger than ascending coupling, while left-right coupling in both the meso- and meta-thoracic ganglia appear to be symmetrical. We discuss our results in comparison with recent findings in stick insects that share similar neural and body architectures, and argue that the two species may exemplify opposite extremes of a fast-slow locomotion continuum, mediated through different intersegmental

Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

Science.gov (United States)

Li, Chen; Fearing, Ronald; Full, Robert

Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

Locomotor-like leg movements evoked by rhythmic arm movements in humans.

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Francesca Sylos-Labini

Full Text Available Motion of the upper limbs is often coupled to that of the lower limbs in human bipedal locomotion. It is unclear, however, whether the functional coupling between upper and lower limbs is bi-directional, i.e. whether arm movements can affect the lumbosacral locomotor circuitry. Here we tested the effects of voluntary rhythmic arm movements on the lower limbs. Participants lay horizontally on their side with each leg suspended in an unloading exoskeleton. They moved their arms on an overhead treadmill as if they walked on their hands. Hand-walking in the antero-posterior direction resulted in significant locomotor-like movements of the legs in 58% of the participants. We further investigated quantitatively the responses in a subset of the responsive subjects. We found that the electromyographic (EMG activity of proximal leg muscles was modulated over each cycle with a timing similar to that of normal locomotion. The frequency of kinematic and EMG oscillations in the legs typically differed from that of arm oscillations. The effect of hand-walking was direction specific since medio-lateral arm movements did not evoke appreciably leg air-stepping. Using externally imposed trunk movements and biomechanical modelling, we ruled out that the leg movements associated with hand-walking were mainly due to the mechanical transmission of trunk oscillations. EMG activity in hamstring muscles associated with hand-walking often continued when the leg movements were transiently blocked by the experimenter or following the termination of arm movements. The present results reinforce the idea that there exists a functional neural coupling between arm and legs.

A new biarticular actuator design facilitates control of leg function in BioBiped3.

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Sharbafi, Maziar Ahmad; Rode, Christian; Kurowski, Stefan; Scholz, Dorian; Möckel, Rico; Radkhah, Katayon; Zhao, Guoping; Rashty, Aida Mohammadinejad; Stryk, Oskar von; Seyfarth, Andre

2016-07-01

Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved.

Soft Legged Wheel-Based Robot with Terrestrial Locomotion Abilities

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Ali Sadeghi

2016-12-01

Full Text Available In recent years robotics has been influenced by a new approach, soft-robotics, bringing the idea that safe interaction with user and more adaptation to the environment can be achieved by exploiting easily deformable materials and flexible components in the structure of robots. In 2016, the soft-robotics community has promoted a new robotics challenge, named RoboSoft Grand Challenge, with the aim of bringing together different opinions on the usefulness and applicability of softness and compliancy in robotics. In this paper we describe the design and implementation of a terrestrial robot based on two soft legged wheels. The tasks predefined by the challenge were set as targets in the robot design, which finally succeeded to accomplish all the tasks. The wheels of the robot can passively climb over stairs and adapt to slippery grounds using two soft legs embedded in their structure. The soft legs, fabricated by integration of soft and rigid materials and mounted on the circumference of a conventional wheel, succeed to enhance its functionality and easily adapt to unknown grounds. The robot has a semi stiff tail that helps in the stabilization and climbing of stairs. An active wheel is embedded at the extremity of the tail in order to increase the robot maneuverability in narrow environments. Moreover two parallelogram linkages let the robot to reconfigure and shrink its size allowing entering inside gates smaller than its initial dimensions.

A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot

International Nuclear Information System (INIS)

Huang, Ke-Jung; Huang, Chun-Kai; Lin, Pei-Chun

2014-01-01

We report on the development of a robot’s dynamic locomotion based on a template which fits the robot’s natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large circular arc as the distributed foot, so during locomotion it rolls on the ground with varied equivalent linear stiffness. This differs from the well-known spring loaded inverted pendulum (SLIP) model with fixed stiffness and ground contact points. Through dimensionless steps-to-fall and return map analysis, within a wide range of parameter spaces, the R-SLIP model is revealed to have self-stable gaits and a larger stability region than that of the SLIP model. The R-SLIP model is then embedded as the reduced-order ‘template’ in a more complex ‘anchor’, the RHex-style robot, via various mapping definitions between the template and the anchor. Experimental validation confirms that by merely deploying the stable running gaits of the R-SLIP model on the empirical robot with simple open-loop control strategy, the robot can easily initiate its dynamic running behaviors with a flight phase and can move with similar body state profiles to those of the model, in all five testing speeds. The robot, embedded with the SLIP model but performing walking locomotion, further confirms the importance of finding an adequate template of the robot for dynamic locomotion. (paper)

Association between Lameness and Indicators of Dairy Cow Welfare Based on Locomotion Scoring, Body and Hock Condition, Leg Hygiene and Lying Behavior

Science.gov (United States)

Ramanoon, Siti Z.; Shaik Mossadeq, Wan Mastura; Mansor, Rozaihan; Syed-Hussain, Sharifah Salmah

2017-01-01

Simple Summary Lameness is a major welfare issue in dairy cows. Locomotion scoring (LS) is mostly used in identifying lame cows based on gait and postural changes. However, lameness shares some important associations with body condition, hock condition, leg hygiene and behavioral changes such as lying behavior. These measures are considered animal-based indicators in assessing welfare in dairy cows. This review discusses lameness as a welfare problem, the use of LS, and the relationship with the aforementioned welfare assessment protocols. Such information could be useful in depicting the impact on cow welfare as well as in reducing the occurrence of lameness in dairy herds. Abstract Dairy cow welfare is an important consideration for optimal production in the dairy industry. Lameness affects the welfare of dairy herds by limiting productivity. Whilst the application of LS systems helps in identifying lame cows, the technique meets with certain constraints, ranging from the detection of mild gait changes to on-farm practical applications. Recent studies have shown that certain animal-based measures considered in welfare assessment, such as body condition, hock condition and leg hygiene, are associated with lameness in dairy cows. Furthermore, behavioural changes inherent in lame cows, especially the comfort in resting and lying down, have been shown to be vital indicators of cow welfare. Highlighting the relationship between lameness and these welfare indicators could assist in better understanding their role, either as risk factors or as consequences of lameness. Nevertheless, since the conditions predisposing a cow to lameness are multifaceted, it is vital to cite the factors that could influence the on-farm practical application of such welfare indicators in lameness studies. This review begins with the welfare consequences of lameness by comparing normal and abnormal gait as well as the use of LS system in detecting lame cows. Animal-based measures related to

Bio-Inspired Design and Kinematic Analysis of Dung Beetle-Like Legs

DEFF Research Database (Denmark)

Aditya, Sai Krishna Venkata; Ignasov, Jevgeni; Filonenko, Konstantin

2017-01-01

The African dung beetle Scarabaeus galenus can use its front legs to walk and manipulate or form a dung ball. The interesting multifunctional legs have not been fully investigated or even used as inspiration for robot leg design. Thus, in this paper, we present the development of real dung beetle......-like front legs based on biological investigation. As a result, each leg consists of three main segments which were built using 3D printing. The segments were combined with in total four active DOFs in order to mimic locomotion and object manipulation of the beetle. Kinematics analysis of the leg was also...... performed to identify its workspace as well as to design its trajectory. To this end, the study contributes not only novel multifunctional robotic legs but also the methodology of the bio-inspired leg design....

Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

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A. Espinal

2016-01-01

Full Text Available A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN that acts as a Central Pattern Generator (CPG producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies, which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE. The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.

Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

Science.gov (United States)

Lee, Scott

2015-01-01

In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

Increasing trunk flexion transforms human leg function into that of birds despite different leg morphology.

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Aminiaghdam, Soran; Rode, Christian; Müller, Roy; Blickhan, Reinhard

2017-02-01

Pronograde trunk orientation in small birds causes prominent intra-limb asymmetries in the leg function. As yet, it is not clear whether these asymmetries induced by the trunk reflect general constraints on the leg function regardless of the specific leg architecture or size of the species. To address this, we instructed 12 human volunteers to walk at a self-selected velocity with four postures: regular erect, or with 30 deg, 50 deg and maximal trunk flexion. In addition, we simulated the axial leg force (along the line connecting hip and centre of pressure) using two simple models: spring and damper in series, and parallel spring and damper. As trunk flexion increases, lower limb joints become more flexed during stance. Similar to birds, the associated posterior shift of the hip relative to the centre of mass leads to a shorter leg at toe-off than at touchdown, and to a flatter angle of attack and a steeper leg angle at toe-off. Furthermore, walking with maximal trunk flexion induces right-skewed vertical and horizontal ground reaction force profiles comparable to those in birds. Interestingly, the spring and damper in series model provides a superior prediction of the axial leg force across trunk-flexed gaits compared with the parallel spring and damper model; in regular erect gait, the damper does not substantially improve the reproduction of the human axial leg force. In conclusion, mimicking the pronograde locomotion of birds by bending the trunk forward in humans causes a leg function similar to that of birds despite the different morphology of the segmented legs. © 2017. Published by The Company of Biologists Ltd.

Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II

Science.gov (United States)

Lee, Scott

2015-01-01

In the second paper of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod…

Skipping on uneven ground: trailing leg adjustments simplify control and enhance robustness.

Science.gov (United States)

Müller, Roy; Andrada, Emanuel

2018-01-01

It is known that humans intentionally choose skipping in special situations, e.g. when descending stairs or when moving in environments with lower gravity than on Earth. Although those situations involve uneven locomotion, the dynamics of human skipping on uneven ground have not yet been addressed. To find the reasons that may motivate this gait, we combined experimental data on humans with numerical simulations on a bipedal spring-loaded inverted pendulum model (BSLIP). To drive the model, the following parameters were estimated from nine subjects skipping across a single drop in ground level: leg lengths at touchdown, leg stiffness of both legs, aperture angle between legs, trailing leg angle at touchdown (leg landing first after flight phase), and trailing leg retraction speed. We found that leg adjustments in humans occur mostly in the trailing leg (low to moderate leg retraction during swing phase, reduced trailing leg stiffness, and flatter trailing leg angle at lowered touchdown). When transferring these leg adjustments to the BSLIP model, the capacity of the model to cope with sudden-drop perturbations increased.

Crawling at High Speeds: Steady Level Locomotion in the Spider Cupiennius salei-Global Kinematics and Implications for Centre of Mass Dynamics.

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Tom Weihmann

Full Text Available Spiders are an old yet very successful predatory group of arthropods. Their locomotor system differs from those of most other arthropods by the lack of extensor muscles in two major leg joints. Though specific functional characteristics can be expected regarding the locomotion dynamics of spiders, this aspect of movement physiology has been only scarcely examined so far. This study presents extensive analyses of a large dataset concerning global kinematics and the implications for dynamics of adult female specimens of the large Central American spider Cupiennius salei (Keyserling. The experiments covered the entire speed-range of straight runs at constant speeds. The analyses revealed specific characteristics of velocity dependent changes in the movements of the individual legs, as well as in the translational and rotational degrees of freedom of both the centre of mass and the body. In contrast to many other fast moving arthropods, C. salei avoid vertical fluctuations of their centre of mass during fast locomotion. Accordingly, aerial phases were not observed here. This behaviour is most likely a consequence of optimising energy expenditure with regard to the specific requirements of spiders' leg anatomy. A strong synchronisation of two alternating sets of legs appears to play only a minor role in the locomotion of large spiders. Reduced frequency and low centre of mass amplitudes as well as low angular changes of the body axes, in turn, seems to be the result of relatively low leg coordination.

Profile and genetic parameters of dairy cattle locomotion score and lameness across lactation.

Science.gov (United States)

Kougioumtzis, A; Valergakis, G E; Oikonomou, G; Arsenos, G; Banos, G

2014-01-01

have fewer locomotion and lameness issues. Negative (favourable) phenotypic correlations between first lactation weekly locomotion score/lameness and milk yield averaged ���0.27 and ���0.17, respectively, and were attributed to management factors. Also a phenotypic correlation between lameness and conception rate of ���0.19 indicated that lame cows were associated with lower success at conceiving. First-lactation daughter locomotion score and/or lameness predictions from sires��� estimated breeding values for conformation traits revealed a significant linear effect of rear leg side view, rear leg rear view, overall conformation, body condition score and locomotion, and a quadratic effect of foot angle.

Leg disorders in broiler chickens: prevalence, risk factors and prevention.

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Toby G Knowles

Full Text Available Broiler (meat chickens have been subjected to intense genetic selection. In the past 50 years, broiler growth rates have increased by over 300% (from 25 g per day to 100 g per day. There is growing societal concern that many broiler chickens have impaired locomotion or are even unable to walk. Here we present the results of a comprehensive survey of commercial flocks which quantifies the risk factors for poor locomotion in broiler chickens. We assessed the walking ability of 51,000 birds, representing 4.8 million birds within 176 flocks. We also obtained information on approximately 150 different management factors associated with each flock. At a mean age of 40 days, over 27.6% of birds in our study showed poor locomotion and 3.3% were almost unable to walk. The high prevalence of poor locomotion occurred despite culling policies designed to remove severely lame birds from flocks. We show that the primary risk factors associated with impaired locomotion and poor leg health are those specifically associated with rate of growth. Factors significantly associated with high gait score included the age of the bird (older birds, visit (second visit to same flock, bird genotype, not feeding whole wheat, a shorter dark period during the day, higher stocking density at the time of assessment, no use of antibiotic, and the use of intact feed pellets. The welfare implications are profound. Worldwide approximately 2 x 10(10 broilers are reared within similar husbandry systems. We identify a range of management factors that could be altered to reduce leg health problems, but implementation of these changes would be likely to reduce growth rate and production. A debate on the sustainability of current practice in the production of this important food source is required.

Multiple Decoupled CPGs with Local Sensory Feedback for Adaptive Locomotion Behaviors of Bio-inspired Walking Robots

DEFF Research Database (Denmark)

Shaker Barikhan, Subhi; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

, and their interactions during body and leg movements through the environment. Based on this concept, we present here an artificial bio-inspired walking system. Its intralimb coordination is formed by multiple decoupled CPGs while its interlimb coordination is attained by the interactions between body dynamics...... and the environment through local sensory feedback of each leg. Simulation results show that this bio-inspired approach generates self-organizing emergent locomotion allowing the robot to adaptively form regular patterns, to stably walk while pushing an object with its front legs or performing multiple stepping...

A Powered Lower Limb Orthosis for Providing Legged Mobility in Paraplegic Individuals.

Science.gov (United States)

Quintero, Hugo A; Farris, Ryan J; Hartigan, Clare; Clesson, Ismari; Goldfarb, Michael

2011-01-01

This paper presents preliminary results on the development of a powered lower limb orthosis intended to provide legged mobility (with the use of a stability aid, such as forearm crutches) to paraplegic individuals. The orthosis contains electric motors at both hip and both knee joints, which in conjunction with ankle-foot orthoses, provides appropriate joint kinematics for legged locomotion. The paper describes the orthosis and the nature of the controller that enables the SCI patient to command the device, and presents data from preliminary trials that indicate the efficacy of the orthosis and controller in providing legged mobility.

Expression of emotion in the kinematics of locomotion.

Science.gov (United States)

Barliya, Avi; Omlor, Lars; Giese, Martin A; Berthoz, Alain; Flash, Tamar

2013-03-01

Here, we examine how different emotions-happiness, fear, sadness and anger-affect the kinematics of locomotion. We focus on a compact representation of locomotion properties using the intersegmental law of coordination (Borghese et al. in J Physiol 494(3):863-879, 1996), which states that, during the gait cycle of human locomotion, the elevation angles of the thigh, shank and foot do not evolve independently of each other but form a planar pattern of co-variation. This phenomenon is highly robust and has been extensively studied. The orientation of the plane has been correlated with changes in the speed of locomotion and with reduction in energy expenditure as speed increases. An analytical model explaining the conditions underlying the emergence of this plane and predicting its orientation reveals that it suffices to examine the amplitudes of the elevation angles of the different segments along with the phase shifts between them (Barliya et al. in Exp Brain Res 193:371-385, 2009). We thus investigated the influence of different emotions on the parameters directly determining the orientation of the intersegmental plane and on the angular rotation profiles of the leg segments, examining both the effect of changes in walking speed and effects independent of speed. Subjects were professional actors and naïve subjects with no training in acting. As expected, emotions were found to strongly affect the kinematics of locomotion, particularly walking speed. The intersegmental coordination patterns revealed that emotional expression caused additional modifications to the locomotion patterns that could not be explained solely by a change in speed. For all emotions except sadness, the amplitude of thigh elevation angles changed from those in neutral locomotion. The intersegmental plane was also differently oriented, especially during anger. We suggest that, while speed is the dominant variable allowing discrimination between different emotional gaits, emotion can be

FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.

Science.gov (United States)

Barron-Zambrano, Jose Hugo; Torres-Huitzil, Cesar

2013-09-01

Neuromorphic engineering is a discipline devoted to the design and development of computational hardware that mimics the characteristics and capabilities of neuro-biological systems. In recent years, neuromorphic hardware systems have been implemented using a hybrid approach incorporating digital hardware so as to provide flexibility and scalability at the cost of power efficiency and some biological realism. This paper proposes an FPGA-based neuromorphic-like embedded system on a chip to generate locomotion patterns of periodic rhythmic movements inspired by Central Pattern Generators (CPGs). The proposed implementation follows a top-down approach where modularity and hierarchy are two desirable features. The locomotion controller is based on CPG models to produce rhythmic locomotion patterns or gaits for legged robots such as quadrupeds and hexapods. The architecture is configurable and scalable for robots with either different morphologies or different degrees of freedom (DOFs). Experiments performed on a real robot are presented and discussed. The obtained results demonstrate that the CPG-based controller provides the necessary flexibility to generate different rhythmic patterns at run-time suitable for adaptable locomotion. Copyright © 2013 Elsevier Ltd. All rights reserved.

Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.

Science.gov (United States)

Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick

2017-06-20

To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.

A Powered Lower Limb Orthosis for Providing Legged Mobility in Paraplegic Individuals

OpenAIRE

Quintero, Hugo A.; Farris, Ryan J.; Hartigan, Clare; Clesson, Ismari; Goldfarb, Michael

2011-01-01

This paper presents preliminary results on the development of a powered lower limb orthosis intended to provide legged mobility (with the use of a stability aid, such as forearm crutches) to paraplegic individuals. The orthosis contains electric motors at both hip and both knee joints, which in conjunction with ankle-foot orthoses, provides appropriate joint kinematics for legged locomotion. The paper describes the orthosis and the nature of the controller that enables the SCI patient to comm...

Artificial locomotion control

DEFF Research Database (Denmark)

Azevedo, Christine; Poignet, Philippe; Espiau, Bernard

2004-01-01

of postural and walking control; use of evolutive optimization objectives; on-line event handling and environment adaptation and anticipation. This leads to the synthesis of an original control scheme based on non-linear model predictive control: Trajectory Free NMPC. The movement is specified implicitly......This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human...... walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points of view, the objective being to stress the relevant elements for the approach of robot control. The adopted principles are then: no joint trajectory tracking; explicit distinction and integration...

Extension and customization of self-stability control in compliant legged systems

International Nuclear Information System (INIS)

Ernst, M; Blickhan, R; Geyer, H

2012-01-01

Several recent studies on the control of legged locomotion in animal and robot running focus on the influence of different leg parameters on gait stability. In a preceding investigation self-stability controls showing deadbeat behavior could be obtained by studying the dynamics of the system in dependence of the leg orientation carefully adjusted during the flight phase. Such controls allow to accommodate disturbances of the ground level without having to detect them. Here we further this method in two ways. Besides the leg orientation, we allow changes in leg stiffness during flight and show that this extension substantially improves the rejection of ground disturbances. In a human like example the tolerance of random variation in ground level over many steps increased from 3.5% to 35% of leg length. In single steps changes of about 70% leg length (either up or down) could be negotiated. The variable leg stiffness not only allows to start with flat leg orientations maximizing step tolerances but also increase the control subspace. This allows to customize self-stability controls and to consider physical and technical limitations found in animals and robots. (paper)

Exotendons for assistance of human locomotion

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van den Bogert Antonie J

2003-10-01

Full Text Available Abstract Background Powered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms. Methods A passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking. Results The most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%. Conclusion It is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.

Don't break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain.

Science.gov (United States)

Birn-Jeffery, Aleksandra V; Hubicki, Christian M; Blum, Yvonne; Renjewski, Daniel; Hurst, Jonathan W; Daley, Monica A

2014-11-01

Cursorial ground birds are paragons of bipedal running that span a 500-fold mass range from quail to ostrich. Here we investigate the task-level control priorities of cursorial birds by analysing how they negotiate single-step obstacles that create a conflict between body stability (attenuating deviations in body motion) and consistent leg force-length dynamics (for economy and leg safety). We also test the hypothesis that control priorities shift between body stability and leg safety with increasing body size, reflecting use of active control to overcome size-related challenges. Weight-support demands lead to a shift towards straighter legs and stiffer steady gait with increasing body size, but it remains unknown whether non-steady locomotor priorities diverge with size. We found that all measured species used a consistent obstacle negotiation strategy, involving unsteady body dynamics to minimise fluctuations in leg posture and loading across multiple steps, not directly prioritising body stability. Peak leg forces remained remarkably consistent across obstacle terrain, within 0.35 body weights of level running for obstacle heights from 0.1 to 0.5 times leg length. All species used similar stance leg actuation patterns, involving asymmetric force-length trajectories and posture-dependent actuation to add or remove energy depending on landing conditions. We present a simple stance leg model that explains key features of avian bipedal locomotion, and suggests economy as a key priority on both level and uneven terrain. We suggest that running ground birds target the closely coupled priorities of economy and leg safety as the direct imperatives of control, with adequate stability achieved through appropriately tuned intrinsic dynamics. © 2014. Published by The Company of Biologists Ltd.

The role of intrinsic muscle properties for stable hopping-stability is achieved by the force-velocity relation

International Nuclear Information System (INIS)

Haeufle, D F B; Grimmer, S; Seyfarth, A

2010-01-01

A reductionist approach was presented to investigate which level of detail of the physiological muscle is required for stable locomotion. Periodic movements of a simplified one-dimensional hopping model with a Hill-type muscle (one contractile element, neither serial nor parallel elastic elements) were analyzed. Force-length and force-velocity relations of the muscle were varied in three levels of approximation (constant, linear and Hill-shaped nonlinear) resulting in nine different hopping models of different complexity. Stability of these models was evaluated by return map analysis and the performance by the maximum hopping height. The simplest model (constant force-length and constant force-velocity relations) outperformed all others in the maximum hopping height but was unstable. Stable hopping was achieved with linear and Hill-shaped nonlinear characteristic of the force-velocity relation. The characteristics of the force-length relation marginally influenced hopping stability. The results of this approach indicate that the intrinsic properties of the contractile element are responsible for stabilization of periodic movements. This connotes that (a) complex movements like legged locomotion could benefit from stabilizing effects of muscle properties, and (b) technical systems could benefit from the emerging stability when implementing biological characteristics into artificial muscles.

Essential roles for lines in mediating leg and antennal proximodistal patterning and generating a stable Notch signaling interface at segment borders.

Science.gov (United States)

Greenberg, Lina; Hatini, Victor

2009-06-01

The Drosophila leg imaginal disc provides a paradigm with which to understand the fundamental developmental mechanisms that generate an intricate appendage structure. Leg formation depends on the subdivision of the leg proximodistal (PD) axis into broad domains by the leg gap genes. The leg gap genes act combinatorially to initiate the expression of the Notch ligands Delta (Dl) and Serrate (Ser) in a segmental pattern. Dl and Ser induce the expression of a set of transcriptional regulators along the segment border, which mediate leg segment growth and joint morphogenesis. Here we show that Lines accumulates in nuclei in the presumptive tarsus and the inter-joints of proximal leg segments and governs the formation of these structures by destabilizing the nuclear protein Bowl. Across the presumptive tarsus, lines modulates the opposing expression landscapes of the leg gap gene dachshund (dac) and the tarsal PD genes, bric-a-brac 2 (bab), apterous (ap) and BarH1 (Bar). In this manner, lines inhibits proximal tarsal fates and promotes medial and distal tarsal fates. Across proximal leg segments, lines antagonizes bowl to promote Dl expression by relief-of-repression. In turn, Dl signals asymmetrically to stabilize Bowl in adjacent distal cells. Bowl, then, acts cell-autonomously, together with one or more redundant factors, to repress Dl expression. Together, lines and bowl act as a binary switch to generate a stable Notch signaling interface between Dl-expressing cells and adjacent distal cell. lines plays analogous roles in developing antennae, which are serially homologous to legs, suggesting evolutionarily conserved roles for lines in ventral appendage formation.

Feedback control of the neuromusculoskeletal system in a forward dynamics simulation of stair locomotion.

Science.gov (United States)

Selk Ghafari, A; Meghdari, A; Vossoughi, G

2009-08-01

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of pressure during locomotion. The parameters of the proposed controller were determined by employing the iterative feedback tuning approach to minimize tracking errors during forward dynamics simulation. Simultaneously, an inverse-dynamics-based optimization was employed to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the experimental measurements and the reference muscles' activities illustrate the accuracy and efficiency of the proposed method during the stable ascending simulation.

Does a crouched leg posture enhance running stability and robustness?

Science.gov (United States)

Blum, Yvonne; Birn-Jeffery, Aleksandra; Daley, Monica A; Seyfarth, Andre

2011-07-21

Humans and birds both walk and run bipedally on compliant legs. However, differences in leg architecture may result in species-specific leg control strategies as indicated by the observed gait patterns. In this work, control strategies for stable running are derived based on a conceptual model and compared with experimental data on running humans and pheasants (Phasianus colchicus). From a model perspective, running with compliant legs can be represented by the planar spring mass model and stabilized by applying swing leg control. Here, linear adaptations of the three leg parameters, leg angle, leg length and leg stiffness during late swing phase are assumed. Experimentally observed kinematic control parameters (leg rotation and leg length change) of human and avian running are compared, and interpreted within the context of this model, with specific focus on stability and robustness characteristics. The results suggest differences in stability characteristics and applied control strategies of human and avian running, which may relate to differences in leg posture (straight leg posture in humans, and crouched leg posture in birds). It has been suggested that crouched leg postures may improve stability. However, as the system of control strategies is overdetermined, our model findings suggest that a crouched leg posture does not necessarily enhance running stability. The model also predicts different leg stiffness adaptation rates for human and avian running, and suggests that a crouched avian leg posture, which is capable of both leg shortening and lengthening, allows for stable running without adjusting leg stiffness. In contrast, in straight-legged human running, the preparation of the ground contact seems to be more critical, requiring leg stiffness adjustment to remain stable. Finally, analysis of a simple robustness measure, the normalized maximum drop, suggests that the crouched leg posture may provide greater robustness to changes in terrain height

Animal and robot experiments to discover principles behind the evolution of a minimal locomotor apparatus for robust legged locomotion

Science.gov (United States)

McInroe, Benjamin; Astley, Henry; Kawano, Sandy; Blob, Richard; Goldman, Daniel I.

2015-03-01

In the evolutionary transition from an aquatic to a terrestrial environment, early walkers adapted to the challenges of locomotion on complex, flowable substrates (e.g. sand and mud). Our previous biological and robotic studies have demonstrated that locomotion on such substrates is sensitive to both limb morphology and kinematics. Although reconstructions of early vertebrate skeletal morphologies exist, the kinematic strategies required for successful locomotion by these organisms have not yet been explored. To gain insight into how early walkers contended with complex substrates, we developed a robotic model with appendage morphology inspired by a model analog organism, the mudskipper. We tested mudskippers and the robot on different substrates, including rigid ground and dry granular media, varying incline angle. The mudskippers moved effectively on all level substrates using a fin-driven gait. But as incline angle increased, the animals used their tails in concert with their fins to generate propulsion. Adding an actuated tail to the robot improved robustness, making possible locomotion on otherwise inaccessible inclines. With these discoveries, we are elucidating a minimal template that may have allowed the early walkers to adapt to locomotion on land. This work was supported by NSF PoLS.

Dynamic control for a quadruped locomotion robot in consideration of the leg-support-exchange phenomenon

International Nuclear Information System (INIS)

Sano, Akihito; Furusho, Junji; Okajima, Yosuke

1988-01-01

This paper proposes a new control method for quardruped walking robots in which the leg-support-exchange is lithely implemented. First, the authors formulate the leg-support-exchange phenomenon in 'Trot' using Lagrange's collision equation. Then the continuous walking can be numerically analyzed. Secondly, we propose a new control algorithm for leg-support-exchange. The conventional high gain local feedback causes many problems such as slip and excessive high torque in the leg-support-exchange phase of dynamic walking since it is impossible in this phase to prepare the proper reference values beforehand. In this algorithm, the control law is changed to 'free mode' or 'constant current mode' in order to adjust to the environment. The effectiveness of the proposed control strategy is confirmed by computer simulation and experiments using the walking robot 'COLT-1.' (author)

Effectiveness of locomotion training in a home visit preventive care project: one-group pre-intervention versus post-intervention design study.

Science.gov (United States)

Ito, Shinya; Hashimoto, Mari; Aduma, Saori; Yasumura, Seiji

2015-11-01

Locomotion training in a home visit-type preventive-care program has been reported elsewhere. However, continuation of appropriate exercises in a home setting is difficult, and few reports are available on locomotion training in a home setting. The objective of this study was to evaluate the effectiveness of locomotion training over 3 months in a home visit-type preventive-care program for improvement of motor function among elderly people. Nine hundred and fifty-eight elderly people in Tendo City in Japan who were not currently attending any preventive-care program were invited to participate in the study, and 87 were enrolled. In the pre-intervention and post-intervention assessments, we administered an interview survey (the Kihon Checklist), the timed one-leg standing test with eyes open and the sit-to-stand test, at the participants' homes. The intervention involved one set of training exercises with the participants standing on each leg for 1 min and squatting five or six times. The participants were asked to repeat one set of the exercises three times a day at home. In addition, the participants were regularly asked over the telephone about their performance of the exercises. Physical strength, cognitive function, and total scores of the Kihon Checklist were significantly lower after the intervention than before. In addition, the one-leg standing test time was significantly longer after the intervention (mean ± SD, 23.9 ± 35.4) than before (15.7 ± 20.5), and the sit-to-stand test time was significantly shorter after the intervention (13.0 ± 6.2) than before (14.8 ± 8.3). Locomotion training in a home-visit preventive-care program with telephone support effectively improved the motor function of elderly people who were not currently attending any preventive-care program organized by the long-term care insurance system.

Jumping robots: a biomimetic solution to locomotion across rough terrain.

Science.gov (United States)

Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

2007-09-01

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Relation between observed locomotion traits and locomotion score in dairy cows

NARCIS (Netherlands)

Schlageter Tello, A.A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Lokhorst, Kees

2015-01-01

Lameness is still an important problem in modern dairy farming. Human observation of locomotion, by looking at different traits in one go, is used in practice to assess locomotion. The objectives of this article were to determine which individual locomotion traits are most related to locomotion

Synthesis of digital locomotive receiver of automatic locomotive signaling

Directory of Open Access Journals (Sweden)

K. V. Goncharov

2013-02-01

Full Text Available Purpose. Automatic locomotive signaling of continuous type with a numeric coding (ALSN has several disadvantages: a small number of signal indications, low noise stability, high inertia and low functional flexibility. Search for new and more advanced methods of signal processing for automatic locomotive signaling, synthesis of the noise proof digital locomotive receiver are essential. Methodology. The proposed algorithm of detection and identification locomotive signaling codes is based on the definition of mutual correlations of received oscillation and reference signals. For selecting threshold levels of decision element the following criterion has been formulated: the locomotive receiver should maximum set the correct solution for a given probability of dangerous errors. Findings. It has been found that the random nature of the ALSN signal amplitude does not affect the detection algorithm. However, the distribution law and numeric characteristics of signal amplitude affect the probability of errors, and should be considered when selecting a threshold levels According to obtained algorithm of detection and identification ALSN signals the digital locomotive receiver has been synthesized. It contains band pass filter, peak limiter, normalizing amplifier with automatic gain control circuit, analog to digital converter and digital signal processor. Originality. The ALSN system is improved by the way of the transfer of technical means to modern microelectronic element base, more perfect methods of detection and identification codes of locomotive signaling are applied. Practical value. Use of digital technology in the construction of the locomotive receiver ALSN will expand its functionality, will increase the noise immunity and operation stability of the locomotive signal system in conditions of various destabilizing factors.

Hybrid magnetic mechanism for active locomotion based on inchworm motion

International Nuclear Information System (INIS)

Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi

2013-01-01

Magnetic robots have been studied in the past. Insect-type micro-robots are used in various biomedical applications; researchers have developed inchworm micro-robots for endoscopic use. A biological inchworm has a looping locomotion gait. However, most inchworm micro-robots depend on a general bending, or bellows, motion. In this paper, we introduce a new robotic mechanism using magnetic force and torque control in a rotating magnetic field for a looping gait. The proposed robot is controlled by the magnetic torque, attractive force, and body mechanisms (two stoppers, flexible body, and different frictional legs). The magnetic torque generates a general bending motion. In addition, the attractive force and body mechanisms produce the robot’s looping motion within a rotating magnetic field and without the use of an algorithm for field control. We verified the device’s performance and analyzed the motion through simulations and various experiments. The robot mechanism can be applied to active locomotion for various medical robots, such as wireless endoscopes. (technical note)

Distributed Recurrent Neural Forward Models with Neural Control for Complex Locomotion in Walking Robots

DEFF Research Database (Denmark)

Dasgupta, Sakyasingha; Goldschmidt, Dennis; Wörgötter, Florentin

2015-01-01

here, an artificial bio-inspired walking system which effectively combines biomechanics (in terms of the body and leg structures) with the underlying neural mechanisms. The neural mechanisms consist of (1) central pattern generator based control for generating basic rhythmic patterns and coordinated......Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow the animals to deal with changes in environmental...... conditions, like uneven terrains, gaps, obstacles etc. Biological study has revealed that such complex behaviors are a result of a combination of biomechanics and neural mechanism thus representing the true nature of embodied interactions. While the biomechanics helps maintain flexibility and sustain...

Locomotion

DEFF Research Database (Denmark)

Kiehn, Ole; Dougherty, Kimberly

2016-01-01

Locomotion is a complex motor behavior needed by animals and humans to move through the environment. All forms of locomotion, including swimming, flying, walking, running, and hopping, are repetitive motor activities that require the activation of the limb and body muscles in an organized rhythm ...

Design Concepts of Emergency Response Robot Platform K-R2D2

Energy Technology Data Exchange (ETDEWEB)

Noh, Sun Young; Jeong, Kyungmin [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

From the analysis for various mobile robots competed in DARPA Robotics Challenge, there are some drawbacks in using two or four legs because bipedal locomotion is not yet suitable for maintaining stability and quadrupedal locomotion is difficult to go through narrow aisles. Motivated by the above observations, we propose a K-R2D2 robot platform with three legs arranged in the form of a triangle like as R2-D2 robot which is a fictional robot character in the Star Wars movies. This robot has 3 legs with tracks in each sole of the leg. It is statically stable since there are three contact points to ground. In addition, three legs are also possible to design a structure walking stairs that can expand and contract in the vertical direction. This paper has presented the conceptual design, it is developed on the purpose of quick response instead of emergent workers to the extreme conditions disasters. This robot is emergency response robot platform KR2D2 with three legs, which is statically stable to walk or wheel depending on the terrains and move quickly as possible as on uneven terrain or stairs.

Design Concepts of Emergency Response Robot Platform K-R2D2

International Nuclear Information System (INIS)

Noh, Sun Young; Jeong, Kyungmin

2016-01-01

From the analysis for various mobile robots competed in DARPA Robotics Challenge, there are some drawbacks in using two or four legs because bipedal locomotion is not yet suitable for maintaining stability and quadrupedal locomotion is difficult to go through narrow aisles. Motivated by the above observations, we propose a K-R2D2 robot platform with three legs arranged in the form of a triangle like as R2-D2 robot which is a fictional robot character in the Star Wars movies. This robot has 3 legs with tracks in each sole of the leg. It is statically stable since there are three contact points to ground. In addition, three legs are also possible to design a structure walking stairs that can expand and contract in the vertical direction. This paper has presented the conceptual design, it is developed on the purpose of quick response instead of emergent workers to the extreme conditions disasters. This robot is emergency response robot platform KR2D2 with three legs, which is statically stable to walk or wheel depending on the terrains and move quickly as possible as on uneven terrain or stairs

Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives

Directory of Open Access Journals (Sweden)

Dušan Teichmann

2015-01-01

Full Text Available This paper focuses on solving the problem of how to assign locomotives to assembled trains optimally. To solve the problem, linear programming is applied. The situation we model in the paper occurs in the conditions of a transport operator that provides rail transport in the Czech Republic. In the paper, an extended locomotive assignment problem is modeled; the transport operator can use different classes of the locomotives to serve individual connections, some connections must be served by a predefined locomotive class, and the locomotives can be allocated to several depots at the beginning. The proposed model also takes into consideration the fact that some connections can be served by the locomotives of external transport companies or operators. The presented model is applied to a real example in order to test its functionality.

BiLBIQ A Biologically Inspired Robot with Walking and Rolling Locomotion

CERN Document Server

King, Ralf Simon

2013-01-01

The book ‘BiLBIQ: A biologically inspired Robot with walking and rolling locomotion’ deals with implementing a locomotion behavior observed in the biological archetype Cebrennus villosus to a robot prototype whose structural design needs to be developed.   The biological sample is investigated as far as possible and compared to other evolutional solutions within the framework of nature’s inventions. Current achievements in robotics are examined and evaluated for their relation and relevance to the robot prototype in question. An overview of what is state of the art in actuation ensures the choice of the hardware available and most suitable for this project. Through a constant consideration of the achievement of two fundamentally different ways of locomotion with one and the same structure, a robot design is developed and constructed taking hardware constraints into account. The development of a special leg structure that needs to resemble and replace body elements of the biological archetype is a speci...

Spontaneous Symmetry-Breaking in a Network Model for Quadruped Locomotion

Science.gov (United States)

Stewart, Ian

2017-12-01

Spontaneous symmetry-breaking proves a mechanism for pattern generation in legged locomotion of animals. The basic timing patterns of animal gaits are produced by a network of spinal neurons known as a Central Pattern Generator (CPG). Animal gaits are primarily characterized by phase differences between leg movements in a periodic gait cycle. Many different gaits occur, often having spatial or spatiotemporal symmetries. A natural way to explain gait patterns is to assume that the CPG is symmetric, and to classify the possible symmetry-breaking periodic motions. Pinto and Golubitsky have discussed a four-node model CPG network for biped gaits with ℤ2 × ℤ2 symmetry, classifying the possible periodic states that can arise. A more specific rate model with this structure has been analyzed in detail by Stewart. Here we extend these methods to quadruped gaits, using an eight-node network with ℤ4 × ℤ2 symmetry proposed by Golubitsky and coworkers. We formulate a rate model and calculate how the first steady or Hopf bifurcation depends on its parameters, which represent four connection strengths. The calculations involve a distinction between “real” gaits with one or two phase shifts (pronk, bound, pace, trot) and “complex” gaits with four phase shifts (forward and reverse walk, forward and reverse buck). The former correspond to real eigenvalues of the connection matrix, the latter to complex conjugate pairs. The partition of parameter space according to the first bifurcation, ignoring complex gaits, is described explicitly. The complex gaits introduce further complications, not yet fully understood. All eight gaits can occur as the first bifurcation from a fully synchronous equilibrium, for suitable parameters, and numerical simulations indicate that they can be asymptotically stable.

PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons.

Science.gov (United States)

Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Zhao, Guang-Yu; Xu, Guo-Qiang; He, Long; Mao, Xi-Wang; Dong, Wei

2016-09-02

Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM) optimized by particle swarm optimization (PSO) to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS) attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz), a three-layer wavelet packet analysis (WPA) is used for feature extraction, after which, the kernel principal component analysis (kPCA) is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA) is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

PSO-SVM-Based Online Locomotion Mode Identification for Rehabilitation Robotic Exoskeletons

Directory of Open Access Journals (Sweden)

Yi Long

2016-09-01

Full Text Available Locomotion mode identification is essential for the control of a robotic rehabilitation exoskeletons. This paper proposes an online support vector machine (SVM optimized by particle swarm optimization (PSO to identify different locomotion modes to realize a smooth and automatic locomotion transition. A PSO algorithm is used to obtain the optimal parameters of SVM for a better overall performance. Signals measured by the foot pressure sensors integrated in the insoles of wearable shoes and the MEMS-based attitude and heading reference systems (AHRS attached on the shoes and shanks of leg segments are fused together as the input information of SVM. Based on the chosen window whose size is 200 ms (with sampling frequency of 40 Hz, a three-layer wavelet packet analysis (WPA is used for feature extraction, after which, the kernel principal component analysis (kPCA is utilized to reduce the dimension of the feature set to reduce computation cost of the SVM. Since the signals are from two types of different sensors, the normalization is conducted to scale the input into the interval of [0, 1]. Five-fold cross validation is adapted to train the classifier, which prevents the classifier over-fitting. Based on the SVM model obtained offline in MATLAB, an online SVM algorithm is constructed for locomotion mode identification. Experiments are performed for different locomotion modes and experimental results show the effectiveness of the proposed algorithm with an accuracy of 96.00% ± 2.45%. To improve its accuracy, majority vote algorithm (MVA is used for post-processing, with which the identification accuracy is better than 98.35% ± 1.65%. The proposed algorithm can be extended and employed in the field of robotic rehabilitation and assistance.

Effects of neck and circumoesophageal connective lesions on posture and locomotion in the cockroach.

Science.gov (United States)

Ridgel, Angela L; Ritzmann, Roy E

2005-06-01

Few studies in arthropods have documented to what extent local control centers in the thorax can support locomotion in absence of inputs from head ganglia. Posture, walking, and leg motor activity was examined in cockroaches with lesions of neck or circumoesophageal connectives. Early in recovery, cockroaches with neck lesions had hyper-extended postures and did not walk. After recovery, posture was less hyper-extended and animals initiated slow leg movements for multiple cycles. Neck lesioned individuals showed an increase in walking after injection of either octopamine or pilocarpine. The phase of leg movement between segments was reduced in neck lesioned cockroaches from that seen in intact animals, while phases in the same segment remained constant. Neither octopamine nor pilocarpine initiated changes in coordination between segments in neck lesioned individuals. Animals with lesions of the circumoesophageal connectives had postures similar to intact individuals but walked in a tripod gait for extended periods of time. Changes in activity of slow tibial extensor and coxal depressor motor neurons and concomitant changes in leg joint angles were present after the lesions. This suggests that thoracic circuits are sufficient to produce leg movements but coordinated walking with normal motor patterns requires descending input from head ganglia.

Dynamic stability of running: The effects of speed and leg amputations on the maximal Lyapunov exponent

International Nuclear Information System (INIS)

Look, Nicole; Arellano, Christopher J.; Grabowski, Alena M.; Kram, Rodger; McDermott, William J.; Bradley, Elizabeth

2013-01-01

In this paper, we study dynamic stability during running, focusing on the effects of speed, and the use of a leg prosthesis. We compute and compare the maximal Lyapunov exponents of kinematic time-series data from subjects with and without unilateral transtibial amputations running at a wide range of speeds. We find that the dynamics of the affected leg with the running-specific prosthesis are less stable than the dynamics of the unaffected leg and also less stable than the biological legs of the non-amputee runners. Surprisingly, we find that the center-of-mass dynamics of runners with two intact biological legs are slightly less stable than those of runners with amputations. Our results suggest that while leg asymmetries may be associated with instability, runners may compensate for this effect by increased control of their center-of-mass dynamics

Body shape helps legged robots climb and turn in complex 3-D terrains

Science.gov (United States)

Han, Yuanfeng; Wang, Zheliang; Li, Chen

Analogous to streamlined shapes that reduce drag in fluids, insects' ellipsoid-like rounded body shapes were recently discovered to be ``terradynamically streamlined'' and enhance locomotion in cluttered terrain by facilitating body rolling. Here, we hypothesize that there exist more terradynamic shapes that facilitate other modes of locomotion like climbing and turning in complex 3-D terrains by facilitating body pitching and yawing. To test our hypothesis, we modified the body shape of a legged robot by adding an elliptical and a rectangular shell and tested how it negotiated with circular and square vertical pillars. With a rectangular shell the robot always pitched against square pillars in an attempt to climb, whereas with an elliptical shell it always yawed and turned away from circular pillars given a small initial lateral displacement. Square / circular pillars facilitated pitching / yawing, respectively. To begin to reveal the contact physics, we developed a locomotion energy landscape model. Our model revealed that potential energy barriers to transition from pitching to yawing are high for angular locomotor and obstacle shapes (rectangular / square) but vanish for rounded shapes (elliptical / circular). Our study supports the plausibility of locomotion energy landscapes for understanding the rich locomotor transitions in complex 3-D terrains.

