Abstract: Recent fifteen years witnessed fast improvements in the field of humanoid robotics. The human-like robot structure is
more suitable to human environment with its supreme obstacle avoidance properties when compared with wheeled service robots.
However, the walking control for bipedal robots is a challenging task
due to their complex dynamics. Stable reference generation plays a very important role in control.
Linear Inverted Pendulum Model (LIPM) and the Zero Moment Point (ZMP) criterion are applied in a number of studies for stable
walking reference generation of biped walking robots. This paper follows this main approach too. We propose a natural and continuous ZMP reference trajectory for a stable and human-like walk. The ZMP reference trajectories move forward under the sole of the support foot when the robot body is supported by a single leg. Robot center of mass trajectory is obtained
from predefined ZMP reference trajectories by a Fourier series
approximation method. The Gibbs phenomenon problem common with Fourier approximations of discontinuous functions is avoided by employing continuous ZMP references. Also, these ZMP reference
trajectories possess pre-assigned single and double support phases,
which are very useful in experimental tuning work.
The ZMP based reference generation strategy is tested via threedimensional
full-dynamics simulations of a 12-degrees-of-freedom
biped robot model. Simulation results indicate that the proposed reference trajectory generation technique is successful.
Abstract: In this paper the authors present the framework of a
system for assisting users through counseling on personal health, the
Personal Health Assistance Service Expert System (PHASES).
Personal health assistance systems need Personal Health Records
(PHR), which support wellness activities, improve the understanding
of personal health issues, enable access to data from providers of
health services, strengthen health promotion, and in the end improve
the health of the population. This is especially important in societies
where the health costs increase at a higher rate than the overall
economy. The most important elements of a healthy lifestyle are
related to food (such as balanced nutrition and diets), activities for
body fitness (such as walking, sports, fitness programs), and other
medical treatments (such as massage, prescriptions of drugs). The
PHASES framework uses an ontology of food, which includes
nutritional facts, an expert system keeping track of personal health
data that are matched with medical treatments, and a comprehensive
data transfer between patients and the system.
Abstract: In this work, the effects of scale on thermal behavior of the slab in a walking-beam type reheating furnace is studied by considering scale formation and growth in a furnace environment. Also, mathematical heat transfer model to predict the thermal radiation in a complex shaped reheating furnace with slab and skid buttons is developed with combined nongray WSGGM and blocked-off solution procedure. The model can attack the heat flux distribution within the furnace and the temperature distribution in the slab throughout the reheating furnace process by considering the heat exchange between the slab and its surroundings, including the radiant heat transfer among the slabs, the skids, the hot combustion gases and the furnace wall as well as the gas convective heat transfer in the furnace. With the introduction of the mathematical formulations validation of the present numerical model is conducted by calculating two example problems of blocked-off and nongray gas radiative heat transfer. After discussing the formation and growth of the scale on the slab surface, slab heating characteristics with scale is investigated in terms of temperature rise with time.
Abstract: This paper summaries basic principles and concepts of
intelligent controls, implemented in humanoid robotics as well as
recent algorithms being devised for advanced control of humanoid
robots. Secondly, this paper presents a new approach neuro-fuzzy
system. We have included some simulating results from our
computational intelligence technique that will be applied to our
humanoid robot. Subsequently, we determine a relationship between
joint trajectories and located forces on robot-s foot through a
proposed neuro-fuzzy technique.
Abstract: The unique structural configuration found in human foot allows easy walking. Similar movement is hard to imitate even for an ape. It is obvious that human ambulation relates to the foot structure itself. Suppose the bones are represented as vertices and the joints as edges. This leads to the development of a special graph that represents human foot. On a footprint there are point-ofcontacts which have contact with the ground. It involves specific vertices. Theoretically, for an ideal ambulation, these points provide reactions onto the ground or the static equilibrium forces. They are arranged in sequence in form of a path. The ambulating footprint follows this path. Having the human foot graph and the path crossbred, it results in a representation that describes the profile of an ideal ambulation. This profile cites the locations where the point-of-contact experience normal reaction forces. It highlights the significant of these points.