Toward Balance Recovery With Leg Prostheses Using Neuromuscular Model Control

Science.gov (United States)

Geyer, Hartmut

2016-01-01

Objective Lower limb amputees are at high risk of falling as current prosthetic legs provide only limited functionality for recovering balance after unexpected disturbances. For instance, the most established control method used on powered leg prostheses tracks local joint impedance functions without taking the global function of the leg in balance recovery into account. Here we explore an alternative control policy for powered transfemoral prostheses that considers the global leg function and is based on a neuromuscular model of human locomotion. Methods We adapt this model to describe and simulate an amputee walking with a powered prosthesis using the proposed control, and evaluate the gait robustness when confronted with rough ground and swing leg disturbances. We then implement and partially evaluate the resulting controller on a leg prosthesis prototype worn by a non-amputee user. Results In simulation, the proposed prosthesis control leads to gaits that are more robust than those obtained by the impedance control method. The initial hardware experiments with the prosthesis prototype show that the proposed control reproduces normal walking patterns qualitatively and effectively responds to disturbances in early and late swing. However, the response to mid-swing disturbances neither replicates human responses nor averts falls. Conclusions The neuromuscular model control is a promising alternative to existing prosthesis controls, although further research will need to improve on the initial implementation and determine how well these results transfer to amputee gait. Significance This work provides a potential avenue for future development of control policies that help improve amputee balance recovery. PMID:26315935

A new anthropometric phantom of the human leg for calibrating in vivo measurements of stable lead in bone using x-ray fluorescence

International Nuclear Information System (INIS)

Spitz, Henry; Jenkins, Mark; Lodwick, Jeffrey

1997-01-01

Full text. A new anthropometric phantom of the human leg has been developed for calibrating in vivo measurements of stable lead in the bone using x-ray fluorescence. The phantom reproduces the shape and radiological characteristics of the midshaft of the human leg and includes tissue substitutes for cortical bone, bone marrow, and muscle which have been formulated using polyurethanes and calcium carbonate to provide the desired characteristics of density x-ray attenuation, and calcium content. The phantom includes a set of simulated tibia bones, each containing a precisely known concentration of stable lead, that can be easily inserted into the leg. Formerly, of a set of plexiglas cylinders filled with plaster of-paris, each containing a known lead content, was the consensus standard calibration phantom. Tissue substitute materials used in the new anthropometric calibration phantom are much more uniform in density and composition than the plaster-of-paris phantoms and its realistic appearance provides a practical means of evaluating the variability in measurements results due to the changes in subject-detector positioning. Use of the new anthropometric calibration phantom results in a energy spectrum that closely resembles the spectrum observed when measuring a human subject. The energy spectrum produced by the plaster-of-paris phantom lacks the substantial Compton Scattering component produced by the leg muscle mass which leads to unrealistic estimates of in vivo measurement sensitivity. The minimum detection limit (MDL) for in vivo measurement of stable lead in bone, using an efficiency derived from the new anthropometric phantom, ranges from 18,6 parts per million (ppm) to 26,3 ppm using the K β1,3 /Elastic ratio or the K 1 /Elastic ratio, respectively. These values are significantly greater than the MDL cited in the literature obtained using a efficiency derived the conventional cylindrical plaster-of-paris phantom. Likewise, the realistic shape of the new

Adaptive leg coordination with a biologically inspired neurocontroller

Science.gov (United States)

Braught, Grant; Thomopoulos, Stelios C.

1996-10-01

Natural selection is responsible for the creation of robust and adaptive control systems. Nature's control systems are created only from primitive building blocks. Using insect neurophysiology as a guide, a neural architecture for leg coordination in a hexapod robot has been developed. Reflex chains and sensory feedback mechanisms from various insects and crustacea form the basis of a pattern generator for intra-leg coordination. The pattern generator contains neural oscillators which learn from sensory feedback to produce stepping patterns. Using sensory feedback as the source of learning information allows the pattern generator to adapt to changes in the leg dynamics due to internal or external causes. A coupling between six of the single leg pattern generators is used to produce the inter-leg coordination necessary to establish stable gaits.

GABAergic inhibition of leg motoneurons is required for normal walking behavior in freely moving Drosophila.

Science.gov (United States)

Gowda, Swetha B M; Paranjpe, Pushkar D; Reddy, O Venkateswara; Thiagarajan, Devasena; Palliyil, Sudhir; Reichert, Heinrich; VijayRaghavan, K

2018-02-27

Walking is a complex rhythmic locomotor behavior generated by sequential and periodical contraction of muscles essential for coordinated control of movements of legs and leg joints. Studies of walking in vertebrates and invertebrates have revealed that premotor neural circuitry generates a basic rhythmic pattern that is sculpted by sensory feedback and ultimately controls the amplitude and phase of the motor output to leg muscles. However, the identity and functional roles of the premotor interneurons that directly control leg motoneuron activity are poorly understood. Here we take advantage of the powerful genetic methodology available in Drosophila to investigate the role of premotor inhibition in walking by genetically suppressing inhibitory input to leg motoneurons. For this, we have developed an algorithm for automated analysis of leg motion to characterize the walking parameters of wild-type flies from high-speed video recordings. Further, we use genetic reagents for targeted RNAi knockdown of inhibitory neurotransmitter receptors in leg motoneurons together with quantitative analysis of resulting changes in leg movement parameters in freely walking Drosophila Our findings indicate that targeted down-regulation of the GABA A receptor Rdl (Resistance to Dieldrin) in leg motoneurons results in a dramatic reduction of walking speed and step length without the loss of general leg coordination during locomotion. Genetically restricting the knockdown to the adult stage and subsets of motoneurons yields qualitatively identical results. Taken together, these findings identify GABAergic premotor inhibition of motoneurons as an important determinant of correctly coordinated leg movements and speed of walking in freely behaving Drosophila . Copyright © 2018 the Author(s). Published by PNAS.

Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

Science.gov (United States)

Jayaram, Kaushik; Full, Robert J.

2016-01-01

Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300–800 ms by compressing their body 40–60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s−1, despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion—“body-friction legged crawling” with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces. PMID:26858443

Association between Lameness and Indicators of Dairy Cow Welfare Based on Locomotion Scoring, Body and Hock Condition, Leg Hygiene and Lying Behavior

Directory of Open Access Journals (Sweden)

Mohammed B. Sadiq

2017-11-01

Full Text Available Dairy cow welfare is an important consideration for optimal production in the dairy industry. Lameness affects the welfare of dairy herds by limiting productivity. Whilst the application of LS systems helps in identifying lame cows, the technique meets with certain constraints, ranging from the detection of mild gait changes to on-farm practical applications. Recent studies have shown that certain animal-based measures considered in welfare assessment, such as body condition, hock condition and leg hygiene, are associated with lameness in dairy cows. Furthermore, behavioural changes inherent in lame cows, especially the comfort in resting and lying down, have been shown to be vital indicators of cow welfare. Highlighting the relationship between lameness and these welfare indicators could assist in better understanding their role, either as risk factors or as consequences of lameness. Nevertheless, since the conditions predisposing a cow to lameness are multifaceted, it is vital to cite the factors that could influence the on-farm practical application of such welfare indicators in lameness studies. This review begins with the welfare consequences of lameness by comparing normal and abnormal gait as well as the use of LS system in detecting lame cows. Animal-based measures related to cow welfare and links with changes in locomotion as employed in lameness research are discussed. Finally, alterations in lying behaviour are also presented as indicators of lameness with the corresponding welfare implication in lame cows.

Reservoir-based Online Adaptive Forward Models with Neural Control for Complex Locomotion in a Hexapod Robot

DEFF Research Database (Denmark)

Manoonpong, Poramate; Dasgupta, Sakyasingha; Goldschmidt, Dennis

2014-01-01

Walking animals show fascinating locomotor abilities and complex behaviors. Biological study has revealed that such complex behaviors is a result of a combination of biomechanics and neural mechanisms. While biomechanics allows for flexibility and a variety of movements, neural mechanisms generate...... locomotion, make predictions, and provide adaptation. Inspired by this finding, we present here an artificial bio-inspired walking system which combines biomechanics (in terms of its body and leg structures) and neural mechanisms. The neural mechanisms consist of 1) central pattern generator-based control...... for generating basic rhythmic patterns and coordinated movements, 2) reservoir-based adaptive forward models with efference copies for sensory prediction as well as state estimation, and 3) searching and elevation control for adapting the movement of an individual leg to deal with different environmental...

Biomechanics of gecko locomotion: the patterns of reaction forces on inverted, vertical and horizontal substrates

International Nuclear Information System (INIS)

Wang, Zhouyi; Dai, Zhendong; Ji, Aihong; Xing, Qiang; Ren, Lei; Dai, Liming

2015-01-01

The excellent locomotion ability of geckos on various rough and/or inclined substrates has attracted scientists’ attention for centuries. However, the moving ability of gecko-mimicking robots on various inclined surfaces still lags far behind that of geckos, mainly because our understanding of how geckos govern their locomotion is still very poor. To reveal the fundamental mechanism of gecko locomotion and also to facilitate the design of gecko-mimicking robots, we have measured the reaction forces (RFs) acting on each individual foot of moving geckos on inverted, vertical and horizontal substrates (i.e. ceiling, wall and floor), have associated the RFs with locomotion behaviors by using high-speed camera, and have presented the relationships of the force components with patterns of reaction forces (PRFs). Geckos generate different PRF on ceiling, wall and floor, that is, the PRF is determined by the angles between the direction of gravity and the substrate on which geckos move. On the ceiling, geckos produce reversed shear forces acting on the front and hind feet, which pull away from the body in both lateral and fore-aft directions. They use a very large supporting angle from 21° to 24° to reduce the forces acting on their legs and feet. On the floor, geckos lift their bodies using a supporting angle from 76° to 78°, which not only decreases the RFs but also improves their locomotion ability. On the wall, geckos generate a reliable self-locking attachment by using a supporting angle of 14.8°, which is only about half of the critical angle of detachment. (paper)

Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments with Transfemoral Amputees.

Science.gov (United States)

Gregg, Robert D; Lenzi, Tommaso; Hargrove, Levi J; Sensinger, Jonathon W

2014-12-01

Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be addressed by a unifying control model used by recent bipedal robots, in which virtual constraints define joint patterns as functions of a monotonic variable that continuously represents the gait cycle phase. In the first application of virtual constraints to amputee locomotion, this paper derives exact and approximate control laws for a partial feedback linearization to enforce virtual constraints on a prosthetic leg. We then encode a human-inspired invariance property called effective shape into virtual constraints for the stance period. After simulating the robustness of the partial feedback linearization to clinically meaningful conditions, we experimentally implement this control strategy on a powered transfemoral leg. We report the results of three amputee subjects walking overground and at variable cadences on a treadmill, demonstrating the clinical viability of this novel control approach.

Insect-computer hybrid legged robot with user-adjustable speed, step length and walking gait.

Science.gov (United States)

Cao, Feng; Zhang, Chao; Choo, Hao Yu; Sato, Hirotaka

2016-03-01

We have constructed an insect-computer hybrid legged robot using a living beetle (Mecynorrhina torquata; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g., gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e., applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed. © 2016 The Author(s).

Design of Spiking Central Pattern Generators for Multiple Locomotion Gaits in Hexapod Robots by Christiansen Grammar Evolution.

Science.gov (United States)

Espinal, Andres; Rostro-Gonzalez, Horacio; Carpio, Martin; Guerra-Hernandez, Erick I; Ornelas-Rodriguez, Manuel; Sotelo-Figueroa, Marco

2016-01-01

This paper presents a method to design Spiking Central Pattern Generators (SCPGs) to achieve locomotion at different frequencies on legged robots. It is validated through embedding its designs into a Field-Programmable Gate Array (FPGA) and implemented on a real hexapod robot. The SCPGs are automatically designed by means of a Christiansen Grammar Evolution (CGE)-based methodology. The CGE performs a solution for the configuration (synaptic weights and connections) for each neuron in the SCPG. This is carried out through the indirect representation of candidate solutions that evolve to replicate a specific spike train according to a locomotion pattern (gait) by measuring the similarity between the spike trains and the SPIKE distance to lead the search to a correct configuration. By using this evolutionary approach, several SCPG design specifications can be explicitly added into the SPIKE distance-based fitness function, such as looking for Spiking Neural Networks (SNNs) with minimal connectivity or a Central Pattern Generator (CPG) able to generate different locomotion gaits only by changing the initial input stimuli. The SCPG designs have been successfully implemented on a Spartan 6 FPGA board and a real time validation on a 12 Degrees Of Freedom (DOFs) hexapod robot is presented.

A survey report for the biped locomotion model under external force

International Nuclear Information System (INIS)

Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

1993-10-01

A mechanical design study of biped locomotion robots is being performed at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. We have developed the simulation software which has capability of obtaining several types of stable motions for straight walking in terms of design tools. In addition, we are studying more complex walking patterns such as turning. However, in order to realize the robustness of walking, it is also necessary for the robot to have a capability of walking under external force as a disturbance which is caused by touching an object and so on. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the biped locomotion model under external force: the WL-12RIII/IV designed and developed at Waseda University. This report includes the machine model, control system, control method and results of walking experiments. (author)

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots

International Nuclear Information System (INIS)

Daltorio, Kathryn A; Horchler, Andrew D; Quinn, Roger D; Boxerbaum, Alexander S; Shaw, Kendrick M; Chiel, Hillel J

2013-01-01

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress. (paper)

Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.

Science.gov (United States)

Daltorio, Kathryn A; Boxerbaum, Alexander S; Horchler, Andrew D; Shaw, Kendrick M; Chiel, Hillel J; Quinn, Roger D

2013-09-01

In this work, we present a dynamic simulation of an earthworm-like robot moving in a pipe with radially symmetric Coulomb friction contact. Under these conditions, peristaltic locomotion is efficient if slip is minimized. We characterize ways to reduce slip-related losses in a constant-radius pipe. Using these principles, we can design controllers that can navigate pipes even with a narrowing in radius. We propose a stable heteroclinic channel controller that takes advantage of contact force feedback on each segment. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller. The peristaltic locomotion with feedback also has greater speed and more consistent forward progress

An Adaptive Classification Strategy for Reliable Locomotion Mode Recognition

Directory of Open Access Journals (Sweden)

Ming Liu

2017-09-01

Full Text Available Algorithms for locomotion mode recognition (LMR based on surface electromyography and mechanical sensors have recently been developed and could be used for the neural control of powered prosthetic legs. However, the variations in input signals, caused by physical changes at the sensor interface and human physiological changes, may threaten the reliability of these algorithms. This study aimed to investigate the effectiveness of applying adaptive pattern classifiers for LMR. Three adaptive classifiers, i.e., entropy-based adaptation (EBA, LearnIng From Testing data (LIFT, and Transductive Support Vector Machine (TSVM, were compared and offline evaluated using data collected from two able-bodied subjects and one transfemoral amputee. The offline analysis indicated that the adaptive classifier could effectively maintain or restore the performance of the LMR algorithm when gradual signal variations occurred. EBA and LIFT were recommended because of their better performance and higher computational efficiency. Finally, the EBA was implemented for real-time human-in-the-loop prosthesis control. The online evaluation showed that the applied EBA effectively adapted to changes in input signals across sessions and yielded more reliable prosthesis control over time, compared with the LMR without adaptation. The developed novel adaptive strategy may further enhance the reliability of neurally-controlled prosthetic legs.

Passive Control of Attachment in Legged Space Robots

Directory of Open Access Journals (Sweden)

Alessandro Gasparetto

2010-01-01

Full Text Available In the space environment the absence of gravity calls for constant safe attachment of any loose object, but the low-pressure conditions prohibit the use of glue-type adhesives. The attachment system of freely hunting spiders, e.g. Evarcha arcuata, employs van der Waals forces and mechanical interlocking. Furthermore, detachment is achieved passively and requires little force. Hence, the spider serves as a model for a versatile legged robot for space applications, e.g. on the outer surface of a space station. In this paper, we analyse the dry attachment systems of E. arcuata and geckos as well as the kinematics of freely hunting spiders. We generalise the results of biological studies on spider locomotion and mobility, including the major movement and the position constraints set by the dry adhesion system. From these results, we define a simplified spider model and study the overall kinematics of the legs both in flight and in contact with the surface. The kinematic model, the data on spider gait characteristics and the adhesion constraints are implemented in a kinematic simulator. The simulator results confirm the principal functionality of our concept.

40 CFR 92.707 - Notification to locomotive or locomotive engine owners.

Science.gov (United States)

2010-07-01

... the nonconformity of any such locomotives or locomotive engines which have been, if required by the... affected by the remedy and a general statement of the measures to be taken to correct the nonconformity. (5) A description of the adverse effects, if any, that an uncorrected nonconformity would have on the...

Muscle activity of leg muscles during unipedal stance on therapy devices with different stability properties.

Science.gov (United States)

Wolburg, Thomas; Rapp, Walter; Rieger, Jochen; Horstmann, Thomas

2016-01-01

To test the hypotheses that less stable therapy devices require greater muscle activity and that lower leg muscles will have greater increases in muscle activity with less stable therapy devices than upper leg muscles. Cross-sectional laboratory study. Laboratory setting. Twenty-five healthy subjects. Electromyographic activity of four lower (gastrocnemius medialis, soleus, tibialis anterior, peroneus longus) and four upper leg muscles (vastus medialis and lateralis, biceps femoris, semitendinosus) during unipedal quiet barefoot stance on the dominant leg on a flat rigid surface and on five therapy devices with varying stability properties. Muscle activity during unipedal stance differed significantly between therapy devices (P < 0.001). The order from lowest to highest relative muscle activity matched the order from most to least stable therapy device. There was no significant interaction between muscle location (lower versus upper leg) and therapy device (P = 0.985). Magnitudes of additional relative muscle activity for the respective therapy devices differed substantially among lower extremity muscles. The therapy devices offer a progressive increase in training intensity, and thus may be useful for incremental training programs in physiotherapeutic practice and sports training programs. Copyright © 2015 Elsevier Ltd. All rights reserved.

Electric-Pneumatic Actuator: A New Muscle for Locomotion

Directory of Open Access Journals (Sweden)

Maziar Ahmad Sharbafi

2017-10-01

Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of a...

49 CFR 238.223 - Locomotive fuel tanks.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the requirements...

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot.

Science.gov (United States)

Chai, Xun; Gao, Feng; Pan, Yang; Qi, Chenkun; Xu, Yilin

2015-04-22

Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called "Octopus", which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust.

49 CFR 229.121 - Locomotive cab noise.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

The noise factor in railway locomotives.

Science.gov (United States)

Rotter, T

1982-09-01

This article concerns the problem of acoustic work conditions on railway locomotives. The objective results of sonometric surveys in locomotive cabins are compared with subject data received from locomotive crews obtained by means of a specific questionnaire 'The Subjective Estimation of Noise'. The analysis touched 9 type of locomotives; steam, diesel and electric engines. We asked drivers of different age groups and with varying lengths of professional service for their opinions The aim of the investigation was to determine the following points: 1. to analyse the drivers' subjective estimation of the noise in the locomotive cabins; 2. to define length of time for which the driver remains under the influence of the noise after finishing work; 3. to investigate the question of perception and understanding of sounds and vocal signals used in the locomotive. These problems are a small part of the general plan to improve work conditions on the Polish National Railways.

[Job stress in locomotive attendants in a locomotive depot and related influencing factors].

Science.gov (United States)

Kang, L; Jia, X C; Lu, F; Zhou, W H; Chen, R

2017-10-20

Objective: To investigate the current status of job stress in locomotive attendants in a locomotive depot and related influencing factors. Methods: From 2012 to 2013, cluster sampling was used to select 1500 locomotive attendants in a locomotive depot in Zhengzhou Railway Bureau as respondents.The contents of the investigation included general data and occupational information.A job satisfaction questionnaire was used to investigate the degree of satisfaction, a depression scale was used to investigate the frequency of symptoms, and a daily stress scale was used to investigate the frequency of fatigue and stress. Results: There was a significant difference in depression score between locomotive attendants with different ages, working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendanceat night, monthly numbers of times of attendance,ormonthly attendance times( P job satisfaction score between locomotive attendants with different ages,working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendance at night, monthly attendance times,or ways to work( P job satisfaction( β =1.546)and monthly number of times of attendance,working years,attendance time at night,and degree of education were negatively correlated with job satisfaction( β =-0.185,-0.097,-0.020,and -1.106); monthly number of times of attendance andcommute time were positively correlated with depression( β =0.243 and 0.029); attendance time at night,working situation of spouse,commute time,monthly number of times of attendance,degree of education,and working years were positively correlated with daily stress( β =0.006,0.473,0.010,0.043,0.585, and 0.028). Conclusion: Number of times of attendance, attendance time,working years,and spouse are influencing factors for job stress in locomotive attendants. Improvement in work process and care for their personal life help to reduce

Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet

Science.gov (United States)

Zhu, Yaguang; Jin, Bo; Wu, Yongsheng; Guo, Tong; Zhao, Xiangmo

2016-01-01

Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value between the ideal foothold and real foothold is analyzed. The forward/inverse kinematic solutions between the ideal foothold and joint angular vectors are formulated and the problem of direct/inverse kinematic nonlinear mapping is solved by using the LS-SVM. Compared with the previous approximation method, this correction methodology has better accuracy and faster calculation speed with regards to inverse kinematics solutions. Experiments on a leg platform and a hexapod walking robot are conducted with multi-sensors for the analysis of foot tip trajectory, base joint vibration, contact force impact, direction deviation, and power consumption, respectively. The comparative analysis shows that the trajectory correction methodology can effectively correct the joint trajectory, thus eliminating the contact force influence of semi-round rigid feet, significantly improving the locomotion of the walking robot and reducing the total power consumption of the system. PMID:27589766

Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

Energy Technology Data Exchange (ETDEWEB)

Shieh, M-Y; Chang, K-H [Department of E. E., Southern Taiwan University, 1 Nantai St., YungKang City, Tainan County 71005, Taiwan (China); Lia, Y-S [Executive Director Office, ITRI, Southern Taiwan Innovation Park, Tainan County, Taiwan (China)], E-mail: myshieh@mail.stut.edu.tw

2008-02-15

This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface.

Design of a biped locomotion controller based on adaptive neuro-fuzzy inference systems

International Nuclear Information System (INIS)

Shieh, M-Y; Chang, K-H; Lia, Y-S

2008-01-01

This paper proposes a method for the design of a biped locomotion controller based on the ANFIS (Adaptive Neuro-Fuzzy Inference System) inverse learning model. In the model developed here, an integrated ANFIS structure is trained to function as the system identifier for the modeling of the inverse dynamics of a biped robot. The parameters resulting from the modeling process are duplicated and integrated as those of the biped locomotion controller to provide favorable control action. As the simulation results show, the proposed controller is able to generate a stable walking cycle for a biped robot. Moreover, the experimental results demonstrate that the performance of the proposed controller is satisfactory under conditions when the robot stands in different postures or moves on a rugged surface

A novel approach to mechanical foot stimulation during human locomotion under body weight support.

Science.gov (United States)

Gravano, S; Ivanenko, Y P; Maccioni, G; Macellari, V; Poppele, R E; Lacquaniti, F

2011-04-01

Input from the foot plays an essential part in perceiving support surfaces and determining kinematic events in human walking. To simulate adequate tactile pressure inputs under body weight support (BWS) conditions that represent an effective form of locomotion training, we here developed a new method of phasic mechanical foot stimulation using light-weight pneumatic insoles placed inside the shoes (under the heel and metatarsus). To test the system, we asked healthy participants to walk on a treadmill with different levels of BWS. The pressure under the stimulated areas of the feet and subjective sensations were higher at high levels of BWS and when applied to the ball and toes rather than heels. Foot stimulation did not disturb significantly the normal motor pattern, and in all participants we evoked a reliable step-synchronized triggering of stimuli for each leg separately. This approach has been performed in a general framework looking for "afferent templates" of human locomotion that could be used for functional sensory stimulation. The proposed technique can be used to imitate or partially restore surrogate contact forces under body weight support conditions. Copyright © 2010 Elsevier B.V. All rights reserved.

[Design and application of medical electric leg-raising machine].

Science.gov (United States)

Liang, Jintang; Chen, Jinyuan; Zhao, Zixian; Lin, Jinfeng; Li, Juanhong; Zhong, Jingliang

2017-08-01

Passive leg raising is widely used in clinic, but it lacks of specialized mechanical raise equipment. It requires medical staff to raise leg by hand or requires a multi-functional bed to raise leg, which takes time and effort. Therefore we have developed a new medical electric leg-raising machine. The equipment has the following characteristics: simple structure, stable performance, easy operation, fast and effective, safe and comfortable. The height range of the lifter is 50-120 cm, the range of the angle of raising leg is 10degree angle-80degree angle, the maximum supporting weight is 40 kg. Because of raising the height of the lower limbs and making precise angle, this equipment can completely replace the traditional manner of lifting leg by hand with multi-functional bed to lift patients' leg and can reduce the physical exhaustion and time consumption of medical staff. It can change the settings at any time to meet the needs of the patient; can be applied to the testing of PLR and dynamically assessing the hemodynamics; can prevent deep vein thrombosis and some related complications of staying in bed; and the machine is easy to be cleaned and disinfected, which can effectively avoid hospital acquired infection and cross infection; and can also be applied to emergency rescue of various disasters and emergencies.

Locomotive monitoring system using wireless sensor networks

CSIR Research Space (South Africa)

Croucamp, PL

2014-07-01

Full Text Available Theft of cables used for powering a locomotive not only stops the train from functioning but also paralyzes the signalling and monitoring system. This means that information on certain locomotive's cannot be passed onto other locomotives which may...

The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

Science.gov (United States)

Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

2010-01-01

the body load-regulating mechanisms that included increased head movement amplitude, increased knee and ankle flexion, and increased stance, stride, and double support time, with no change in the performance of the task with respect to that measured before exposure to BWS. These changes in locomotor control are opposite to that reported during 40% BWS exposure and indicative of an after-effect after removal of the adaptive stimulus. Therefore, it is evident that just 30 minutes of 40% BWS during locomotion was sufficient to induce adaptive modifications in the body load sensing systems that contribute to reorganization of sensory contributions to stable locomotor control.

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot

Directory of Open Access Journals (Sweden)

Xun Chai

2015-04-01

Full Text Available Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called “Octopus”, which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust.

Locomotive fuel tank structural safety testing program : passenger locomotive fuel tank jackknife derailment load test.

Science.gov (United States)

2010-08-01

This report presents the results of a passenger locomotive fuel tank load test simulating jackknife derailment (JD) load. The test is based on FRA requirements for locomotive fuel tanks in the Title 49, Code of Federal Regulations (CFR), Part 238, Ap...

Locomotive Schedule Optimization for Da-qin Heavy Haul Railway

Directory of Open Access Journals (Sweden)

Ruiye Su

2015-01-01

Full Text Available The main difference between locomotive schedule of heavy haul railways and that of regular rail transportation is the number of locomotives utilized for one train. One heavy-loaded train usually has more than one locomotive, but a regular train only has one. This paper develops an optimization model for the multilocomotive scheduling problem (MLSP through analyzing the current locomotive schedule of Da-qin Railway. The objective function of our paper is to minimize the total number of utilized locomotives. The MLSP is nondeterministic polynomial (NP hard. Therefore, we convert the multilocomotive traction problem into a single-locomotive traction problem. Then, the single-locomotive traction problem (SLTP can be converted into an assignment problem. The Hungarian algorithm is applied to solve the model and obtain the optimal locomotive schedule. We use the variance of detention time of locomotives at stations to evaluate the stability of locomotive schedule. In order to evaluate the effectiveness of the proposed optimization model, case studies for 20 kt and 30 kt heavy-loaded combined trains on Da-qin Railway are both conducted. Compared to the current schedules, the optimal schedules from the proposed models can save 62 and 47 locomotives for 20 kt and 30 kt heavy-loaded combined trains, respectively. Therefore, the effectiveness of the proposed model and its solution algorithm are both valid.

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

Biomonitoring of coastal areas in Tunisia: Stable isotope and trace element analysis in the Yellow-legged Gull

International Nuclear Information System (INIS)

Abdennadher, Aida; Ramirez, Francisco; Romdhane, Mohamed Salah; Ruiz, Xavier; Jover, Lluis; Sanpera, Carolina

2010-01-01

We used Yellow-legged Gull (YLG) chicks to monitor trace elements in Tunisian areas subject to different pollution stresses: urban contamination (Chikly), industrial pollution (Thyna) and an unpolluted area (Kneis). We measured trace element concentrations (Hg, Se and Pb) in chick feathers. We also assessed their feeding ecology by analyzing both regurgitates and stable isotopes (SIA) in chick feathers and in their prey, to determine the main entry route of pollutants. SIA revealed that YLG feed mainly on aquatic resources from the Lake of Tunis (Chikly colony) and the Gulf of Gabes (Thyna and Kneis colonies). Moreover, the enriched δ 15 N found in feathers from Chikly are attributed to the eutrophication of the Lake of Tunis. Hg and Se were higher in Kneis and Thyna colonies, in agreement with the higher consumption of marine resources and the greater availability of these elements resulting from the impact of the industrial activity in the area. Pb concentrations were higher in Chikly, related to the heavier traffic around the Lake of Tunis and the use of leaded gasoline.

The Need for Speed in Rodent Locomotion Analyses

Science.gov (United States)

Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

2016-01-01

Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R2 value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed. PMID:24890845

40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Discrete-mode steady-state emission... Procedures § 1033.515 Discrete-mode steady-state emission tests of locomotives and locomotive engines. This... a warm-up followed by a sequence of nominally steady-state discrete test modes, as described in...

Locomotion Gait Planning of Climber Snake-Like Robot

Directory of Open Access Journals (Sweden)

Mohammad Nezaminia

2013-04-01

Full Text Available In this article a novel breed of snake-like climber robots has been introduced. Structure and operation of the first generation of snake-like climber robot "Marak I" has been discussed. The gait planning for two dimensional locomotion of a novel snake-like climber robot "Marak I" is presented. The types of locomotion investigated were rectilinear and wheeling gaits. The gaits of locomotion were experimented and their suitability for various applications has been mentioned. Some encountered practical problems plus solutions were addressed. Finally we found out that: the vertical motion was producing more fault than horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait

In Pipe Robot with Hybrid Locomotion System

Directory of Open Access Journals (Sweden)

Cristian Miclauş

2015-06-01

Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

Multi-modal locomotion: from animal to application

International Nuclear Information System (INIS)

Lock, R J; Burgess, S C; Vaidyanathan, R

2014-01-01

The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms. (topical review)

Steam Locomotives: a forgotten era

African Journals Online (AJOL)

The boiler was not armoured as the idea was that it was bullet proof. The locomotives were arranged into groups of five and for each group there was an engine as standby. As far as can be ascertained, locomotive No 537 was never armoured, but did work draw trains and freight trains during the Anglo-Boer War too.

Development of a Novel Locomotion Algorithm for Snake Robot

International Nuclear Information System (INIS)

Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

2013-01-01

A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

A crawling robot driven by multi-stable origami

Science.gov (United States)

Pagano, Alexander; Yan, Tongxi; Chien, Brian; Wissa, A.; Tawfick, S.

2017-09-01

Using origami folding to construct and actuate mechanisms and machines offers attractive opportunities from small, scalable, and cheap robots to deployable adaptive structures. This paper presents the design of a bio-inspired origami crawling robot constructed by folding sheets of paper. The origami building block structure is based on the Kresling crease pattern (CP), a chiral tower with a polygonal base, which expands and contracts through coupled longitudinal and rotational motion similar to a screw. We design the origami to have multi-stable structural equilibria which can be tuned by changing the folding CP. Kinematic analysis of these structures based on rigid-plates and hinges at fold lines precludes the shape transformation associated with the bistability of the physical models. To capture the kinematics of the bi-stable origami, the panels’ deformation behavior is modeled utilizing principles of virtual folds. Virtual folds approximate material bending by hinged, rigid panels, which facilitates the development of a kinematic solution via rigid-plate rotation analysis. As such, the kinetics and stability of folded structures are investigated by assigning suitable torsional spring constants to the fold lines. The results presented demonstrate the effect of fold-pattern geometries on the snapping behavior of the bi-stable origami structure based on the Kresling pattern. The crawling robot is presented as a case study for the use of this origami structure to mimic crawling locomotion. The robot is comprised of two origami towers nested inside a paper bellow, and connected by 3D printed end plates. DC motors are used to actuate the expansion and contraction of the internal origami structures to achieve forward locomotion and steering. Beyond locomotion, this simple design can find applications in manipulators, booms, and active structures.

A measured-ZMP(Zero-Moment-Point)-referenced control of biped locomotion robots

International Nuclear Information System (INIS)

Kume, Etsuo; Akimoto, Masayuki

1994-01-01

For the control of biped locomotion, the model-referenced-control or programmed control method is widely used. In this method, the instantaneous torque of actuator equipped at each joint is controlled so as to equalize measured angle to input joint angle based on the prescribed motion. The drawback is that this method can not deal with the dynamic change of walking such as that due to unknown external force. To resolve such the drawback, we propose a new control method as follows: given a prescribed motion as a set of gait, namely gait of starting walk, cyclic walk, and stopping walk including a standard trajectory of the Zero-Moment-Point (ZMP), the trunk motion to compensate the legs' motion is generated in real time using the current ZMP measured by sensing device. The proposed method will be validated through some numerical simulations. (author)

Locomotor Sub-functions for Control of Assistive Wearable Robots

OpenAIRE

Sharbafi, Maziar A.; Seyfarth, Andre; Zhao, Guoping

2017-01-01

A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated:...

Locomotive Crash Energy Management Coupling Tests

Science.gov (United States)

2018-04-18

This paper describes the results of the CEM equipped locomotive coupling tests. In this set of tests, a moving CEM locomotive was coupled to a standing cab car. The primary objective was to demonstrate the robustness of the PBC design and determine t...

Combining Bio-inspired Sensing with Bio-inspired Locomotion

DEFF Research Database (Denmark)

Shaikh, Danish; Hallam, John; Christensen-Dalsgaard, Jakob

In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model that modula......In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model...

76 FR 2199 - Locomotive Safety Standards

Science.gov (United States)

2011-01-12

..., alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA issued the...) Association of State Rail Safety Managers (ASRSM) Brotherhood of Locomotive Engineers and Trainmen (BLET... desirable to minimize the health and safety effects of temperature extremes. Depending upon the workplace...

A 3D musculo-mechanical model of the salamander for the study of different gaits and modes of locomotion

Directory of Open Access Journals (Sweden)

Nalin eHarischandra

2010-12-01

Full Text Available Computer simulation has been used to investigate several aspectsof locomotion in salamanders. Here we introduce a three-dimensionalforward dynamics mechanical model of a salamander, with physicallyrealistic weight and size parameters. Movements of the four limbs and ofthe trunk and tail are generated by sets of linearly modeled skeletalmuscles. In this study, activation of these muscles were driven byprescribed neural output patterns. The model was successfully used tomimic locomotion on level ground and in water. We compare thewalking gait where a wave of activity in the axial muscles travelsbetween the girdles, with the trotting gait in simulations usingthe musculo-mechanical model. In a separate experiment, the model is usedto compare different strategies for turning while stepping; either bybending the trunk or by using side-stepping in the front legs. We foundthat for turning, the use of side-stepping alone or in combination withtrunk bending, was more effective than the use of trunk bending alone. Weconclude that the musculo-mechanical model described here together with aproper neural controller is useful for neuro-physiological experiments insilico.

Locomotor Sub-functions for Control of Assistive Wearable Robots

Directory of Open Access Journals (Sweden)

Maziar A. Sharbafi

2017-09-01

Full Text Available A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

Locomotor Sub-functions for Control of Assistive Wearable Robots.

Science.gov (United States)

Sharbafi, Maziar A; Seyfarth, Andre; Zhao, Guoping

2017-01-01

A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance : redirecting the center of mass by exerting forces on the ground. Swing : cycling the legs between ground contacts. Balance : maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

49 CFR 230.108 - Steam locomotive leading and trailing trucks.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive leading and trailing trucks. 230... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.108 Steam locomotive leading...

Problems of locomotive wheel wear in fleet replacement

Directory of Open Access Journals (Sweden)

L.P. Lingaytis

2013-08-01

Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

A tracked robot with novel bio-inspired passive "legs".

Science.gov (United States)

Sun, Bo; Jing, Xingjian

2017-01-01

For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot's working capability, and the riding comfort limits the robot's working effectiveness, especially with some sensitive instruments mounted on or operated. To these aims, a track-based robot equipped with a novel passive bio-inspired suspension is designed and studied systematically in this paper. Animal or insects have very special leg or limb structures which are good for motion control and adaptable to different environments. Inspired by this, a new track-based robot is designed with novel "legs" for connecting the loading wheels to the robot body. Each leg is designed with passive structures and can achieve very high loading capacity but low dynamic stiffness such that the robot can move on rough ground similar to a multi-leg animal or insect. Therefore, the trafficability and riding comfort can be significantly improved without losing loading capacity. The new track-based robot can be well applied to various engineering tasks for providing a stable moving platform of high mobility, better trafficability and excellent loading capacity.

77 FR 21311 - Locomotive Safety Standards

Science.gov (United States)

2012-04-09

... preparedness, alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA... Association (ATDA) Amtrak AAR Association of Railway Museums (ARM) Association of State Rail Safety Managers... Administration 49 CFR Parts 229 and 238 Locomotive Safety Standards; Final Rule #0;#0;Federal Register / Vol. 77...

Near infrared spectroscopy for controlling the quality of distal leg perfusion in remote access cardiopulmonary bypass.

Science.gov (United States)

Schachner, Thomas; Bonaros, Nikolaos; Bonatti, Johannes; Kolbitsch, Christian

2008-12-01

The prevention of leg ischemia is necessary in all patients undergoing femoral artery cannulation for extracorporeal circulation. Near infrared spectroscopy (NIRS) is an established non-invasive method for measuring tissue oxygen saturation. Ten patients underwent robotically assisted endoscopic coronary surgery or ASD repair on the arrested heart using aortic endo-occlusion catheters. They were monitored by transcutaneous NIRS (placed on both lower legs) for quality control of distal leg perfusion during femoral access cardiopulmonary bypass. The baseline NIRS values were 61 (52-80) on the cannulated side versus 70 (53-80) on the contralateral leg (p=n.s.). During clamping of the femoral artery for installation of the remote access perfusion system the tissue oxygen saturation dropped to 38 (18-58) (p=0.001 vs baseline) while it remained stable on the contralateral leg. After successful implantation of the distal leg perfusion the NIRS values normalized to similar amounts on both legs. We conclude that transcutaneous NIRS of the lower legs might be a useful non-invasive tool for monitoring leg perfusion in patients undergoing extracorporeal circulation via the femoral vessels.

Blunt impact tests of retired passenger locomotive fuel tanks

Science.gov (United States)

2017-08-01

The Transportation Technology Center, Inc. conducted impact tests on three locomotive fuel tanks as part of the Federal Railroad Administrations locomotive fuel tank crashworthiness improvement program. Three fuel tanks, two from EMD F40PH locomot...

Altered control strategy between leading and trailing leg increases knee adduction moment in the elderly while descending stairs.

Science.gov (United States)

Karamanidis, Kiros; Arampatzis, Adamantios

2011-02-24

The aim of the study was to examine the external knee adduction moments in a group of older and younger adults while descending stairs and thus the possibility of an increased risk of knee osteoarthritis due to altered knee joint loading in the elderly. Twenty-seven older and 16 younger adults descended a purpose-built staircase. A motion capture system and a force plate were used to determine the subjects' 3D kinematics and ground reaction forces (GRF) during locomotion. Calculation of the leg kinematics and kinetics was done by means of a rigid, three-segment, 3D leg model. In the initial portion of the support phase, older adults showed a more medio-posterior GRF vector relative to the ankle joint, leading to lower ankle joint moments (Pstairs by using the trailing leg before the initiation of the double support phase more compared to the younger ones. The consequence of this altered control strategy while stepping down is a more medially directed GRF vector increasing the magnitude of external knee adduction moment in the elderly. The observed changes between leading and trailing leg in the elderly may cause a redistribution of the mechanical load at the tibiofemoral joint, affecting the initiation and progression of knee osteoarthritis in the elderly. Copyright © 2010 Elsevier Ltd. All rights reserved.

The mechanics of slithering locomotion.

Science.gov (United States)

Hu, David L; Nirody, Jasmine; Scott, Terri; Shelley, Michael J

2009-06-23

In this experimental and theoretical study, we investigate the slithering of snakes on flat surfaces. Previous studies of slithering have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a theoretical model for slithering locomotion by observing snake motion kinematics and experimentally measuring the friction coefficients of snakeskin. Our predictions of body speed show good agreement with observations, demonstrating that snake propulsion on flat ground, and possibly in general, relies critically on the frictional anisotropy of their scales. We have also highlighted the importance of weight distribution in lateral undulation, previously difficult to visualize and hence assumed uniform. The ability to redistribute weight, clearly of importance when appendages are airborne in limbed locomotion, has a much broader generality, as shown by its role in improving limbless locomotion.

EVALUATION OF DYNAMIC INDICATORS OF SIX-AXLE LOCOMOTIVE

Directory of Open Access Journals (Sweden)

S. V. Myamlin

2015-04-01

Full Text Available Purpose. The paper is devoted to dynamic characteristics evaluation of the locomotive with prospective design and determination the feasibility of its use on the Ukrainian railways. Methodology. The methods of mathematical and computer modeling of the dynamics of railway vehicles, as well as methods for the numerical integration of systems of ordinary nonlinear differential equations were used to solve the problem. Findings. The calculated diagram of a locomotive on three-axle bogies was built to solve the problem, and it is a system of rigid bodies connected by various elements of rheology. The mathematical model of the locomotive movement, allowing studying its spatial vibrations at driving on straight and curved sections of the track with random irregularities in plan and profile was developed with use of this calculated diagram. At compiling the mathematical model took into account both geometric (nonlinearity profile of the wheel roll surface and physical nonlinearity of the system (the work forces of dry friction, nonlinearity characteristics of interaction forces between wheels and rails. The multivariate calculations, which allowed assessing the dynamic qualities of the locomotive at its movement along straight and curved sections of the track, were realized with the use of computer modeling. The smoothness movement indicators of the locomotive in horizontal and vertical planes, frame strength, coefficients of vertical dynamics in the first and second stages of the suspension, the load factor of resistance against the derailment of the wheel from the rail were determined at the period of research. In addition, a comparison of the obtained results with similar characteristics is widely used on the Ukrainian railways in six-axle locomotive TE 116. The influence of speed and technical state of the track on the locomotive traffic safety was determined.Originality. A mathematical model of the spatial movement of a six-axle locomotive with

Fundamentals of soft robot locomotion

OpenAIRE

Calisti, M.; Picardi, G.; Laschi, C.

2017-01-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

Railroad and locomotive technology roadmap.

Energy Technology Data Exchange (ETDEWEB)

Stodolsky, F.; Gaines, L.; Energy Systems

2003-02-24

Railroads are important to the U.S. economy. They transport freight efficiently, requiring less energy and emitting fewer pollutants than other modes of surface transportation. While the railroad industry has steadily improved its fuel efficiency--by 16% over the last decade--more can, and needs to, be done. The ability of locomotive manufacturers to conduct research into fuel efficiency and emissions reduction is limited by the small number of locomotives manufactured annually. Each year for the last five years, the two North American locomotive manufacturers--General Electric Transportation Systems and the Electro-Motive Division of General Motors--have together sold about 800 locomotives in the United States. With such a small number of units over which research costs can be spread, outside help is needed to investigate all possible ways to reduce fuel usage and emissions. Because fuel costs represent a significant portion of the total operating costs of a railroad, fuel efficiency has always been an important factor in the design of locomotives and in the operations of a railroad. However, fuel efficiency has recently become even more critical with the introduction of strict emission standards by the U.S. Environmental Protection Agency, to be implemented in stages (Tiers 0, 1, and 2) between 2000 and 2005. Some of the technologies that could be employed to meet the emission standards may negatively affect fuel economy--by as much as 10-15% when emissions are reduced to Tier 1 levels. Lowering fuel economy by that magnitude would have a serious impact on the cost to the consumer of goods shipped by rail, on the competitiveness of the railroad industry, and on this country's dependence on foreign oil. Clearly, a joint government/industry R&D program is needed to help catalyze the development of advanced technologies that will substantially reduce locomotive engine emissions while also improving train system energy efficiency. DOE convened an industry

Birds achieve high robustness in uneven terrain through active control of landing conditions.