Abstract: Transportation is one of the most fundamental
challenges of urban development in contemporary world. On the
other hand, sustainable urban development has received tremendous
public attention in the last few years. This trend in addition to other
factors such as energy cost, environmental concerns, traffic
congestion and the feeling of lack of belonging have contributed to
the development of pedestrian areas. The purpose of this paper is to
study the role of walkable streets in sustainable development of
cities. Accordingly, a documentary research through valid sources
has been utilized to substantiate this study. The findings demonstrate
that walking can lead to sustainable urban development from
physical, social, environmental, cultural, economic and political
aspects. Also, pedestrian areas –which are the main context of
walking- act as focal points of development in cities and have a great
effect on modifying and stimulating of their adjacent urban spaces.
Abstract: The main focus of this paper is on the human induced
forces. Almost all existing force models for this type of load (defined
either in the time or frequency domain) are developed from the
assumption of perfect periodicity of the force and are based on force
measurements conducted on rigid (i.e. high frequency) surfaces. To
verify the different authors conclusions the vertical pressure
measurements invoked during the walking was performed, using
pressure gauges in various configurations. The obtained forces are
analyzed using Fourier transformation. This load is often decisive in
the design of footbridges. Design criteria and load models proposed
by widely used standards and other researchers were introduced and a
comparison was made.
Abstract: In the paper, the energetic features of the loaded gait
are newly analyzed depending on the trunk flexion change. To
investigate the loaded gait, walking experiments are performed for five
subjects and, the ground reaction forces and kinematic data are
measured. Based on these information, we compute the impulse,
momentum and mechanical works done on the center of body mass,
through the trunk flexion change. As a result, it is shown that the trunk
flexion change does not affect the impulses and momentums during
the step-to-step transition as well. However, the direction of the
pre-collision momentum does change depending on the trunk flexion
change, which is degenerated just after (or during) the collision period.
Abstract: In this paper after reviewing some previous studies, in
order to optimize the above knee prosthesis, beside the inertial
properties a new controlling parameter is informed. This controlling
parameter makes the prosthesis able to act as a multi behavior system
when the amputee is opposing to different environments. This active
prosthesis with the new controlling parameter can simplify the
control of prosthesis and reduce the rate of energy consumption in
comparison to recently presented similar prosthesis “Agonistantagonist
active knee prosthesis".
In this paper three models are generated, a passive, an active, and
an optimized active prosthesis. Second order Taylor series is the
numerical method in solution of the models equations and the
optimization procedure is genetic algorithm.
Modeling the prosthesis which comprises this new controlling
parameter (SEP) during the swing phase represents acceptable results
in comparison to natural behavior of shank. Reported results in this
paper represent 3.3 degrees as the maximum deviation of models
shank angle from the natural pattern. The natural gait pattern belongs
to walking at the speed of 81 m/min.
Abstract: In this paper we propose a novel approach for ascertaining human identity based on fusion of profile face and gait biometric cues The identification approach based on feature learning in PCA-LDA subspace, and classification using multivariate Bayesian classifiers allows significant improvement in recognition accuracy for low resolution surveillance video scenarios. The experimental evaluation of the proposed identification scheme on a publicly available database [2] showed that the fusion of face and gait cues in joint PCA-LDA space turns out to be a powerful method for capturing the inherent multimodality in walking gait patterns, and at the same time discriminating the person identity..
Abstract: To achieve accurate and precise results of finite
element analysis (FEA) of bones, it is important to represent the
load/boundary conditions as identical as possible to the human body
such as the bone properties, the type and force of the muscles, the
contact force of the joints, and the location of the muscle attachment.