Science.gov (United States)

Birn-Jeffery, Aleksandra V; Daley, Monica A

2012-06-15

We understand little about how animals adjust locomotor behaviour to negotiate uneven terrain. The mechanical demands and constraints of such behaviours likely differ from uniform terrain locomotion. Here we investigated how common pheasants negotiate visible obstacles with heights from 10 to 50% of leg length. Our goal was to determine the neuro-mechanical strategies used to achieve robust stability, and address whether strategies vary with obstacle height. We found that control of landing conditions was crucial for minimising fluctuations in stance leg loading and work in uneven terrain. Variation in touchdown leg angle (θ(TD)) was correlated with the orientation of ground force during stance, and the angle between the leg and body velocity vector at touchdown (β(TD)) was correlated with net limb work. Pheasants actively targeted obstacles to control body velocity and leg posture at touchdown to achieve nearly steady dynamics on the obstacle step. In the approach step to an obstacle, the birds produced net positive limb work to launch themselves upward. On the obstacle, body dynamics were similar to uniform terrain. Pheasants also increased swing leg retraction velocity during obstacle negotiation, which we suggest is an active strategy to minimise fluctuations in peak force and leg posture in uneven terrain. Thus, pheasants appear to achieve robustly stable locomotion through a combination of path planning using visual feedback and active adjustment of leg swing dynamics to control landing conditions. We suggest that strategies for robust stability are context specific, depending on the quality of sensory feedback available, especially visual input.

The Human Central Pattern Generator for Locomotion.

Science.gov (United States)

Minassian, Karen; Hofstoetter, Ursula S; Dzeladini, Florin; Guertin, Pierre A; Ijspeert, Auke

2017-03-01

The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.

Le Shuttle, the locomotive from Eurotunnel

OpenAIRE

Gabriel MOISA

2002-01-01

This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

Mechanical evidence that flamingos can support their body on one leg with little active muscular force.

Science.gov (United States)

Chang, Young-Hui; Ting, Lena H

2017-05-01

Flamingos (Phoenicopteridae) often stand and sleep on one leg for long periods, but it is unknown how much active muscle contractile force they use for the mechanical demands of standing on one leg: body weight support and maintaining balance. First, we demonstrated that flamingo cadavers could passively support body weight on one leg without any muscle activity while adopting a stable, unchanging, joint posture resembling that seen in live flamingos. By contrast, the cadaveric flamingo could not be stably held in a two-legged pose, suggesting a greater necessity for active muscle force to stabilize two-legged versus one-legged postures. Our results suggest that flamingos engage a passively engaged gravitational stay apparatus (proximally located) for weight support during one-legged standing. Second, we discovered that live flamingos standing on one leg have markedly reduced body sway during quiescent versus alert behaviours, with the point of force application directly under the distal joint, reducing the need for muscular joint torque. Taken together, our results highlight the possibility that flamingos stand for long durations on one leg without exacting high muscular forces and, thus, with little energetic expenditure. © 2017 The Author(s).

49 CFR 230.101 - Steam locomotive driving journal boxes.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal boxes. Driving journal boxes shall be maintained in a safe and suitable condition for service. Not more...

DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS

Directory of Open Access Journals (Sweden)

S. V. Myamlin

2013-09-01

Full Text Available Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL». Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed

Boldness and intermittent locomotion in the bluegill sunfish, Lepomis macrochirus

OpenAIRE

Alexander D.M. Wilson; Jean-Guy J. Godin

2009-01-01

Intermittent locomotion, characterized by moves interspersed with pauses, is a common pattern of locomotion in animals, but its ecological and evolutionary significance relative to continuous locomotion remains poorly understood. Although many studies have examined individual differences in both intermittent locomotion and boldness separately, to our knowledge, no study to date has investigated the relationship between these 2 traits. Characterizing and understanding this relationship is impo...

Le Shuttle, the locomotive from Eurotunnel

Directory of Open Access Journals (Sweden)

Gabriel MOISA

2002-12-01

Full Text Available This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

The Need for Speed in Rodent Locomotion Analyses

OpenAIRE

Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

2014-01-01

Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript,...

Selection on male size, leg length and condition during mate search in a sexually highly dimorphic orb-weaving spider.

Science.gov (United States)

Foellmer, Matthias W; Fairbairn, Daphne J

2005-02-01

Mate search plays a central role in hypotheses for the adaptive significance of extreme female-biased sexual size dimorphism (SSD) in animals. Spiders (Araneae) are the only free-living terrestrial taxon where extreme SSD is common. The "gravity hypothesis" states that small body size in males is favoured during mate search in species where males have to climb to reach females, because body length is inversely proportional to achievable speed on vertical structures. However, locomotive performance of males may also depend on relative leg length. Here we examine selection on male body size and leg length during mate search in the highly dimorphic orb-weaving spider Argiope aurantia, using a multivariate approach to distinguish selection targeted at different components of size. Further, we investigate the scaling relationships between male size and energy reserves, and the differential loss of reserves. Adult males do not feed while roving, and a size-dependent differential energy storage capacity may thus affect male performance during mate search. Contrary to predictions, large body size was favoured in one of two populations, and this was due to selection for longer legs. Male size was not under selection in the second population, but we detected direct selection for longer third legs. Males lost energy reserves during mate search, but this was independent of male size and storage capacity scaled isometrically with size. Thus, mate search is unlikely to lead to selection for small male size, but the hypothesis that relatively longer legs in male spiders reflect a search-adapted morphology is supported.

Lizard locomotion in heterogeneous granular media

Science.gov (United States)

Schiebel, Perrin; Goldman, Daniel

2014-03-01

Locomotion strategies in heterogeneous granular environments (common substrates in deserts), are relatively unexplored. The zebra-tailed lizard (C. draconoides) is a useful model organism for such studies owing to its exceptional ability to navigate a variety of desert habitats at impressive speed (up to 50 body-lengths per second) using both quadrapedal and bidepal gaits. In laboratory experiments, we challenge the lizards to run across a field of boulders (2.54 cm diameter glass spheres or 3.8 cm 3D printed spheres) placed in a lattice pattern and embedded in a loosely packed granular medium of 0.3 mm diameter glass particles. Locomotion kinematics of the lizard are recorded using high speed cameras, with and without the scatterers. The data reveals that unlike the lizard's typical quadrupedal locomotion using a diagonal gait, when scatterers are present the lizard is most successful when using a bipedal gait, with a raised center of mass (CoM). We propose that the kinematics of bipedal running in conjunction with the lizard's long toes and compliant hind foot are the keys to this lizard's successful locomotion in the presence of such obstacles. NSF PoLS

THE EFFECTS OF SINGLE LEG HOP PROGRESSION AND DOUBLE LEGS HOP PROGRESSION EXERCISE TO INCREASE SPEED AND EXPLOSIVE POWER OF LEG MUSCLE

Directory of Open Access Journals (Sweden)

Nining W. Kusnanik

2015-05-01

Full Text Available The main purpose of this study was to determine the effect of single leg hop progression and double legs hop progression exercise to increase speed and explosive power of leg muscles. Plyometric is one of the training methods that can increase explosive power. There are many models of plyometric training including single leg hop progression and double leg hop progression. This research was experimental using match subject design techniques. The subjects of this study were 39 students who joined basketball school club. There were 3 groups in this study: Group 1 were 13 students who given sin¬gle leg hop progression exercise, Group 2 were 13 students who given double legs hop progression exercise, Group 3 were 13 students who given conventional exercise. The data was collected during pre test and post test by testing 30m speed running and vertical jump. The data was analyzed using Analysis of Varians (Anova. It was found that there were significantly increased on speed and explosive power of leg muscles of Group 1 and Group 2. It can be stated that single leg hop progression exercise was more effective than double leg hop progression exercise. The recent findings supported the hypothesis that single leg hop progression and double legs hop progression exercise can increase speed and explosive power of leg muscles. These finding were supported by some previous studies (Singh, et al, 2011; Shallaby, H.K., 2010. The single leg hop progression is more effective than double legs hop progression. This finding was consistent with some previous evidences (McCurdy, et al, 2005; Makaruk et al, 2011.

Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

OpenAIRE

Chevallereau , Christine; Boyer , Frédéric; Porez , Mathieu; Mauny , Johan; Aoustin , Yannick

2017-01-01

International audience; — To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with thei...

Architectures of soft robotic locomotion enabled by simple mechanical principles.

Science.gov (United States)

Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

2017-06-28

In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

The investigation of the locomotive boiler material

International Nuclear Information System (INIS)

Tucholski, Z.; Wasiak, J.; Bilous, W.; Hajewska, E.

2006-01-01

In the paper, the history of narrow-gauge railway system is described. The other information about the steam locomotive construction, as well as the technical regulations of its construction and exploitation are also done. The results of the studies of the locomotive boiler material are presented. (authors)

49 CFR 230.90 - Draw gear between steam locomotive and tender.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Draw gear between steam locomotive and tender. 230... Steam Locomotives and Tenders Draw Gear and Draft Systems § 230.90 Draw gear between steam locomotive and tender. (a) Maintenance and testing. The draw gear between the steam locomotive and tender...

Control strategy for energy-efficient bipedal walking with variable leg stiffness

NARCIS (Netherlands)

Visser, L.C.; Stramigioli, Stefano; Carloni, Raffaella

In this work, we propose a hybrid model for a bipedal walker with controlled variable leg stiffness, and a control strategy for stable gait control. The control reference is a passive gait of the limit-case bipedal spring-loaded inverted pendulum model with massless feet, ensuring that the gait is

Analysis of fuel cell hybrid locomotives

Energy Technology Data Exchange (ETDEWEB)

Miller, Arnold R. [Vehicle Projects LLC, 621, 17th Street, Suite 2131, Denver, CO 80293 (United States); Peters, John; Smith, Brian E. [Transportation Technology Center Inc., 55500 DOT Road, Pueblo, CO 81007 (United States); Velev, Omourtag A. [AeroVironment Inc., 232 West Maple Avenue, Monrovia, CA 91016 (United States)

2006-07-03

Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109t, 1.2MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive, that

Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

Directory of Open Access Journals (Sweden)

Hong-Chao Zhuang

2017-03-01

Full Text Available Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driven large-load-ratio six-legged robot. First, the configuration and walking gait of the electrically driven large-load-ratio six-legged robot are designed. The higher-stable swing sequences of legs and typical walking modes are respectively obtained. Based on the Denavit–Hartenberg (D–H method, the analyses of the forward and inverse kinematics are implemented. The mathematical models of the articulated rotation angles are respectively established. In view of the buffer device installed at the end of shin to decrease the impact force between the foot and the ground, an initial lift height of the leg is brought into gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. Finally, a prototype of the electrically driven large-load-ratio six-legged robot is developed. The experiments of the prototype are carried out regarding the aspects of the walking speed and surmounting obstacle. Then, the reasonableness of gait planning is verified based on the experimental results. The proposed strategies of gait planning lay the foundation for effectively reducing the foot–ground impact force and can provide a reference for other large-load-ratio multi-legged robots.

49 CFR 230.106 - Steam locomotive frame.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive frame. 230.106 Section 230.106... Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and inspection. Frames, decks, plates, tailpieces, pedestals, and braces shall be maintained in a safe and...

Distribution of spinal neuronal networks controlling forward and backward locomotion.

Science.gov (United States)

Merkulyeva, Natalia; Veshchitskii, Aleksandr; Gorsky, Oleg; Pavlova, Natalia; Zelenin, Pavel V; Gerasimenko, Yury; Deliagina, Tatiana G; Musienko, Pavel

2018-04-20

Higher vertebrates, including humans, are capable not only of forward (FW) locomotion but also of walking in other directions relative to the body axis [backward (BW), sideways, etc.]. While the neural mechanisms responsible for controlling FW locomotion have been studied in considerable detail, the mechanisms controlling steps in other directions are mostly unknown. The aim of the present study was to investigate the distribution of spinal neuronal networks controlling FW and BW locomotion. First, we applied electrical epidural stimulation (ES) to different segments of the spinal cord from L2 to S2 to reveal zones triggering FW and BW locomotion in decerebrate cats of either sex. Second, to determine the location of spinal neurons activated during FW and BW locomotion, we used c-fos immunostaining. We found that the neuronal networks responsible for FW locomotion were distributed broadly in the lumbosacral spinal cord and could be activated by ES of any segment from L3 to S2. By contrast, networks generating BW locomotion were activated by ES of a limited zone from the caudal part of L5 to the caudal part of L7. In the intermediate part of the gray matter within this zone, a significantly higher number of c- fos -positive interneurons was revealed in BW-stepping cats compared with FW-stepping cats. We suggest that this region of the spinal cord contains the network that determines the BW direction of locomotion. Significance Statement Sequential and single steps in various directions relative to the body axis [forward (FW), backward (BW), sideways, etc.] are used during locomotion and to correct for perturbations, respectively. The mechanisms controlling step direction are unknown. In the present study, for the first time we compared the distributions of spinal neuronal networks controlling FW and BW locomotion. Using a marker to visualize active neurons, we demonstrated that in the intermediate part of the gray matter within L6 and L7 spinal segments

Full-scale locomotive dynamic crash testing and correlations : locomotive consist colliding with steel coil truck at grade crossing (test 3).

Science.gov (United States)

2011-09-01

This report presents the test results and finite element correlations of a full-scale dynamic collision between a locomotive and a highway truck loaded with two heavy steel coils. The locomotive consist was moving at 58 miles per hour before it struc...

Origami-based earthworm-like locomotion robots.

Science.gov (United States)

Fang, Hongbin; Zhang, Yetong; Wang, K W

2017-10-16

Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

Wind-powered wheel locomotion, initiated by leaping somersaults, in larvae of the southeastern beach tiger beetle (Cicindela dorsalis media.

Directory of Open Access Journals (Sweden)

Alan Harvey

2011-03-01

Full Text Available Rapid movement is challenging for elongate, soft-bodied animals with short or no legs. Leaping is known for only a few animals with this "worm-like" morphology. Wheel locomotion, in which the animal's entire body rolls forward along a central axis, has been reported for only a handful of animals worldwide. Here we present the first documented case of wind-powered wheel locomotion, in larvae of the coastal tiger beetle Cicindela dorsalis media. When removed from their shallow burrows, larvae easily can be induced to enter a behavioral sequence that starts with leaping; while airborne, larvae loop their body into a rotating wheel and usually either "hit the ground rolling" or leap again. The direction larvae wheel is closely related to the direction in which winds are blowing; thus, all our larvae wheeled up-slope, as winds at our study site consistently blew from sea to land. Stronger winds increased both the proportion of larvae wheeling, and the distance traveled, exceeding 60 m in some cases. In addition, the proportion of larvae that wheel and the distance traveled by wheeling larvae are significantly greater on smooth sandy beaches than on beach surfaces made rough and irregular by pedestrian, equestrian, and vehicular traffic. Like other coastal species of tiger beetles, C. dorsalis media has suffered major declines in recent years that are clearly correlated with increased human impacts. The present study suggests that the negative effects of beach traffic may be indirect, preventing larvae from escaping from predators using wheel locomotion by disrupting the flat, hard surface necessary for efficient wheeling.

How animals move: comparative lessons on animal locomotion.

Science.gov (United States)

Schaeffer, Paul J; Lindstedt, Stan L

2013-01-01

Comparative physiology often provides unique insights in animal structure and function. It is specifically through this lens that we discuss the fundamental properties of skeletal muscle and animal locomotion, incorporating variation in body size and evolved difference among species. For example, muscle frequencies in vivo are highly constrained by body size, which apparently tunes muscle use to maximize recovery of elastic recoil potential energy. Secondary to this constraint, there is an expected linking of skeletal muscle structural and functional properties. Muscle is relatively simple structurally, but by changing proportions of the few muscle components, a diverse range of functional outputs is possible. Thus, there is a consistent and predictable relation between muscle function and myocyte composition that illuminates animal locomotion. When animals move, the mechanical properties of muscle diverge from the static textbook force-velocity relations described by A. V. Hill, as recovery of elastic potential energy together with force and power enhancement with activation during stretch combine to modulate performance. These relations are best understood through the tool of work loops. Also, when animals move, locomotion is often conveniently categorized energetically. Burst locomotion is typified by high-power outputs and short durations while sustained, cyclic, locomotion engages a smaller fraction of the muscle tissue, yielding lower force and power. However, closer examination reveals that rather than a dichotomy, energetics of locomotion is a continuum. There is a remarkably predictable relationship between duration of activity and peak sustainable performance.

Emotion through locomotion: gender impact.

Directory of Open Access Journals (Sweden)

Samuel Krüger

Full Text Available Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition.

The aspect of vector control using the asynchronous traction motor in locomotives

Directory of Open Access Journals (Sweden)

L. Liudvinavičius

2009-12-01

Full Text Available The article examines curves controlling asynchronous traction motors increasingly used in locomotive electric drives the main task of which is to create a tractive effort-speed curve of an ideal locomotive Fk = f(v, including a hyperbolic area the curve of which will create conditions showing that energy created by the diesel engine of diesel locomotives (electric locomotives and in case of electric trains, electricity taken from the contact network over the entire range of locomotive speed is turned into efficient work. Mechanical power on wheel sets is constant Pk = Fkv = const, the power of the diesel engine is fully used over the entire range of locomotive speed. Tractive effort-speed curve Fk(v shows the dependency of locomotive traction power Fk on movement speed v. The article presents theoretical and practical aspects relevant to creating the structure of locomotive electric drive and selecting optimal control that is especially relevant to creating the structure of locomotive electric drive using ATM (asynchronous traction motor that gains special popularity in traction rolling stock replacing DC traction motors having low reliability. The frequency modes of asynchronous motor speed regulation are examined. To control ATM, the authors suggest the method of vector control presenting the structural schemes of a locomotive with ATM and control algorithm.

49 CFR 230.12 - Movement of non-complying steam locomotives.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying steam locomotives. 230... General General Inspection Requirements § 230.12 Movement of non-complying steam locomotives. (a) General limitations on movement. A steam locomotive with one or more non-complying conditions may be moved only as a...

INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

Directory of Open Access Journals (Sweden)

I. V. Zhukovytskyy

2015-08-01

Full Text Available Purpose. The article describes the process of developing the information-measuring test system of diesel locomotives hydraulic transmission, which gives the possibility to obtain baseline data to conduct further studies for the determination of the technical condition of diesel locomotives hydraulic transmission. The improvement of factory technology of post-repair tests of hydraulic transmissions by automating the existing hydraulic transmission test stands according to the specifications of the diesel locomotive repair enterprises was analyzed. It is achieved based on a detailed review of existing foreign information-measuring test systems for hydraulic transmission of diesel locomotives, BelAZ earthmover, aircraft tug, slag car, truck, BelAZ wheel dozer, some brands of tractors, etc. The problem for creation the information-measuring test systems for diesel locomotive hydraulic transmission is being solved, starting in the first place from the possibility of automation of the existing test stand of diesel locomotives hydraulic transmission at Dnipropetrovsk Diesel Locomotive Repair Plant "Promteplovoz". Methodology. In the work the researchers proposed the method to create a microprocessor automated system of diesel locomotives hydraulic transmission stand testing in the locomotive plant conditions. It acts by justifying the selection of the necessary sensors, as well as the application of the necessary hardware and software for information-measuring systems. Findings. Based on the conducted analysis there was grounded the necessity of improvement the plant hydraulic transmission stand testing by creating a microprocessor testing system, supported by the experience of developing such systems abroad. Further research should be aimed to improve the accuracy and frequency of data collection by adopting the more modern and reliable sensors in tandem with the use of filtering software for electromagnetic and other interference. Originality. The

High performance p-type segmented leg of misfit-layered cobaltite and half-Heusler alloy

International Nuclear Information System (INIS)

Hung, Le Thanh; Van Nong, Ngo; Snyder, G. Jeffrey; Viet, Man Hoang; Balke, Benjamin; Han, Li; Stamate, Eugen; Linderoth, Søren; Pryds, Nini

2015-01-01

Highlights: • p-type segmented leg of oxide and half-Heusler was for the first time demonstrated. • The maximum conversion efficiency reached a value of about 5%. • The results are among the highest reported values so far for oxide-based legs. • Oxide-based segmented leg is very promising for generating electricity. - Abstract: In this study, a segmented p-type leg of doped misfit-layered cobaltite Ca 2.8 Lu 0.15 Ag 0.05 Co 4 O 9+δ and half-Heusler Ti 0.3 Zr 0.35 Hf 0.35 CoSb 0.8 Sn 0.2 alloy was fabricated and characterized. The thermoelectric properties of single components, segmented leg, and the electrical contact resistance of the joint part were measured as a function of temperature. The output power generation characteristics of segmented legs were characterized in air under various temperature gradients, ΔT, with the hot side temperature up to 1153 K. At ΔT ≈ 756 K, the maximum conversion efficiency reached a value of ∼5%, which is about 65% of that expected from the materials without parasitic losses. The long-term stability investigation for two weeks at the hot and cold side temperatures of 1153/397 K shows that the segmented leg has good durability as a result of stable and low electrical resistance contacts

Locomotion on the water surface: hydrodynamic constraints on rowing velocity require a gait change

Science.gov (United States)

Suter; Wildman

1999-10-01

Fishing spiders, Dolomedes triton (Araneae, Pisauridae), propel themselves across the water surface using two gaits: they row with four legs at sustained velocities below 0.2 m s(-)(1) and they gallop with six legs at sustained velocities above 0.3 m s(-)(1). Because, during rowing, most of the horizontal thrust is provided by the drag of the leg and its associated dimple as both move across the water surface, the integrity of the dimple is crucial. We used a balance, incorporating a biaxial clinometer as the transducer, to measure the horizontal thrust forces on a leg segment subjected to water moving past it in non-turbulent flow. Changes in the horizontal forces reflected changes in the status of the dimple and showed that a stable dimple could exist only under conditions that combined low flow velocity, shallow leg-segment depth and a long perimeter of the interface between the leg segment and the water. Once the dimple disintegrated, leaving the leg segment submerged, less drag was generated. Therefore, the disintegration of the dimple imposes a limit on the efficacy of rowing with four legs. The limited degrees of freedom in the leg joints (the patellar joints move freely in the vertical plane but allow only limited flexion in other planes) impose a further constraint on rowing by restricting the maximum leg-tip velocity (to approximately 33 % of that attained by the same legs during galloping). This confines leg-tip velocities to a range at which maintenance of the dimple is particularly important. The weight of the spider also imposes constraints on the efficacy of rowing: because the drag encountered by the leg-cum-dimple is proportional to the depth of the dimple and because dimple depth is proportional to the supported weight, only spiders with a mass exceeding 0.48 g can have access to the full range of hydrodynamically possible dimple depths during rowing. Finally, the maximum velocity attainable during rowing is constrained by the substantial drag

The Relationship among Leg Strength, Leg Power and Alpine Skiing Success.

Science.gov (United States)

Gettman, Larry R.; Huckel, Jack R.

The purpose of this study was to relate leg strength and power to alpine skiing success as measured by FIS points. Isometric leg strength was represented by the knee extension test described by Clarke. Leg power was measured by the vertical jump test and the Margaria-Kalamen stair run. Results in the strength and power tests were correlated with…

The Role of Complex Treatment in Mixed Leg Ulcers - A Case Report of Vascular, Surgical and Physical Therapy.

Science.gov (United States)

Wollina, Uwe; Heinig, Birgit; Stelzner, Christian; Hansel, Gesina; Schönlebe, Jacqueline; Tchernev, Georgi; Lotti, Torello

2018-01-25

Leg ulcers are a burden to patients, their families and society. The second most common cause of chronic leg ulcers is the mixed arterio-venous type. An 80-year-old female patient presented to our department due to painful enlarging chronic leg ulcer of mixed arteriovenous origin on her left lower leg. She suffered from peripheral arterial occlusive disease stage I and chronic venous insufficiency Widmer grade IIIa, and a number of comorbidities. The aim of our ulcer treatment was a complete and stable wound closure that was hampered by arterial occlusion, exposed tendon, and renal insiffuciency. To improve the prognosis for ulcer surgery, we performed percutaneous transluminal angioplasty, transcutaneous CO 2 and deep ulcer shaving. The wound was closed by sandwich transplantation using elastin-collagen dermal template and meshed split skin graft. She had a 100% graft take with rapid reduction of severe wound pain. Complex approaches are necessary, to gain optimum results in leg ulcer therapy in mixed leg ulcers. Therapeutic nihilism should be abandonend.

Modular control of limb movements during human locomotion

NARCIS (Netherlands)

Ivanenko, Yuri P; Cappellini, Germana; Dominici, Nadia; Poppele, Richard E; Lacquaniti, Francesco

2007-01-01

The idea that the CNS may control complex interactions by modular decomposition has received considerable attention. We explored this idea for human locomotion by examining limb kinematics. The coordination of limb segments during human locomotion has been shown to follow a planar law for walking at

Numerical simulation of human biped locomotion

International Nuclear Information System (INIS)

Ishiguro, Misako; Fujisaki, Masahide

1988-04-01

This report describes the numerical simulation of the motion of human-like robot which is one of the research theme of human acts simulation program (HASP) begun at the Computing Center of JAERI in 1987. The purpose of the theme is to model the human motion using robotics kinematic/kinetic equations and to get the joint angles as the solution. As the first trial, we treat the biped locomotion (walking) which is the most fundamental human motion. We implemented a computer program on FACOM M-780 computer, where the program is originated from the book of M. Vukobratovic in Yugoslavia, and made a graphic program to draw a walking shot sequence. Mainly described here are the mathematical model of the biped locomotion, implementation method of the computer program, input data for basic walking pattern, computed results and its validation, and graphic representation of human walking image. Literature survey on robotics equation and biped locomotion is also included. (author)

Advanced underground Vehicle Power and Control: The locomotive Research Platform

Energy Technology Data Exchange (ETDEWEB)

Vehicle Projects LLC

2003-01-28

Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

Task-level strategies for human sagittal-plane running maneuvers are consistent with robotic control policies.

Directory of Open Access Journals (Sweden)

Mu Qiao

Full Text Available The strategies that humans use to control unsteady locomotion are not well understood. A "spring-mass" template comprised of a point mass bouncing on a sprung leg can approximate both center of mass movements and ground reaction forces during running in humans and other animals. Legged robots that operate as bouncing, "spring-mass" systems can maintain stable motion using relatively simple, distributed feedback rules. We tested whether the changes to sagittal-plane movements during five running tasks involving active changes to running height, speed, and orientation were consistent with the rules used by bouncing robots to maintain stability. Changes to running height were associated with changes to leg force but not stance duration. To change speed, humans primarily used a "pogo stick" strategy, where speed changes were associated with adjustments to fore-aft foot placement, and not a "unicycle" strategy involving systematic changes to stance leg hip moment. However, hip moments were related to changes to body orientation and angular speed. Hip moments could be described with first order proportional-derivative relationship to trunk pitch. Overall, the task-level strategies used for body control in humans were consistent with the strategies employed by bouncing robots. Identification of these behavioral strategies could lead to a better understanding of the sensorimotor mechanisms that allow for effective unsteady locomotion.

Differences in kinematics of single leg squatting between anterior cruciate ligament-injured patients and healthy controls.

Science.gov (United States)

Yamazaki, J; Muneta, T; Ju, Y J; Sekiya, I

2010-01-01

Seventy to eighty percent of all anterior cruciate ligament (ACL) injuries are due to non-contact injury mechanisms. It has been reported that the majority of injuries due to single leg landing come from valgus positioning of the lower leg. Preventing valgus positioning during single leg landing is expected to help reduce the number of ACL injuries. We found that many ACL-deficient patients cannot perform stable single leg squatting. Therefore, we performed 3D motion analysis of the single-legged half squat for ACL-injured patients to evaluate its significance as a risk factor for ACL injuries. We evaluated the relative angles between the body, thigh, and lower leg using an electromagnetic device during single leg half squatting performed by 63 ACL-injured patients (32 males, 31 females) the day before ACL reconstruction and by 26 healthy control subjects with no knee problems. The uninjured leg of ACL-injured male subjects demonstrated significantly less external knee rotation than that of the dominant leg of the male control. The uninjured leg of ACL-injured female subjects demonstrated significantly more external hip rotation and knee flexion and less hip flexion than that of the dominant leg of the female control. Comparing injured and uninjured legs, the injured leg of male subjects demonstrated significantly less external knee and hip rotation, less knee flexion, and more knee varus than that of the uninjured leg of male subjects. The injured leg of female subjects demonstrated more knee varus than that of the uninjured leg of female subjects. Regarding gender differences, female subjects demonstrated significantly more external hip rotation and knee valgus than male subjects did in both the injured and uninjured legs (P < 0.05). The current kinematic study exhibited biomechanical characteristics of female ACL-injured subjects compared with that of control groups. Kinematic correction during single leg half squat would reduce ACL reinjury in female ACL

49 CFR 232.105 - General requirements for locomotives.

Science.gov (United States)

2010-10-01

... locomotives. (a) The air brake equipment on a locomotive shall be in safe and suitable condition for service... set pressure at any service application with the brakes control valve in the freight position. If such... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION BRAKE SYSTEM SAFETY STANDARDS FOR FREIGHT AND OTHER NON-PASSENGER...

Energetics and biomechanics of locomotion by red kangaroos (Macropus rufus).

Science.gov (United States)

Kram, R; Dawson, T J

1998-05-01

As red kangaroos hop faster over level ground, their rate of oxygen consumption (indicating metabolic energy consumption) remains nearly the same. This phenomenon has been attributed to exceptional elastic energy storage and recovery via long compliant tendons in the legs. Alternatively, red kangaroos may have exceptionally efficient muscles. To estimate efficiency, we measured the metabolic cost of uphill hopping, where muscle fibers must perform mechanical work against gravity. We found that uphill hopping was much more expensive than level hopping. The maximal rate of oxygen consumption measured (3 ml O2 kg-1 s-1) exceeds all but a few vertebrate species. However, efficiency values were normal, approximately 30%. At faster level hopping speeds the effective mechanical advantage of the extensor muscles of the ankle joint remained the same. Thus, kangaroos generate the same muscular force at all speeds but do so more rapidly at faster hopping speeds. This contradicts a recent hypothesis for what sets the cost of locomotion. The cost of transport (J kg-1 m-1) decreases at faster hopping speeds, yet red kangaroos prefer to use relatively slow speeds that avoid high levels of tendon stress.

The one-leg standing radiograph

OpenAIRE

Pinsornsak, P.; Naratrikun, K.; Kanitnate, S.; Sangkomkamhang, T.

2016-01-01

Objectives The purpose of this study was to compare the joint space width between one-leg and both-legs standing radiographs in order to diagnose a primary osteoarthritis of the knee. Methods Digital radiographs of 100 medial osteoarthritic knees in 50 patients were performed. The patients had undergone one-leg standing anteroposterior (AP) views by standing on the affected leg while a both-legs standing AP view was undertaken while standing on both legs. The severity of the osteoarthritis wa...

Single-leg squats can predict leg alignment in dancers performing ballet movements in "turnout".

Science.gov (United States)

Hopper, Luke S; Sato, Nahoko; Weidemann, Andries L

2016-01-01

The physical assessments used in dance injury surveillance programs are often adapted from the sports and exercise domain. Bespoke physical assessments may be required for dance, particularly when ballet movements involve "turning out" or external rotation of the legs beyond that typically used in sports. This study evaluated the ability of the traditional single-leg squat to predict the leg alignment of dancers performing ballet movements with turnout. Three-dimensional kinematic data of dancers performing the single-leg squat and five ballet movements were recorded and analyzed. Reduction of the three-dimensional data into a one-dimensional variable incorporating the ankle, knee, and hip joint center positions provided the strongest predictive model between the single-leg squat and the ballet movements. The single-leg squat can predict leg alignment in dancers performing ballet movements, even in "turned out" postures. Clinicians should pay careful attention to observational positioning and rating criteria when assessing dancers performing the single-leg squat.

Lumbar spondylosis, lumbar spinal stenosis, knee pain, back muscle strength are associated with the locomotive syndrome: Rural population study in Japan.

Science.gov (United States)

Chiba, Daisuke; Tsuda, Eiichi; Wada, Kanichiro; Kumagai, Gentaro; Sasaki, Eiji; Nawata, Atsushi; Nakagomi, Sho; Takahashi, Ippei; Nakaji, Shigeyuki; Ishibashi, Yasuyuki

2016-05-01

To comprehensively investigate the clinical and physical factors associating with locomotive syndrome (Loc-S); the locomotorium-disability for daily life. 647 volunteers participated (247 males, 400 females, Age: 58.4 ± 11.0, BMI: 22.5 ± 3.3). Three self-assessment questionnaires were administered: 1) "25-question Geriatric Locomotive Function Scale" (GFLS-25) for evaluating Loc-S (GLFS-25 ≥ 16 defined as Loc-S); 2) "diagnostic support tool for LSS" (LSS-DST) for evaluating the prevalence of lumbar spinal stenosis (LSS); 3) Knee injury and Osteoarthritis Outcome Score (KOOS). Plain radiographs of the bilateral knees and lumbar spine were evaluated, and the severity of lumbar spondylosis (LS) and knee osteoarthritis (KOA) defined by Kellgren-Lawrence grade. Bone status was evaluated by using the osteo-sono assessment index (OSI) at the calcaneus. Isometric muscle strength of trunk and leg (Nm/kg, both extension and flexion) were evaluated. Linear regression analysis was performed to elucidate the factors concerned with GFLS-25 including age, sex, and BMI. Thirty-nine subjects (6.0%, 13 males, 26 females) were defined as having Loc-S. Single regression model showed that age, height, BMI, skeletal muscle mass, OSI, LSS, KOOS, the severity of LS and KOA, and trunk- and leg-muscle strength were correlated with the degree of GLFS-25. Stepwise multiple regression model showed that sex, height, LSS, KOOS, the severity of LS, and back muscle strength were significantly correlated with that of GLFS-25. In this cross-sectional study, pain status associated with LSS and knee joint, structural severity for LS, and back muscle strength primarily affected the degree of GFLS-25. For managing Loc-S, we must pay more intensive attention to these factors. Copyright © 2016 The Japanese Orthopaedic Association. Published by Elsevier B.V. All rights reserved.

Skeletal muscle mass and exercise performance in stable ambulatory patients with heart failure.

Science.gov (United States)

Lang, C C; Chomsky, D B; Rayos, G; Yeoh, T K; Wilson, J R

1997-01-01

The purpose of this study was to determine whether skeletal muscle atrophy limits the maximal exercise capacity of stable ambulatory patients with heart failure. Body composition and maximal exercise capacity were measured in 100 stable ambulatory patients with heart failure. Body composition was assessed by using dual-energy X-ray absorption. Peak exercise oxygen consumption (VO2peak) and the anaerobic threshold were measured by using a Naughton treadmill protocol and a Medical Graphics CardioO2 System. VO2peak averaged 13.4 +/- 3.3 ml.min-1.kg-1 or 43 +/- 12% of normal. Lean body mass averaged 52.9 +/- 10.5 kg and leg lean mass 16.5 +/- 3.6 kg. Leg lean mass correlated linearly with VO2peak (r = 0.68, P < 0.01), suggesting that exercise performance is influences by skeletal muscle mass. However, lean body mass was comparable to levels noted in 1,584 normal control subjects, suggesting no decrease in muscle mass. Leg muscle mass was comparable to levels noted in 34 normal control subjects, further supporting this conclusion. These findings suggest that exercise intolerance in stable ambulatory patients with heart failure is not due to skeletal muscle atrophy.

Locomotion of Paramecium in patterned environments

Science.gov (United States)

Park, Eun-Jik; Eddins, Aja; Kim, Junil; Yang, Sung; Jana, Saikat; Jung, Sunghwan

2011-10-01

Ciliary organisms like Paramecium Multimicronucleatum locomote by synchronized beating of cilia that produce metachronal waves over their body. In their natural environments they navigate through a variety of environments especially surfaces with different topology. We study the effects of wavy surfaces patterned on the PDMS channels on the locomotive abilities of Paramecium by characterizing different quantities like velocity amplitude and wavelength of the trajectories traced. We compare this result with the swimming characteristics in straight channels and draw conclusions about the effects of various patterned surfaces.

Operating a locomotive on liquid methane fuel

International Nuclear Information System (INIS)

Stolz, J.L.

1992-01-01

This paper reports that several years ago, Burlington Northern Railroad looked into the feasibility of operating a diesel railroad locomotive to also run on compressed natural gas in a dual-fuel mode. Recognizing the large volume of on-board storage required and other limitations of CNG in the application, a program was begun to fuel a locomotive with liquefied natural gas. Because natural gas composition can vary with source and processing, it was considered desirable to use essentially pure liquid methane as the engine fuel. Initial testing results show the locomotive system achieved full diesel-rated power when operating on liquid methane and with equivalent fuel efficiency. Extended testing, including an American Association of Railroad 500-hour durability test, was undertaken to obtain information on engine life, wear rate and lubrication oil life

Locomotion-learning behavior relationship in Caenorhabditis elegans following γ-ray irradiation

International Nuclear Information System (INIS)

Sakashita, Tetsuya; Hamada, Nobuyuki; Suzuki, Michiyo; Kobayashi, Yasuhiko; Ikeda, Daisuke D.; Yanase, Sumino; Ishii, Naoaki

2008-01-01

Learning impairment following ionizing radiation (IR) exposure is an important potential risk in manned space missions. We previously reported the modulatory effects of IR on salt chemotaxis learning in Caenorhabditis elegans. However, little is known about the effects of IR on the functional relationship in the nervous system. In the present study, we investigated the effects of γ-ray exposure on the relationship between locomotion and salt chemotaxis learning behavior. We found that effects of pre-learning irradiation on locomotion were significantly correlated with the salt chemotaxis learning performance, whereas locomotion was not directly related to chemotaxis to NaCl. On the other hand, locomotion was positively correlated with salt chemotaxis of animals which were irradiated during learning, and the correlation disappeared with increasing doses. These results suggest an indirect relationship between locomotion and salt chemotaxis learning in C. elegans, and that IR inhibits the innate relationship between locomotion and chemotaxis, which is related to salt chemotaxis learning conditioning of C. elegans. (author)

Spatially Compact Neural Clusters in the Dorsal Striatum Encode Locomotion Relevant Information.

Science.gov (United States)

Barbera, Giovanni; Liang, Bo; Zhang, Lifeng; Gerfen, Charles R; Culurciello, Eugenio; Chen, Rong; Li, Yun; Lin, Da-Ting

2016-10-05

An influential striatal model postulates that neural activities in the striatal direct and indirect pathways promote and inhibit movement, respectively. Normal behavior requires coordinated activity in the direct pathway to facilitate intended locomotion and indirect pathway to inhibit unwanted locomotion. In this striatal model, neuronal population activity is assumed to encode locomotion relevant information. Here, we propose a novel encoding mechanism for the dorsal striatum. We identified spatially compact neural clusters in both the direct and indirect pathways. Detailed characterization revealed similar cluster organization between the direct and indirect pathways, and cluster activities from both pathways were correlated with mouse locomotion velocities. Using machine-learning algorithms, cluster activities could be used to decode locomotion relevant behavioral states and locomotion velocity. We propose that neural clusters in the dorsal striatum encode locomotion relevant information and that coordinated activities of direct and indirect pathway neural clusters are required for normal striatal controlled behavior. VIDEO ABSTRACT. Published by Elsevier Inc.

Energy-based control for a biologically inspired hexapod robot with rolling locomotion

Directory of Open Access Journals (Sweden)

Takuma Nemoto

2015-04-01

Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

Observation of Point-Light-Walker Locomotion Induces Motor Resonance When Explicitly Represented; An EEG Source Analysis Study

Directory of Open Access Journals (Sweden)

Alberto Inuggi

2018-03-01

Full Text Available Understanding human motion, to infer the goal of others' actions, is thought to involve the observer's motor repertoire. One prominent class of actions, the human locomotion, has been object of several studies, all focused on manipulating the shape of degraded human figures like point-light walker (PLW stimuli, represented as walking on the spot. Nevertheless, since the main goal of the locomotor function is to displace the whole body from one position to the other, these stimuli might not fully represent a goal-directed action and thus might not be able to induce the same motor resonance mechanism expected when observing a natural locomotion. To explore this hypothesis, we recorded the event-related potentials (ERP of canonical/scrambled and translating/centered PLWs decoding. We individuated a novel ERP component (N2c over central electrodes, around 435 ms after stimulus onset, for translating compared to centered PLW, only when the canonical shape was preserved. Consistently with our hypothesis, sources analysis associated this component to the activation of trunk and lower legs primary sensory-motor and supplementary motor areas. These results confirm the role of own motor repertoire in processing human action and suggest that ERP can detect the associated motor resonance only when the human figure is explicitly involved in performing a meaningful action.

Advanced aftertreatment systems for locomotive applications; Moderne Abgasnachbehandlungssysteme fuer Lokomotiven

Energy Technology Data Exchange (ETDEWEB)

Park, Paul [Caterpillar Inc., Peoria, IL (United States); Bruestle, Claus [Emitec Inc., Rochester Hill, MI (United States)

2013-07-15

Tier 4 legislation for locomotives, starting in 2015, will require significant reductions in particulate matter and nitrogen oxide tail pipe emissions. To reduce nitrogen oxide emissions of line-haul locomotives at least to the level of Tier 4, Caterpillar has developed an aftertreatment system. Here, for the first time an SCR system was used for diesel locomotive engines with an urea dosing system. (orig.)

Foot, leg, and ankle swelling

Science.gov (United States)

Swelling of the ankles - feet - legs; Ankle swelling; Foot swelling; Leg swelling; Edema - peripheral; Peripheral edema ... Foot, leg, and ankle swelling is common when the person also: Is overweight Has a blood clot in the leg Is older Has ...

49 CFR 1242.25 - Locomotive servicing facilities (account XX-19-27).

Science.gov (United States)

2010-10-01

... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive servicing facilities (account XX-19-27... Structures § 1242.25 Locomotive servicing facilities (account XX-19-27). Separate common expenses according to distribution of common expenses in the following accounts: Locomotive Fuel (XX-51-67 and XX-52-67...

Locomotion and basicranial anatomy in primates and marsupials.

Science.gov (United States)

Villamil, Catalina I

2017-10-01

There is ongoing debate in paleoanthropology about whether and how the anatomy of the cranium, and especially the cranial base, is evolving in response to locomotor and postural changes. However, the majority of studies focus on two-dimensional data, which fails to capture the complexity of cranial anatomy. This study tests whether three-dimensional cranial base anatomy is linked to locomotion or to other factors in primates (n = 473) and marsupials (n = 231). Results indicate that although there is a small effect of locomotion on cranial base anatomy in primates, this is not the case in marsupials. Instead, facial anatomy likely drives variation in cranial base anatomy in both primates and marsupials, with additional roles for body size and brain size. Although some changes to foramen magnum position and orientation are phylogenetically useful among the hominoids, they do not necessarily reflect locomotion or positional behavior. The interplay between locomotion, posture, and facial anatomy in primates requires further investigation. Copyright © 2017 Elsevier Ltd. All rights reserved.

LSTM-Based Temperature Prediction for Hot-Axles of Locomotives

Directory of Open Access Journals (Sweden)

Luo Can

2017-01-01

Full Text Available The reliability of locomotives plays a central role for the smooth operation of railway systems. Hot-axle failures are one of the most commonly found problems leading to locomotive accidents. Since the operating status of the locomotive axle bearings can be distinctly reflected by the axle temperatures, online temperature monitoring has become an essential way to detect hot-axle failures. In this work, we explore the feasibility of predict the hot-axle failures by identifying the temperature from predicted nominal values. We propose a data-driven approach based on the Long Short-Term Memory (LSTM network to predict the sensor temperature for axle bearings. The effectiveness of the prediction model was validated with operation data collected from commercial locomotives. With a prediction accuracy is within a few percent, the proposed techniques can be used as a dynamic reference for hot-axle monitoring.

Two-fluid model for locomotion under self-confinement

Science.gov (United States)

Reigh, Shang Yik; Lauga, Eric

2017-09-01

The bacterium Helicobacter pylori causes ulcers in the stomach of humans by invading mucus layers protecting epithelial cells. It does so by chemically changing the rheological properties of the mucus from a high-viscosity gel to a low-viscosity solution in which it may self-propel. We develop a two-fluid model for this process of swimming under self-generated confinement. We solve exactly for the flow and the locomotion speed of a spherical swimmer located in a spherically symmetric system of two Newtonian fluids whose boundary moves with the swimmer. We also treat separately the special case of an immobile outer fluid. In all cases, we characterize the flow fields, their spatial decay, and the impact of both the viscosity ratio and the degree of confinement on the locomotion speed of the model swimmer. The spatial decay of the flow retains the same power-law decay as for locomotion in a single fluid but with a decreased magnitude. Independent of the assumption chosen to characterize the impact of confinement on the actuation applied by the swimmer, its locomotion speed always decreases with an increase in the degree of confinement. Our modeling results suggest that a low-viscosity region of at least six times the effective swimmer size is required to lead to swimming with speeds similar to locomotion in an infinite fluid, corresponding to a region of size above ≈25 μ m for Helicobacter pylori.

Rotary and radial forcing effects on center-of-mass locomotion dynamics.

Science.gov (United States)

Shen, Z H; Larson, P L; Seipel, J E

2014-09-01

Rotary and radial forcing are two common actuation methods for legged robots. However, these two orthogonal methods of center-of-mass (CoM) forcing have not been compared as potentially alternative strategies of actuation. In this paper, we compare the CoM stability and energetics of running with rotary and radial actuation through the simulation of two models: the rotary-forced spring-loaded inverted pendulum (rotary-forced-SLIP), and the radially-forced-SLIP. We model both radial and rotary actuation in the simplest way, applying them as a constant force during the stance portion of the gait. A simple application of constant rotary forcing throughout stance is capable of producing fully-asymptotically stable motion; however, a similarly constant application of radial forcing throughout the stance is not capable of producing stable solutions. We then allow both the applied rotary and radial forcing functions to turn on or off based on the occurrence of the mid-stance event, which breaks the symmetry of actuation during stance towards a net forward propulsion. We find that both a rotary force applied in the first half of stance and a radial force applied in the second half of stance, are capable of stabilizing running. Interestingly, these two forcing methods improve the motion stability in different ways. Rotary forcing first reduces then greatly increases the size of the stable parameter region when gradually increased. Radial forcing expands the stable parameter region, but only in a moderate way. Also, it is found that parameter region stabilized by rotary and radial forcing are largely complementary. Overall, rotary forcing can better stabilize running for both constant and event-based forcing functions that were attempted. This indicates that rotary forcing has an inherent capability of stabilizing running, even when minimal time-or-event-or-state feedback is present. Radial forcing, however, tends to be more energy efficient when compared to rotary forcing

Single-leg squats can predict leg alignment in dancers performing ballet movements in “turnout”

Science.gov (United States)

Hopper, Luke S; Sato, Nahoko; Weidemann, Andries L

2016-01-01

The physical assessments used in dance injury surveillance programs are often adapted from the sports and exercise domain. Bespoke physical assessments may be required for dance, particularly when ballet movements involve “turning out” or external rotation of the legs beyond that typically used in sports. This study evaluated the ability of the traditional single-leg squat to predict the leg alignment of dancers performing ballet movements with turnout. Three-dimensional kinematic data of dancers performing the single-leg squat and five ballet movements were recorded and analyzed. Reduction of the three-dimensional data into a one-dimensional variable incorporating the ankle, knee, and hip joint center positions provided the strongest predictive model between the single-leg squat and the ballet movements. The single-leg squat can predict leg alignment in dancers performing ballet movements, even in “turned out” postures. Clinicians should pay careful attention to observational positioning and rating criteria when assessing dancers performing the single-leg squat. PMID:27895518

Large-scale association study for structural soundness and leg locomotion traits in the pig

Directory of Open Access Journals (Sweden)

Serenius Timo

2009-01-01

Full Text Available Abstract Background Identification and culling of replacement gilts with poor skeletal conformation and feet and leg (FL unsoundness is an approach used to reduce sow culling and mortality rates in breeding stock. Few candidate genes related to soundness traits have been identified in the pig. Methods In this study, 2066 commercial females were scored for 17 traits describing body conformation and FL structure, and were used for association analyses. Genotyping of 121 SNPs derived from 95 genes was implemented using Sequenom's MassARRAY system. Results Based on the association results from single trait and principal components using mixed linear model analyses and false discovery rate testing, it was observed that APOE, BMP8, CALCR, COL1A2, COL9A1, DKFZ, FBN1 and VDBP were very highly significantly (P ALOX5, BMP8, CALCR, OPG, OXTR and WNT16 were very highly significantly (P APOE, CALCR, COL1A2, GNRHR, IHH, MTHFR and WNT16 were highly significantly (P CALCR and COL1A2 on SSC9 was detected, and haplotype -ACGACC- was highly significantly (P Conclusion The present findings provide a comprehensive list of candidate genes for further use in fine mapping and biological functional analyses.

49 CFR 223.17 - Identification of equipped locomotives, passenger cars and cabooses.

Science.gov (United States)

2010-10-01

... cars and cabooses. 223.17 Section 223.17 Transportation Other Regulations Relating to Transportation...-LOCOMOTIVES, PASSENGER CARS AND CABOOSES Specific Requirements § 223.17 Identification of equipped locomotives, passenger cars and cabooses. Each locomotive, passenger car and caboose that is fully equipped with glazing...

49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

Science.gov (United States)

2010-10-01

... 31, 2015, a train controlled by a locomotive with an onboard PTC apparatus that has failed en route... III railroad, including a tourist or excursion railroad, and controlled by a locomotive not equipped...

Locomotion of inchworm-inspired robot made of smart soft composite (SSC)

International Nuclear Information System (INIS)

Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik

2014-01-01

A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)

Locomotive emissions measurements for various blends of biodiesel fuel.

Science.gov (United States)

2014-12-01

The objective of this project was to assess the effects of various blends of biodiesel on locomotive engine exhaust emissions. The : emission tests were conducted on two locomotive models, a Tier 2 EMD SD70ACe and a Tier 1 Plus GE Dash9-44CW, using t...

Passive appendages aid locomotion through symmetry breaking

Science.gov (United States)

Bagheri, Shervin; Lacis, Ugis; Mazzino, Andrea; Kellay, Hamid; Brosse, Nicolas; Lundell, Fredrik; Ingremeau, Francois

2014-11-01

Plants and animals use plumes, barbs, tails, feathers, hairs, fins, and other types of appendages to aid locomotion. Despite their enormous variation, passive appendages may contribute to locomotion by exploiting the same physical mechanism. We present a new mechanism that applies to body appendages surrounded by a separated flow, which often develops behind moving bodies larger than a few millimeters. We use theory, experiments, and numerical simulations to show that bodies with protrusions turn and drift by exploiting a symmetry-breaking instability similar to the instability of an inverted pendulum. Our model explains why the straight position of an appendage in flowing fluid is unstable and how it stabilizes either to the left or right of the incoming fluid flow direction. The discovery suggests a new mechanism of locomotion that may be relevant for certain organisms; for example, how plumed seeds may drift without wind and how motile animals may passively reorient themselves.

Venous leg ulcers

Science.gov (United States)

2008-01-01

Introduction Leg ulcers usually occur secondary to venous reflux or obstruction, but 20% of people with leg ulcers have arterial disease, with or without venous disorders. Between 1.5 and 3.0/1000 people have active leg ulcers. Prevalence increases with age to about 20/1000 in people aged over 80 years. Methods and outcomes We conducted a systematic review and aimed to answer the following clinical questions: What are the effects of standard treatments, adjuvant treatments, and organisational interventions for venous leg ulcers? What are the effects of interventions to prevent recurrence of venous leg ulcers? We searched: Medline, Embase, The Cochrane Library, and other important databases up to September 2007 (BMJ Clinical Evidence reviews are updated periodically, please check our website for the most up-to-date version of this review). We included harms alerts from relevant organisations such as the US Food and Drug Administration (FDA) and the UK Medicines and Healthcare products Regulatory Agency (MHRA). Results We found 80 systematic reviews, RCTs, or observational studies that met our inclusion criteria. We performed a GRADE evaluation of the quality of evidence for interventions. Conclusions In this systematic review we present information relating to the effectiveness and safety of the following interventions: compression bandages and stockings, cultured allogenic (single or bilayer) skin replacement, debriding agents, dressings (cellulose, collagen, film, foam, hyaluronic acid-derived, semi-occlusive alginate), hydrocolloid (occlusive) dressings in the presence of compression, intermittent pneumatic compression, intravenous prostaglandin E1, larval therapy, laser treatment (low-level), leg ulcer clinics, multilayer elastic system, multilayer elastomeric (or non-elastomeric) high-compression regimens or bandages, oral treatments (aspirin, flavonoids, pentoxifylline, rutosides, stanozolol, sulodexide, thromboxane alpha2 antagonists, zinc), peri

49 CFR 229.9 - Movement of non-complying locomotives.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying locomotives. 229.9... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.9 Movement of non... restrictions necessary for safely conducting the movement; (2)(i) The engineer in charge of the movement of the...

A Specific Population of Reticulospinal Neurons Controls the Termination of Locomotion.

Science.gov (United States)

Juvin, Laurent; Grätsch, Swantje; Trillaud-Doppia, Emilie; Gariépy, Jean-François; Büschges, Ansgar; Dubuc, Réjean

2016-06-14

Locomotion requires the proper sequencing of neural activity to start, maintain, and stop it. Recently, brainstem neurons were shown to specifically stop locomotion in mammals. However, the cellular properties of these neurons and their activity during locomotion are still unknown. Here, we took advantage of the lamprey model to characterize the activity of a cell population that we now show to be involved in stopping locomotion. We find that these neurons display a burst of spikes that coincides with the end of swimming activity. Their pharmacological activation ends ongoing swimming, whereas the inactivation of these neurons dramatically impairs the rapid termination of swimming. These neurons are henceforth referred to as stop cells, because they play a crucial role in the termination of locomotion. Our findings contribute to the fundamental understanding of motor control and provide important details about the cellular mechanisms involved in locomotor termination. Copyright © 2016 The Author(s). Published by Elsevier Inc. All rights reserved.

System design of a large fuel cell hybrid locomotive

Science.gov (United States)

Miller, A. R.; Hess, K. S.; Barnes, D. L.; Erickson, T. L.

Fuel cell power for locomotives combines the environmental benefits of a catenary-electric locomotive with the higher overall energy efficiency and lower infrastructure costs of a diesel-electric. A North American consortium, a public-private partnership, is developing a prototype hydrogen-fueled fuel cell-battery hybrid switcher locomotive for urban and military-base rail applications. Switcher locomotives are used in rail yards for assembling and disassembling trains and moving trains from one point to another. At 127 tonnes (280,000 lb), continuous power of 250 kW from its (proton exchange membrane) PEM fuel cell prime mover, and transient power well in excess of 1 MW, the hybrid locomotive will be the heaviest and most powerful fuel cell land vehicle yet. This fast-paced project calls for completion of the vehicle itself near the end of 2007. Several technical challenges not found in the development of smaller vehicles arise when designing and developing such a large fuel cell vehicle. Weight, center of gravity, packaging, and safety were design factors leading to, among other features, the roof location of the lightweight 350 bar compressed hydrogen storage system. Harsh operating conditions, especially shock loads during coupling to railcars, require component mounting systems capable of absorbing high energy. Vehicle scale-up by increasing mass, density, or power presents new challenges primarily related to issues of system layout, hydrogen storage, heat transfer, and shock loads.

Inferring Characteristics of Sensorimotor Behavior by Quantifying Dynamics of Animal Locomotion

Science.gov (United States)

Leung, KaWai

Locomotion is one of the most well-studied topics in animal behavioral studies. Many fundamental and clinical research make use of the locomotion of an animal model to explore various aspects in sensorimotor behavior. In the past, most of these studies focused on population average of a specific trait due to limitation of data collection and processing power. With recent advance in computer vision and statistical modeling techniques, it is now possible to track and analyze large amounts of behavioral data. In this thesis, I present two projects that aim to infer the characteristics of sensorimotor behavior by quantifying the dynamics of locomotion of nematode Caenorhabditis elegans and fruit fly Drosophila melanogaster, shedding light on statistical dependence between sensing and behavior. In the first project, I investigate the possibility of inferring noxious sensory information from the behavior of Caenorhabditis elegans. I develop a statistical model to infer the heat stimulus level perceived by individual animals from their stereotyped escape responses after stimulation by an IR laser. The model allows quantification of analgesic-like effects of chemical agents or genetic mutations in the worm. At the same time, the method is able to differentiate perturbations of locomotion behavior that are beyond affecting the sensory system. With this model I propose experimental designs that allows statistically significant identification of analgesic-like effects. In the second project, I investigate the relationship of energy budget and stability of locomotion in determining the walking speed distribution of Drosophila melanogaster during aging. The locomotion stability at different age groups is estimated from video recordings using Floquet theory. I calculate the power consumption of different locomotion speed using a biomechanics model. In conclusion, the power consumption, not stability, predicts the locomotion speed distribution at different ages.

Human Locomotion in Hypogravity: From Basic Research to Clinical Applications

Directory of Open Access Journals (Sweden)

Francesco Lacquaniti

2017-11-01

Full Text Available We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

Human Locomotion in Hypogravity: From Basic Research to Clinical Applications.

Science.gov (United States)

Lacquaniti, Francesco; Ivanenko, Yury P; Sylos-Labini, Francesca; La Scaleia, Valentina; La Scaleia, Barbara; Willems, Patrick A; Zago, Myrka

2017-01-01

We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

SELECTION OF RATIONAL PARAMETERS OF THE NOMINAL MODE OF ELECTRIC LOCOMOTIVES

Directory of Open Access Journals (Sweden)

H. K. Hetman

2017-02-01

Full Text Available Purpose.The railways of Ukraine have been operated the locomotives, which are both morally and physically obsolete. Therefore, to ensure the competitiveness of rail transport it is necessary to update the locomotive fleet, and first of all the fleet of electric locomotives, because electrified railways provide the greater part of passenger and freight traffic. In this connection it is of special importance to determine the optimum parameters of the nominal mode of electric rolling stock. The purpose of the work is to examine the features of solution of these problems with respect to electric locomotives. Methodology. Assuming that the limit values of traction force are determined by the conditions of wheel-rail grip, then the power of the nominal mode can be represented as the product of rated speed, estimated friction coefficient, train weight and the coefficients that represent the ratio of the estimated (starting value of traction force to value of traction force the nominal mode and the ratio of the mass of the locomotive to the train weight. Since the mass of the train is not a constant value, there is always a surplus power of the locomotive fleet required for the mastering of a predetermined volume of transportations. Reduced overcapacity of the locomotive fleet can be achieved by introduction of the locomotives of different power, designed for driving trains of different weight that will result in increased completeness of the power use but also in difficulty in selecting of locomotives for trains in operation. The paper shows the method of calculating the optimum values of power, speed and traction force of the nominal mode. It presents the mathematical model of the relationship of traction rate, excessive capacity and power of the traction unit. Findings.It is proved that the power of the traction unit, the total fleet power requirement and the excess of power in absolute units are proportional to the speed of the nominal mode. To

Lifestyle factors are significantly associated with the locomotive syndrome: a cross-sectional study.

Science.gov (United States)

Akahane, Manabu; Yoshihara, Shingo; Maeyashiki, Akie; Tanaka, Yasuhito; Imamura, Tomoaki

2017-10-18

The Japanese Orthopedic Association first proposed the concept of "locomotive syndrome" in 2007. It refers to circumstances in which elderly people need nursing care services or are at high risk of requiring such services within a short time. Recently, the public health burden of providing nursing care for elderly individuals has increased. Therefore, locomotive syndrome, and the means of preventing it, are a major public health focus in Japan. The purpose of this study was to investigate the relationships of lifestyle factors, such as smoking, alcohol consumption, sleep duration, and dental health, with locomotive syndrome. We conducted a cross-sectional study using an internet panel survey. The participants comprised 747 individuals aged 30-90 years. Factors related to demographics (age, sex), general health (number of teeth, presence of periodontal disease), and lifestyle (smoking, alcohol consumption, sleep duration) were assessed. We also used the 25-question Geriatric Locomotive Function Scale to determine whether each participant had locomotive syndrome. Multivariate analysis was conducted using logistic regression to investigate the independent relationships between locomotive syndrome and lifestyle factors after adjusting for sex and age. A greater proportion of women (17.7%) than men (11.2%) had locomotive syndrome (p syndrome compared with those aged syndrome, whereas sleep duration was not. The frequency of alcohol consumption, except for daily drinking, was also associated with locomotive syndrome. Our study indicates that lifestyle factors, such as smoking and number of existing teeth, may partly affect the prevalence of locomotive syndrome. Hence, lifestyle modifications, such as improving oral hygiene and promoting cessation of smoking, are important means to reduce the risk of locomotive syndrome and should be promoted by public health staff.

ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES

Directory of Open Access Journals (Sweden)

L. V. Ursulyak

2014-12-01

Full Text Available Purpose. To compare the operational characteristics of freight diesel-electric locomotives ER20CF and 2М62м, which are operated with Lithuanian Railways. Important problems on traction calculations are considered in this article. In this article the critical tasks of traction calculations are solved. It is the main computational tool in the rational functioning, planning and development of railways: determination of the estimated weight of the rolling stock, the diagrams construction of specific resultant forces of a train, the permitted speed definition of the train on the slopes, curves of train traffic construction on the section. Methodology. Using the rules and methods of traction calculations the analysis of the basic operational characteristics of the modernized freight diesel-electric locomotive 2М62m and freight passenger dual locomotive 2ER20CF was held. The maximum weight of the train set, the track structure on a high-speed ascent through the use of kinetic energy (with traction and without traction, technical speed, acceleration force and the value of the smallest radius curve are selected as controlled parameters. During the calculations it was considered that the trains were formed of a fully loaded four-axle gondola cars, model 112-119 (feature-606 with axle load of 23.5 t; the motion was carried out on the continuous welded rail track; the front of the train set is a dual locomotive 2ER20CF or two locomotive 2М62м. Longitudinal profile of the road on the route Vilnus–KlF was analyzed for the choice of theoretical rise. Inspection concerning the possibility of overcoming the high-speed rise was performed with an analytical method, based on the use of the kinetic energy accumulated by the overcoming of «light» elements of the profile. Findings. In the calculations, the maximum weight of the train set taking into account theoretical rise was analyzed. The inspection of the theoretical weight of the train set on a reliable

A survey report for the turning of biped locomotion robot

International Nuclear Information System (INIS)

Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

1992-12-01

A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author)

Lyden-af-Leg

DEFF Research Database (Denmark)

Toft, Herdis

Præsentation af seniorforsker-projekt Lyden-af-Leg i et traderingsperspektiv og med indledende fokus på YouTube som traderings-platform.......Præsentation af seniorforsker-projekt Lyden-af-Leg i et traderingsperspektiv og med indledende fokus på YouTube som traderings-platform....

The G6. A heavy-duty, six-wheeled shunting locomotive

Energy Technology Data Exchange (ETDEWEB)

Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Development and Standardisation Group

2010-05-15

Nowadays, railway operating companies need robust, reliable and versatile locomotives. Vossloh has shown one way that future developments are likely to go with its 'G6' six-wheeled shunting locomotive, which features a central driver's cab. (orig.)

Animal Locomotion in Different Mediums

Indian Academy of Sciences (India)

IAS Admin

examine only self-powered animal locomotion. ... At different phases of their life cycle both animals and plants are highly mobile but their ... wind driven transport (Figure C). ..... fins which serve the function of rudimentary limbs, particularly.

THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40

Directory of Open Access Journals (Sweden)

S. V. Pylypenko

2008-03-01

Full Text Available In the article the results of dynamic running and traction-energy tests of the electric locomotive VL40U are presented. In accordance with the test results a conclusion about the suitability of electric locomotive of such a type for operation with trains containing up to 15 passenger coaches inclusive is made.

How innate is locomotion in precocial animals? A study on the early development of spatio-temporal gait variables and gait symmetry in piglets.

Science.gov (United States)

Vanden Hole, Charlotte; Goyens, Jana; Prims, Sara; Fransen, Erik; Ayuso Hernando, Miriam; Van Cruchten, Steven; Aerts, Peter; Van Ginneken, Chris

2017-08-01

Locomotion is one of the most important ecological functions in animals. Precocial animals, such as pigs, are capable of independent locomotion shortly after birth. This raises the question whether coordinated movement patterns and the underlying muscular control in these animals is fully innate or whether there still exists a rapid maturation. We addressed this question by studying gait development in neonatal pigs through the analysis of spatio-temporal gait characteristics during locomotion at self-selected speed. To this end, we made video recordings of piglets walking along a corridor at several time points (from 0 h to 96 h). After digitization of the footfalls, we analysed self-selected speed and spatio-temporal characteristics (e.g. stride and step lengths, stride frequency and duty factor) to study dynamic similarity, intralimb coordination and interlimb coordination. To assess the variability of the gait pattern, left-right asymmetry was studied. To distinguish neuromotor maturation from effects caused by growth, both absolute and normalized data (according to the dynamic similarity concept) were included in the analysis. All normalized spatio-temporal variables reached stable values within 4 h of birth, with most of them showing little change after the age of 2 h. Most asymmetry indices showed stable values, hovering around 10%, within 8 h of birth. These results indicate that coordinated movement patterns are not entirely innate, but that a rapid neuromotor maturation, potentially also the result of the rearrangement or recombination of existing motor modules, takes place in these precocial animals. © 2017. Published by The Company of Biologists Ltd.

Single-leg squats can predict leg alignment in dancers performing ballet movements in “turnout”

Directory of Open Access Journals (Sweden)

Hopper LS

2016-11-01

Full Text Available Luke S Hopper,1 Nahoko Sato,2 Andries L Weidemann1 1Western Australian Academy of Performing Arts, Edith Cowan University, Mt Lawley, WA, Australia; 2Department of Physical Therapy, Nagoya Gakuin University, Seto, Japan Abstract: The physical assessments used in dance injury surveillance programs are often adapted from the sports and exercise domain. Bespoke physical assessments may be required for dance, particularly when ballet movements involve “turning out” or external rotation of the legs beyond that typically used in sports. This study evaluated the ability of the traditional single-leg squat to predict the leg alignment of dancers performing ballet movements with turnout. Three-dimensional kinematic data of dancers performing the single-leg squat and five ballet movements were recorded and analyzed. Reduction of the three-dimensional data into a one-dimensional variable incorporating the ankle, knee, and hip joint center positions provided the strongest predictive model between the single-leg squat and the ballet movements. The single-leg squat can predict leg alignment in dancers performing ballet movements, even in “turned out” postures. Clinicians should pay careful attention to observational positioning and rating criteria when assessing dancers performing the single-leg squat. Keywords: injury, motion capture, clinical assessment

Leg Injuries and Disorders

Science.gov (United States)

... are important for motion and standing. Playing sports, running, falling, or having an accident can damage your legs. Common leg injuries include sprains and strains, joint dislocations, and fractures. ...

49 CFR 231.15 - Steam locomotives used in road service.

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in road service. 231.15 Section 231.15 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.15 Steam locomotives used...

Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective

Science.gov (United States)

Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian

2018-05-01

Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.

The relationship between energy expenditure and speed during pedestrian locomotion in birds: a morphological basis for the elevated y-intercept?

Science.gov (United States)

Halsey, Lewis G

2013-06-01

The slope of the typically linear relationship between metabolic rate and walking speed represents the net cost of transport (NCOT). The extrapolated y-intercept is often greater than resting metabolic rate, thus representing a fixed cost associated with pedestrian transport including body maintenance costs. The full cause of the elevated y-intercept remains elusive and it could simply represent experimental stresses. The present literature-based study compares the mass-independent energetic cost of pedestrian locomotion in birds (excluding those with an upright posture, i.e. penguins), represented by the y-intercept, to a known predictor of cost of transport, hip height. Both phylogenetically informed and non-phylogenetically informed analyses were undertaken to determine if patterns of association between hip height, body mass, and the y-intercept are robust with respect to the method of analysis. Body mass and hip height were significant predictors of the y-intercept in the best phylogenetically-informed and non-phylogenetically informed models. Thus there is evidence that, in birds at least, the elevated y-intercept is a legitimate component of locomotion energy expenditure. Hip height is probably a good proxy of effective limb length and thus perhaps birds with greater hip heights have lower y-intercepts because their longer legs more efficiently accommodate body motion and/or because their limbs are more aligned with the ground reaction forces. Copyright © 2013 Elsevier Inc. All rights reserved.

Rotary and radial forcing effects on center-of-mass locomotion dynamics

International Nuclear Information System (INIS)

Shen, Z H; Larson, P L; Seipel, J E

2014-01-01

Rotary and radial forcing are two common actuation methods for legged robots. However, these two orthogonal methods of center-of-mass (CoM) forcing have not been compared as potentially alternative strategies of actuation. In this paper, we compare the CoM stability and energetics of running with rotary and radial actuation through the simulation of two models: the rotary-forced spring-loaded inverted pendulum (rotary-forced-SLIP), and the radially-forced-SLIP. We model both radial and rotary actuation in the simplest way, applying them as a constant force during the stance portion of the gait. A simple application of constant rotary forcing throughout stance is capable of producing fully-asymptotically stable motion; however, a similarly constant application of radial forcing throughout the stance is not capable of producing stable solutions. We then allow both the applied rotary and radial forcing functions to turn on or off based on the occurrence of the mid-stance event, which breaks the symmetry of actuation during stance towards a net forward propulsion. We find that both a rotary force applied in the first half of stance and a radial force applied in the second half of stance, are capable of stabilizing running. Interestingly, these two forcing methods improve the motion stability in different ways. Rotary forcing first reduces then greatly increases the size of the stable parameter region when gradually increased. Radial forcing expands the stable parameter region, but only in a moderate way. Also, it is found that parameter region stabilized by rotary and radial forcing are largely complementary. Overall, rotary forcing can better stabilize running for both constant and event-based forcing functions that were attempted. This indicates that rotary forcing has an inherent capability of stabilizing running, even when minimal time-or-event-or-state feedback is present. Radial forcing, however, tends to be more energy efficient when compared to rotary forcing

Small-scale soft-bodied robot with multimodal locomotion

Science.gov (United States)

Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

2018-02-01

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

Modeling limbless locomotion using ADAMS software

Data.gov (United States)

National Aeronautics and Space Administration — Until now, the methods used by probes or humans for locomotion on planetary surfaces have typically been restricted to variations of wheeled motion. As human...

The New Era of Virtual Reality Locomotion: A Systematic Literature Review of Techniques and a Proposed Typology

Directory of Open Access Journals (Sweden)

Costas Boletsis

2017-09-01

Full Text Available The latest technical and interaction advancements that took place in the Virtual Reality (VR field have marked a new era, not only for VR, but also for VR locomotion. Although the latest advancements in VR locomotion have raised the interest of both researchers and users in analyzing and experiencing current VR locomotion techniques, the field of research on VR locomotion, in its new era, is still uncharted. In this work, VR locomotion is explored through a systematic literature review investigating empirical studies of VR locomotion techniques from 2014–2017. The review analyzes the VR locomotion techniques that have been studied, their interaction-related characteristics and the research topics that were addressed in these studies. Thirty-six articles were identified as relevant to the literature review, and the analysis of the articles resulted in 73 instances of 11 VR locomotion techniques, such as real-walking, walking-in-place, point and teleport, joystick-based locomotion, and more. Results showed that since the VR revival, the focus of VR locomotion research has been on VR technology and various technological aspects, overshadowing the investigation of user experience. From an interaction perspective, the majority of the utilized and studied VR locomotion techniques were found to be based on physical interaction, exploiting physical motion cues for navigation in VR environments. A significant contribution of the literature review lies in the proposed typology for VR locomotion, introducing four distinct VR locomotion types: motion-based, room scale-based, controller-based and teleportation-based locomotion.

ENERGY EFFICIENCY OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSION TESTS AT LOCOMOTIVE REPAIR PLANT

Directory of Open Access Journals (Sweden)

B. E. Bodnar

2015-10-01

Full Text Available Purpose. In difficult economic conditions, cost reduction of electricity consumption for the needs of production is an urgent task for the country’s industrial enterprises. Technical specifications of enterprises, which repair diesel locomotive hydraulic transmission, recommend conducting a certain amount of evaluation and regulatory tests to monitor their condition after repair. Experience shows that a significant portion of hydraulic transmission defects is revealed by bench tests. The advantages of bench tests include the ability to detect defects after repair, ease of maintenance of the hydraulic transmission and relatively low labour intensity for eliminating defects. The quality of these tests results in the transmission resource and its efficiency. Improvement of the technology of plant post-repairs hydraulic tests in order to reduce electricity consumption while testing. Methodology. The possible options for hydraulic transmission test bench improvement were analysed. There was proposed an energy efficiency method for diesel locomotive hydraulic transmission testing in locomotive repair plant environment. This is achieved by installing additional drive motor which receives power from the load generator. Findings. Based on the conducted analysis the necessity of improving the plant stand testing of hydraulic transmission was proved. The variants of the stand modernization were examined. The test stand modernization analysis was conducted. Originality. The possibility of using electric power load generator to power the stand electric drive motor or the additional drive motor was theoretically substantiated. Practical value. A variant of hydraulic transmission test stand based on the mutual load method was proposed. Using this method increases the hydraulic transmission load range and power consumption by stand remains unchanged. The additional drive motor will increase the speed of the input shaft that in its turn wil allow testing in

DEFINITION OF LOCOMOTIVE TRACTION FORCE WITH REGARD TO UNEVEN LOADING OF WHEEL-MOTOR BLOCK

Directory of Open Access Journals (Sweden)

B. Ye. Bodnar

2013-11-01

Full Text Available Purpose. The article describes the most common methods for determining the locomotive traction force. Solving the tasks of traction calculations involves determination of the forces influencing the train at every point of the way. When choosing a rational trajectory of the train motion and the development of operational regulations of train driving it is necessary to determine the actual value of the locomotive traction force. Considering various factors, power value of traction electric motor of locomotive may have significant differences. Advancement of the operational definition system of the locomotive traction force during the calculations by electrical parameters of traction electric motor with regard to uneven load of wheel-motor block is the purpose of the article. Methodology. The method of determining the traction force of locomotives and diesel locomotives with electric transmission, which is based on primary data acquisition of traction electric engines of direct current behavior, was proposed. Sensors and their integration into the electrical circuitry of the locomotive in order to get the data in digital form and for operational calculation of the each traction motor mode and the definition of locomotive traction force are presented. Findings. The experimental investigation of the system of locomotive traction force determination with the electric traction motor ED-105 was offered. A comparison of electrical and mechanical power of the electric motor was conducted. Originality. The system of locomotives power operational definition, which takes into account the variable electro-mechanical factors of wheel and motor blocks and increases the accuracy of the calculations, was proposed. Practical value. The system is a part of an onboard complex in definition of energy-efficient regimes for trains movement and provides the definition of accelerating and decelerating forces.

Are the hamstrings from the drive leg or landing leg more active in baseball pitchers? An electromyographic study.

Science.gov (United States)

Erickson, Brandon J; Zaferiou, Antonia; Chalmers, Peter N; Ruby, Deana; Malloy, Phillip; Luchetti, Timothy J; Verma, Nikhil N; Romeo, Anthony A

2017-11-01

Ulnar collateral ligament reconstruction (UCLR) has become a common procedure among baseball players of all levels. There are several graft choices in performing UCLR, one of which is a hamstring (gracilis or semitendinosus) autograft. It is unclear whether the hamstring muscle from a pitcher's drive leg (ipsilateral side of the UCLR) or landing leg (contralateral side of the UCLR) is more active during the pitching motion. We hypothesized that the landing leg semitendinosus will be more electromyographically active than the drive leg. Healthy, elite male pitchers aged 16-21 years were recruited. Sixteen pitchers (average age, 17.6 ± 1.6 years; 67% threw right handed) underwent electromyographic analysis. Pitchers threw 5 fastballs at 100% effort from the wind-up with electromyographic analysis of every pitch. Activation of the semitendinosus and biceps femoris in both legs was compared within pitchers and between pitchers. Hamstring activity was higher in the drive leg than in the landing leg during each phase and in sum, although the difference was significant only during the double support phase (P = .021). On within-pitcher analysis, 10 of 16 pitchers had significantly more sum hamstring activity in the drive leg than in the landing leg, while only 4 of 16 had more activity in the landing leg (P = .043). During the baseball pitch, muscle activity of the semitendinosus was higher in the drive leg than in the landing leg in most pitchers. Surgeons performing UCLR using hamstring autograft should consider harvesting the graft from the pitcher's landing leg to minimize disruption to the athlete's pitching motion. Copyright © 2017 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

On the rules for aquatic locomotion

Science.gov (United States)

Saadat, M.; Fish, F. E.; Domel, A. G.; Di Santo, V.; Lauder, G. V.; Haj-Hariri, H.

2017-08-01

We present unifying rules governing the efficient locomotion of swimming fish and marine mammals. Using scaling and dimensional analysis, supported by new experimental data, we show that efficient locomotion occurs when the values of the Strouhal (St) number St (=f A /U ) and A*(=A /L ) , two nondimensional numbers that relate forward speed U , tail-beat amplitude A , tail-beat frequency f , and the length of the swimmer L are bound to the tight ranges of 0.2-0.4 and 0.1-0.3, respectively. The tight range of 0.2-0.4 for the St number has previously been associated with optimal thrust generation. We show that the St number alone is insufficient to achieve optimal aquatic locomotion, and an additional condition on A* is needed. More importantly, we show that when swimming at minimal power consumption, the Strouhal number of a cruising swimmer is predetermined solely by the shape and drag characteristics of the swimmer. We show that diverse species of fish and cetaceans cruise indeed with the St number and A* predicted by our theory. Our findings provide a physical explanation as to why fast aquatic swimmers cruise with a relatively constant tail-beat amplitude of approximately 20% of the body length, and their swimming speed is nearly proportional to their tail-beat frequency.

49 CFR 210.29 - Operation standards (moving locomotives and rail cars).

Science.gov (United States)

2010-10-01

... cars). 210.29 Section 210.29 Transportation Other Regulations Relating to Transportation (Continued... REGULATIONS Inspection and Testing § 210.29 Operation standards (moving locomotives and rail cars). The operation standards for the noise emission levels of moving locomotives, rail cars, or consists of...

Locomotion of Mexican jumping beans

International Nuclear Information System (INIS)

West, Daniel M; K Lal, Ishan; Leamy, Michael J; Hu, David L

2012-01-01

The Mexican jumping bean, Laspeyresia saltitans, consists of a hollow seed housing a moth larva. Heating by the sun induces movements by the larva which appear as rolls, jumps and flips by the bean. In this combined experimental, numerical and robotic study, we investigate this unique means of rolling locomotion. Time-lapse videography is used to record bean trajectories across a series of terrain types, including one-dimensional channels and planar surfaces of varying inclination. We find that the shell encumbers the larva's locomotion, decreasing its speed on flat surfaces by threefold. We also observe that the two-dimensional search algorithm of the bean resembles the run-and-tumble search of bacteria. We test this search algorithm using both an agent-based simulation and a wheeled Scribbler robot. The algorithm succeeds in propelling the robot away from regions of high temperature and may have application in biomimetic micro-scale navigation systems. (paper)

PROSPECTS OF THE PRIVATE LOCOMOTIVES USAGE FOR GOODS TRAFFIC IN THE DIRECTION OF SEA PORTS

Directory of Open Access Journals (Sweden)

D. M. Kozachenko

2017-12-01

Full Text Available Purpose. At the present time, Ukraine's mainline railway transport is entirely in state ownership. Ukraine has undertaken to implement the European Union Directives providing of non-discriminatory access to the railway infrastructure of independent carriers. A considerable quantity of options significantly affects the working conditions of carriers that do not depend on Ukrzaliznytsia. One of the tasks that arises when performing transportation by independent carriers is the organization of private locomotives operation and their servicing by engine crews. The purpose of the article is to evaluate the technical characteristic of the private locomotives usage in order to perform goods traffic in the direction of sea ports. Methodology. The researches were carried out on the basis of methods for organizing the operational work of railways and methods of traction calculations. Findings. The paper highlights the problem of goods traffic organization to seaports by independent carriers. It determines the requirements for equipment for diesel locomotives and electric locomotives depending on the distance of transportation. Permissible distances that can be served by engine crews in performing the requirements for the duration of their continuous operation were also determined. Schemes of infrastructure objects location for the locomotives and engine crews operation have been developed. It was established that diesel locomotives of independent carriers will be able to serve transportation between loading and unloading stations up to 822 km, and electric locomotives up to 1000 km with the construction of the main part of the locomotive infrastructure at the port station. The performed calculations show the potential coverage of rail transportation to sea ports by independent carriers with the use of its own locomotive infrastructure. To define more exactly the haul length of train servicing by locomotives and locomotives by engine crews, it is necessary

INFLUENCE OF ROLLING STOCK VIBROACOUSTICAL PARAMETERS ON THE CHOICE OF RATIONAL VALUES OF LOCOMOTIVE RUNNING GEAR

Directory of Open Access Journals (Sweden)

Yu. V. Zelenko

2016-06-01

Full Text Available Purpose.The success of the traffic on the railways of Ukraine depends on the number and the operational fleet of electric locomotives. Today, the locomotive depot exploit physically and morally outdated locomotives that have low reliability. Modernization of electric locomotives is not economically justified. The aim of this study is to improve the safety of the traction rolling stock by the frequency analysis of dynamical systems, which allows conducting the calculation of the natural (of resonant frequencies of the design and related forms of vibrations.Methodology.The study was conducted by methods of analytical mechanics and mathematical modeling of operating loads of freight locomotive when driving at different speeds on the straight and curved track sections. The theoretical value of the work is the technique of choice of constructive schemes and rational parameters of perspective electric locomotive taking into account the electric inertia ratios and stiffness coefficients of Lagrange second-order equations.Findings. The problems of theoretical research and the development of a mathematical model of the spatial electric vibrations are solved. The theoretical studies of the effect of inertia ratios and stiffness coefficients on the dynamic values and the parameter values of electric locomotive undercarriages are presented.Originality.The set of developed regulations and obtained results is a practical solution to selecting rational parameters of bogies of the freight mainline locomotive for railways of Ukraine. A concept of choice of constructive scheme and rational parameters of perspective locomotive is formulated. It is developed the method of calculation of spatial electric locomotive oscillations to determine its dynamic performance. The software complex for processing the data of experimental studies of dynamic parameters of electric locomotive and comparing the results of the theoretical calculations with the data of full

Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

Science.gov (United States)

Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.

2013-01-01

Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566

Energetic extremes in aquatic locomotion by coral reef fishes.

Directory of Open Access Journals (Sweden)

Christopher J Fulton

Full Text Available Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s(-1 while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting, streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed.

The Determination of the Asynchronous Traction Motor Characteristics of Locomotive

Directory of Open Access Journals (Sweden)

Pavel Grigorievich Kolpakhchyan

2017-01-01

Full Text Available The article deals with the problem of the locomotive asynchronous traction motor control with the AC diesel-electric transmission. The limitations of the torque of the traction motor when powered by the inverter are determined. The recommendations to improve the use of asynchronous traction motor of locomotives with the AC diesel-electric transmission are given.

Claw Lesions Causing Clinical Lameness in Lactating Holstein Frisian Crossbred Cows

Directory of Open Access Journals (Sweden)

Umar Nazir Zahid

2014-01-01

Full Text Available The objective of this study was to identify claw lesions causing clinical lameness in lactating Holstein Frisian (HF crossbred cows in dairy cattle. Seventy dairy farmers were interviewed at the monthly meetings of Progressive Dairy Farmers Association of Ludhiana, Punjab, India. Ten dairy farms were randomly selected as per probability proportional to size and a total of 450 lactating HF crossbred cows were taken into the study. All the lactating cows were scored for locomotion and rear leg view index. Trimming was done in all the clinically lame animals (animals with locomotion scores 2 and 3 and equal number of animals selected randomly from those with locomotion scores 0 and 1. Various claw lesions were evaluated in both the groups. There was a significant relationship between locomotion score and rear leg view index to identify lameness. Sole ulcers and white line fissures were the lesions responsible for clinical lameness. Other lesions did not cause clinical lameness but increased the asymmetry in lactating HF crossbred cows. Both locomotion score and rear leg view index could be reliably used to identify clinical lameness in lactating cattle.

Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control

International Nuclear Information System (INIS)

Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.

1994-01-01

Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)

Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?

OpenAIRE

Gjorgjieva, Julijana; Biron, David; Haspel, Gal

2014-01-01

Animals use a nervous system for locomotion in some stage of their life cycle. The nematode Caenorhabditis elegans, a major animal model for almost all fields of experimental biology, has long been used for detailed studies of genetic and physiological locomotion mechanisms. Of its 959 somatic cells, 302 are neurons that are identifiable by lineage, location, morphology, and neurochemistry in every adult hermaphrodite. Of those, 75 motoneurons innervate body wall muscles that provide the thru...

Damages and resource of locomotive wheels used under the north operating conditions

Directory of Open Access Journals (Sweden)

A. V. Grigorev

2014-01-01

Full Text Available In operating railway equipment, in particular the elements, such as a wheel and a rail there is damage accumulation of any kind, causing a premature equipment failure. Thus, an analysis of the mechanisms and modeling of damage accumulation and fracture both on the surface and in the bulk material remain a challenge.Data on the defective wheel sets to be subjected to facing has been collected and analyzed to assess the locomotive wheel sets damage of the locomotive fleet company of AK «Yakutia Railways», city of Aldan, The Republic of Sakha (Yakutia. For this purpose, three main locomotives have been examined.The object of research carried out in this paper, is a locomotive wheels tire, which is subjected to cyclic impact (dynamic loads during operation. In this regard, the need arises to determine both the strength of material in response to such shock loads and the quantitative calculation of damage accumulated therein.The accumulated fatigue damage has been attributed to one radial cross section of the wheel coming into contact with the rail once per revolution of the wheel. Consequently, in one revolution a wheel is under one loading cycle. As stated, the average mileage of locomotives to have the unacceptable damages formed on the tread surface is 12 thousand km.Test results establish that along with the high-cycle loading the shock-contact action on rail joints significantly affects the accumulation of damage in the locomotive wheels tire. The number of cycles to failure due to the formation of unacceptable damage in the locomotive wheels tire is N = 2,4×106 and 6×105 cycles, respectively, for fatigue and shock-contact loading.In general, we can say that the problem of higher intensity to form the surface damage is directly related to the operation of the locomotive wheel tire under abnormally low climatic temperatures. With decreasing ambient temperature, this element material rapidly looses its plastic properties, thereby accelerating

Analysis of large break loss of coolant accident with simultaneous injection into cold leg and hot leg

International Nuclear Information System (INIS)

Luo Bangqi

1997-01-01

When a large break loss of coolant accident occurs, the most part of the safety injection water injected into the cold leg by the safety injection system will flow through the channel between the pressure vessel and the barrel out of the break into the containment, only a little part of the safety injection water can flow into the reactor core. If the safety injection can inject into both the cold leg and the hot leg simultaneously, the safety injection water injected from the cold leg will flow into the core more easily, because the safety injection water injected from the hot leg will carry out more heat from the upper plenum and the core, so the upper plenum and the core is depressed. In addition, a small part of the safety injection water injected from the hot leg will flow down in the core after impinging the guide tubes in the upper plenum, so the core will get more safety injection water than only cold leg injection, and the core will be much safer

Investigations into dynamics of a draft of mine cars with two locomotives during electric braking

Energy Technology Data Exchange (ETDEWEB)

Sikora-Iliew, R; Szklarski, L; Thuc, Thai Duy

1983-03-01

The computerized simulation of electric braking of a draft of GRANBY-5 mine cars and two locomotives (Ld2 locomotives with LDO30 electric series motors) is discussed. The following stages of simulation are analyzed: constructing a mathematical model of the draft of mine cars during electric (dynamic) braking, equations which describe dynamic states of locomotives, mine cars and electric motors during dynamic braking, equations for stability assessment of the draft during dynamic braking. The analog model for simulation of dynamic braking of the draft is given. Simulation results are shown in 10 diagrams. The WAT-1000 hybrid computer is used. Simulation shows that dynamic braking causes occurrence of maximum forces in the couplers between a locomotive and a mine car. When two locomotives are used the maximum force in couplers is lower than in a draft with one locomotive. Braking distance does not depend on position of locomotives in a draft of mine cars. Doubling draft speed causes braking distance to increase by 4 times. Optimum stability conditions of a draft of mine cars are guaranteed when one locomotive is placed at the draft head and a second is separated from the first one by one third of the draft length. 6 references

Identification of a brainstem circuit regulating visual cortical state in parallel with locomotion.

Science.gov (United States)

Lee, A Moses; Hoy, Jennifer L; Bonci, Antonello; Wilbrecht, Linda; Stryker, Michael P; Niell, Cristopher M

2014-07-16

Sensory processing is dependent upon behavioral state. In mice, locomotion is accompanied by changes in cortical state and enhanced visual responses. Although recent studies have begun to elucidate intrinsic cortical mechanisms underlying this effect, the neural circuits that initially couple locomotion to cortical processing are unknown. The mesencephalic locomotor region (MLR) has been shown to be capable of initiating running and is associated with the ascending reticular activating system. Here, we find that optogenetic stimulation of the MLR in awake, head-fixed mice can induce both locomotion and increases in the gain of cortical responses. MLR stimulation below the threshold for overt movement similarly changed cortical processing, revealing that MLR's effects on cortex are dissociable from locomotion. Likewise, stimulation of MLR projections to the basal forebrain also enhanced cortical responses, suggesting a pathway linking the MLR to cortex. These studies demonstrate that the MLR regulates cortical state in parallel with locomotion. Copyright © 2014 Elsevier Inc. All rights reserved.