In this study, the difference in the Von-Mises stress and the total
deformation was compared by classifying them into Case 1, which
shows the actual anatomical form of the muscle attached to the femur
when the same muscle force was applied, and Case 2, which gives a
simplified representation of the attached location. An inverse
dynamical musculoskeletal model was simulated using data from an
actual walking experiment to complement the accuracy of the
muscular force, the input value of FEA. The FEA method using the
results of the muscular force that were calculated through the
simulation showed that the maximum Von-Mises stress and the
maximum total deformation in Case 2 were underestimated by 8.42%
and 6.29%, respectively, compared to Case 1. The torsion energy and
bending moment at each location of the femur occurred via the stress
ingredient. Due to the geometrical/morphological feature of the femur
of having a long bone shape when the stress distribution is wide, as
shown in Case 1, a greater Von-Mises stress and total deformation are
expected from the sum of the stress ingredients. More accurate results
can be achieved only when the muscular strength and the attachment
location in the FEA of the bones and the attachment form are the same
as those in the actual anatomical condition under the various moving
conditions of the human body.
Abstract: This paper describes reactive neural control used to
generate phototaxis and obstacle avoidance behavior of walking
machines. It utilizes discrete-time neurodynamics and consists of
two main neural modules: neural preprocessing and modular neural
control. The neural preprocessing network acts as a sensory fusion
unit. It filters sensory noise and shapes sensory data to drive the
corresponding reactive behavior. On the other hand, modular neural
control based on a central pattern generator is applied for locomotion
of walking machines. It coordinates leg movements and can generate
omnidirectional walking. As a result, through a sensorimotor loop this
reactive neural controller enables the machines to explore a dynamic
environment by avoiding obstacles, turn toward a light source, and
then stop near to it.
Abstract: In today-s modern world, the number of vehicles is
increasing on the road. This causes more people to choose walking
instead of traveling using vehicles. Thus, proper planning of
pedestrians- paths is important to ensure the safety of pedestrians in a
walking area. Crowd dynamics study the pedestrians- behavior and
modeling pedestrians- movement to ensure safety in their walking paths.
To date, many models have been designed to ease pedestrians-
movement. The Social Force Model is widely used among researchers
as it is simpler and provides better simulation results. We will discuss
the problem regarding the ritual of circumambulating the Ka-aba
(Tawaf) where the entrances to this area are usually congested which
worsens during the Hajj season. We will use the computer simulation
model SimWalk which is based on the Social Force Model to simulate
the movement of pilgrims in the Tawaf area. We will first discuss the
effect of uni and bi-directional flows at the gates. We will then restrict
certain gates to the area as the entrances only and others as exits only.
From the simulations, we will study the effect of the distance of other
entrances from the beginning line and their effects on the duration of
pilgrims circumambulate Ka-aba. We will distribute the pilgrims at the
different entrances evenly so that the congestion at the entrances can be
reduced. We would also discuss the various locations and designs of
barriers at the exits and its effect on the time taken for the pilgrims to
exit the Tawaf area.
Abstract: Access Management is the proactive management of
vehicular access points to land parcels adjacent to all manner of
roadways. Good access management promotes safe and efficient use
of the transportation network. This study attempts to utilize archived
data from the University Technology of Malaysia on-campus area to
assess the accuracy with which access management display some
benefits. Results show that usage of access management reduces
delay and fewer crashes. Clustered development can improve
walking, cycling and transit travel, reduce parking requirements and
improve emergency responses. Effective Access Management
planning can also reduce total roadway facility costs by reducing the
number of driveways and intersections. At the end after presenting
recommendations some of the travel impact, and benefits that
can be derived if these suggestions are implemented have
been summarized with the related comments.
Abstract: This study was to search for the desirable direction of
the sidewalk planning in Korea by establishing the concepts of
walking and pedestrian space, and analyzing the advanced precedents
in and out of country. Also, based on the precedent studies and
relevant laws, regulations, and systems, it aimed for the following
sequential process: firstly, to derive design elements from the
functions and characteristics of sidewalk and cluster the similar
elements by each characteristics, sampling representative
characteristics and making them hierarchical; then, to analyze their
significances via the first questionnaire survey, and the relative
weights and priorities of each elements via the Analytic Hierarchy
Process(AHP); finally, based on the analysis result, to establish the
frame of suggesting the direction of policy to improve the pedestrian
environment of sidewalk in urban commercial district for the future
planning and design of pedestrian space.