Leg og dannelse

DEFF Research Database (Denmark)

Skovbjerg, Helle Marie

2017-01-01

lederen i det pædagogiske tidskrift Asterisk: ”Leg i skolen, leg i klasserummet, ja legende læring i skolen udgør derimod en enorm, seriøs og ubrugt læringsressource – ikke alene med effekter på kreativiteten, men også på den faglige læring” (Holm, 2015, p. 2). Legens værdi gøres altså først og fremmest...

The Motor and the Brake of the Trailing Leg in Human Walking: Leg Force Control Through Ankle Modulation and Knee Covariance

Science.gov (United States)

Toney, Megan E.; Chang, Young-Hui

2016-01-01

Human walking is a complex task, and we lack a complete understanding of how the neuromuscular system organizes its numerous muscles and joints to achieve consistent and efficient walking mechanics. Focused control of select influential task-level variables may simplify the higher-level control of steady state walking and reduce demand on the neuromuscular system. As trailing leg power generation and force application can affect the mechanical efficiency of step-to-step transitions, we investigated how joint torques are organized to control leg force and leg power during human walking. We tested whether timing of trailing leg force control corresponded with timing of peak leg power generation. We also applied a modified uncontrolled manifold analysis to test whether individual or coordinated joint torque strategies most contributed to leg force control. We found that leg force magnitude was adjusted from step-to-step to maintain consistent leg power generation. Leg force modulation was primarily determined by adjustments in the timing of peak ankle plantar-flexion torque, while knee torque was simultaneously covaried to dampen the effect of ankle torque on leg force. We propose a coordinated joint torque control strategy in which the trailing leg ankle acts as a motor to drive leg power production while trailing leg knee torque acts as a brake to refine leg power production. PMID:27334888

Numerical and experimental study of the virtual quadrupedal walking robot-semiquad

International Nuclear Information System (INIS)

Aoustin, Yannick; Chevallereau, Christine; Formal'sky, Alexander

2006-01-01

SemiQuad is a prototyped walking robot with a platform and two double-link legs. Thus, it is a five-link mechanism. The front leg models identical motions of two quadruped's front legs, the back leg models identical motions of two quadruped's back legs. The legs have passive (uncontrolled) feet that extend in the frontal plane. Due to this the robot is stable in the frontal plane. This robot can be viewed as a 'virtual' quadruped. Four DC motors drive the mechanism. Its control system comprises a computer, hardware servo-systems and power amplifiers. The locomotion of the prototype is planar curvet gait. In the double support our prototype is statically stable and over actuated. In the single support it is unstable and under actuated system. There is no flight phase. We describe here the scheme of the mechanism, the characteristics of the drives and the control strategy. The dynamic model of the planar walking is recalled for the double, single support phases and for the impact instant. An intuitive control strategy is detailed. The designed control strategy overcomes the difficulties appeared due to unstable and under actuated motion in the single support. Due to the control algorithm the walking regime consists of the alternating different phases. The sequence of these phases is the following. A double support phase begins. A fast bend and unbend of the front leg allows a lift-off of the front leg. During the single support on the back leg the distance between the two leg tips increases. Then an impact occurs and a new double support phase begins. A fast bend and unbend of the back leg allows the lift-off of the back leg. During the single support on the front leg the distance between the two leg tips decreases to form a cyclic walking gait. The experiments give results that are close to those of the simulation

Motorneurons dedicated to either forward or backward locomotion in the nematode C. elegans

OpenAIRE

Haspel, Gal; O'Donovan, Michael J.; Hart, Anne C.

2010-01-01

Multifunctional motorneurons and muscles, which are active during forward and backward locomotion and driven by common central pattern generators, are ubiquitous in animal models. However, studies in the nematode Caenorhabditis elegans suggest that some locomotor motorneurons are necessary only for forward locomotion (dorsal B-motorneurons, DB) while others (dorsal A-motorneurons, DA) are necessary only for backward locomotion. We tested this hypothesis directly by recording the activity of t...

Fluid Mechanics of Aquatic Locomotion at Large Reynolds Numbers

OpenAIRE

Govardhan, RN; Arakeri, JH

2011-01-01

Abstract | There exist a huge range of fish species besides other aquatic organisms like squids and salps that locomote in water at large Reynolds numbers, a regime of flow where inertial forces dominate viscous forces. In the present review, we discuss the fluid mechanics governing the locomotion of such organisms. Most fishes propel themselves by periodic undulatory motions of the body and tail, and the typical classification of their swimming modes is based on the fraction of their body...

49 CFR 1242.22 - Shop buildings-locomotives (account XX-19-24).

Science.gov (United States)

2010-10-01

... 49 Transportation 9 2010-10-01 2010-10-01 false Shop buildings-locomotives (account XX-19-24... Structures § 1242.22 Shop buildings—locomotives (account XX-19-24). Separate common expenses according to distribution of common expenses in the following accounts: Machinery Repair (XX-26-40) Locomotive—Repair and...

Measurement of black carbon emissions from in-use diesel-electric passenger locomotives in California

Science.gov (United States)

Tang, N. W.; Kirchstetter, T.; Martien, P. T.; Apte, J.

2015-12-01

Black carbon (BC) emission factors were measured for a California commuter rail line fleet of diesel-electric passenger locomotives (Caltrain). The emission factors are based on BC and carbon dioxide (CO2) concentrations in the exhaust plumes of passing locomotives, which were measured from pedestrian overpasses using portable analyzers. Each of the 29 locomotives in the fleet was sampled on 4-20 separate occasions at different locations to characterize different driving modes. The average emission factor expressed as g BC emitted per kg diesel consumed was 0.87 ± 0.66 g kg-1 (±1 standard deviation, n = 362 samples). BC emission factors tended to be higher for accelerating locomotives traveling at higher speeds with engines in higher notch settings. Higher fuel-based BC emission factors (g kg-1) were measured for locomotives equipped with separate "head-end" power generators (SEP-HEPs), which power the passenger cars, while higher time-based emission factors (g h-1) were measured for locomotives without SEP-HEPs, whose engines are continuously operated at high speeds to provide both head-end and propulsion power. PM10 emission factors, estimated assuming a BC/PM10 emission ratio of 0.6 and a typical power output-to-fuel consumption ratio, were generally in line with the Environmental Protection Agency's locomotive exhaust emission standards. Per passenger mile, diesel-electric locomotives in this study emit only 20% of the CO2 emitted by typical gasoline-powered light-duty vehicles (i.e., cars). However, the reduction in carbon footprint (expressed in terms of CO2 equivalents) due to CO2 emissions avoidance from a passenger commuting by train rather than car is appreciably offset by the locomotive's higher BC emissions.

A Hydroxyurea-induced Leg Ulcer

OpenAIRE

Hwang, Seon-Wook; Hong, Soon-Kwon; Kim, Sang-Hyun; Seo, Jong-Keun; Lee, Deborah; Sung, Ho-Suk

2009-01-01

Hydroxyurea is a cytostatic agent that has recently become the drug of choice in the treatment of various myeloproliferative diseases. The cutaneous side effects of hydroxyurea include xerosis, hyperpigmentation, nail discoloration, and scaling. Leg ulcers have only rarely been reported in association with hydroxyurea treatment. A 75-year-old woman presented with leg ulcers, nail discoloration, and xerosis. The leg ulcers were refractory to conventional treatment. She had been taking oral hyd...

Experimental investigation into the mechanism of the polygonal wear of electric locomotive wheels

Science.gov (United States)

Tao, Gongquan; Wang, Linfeng; Wen, Zefeng; Guan, Qinghua; Jin, Xuesong

2018-06-01

Experiments were conducted at field sites to investigate the mechanism of the polygonal wear of electric locomotive wheels. The polygonal wear rule of electric locomotive wheels was obtained. Moreover, two on-track tests have been carried out to investigate the vibration characteristics of the electric locomotive's key components. The measurement results of wheels out-of-round show that most electric locomotive wheels exhibit polygonal wear. The main centre wavelength in the 1/3 octave bands is 200 mm and/or 160 mm. The test results of vibration characteristics indicate that the dominating frequency of the vertical acceleration measured on the axle box is approximately equal to the passing frequency of a polygonal wheel, and does not vary with the locomotive speed during the acceleration course. The wheelset modal analysis using the finite element method (FEM) indicates that the first bending resonant frequency of the wheelset is quite close to the main vibration frequency of the axle box. The FEM results are verified by the experimental modal analysis of the wheelset. Moreover, different plans were designed to verify whether the braking system and the locomotive's adhesion control have significant influence on the wheel polygon or not. The test results indicate that they are not responsible for the initiation of the wheel polygon. The first bending resonance of the wheelset is easy to be excited in the locomotive operation and it is the root cause of wheel polygon with centre wavelength of 200 mm in the 1/3 octave bands.

Pipe crawler with extendable legs

International Nuclear Information System (INIS)

Zollinger, W.T.

1992-01-01

A pipe crawler for moving through a pipe in inchworm fashion having front and rear leg assemblies separated by air cylinders to increase and decrease the spacing between assemblies. Each leg of the four legs of an assembly is moved between a wall-engaging, extended position and a retracted position by a separate air cylinder. The air cylinders of the leg assemblies are preferably arranged in pairs of oppositely directed cylinders with no pair lying in the same axial plane as another pair. Therefore, the cylinders can be as long as a leg assembly is wide and the crawler can crawl through sections of pipes where the diameter is twice that of other sections. The crawler carries a valving system, a manifold to distribute air supplied by a single umbilical air hose to the various air cylinders in a sequence controlled electrically by a controller. The crawler also utilizes a rolling mechanism, casters in this case, to reduce friction between the crawler and pipe wall thereby further extending the range of the pipe crawler. 8 figs

Pipe crawler with extendable legs

Science.gov (United States)

Zollinger, W.T.

1992-06-16

A pipe crawler for moving through a pipe in inchworm fashion having front and rear leg assemblies separated by air cylinders to increase and decrease the spacing between assemblies. Each leg of the four legs of an assembly is moved between a wall-engaging, extended position and a retracted position by a separate air cylinder. The air cylinders of the leg assemblies are preferably arranged in pairs of oppositely directed cylinders with no pair lying in the same axial plane as another pair. Therefore, the cylinders can be as long as a leg assembly is wide and the crawler can crawl through sections of pipes where the diameter is twice that of other sections. The crawler carries a valving system, a manifold to distribute air supplied by a single umbilical air hose to the various air cylinders in a sequence controlled electrically by a controller. The crawler also utilizes a rolling mechanism, casters in this case, to reduce friction between the crawler and pipe wall thereby further extending the range of the pipe crawler. 8 figs.

Periodic spring–mass running over uneven terrain through feedforward control of landing conditions

International Nuclear Information System (INIS)

III, Luther R Palmer; Eaton, Caitrin E

2014-01-01

This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg. (paper)

Periodic spring-mass running over uneven terrain through feedforward control of landing conditions.

Science.gov (United States)

Palmer, Luther R; Eaton, Caitrin E

2014-09-01

This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg.

Leg som ustyrlig deltagelseskultur

DEFF Research Database (Denmark)

Toft, Herdis

2017-01-01

- og spilteoretikere Johan Huizinga og Roger Caillois. Deres teorier og begrebsdannelser har været brugt til at påpege leg dels som et æstetisk baseret betydningssystem, dels som et affektivt og stemningsbaseret oplevelsessystem samt endelig som et socialt baseret relationssystem. I artiklen vælger vi...... at fokusere på leg som et socialt baseret relationssystem og yderligere zoome ind på et af legens systemiske væsenstræk, nemlig brugen af regulerbare regelsæt, som legerne uden ’politi’ forhandler sig frem til før, under og efter legen. Fælles for Huizinga og Caillois er, at de knytter leg uløseligt sammen...

Development of quadruped walking locomotion gait generator using a hybrid method

International Nuclear Information System (INIS)

Jasni, F; Shafie, A A

2013-01-01

The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance

Legāti

OpenAIRE

Segliņa, Aiga

2010-01-01

Autore teorētiski analizē legāta jēdzienu testamentārās mantošanas ietvaros un atspoguļo praktiska pētījuma rezultātus. Teorētiskā daļa apskata legāta nodibināšanas formu un spēkā esamību, tā iegūšanu un atraidīšanu, izpildi un zaudēšanu, novēlējuma robežas un aprobežojumus. Pētījums veikts aptaujas veidā ar mērķi noskaidrot, cik liela Latvijas iedzīvotāju daļa apzinās legāta nodrošinātās priekšrocības testamentārajā mantošanā. Apskatīts notāra neitralitātes jautājums attiecībā pret mantošana...

Sustained periodic terrestrial locomotion in air-breathing fishes.

Science.gov (United States)

Pace, C M; Gibb, A C

2014-03-01

While emergent behaviours have long been reported for air-breathing osteichthyians, only recently have researchers undertaken quantitative analyses of terrestrial locomotion. This review summarizes studies of sustained periodic terrestrial movements by air-breathing fishes and quantifies the contributions of the paired appendages and the axial body to forward propulsion. Elongate fishes with axial-based locomotion, e.g. the ropefish Erpetoichthys calabaricus, generate an anterior-to-posterior wave of undulation that travels down the axial musculoskeletal system and pushes the body against the substratum at multiple points. In contrast, appendage-based locomotors, e.g. the barred mudskipper Periophthalmus argentilineatus, produce no axial bending during sustained locomotion, but instead use repeated protraction-retraction cycles of the pectoral fins to elevate the centre of mass and propel the entire body anteriorly. Fishes that use an axial-appendage-based mechanism, e.g. walking catfishes Clarias spp., produce side-to-side, whole-body bending in co-ordination with protraction-retraction cycles of the pectoral fins. Once the body is maximally bent to one side, the tail is pressed against the substratum and drawn back through the mid-sagittal plane, which elevates the centre of mass and rotates it about a fulcrum formed by the pectoral fin and the ground. Although appendage-based terrestrial locomotion appears to be rare in osteichthyians, many different species appear to have converged upon functionally similar axial-based and axial-appendage-based movements. Based on common forms observed across divergent taxa, it appears that dorsoventral compression of the body, elongation of the axial skeleton or the presence of robust pectoral fins can facilitate effective terrestrial movement by air-breathing fishes. © 2014 The Fisheries Society of the British Isles.

Immediate effects of the trunk stabilizing exercise on static balance parameters in double-leg and one-leg stances

OpenAIRE

Kim, Jwa-jun; Park, Se-yeon

2016-01-01

[Purpose] The purpose of this study was to evaluate the immediate effect of stabilizing exercise using the PNF technique on standing balance in one-leg and double-leg stances. [Subjects and Methods] The present study recruited 34 healthy participants from a local university. The Participants performed four balance tests (double-leg stance with and without vision, one-leg stance with and without vision), before and after exercise. The exercise consisted of exercises performed using PNF techniq...

Relating appendicular skeletal variation of sigmodontine rodents to locomotion modes in a phylogenetic context.

Science.gov (United States)

Carvalho Coutinho, Ludmilla; Alves de Oliveira, João

2017-10-01

Sigmodontinae rodents constitute the second-largest subfamily among mammals. Alongside the taxonomic diversity, they are also ecologically diverse, exhibiting a wide array of locomotion modes, with semifossorial, terrestrial, semiaquatic, scansorial, arboreal, and saltatorial forms. To understand the ecomorphologic aspects that allow these rodents to display such locomotion diversity, we analyzed 35 qualitative characters of the appendicular skeleton (humerus, ulna, radius, scapula, femur, tibia, ilium, ischium and pubis) in 795 specimens belonging to 64 species, 34 genera and 10 tribes, representing all locomotion modes assigned to this subfamily. We performed a statistical analysis based upon the coefficient of trait differentiation to test the congruence of character states and the different locomotion modes. We also mapped characters states in a molecular phylogeny in order to reconstruct ancestral states and to evaluate how appendicular characters evolved within main lineages of Sigmodontinae radiation under a phylogenetic framework. The statistical analyses revealed six characters related to specific locomotion modes, except terrestrial. The mapping and parsimony ancestral states reconstruction identified two characters with phylogenetical signal and eight characters that are exclusively or more frequently recorded in certain modes of locomotion, four of them also detected by the statistical analysis. Notwithstanding the documented morphological variation, few changes characterize the transition to each of the locomotion modes, at least regarding the appendicular skeleton. This finding corroborates previous results that showed that sigmodontines exhibit an all-purpose appendicular morphology that allows them to use and explore a great variety of habitats. © 2017 Anatomical Society.

Artificial Leg Design and Control Research of a Biped Robot with Heterogeneous Legs Based on PID Control Algorithm

Directory of Open Access Journals (Sweden)

Hualong Xie

2015-04-01

Full Text Available A biped robot with heterogeneous legs (BRHL is proposed to provide an ideal test-bed for intelligent bionic legs (IBL. To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.

Application of flywheel energy storage for heavy haul locomotives

International Nuclear Information System (INIS)

Spiryagin, Maksym; Wolfs, Peter; Szanto, Frank; Sun, Yan Quan; Cole, Colin; Nielsen, Dwayne

2015-01-01

Highlights: • A novel design for heavy haul locomotive equipped with a flywheel energy storage system is proposed. • The integrated intelligent traction control system was developed. • A flywheel energy storage system has been tested through a simulation process. • The developed hybrid system was verified using an existing heavy haul railway route. • Fuel efficiency analysis confirms advantages of the hybrid design. - Abstract: At the present time, trains in heavy haul operations are typically hauled by several diesel-electric locomotives coupled in a multiple unit. This paper studies the case of a typical consist of three Co–Co diesel-electric locomotives, and considers replacing one unit with an alternative version, with the same design parameters, except that the diesel-electric plant is replaced with flywheel energy storage equipment. The intelligent traction and energy control system installed in this unit is integrated into the multiple-unit control to allow redistribution of the power between all units. In order to verify the proposed design, a three-stage investigation has been performed as described in this paper. The initial stage studies a possible configuration of the flywheel energy storage system by detailed modelling of the proposed intelligent traction and energy control system. The second stage includes the investigation and estimation of possible energy flows using a longitudinal train dynamics simulation. The final stage compares the conventional and the proposed locomotive configurations considering two parameters: fuel efficiency and emissions reduction.

Using Computational and Mechanical Models to Study Animal Locomotion

Science.gov (United States)

Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas

2012-01-01

Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: “Integrating living and physical systems.” PMID:22988026

Chaotic exploration and learning of locomotion behaviors.

Science.gov (United States)

Shim, Yoonsik; Husbands, Phil

2012-08-01

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.

Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

OpenAIRE

Viktor GUTAREVICH

2011-01-01

The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

NARCIS (Netherlands)

Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.

2017-01-01

It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a

Spinal sagittal balance substantially influences locomotive syndrome and physical performance in community-living middle-aged and elderly women.

Science.gov (United States)

Muramoto, Akio; Imagama, Shiro; Ito, Zenya; Hirano, Kenichi; Ishiguro, Naoki; Hasegawa, Yukiharu

2016-03-01

Spinal sagittal imbalance has been well known risk factor of decreased quality of life in the field of adult spinal deformity. However, the impact of spinal sagittal balance on locomotive syndrome and physical performance in community-living elderly has not yet been clarified. The present study investigated the influence of spinal sagittal alignment on locomotive syndrome (LS) and physical performance in community-living middle-aged and elderly women. A total of 125 women between the age of 40-88 years (mean 66.2 ± 9.7 years) who completed the questionnaires, spinal mouse test, physical examination and physical performance tests in Yakumo study were enrolled in this study. Participants answered the 25-Question Geriatric Locomotive Function Scale (GLFS-25), the visual analog scale (VAS) for low back pain (LBP), knee pain. LS was defined as having a score of >16 points on the GLFS-25. Using spinal mouse, spinal inclination angle (SIA), thoracic kyphosis angle (TKA), lumbar lordosis angle (LLA), sacral slope angle (SSA), thoracic spinal range of motion (TSROM), lumbar spinal range of motion (LSROM) were measured. Timed-up-and-go test (TUG), one-leg standing time with eyes open (OLS), and maximum stride, back muscle strength were also measured. The relationship between spinal sagittal parameters and GLFS-25, VAS and physical performance tests were analyzed. 26 people were diagnosed as LS and 99 were diagnosed as non-LS. LBP and knee pain were greater, physical performance tests were poorer, SIA were greater, LLA were smaller in LS group compared to non-LS group even after adjustment by age. SIA significantly correlated with GLFS-25, TUG, OLS and maximum stride even after adjustment by age. The cutoff value of SIA for locomotive syndrome was 6°. People with a SIA of 6° or greater were grouped as "Inclined" and people with a SIA of less than 6° were grouped as "Non-inclined". 21 people were "Inclined" and 104 were "Non-inclined". Odds ratio to fall in LS of

Association of Mode of Locomotion and Independence in Locomotion With Long-Term Outcomes After Spinal Cord Injury

Science.gov (United States)

Krause, James; Carter, Rickey E; Brotherton, Sandra

2009-01-01

Background/Objective: To explore the association of mode of locomotion (ambulation vs wheelchair use) and independence in locomotion (independent vs require assistance) with health, participation, and subjective well-being (SWB) after spinal cord injury (SCI). Research Design: Secondary analysis was conducted on survey data collected from 2 rehabilitation hospitals in the Midwest and a specialty hospital in the southeastern United States. The 1,493 participants were a minimum of 18 years of age and had traumatic SCI of at least 1 year duration at enrollment. Main Outcome Measures: Three sets of outcome measures were used: SWB, participation, and health. SWB was measured by 8 scales and a measure of depressive symptoms, participation by 3 items, health by general health ratings, days in poor health, hospitalizations, and treatments. Results: Small but significant associations were observed between independence in locomotion and every outcome. Ambulation was associated with greater participation but a mixed pattern of favorable and unfavorable health and SWB outcomes. Supplemental analyses were conducted on those who ambulated but who were dependent on others to do so (n = 117), because this group reported poor outcomes in several areas. Individuals who were independent in wheelchair use reported substantially better outcomes than nonwheelchair users and those dependent on others in wheelchair use. Conclusions: Although ambulation is often a recovery goal, individuals with SCI who ambulate do not uniformly report better outcomes than wheelchair users, and those who depend on others for assistance with ambulation may experience a unique set of problems. PMID:19810625

A biofeedback cycling training to improve locomotion: a case series study based on gait pattern classification of 153 chronic stroke patients

Science.gov (United States)

2011-01-01

Background The restoration of walking ability is the main goal of post-stroke lower limb rehabilitation and different studies suggest that pedaling may have a positive effect on locomotion. The aim of this study was to explore the feasibility of a biofeedback pedaling treatment and its effects on cycling and walking ability in chronic stroke patients. A case series study was designed and participants were recruited based on a gait pattern classification of a population of 153 chronic stroke patients. Methods In order to optimize participants selection, a k-means cluster analysis was performed to subgroup homogenous gait patterns in terms of gait speed and symmetry. The training consisted of a 2-week treatment of 6 sessions. A visual biofeedback helped the subjects in maintaining a symmetrical contribution of the two legs during pedaling. Participants were assessed before, after training and at follow-up visits (one week after treatment). Outcome measures were the unbalance during a pedaling test, and the temporal, spatial, and symmetry parameters during gait analysis. Results and discussion Three clusters, mainly differing in terms of gait speed, were identified and participants, representative of each cluster, were selected. An intra-subject statistical analysis (ANOVA) showed that all patients significantly decreased the pedaling unbalance after treatment and maintained significant improvements with respect to baseline at follow-up. The 2-week treatment induced some modifications in the gait pattern of two patients: one, the most impaired, significantly improved mean velocity and increased gait symmetry; the other one reduced significantly the over-compensation of the healthy limb. No benefits were produced in the gait of the last subject who maintained her slow but almost symmetrical pattern. Thus, this study might suggest that the treatment can be beneficial for patients having a very asymmetrical and inefficient gait and for those that overuse the healthy leg

A biofeedback cycling training to improve locomotion: a case series study based on gait pattern classification of 153 chronic stroke patients

Directory of Open Access Journals (Sweden)

Molteni Franco

2011-08-01

Full Text Available Abstract Background The restoration of walking ability is the main goal of post-stroke lower limb rehabilitation and different studies suggest that pedaling may have a positive effect on locomotion. The aim of this study was to explore the feasibility of a biofeedback pedaling treatment and its effects on cycling and walking ability in chronic stroke patients. A case series study was designed and participants were recruited based on a gait pattern classification of a population of 153 chronic stroke patients. Methods In order to optimize participants selection, a k-means cluster analysis was performed to subgroup homogenous gait patterns in terms of gait speed and symmetry. The training consisted of a 2-week treatment of 6 sessions. A visual biofeedback helped the subjects in maintaining a symmetrical contribution of the two legs during pedaling. Participants were assessed before, after training and at follow-up visits (one week after treatment. Outcome measures were the unbalance during a pedaling test, and the temporal, spatial, and symmetry parameters during gait analysis. Results and discussion Three clusters, mainly differing in terms of gait speed, were identified and participants, representative of each cluster, were selected. An intra-subject statistical analysis (ANOVA showed that all patients significantly decreased the pedaling unbalance after treatment and maintained significant improvements with respect to baseline at follow-up. The 2-week treatment induced some modifications in the gait pattern of two patients: one, the most impaired, significantly improved mean velocity and increased gait symmetry; the other one reduced significantly the over-compensation of the healthy limb. No benefits were produced in the gait of the last subject who maintained her slow but almost symmetrical pattern. Thus, this study might suggest that the treatment can be beneficial for patients having a very asymmetrical and inefficient gait and for those

Robust and efficient walking with spring-like legs

Energy Technology Data Exchange (ETDEWEB)

Rummel, J; Blum, Y; Seyfarth, A, E-mail: juergen.rummel@uni-jena.d, E-mail: andre.seyfarth@uni-jena.d [Lauflabor Locomotion Laboratory, University of Jena, Dornburger Strasse 23, 07743 Jena (Germany)

2010-12-15

The development of bipedal walking robots is inspired by human walking. A way of implementing walking could be performed by mimicking human leg dynamics. A fundamental model, representing human leg dynamics during walking and running, is the bipedal spring-mass model which is the basis for this paper. The aim of this study is the identification of leg parameters leading to a compromise between robustness and energy efficiency in walking. It is found that, compared to asymmetric walking, symmetric walking with flatter angles of attack reveals such a compromise. With increasing leg stiffness, energy efficiency increases continuously. However, robustness is the maximum at moderate leg stiffness and decreases slightly with increasing stiffness. Hence, an adjustable leg compliance would be preferred, which is adaptable to the environment. If the ground is even, a high leg stiffness leads to energy efficient walking. However, if external perturbations are expected, e.g. when the robot walks on uneven terrain, the leg should be softer and the angle of attack flatter. In the case of underactuated robots with constant physical springs, the leg stiffness should be larger than k-tilde = 14 in order to use the most robust gait. Soft legs, however, lack in both robustness and efficiency.

Robust and efficient walking with spring-like legs

International Nuclear Information System (INIS)

Rummel, J; Blum, Y; Seyfarth, A

2010-01-01

The development of bipedal walking robots is inspired by human walking. A way of implementing walking could be performed by mimicking human leg dynamics. A fundamental model, representing human leg dynamics during walking and running, is the bipedal spring-mass model which is the basis for this paper. The aim of this study is the identification of leg parameters leading to a compromise between robustness and energy efficiency in walking. It is found that, compared to asymmetric walking, symmetric walking with flatter angles of attack reveals such a compromise. With increasing leg stiffness, energy efficiency increases continuously. However, robustness is the maximum at moderate leg stiffness and decreases slightly with increasing stiffness. Hence, an adjustable leg compliance would be preferred, which is adaptable to the environment. If the ground is even, a high leg stiffness leads to energy efficient walking. However, if external perturbations are expected, e.g. when the robot walks on uneven terrain, the leg should be softer and the angle of attack flatter. In the case of underactuated robots with constant physical springs, the leg stiffness should be larger than k-tilde = 14 in order to use the most robust gait. Soft legs, however, lack in both robustness and efficiency.

49 CFR 230.20 - Alteration and repair report for steam locomotive boilers.

Science.gov (United States)

2010-10-01

... boilers. 230.20 Section 230.20 Transportation Other Regulations Relating to Transportation (Continued... boilers. (a) Alterations. When an alteration is made to a steam locomotive boiler, the steam locomotive... maintained for the life of the boiler. (See appendix B of this part.) (b) Welded and riveted repairs to...

Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

Directory of Open Access Journals (Sweden)

Viktor GUTAREVICH

2011-01-01

Full Text Available The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

Locomotion mode identification for lower limbs using neuromuscular and joint kinematic signals.

Science.gov (United States)

Afzal, Taimoor; White, Gannon; Wright, Andrew B; Iqbal, Kamran

2014-01-01

Recent development in lower limb prosthetics has seen an emergence of powered prosthesis that have the capability to operate in different locomotion modes. However, these devices cannot transition seamlessly between modes such as level walking, stair ascent and descent and up slope and down slope walking. They require some form of user input that defines the human intent. The purpose of this study was to develop a locomotion mode detection system and evaluate its performance for different sensor configurations and to study the effect of locomotion mode detection with and without electromyography (EMG) signals while using kinematic data from hip joint of non-dominant/impaired limb and an accelerometer. Data was collected from four able bodied subjects that completed two circuits that contained standing, level-walking, ramp ascent and descent and stair ascent and descent. By using only the kinematic data from the hip joint and accelerometer data the system was able to identify the transitions, stance and swing phases with similar performance as compared to using only EMG and accelerometer data. However, significant improvement in classification error was observed when EMG, kinematic and accelerometer data were used together to identify the locomotion modes. The higher recognition rates when using the kinematic data along with EMG shows that the joint kinematics could be beneficial in intent recognition systems of locomotion modes.

Leg intravenous pressure during head-up tilt.

NARCIS (Netherlands)

Groothuis, J.T.; Poelkens, F.; Wouters, C.W.; Kooijman, H.M.; Hopman, M.T.E.

2008-01-01

Leg vascular resistance is calculated as the arterial-venous pressure gradient divided by blood flow. During orthostatic challenges it is assumed that the hydrostatic pressure contributes equally to leg arterial, as well as to leg venous pressure. Because of venous valves, one may question whether,

Fictive locomotion in the adult decerebrate and spinal mouse in vivo

DEFF Research Database (Denmark)

Meehan, Claire Francesca; Grøndahl, Lillian; Nielsen, Jens Bo

2012-01-01

Recently, transgenic mice have been created with mutations affecting the components of the mammalian spinal central pattern generator (CPG) for locomotion, however, it has currently only been possible to evoke fictive locomotion in mice, using neonatal in vitro preparations. Here, we demonstrate...... organisation and allowing for future results in transgenic mice to be extrapolated to existing knowledge of CPG components and circuitry obtained in larger species....

Modeling and simulating the neuromuscular mechanisms regulating ankle and knee joint stiffness during human locomotion.

Science.gov (United States)

Sartori, Massimo; Maculan, Marco; Pizzolato, Claudio; Reggiani, Monica; Farina, Dario

2015-10-01

This work presents an electrophysiologically and dynamically consistent musculoskeletal model to predict stiffness in the human ankle and knee joints as derived from the joints constituent biological tissues (i.e., the spanning musculotendon units). The modeling method we propose uses electromyography (EMG) recordings from 13 muscle groups to drive forward dynamic simulations of the human leg in five healthy subjects during overground walking and running. The EMG-driven musculoskeletal model estimates musculotendon and resulting joint stiffness that is consistent with experimental EMG data as well as with the experimental joint moments. This provides a framework that allows for the first time observing 1) the elastic interplay between the knee and ankle joints, 2) the individual muscle contribution to joint stiffness, and 3) the underlying co-contraction strategies. It provides a theoretical description of how stiffness modulates as a function of muscle activation, fiber contraction, and interacting tendon dynamics. Furthermore, it describes how this differs from currently available stiffness definitions, including quasi-stiffness and short-range stiffness. This work offers a theoretical and computational basis for describing and investigating the neuromuscular mechanisms underlying human locomotion. Copyright © 2015 the American Physiological Society.

Doppler ultrasound exam of an arm or leg

Science.gov (United States)

Peripheral vascular disease - Doppler; PVD - Doppler; PAD - Doppler; Blockage of leg arteries - Doppler; Intermittent claudication - Doppler; Arterial insufficiency of the legs - Doppler; Leg pain and ...

Biomechanics of the Treadmill Locomotion on the International Space Station

Science.gov (United States)

DeWitt, John; Cromwell, R. L.; Ploutz-Snyder, L. L.

2014-01-01

Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments

77 FR 75045 - Locomotive Safety Standards

Science.gov (United States)

2012-12-19

...; and, locomotive diesel exhaust. In addition to the issues raised in the petitions, FRA has determined... flow method (AFM) indicator calibration date on the Form 6180-49A; the duration of the remote control... in the context of its use. For example, fuel injectors might possibly be considered as providing...

DETERMINATION OF FRAME FORCE FOR ELECTRIC LOCOMOTIVE VL80 WHEN MOVING IN THE CURVED TRACK SECTIONS

Directory of Open Access Journals (Sweden)

A. Y. Kuzyshyn

2017-06-01

Full Text Available Purpose. When locomotives move in curved sections of the railway track, horizontal forces arise, which lead to pressing the ridge of the wheel pair to the railway track. The article is aimed to develop a method for determining the frame force acting on the bogie from the side of body of the locomotive section using the current methodology of calculating the lateral force. It is also aimed to determine the basic parameters that influence the value of the frame force. It is necessary to construct the dependencies of the frame force on the travel time of electric locomotive in the corresponding curve changing these parameters. Methodology. As is known, the electric locomotive is a multimass mechanical system. We will assume that this system consists of seven bodies: a body, two frames of carriages and four wheel sets. To determine the lateral force acting on the rail from the wheelset one need to solve differential equations of motion of locomotive bogie in curves of small radius. Using the equations of kinetostatics for wheelset one should come to determining the frame force acting on the car bogie from the side of body of the locomotive section. The nominal geometric and mass parameters of parts and components of electric locomotive are taken in the calculations. The curve radius, the length of transition curve, the length of circular curve, the longitudinal slope of railway track and other parameters are fixed values. Findings. There were obtained calculated values of the frame force of electric locomotive VL80 acting on the bogie from the side of body of the locomotive section. Based on the obtained results there were built the dependencies of frame force on the travel time of electric locomotive on the corresponding curve when changing the speed and corresponding elevation of the outer rail. Originality. On the basis of the existing methodology for calculating the lateral force it was developed the method for determining the frame force acting

Assessment of the vibration on the foam legged and sheet metal-legged passenger seat

Directory of Open Access Journals (Sweden)

L. Dahil

2015-10-01

Full Text Available In this study, it was aim ed to decrease the vibration reaching to passenger from the legs of vehicle seats. In order to determine the levels of vibrations reaching at passengers, a test pad placed under the passenger seat was used, and HVM100 device was used for digitizing the information obtained. By transferring the vibration data to system by using HVM100 device, the acceleration graphics were prepared with Blaze software. As a result, it was determined that the acceleration values of seat legs made of foam material were lower than that of seat legs made of 2 mm thick sheet metal, so they damped the vibration better.

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

Energy Technology Data Exchange (ETDEWEB)

Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

2011-09-15

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

International Nuclear Information System (INIS)

Asnafi, Alireza; Mahzoon, Mojtaba

2011-01-01

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

Frustrated S = 1/2 Two-Leg Ladder with Different Leg Interactions

Science.gov (United States)

Tonegawa, Takashi; Okamoto, Kiyomi; Hikihara, Toshiya; Sakai, Tôru

2017-04-01

We explore the ground-state phase diagram of the S = 1/2 two-leg ladder. The isotropic leg interactions J1,a and J1,b between nearest neighbor spins in the legs a and b, respectively, are different from each other. The xy and z components of the uniform rung interactions are denoted by Jr and ΔJr, respectively, where Δ is the XXZ anisotropy parameter. This system has a frustration when J1,aJ1,b employ the physical consideration, the level spectroscopy analysis of the results obtained by the exact diagonalization method and also the density-matrix renormalization-group method. It is found that the non-collinear ferrimagnetic (NCFR) state appears as the ground state in the frustrated region of the parameters. Furthermore, the direct-product triplet-dimer (TD) state in which all rungs form the TD pair is the exact ground state, when J1,a + J1,b = 0 and 0≤ Δ ≲ 0.83. The obtained phase diagrams consist of the TD, XY and Haldane phases as well as the NCFR phase.

Approach to leg edema

Directory of Open Access Journals (Sweden)

Fulvio Pomero

2017-09-01

Full Text Available Edema is defined as a palpable swelling caused by an increase in interstitial fluid volume. Leg edema is a common problem with a wide range of possible causes and is the result of an imbalance in the filtration system between the capillary and interstitial spaces. Major causes of edema include venous obstruction, increased capillary permeability and increased plasma volume secondary to sodium and water retention. In both hospital and general practice, the patient with a swollen leg presents a common dilemma in diagnosis and treatment. The cause may be trivial or life-threatening and it is often difficult to determine the clinical pathway. The diagnosis can be narrowed by categorizing the edema according to its duration, distribution (unilateral or bilateral and accompanying symptoms. This work provides clinically oriented recommendations for the management of leg edema in adults.

Acute food deprivation reverses morphine-induced locomotion deficits in M5 muscarinic receptor knockout mice.

Science.gov (United States)

Steidl, Stephan; Lee, Esther; Wasserman, David; Yeomans, John S

2013-09-01

Lesions of the pedunculopontine tegmental nucleus (PPT), one of two sources of cholinergic input to the ventral tegmental area (VTA), block conditioned place preference (CPP) for morphine in drug-naïve rats. M5 muscarinic cholinergic receptors, expressed by midbrain dopamine neurons, are critical for the ability of morphine to increase nucleus accumbens dopamine levels and locomotion, and for morphine CPP. This suggests that M5-mediated PPT cholinergic inputs to VTA dopamine neurons critically contribute to morphine-induced dopamine activation, reward and locomotion. In the current study we tested whether food deprivation, which reduces PPT contribution to morphine CPP in rats, could also reduce M5 contributions to morphine-induced locomotion in mice. Acute 18-h food deprivation reversed the phenotypic differences usually seen between non-deprived wild-type and M5 knockout mice. That is, food deprivation increased morphine-induced locomotion in M5 knockout mice but reduced morphine-induced locomotion in wild-type mice. Food deprivation increased saline-induced locomotion equally in wild-type and M5 knockout mice. Based on these findings, we suggest that food deprivation reduces the contribution of M5-mediated PPT cholinergic inputs to the VTA in morphine-induced locomotion and increases the contribution of a PPT-independent pathway. The contributions of cholinergic, dopaminergic and GABAergic neurons to the effects of acute food deprivation are discussed. Copyright © 2013 Elsevier B.V. All rights reserved.

Energy evaluation of a bio-inspired gait modulation method for quadrupedal locomotion.

Science.gov (United States)

Fukuoka, Yasuhiro; Fukino, Kota; Habu, Yasushi; Mori, Yoshikazu

2015-08-04

We have proposed a bio-inspired gait modulation method, by means of which a simulated quadruped model can successfully perform smooth, autonomous gait transitions from a walk to a trot to a gallop, as observed in animals. The model is equipped with a rhythm generator called a central pattern generator (CPG) for each leg. The lateral neighbouring CPGs are mutually and inhibitorily coupled, and the CPG network is hardwired to produce a trot. Adding only the simple feedback of body tilt to each CPG, which was based on input from the postural reflex, led to the emergence of un-programmed walking and galloping at low and high speeds, respectively. Although this autonomous gait transition was a consequence of postural adaptation, it coincidentally also resulted in the minimization of energy consumption, as observed in real animals. In simulations at a variety of constant speeds the energy cost was lower for walking at low speeds and for galloping at high speeds than it was for trotting. Moreover, each gait transition occurred at the optimal speed, such that the model minimised its energy consumption. Thus, gait transitions in simulations that included the bio-inspired gait modulation method were similar to those observed in animals, even from the perspective of energy consumption. This method should therefore be a preferred choice for motion generation and control in biomimetic quadrupedal locomotion.

FORMALIZATION OF LOCOMOTIVE DRIVER ACTIVITY TENSION INDICATOR BASED ON THE ERGONOMIC MODEL

Directory of Open Access Journals (Sweden)

O. M. Horobchenko

2017-02-01

Full Text Available Purpose. A key factor contributing to the safety and quality of ergatic system "train-driver" is the intensity of the locomotive crew’s work. The aim of this work is formalization of locomotive driver activity tension indicator. Methodology. One of the characteristics of driver activity tension is the difference between the time allotted to complete the task, and the necessary (external reserve or deficiency time. The sets of major and minor operations in the management of the train locomotive in different train situations were identified. Using the methods of fuzzy logic, the concept of "materiality of the operation of the locomotive control" is presented in the form of a set of linguistic variables. To determine the function membership of the elements of the set "the importance of the operation of the locomotive control" the method of expert evaluations was used. Coefficient of temporary tension is presented in the form of fuzzy number L-R-type. Findings. It was found the value of the relative number of operations of locomotive control according to the distribution using the parameter of operation "importance". To determine the most tensioned mode of the driver ranking the traffic condition according to the parameter of relative amounts of the important management operations was conducted. The most difficult modes are the "front hindrance", "movement in unfavorable weather conditions" and "departure from the station to the running line". Originality. The introduction of the value "conventional importance of the operation" allowed us to more accurately describe the terms of train driving. For the first time the work presents determination of tension of the driver’s work in the form of a unimodal fuzzy number, which will make it possible to use the methods of the theory of artificial intelligence to simulate activity of the locomotive driver and develop intelligent control systems. Practical value. There were obtained the opportunity to

EVOLUTION. A four-legged snake from the Early Cretaceous of Gondwana.

Science.gov (United States)

Martill, David M; Tischlinger, Helmut; Longrich, Nicholas R

2015-07-24

Snakes are a remarkably diverse and successful group today, but their evolutionary origins are obscure. The discovery of snakes with two legs has shed light on the transition from lizards to snakes, but no snake has been described with four limbs, and the ecology of early snakes is poorly known. We describe a four-limbed snake from the Early Cretaceous (Aptian) Crato Formation of Brazil. The snake has a serpentiform body plan with an elongate trunk, short tail, and large ventral scales suggesting characteristic serpentine locomotion, yet retains small prehensile limbs. Skull and body proportions as well as reduced neural spines indicate fossorial adaptation, suggesting that snakes evolved from burrowing rather than marine ancestors. Hooked teeth, an intramandibular joint, a flexible spine capable of constricting prey, and the presence of vertebrate remains in the guts indicate that this species preyed on vertebrates and that snakes made the transition to carnivory early in their history. The structure of the limbs suggests that they were adapted for grasping, either to seize prey or as claspers during mating. Together with a diverse fauna of basal snakes from the Cretaceous of South America, Africa, and India, this snake suggests that crown Serpentes originated in Gondwana. Copyright © 2015, American Association for the Advancement of Science.

ANKLE JOINT CONTROL DURING SINGLE-LEGGED BALANCE USING COMMON BALANCE TRAINING DEVICES - IMPLICATIONS FOR REHABILITATION STRATEGIES

DEFF Research Database (Denmark)

Strøm, Mark; Thorborg, Kristian; Bandholm, Thomas

2016-01-01

BACKGROUND: A lateral ankle sprain is the most prevalent musculoskeletal injury in sports. Exercises that aim to improve balance are a standard part of the ankle rehabilitation process. In an optimal progression model for ankle rehabilitation and prevention of future ankle sprains, it is important...... to characterize different balance exercises based on level of difficulty and sensori-motor training stimulus. PURPOSE: The purpose of this study was to investigate frontal-plane ankle kinematics and associated peroneal muscle activity during single-legged balance on stable surface (floor) and three commonly used...... balance devices (Airex®, BOSU® Ball and wobble board). DESIGN: Descriptive exploratory laboratory study. METHODS: Nineteen healthy subjects performed single-legged balance with eyes open on an Airex® mat, BOSU® Ball, wobble board, and floor (reference condition). Ankle kinematics were measured using...

Evaluation of arm-leg coordination in flat breaststroke.

Science.gov (United States)

Chollet, D; Seifert, L; Leblanc, H; Boulesteix, L; Carter, M

2004-10-01

This study proposes a new method to evaluate arm-leg coordination in flat breaststroke. Five arm and leg stroke phases were defined with a velocity-video system. Five time gaps quantified the time between arm and leg actions during three paces of a race (200 m, 100 m and 50 m) in 16 top level swimmers. Based on these time gaps, effective glide, effective propulsion, effective leg insweep and effective recovery were used to identify the different stroke phases of the body. A faster pace corresponded to increased stroke rate, decreased stroke length, increased propulsive phases, shorter glide phases, and a shorter T1 time gap, which measured the effective body glide. The top level swimmers showed short time gaps (T2, T3, T4, measuring the timing of arm-leg recoveries), which reflected the continuity in arm and leg actions. The measurement of these time gaps thus provides a pertinent evaluation of swimmers' skill in adapting their arm-leg coordination to biomechanical constraints.

HoverBots: Precise Locomotion Using Robots That Are Designed for Manufacturability

Directory of Open Access Journals (Sweden)

Markus P. Nemitz

2017-11-01

Full Text Available Scaling up robot swarms to collectives of hundreds or even thousands without sacrificing sensing, processing, and locomotion capabilities is a challenging problem. Low-cost robots are potentially scalable, but the majority of existing systems have limited capabilities, and these limitations substantially constrain the type of experiments that could be performed by robotics researchers. As an alternative to increasing the quantity of robots by reducing their functionality, we have developed a new technology that delivers increased functionality at low-cost. In this study, we present a comprehensive literature review on the most commonly used locomotion strategies of swarm robotic systems. We introduce a new type of low-friction locomotion—active low-friction locomotion—and we show its first implementation in the HoverBot system. The HoverBot system consists of an air levitation and magnet table, and a HoverBot agent. HoverBot agents are levitating circuit boards that we have equipped with an array of planar coils and a Hall-effect sensor. The HoverBot agent uses its coils to pull itself toward magnetic anchors that are embedded into a levitation table. These robots use active low-friction locomotion; consist of only surface-mount components; circumvent actuator calibration; are capable of odometry by using a single Hall-effect sensor; and perform precise movement. We conducted three hours of experimental evaluation of the HoverBot system in which we observed the system performing more than 10,000 steps. We also demonstrate formation movement, random collision, and straight collisions with two robots. This study demonstrates that active low-friction locomotion is an alternative to wheeled and slip-stick locomotion in the field of swarm robotics.

Swimming at low Reynolds number: a beginners guide to undulatory locomotion

Science.gov (United States)

Cohen, Netta; Boyle, Jordan H.

2010-03-01

Undulatory locomotion is a means of self-propulsion that relies on the generation and propagation of waves along a body. As a mode of locomotion it is primitive and relatively simple, yet can be remarkably robust. No wonder then, that it is so prevalent across a range of biological scales from motile bacteria to gigantic prehistoric snakes. Key to understanding undulatory locomotion is the body's interplay with the physical environment, which the swimmer or crawler will exploit to generate propulsion, and in some cases, even to generate the underlying undulations. This review focuses by and large on undulators in the low Reynolds number regime, where the physics of the environment can be much more tractable. We review some key concepts and theoretical advances, as well as simulation tools and results applied to selected examples of biological swimmers. In particular, we extend the discussion to some simple cases of locomotion in non-Newtonian media as well as to small animals, in which the nervous system, motor control, body properties and the environment must all be considered to understand how undulations are generated and modulated. To conclude, we review recent progress in microrobotic undulators that may one day become commonplace in applications ranging from toxic waste disposal to minimally invasive surgery.

Relationship between Leg Mass, Leg Composition and Foot Velocity on Kicking Accuracy in Australian Football.

Science.gov (United States)

Hart, Nicolas H; Nimphius, Sophia; Spiteri, Tania; Cochrane, Jodie L; Newton, Robert U

2016-06-01

Kicking a ball accurately over a desired distance to an intended target is arguably the most important skill to acquire in Australian Football. Therefore, understanding the potential mechanisms which underpin kicking accuracy is warranted. The aim of this study was to examine the relationship between leg mass, leg composition and foot velocity on kicking accuracy in Australian Football. Thirty-one Australian Footballers (n = 31; age: 22.1 ± 2.8 years; height: 1.81 ± 0.07 m; weight: 85.1 ± 13.0 kg; BMI: 25.9 ± 3.2) each performed ten drop punt kicks over twenty metres to a player target. Athletes were separated into accurate (n = 15) and inaccurate (n = 16) kicking groups. Leg mass characteristics were assessed using whole body DXA scans. Foot velocity was determined using a ten-camera optoelectronic, three-dimensional motion capture system. Interactions between leg mass and foot velocity evident within accurate kickers only (r = -0.670 to -0.701). Relative lean mass was positively correlated with kicking accuracy (r = 0.631), while no relationship between foot velocity and kicking accuracy was evident in isolation (r = -0.047 to -0.083). Given the evident importance of lean mass, and its interaction with foot velocity for accurate kickers; future research should explore speed-accuracy, impulse-variability, limb co-ordination and foot-ball interaction constructs in kicking using controlled with-in subject studies to examine the effects of resistance training and skill acquisition programs on the development of kicking accuracy. Key pointsAccurate kickers expressed a very strong inverse relationship between leg mass and foot velocity. Inaccurate kickers were unable to replicate this, with greater volatility in their performance, indicating an ability of accurate kickers to mediate foot velocity to compensate for leg mass in order to deliver the ball over the required distance.Accurate kickers exhibited larger quantities of relative lean mass and lower quantities

[Role of centro-medullary nailing in fractures of the distal quarter of the leg: about 30 cases].

Science.gov (United States)

Margad, Omar; Boukhris, Jalal; Sallahi, Hicham; Azriouil, Ouahb; Daoudi, Mohamed; Koulali, Khalid

2017-01-01

The fractures of the distal quarter of the leg are characterized by fracture line located at the level of the lower quarter of the tibia, according to Gerard and Evrard definition [1]. They are serious and pose problems for consolidation, immobilization and stability. We here describe our experience in the Department of Orthopaedics and Traumatology at the Avicenne Military Hospital, Marrakech. We report 30 cases of closed fractures of the lower quarter of the leg treated with centro-medullary nailing over a period of 10 years (January 2001-December 2010). Locked nailing was performed in 80% of cases and simple nailing was performed in the other cases. The average age of patients was 36 years. There was a clear male predominance (27 men, 3 women). The average time for consolidation was 17 weeks and functional outcomes were satisfactory. A single case of infection occurred 6 months after surgery (3.3%) and no other complication was reported. Malunion was detected in 30% of patients. Our epidemiological data and results were almost identical to those in the literature. Angular results were significantly lower than those obtained with the series of plates. By contrast, data on infections called for caution and some nails produced excellent angular results when nail fixation was stable. In the light of these results, codified indications for locked centro-medullary nailing should be extended to the fractures of the lower quarter of the leg, provided that stable fixation using double screw distal locking and primary osteosynthesis of distal fibula fractures are performed.

49 CFR 229.129 - Locomotive horn.

Science.gov (United States)

2010-10-01

.... The locomotive shall be positioned on straight, level track. (6) Measurements shall be taken only when... between 20 percent and 95 percent inclusively; wind velocity is not more than 12 miles per hour and there..., at an angle no greater than 20 degrees from the center line of the track, and oriented with respect...

Equilibrium Condition during Locomotion and Gait in Broiler Chickens

Directory of Open Access Journals (Sweden)

MCF Alves

Full Text Available ABSTRACT The experiment was carried out with the objective of evaluating a methodology to estimate the angulation and equilibrium condition, relating them to gait score and the main diseases of the locomotion system in males and females of commercial broiler strains. A completely randomized experimental design in a factorial arrangement (2x2 was applied, consisting of two sexes and two genetic strains, with five replicates of 53 chickens each. The following characteristics related to broiler locomotion were studied: gait score (GS; incidence of Valgus (VAL and Varus (VAR deformities and of pododermatitis (POD; body angle relative the ground (ANG; equilibrium condition (EC; body weight (BW and breast weight (BrW; and incidence of femoral degeneration (FD, tibial dyschondroplasia (TD and spondylolisthesis (SPO. GS, and VAL and VAR were assessed inside a broiler house. Birds were then photographed to estimate ANG and EC. Birds were sacrificed at 42 days of age and analyzed for FD, TD, and SPO. Breast percentage was not influenced by sex or strain. Males showed better ANG than females, regardless of strain. Overall, the strains studied showed prostrated EC. The correlation between GS and the evaluated traits was low. There was a moderate to high association between EC and ANG both in males and females. GS showed low correlation with locomotion problems, and therefore, it is a poor indicator of skeletal diseases. On the other hand, the moderate to high correlations of ANG and EC with locomotion problems make them better indicators of bone diseases than gait score, which is possibly more related to EC and body posture than to bone pathologies.

Duplex sonography of the near-surface leg veins

International Nuclear Information System (INIS)

Mendoza, E.

2007-01-01

The book contains the following contributions: The ultrasonograph, selection of the ultrasonic transducer, anatomy of the near-surface vein system, physiology of the near-surface vein system, varicose status classification, systematics of the duplex sonography of near-surface leg veins, provocational maneuver for the duplex sonographic varicose diagnostics, exploration of vena saphena parva, perforans veins, side branches, phlebitis, sonography for varicose therapy, postsurgical sonography, deep leg veins, examination of near-surface leg veins for the pathology of the deep vein system, differential diagnostic clarification of leg oedema from the phlebologic-lymphological view, diagnostic side features along the near-surface leg veins

Full-scale locomotive dynamic collision testing and correlations : offset collisions between a locomotive and a covered hopper car (test 4).

Science.gov (United States)

2011-09-01

This report presents the test results and finite element correlations of a full-scale dynamic collision test with rail vehicles as part of the Federal Railroad Administrations research program on improved crashworthiness of locomotive structures. ...

[Possible changes in energy-minimizer mechanisms of locomotion due to chronic low back pain - a literature review].

Science.gov (United States)

de Carvalho, Alberito Rodrigo; Andrade, Alexandro; Peyré-Tartaruga, Leonardo Alexandre

2015-01-01

One goal of the locomotion is to move the body in the space at the most economical way possible. However, little is known about the mechanical and energetic aspects of locomotion that are affected by low back pain. And in case of occurring some damage, little is known about how the mechanical and energetic characteristics of the locomotion are manifested in functional activities, especially with respect to the energy-minimizer mechanisms during locomotion. This study aimed: a) to describe the main energy-minimizer mechanisms of locomotion; b) to check if there are signs of damage on the mechanical and energetic characteristics of the locomotion due to chronic low back pain (CLBP) which may endanger the energy-minimizer mechanisms. This study is characterized as a narrative literature review. The main theory that explains the minimization of energy expenditure during the locomotion is the inverted pendulum mechanism, by which the energy-minimizer mechanism converts kinetic energy into potential energy of the center of mass and vice-versa during the step. This mechanism is strongly influenced by spatio-temporal gait (locomotion) parameters such as step length and preferred walking speed, which, in turn, may be severely altered in patients with chronic low back pain. However, much remains to be understood about the effects of chronic low back pain on the individual's ability to practice an economic locomotion, because functional impairment may compromise the mechanical and energetic characteristics of this type of gait, making it more costly. Thus, there are indications that such changes may compromise the functional energy-minimizer mechanisms. Copyright © 2014 Elsevier Editora Ltda. All rights reserved.

Locomotive energy savings possibilities

Directory of Open Access Journals (Sweden)

Leonas Povilas LINGAITIS

2009-01-01

Full Text Available Economic indicators of electrodynamic braking have not been properly estimated. Vehicles with alternative power trains are transitional stage between development of pollution- free vehicles. According to these aspects the investigation on conventional hybrids drives and their control system is carried out in the article. The equation that allows evaluating effectiveness of regenerative braking for different variants of hybrid drive are given. Presenting different types of locomotive energy savings power systems, which are using regenerative braking energy any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.

Effect of exercise-induced enhancement of the leg-extensor muscle-tendon unit capacities on ambulatory mechanics and knee osteoarthritis markers in the elderly.

Science.gov (United States)

Karamanidis, Kiros; Oberländer, Kai Daniel; Niehoff, Anja; Epro, Gaspar; Brüggemann, Gert-Peter

2014-01-01

Leg-extensor muscle weakness could be a key component in knee joint degeneration in the elderly because it may result in altered muscular control during locomotion influencing the mechanical environment within the joint. This work aimed to examine whether an exercise-induced enhancement of the triceps surae (TS) and quadriceps femoris (QF) muscle-tendon unit (MTU) capacities would affect mechanical and biological markers for knee osteoarthritis in the elderly. Twelve older women completed a 14-week TS and QF MTU exercise intervention, which had already been established as increasing muscle strength and tendon stiffness. Locomotion mechanics and serum cartilage oligomeric matrix protein (COMP) levels were examined during incline walking. MTU mechanical properties were assessed using simultaneously ultrasonography and dynamometry. Post exercise intervention, the elderly had higher TS and QF contractile strength and tendon-aponeurosis stiffness. Regarding the incline gait task, the subjects demonstrated a lower external knee adduction moment and lower knee adduction angular impulse during the stance phase post-intervention. Furthermore, post-intervention compared to pre-intervention, the elderly showed lower external hip adduction moment, but revealed higher plantarflexion pushoff moment. The changes in the external knee adduction moment were significantly correlated with the improvement in ankle pushoff function. Serum COMP concentration increased in response to the 0.5-h incline walking exercise with no differences in the magnitude of increment between pre- and post-intervention. This work emphasizes the important role played by the ankle pushoff function in knee joint mechanical loading during locomotion, and may justify the inclusion of the TS MTU in prevention programs aiming to positively influence specific mechanical markers for knee osteoarthritis in the elderly. However, the study was unable to show that COMP is amenable to change in the elderly following a

Environmental and cow-related factors affect cow locomotion and can cause misclassification in lameness detection systems.

Science.gov (United States)

Van Nuffel, A; Van De Gucht, T; Saeys, W; Sonck, B; Opsomer, G; Vangeyte, J; Mertens, K C; De Ketelaere, B; Van Weyenberg, S

2016-09-01

To tackle the high prevalence of lameness, techniques to monitor cow locomotion are being developed in order to detect changes in cows' locomotion due to lameness. Obviously, in such lameness detection systems, alerts should only respond to locomotion changes that are related to lameness. However, other environmental or cow factors can contribute to locomotion changes not related to lameness and hence, might cause false alerts. In this study the effects of wet surfaces, dark environment, age, production level, lactation and gestation stage on cow locomotion were investigated. Data was collected at Institute for Agricultural and Fisheries Research research farm (Melle, Belgium) during a 5-month period. The gait variables of 30 non-lame and healthy Holstein cows were automatically measured every day. In dark environments and on wet walking surfaces cows took shorter, more asymmetrical strides with less step overlap. In general, older cows had a more asymmetrical gait and they walked slower with more abduction. Lactation stage or gestation stage also showed significant association with asymmetrical and shorter gait and less step overlap probably due to the heavy calf in the uterus. Next, two lameness detection algorithms were developed to investigate the added value of environmental and cow data into detection models. One algorithm solely used locomotion variables and a second algorithm used the same locomotion variables and additional environmental and cow data. In the latter algorithm only age and lactation stage together with the locomotion variables were withheld during model building. When comparing the sensitivity for the detection of non-lame cows, sensitivity increased by 10% when the cow data was added in the algorithm (sensitivity was 70% and 80% for the first and second algorithm, respectively). Hence, the number of false alerts for lame cows that were actually non-lame, decreased. This pilot study shows that using knowledge on influencing factors on cow

Crucial advantages of tail use in the evolution of vertebrate terrestrial locomotion

Science.gov (United States)

Astley, Henry; McInroe, Benjamin; Kawano, Sandy; Blob, Rick; Goldman, Daniel

In the invasion of terrestrial environment, the first tetrapods faced the challenge of locomotion on flowable substrates (e.g. sand and mud), sometimes oriented at inclines. Although the morphology of many early tetrapods is known, robotic studies have revealed that effective locomotion on these substrates also depends strongly upon kinematics; slight differences in movements of the same appendage can lead to success or failure. Using a model organism (the mudskipper) and a robotic physical model, we demonstrate how muscular tails provided critical locomotor advantages on granular substrates that the first invaders of land likely encountered. Mudskippers use their tails for additional propulsion with increasing frequency as the slope of the granular material increases, and the decline in locomotor performance with slope is shallower when the tail is used. Experiments with a robotic model of the mudskipper showed that, while the tail did not always provide a benefit to locomotion, use of the tail made the robot's performance more robust, achieving effective locomotion on a wider range of slopes, limb postures and foot placements. These results suggest that, rather than simply being an inert appendage, the tails of early tetrapods were vital to their first forays into terrestrial habitats.

Emotion through Locomotion: Gender Impact

OpenAIRE

Kr?ger, Samuel; Sokolov, Alexander N.; Enck, Paul; Kr?geloh-Mann, Ingeborg; Pavlova, Marina A.

2013-01-01

Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass fema...

Bombardier extends its TRAXX locomotive family; Bombardier erweitert seine Lokomotivfamilie TRAXX

Energy Technology Data Exchange (ETDEWEB)

Vitins, J. [Bombardier, Zuerich (Switzerland)

2005-07-01

Bombardier has extended and optimised its TRAXX locomotive platform, launched in 2003, with the addition of a multi-system locomotive and the introduction of technical innovations. The developments centre on the multi-system loco TRAXX F140 MS, which gained approval in a very short space of time and is already being successfully operated by SBB as type Re 484 for freight traffic between Switzerland and Italy; the TRAXX F140 DC, recently ordered by Angel Trains Cargo for Italy's DC network, and the 2nd series of the proven AC loco TRAXX AC2, operated by Railion in Germany as type BR 185.2. All these locomotive types reflect the development work undertaken with a view to accommodating the various national train protection systems through the new ETCS-compatible Bombardier ATP (Automatic Train Protection) system, together with chopper-controlled power conversion in DC networks. (orig.)

An eight-legged tactile sensor to estimate coefficient of static friction.

Science.gov (United States)

Wei Chen; Rodpongpun, Sura; Luo, William; Isaacson, Nathan; Kark, Lauren; Khamis, Heba; Redmond, Stephen J

2015-08-01

It is well known that a tangential force larger than the maximum static friction force is required to initiate the sliding motion between two objects, which is governed by a material constant called the coefficient of static friction. Therefore, knowing the coefficient of static friction is of great importance for robot grippers which wish to maintain a stable and precise grip on an object during various manipulation tasks. Importantly, it is most useful if grippers can estimate the coefficient of static friction without having to explicitly explore the object first, such as lifting the object and reducing the grip force until it slips. A novel eight-legged sensor, based on simplified theoretical principles of friction is presented here to estimate the coefficient of static friction between a planar surface and the prototype sensor. Each of the sensor's eight legs are straight and rigid, and oriented at a specified angle with respect to the vertical, allowing it to estimate one of five ranges (5 = 8/2 + 1) that the coefficient of static friction can occupy. The coefficient of friction can be estimated by determining whether the legs have slipped or not when pressed against a surface. The coefficients of static friction between the sensor and five different materials were estimated and compared to a measurement from traditional methods. A least-squares linear fit of the sensor estimated coefficient showed good correlation with the reference coefficient with a gradient close to one and an r(2) value greater than 0.9.

Control method for biped locomotion robots based on ZMP information

International Nuclear Information System (INIS)

Kume, Etsuo

1994-01-01

The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author)

Hybrid Locomotive for Energy Savings and Reduced Emissions

Science.gov (United States)

2017-08-01

Norfolk Southern Corporation (NS) and Pennsylvania State University tested several different battery systems in hybrid locomotives. Advanced lithium-ion battery technology was the only kind that displayed the capacity to perform in heavy switching or...

Performance analysis of jump-gliding locomotion for miniature robotics.

Science.gov (United States)

Vidyasagar, A; Zufferey, Jean-Christohphe; Floreano, Dario; Kovač, M

2015-03-26

Recent work suggests that jumping locomotion in combination with a gliding phase can be used as an effective mobility principle in robotics. Compared to pure jumping without a gliding phase, the potential benefits of hybrid jump-gliding locomotion includes the ability to extend the distance travelled and reduce the potentially damaging impact forces upon landing. This publication evaluates the performance of jump-gliding locomotion and provides models for the analysis of the relevant dynamics of flight. It also defines a jump-gliding envelope that encompasses the range that can be achieved with jump-gliding robots and that can be used to evaluate the performance and improvement potential of jump-gliding robots. We present first a planar dynamic model and then a simplified closed form model, which allow for quantification of the distance travelled and the impact energy on landing. In order to validate the prediction of these models, we validate the model with experiments using a novel jump-gliding robot, named the 'EPFL jump-glider'. It has a mass of 16.5 g and is able to perform jumps from elevated positions, perform steered gliding flight, land safely and traverse on the ground by repetitive jumping. The experiments indicate that the developed jump-gliding model fits very well with the measured flight data using the EPFL jump-glider, confirming the benefits of jump-gliding locomotion to mobile robotics. The jump-glide envelope considerations indicate that the EPFL jump-glider, when traversing from a 2 m height, reaches 74.3% of optimal jump-gliding distance compared to pure jumping without a gliding phase which only reaches 33.4% of the optimal jump-gliding distance. Methods of further improving flight performance based on the models and inspiration from biological systems are presented providing mechanical design pathways to future jump-gliding robot designs.

Different performances in static and dynamic imagery and real locomotion. An exploratory trial.

Directory of Open Access Journals (Sweden)

Augusto eFusco

2014-10-01

Full Text Available Motor imagery is a mental representation of an action without its physical execution. Recently, the simultaneous movement of the body has been added to the mental simulation. This refers to dynamic motor imagery (dMI. This study was aimed at analyzing the temporal features for static and dMI in different locomotor conditions (natural walking, NW, light running, LR, lateral walking, LW, backward walking, BW, and whether these performances were more related to all the given conditions or present only in walking. We have been also evaluated the steps performed in the dMI in comparison with the ones performed by real locomotion. Twenty healthy participants (29.3 ± 5.1 y. old were asked to move towards a visualized target located at 10mt. In dMI, no significant temporal differences respect the actual locomotion were found for all the given tasks (NW: p=0.058, LR: p=0.636, BW: p=0.096; LW: p=0,487. Significant temporal differences between static imagery and actual movements were found for LR (p<0.001 and LW (p<0.001, due to an underestimation of time needed to achieve the target in imagined locomotion. Significant differences in terms of number of steps among tasks were found for LW (p<0.001 and BW (p=0.036, whereas neither in NW (p=0.124 nor LR (p=0.391 between dMI and real locomotion.Our results confirmed that motor imagery is a task-dependent process, with walking being temporally closer than other locomotor conditions. Moreover, the time records of dynamic motor imagery are nearer to the ones of actual locomotion respect than the ones of static motor imagery. Keywords: Walking, dynamic motor imagery, human locomotion, chronometry.

Using entropy measures to characterize human locomotion.

Science.gov (United States)

Leverick, Graham; Szturm, Tony; Wu, Christine Q

2014-12-01

Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based on their construct validity, predictive validity in a simple model of human walking and convergent validity in an experimental study. Results show that four of the five considered entropy measures increase meaningfully with the increased probability of falling in a simple passive bipedal walker model. The same four entropy measures also experienced statistically significant increases in response to increasing age and gait impairment caused by cognitive interference in an experimental study. Of the considered entropy measures, the proposed quantized dynamical entropy (QDE) and quantization-based approximation of sample entropy (QASE) offered the best combination of sensitivity to changes in gait dynamics and computational efficiency. Based on these results, entropy appears to be a viable candidate for assessing the stability of human locomotion.

Leg pain

Science.gov (United States)

... in the blood Medicines (such as diuretics and statins) Muscle fatigue or strain from overuse, too much exercise, or holding a muscle in the same position for a long time An injury can also cause leg pain from: A torn or overstretched muscle ( strain ) Hairline ...

Broken Leg

Science.gov (United States)

... the leg, which can result in a fracture. Stress fractures outside of sport situations are more common in people who have: ... shoes. Choose the appropriate shoe for your favorite sports or activities. And ... can prevent stress fractures. Rotate running with swimming or biking. If ...

Economic aspects of advanced coal-fired gas turbine locomotives

Science.gov (United States)

Liddle, S. G.; Bonzo, B. B.; Houser, B. C.

1983-01-01

Increases in the price of such conventional fuels as Diesel No. 2, as well as advancements in turbine technology, have prompted the present economic assessment of coal-fired gas turbine locomotive engines. A regenerative open cycle internal combustion gas turbine engine may be used, given the development of ceramic hot section components. Otherwise, an external combustion gas turbine engine appears attractive, since although its thermal efficiency is lower than that of a Diesel engine, its fuel is far less expensive. Attention is given to such a powerplant which will use a fluidized bed coal combustor. A life cycle cost analysis yields figures that are approximately half those typical of present locomotive engines.

The G6 - a heavy-duty six-wheeled shunting locomotive; Dreiachsige Hochleistungsrangierlokomotive G6

Energy Technology Data Exchange (ETDEWEB)

Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Entwicklung und Standardisierung

2009-03-15

With the three-axle shunter G6, exhibited at Innotrans 2008, the renowned producer of rail vehicles Vossloh Locomotives GmbH marks the beginning of a generational change - not only for three-axle but also for four-axle locomotives. In order to replace the type G765C the G6 has been developed in close cooperation with potential customers. Their request concerning robustness and reliability as well as the equipment options set standards for central driver's cab locomotives in general and lead the way for future four-axle replacements within the Vossloh product family. (orig.)

Full-scale locomotive dynamic crash testing and correlations : C-39 type locomotive colliding with a loaded hopper car (test 7).

Science.gov (United States)

2011-09-01

This report presents the results of a locomotive and three loaded hopper car consist traveling at 29 miles per hour colliding with a stationary consist of 35 loaded hopper cars. The details of test instrumentation, LS-DYNA finite element simulation, ...

Not letting the left leg know what the right leg is doing: limb-specific locomotor adaptation to sensory-cue conflict.

Science.gov (United States)

Durgin, Frank H; Fox, Laura F; Hoon Kim, Dong

2003-11-01

We investigated the phenomenon of limb-specific locomotor adaptation in order to adjudicate between sensory-cue-conflict theory and motor-adaptation theory. The results were consistent with cue-conflict theory in demonstrating that two different leg-specific hopping aftereffects are modulated by the presence of conflicting estimates of self-motion from visual and nonvisual sources. Experiment 1 shows that leg-specific increases in forward drift during attempts to hop in place on one leg while blindfolded vary according to the relationship between visual information and motor activity during an adaptation to outdoor forward hopping. Experiment 2 shows that leg-specific changes in performance on a blindfolded hopping-to-target task are similarly modulated by the presence of cue conflict during adaptation to hopping on a treadmill. Experiment 3 shows that leg-specific aftereffects from hopping additionally produce inadvertent turning during running in place while blindfolded. The results of these experiments suggest that these leg-specific locomotor aftereffects are produced by sensory-cue conflict rather than simple motor adaptation.

Nonlinear dynamics analysis of the spur gear system for railway locomotive

Science.gov (United States)

Wang, Junguo; He, Guangyue; Zhang, Jie; Zhao, Yongxiang; Yao, Yuan

2017-02-01

Considering the factors such as the nonlinearity backlash, static transmission error and time-varying meshing stiffness, a three-degree-of-freedom torsional vibration model of spur gear transmission system for a typical locomotive is developed, in which the wheel/rail adhesion torque is considered as uncertain but bounded parameter. Meantime, the Ishikawa method is used for analysis and calculation of the time-varying mesh stiffness of the gear pair in meshing process. With the help of bifurcation diagrams, phase plane diagrams, Poincaré maps, time domain response diagrams and amplitude-frequency spectrums, the effects of the pinion speed and stiffness on the dynamic behavior of gear transmission system for locomotive are investigated in detail by using the numerical integration method. Numerical examples reveal various types of nonlinear phenomena and dynamic evolution mechanism involving one-period responses, multi-periodic responses, bifurcation and chaotic responses. Some research results present useful information to dynamic design and vibration control of the gear transmission system for railway locomotive.

Quantifying Leg Movement Activity During Sleep.

Science.gov (United States)

Ferri, Raffaele; Fulda, Stephany

2016-12-01

Currently, 2 sets of similar rules for recording and scoring leg movement (LM) exist, including periodic LM during sleep (PLMS) and periodic LM during wakefulness. The former were published in 2006 by a task force of the International Restless Legs Syndrome Study Group, and the second in 2007 by the American Academy of Sleep Medicine. This article reviews the basic recording methods, scoring rules, and computer-based programs for PLMS. Less frequent LM activities, such as alternating leg muscle activation, hypnagogic foot tremor, high-frequency LMs, and excessive fragmentary myoclonus are briefly described. Copyright © 2016 Elsevier Inc. All rights reserved.

Leg ulcers due to hyperhomocysteinemia

Directory of Open Access Journals (Sweden)

Krupa Shankar D

2006-01-01

Full Text Available Chronic leg ulcers are rare in young adults and generally indicate a vascular cause. We report a case of a 26-year-old man with leg ulcers of eight months duration. Doppler study indicated venous incompetence and a postphlebitic limb. However, as the distribution and number of ulcers was not consistent with stasis alone and no features of collagen vascular disease were noted, a hyperviscosity state was considered and confirmed with significantly elevated homocysteine level in the serum. Administration of vitamins B1, B2, B6 and B12, trimethyl-glycine, mecobalamine, folic acid and povidone iodine dressings with culture-directed antibiotic therapy led to a satisfactory healing of ulcers over a period of one month. Hyperhomocysteinemia must be considered in the differential diagnosis of leg ulcers in young individuals.

Six weeks' aerobic retraining after two weeks' immobilization restores leg lean mass and aerobic capacity but does not fully rehabilitate leg strenght in young and older men

DEFF Research Database (Denmark)

Vigelsø Hansen, Andreas; Gram, Martin; Wiuff, Caroline

2015-01-01

OBJECTIVE: To determine the effect of aerobic retraining as rehabilitation after short-term leg immobilization on leg strength, leg work capacity, leg lean mass, leg muscle fibre type composition and leg capillary supply, in young and older men. SUBJECTS AND DESIGN: Seventeen young (23 ± 1 years...... immobilization had marked effects on leg strength, and work capacity and 6 weeks' retraining was sufficient to increase, but not completely rehabilitate, muscle strength, and to rehabilitate aerobic work capacity and leg lean mass (in the young men)....

Impact of food restriction and cocaine on locomotion in ghrelin- and ghrelin-receptor knockout mice.

Science.gov (United States)

Clifford, Shane; Zeckler, Rosie Albarran; Buckman, Sam; Thompson, Jeff; Hart, Nigel; Wellman, Paul J; Smith, Roy G

2011-07-01

Food restriction (FR) augments the behavioral and reinforcing effects of psychomotor stimulants such as cocaine or amphetamine; effects that may be related to the capacity of FR to increase plasma levels of ghrelin (GHR), a 28-amino acid orexigenenic peptide linked to activation of brain dopamine systems. The present study used wild-type (WT) mice or mutant mice sustaining knockout of either GHR [GHR((-/-)) ] or of the growth hormone secretagogue receptor [GHS-R((-/-)) ] and subjected to FR or not to evaluate the role of GHR and GHS-R in cocaine-stimulated locomotion. WT, GHR((-/-)) , and GHS-R((-/-)) mice were either restricted to 60% of baseline caloric intake or allowed to free-feed (FF). Mice were treated with 0, 1.25, 2.5 and 5.0 mg/kg cocaine on separate test days (in random dose order) and forward locomotion was recorded on each drug day for 45 minutes after drug dosing. Food (and water) was available immediately after (but not during) each activity test. For FF mice, there was no interaction between cocaine and GHR status on locomotion. FR-WT mice treated with saline exhibited significant increases in anticipatory locomotion (relative to FF-WT mice), whereas FR-GHS-R((-/-)) mice did not. Cocaine significantly increased locomotion in FR-GHR((-/-)) and FR-GHS-R((-/-)) mice to the levels noted in FR-WT mice. These results suggest that GHS-R activity, but not GHR activity, is required for FR to augment food-associated anticipatory locomotion, but do not support the contention that GHR pathways are required for the capacity of FR to augment the acute effect of cocaine on locomotion. © 2010 The Authors, Addiction Biology © 2010 Society for the Study of Addiction.

The effects of surface condition on abdominal muscle activity during single-legged hold exercise.

Science.gov (United States)

Ha, Sung-min; Oh, Jae-seop; Jeon, In-cheol; Kwon, Oh-yun

2015-02-01

To treat low-back pain, various spinal stability exercises are commonly used to improve trunk muscle function and strength. Because human movement for normal daily activity occurs in multi-dimensions, the importance of exercise in multi-dimensions or on unstable surfaces has been emphasized. Recently, a motorized rotating platform (MRP) for facilitating multi-dimensions dynamic movement was introduced for clinical use. However, the abdominal muscle activity with this device has not been reported. The purpose of this study was to compare the abdominal muscle activity (rectus abdominis, external and internal oblique muscles) during an active single-leg-hold (SLH) exercise on a floor (stable surface), foam roll, and motorized rotating platform (MRP). Thirteen healthy male subjects participated in this study. Using electromyography, the abdominal muscle activity was measured while the subjects performed SLH exercises on floor (stable surface), foam roll, and MRP. There were significant differences in the abdominal muscle activities among conditions (P.05) (Fig. 2). After the Bonferroni correction, however, no significant differences among conditions remained, except for differences in both side IO muscle activity between the floor and foam roll conditions (padjexercises on a foam roll and MRP is more effective increased activities of both side of RA and IO, and Rt. EO compared to floor condition. However, there were no significant differences in abdominal muscles activity in the multiple comparison between conditions (mean difference were smaller than the standard deviation in the abdominal muscle activities) (padj>0.017), except for differences in both side IO muscle activity between the floor (stable surface) and foam roll (padj<0.017) (effect size: 0.79/0.62 (non-supporting/supporting leg) for foam-roll versus floor). Copyright © 2014 Elsevier Ltd. All rights reserved.

INTRA-RATER RELIABILITY OF THE MULTIPLE SINGLE-LEG HOP-STABILIZATION TEST AND RELATIONSHIPS WITH AGE, LEG DOMINANCE AND TRAINING.

Science.gov (United States)

Sawle, Leanne; Freeman, Jennifer; Marsden, Jonathan

2017-04-01

Balance is a complex construct, affected by multiple components such as strength and co-ordination. However, whilst assessing an athlete's dynamic balance is an important part of clinical examination, there is no gold standard measure. The multiple single-leg hop-stabilization test is a functional test which may offer a method of evaluating the dynamic attributes of balance, but it needs to show adequate intra-tester reliability. The purpose of this study was to assess the intra-rater reliability of a dynamic balance test, the multiple single-leg hop-stabilization test on the dominant and non-dominant legs. Intra-rater reliability study. Fifteen active participants were tested twice with a 10-minute break between tests. The outcome measure was the multiple single-leg hop-stabilization test score, based on a clinically assessed numerical scoring system. Results were analysed using an Intraclass Correlations Coefficient (ICC 2,1 ) and Bland-Altman plots. Regression analyses explored relationships between test scores, leg dominance, age and training (an alpha level of p = 0.05 was selected). ICCs for intra-rater reliability were 0.85 for the dominant and non-dominant legs (confidence intervals = 0.62-0.95 and 0.61-0.95 respectively). Bland-Altman plots showed scores within two standard deviations. A significant correlation was observed between the dominant and non-dominant leg on balance scores (R 2 =0.49, ptest demonstrated strong intra-tester reliability with active participants. Younger participants who trained more, have better balance scores. This test may be a useful measure for evaluating the dynamic attributes of balance. 3.

Stair Climbing in a Quadruped Robot

OpenAIRE

Shen-Chiang Chen; Chih-Chung Ko; Cheng-Hsin Li; Pei-Chun Lin

2012-01-01

This paper reports the algorithm of trajectory planning and the strategy of four-leg coordination for quasi-static stair climbing in a quadruped robot. This development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on the robot’s locomotion stability is also included. Finally, simulation and experimental testing were executed to evaluate...

Leg pain and psychological variables predict outcome 2-3 years after lumbar fusion surgery.

Science.gov (United States)

Abbott, Allan D; Tyni-Lenné, Raija; Hedlund, Rune

2011-10-01

Prediction studies testing a thorough range of psychological variables in addition to demographic, work-related and clinical variables are lacking in lumbar fusion surgery research. This prospective cohort study aimed at examining predictions of functional disability, back pain and health-related quality of life (HRQOL) 2-3 years after lumbar fusion by regressing nonlinear relations in a multivariate predictive model of pre-surgical variables. Before and 2-3 years after lumbar fusion surgery, patients completed measures investigating demographics, work-related variables, clinical variables, functional self-efficacy, outcome expectancy, fear of movement/(re)injury, mental health and pain coping. Categorical regression with optimal scaling transformation, elastic net regularization and bootstrapping were used to investigate predictor variables and address predictive model validity. The most parsimonious and stable subset of pre-surgical predictor variables explained 41.6, 36.0 and 25.6% of the variance in functional disability, back pain intensity and HRQOL 2-3 years after lumbar fusion. Pre-surgical control over pain significantly predicted functional disability and HRQOL. Pre-surgical catastrophizing and leg pain intensity significantly predicted functional disability and back pain while the pre-surgical straight leg raise significantly predicted back pain. Post-operative psychomotor therapy also significantly predicted functional disability while pre-surgical outcome expectations significantly predicted HRQOL. For the median dichotomised classification of functional disability, back pain intensity and HRQOL levels 2-3 years post-surgery, the discriminative ability of the prediction models was of good quality. The results demonstrate the importance of pre-surgical psychological factors, leg pain intensity, straight leg raise and post-operative psychomotor therapy in the predictions of functional disability, back pain and HRQOL-related outcomes.

The coal-fired gas turbine locomotive - A new look

Science.gov (United States)

Liddle, S. G.; Bonzo, B. B.; Purohit, G. P.

1983-01-01

Advances in turbomachine technology and novel methods of coal combustion may have made possible the development of a competitive coal fired gas turbine locomotive engine. Of the combustor, thermodynamic cycle, and turbine combinations presently assessed, an external combustion closed cycle regenerative gas turbine with a fluidized bed coal combustor is judged to be the best suited for locomotive requirements. Some merit is also discerned in external combustion open cycle regenerative systems and internal combustion open cycle regenerative gas turbine systems employing a coal gasifier. The choice of an open or closed cycle depends on the selection of a working fluid and the relative advantages of loop pressurization, with air being the most attractive closed cycle working fluid on the basis of cost.

Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

International Nuclear Information System (INIS)

Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho

2011-01-01

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified

Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

Energy Technology Data Exchange (ETDEWEB)

Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho [Chonnam National University, Gwangju (Korea, Republic of)

2011-12-15

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

Loss of signal transduction and inhibition of lymphocyte locomotion in a ground-based model of microgravity

Science.gov (United States)

Sundaresan, Alamelu; Risin, Diana; Pellis, Neal R.; McIntire, L. V. (Principal Investigator)

2002-01-01

Inflammatory adherence to, and locomotion through the interstitium is an important component of the immune response. Conditions such as microgravity and modeled microgravity (MMG) severely inhibit lymphocyte locomotion in vitro through gelled type I collagen. We used the NASA rotating wall vessel bioreactor or slow-turning lateral vessel as a prototype for MMG in ground-based experiments. Previous experiments from our laboratory revealed that when lymphocytes (human peripheral blood mononuclear cells [PBMCs]) were first activated with phytohemaglutinin followed by exposure to MMG, locomotory capacity was not affected. In the present study, MMG inhibits lymphocyte locomotion in a manner similar to that observed in microgravity. Phorbol myristate acetate (PMA) treatment of PBMCs restored lost locomotory capacity by a maximum of 87%. Augmentation of cellular calcium flux with ionomycin had no restorative effect. Treatment of lymphocytes with mitomycin C prior to exposure to MMG, followed by PMA, restored locomotion to the same extent as when nonmitomycin C-treated lymphocytes were exposed to MMG (80-87%), suggesting that deoxyribonucleic acid replication is not essential for the restoration of locomotion. Thus, direct activation of protein kinase C (PKC) with PMA was effective in restoring locomotion in MMG comparable to the normal levels seen in Ig cultures. Therefore, in MMG, lymphocyte calcium signaling pathways were functional, with defects occurring at either the level of PKC or upstream of PKC.

Three nights leg thermal therapy could improve sleep quality in patients with chronic heart failure.

Science.gov (United States)

Sawatari, Hiroyuki; Nishizaka, Mari K; Miyazono, Mami; Ando, Shin-Ichi; Inoue, Shujiro; Takemoto, Masao; Sakamoto, Takafumi; Goto, Daisuke; Furumoto, Tomoo; Kinugawa, Shintaro; Hashiguchi, Nobuko; Rahmawati, Anita; Chishaki, Hiroaki; Ohkusa, Tomoko; Magota, Chie; Tsutsui, Hiroyuki; Chishaki, Akiko

2018-02-01

Sleep quality is often impaired in patients with chronic heart failure (HF), which may worsen their quality of life and even prognosis. Leg thermal therapy (LTT), topical leg warming, has been shown to improve endothelial function, oxidative stress, and cardiac function in patients with HF. However, its short-term influence to sleep quality has not been evaluated in HF patients. Eighteen of 23 patients with stable HF received LTT (15 min of warming at 45 °C and 30 min of insulation) at bedtime for 3 consecutive nights and 5 patients served as control. Subjective sleep quality was evaluated by St. Mary's Hospital Sleep Questionnaire, Oguri-Shirakawa-Azumi Sleep Inventory, and Epworth sleepiness scale, and also objectively evaluated by polysomnography. LTT significantly improved subjective sleep quality indicated by depth of sleep (p quality (p improve subjective and objective sleep quality in patients with HF. LTT can be a complimentary therapy to improve sleep quality in these patients.

Børns leg og eksperimenterende virksomhed

DEFF Research Database (Denmark)

Damgaard Warrer, Sarah; Broström, Stig

Børns leg og eksperimenterende virksomhed er et rigt felt med mange perspektiver, indgangsvinkler og nuancer. I denne bog kædes leg og det eksperimenterende og skabende sammen som to gensidigt forbundne fænomener og belyses i pædagogisk og didaktisk perspektiv. Desuden beskrives potentialet i båd...

Decoding bipedal locomotion from the rat sensorimotor cortex

NARCIS (Netherlands)

Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

2015-01-01

Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower

The effects of ketamine on sexual behavior, anxiety, and locomotion in female rats.

Science.gov (United States)

Guarraci, Fay A; Gonzalez, Chantal M F; Lucero, Devon; Womble, Paige D; Abdel-Rahim, Heba; DeVore, Jennie; Kunkel, Marcela Nicole; Quadlander, Emma; Stinnett, Morgan; Boyette-Davis, Jessica

2018-02-01

The present study characterized the effects of ketamine on sexual behavior and anxiety in female rats. In Experiment 1, female subjects received an injection of ketamine (10.0mg/kg) or saline 30min prior to a sexual partner-preference test during which each female subject was given the opportunity to interact with a female stimulus or a sexually vigorous male stimulus. Immediately afterwards, female subjects were tested for locomotion in an open field test. Ketamine-treated subjects spent significantly more time with the male stimulus than saline-treated subjects. No other measures of mating behavior (i.e., paced mating behavior, lordosis) were affected by ketamine. Ketamine also had no effect on locomotion. In Experiment 2, female subjects received an injection of ketamine (10.0mg/kg), or saline daily for 10days to investigate the possibility that sexual dysfunction emerges only after repeated exposure. Similar to the results of Experiment 1, ketamine-treated subjects spent significantly more time with the male stimulus than saline-treated subjects. Chronic ketamine treatment also decreased the likelihood of leaving the male after mounts, without affecting any other measures of sexual behavior. Chronic ketamine had no effect on locomotion. In Experiment 3, female subjects received an injection of ketamine (10.0mg/kg) or saline and were tested for anxiety in an elevated plus maze test and for locomotion in an open field test. Acute ketamine had no effect on anxiety or locomotion. In Experiment 4, female subjects received an injection of ketamine (10.0mg/kg) or saline daily for 10days to investigate the possibility that anxiety emerges only after repeated exposure. Chronic ketamine exposure had no effect on any measure of anxiety. However, chronic ketamine exposure increased locomotion. The results from these experiments indicate that unlike other medications prescribed for depression, neither acute nor chronic ketamine treatment causes anxiety or disruption of

Locomotion of bluefish.

Science.gov (United States)

DuBois, A B; Cavagna, G A; Fox, R S

1976-02-01

1. Pressure previously measured on the body surface of swimming bluefish were resolved into their backward vectorial components to allow calculation of profile drag. It was 0.18 kg at a speed of 1.8 m/sec. Tangential drag was calculated as if for a thin plate of an area equal to that of the fish. It was 0.08 kg at 1.8 m/sec. Net drag, 0.26 kg, was the sum of profile and tangential drag. 2. Thrust and drag also were calculated from the changes of acceleration measured during steady swimming, assuming that thrust took place only during the acceleration phase, whereas drag occurred during both acceleration and deceleration. This drag was 0.08 kg at a speed of 1.1 m/sec. It is compatible with the drag of 0.26 at 1.8 m/sec calculated from profile and tangential drag provided drag varies as the square of velocity. 3. The force required to produced maximal acceleration was measured during a scare. It was calculated to be 6.9 kg at a peak acceleration of 3 g. 4. The compression strength of th vertebrae was found to be approximately 20 kg per cm2, or roughly three times the force encountered during maximal acceleration. This safety factor of 3 would be reduced when the back was curved, or if opposing groups of muscles were under tension. 5. The finding that a bluefish can accelerate at 3 g and that the vertebral column is strongg enough to withstand this force indicates that the muscles and body structure of a bluefish would be able to withstand the force of gravity if the fish were otherwise equipped for terrestrial life. This fish may have evolved these strengths simultaneously with land animals. It is speculated that other fish may have evolved some degree of strength to overcome inertia and drag during aquatic locomotion, and this evolution may have been a prelude to terrestrial locomotion.