Abstract: The aim of this paper is to present the kinematic
analysis and mechanism design of an assistive robotic leg for
hemiplegic and hemiparetic patients. In this work, the priority is to
design and develop the lightweight, effective and single driver
mechanism on the basis of experimental hip and knee angles- data for
walking speed of 1 km/h. A mechanism of cam-follower with three
links is suggested for this purpose. The kinematic analysis is carried
out and analysed using commercialized MATLAB software based on
the prototype-s links sizes and kinematic relationships. In order to
verify the kinematic analysis of the prototype, kinematic analysis data
are compared with the experimental data. A good agreement between
them proves that the anthropomorphic design of the lower extremity
exoskeleton follows the human walking gait.
Abstract: A product goes through various processes in a production flow which is also known as assembly line in manufacturing process management. Toyota created a new concept which is known as lean concept in manufacturing industry. Today it is the leading model in manufacturing plants through the globe. The linear walking worker assembly line is a flexible assembly system where each worker travels down the line carrying out each assembly task at each station; and each worker accomplishes the assembly of a unit from start to finish. This paper attempts to combine the flexibility of the walking worker and lean in order to quantify the benefits from applying the shop floor principles of lean management.
Abstract: The paper deals with the analysis of the dynamic
response of footbridges under human - induced dynamic loads.
This is a frequently occurring and often dominant load for
footbridges as it stems from the very purpose of a footbridge - to
convey pedestrian. Due to the emergence of new materials and
advanced engineering technology, slender footbridges are
increasingly becoming popular to satisfy the modern transportation
needs and the aesthetical requirements of the society. These
structures however are always lively with low stiffness, low mass,
low damping and low natural frequencies. As a consequence, they are
prone to vibration induced by human activities and can suffer severe
vibration serviceability problems, particularly in the lateral direction.
Pedestrian bridges are designed according to first and second limit
states, these are the criteria involved in response to static design load.
However, it is necessary to assess the dynamic response of bridge
design load on pedestrians and assess it impact on the comfort of the
user movement. Usually the load is considered a person or a small
group which can be assumed in perfect motion synchronization.
Already one person or small group can excite significant vibration of
the deck. In order to calculate the dynamic response to the movement
of people, designer needs available and suitable computational model
and criteria. For the calculation program ANSYS based on finite
element method was used.
Abstract: This paper takes the actual scene of Aletheia
University campus – the Class 2 national monument, the first
educational institute in northern Taiwan as an example, to present a
3D virtual navigation system which supports user positioning and
pre-download mechanism. The proposed system was designed based
on the principle of Voronoi Diagra) to divide the virtual scenes and
its multimedia information, which combining outdoor GPS
positioning and the indoor RFID location detecting function. When
users carry mobile equipments such as notebook computer, UMPC,
EeePC...etc., walking around the actual scenes of indoor and outdoor
areas of campus, this system can automatically detect the moving
path of users and pre-download the needed data so that users will
have a smooth and seamless navigation without waiting.
Abstract: Walking as a type of non-motorized transportation has
various social, economical and environmental privileges. Also, today
different aspects of sustainable development have been emphasized
and promotion of sustainable transportation modes has been
considered according to this approach. Therefore, the objective of
this research is exploring the circumstance of relationship between
walking and sustainable urban transportation.For writing this article,
the most important resources related to the traits of walking have
been surveyed via a documentary method and after explaining the
concept of sustainable transportation and its indicators, benefiting
from the viewpoints of transportation experts of Tehran, as the capital
and greatest city of Iran, different modes of urban transportation have
been compared in proportion to each criterion and to each other and
have been analyzed according to AHP method. The results of this
study indicate that walking is the most sustainable mode of inner city
transportation.