Restless Legs Syndrome -- Self-Tests and Diagnosis

Science.gov (United States)

... legs syndrome Diagnosis Talk to a board certified sleep medicine physician if you think you have restless legs ... He or she can refer you to a sleep medicine physician if necessary. The sleep physician may ask ...

Six-legged walking robot for service operations

OpenAIRE

Ihme, T.; Schneider, A.; Schmucker, U.

1998-01-01

This paper presents the control system of a six-legged vehicle including force control. Considered control schemes are control of forces and control of body motion. The experimental result with a six-legged robot is presented.

Sensitivity of sensor-based sit-to-stand peak power to the effects of training leg strength, leg power and balance in older adults.

Science.gov (United States)

Regterschot, G Ruben H; Folkersma, Marjanne; Zhang, Wei; Baldus, Heribert; Stevens, Martin; Zijlstra, Wiebren

2014-01-01

Increasing leg strength, leg power and overall balance can improve mobility and reduce fall risk. Sensor-based assessment of peak power during the sit-to-stand (STS) transfer may be useful for detecting changes in mobility and fall risk. Therefore, this study investigated whether sensor-based STS peak power and related measures are sensitive to the effects of increasing leg strength, leg power and overall balance in older adults. A further aim was to compare sensitivity between sensor-based STS measures and standard clinical measures of leg strength, leg power, balance, mobility and fall risk, following an exercise-based intervention. To achieve these aims, 26 older adults (age: 70-84 years) participated in an eight-week exercise program aimed at improving leg strength, leg power and balance. Before and after the intervention, performance on normal and fast STS transfers was evaluated with a hybrid motion sensor worn on the hip. In addition, standard clinical tests (isometric quadriceps strength, Timed Up and Go test, Berg Balance Scale) were performed. Standard clinical tests as well as sensor-based measures of peak power, maximal velocity and duration of normal and fast STS showed significant improvements. Sensor-based measurement of peak power, maximal velocity and duration of normal STS demonstrated a higher sensitivity (absolute standardized response mean (SRM): ≥ 0.69) to the effects of training leg strength, leg power and balance than standard clinical measures (absolute SRM: ≤ 0.61). Therefore, the presented sensor-based method appears to be useful for detecting changes in mobility and fall risk. Copyright © 2013 Elsevier B.V. All rights reserved.

Improving venous leg ulcer management

OpenAIRE

Weller, Carolina Dragica

2017-01-01

This thesis reports several different methods to develop and evaluate complex interventions designed to improve venous leg ulcer management. Chronic venous leg ulcers (VLU) are the most common chronic wound problem in the community. Its health and economic burden is predicted to increase due to ageing of the community and increase in prevalence of diabetes and obesity. Although many patients seek health care for VLU, most do not receive the most effective management. Patients with this condi...

Assessing Children's Legs and Feet

OpenAIRE

Wedge, John H.

1985-01-01

Shoes are necessary for protection and warmth. Normal children do not require shoes for support. There is no scientific evidence that shoes—‘orthopedic’ or otherwise—influence or alter the growth or shape of the normal child's foot except, perhaps, adversely if they fit poorly. Family physicians must understand common variations of normal foot and leg development if they are to effectively advise and reassure parents about appropriate footwear. Flat feet, knock knees, bow legs, in-toeing, and...

Promethus Hot Leg Piping Concept

International Nuclear Information System (INIS)

AM Girbik; PA Dilorenzo

2006-01-01

The Naval Reactors Prime Contractor Team (NRPCT) recommended the development of a gas cooled reactor directly coupled to a Brayton energy conversion system as the Space Nuclear Power Plant (SNPP) for NASA's Project Prometheus. The section of piping between the reactor outlet and turbine inlet, designated as the hot leg piping, required unique design features to allow the use of a nickel superalloy rather than a refractory metal as the pressure boundary. The NRPCT evaluated a variety of hot leg piping concepts for performance relative to SNPP system parameters, manufacturability, material considerations, and comparison to past high temperature gas reactor (HTGR) practice. Manufacturability challenges and the impact of pressure drop and turbine entrance temperature reduction on cycle efficiency were discriminators between the piping concepts. This paper summarizes the NRPCT hot leg piping evaluation, presents the concept recommended, and summarizes developmental issues for the recommended concept

RESTLESS LEGS SYNDROME

Directory of Open Access Journals (Sweden)

Dmitriy Valer'evich Artem'ev

2009-01-01

Full Text Available The paper describes the epidemiology, etiology, pathogenesis, clinical picture, diagnosis, differential diagnosis, and treatment of restless legs syndrome. Recommendations are given how to choose therapeutic modalities and drugs in relation to different factors.

Protection against high intravascular pressure in giraffe legs

DEFF Research Database (Denmark)

Petersen, Karin K; Hørlyck, Arne; Østergaard, Kristine Hovkjær

2013-01-01

The high blood pressure in giraffe leg arteries renders giraffes vulnerable to edema. We investigated in 11 giraffes whether large and small arteries in the legs and the tight fascia protect leg capillaries. Ultrasound imaging of foreleg arteries in anesthetized giraffes and ex vivo examination....... All three findings can contribute to protection of the capillaries in giraffe legs from a high arterial pressure....... revealed abrupt thickening of the arterial wall and a reduction of its internal diameter just below the elbow. At and distal to this narrowing, the artery constricted spontaneously and in response to norepinephrine and intravascular pressure recordings revealed a dynamic, viscous pressure drop along...

Single leg balancing in ballet: effects of shoe conditions and poses.

Science.gov (United States)

Lobo da Costa, Paula H; Azevedo Nora, Fernanda G S; Vieira, Marcus Fraga; Bosch, Kerstin; Rosenbaum, Dieter

2013-03-01

The purpose of this study was to describe the effects of lower limb positioning and shoe conditions on stability levels of selected single leg ballet poses performed in demi-pointe position. Fourteen female non-professional ballet dancers (mean age of 18.4±2.8 years and mean body mass index of 21.5±2.8kg/m(2)) who had practiced ballet for at least seven years, without any musculoskeletal impairment volunteered to participate in this study. A capacitive pressure platform allowed for the assessment of center of pressure variables related to the execution of three single leg ballet poses in demi pointé position: attitude devant, attitude derriére, and attitude a la second. Peak pressures, contact areas, COP oscillation areas, anterior-posterior and medio-lateral COP oscillations and velocities were compared between two shoe conditions (barefoot versus slippers) and among the different poses. Barefoot performances produced more stable poses with significantly higher plantar contact areas, smaller COP oscillation areas and smaller anterior-posterior COP oscillations. COP oscillation areas, anterior-posterior COP oscillations and medio-lateral COP velocities indicated that attitude a la second is the least challenging and attitude derriére the most challenging pose. Copyright © 2012 Elsevier B.V. All rights reserved.

Cold leg condensation tests. Task C. Steam--water interaction tests

International Nuclear Information System (INIS)

Brodrick, J.R.; Loiselle, V.

1974-03-01

A report is presented of tests to determine the condensation efficiency of ECC water injected into a quality fluid mixture flowing through the cold leg. In particular, a specific objective was to determine if the mixture of ECC water and quality fluid reached thermodynamic equilibrium before exiting the cold leg. Further, the stability of the ECC water/quality fluid interaction would be assessed by interpretation of thermocouple records and utilization of a section of cold leg piping with view ports to film the interaction whenever possible. The cold leg condensation tests showed complete condensation of the 5 lbm/sec steam quality mixtures in the cold leg by the ECC water flows of the test matrix. The cold leg exit fluid temperature remained below the saturation temperature and had good agreement with the predicted cold leg outlet temperature, calculated assuming total condensation. (U.S.)

Trading of locomotive NO(sub x) emissions : a potential success story

International Nuclear Information System (INIS)

Gaines, L. L.; Biess, L. J.; Diedrich, G. K.

2002-01-01

New US Environmental Protection Agency regulations are forcing locomotive manufacturers and railroads to reduce pollutant emissions from locomotive operation. All new locomotives must meet strict standards when they are built, and existing locomotives must comply when they are rebuilt. Emissions can be reduced either by adjusting combustion parameters, which incurs a fuel penalty, or by turning the diesel engine off when the train is not moving and would otherwise be idling. The latter reduces fuel consumption, but requires installation of a device-such as an auxiliary power unit (APU)-to ensure that the engine can be restarted in cold weather and to supply hotel loads for the crew. Without a financial incentive, capital-short railroads will opt to achieve compliance in the least costly way. However, if they have the option of selling emissions credits from reducing emissions below regulated levels, it would be in their best interest to install additional equipment to minimize emissions. These credits could be purchased by businesses with compliance costs greater than either the cost of the credits or the fines they would have had to pay for non-compliance. The result is a financial benefit for both parties, and a net reduction in emissions, because the seller is emitting below regulated levels, and the buyer is no longer non-compliant. This paper describes a railroad as the potential seller, unable to consummate trades because of uncertainty in the regulatory environment, and estimates financial benefits and reductions in emissions and energy use that could be achieved if the barrier could be removed

On the Role of the Pedunculopontine Nucleus and Mesencephalic Reticular Formation in Locomotion in Nonhuman Primates.

Science.gov (United States)

Goetz, Laurent; Piallat, Brigitte; Bhattacharjee, Manik; Mathieu, Hervé; David, Olivier; Chabardès, Stéphan

2016-05-04

The mesencephalic reticular formation (MRF) is formed by the pedunculopontine and cuneiform nuclei, two neuronal structures thought to be key elements in the supraspinal control of locomotion, muscle tone, waking, and REM sleep. The role of MRF has also been advocated in modulation of state of arousal leading to transition from wakefulness to sleep and it is further considered to be a main player in the pathophysiology of gait disorders seen in Parkinson's disease. However, the existence of a mesencephalic locomotor region and of an arousal center has not yet been demonstrated in primates. Here, we provide the first extensive electrophysiological mapping of the MRF using extracellular recordings at rest and during locomotion in a nonhuman primate (NHP) (Macaca fascicularis) model of bipedal locomotion. We found different neuronal populations that discharged according to a phasic or a tonic mode in response to locomotion, supporting the existence of a locomotor neuronal circuit within these MRF in behaving primates. Altogether, these data constitute the first electrophysiological characterization of a locomotor neuronal system present within the MRF in behaving NHPs under normal conditions, in accordance with several studies done in different experimental animal models. We provide the first extensive electrophysiological mapping of the two major components of the mesencephalic reticular formation (MRF), namely the pedunculopontine and cuneiform nuclei. We exploited a nonhuman primate (NHP) model of bipedal locomotion with extracellular recordings in behaving NHPs at rest and during locomotion. Different MRF neuronal groups were found to respond to locomotion, with phasic or tonic patterns of response. These data constitute the first electrophysiological evidences of a locomotor neuronal system within the MRF in behaving NHPs. Copyright © 2016 the authors 0270-6474/16/364917-13$15.00/0.

Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

Science.gov (United States)

Grossi, Bruno; Iriarte-Díaz, José; Larach, Omar; Canals, Mauricio; Vásquez, Rodrigo A

2014-01-01

Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

Directory of Open Access Journals (Sweden)

Bruno Grossi

Full Text Available Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

Test requirements of locomotive fuel tank blunt impact tests

Science.gov (United States)

2013-10-15

The Federal Railroad Administrations Office of Research : and Development is conducting research into passenger : locomotive fuel tank crashworthiness. A series of impact tests : are planned to measure fuel tank deformation under two types : of dy...

Contact enhancement of locomotion in spreading cell colonies

Science.gov (United States)

D'Alessandro, Joseph; Solon, Alexandre P.; Hayakawa, Yoshinori; Anjard, Christophe; Detcheverry, François; Rieu, Jean-Paul; Rivière, Charlotte

2017-10-01

The dispersal of cells from an initially constrained location is a crucial aspect of many physiological phenomena, ranging from morphogenesis to tumour spreading. In such processes, cell-cell interactions may deeply alter the motion of single cells, and in turn the collective dynamics. While contact phenomena like contact inhibition of locomotion are known to come into play at high densities, here we focus on the little explored case of non-cohesive cells at moderate densities. We fully characterize the spreading of micropatterned colonies of Dictyostelium discoideum cells from the complete set of individual trajectories. From data analysis and simulation of an elementary model, we demonstrate that contact interactions act to speed up the early population spreading by promoting individual cells to a state of higher persistence, which constitutes an as-yet unreported contact enhancement of locomotion. Our findings also suggest that the current modelling paradigm of memoryless active particles may need to be extended to account for the history-dependent internal state of motile cells.

Paper-based Pneumatic Locomotive Robot with Sticky Actuator

Directory of Open Access Journals (Sweden)

Du Xiaohan

2016-01-01

Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

Clinical quality indicators of venous leg ulcers

DEFF Research Database (Denmark)

Kjaer, Monica L; Mainz, Jan; Soernsen, Lars T

2005-01-01

In the clinical setting, diagnosis and treatment of venous leg ulcers can vary considerably from patient to patient. The first step to reducing this variation is to document venous leg ulcer care through use of quantitative scientific documentation principles. This requires the development of val...

Ubx regulates differential enlargement and diversification of insect hind legs.

Directory of Open Access Journals (Sweden)

Najmus Mahfooz

2007-09-01

Full Text Available Differential enlargement of hind (T3 legs represents one of the hallmarks of insect evolution. However, the actual mechanism(s responsible are yet to be determined. To address this issue, we have now studied the molecular basis of T3 leg enlargement in Oncopeltus fasciatus (milkweed bug and Acheta domesticus (house cricket. In Oncopeltus, the T3 tibia displays a moderate increase in size, whereas in Acheta, the T3 femur, tibia, and tarsus are all greatly enlarged. Here, we show that the hox gene Ultrabithorax (Ubx is expressed in the enlarged segments of hind legs. Furthermore, we demonstrate that depletion of Ubx during embryogenesis has a primary effect in T3 legs and causes shortening of leg segments that are enlarged in a wild type. This result shows that Ubx is regulating the differential growth and enlargement of T3 legs in both Oncopeltus and Acheta. The emerging view suggests that Ubx was co-opted for a novel role in regulating leg growth and that the transcriptional modification of its expression may be a universal mechanism for the evolutionary diversification of insect hind legs.

Single-unit pattern generators for quadruped locomotion

DEFF Research Database (Denmark)

Morse, Gregory; Risi, Sebastian; Snyder, Charles R

2013-01-01

Legged robots can potentially venture beyond the limits of wheeled vehicles. While creating controllers for such robots by hand is possible, evolutionary algorithms are an alternative that can reduce the burden of hand-crafting robotic controllers. Although major evolutionary approaches to legged...... on a new type of neuron called a single-unit pattern generator (SUPG). The SUPG, which is indirectly encoded by a compositional pattern producing network (CPPN) evolved by HyperNEAT, produces a flexible temporal activation pattern that can be reset and repeated at any time through an explicit trigger input...

MR angiography of the pelvic and lower leg arteries: starting with time-resolved imaging of the lower leg is recommended

International Nuclear Information System (INIS)

Schmitt, R.; Christopoulos, G.; Brunner, S.; Froehner, S.; Dobritz, M.; Fellner, F.

2001-01-01

58 patients suffering from peripheral arterial vascular disease were examined using contrast-enhanced MR angiography with the intention of optimizing the visualization of lower leg arteries. Different from the customary acquisition order, were first the arteries of the lower legs depicted with three time-resolved phases. Afterwards, the iliacal and femoral vessels were imaged by applying the floating-table technique in two steps. In all cases, the lower leg arteries were depicted without overlying veins. By injecting the contrast agent in two phases, imaging quality of the iliofemoral arteries was not significantly reduced. - In conclusion, we would recommend the hybrid technique of peripheral contrast-enhanced MRA with primarily starting the acquisition of the lower legs in cases of foot infections or ulcerations where the transit time is reduced bi- or unilaterally. (orig.) [de

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

Science.gov (United States)

Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

2017-08-01

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

Laterality of the legs in young female soccer players

Directory of Open Access Journals (Sweden)

Antosiak-Cyrak Katarzyna Z.

2015-12-01

Full Text Available Purpose. The aim of the present study was assessment of laterality of the legs of young female soccer players and their non-training counterparts. Methods. The study sample comprised 9 female soccer players and 19 non-training girls. They underwent three measurement sessions, one every six months. The applied tests included kinesthetic differentiation, rate of local movements, static balance, single-leg hop, rate of global movements, strength and speed, and functional asymmetry of the legs tests. Results. The soccer players were better than the controls in their performance of the rate of local movements, rate of global movements, kinesthetic differentiation, single-leg 15m timed hop and static balance tests. Smaller differences between the results of the left and the right legs in soccer players, than in non-training girls, were noted in the rate of local movements, rate of global movements and kinesthetic differentiation tests. In the static balance test, the differences were greater in the group of soccer players. Conclusions. Lateralization of the lower limbs is a highly complex characteristic with a different variability in athletes than in nontraining individuals. The results of the present study also point to the specialization of soccer players’ left legs in body balance and single-leg hop tests.

Restless Legs Syndrome

Science.gov (United States)

... disorder, particularly if they experience onset at an early age; many years may pass before symptoms occur regularly. top What causes restless legs syndrome? In most cases, the cause of RLS is unknown (called primary RLS). However, RLS has a genetic component and ...

Leg length, skull circumference, and the prevalence of dementia in low and middle income countries; a 10/66 population-based cross sectional survey

Science.gov (United States)

Prince, Martin; Acosta, Daisy; Dangour, Alan D; Uauy, Ricardo; Guerra, Mariella; Huang, Yueqin; Jacob, KS; Llibre Rodriguez, Juan J.; Salas, Aquiles; Sosa, Ana Luisa; Williams, Joseph D.; Acosta, Isaac; Albanese, Emiliano; Dewey, Michael E.; Ferri, Cleusa P.; Stewart, Robert; Gaona, Ciro; Jotheeswaran, AT.; Senthil Kumar, P; Li, Shuran; Llibre Guerra, Juan C.; Rodriguez, Diana; Rodriguez, Guillermina

2017-01-01

Background Adult leg length is influenced by nutrition in the first few years of life. Adult head circumference is an indicator of brain growth. There is a limited literature linking short legs and small skulls to an increased risk for cognitive impairment and dementia in late life. Methods One phase cross-sectional surveys of all over 65 year old residents (n=14,960) in 11 catchment areas in China, India, Cuba, Dominican Republic, Venezuela, Mexico and Peru. The cross-culturally validated 10/66 dementia diagnosis, and a sociodemographic and risk factor questionnaire were administered to all participants, and anthropometric measures taken. Poisson regression was used to calculate prevalence ratios for the effect of leg length and skull circumference upon 10/66 Dementia, controlling for age, gender, education and family history of dementia. Results The pooled meta-analysed fixed effect for leg length (highest vs. lowest quarter) was 0.82 (95% CI, 0.68-0.98) and for skull circumference 0.75 (95% CI, 0.63-0.89). While point estimates varied between sites, the proportion of the variability attributable to heterogeneity between studies as opposed to sampling error (I2) was 0% for leg length and 22% for skull circumference. The effects were independent and not mediated by family history of dementia. The effect of skull circumference was not modified by educational level or gender, and the effect of leg length was not modified by gender. Conclusions Since leg length and skull circumference are said to remain stable throughout adulthood into old age, reverse causality is an unlikely explanation for the findings. Early life nutritional programming, as well as neurodevelopment may protect against neurodegeneration. PMID:20701817

Leg length, skull circumference, and the prevalence of dementia in low and middle income countries: a 10/66 population-based cross sectional survey.

Science.gov (United States)

Prince, Martin; Acosta, Daisy; Dangour, Alan D; Uauy, Ricardo; Guerra, Mariella; Huang, Yueqin; Jacob, K S; Rodriguez, Juan J Llibre; Salas, Aquiles; Sosa, Ana Luisa; Williams, Joseph D; Acosta, Isaac; Albanese, Emiliano; Dewey, Michael E; Ferri, Cleusa P; Stewart, Robert; Gaona, Ciro; Jotheeswaran, A T; Kumar, P Senthil; Li, Shuran; Guerra, Juan C Llibre; Rodriguez, Diana; Rodriguez, Guillermina

2011-03-01

Adult leg length is influenced by nutrition in the first few years of life. Adult head circumference is an indicator of brain growth. There is a limited literature linking short legs and small skulls to an increased risk for cognitive impairment and dementia in late life. One phase cross-sectional surveys were carried out of all residents aged over 65 years in 11 catchment areas in China, India, Cuba, Dominican Republic, Venezuela, Mexico and Peru (n = 14,960). The cross-culturally validated 10/66 dementia diagnosis, and a sociodemographic and risk factor questionnaire were administered to all participants, and anthropometric measures taken. Poisson regression was used to calculate prevalence ratios for the effect of leg length and skull circumference upon 10/66 dementia, controlling for age, gender, education and family history of dementia. The pooled meta-analyzed fixed effect for leg length (highest vs. lowest quarter) was 0.82 (95% CI, 0.68-0.98) and for skull circumference 0.75 (95% CI, 0.63-0.89). While point estimates varied between sites, the proportion of the variability attributable to heterogeneity between studies as opposed to sampling error (I2) was 0% for leg length and 22% for skull circumference. The effects were independent and not mediated by family history of dementia. The effect of skull circumference was not modified by educational level or gender, and the effect of leg length was not modified by gender. Since leg length and skull circumference are said to remain stable throughout adulthood into old age, reverse causality is an unlikely explanation for the findings. Early life nutritional programming, as well as neurodevelopment may protect against neurodegeneration.

Geckos significantly alter foot orientation to facilitate adhesion during downhill locomotion.

Science.gov (United States)

Birn-Jeffery, Aleksandra V; Higham, Timothy E

2014-10-01

Geckos employ their adhesive system when moving up an incline, but the directionality of the system may limit function on downhill surfaces. Here, we use a generalist gecko to test whether limb modulation occurs on downhill slopes to allow geckos to take advantage of their adhesive system. We examined three-dimensional limb kinematics for geckos moving up and down a 45° slope. Remarkably, the hind limbs were rotated posteriorly on declines, resulting in digit III of the pes facing a more posterior direction (opposite to the direction of travel). No significant changes in limb orientation were found in any other condition. This pes rotation leads to a dramatic shift in foot function that facilitates the use of the adhesive system as a brake/stabilizer during downhill locomotion and, although this rotation is not unique to geckos, it is significant for the deployment of adhesion. Adhesion is not just advantageous for uphill locomotion but can be employed to help deal with the effects of gravity during downhill locomotion, highlighting the incredible multi-functionality of this key innovation. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

A light-weight, yet powerful diesel locomotive from Vossloh

Energy Technology Data Exchange (ETDEWEB)

Marti, Mariano [Vossloh Rail Vehicles, Albuixech/Valencia (Spain)

2013-05-15

The EUROLIGHT is an eight-wheeled diesel-electric locomotive developed by Vossloh Rail Vehicles for interoperable rail traffic. With its low axle load of less than 20 tonnes, it can be deployed flexibly on both main lines and secondary ones.

Unifying Rules for Aquatic Locomotion

Science.gov (United States)

Saadat, Mehdi; Domel, August; di Santo, Valentina; Lauder, George; Haj-Hariri, Hossein

2016-11-01

Strouhal number, St (=fA/U) , a scaling parameter that relates speed, U, to the tail-beat frequency, f, and tail-beat amplitude, A, has been used many times to describe animal locomotion. It has been observed that swimming animals cruise at 0.2 fish-like swimmer, we show that when cruising at minimum hydrodynamic input power, St is predetermined, and is only a function of the shape, i.e. drag coefficient and area. The narrow range for St, 0.2-0.4, has been previously associated with optimal propulsive efficiency. However, St alone is insufficient for deciding optimal motion. We show that hydrodynamic input power (energy usage to propel over a unit distance) in fish locomotion is minimized at all cruising speeds when A* (= A/L), a scaling parameter that relates tail-beat amplitude, A, to the length of the swimmer, L, is constrained to a narrow range of 0.15-0.25. Our analysis proposes a constraint on A*, in addition to the previously found constraint on St, to fully describe the optimal swimming gait for fast swimmers. A survey of kinematics for dolphin, as well as new data for trout, show that the range of St and A* for fast swimmers indeed are constrained to 0.2-0.4 and 0.15-0.25, respectively. Our findings provide physical explanation as to why fast aquatic swimmers cruise with relatively constant tail-beat amplitude at approximately 20 percent of body length, while their swimming speed is linearly correlated with their tail-beat frequency.

Pilot study on proximal femur strains during locomotion and fall-down scenario

Energy Technology Data Exchange (ETDEWEB)

Klodowski, Adam, E-mail: adam.klodowski@lut.fi; Valkeapaeae, Antti, E-mail: antti.valkeapaa@lut.fi; Mikkola, Aki, E-mail: aki.mikkola@lut.fi [Lappeenranta University of Technology (Finland)

2012-09-15

The most common and severe type of fracture among the elderly is known as a proximal femur fracture. Aging-related bone loss is one of the major contributing factors to increased likelihood of bone fracture. Specific exercises can be used to strain bones and increase bone strength to counter the effects of bone loss. The flexible multibody simulation approach can be used as a non-invasive method for estimating bone strains caused by physical activity. This method was recently used to analyze the strain of locomotion in regard to human femur and tibia leg bones. The current study focuses on strain analysis of the femoral neck. The research test person was a clinically healthy 65-year old Caucasian male. The computed tomography was used to build a geometrically accurate finite element model of the femur with inhomogeneous material properties derived from the voxel data. The anthropometric data was used to model the musculoskeletal system of the test person. The multibody skeletal model was utilized to estimate loading on the femoral neck during walking, which represents a routine daily activity. The flexible multibody simulation results were compared to strains that occurred during a simulated fall onto the greater trochanter of the femur. The fall simulation was made entirely using finite element software. Results from the finite element analysis were compared with the previous study showing that the test person does not belong to the high-risk hip fracture group. Finally, the estimated strains gathered from the walking simulation were compared to the strain values from the simulated fall-down scenario.

Highlighting the harmonic regime generated by electric locomotives equipped with DC motors

Science.gov (United States)

Baciu, I.; Cunţan, C. D.

2018-01-01

The paper presents the results of measurements made using the C.A. 8334 power quality analyzer on an electric locomotive equipped with DC motors. We carried out determinations of the current-voltage regime using a locomotive motor. The harmonic regime of the other motors being identical to the analysed one, we could easily deduce the effects caused by the entire locomotive. The data measured with the analyzer were firstly transferred into a computer system using the Qualistar software, followed by data processing in Excel, enabling therefore a graphical representation of the characteristic parameters of power quality. Based on the acquired data, we determined the power factor, as well as the active, reactive and apparent power. The measurements revealed high values of the current harmonics, fact that required some measures to be taken for reducing the values of these harmonics. For this, we ran a simulation using the PSCAD/EMTDC software, by introducing LC filters in tune with the harmonic frequencies. The result was a significant reduction in the harmonic regime, either in the harmonics values or the power factor and reactive power.

A predictive model of muscle excitations based on muscle modularity for a large repertoire of human locomotion conditions

Directory of Open Access Journals (Sweden)

Jose eGonzalez-Vargas

2015-09-01

Full Text Available Humans can efficiently walk across a large variety of terrains and locomotion conditions with little or no mental effort. It has been hypothesized that the nervous system simplifies neuromuscular control by using muscle synergies, thus organizing multi-muscle activity into a small number of coordinative co-activation modules. In the present study we investigated how muscle modularity is structured across a large repertoire of locomotion conditions including five different speeds and five different ground elevations. For this we have used the non-negative matrix factorization technique in order to explain EMG experimental data with a low-dimensional set of four motor components. In this context each motor components is composed of a non-negative factor and the associated muscle weightings. Furthermore, we have investigated if the proposed descriptive analysis of muscle modularity could be translated into a predictive model that could: 1 Estimate how motor components modulate across locomotion speeds and ground elevations. This implies not only estimating the non-negative factors temporal characteristics, but also the associated muscle weighting variations. 2 Estimate how the resulting muscle excitations modulate across novel locomotion conditions and subjects.The results showed three major distinctive features of muscle modularity: 1 the number of motor components was preserved across all locomotion conditions, 2 the non-negative factors were consistent in shape and timing across all locomotion conditions, and 3 the muscle weightings were modulated as distinctive functions of locomotion speed and ground elevation. Results also showed that the developed predictive model was able to reproduce well the muscle modularity of un-modeled data, i.e. novel subjects and conditions. Muscle weightings were reconstructed with a cross-correlation factor greater than 70% and a root mean square error less than 0.10. Furthermore, the generated muscle excitations

A novel device for studying weight supported, quadrupedal overground locomotion in spinal cord injured rats.

Science.gov (United States)

Hamlin, Marvin; Traughber, Terence; Reinkensmeyer, David J; de Leon, Ray D

2015-05-15

Providing weight support facilitates locomotion in spinal cord injured animals. To control weight support, robotic systems have been developed for treadmill stepping and more recently for overground walking. We developed a novel device, the body weight supported ambulatory rodent trainer (i.e. BART). It has a small pneumatic cylinder that moves along a linear track above the rat. When air is supplied to the cylinder, the rats are lifted as they perform overground walking. We tested the BART device in rats that received a moderate spinal cord contusion injury and in normal rats. Locomotor training with the BART device was not performed. All of the rats learned to walk in the BART device. In the contused rats, significantly greater paw dragging and dorsal stepping occurred in the hindlimbs compared to normal. Providing weight support significantly raised hip position and significantly reduced locomotor deficits. Hindlimb stepping was tightly coupled to forelimb stepping but only when the contused rats stepped without weight support. Three weeks after the contused rats received a complete spinal cord transection, significantly fewer hindlimb steps were performed. Relative to rodent robotic systems, the BART device is a simpler system for studying overground locomotion. The BART device lacks sophisticated control and sensing capability, but it can be assembled relatively easily and cheaply. These findings suggest that the BART device is a useful tool for assessing quadrupedal, overground locomotion which is a more natural form of locomotion relative to treadmill locomotion. Published by Elsevier B.V.

MTU locomotive drive systems for EU emissions stage IIIB

Energy Technology Data Exchange (ETDEWEB)

Wintruff, Ingo [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)

2011-05-15

Emissions limits for diesel locomotives within the European Union are regulated by EU Non-road Directive 97/68/EC which places restrictions on the pollutants NOx, particulate, CO and HC. MTU has developed suitable diesel engines for EU Emissions stage IIIB. (orig.)

Lower Limb Symmetry: Comparison of Muscular Power Between Dominant and Nondominant Legs in Healthy Young Adults Associated With Single-Leg-Dominant Sports.

Science.gov (United States)

Vaisman, Alex; Guiloff, Rodrigo; Rojas, Juan; Delgado, Iris; Figueroa, David; Calvo, Rafael

2017-12-01

Achieving a symmetrical power performance (difference power between the dominant and nondominant legs in healthy young adults, (2) evaluate the effect of a single-leg-dominant sport activity performed at the professional level, and (3) propose a parameter of normality for maximal power difference in the lower limbs of this young adult population. Controlled laboratory study. A total of 78 healthy, male, young adults were divided into 2 groups according to sport activity level. Group 1 consisted of 51 nonathletes (mean ± SD age, 20.8 ± 1.5 years; weight, 71.9 ± 10.5 kg) who participated in less than 8 hours a week of recreational physical activity with nonspecific training; group 2 consisted of 27 single-leg-dominant professional soccer players (age, 18.4 ± 0.6 years; weight, 70.1 ± 7.5 kg) who specifically trained and competed at their particular activity 8 hours or more a week. For assessment of maximal leg power, both groups completed the single-leg squat jump test. Dominance was determined when participants completed 2 of 3 specific tests with the same extremity. Statistical analysis included the Student t test. No statistical difference was found for maximal power between dominant and nondominant legs for nonathletes ( t = -1.01, P = .316) or single-leg-dominant professional soccer players ( t = -1.10, P = .281). A majority (95%) of participants studied showed a power difference of less than 15% between their lower extremities. Among young healthy adults, symmetrical power performance is expected between lower extremities independent of the existence of dominance and difference in sport activity level. A less than 15% difference in power seems to be a proper parameter to define symmetrical power performance assessed by vertical single-leg jump tests.

Performance requirements for locomotive braking systems

CSIR Research Space (South Africa)

Vermaak, P

2000-02-01

Full Text Available operated “Neutral Brake”. This brake may become active immediately or after a certain time delay when the controller is placed in the neutral position or moved into the neutral position by the “dead-man’s device”. Because this brake will interfere... in testing emergency brake systems due to the inherent braking action of the service brakes and/or locomotive controllers; • Potential problems limitations to braking effort associated with the prime movers and/or hydraulic systems on hydrostatically...

Millipede-inspired locomotion through novel U-shaped piezoelectric motors

International Nuclear Information System (INIS)

Avirovik, Dragan; Butenhoff, Bryan; Priya, Shashank

2014-01-01

We report a novel piezoelectric motor that operates at a resonance frequency of 144 Hz, much lower than that of conventional ultrasonic motors, and meets the displacement and gait requirements for designing the locomotion mechanism of a millipede-inspired robot (millibot). The motor structure consists of two piezoelectric bimorphs arranged in a U-shaped configuration. Using the first bending mode for both the piezoelectric bimorphs an elliptical motion was obtained at the tip which led to the successful implementation of millipede inspired locomotion. At an input voltage of 70.7 V rms , the piezoelectric motor operating at resonance frequency was able to generate torque of 0.03 mN m, mechanical power of 0.84 mW and maximum velocity of 62 rad s −1 . Detailed discussion is provided about the principle of operation of the millibot. (technical note)

Electric-Pneumatic Actuator: A New Muscle for Locomotion

OpenAIRE

Ahmad Sharbafi, Maziar; Shin, Hirofumi; Zhao, Guoping; Hosoda, Koh; Seyfarth, Andre

2017-01-01

A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) a...

Flexural characteristics of a stack leg

International Nuclear Information System (INIS)

Cook, J.

1979-06-01

A 30 MV tandem Van de Graaff accelerator is at present under construction at Daresbury Laboratory. The insulating stack of the machine is of modular construction, each module being 860 mm in length. Each live section stack module contains 8 insulating legs mounted between bulkhead rings. The design, fabrication (from glass discs bonded to stainless steel discs using an epoxy film adhesive) and testing of the stack legs is described. (U.K.)

RESEARCH OF IMPACT OF THE LOADING ON ENDURANCE OF THE FREIGHT LOCOMOTIVE ENGINES

Directory of Open Access Journals (Sweden)

Sergejus LEBEDEVAS

2015-12-01

Full Text Available The publication reflects the research results of the rationalization of the rolling stock use of JSC LG Lithuanian railways to increase the reliability indicators of the freight diesel locomotive exploitation reliability. The comparative evaluation of the exploited freight diesel locomotive work duration, according to the technical documentation, by using comparative test results and indirect diesel reliability criteria approved in practice. An algorithm of work duration forecasting methodology has been created, as well as a programme complex of mathematic modelling. The differences of the results indicated in the experiment and modelled by computer do not exceed 5 ÷ 7%. The proposed and described methodology of the diesel locomotive exploitation load cycle dynamic indicator reduction, by the use of which the following is achieved: increase of the diesel work duration by 7÷10%, reduction of fuel consumption up to 10%, reduction of the load cycle dynamic indicators (increasing the fatigue stress of parts and units of the diesel by 15÷20%.

Leg deformation during imaginal ecdysis in the downy emerald, Cordulia aenea (Odonata, Corduliidae).

Science.gov (United States)

Frantsevich, Leonid; Frantsevich, Ludmilla

2018-04-01

A dragonfly larva migrates from the water to the shore, perches on a plant stem and grasps it with strongly flexed legs. Adult legs inside the larval exoskeleton fit to the larval legs joint-to-joint. The adult emerges with stretched legs. During the molt, an imaginal leg must follow all the angles in exuvial joints. In turn, larval apodemes are withdrawn from imaginal legs. We visualized transient shapes of the imaginal legs by the instant fixation of insects at different moments of the molt, photographed isolated exuvial legs with the imaginal legs inside and then removed the exuvial sheath. Instant shapes of the imaginal tibia show sharp intrapodomere bends copying the angle in the larval femoro-tibial joint. The site of bending shifts distad during the molt. This is possible if the imaginal leg is pliable. The same problem of leg squeezing is also common in hemimetabolous insects as well as in other arthropods, whereas holometabolous insects overcome problems of a tight confinement either by using leg pliability in other ways but not squeezing (cyclorrhaphan flies, mosquitoes) or by pulling hardened legs out without change of their pupal zigzag configuration (moths, ants, honey bees). The pupal legs are not intended to grasp any external substrate. Copyright © 2018 Elsevier GmbH. All rights reserved.

Biomechanical Analysis of Treadmill Locomotion on the International Space Station

Science.gov (United States)

De Witt, J. K.; Fincke, R. S.; Guilliams, M. E.; Ploutz-Snyder, L. L.

2011-01-01

Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to

Review of codes, standards, and regulations for natural gas locomotives.

Science.gov (United States)

2014-06-01

This report identified, collected, and summarized relevant international codes, standards, and regulations with potential : applicability to the use of natural gas as a locomotive fuel. Few international or country-specific codes, standards, and regu...

Spider diffraction: a comparison of curved and straight legs

International Nuclear Information System (INIS)

Richter, J.L.

1984-01-01

It has been known for some time that, if curved legs rather than the usual straight ones are used in the spider that supports the secondary optics in certain telescopes, the visible diffraction effect is reduced. Fraunhofer theory is used to calculate the diffraction effects due to the curved leg spider. Calculated and photographic diffraction patterns are compared for straight and curved leg spiders

The Perceived Naturalness of Virtual Walking Speeds during WIP Locomotion

DEFF Research Database (Denmark)

Nilsson, Niels Chr.; Serafin, Stefania; Nordahl, Rolf

2016-01-01

It is well established that individuals tend to underestimate visually presented walking speeds when relying on treadmills for virtual walking. However, prior to the present studies this perceptual distortion had not been observed in relation to Walking-in-Place (WIP) locomotion, and a number...... to how gait cycle characteristics, visual display properties, and methodological differences affect speed underestimation during treadmill and WIP locomotion. The studies suggested the following: A significant main effect was found for step frequency; both display and geometric field of view were...... inversely proportional to the degree of underestimation; varying degrees of peripheral occlusion and increased HMD weight did not yield significant main effects; and the choice of method (i.e., how the speeds were presented) had a significant effect on the upper and lower bounds of what speeds were...

Straight leg elevation to rule out pelvic injury.

Science.gov (United States)

Bolt, Caroline; O'Keeffe, Francis; Finnegan, Pete; Dickson, Kristofer; Smit, De Villiers; Fitzgerald, Mark C; Mitra, Biswadev

2018-02-01

Pelvic x-ray is frequently used as a screening tool during initial assessment of injured patients. However routine use in the awake and alert blunt trauma patient may be questioned due to low yield. We propose a clinical tool that may avoid unnecessary imaging by examining whether the ability to straight leg raise, without pain, can rule out pelvic injury. We conducted a prospective cohort study with the exposure variables of ability to straight leg raise and presence of pain on doing so, and presence of pelvic fracture on x-ray as the primary outcome variable. Of the 328 participants, 35 had pelvic fractures, and of these 32 were either unable to straight leg raise, or had pain on doing so, with a sensitivity of 91.43% (95% CI: 76.94-98.2%) and a negative predictive value of 98.57% (95% CI: 95.88-99.70%). The 3 participants with a pelvic fracture who could straight leg raise with no pain, all had a GCS of less than 15, and therefore, among the sub-group of patients with GCS15, a 100% sensitivity and 100% negative predictive value for straight leg raise with no pain to rule out pelvic fracture was demonstrated. Among awake, alert patients, painless straight leg raise can exclude pelvic fractures and be incorporated into initial examination during reception and resuscitation of injured patients. Crown Copyright © 2017. Published by Elsevier Ltd. All rights reserved.

Evaluation of Thermoelectric Performance and Durability of Functionalized Skutterudite Legs

Science.gov (United States)

Skomedal, Gunstein; Kristiansen, Nils R.; Sottong, Reinhard; Middleton, Hugh

2017-04-01

Thermoelectric generators are a promising technology for waste heat recovery. As new materials and devices enter a market penetration stage, it is of interest to employ fast and efficient measurement methods to evaluate the long-term stability of thermoelectric materials in combination with metallization and coating (functionalized thermoelectric legs). We have investigated a method for measuring several thermoelectric legs simultaneously. The legs are put under a common temperature gradient, and the electrical characteristics of each leg are measured individually during thermal cycling. Using this method, one can test different types of metallization and coating applied to skutterudite thermoelectric legs and look at the relative changes over time. Postcharacterization of these initial tests with skutterudite legs using a potential Seebeck microprobe and an electron microscope showed that oxidation and interlayer diffusion are the main reasons for the gradual increase in internal resistance and the decrease in open-circuit voltage. Although we only tested skutterudite material in this work, the method is fully capable of testing all kinds of material, metallization, and coating. It is thus a promising method for studying the relationship between failure modes and mechanisms of functionalized thermoelectric legs.

An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait

Directory of Open Access Journals (Sweden)

Umar Asif

2011-01-01

Full Text Available This paper describes the implementation of an adaptive gait in a six-legged walking robot that is capable of generating reactive stepping actions with the same underlying control methodology as an insect for stable walking over uneven terrains. The proposed method of gait generation uses feedback data from onboard sensors to generate an adaptive gait in order to surmount obstacles, gaps and perform stable walking. The paper addresses its implementation through simulations in a visual dynamic simulation environment. Finally the paper draws conclusions about the significance and performance of the proposed gait in terms of tracking errors while navigating in difficult terrains.

Relationship between Leg Mass, Leg Composition and Foot Velocity on Kicking Accuracy in Australian Football

Directory of Open Access Journals (Sweden)

Nicolas H. Hart, Jodie L. Cochrane, Tania Spiteri, Sophia Nimphius, Robert U. Newton

2016-06-01

Full Text Available Kicking a ball accurately over a desired distance to an intended target is arguably the most important skill to acquire in Australian Football. Therefore, understanding the potential mechanisms which underpin kicking accuracy is warranted. The aim of this study was to examine the relationship between leg mass, leg composition and foot velocity on kicking accuracy in Australian Football. Thirty-one Australian Footballers (n = 31; age: 22.1 ± 2.8 years; height: 1.81 ± 0.07 m; weight: 85.1 ± 13.0 kg; BMI: 25.9 ± 3.2 each performed ten drop punt kicks over twenty metres to a player target. Athletes were separated into accurate (n = 15 and inaccurate (n = 16 kicking groups. Leg mass characteristics were assessed using whole body DXA scans. Foot velocity was determined using a ten-camera optoelectronic, three-dimensional motion capture system. Interactions between leg mass and foot velocity evident within accurate kickers only (r = -0.670 to -0.701. Relative lean mass was positively correlated with kicking accuracy (r = 0.631, while no relationship between foot velocity and kicking accuracy was evident in isolation (r = -0.047 to -0.083. Given the evident importance of lean mass, and its interaction with foot velocity for accurate kickers; future research should explore speed-accuracy, impulse-variability, limb co-ordination and foot-ball interaction constructs in kicking using controlled with-in subject studies to examine the effects of resistance training and skill acquisition programs on the development of kicking accuracy.

49 CFR Appendix D to Part 238 - Requirements for External Fuel Tanks on Tier I Locomotives

Science.gov (United States)

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Requirements for External Fuel Tanks on Tier I..., App. D Appendix D to Part 238—Requirements for External Fuel Tanks on Tier I Locomotives The... properties of the locomotive fuel tank to reduce the risk of fuel spillage to acceptable levels under...

Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

Directory of Open Access Journals (Sweden)

Filippo Sanfilippo

2017-03-01

Full Text Available In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

Lameness Detection in Dairy Cows: Part 1. How to Distinguish between Non-Lame and Lame Cows Based on Differences in Locomotion or Behavior

Science.gov (United States)

Van Nuffel, Annelies; Zwertvaegher, Ingrid; Pluym, Liesbet; Van Weyenberg, Stephanie; Thorup, Vivi M.; Pastell, Matti; Sonck, Bart; Saeys, Wouter

2015-01-01

Simple Summary Scoring cattle for lameness based on changes in locomotion or behavior is essential for farmers to find and treat their lame animals. This review discusses the normal locomotion of cows in order to define abnormal locomotion due to lameness. It furthermore provides an overview of various relevant visual locomotion scoring systems that are currently being used as well as practical considerations when assessing lameness on a commercial farm. Abstract Due to its detrimental effect on cow welfare, health and production, lameness in dairy cows has received quite a lot of attention in the last few decades—not only in terms of prevention and treatment of lameness but also in terms of detection, as early treatment might decrease the number of severely lame cows in the herds as well as decrease the direct and indirect costs associated with lameness cases. Generally, lame cows are detected by the herdsman, hoof trimmer or veterinarian based on abnormal locomotion, abnormal behavior or the presence of hoof lesions during routine trimming. In the scientific literature, several guidelines are proposed to detect lame cows based on visual interpretation of the locomotion of individual cows (i.e., locomotion scoring systems). Researchers and the industry have focused on automating such observations to support the farmer in finding the lame cows in their herds, but until now, such automated systems have rarely been used in commercial herds. This review starts with the description of normal locomotion of cows in order to define ‘abnormal’ locomotion caused by lameness. Cow locomotion (gait and posture) and behavioral features that change when a cow becomes lame are described and linked to the existing visual scoring systems. In addition, the lack of information of normal cow gait and a clear description of ‘abnormal’ gait are discussed. Finally, the different set-ups used during locomotion scoring and their influence on the resulting locomotion scores are

A survey of bio-inspired compliant legged robot designs

International Nuclear Information System (INIS)

Zhou Xiaodong; Bi Shusheng

2012-01-01

The roles of biological springs in vertebrate animals and their implementations in compliant legged robots offer significant advantages over the rigid legged ones in certain types of scenarios. A large number of robotics institutes have been attempting to work in conjunction with biologists and incorporated these principles into the design of biologically inspired robots. The motivation of this review is to investigate the most published compliant legged robots and categorize them according to the types of compliant elements adopted in their mechanical structures. Based on the typical robots investigated, the trade-off between each category is summarized. In addition, the most significant performances of these robots are compared quantitatively, and multiple available solutions for the future compliant legged robot design are suggested. Finally, the design challenges for compliant legged robots are analysed. This review will provide useful guidance for robotic designers in creating new designs by inheriting the virtues of those successful robots according to the specific tasks. (topical review)

Exocrine glands in the legs of the social wasp Vespula vulgaris.

Science.gov (United States)

Nijs, Catherine; Billen, Johan

2015-09-01

This study brings a survey of the exocrine glands in the legs of Vespula vulgaris wasps. We studied workers, males, virgin queens as well as mated queens. A variety of 17 glands is found in the different leg segments. Among these, five glands are novel exocrine structures for social insects (trochanter-femur gland, ventrodistal tibial gland, distal tibial sac gland, ventral tibial gland, and ventral tarsomere gland). Most leg glands are present in the three leg pairs of all castes. This may indicate a mechanical function. This is likely for the numerous glands that occur near the articulation between the various leg segments, where lubricant production may be expected. Other possible functions include antenna cleaning, acting as a hydraulic system, or pheromonal. Further research including leg-related behavioural observations and chemical analyses may help to clarify the functions of these glandular structures in the legs. Copyright © 2015 Elsevier Ltd. All rights reserved.

Manual and automatic locomotion scoring systems in dairy cows: a review.

Science.gov (United States)

Schlageter-Tello, Andrés; Bokkers, Eddie A M; Koerkamp, Peter W G Groot; Van Hertem, Tom; Viazzi, Stefano; Romanini, Carlos E B; Halachmi, Ilan; Bahr, Claudia; Berckmans, Daniël; Lokhorst, Kees

2014-09-01

The objective of this review was to describe, compare and evaluate agreement, reliability, and validity of manual and automatic locomotion scoring systems (MLSSs and ALSSs, respectively) used in dairy cattle lameness research. There are many different types of MLSSs and ALSSs. Twenty-five MLSSs were found in 244 articles. MLSSs use different types of scale (ordinal or continuous) and different gait and posture traits need to be observed. The most used MLSS (used in 28% of the references) is based on asymmetric gait, reluctance to bear weight, and arched back, and is scored on a five-level scale. Fifteen ALSSs were found that could be categorized according to three approaches: (a) the kinetic approach measures forces involved in locomotion, (b) the kinematic approach measures time and distance of variables associated to limb movement and some specific posture variables, and (c) the indirect approach uses behavioural variables or production variables as indicators for impaired locomotion. Agreement and reliability estimates were scarcely reported in articles related to MLSSs. When reported, inappropriate statistical methods such as PABAK and Pearson and Spearman correlation coefficients were commonly used. Some of the most frequently used MLSSs were poorly evaluated for agreement and reliability. Agreement and reliability estimates for the original four-, five- or nine-level MLSS, expressed in percentage of agreement, kappa and weighted kappa, showed large ranges among and sometimes also within articles. After the transformation into a two-level scale, agreement and reliability estimates showed acceptable estimates (percentage of agreement ≥ 75%; kappa and weighted kappa ≥ 0.6), but still estimates showed a large variation between articles. Agreement and reliability estimates for ALSSs were not reported in any article. Several ALSSs use MLSSs as a reference for model calibration and validation. However, varying agreement and reliability estimates of MLSSs make a

Dynamic investigation of a locomotive with effect of gear transmissions under tractive conditions

Science.gov (United States)

Chen, Zaigang; Zhai, Wanming; Wang, Kaiyun

2017-11-01

Locomotive is used to drag trailers to move or supply the braking forces to slow the running speed of a train. The electromagnetic torque of the motor is always transmitted by the gear transmission system to the wheelset for generation of the tractive or braking forces at the wheel-rail contact interface. Consequently, gear transmission system is significant for power delivery of a locomotive. This paper develops a comprehensive locomotive-track vertical-longitudinal coupled dynamics model with dynamic effect of gear transmissions. This dynamics model enables considering the coupling interactions between the gear transmission motion, the vertical and the longitudinal motions of the vehicle, and the vertical vibration of the track structure. In this study, some complicated dynamic excitations, such as the gear time-varying mesh stiffness, nonlinear gear tooth backlash, the nonlinear wheel-rail normal contact force and creep force, and the rail vertical geometrical irregularity, are considered. Then, the dynamic responses of the locomotive under the tractive conditions are demonstrated by numerical simulations based on the established dynamics model and by experimental test. The developed dynamics model is validated by the good agreement between the experimental and the theoretical results. The calculated results reveal that the gear transmission system has strong dynamic interactions with the wheel-rail contact interface including both the vertical and the longitudinal motions, and it has negligible effect on the vibrations of the bogie frame and carbody.

Development and Physical Control Research on Prototype Artificial Leg

Directory of Open Access Journals (Sweden)

Fei Li

2016-03-01

Full Text Available To provide an ideal platform for research on intelligent bionic leg (IBL, this paper proposes a model of a biped robot with heterogeneous legs (BRHL. A prototype of an artificial leg is developed based on biological structure and motion principle analysis of human lower extremities. With regard to the driving sources, servomotors are chosen for the hip joint and ankle joint, while pneumatic muscle actuators (PMAs are chosen for the knee joint. The control system of the bionic artificial leg is designed and a physical experimental platform is established. The physical control experiments are done based on proportional-integral-derivative (PID control strategy. The experimental results show that such a system can realize the expected goals.

Seismic response analysis for hinged-leg type port crane

Energy Technology Data Exchange (ETDEWEB)

Kashiwazaki, A.; Kanayama, T.; Arai, K. [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

2000-04-01

Container cranes and unloaders in Kobe Pont were severely damaged during the Southern Hyogo Prefecture Earthquake in 1995. Notably, some of the hinged-leg type of cranes with hinges at the end of sea-or land-side of legs were overturned. These damages were derived from the uplifting of their legs. To explain the uplifting and overturning behavior, we carried out nonlinear analyses and shaking table tests using a 1/8-scale model of the container crane. The results of nonlinear response analyses of hinged-leg type of crane, which are in an agreement with the state of damages in the Southern Hyogo Prefecture Earthquake and the result of shaking table tests, are described. (author)

Anatomic and functional leg-length inequality: A review and recommendation for clinical decision-making. Part I, anatomic leg-length inequality: prevalence, magnitude, effects and clinical significance

Directory of Open Access Journals (Sweden)

Knutson Gary A

2005-07-01

Full Text Available Abstract Background Leg-length inequality is most often divided into two groups: anatomic and functional. Part I of this review analyses data collected on anatomic leg-length inequality relative to prevalence, magnitude, effects and clinical significance. Part II examines the functional "short leg" including anatomic-functional relationships, and provides an outline for clinical decision-making. Methods Online database – Medline, CINAHL and MANTIS – and library searches for the time frame of 1970–2005 were done using the term "leg-length inequality". Results and Discussion Using data on leg-length inequality obtained by accurate and reliable x-ray methods, the prevalence of anatomic inequality was found to be 90%, the mean magnitude of anatomic inequality was 5.2 mm (SD 4.1. The evidence suggests that, for most people, anatomic leg-length inequality does not appear to be clinically significant until the magnitude reaches ~ 20 mm (~3/4". Conclusion Anatomic leg-length inequality is near universal, but the average magnitude is small and not likely to be clinically significant.

Self-Stabilising Quadrupedal Running by Mechanical Design

Directory of Open Access Journals (Sweden)

Panagiotis Chatzakos

2009-01-01

Full Text Available Dynamic stability allows running animals to maintain preferred speed during locomotion over rough terrain. It appears that rapid disturbance rejection is an emergent property of the mechanical system. In running robots, simple motor control seems to be effective in the negotiation of rough terrain when used in concert with a mechanical system that stabilises passively. Spring-like legs are a means for providing self-stabilising characteristics against external perturbations. In this paper, we show that a quadruped robot could be able to perform self-stable running behaviour in significantly broader ranges of forward speed and pitch rate with a suitable mechanical design, which is not limited to choosing legs spring stiffness only. The results presented here are derived by studying the stability of the passive dynamics of a quadruped robot running in the sagittal plane in a dimensionless context and might explain the success of simple, open loop running controllers on existing experimental quadruped robots. These can be summarised in (a the self-stabilised behaviour of a quadruped robot for a particular gait is greatly related to the magnitude of its dimensionless body inertia, (b the values of hip separation, normalised to rest leg length, and leg relative stiffness of a quadruped robot affect the stability of its motion and should be in inverse proportion to its dimensionless body inertia, and (c the self-stable regime of quadruped running robots is enlarged at relatively high forward speeds. We anticipate the proposed guidelines to assist in the design of new, and modifications of existing, quadruped robots. As an example, specific design changes for the Scout II quadruped robot that might improve its performance are proposed.

78 FR 33860 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

Science.gov (United States)

2013-06-05

...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... collection requirements contained in the General Industry Standard on Crawler, Locomotive, and Truck cranes... workers from using unsafe cranes and ropes, thereby reducing their risk of death or serious injury caused...

75 FR 20005 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

Science.gov (United States)

2010-04-16

...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... Crawler, Locomotive, and Truck Cranes Standard (29 CFR 1910.180). DATES: Comments must be submitted... of each of these requirements is to prevent workers from using unsafe cranes and ropes, thereby...

Conjoined legs: Sirenomelia or caudal regression syndrome?

Directory of Open Access Journals (Sweden)

Sakti Prasad Das

2013-01-01

Full Text Available Presence of single umbilical persistent vitelline artery distinguishes sirenomelia from caudal regression syndrome. We report a case of a12-year-old boy who had bilateral umbilical arteries presented with fusion of both legs in the lower one third of leg. Both feet were rudimentary. The right foot had a valgus rocker-bottom deformity. All toes were present but rudimentary. The left foot showed absence of all toes. Physical examination showed left tibia vara. The chest evaluation in sitting revealed pigeon chest and elevated right shoulder. Posterior examination of the trunk showed thoracic scoliosis with convexity to right. The patient was operated and at 1 year followup the boy had two separate legs with a good aesthetic and functional results.

Conjoined legs: Sirenomelia or caudal regression syndrome?

Science.gov (United States)

Das, Sakti Prasad; Ojha, Niranjan; Ganesh, G Shankar; Mohanty, Ram Narayan

2013-07-01

Presence of single umbilical persistent vitelline artery distinguishes sirenomelia from caudal regression syndrome. We report a case of a12-year-old boy who had bilateral umbilical arteries presented with fusion of both legs in the lower one third of leg. Both feet were rudimentary. The right foot had a valgus rocker-bottom deformity. All toes were present but rudimentary. The left foot showed absence of all toes. Physical examination showed left tibia vara. The chest evaluation in sitting revealed pigeon chest and elevated right shoulder. Posterior examination of the trunk showed thoracic scoliosis with convexity to right. The patient was operated and at 1 year followup the boy had two separate legs with a good aesthetic and functional results.

SIMULATION OF DRIVER’S LOCOMOTIVE-HANDLING ACTIVITY USING THE THEORY OF FUZZY GRAPHS

Directory of Open Access Journals (Sweden)

T. V. Butko

2015-03-01

Full Text Available Purpose. The efficiency and safety of locomotive control improving is important and relevant scientific and practical problem. Every driver during the trains-handling bases on his experience and knowledge, that is why the compilation and detection the most efficient ways to control the locomotive-handling is one of the stages of measures development to reduce transportation costs. The purpose of this paper is a formalization process description of locomotive-handling and quality parameters determination of this process. Methodology. In order to achieve this goal the theory of fuzzy probabilistic graphs was used. Vertices of the graph correspond to the events start and end operations at train-handling. The graph arcs describe operations on train-handling. Graph consists of thirteen peaks corresponding to the main control actions of the engine-driver. The weighting factors of transitions between vertices are assigned by fuzzy numbers. Their values were obtained by expert estimates. Fuzzy probabilities and transition time are presented as numbers with trapezoidal membership function. Findings. Using successive merging of parallel arcs, loops and vertices elimination, the equivalent fuzzy graph of train-handling and the corresponding L-matrix were obtained. Equivalent graph takes into account separately activity of the driver during normal operation and during emergency situations. Originality. The theoretical foundations of describing process formalization in driver’s locomotive-handling activity were developed using the fuzzy probabilistic graph. The parameters characterizing the decision-making process of engineer were obtained. Practical value. With the resulting model it is possible to estimate the available reserves for the quality improvement of locomotive-handling. Reduction in the time for decision-making will lead to the approximation the current mode of control to the rational one and decrease costs of hauling operations. And reduction

Treatment of vasovagal syncope: pacemaker or crossing legs?

NARCIS (Netherlands)

van Dijk, N.; Harms, M. P.; Linzer, M.; Wieling, W.

2000-01-01

A 50-year-old male patient continued to experience syncope after implantation of a pacemaker. During cardiovascular examination, the patient showed a typical vasovagal response, with normal pacemaker function. Leg crossing, which prohibits the pooling of blood in the legs and abdomen, at the onset

A neuro-mechanical model of a single leg joint highlighting the basic physiological role of fast and slow muscle fibres of an insect muscle system.

Directory of Open Access Journals (Sweden)

Tibor Istvan Toth

Full Text Available In legged animals, the muscle system has a dual function: to produce forces and torques necessary to move the limbs in a systematic way, and to maintain the body in a static position. These two functions are performed by the contribution of specialized motor units, i.e. motoneurons driving sets of specialized muscle fibres. With reference to their overall contraction and metabolic properties they are called fast and slow muscle fibres and can be found ubiquitously in skeletal muscles. Both fibre types are active during stepping, but only the slow ones maintain the posture of the body. From these findings, the general hypothesis on a functional segregation between both fibre types and their neuronal control has arisen. Earlier muscle models did not fully take this aspect into account. They either focused on certain aspects of muscular function or were developed to describe specific behaviours only. By contrast, our neuro-mechanical model is more general as it allows functionally to differentiate between static and dynamic aspects of movement control. It does so by including both muscle fibre types and separate motoneuron drives. Our model helps to gain a deeper insight into how the nervous system might combine neuronal control of locomotion and posture. It predicts that (1 positioning the leg at a specific retraction angle in steady state is most likely due to the extent of recruitment of slow muscle fibres and not to the force developed in the individual fibres of the antagonistic muscles; (2 the fast muscle fibres of antagonistic muscles contract alternately during stepping, while co-contraction of the slow muscle fibres takes place during steady state; (3 there are several possible ways of transition between movement and steady state of the leg achieved by varying the time course of recruitment of the fibres in the participating muscles.

Designing presence for real locomotion in immersive virtual environments

DEFF Research Database (Denmark)

Turchet, Luca

2015-01-01

This paper describes a framework for designing systems for real locomotion in virtual environments (VEs) in order to achieve an intense sense of presence. The main outcome of the present research is a list of design features that the virtual reality technology should have in order to achieve...

33 CFR 147.809 - Mars Tension Leg Platform safety zone.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Mars Tension Leg Platform safety... SECURITY (CONTINUED) OUTER CONTINENTAL SHELF ACTIVITIES SAFETY ZONES § 147.809 Mars Tension Leg Platform safety zone. (a) Description. The Mars Tension Leg Platform (Mars TLP) is located at position 28°10′10.29...

The effect of spinal manipulation on imbalances in leg strength.

Science.gov (United States)

Chilibeck, Philip D; Cornish, Stephen M; Schulte, Al; Jantz, Nathan; Magnus, Charlene R A; Schwanbeck, Shane; Juurlink, Bernhard H J

2011-09-01

We hypothesized that spinal manipulation (SM) would reduce strength imbalances between legs. Using an un-blinded randomized design, 28 males and 21 females (54 ± 19y) with at least a 15% difference in isometric strength between legs for hip flexion, extension, abduction, or knee flexion were randomized to treatment or placebo (mock spinal manipulation). Strength of the stronger and weaker legs for hip flexion, extension, abduction, and/or knee flexion was assessed before and after the intervention. SM reduced the relative strength difference between legs for knee flexion (mean ± SD 57 ± 53 to 5 ± 14%) and hip flexion (24 ± 12 to 11 ± 15%) compared to placebo (34 ± 29 to 24 ± 36%, and 20 ± 18 to 22 ± 26%, respectively) (p = 0.05). SM also improved strength in the weak leg for hip abduction (104 ± 43 to 116 ± 43 Nm) compared to placebo (84 ± 24 to 85 ± 31 Nm) (p = 0.03). This study suggests that spinal manipulation may reduce imbalances in strength between legs for knee and hip flexion.

A Dynamic Balancing Approach for a Quadruped Robot Supported by Diagonal Legs

Directory of Open Access Journals (Sweden)

Jian Meng

2015-10-01

Full Text Available For legged robots, the most important task is to keep balance. This paper proposes a new balance control approach. To simplify the control complexity, first, LQR (linear quadratic regulator control was used to obtain stable state feedback for the model. Then, the 6-DOF model was stabilized by dividing the whole robot into three separate parts. After that, VMC (virtual model control was used to change the configuration of the joints. The simulation results showed that the proposed method allowed the quadruped robot to walk stably, even when certain types of disturbance were exerted on the models. In the simulation model, to mimic real conditions, noise was added to the sensors; the algorithm was then verified as still suitable for the quadruped robot.

Longitudinal Prediction of Quality-of-Life Scores and Locomotion in Individuals With Traumatic Spinal Cord Injury.

Science.gov (United States)

Hiremath, Shivayogi V; Hogaboom, Nathan S; Roscher, Melissa R; Worobey, Lynn A; Oyster, Michelle L; Boninger, Michael L

2017-12-01

To examine (1) differences in quality-of-life scores for groups based on transitions in locomotion status at 1, 5, and 10 years postdischarge in a sample of people with spinal cord injury (SCI); and (2) whether demographic factors and transitions in locomotion status can predict quality-of-life measures at these time points. Retrospective case study of the National SCI Database. Model SCI Systems Centers. Individuals with SCI (N=10,190) from 21 SCI Model Systems Centers, identified through the National SCI Model Systems Centers database between the years 1985 and 2012. Subjects had FIM (locomotion mode) data at discharge and at least 1 of the following: 1, 5, or 10 years postdischarge. Not applicable. FIM-locomotion mode; Severity of Depression Scale; Satisfaction With Life Scale; and Craig Handicap Assessment and Reporting Technique. Participants who transitioned from ambulation to wheelchair use reported lower participation and life satisfaction, and higher depression levels (P.05) or life satisfaction (P>.05) compared with those who transitioned from wheelchair to ambulation. Demographic factors and locomotion transitions predicted quality-of-life scores at all time points (P<.05). The results of this study indicate that transitioning from ambulation to wheelchair use can negatively impact psychosocial health 10 years after SCI. Clinicians should be aware of this when deciding on ambulation training. Further work to characterize who may be at risk for these transitions is needed. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

A Novel Interactive Exoskeletal Robot for Overground Locomotion Studies in Rats.

Science.gov (United States)

Song, Yun Seong; Hogan, Neville

2015-07-01

This paper introduces a newly developed apparatus, Iron Rat, for locomotion research in rodents. Its main purpose is to allow maximal freedom of voluntary overground movement of the animal while providing forceful interaction to the hindlimbs. Advantages and challenges of the proposed exoskeletal apparatus over other existing designs are discussed. Design and implementation challenges are presented and discussed, emphasizing their implications for free, voluntary movement of the animal. A live-animal experiment was conducted to assess the design. Unconstrained natural movement of the animal was compared with its movement with the exoskeletal module attached. The compact design and back-drivable implementation of this apparatus will allow novel experimental manipulations that may include forceful yet compliant dynamic interaction with the animal's overground locomotion.

Emphysematous Pyelonephritis Presenting as Necrotizing Fasciitis of the Leg

Directory of Open Access Journals (Sweden)

Yu-Xiong Ye

2009-03-01

Full Text Available We report a 50-year-old man with poorly controlled diabetes mellitus who presented with a painful, swollen right leg. He had also experienced right flank pain for 1 week prior to admission. Physical examination was notable for tenderness over the right flank. The right leg was diffusely swollen and exquisitely tender to touch, with palpable crepitance. Laboratory tests revealed leukocytosis and pyuria. Computed tomography showed a right ureteral stone with hydronephrosis and characteristic findings of emphysematous pyelonephritis. Furthermore, a right perirenal gas-forming abscess with extension to the right leg was noted. The patient was successfully treated with antibiotic therapy, aggressive control of blood sugar, percutaneous drainage of the hydronephrosis and perirenal abscess, and aggressive debridement of the leg.

Secondary hyperparathyroidism: Uncommon cause of a leg ulcer

NARCIS (Netherlands)

van Rijssen, L. B.; Brenninkmeijer, E. E. A.; Nieveen van Dijkum, E. J. M.

2012-01-01

Most leg ulcers are vascular based. Only if vascular therapy fails other causes are considered. We report the case of a female with incapacitating leg ulcers caused by a rare condition which was only diagnosed after failing treatment. PRESENTATION OF CASE: The female had an extensive previous

Dipoles on a Two-leg Ladder

DEFF Research Database (Denmark)

Gammelmark, Søren; Zinner, Nikolaj Thomas

2013-01-01

We study polar molecules with long-range dipole-dipole interactions confined to move on a two-leg ladder for different orientations of the molecular dipole moments with respect to the ladder. Matrix product states are employed to calculate the many-body ground state of the system as function...... that there is a critical angle at which ordering disappears. This angle is slightly larger than the angle at which the dipoles are non-interacting along a single leg. This behavior should be observable using current experimental techniques....

Reasonable designing method for fillet welding leg length

Energy Technology Data Exchange (ETDEWEB)

Kiso, T; Michiyuki, T; Nagao, S; Yoshikawa, M; Miyazaki, S

1976-12-01

In VLCC and ULCC vessels, the scantling of structural members, especially the thickness of web plate, increases naturally. The present rule of each classification society generally prescribes that welding leg length should be based on the thickness of the web plate. Welding leg length between this web plate and skin plate such as shell plate, deck plate, etc., or face plate, increases according to increase of the thickness of the web plate. We investigated the method to decide reasonable welding leg length and its programming by using the results of finite element method structural analysis, without adhering to the above rule about welding leg length. As a result of applying this method to actual ships under classification societies' approval, the amount of welding decreased by from about 10 percent to 15 percent compared with that required by the above rule. The rationality of the method has been already confirmed by successful results of the application to several vessels in service.

Optimization-based motion generation for multiped robots in contact scenarios

OpenAIRE

Herzog, Alexander

2017-01-01

The introduction of legged robots into society has the potential to impact many aspects of our lives. The versatile morphology of robots with arms and legs, or multipeds, allows them to operate in a broad spectrum of environments. For example, legged robots could assist at construction sites or locomote in rocky terrain under persistent interaction with the environment through contact. These behaviors require algorithms that translate high level operator commands into movement and contact int...

Mutually opposing forces during locomotion can eliminate the tradeoff between maneuverability and stability

Science.gov (United States)

Cowan, Noah; Sefati, Shahin; Neveln, Izaak; Roth, Eatai; Mitchell, Terence; Snyder, James; Maciver, Malcolm; Fortune, Eric

A surprising feature of animal locomotion is that organisms typically produce substantial forces in directions other than what is necessary to move the animal through its environment, such as perpendicular to, or counter to, the direction of travel. The effect of these forces has been difficult to observe because they are often mutually opposing and therefore cancel out. Using a combination of robotic physical modeling, computational modeling, and biological experiments, we discovered that these forces serve an important role: to simplify and enhance the control of locomotion. Specifically, we examined a well-suited model system, the glass knifefish Eigenmannia virescens, which produces mutually opposing forces during a hovering behavior. By systematically varying the locomotor parameters of our biomimetic robot, and measuring the resulting forces and kinematics, we demonstrated that the production and differential control of mutually opposing forces is a strategy that generates passive stabilization while simultaneously enhancing maneuverability. Mutually opposing forces during locomotion are widespread across animal taxa, and these results indicate that such forces can eliminate the tradeoff between stability and maneuverability, thereby simplifying robotic and neural control.

Effects of immobility on sensory and motor symptoms of restless legs syndrome.

Science.gov (United States)

Michaud, Martin; Lavigne, Gilles; Desautels, Alex; Poirier, Gaétan; Montplaisir, Jacques

2002-01-01

Restless legs syndrome (RLS) is defined by an irresistible need to move associated with leg paresthesia. Two additional features are essential for diagnosis: (1) worsening of symptoms at rest with temporary relief by activity, and (2) worsening of symptoms during the evening and/or during the night. The suggested immobilization test (SIT) has been developed to evaluate the presence of these criteria. This test quantifies leg movements and leg discomfort during a 1-hour period of immobility prior to bedtime. We used the SIT to evaluate the effects of immobility on leg discomfort and leg movements experienced by 19 patients with RLS and 19 control subjects. Results show that immobility significantly worsens both leg discomfort and periodic leg movements (PLM) in patients with RLS but not in controls. Patients with RLS showed a higher leg discomfort score (32.6 +/- 15.1 mm vs. 5.7 +/- 7.9 mm; P < 0.00001), a greater maximum leg discomfort value (63.4 +/- 27.4 mm vs. 13.7 +/- 23.0 mm; P < 0.00001) and a greater PLM index (88.4 +/- 62.6 vs. 10.4 +/- 20.6; P < 0.00004) than control subjects. These results further validate the use of the SIT as a diagnostic and research tool for RLS and confirm the contention of the International RLS study group that RLS symptoms worsen at rest. Copyright 2001 Movement Disorder Society.

USING THE INFORMATION OF ON-BOARD DIAGNOSTIC SYSTEMS IN DETERMINING THE TECHNICAL STATE OF THE LOCOMOTIVE

Directory of Open Access Journals (Sweden)

B. Ye. Bodnar

2008-12-01

Full Text Available The issues of increase of efficiency of information processing by оn-board systems of diagnostics of locomotives are considered. The examples of information processing by the on-board system of diagnostics of electric locomotives DE1 are presented. The suggestions on improvement of systematization and processing of information by on-board systems of diagnostics are given.

Water displacement leg volumetry in clinical studies - A discussion of error sources

Science.gov (United States)

2010-01-01

Background Water displacement leg volumetry is a highly reproducible method, allowing the confirmation of efficacy of vasoactive substances. Nevertheless errors of its execution and the selection of unsuitable patients are likely to negatively affect the outcome of clinical studies in chronic venous insufficiency (CVI). Discussion Placebo controlled double-blind drug studies in CVI were searched (Cochrane Review 2005, MedLine Search until December 2007) and assessed with regard to efficacy (volume reduction of the leg), patient characteristics, and potential methodological error sources. Almost every second study reported only small drug effects (≤ 30 mL volume reduction). As the most relevant error source the conduct of volumetry was identified. Because the practical use of available equipment varies, volume differences of more than 300 mL - which is a multifold of a potential treatment effect - have been reported between consecutive measurements. Other potential error sources were insufficient patient guidance or difficulties with the transition from the Widmer CVI classification to the CEAP (Clinical Etiological Anatomical Pathophysiological) grading. Summary Patients should be properly diagnosed with CVI and selected for stable oedema and further clinical symptoms relevant for the specific study. Centres require a thorough training on the use of the volumeter and on patient guidance. Volumetry should be performed under constant conditions. The reproducibility of short term repeat measurements has to be ensured. PMID:20070899

Activation of groups of excitatory neurons in the mammalian spinal cord or hindbrain evokes locomotion

DEFF Research Database (Denmark)

Hägglund, Martin; Borgius, Lotta; Dougherty, Kimberly J.

2010-01-01

Central pattern generators (CPGs) are spinal neuronal networks required for locomotion. Glutamatergic neurons have been implicated as being important for intrinsic rhythm generation in the CPG and for the command signal for initiating locomotion, although this has not been demonstrated directly. We...... neurons in the spinal cord are critical for initiating or maintaining the rhythm and that activation of hindbrain areas containing the locomotor command regions is sufficient to directly activate the spinal locomotor network....

Development of generalized dynamic model of oscillations of cylinder case of diesel engine of locomotive

Directory of Open Access Journals (Sweden)

Irina YUTKINA

2014-03-01

Full Text Available An engineering method of design, worked out by the authors, is considered in the paper. It allows to carry out design of amplitude-frequency specter and vibration loading of cylinder cases of the diesel engine of locomotive with account of cavitation-erosion damage. Offered method of design of parameters of cavitation-erosion damage may be used in design of new structures of diesel engines of locomotives and systems of cooling.

Research of the possibility of using neural networks in the tests of locomotive hydraulic transmissions

OpenAIRE

КЛЮШНИК, І. А.

2017-01-01

The possibility of developing a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring test system is researched. The use of neural networks and fuzzy logic for the development of a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring tests system is proposed. As the initial stage of developing a diagnostic system using neural networks, a neural network is presented which predicts the rotational speed of the h...

40 CFR 1042.836 - Marine certification of locomotive remanufacturing systems.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Marine certification of locomotive remanufacturing systems. 1042.836 Section 1042.836 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY... ENGINES AND VESSELS Special Provisions for Remanufactured Marine Engines § 1042.836 Marine certification...

Flexible Coupling of Respiration and Vocalizations with Locomotion and Head Movements in the Freely Behaving Rat

Directory of Open Access Journals (Sweden)

Joseph Andrews Alves

2016-01-01

Full Text Available Quadrupedal mammals typically synchronize their respiration with body movements during rhythmic locomotion. In the rat, fast respiration is coupled to head movements during sniffing behavior, but whether respiration is entrained by stride dynamics is not known. We recorded intranasal pressure, head acceleration, instantaneous speed, and ultrasonic vocalizations from male and female adult rats while freely behaving in a social environment. We used high-speed video recordings of stride to understand how head acceleration signals relate to locomotion and developed techniques to identify episodes of sniffing, walking, trotting, and galloping from the recorded variables. Quantitative analysis of synchrony between respiration and head acceleration rhythms revealed that respiration and locomotion movements were coordinated but with a weaker coupling than expected from previous work in other mammals. We have recently shown that rats behaving in social settings produce high rates of ultrasonic vocalizations during locomotion bouts. Accordingly, rats emitted vocalizations in over half of the respiratory cycles during fast displacements. We present evidence suggesting that emission of these calls disrupts the entrainment of respiration by stride. The coupling between these two variables is thus flexible, such that it can be overridden by other behavioral demands.

Modeling locomotion of a soft-bodied arthropod using inverse dynamics

International Nuclear Information System (INIS)

Saunders, Frank; Trimmer, Barry A; Rife, Jason

2011-01-01

Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of animals in natural environments by incorporating compliant materials into the locomotory system. However, the mechanics of moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for the soft-bodied tobacco hornworm caterpillar, Manduca sexta, to provide insight for biologists and engineers studying locomotion by highly deformable animals and caterpillar-like robots. Using inverse dynamics to process experimentally acquired point-tracking data, ground reaction forces and internal forces were determined for a crawling caterpillar. Computed ground reaction forces were compared to experimental data to validate the model. The results show that a system of linked extendable joints can faithfully describe the general form and magnitude of the contact forces produced by a crawling caterpillar. Furthermore, the model can be used to compute internal forces that cannot be measured experimentally. It is predicted that between different body segments in stance phase the body is mostly kept in tension and that compression only occurs during the swing phase when the prolegs release their grip. This finding supports a recently proposed mechanism for locomotion by soft animals in which the substrate transfers compressive forces from one part of the body to another (the environmental skeleton) thereby minimizing the need for hydrostatic stiffening. The model also provides a new means to characterize and test control strategies used in caterpillar crawling and soft robot locomotion.

Sexuality of Disabled Athletes Depending on the Form of Locomotion

Directory of Open Access Journals (Sweden)

Plinta Ryszard

2015-12-01

Full Text Available The main purpose of this study was to determine sexuality of disabled athletes depending on the form of locomotion. The study included 170 disabled athletes, aged between 18 and 45. The entire population was divided into 3 research groups depending on the form of locomotion: moving on wheelchairs (n=52, on crutches (n=29 and unaided (n=89. The research tool was a questionnaire voluntarily and anonymously completed by the respondents of the research groups. The questionnaire was composed of a general part concerning the socio-demographic conditions, medical history, health problems, a part dedicated to physical disability as well as the Polish version of the International Index of Erectile Function (IIEF and the Female Sexual Function Index (FSFI evaluating sexual life. STATISTICA 10.0 for Windows was used in the statistical analysis. Subjects moving on crutches were significantly older than ones moving on wheelchairs and unaided (34.41 ±11.00 vs. 30.49 ±10.44 and 27.99 ±10.51 years, respectively (p=0.018. Clinically significant erectile dysfunctions were most often diagnosed in athletes moving on wheelchairs (70.27%, followed by athletes moving on crutches and moving unaided (60% and 35.42%, respectively; p=0.048. Clinical sexual dysfunctions were diagnosed on a similar level among all female athletes. It was concluded that the form of locomotion may determine sexuality of disabled men. Males on wheelchair revealed the worst sexual functioning. Female athletes moving on wheelchairs, on crutches and moving unaided were comparable in the aspect of their sexual life.

Valid measures of periodic leg movements (PLMs) during a suggested immobilization test using the PAM-RL leg activity monitors require adjusting detection parameters for noise and signal in each recording.

Science.gov (United States)

Yang, Myung Sung; Montplaisir, Jacques; Desautels, Alex; Winkelman, John W; Cramer Bornemann, Michel A; Earley, Christopher J; Allen, Richard P

2014-01-01

Individuals with restless legs syndrome (RLS) (Willis-Ekbom disease [WED]) usually have periodic leg movements (PLMs). The suggested immobilization test (SIT) measures sensory and motor features of WED during wakefulness. Surface electromyogram (EMG) recordings of the anterior tibialis (AT) are used as the standard for counting PLMs. However, due to several limitations, leg activity meters such as the PAM-RL were advanced as a potential substitute. In our study, we assessed the validity of the measurements of PLM during wakefulness (PLMW) in the SIT for PAM-RL using both default and custom detection threshold parameters compared to AT EMG. Data were obtained from 39 participants who were diagnosed with primary WED and who were on stable medication as part of another study using the SIT to repeatedly evaluate WED symptoms over 6-12 months. EMG recordings and PAM-RL, when available, were used to detect PLMW for each SIT. Complete PAM-RL and polysomnography (PSG) EMG data were available for 253 SITs from that study. The default PAM-RL (dPAM-RL) detected leg movements based on manufacturer's noise (resting) and signal (movement) amplitude criteria developed to accurately detect PLM during sleep (PLMS). The custom PAM-RL (cPAM-RL) similarly detected leg movements except the noise and movement detection parameters were adjusted to match the PAM-RL data for each SIT. The distributions of the differences between either dPAM-RL or cPAM-RL and EMG PLMW were strongly leptokurtic (Kurtosis >2) with many small differences and a few unusually large differences. These distributions are better described by median and quartile ranges than mean and standard deviation. Despite an adequate correlation (r=0.66) between the dPAM-RL and EMG recordings, the dPAM-RL on average significantly underscored the number of PLMW (median: quartiles=-13: -51.2, 0.0) and on Bland-Altman plots had a significant magnitude bias with greater underscoring for larger average PLMW/h. There also was an

[Physical treatment modalities for chronic leg ulcers].

Science.gov (United States)

Dissemond, J

2010-05-01

An increasing numbers of physical treatment options are available for chronic leg ulcer. In this review article, compression therapy, therapeutic ultrasound, negative pressure therapy, extracorporeal shock wave therapy, electrostimulation therapy, electromagnetic therapy, photodynamic therapy, water-filtered infrared-A-radiation and hydrotherapy are discussed in terms of their practical applications and the underlying evidence. With the exception of compression therapy for most of these treatments, good scientific data are not available. However this is a widespread problem in the treatment of chronic wounds. Nevertheless, several of the described methods such as negative pressure therapy represent one of the gold standards in practical treatment of patients with chronic leg ulcers. Although the use of physical treatment modalities may improve healing in patients with chronic leg ulcers, the diagnosis and treatment of the underlying causes are essential for long-lasting success.

Support afferentation in the posture and locomotion control system

Science.gov (United States)

Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.

Sleep board review question: restless legs

Directory of Open Access Journals (Sweden)

Omobomi O

2018-02-01

Full Text Available No abstract available. Article truncated after 150 words. Ms. Jones (not her real name is a 63-year-old woman who states that she gets very fidgety when sitting in a theater, watching a movie or when flying long distances on a plane. She is unable to find words to describe the sensation but she states that moving her legs make them feel better. Lately, she has been getting this feeling almost every night. She reports no leg discomfort in the daytime. She denies muscle cramps her legs. She had some recent investigations done by her primary care physician because of complaints of fatigue. Which of the following will be helpful in the diagnosis and management in this patient? 1. An overnight polysomnogram showing apnea hypopnea index of 1.6 events per hour and no periodic limb movements (PLMs 2. Ferritin level of 18 ng/ml (normal range 20-200 ng/ml 3. Serum Bicarbonate of 29 mEq/L (normal range 23-29 mEq/L 4. Thyroid …

Arm to leg coordination in elite butterfly swimmers.

Science.gov (United States)

Chollet, D; Seifert, L; Boulesteix, L; Carter, M

2006-04-01

This study proposed the use of four time gaps to assess arm-to-leg coordination in the butterfly stroke at increasing race paces. Fourteen elite male swimmers swam at four velocities corresponding to the appropriate paces for, respectively, the 400-m, 200-m, 100-m, and 50-m events. The different stroke phases of the arm and leg were identified by video analysis and then used to calculate four time gaps (T1: time gap between entry of the hands in the water and the high break-even point of the first undulation; T2: time gap between the beginning of the hands' backward movement and the low break-even point of the first undulation; T3: time gap between the hands' arrival in a vertical plane to the shoulders and the high break-even point of the second undulation; T4: time gap between the hands' release from the water and the low break-even point of the second undulation), the values of which described the changing relationship of arm to leg movements over an entire stroke cycle. With increases in pace, elite swimmers increased the stroke rate, the relative duration of the arm pull, the recovery and the first downward movement of the legs, and decreased the stroke length, the relative duration of the arm catch phase and the body glide with arms forward (measured by T2), until continuity in the propulsive actions was achieved. Whatever the paces, the T1, T3, and T4 values were close to zero and revealed a high degree of synchronisation at key motor points of the arm and leg actions. This new method to assess butterfly coordination could facilitate learning and coaching by situating the place of the leg undulation in relation with the arm stroke.

Rough-legged buzzards, Arctic foxes and red foxes in a tundra ecosystem without rodents.

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Ivan Pokrovsky

Full Text Available Small rodents with multi-annual population cycles strongly influence the dynamics of food webs, and in particular predator-prey interactions, across most of the tundra biome. Rodents are however absent from some arctic islands, and studies on performance of arctic predators under such circumstances may be very instructive since rodent cycles have been predicted to collapse in a warming Arctic. Here we document for the first time how three normally rodent-dependent predator species-rough-legged buzzard, arctic fox and red fox - perform in a low-arctic ecosystem with no rodents. During six years (in 2006-2008 and 2011-2013 we studied diet and breeding performance of these predators in the rodent-free Kolguev Island in Arctic Russia. The rough-legged buzzards, previously known to be a small rodent specialist, have only during the last two decades become established on Kolguev Island. The buzzards successfully breed on the island at stable low density, but with high productivity based on goslings and willow ptarmigan as their main prey - altogether representing a novel ecological situation for this species. Breeding density of arctic fox varied from year to year, but with stable productivity based on mainly geese as prey. The density dynamic of the arctic fox appeared to be correlated with the date of spring arrival of the geese. Red foxes breed regularly on the island but in very low numbers that appear to have been unchanged over a long period - a situation that resemble what has been recently documented from Arctic America. Our study suggests that the three predators found breeding on Kolguev Island possess capacities for shifting to changing circumstances in low-arctic ecosystem as long as other small - medium sized terrestrial herbivores are present in good numbers.

Lameness Detection in Dairy Cows: Part 1. How to Distinguish between Non-Lame and Lame Cows Based on Differences in Locomotion or Behavior

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Annelies Van Nuffel

2015-08-01

Full Text Available Due to its detrimental effect on cow welfare, health and production, lameness in dairy cows has received quite a lot of attention in the last few decades—not only in terms of prevention and treatment of lameness but also in terms of detection, as early treatment might decrease the number of severely lame cows in the herds as well as decrease the direct and indirect costs associated with lameness cases. Generally, lame cows are detected by the herdsman, hoof trimmer or veterinarian based on abnormal locomotion, abnormal behavior or the presence of hoof lesions during routine trimming. In the scientific literature, several guidelines are proposed to detect lame cows based on visual interpretation of the locomotion of individual cows (i.e., locomotion scoring systems. Researchers and the industry have focused on automating such observations to support the farmer in finding the lame cows in their herds, but until now, such automated systems have rarely been used in commercial herds. This review starts with the description of normal locomotion of cows in order to define ‘abnormal’ locomotion caused by lameness. Cow locomotion (gait and posture and behavioral features that change when a cow becomes lame are described and linked to the existing visual scoring systems. In addition, the lack of information of normal cow gait and a clear description of ‘abnormal’ gait are discussed. Finally, the different set-ups used during locomotion scoring and their influence on the resulting locomotion scores are evaluated.

Duplex sonography of the near-surface leg veins; Duplexsonographie der oberflaechlichen Beinvenen

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Mendoza, E.

2007-07-01

The book contains the following contributions: The ultrasonograph, selection of the ultrasonic transducer, anatomy of the near-surface vein system, physiology of the near-surface vein system, varicose status classification, systematics of the duplex sonography of near-surface leg veins, provocational maneuver for the duplex sonographic varicose diagnostics, exploration of vena saphena parva, perforans veins, side branches, phlebitis, sonography for varicose therapy, postsurgical sonography, deep leg veins, examination of near-surface leg veins for the pathology of the deep vein system, differential diagnostic clarification of leg oedema from the phlebologic-lymphological view, diagnostic side features along the near-surface leg veins.

PELATIHAN PLIOMETRIK ALTERNATE LEG BOUND DAN DOUBLE LEG BOUND MENINGKATKAN DAYA LEDAK OTOT TUNGKAI PADA SISWA PUTRA KELAS VII SMP NEGERI 3 SUKAWATI TAHUN PELAJARAN 2012/2013

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Komang Ayu Tri Widhiyanti

2013-11-01

Full Text Available This study was conducted to know the improvement the explosive power of leg muscle. It was done through 5 set 12 repetitions during 6 weeks in the field of SMP Negeri 3 Sukawati started from 4 p.m. until 6 p.m. There were 3 groups applied in this study such as group 1 (control group that was instructed to kick a ball, group 2 (plyometric training of alternate leg bound, and group 3 (plyometric training of double leg bound. The sample was 14 male students who were in the seventh grade class of SMP Negeri 3 Sukawati in the academic year 2012/2013. The data was gained by doing the movement of alternate leg bound and double leg bound that each movement was done three times before and after the training. The hypothesis was examined by using independent t-test with the result 0.05 (p<0.05. Based on the different result of analysis test in each group, the gain score of the group 2 with the group 1 about 0,51 that shows the significant differences p = 0,00, the gain score of the group 2 with the group 3 about 0,31 that shows the significant differences p = 0,00, the gain score of the group 3 with the group 1 about 0,20 that shows the significant differences p = 0,00. Thus, alternate leg bound plyometric training is more effective than double leg bound. It is expected that the coach and the gym teacher to apply alternate leg bound plyometric training as an alternative to improve the explosive power of leg muscle.

Afferent control of central pattern generators: experimental analysis of locomotion in the decerebrate cat.