Title: Kinematic and kinetic analysis of artistic gymnastic jumps Objectives: The aim of my master thesis is execution of kinematic - kinetic analysis of jumps in artistic gymnastics, processing data, counting force moment, which does the rotation around ventrodorsal axis, means abduction and adduction motion and recount normalized moment (moment share by body weight). Methods: The kinematic - kinetic analysis of jumps in artistic gymnastics was done by using systems Qualysis Motion Capture System and Kistler. Results: We have been researching four different gymnastic jumps in this study. Four healthy individuals underwent the measurement. They have done each jump in free valid times. There was measured abduction moment of knee joint in each jump. Adduction moments were present only in 32 % cases and lot of them hasn't significant value. There was measured abduction moment in bounces in each jump, value of standardized adduction moment wasn't signifiant. There was measured just abduction moments in dismounts of non-rotational jumps. In dismounts of rotational jumps (around longitudinal axes) was measured abduction and also adduction moment. Values of normalized abduction moments were between 0,3 - 11 m2 .s-2 . Values of normalized adduction moments were between 0 - 10 m2 .s-2 . Highest values of...

The aim of this dissertation was to evaluate and statistically compare the data of the distance of movement and player load (PL) with respect to the player specializations and with respect to the result of rallies. The analysis used the method of 3D kinematic motion analysis of a video recording of the official play-off match in the elite women's category. 3D reconstruction accuracy was calculated with a standard deviation of 0.0296 m (0.3%). A total of 14 players were evaluated (age = 25 ± 6 years; height = 182.3 ± 6.2 cm; weight = 72.1 ± 5.8 kg) in a total of 4 sets. 85% of all rallies lasted up to 12.4 s and 95% lasted up to 18 s. The average duration of the rally reached 7.76 ± 5.1 s. In the range of 0.7 m to 2 m was performed 91.8 ± 1.3 % of distance of movement over 0.7 m. In the range of 0 m to 0.7 m, the specialization spiker reached 60.5% of the total distance of movement. For blocker it was 59.8%, setter reached 54.1%, Opposite reached 62.1% and libero 57.9%. The highest ratio of movement was reached by the spiker for the forward direction (35.8%). The highest distance of movement was reached by the setter (1648 m). Players reached at 50 % speed value from 1.32 m/s in the backward direction for the blocker and setter, up to the maximum speed at 50 % for the setter with a value of 2.09 m/s...

Title: Anticipation sources and interaction during the serve return Objectives: The objectives of this diploma thesis are to explore what kinds of anticipatory resources elite tennis players perceive and which ones they take in consideration when returning the service. Methods: The qualitative type of research was used in this diploma thesis, specifically a case study. Professional tennis players were chosen and their ATP emplacement is from 26th to 163th in the world. Five of the chosen tennis players only train now, two of them train and also play and the other two only play. Their age varies from 25 to 43 years old. A method of review with instruction was used, the review had seven questions and lasted approximately 30-60 minutes during which the players thought in detail of key factors that they use for anticipation the service. The second phase of the research was a transcription of the review, its coding and analysis. Results: In this diploma thesis there is a description of individual themes that point out to other anticipatory resources which tennis players examine during their matches. Tennis players examine contextual and kinematic resources that help them to anticipate the service during the match. It was also found that tennis trainers do not use anticipation and returning the service...

An integrated experimental and numerical research program investigating the elastic and inelastic performance as well as the kinematic behaviour of shearwalls with openings is presented in this study. The influence of the geometrical dimensions of the wall configurations and the mechanical properties and configurations of hold-downs on both elastic and inelastic behaviours including the possible kinematic modes of the shearwalls are investigated. The research also proposes the concept of equivalent-frame-model applicable for shearwalls where openings are cut-out from CLT panels. Are also presented, five racking tests performed on full scale CLT walls in order to validate the numerical models as well as the equivalent frame model. From review of the available literature emerges that for CLT shearwalls with openings, studies are not at the same level of abundance in research compared to walls without openings, due to the simple reason that SSW is generally a widespread technique. Thus, the kinematic behaviour and the coupling effect are inexistent and presented here. The investigations of the wall’s behaviour in the elastic and inelastic ranges demonstrate the important effect of the lintel and wall segment slenderness as well as the hold-down stiffness effect on the mechanical behaviour and the global kinematic behaviour as well. It is found that the kinematic modes can change when the walls are stressed beyond their elasticity limit. The failure mode and the global ductility are highly dependent on the hold-down configurations particularly for walls with door openings. The degree of coupling decrease with increased hold-down stiffness and the wall segment width. With regards to the equivalent frame model, a reasonable fit is found between the proposed EFM and a detailed 2D area element model when the global elastic stiffness and tensile load in the hold-down were compared. The model is successfully validated through five full-scale tests on CLT shearwalls with door or window opening as well as two published studies on walls with door openings. The EFM is capable of predicting the behaviour in the wall with reasonable accuracy, especially for walls whose behaviour was dominated by the hold-down behaviour.

La caractérisation des tremblements de terre est un domaine de recherche primordial en sismologie, où l'objectif final est de fournir des estimations précises d'attributs de la source sismique. Dans ce domaine, certaines questions émergent, par exemple : quand un tremblement de terre s’est-il produit? quelle était sa taille? ou quelle était son évolution dans le temps et l'espace? On pourrait se poser d'autres questions plus complexes comme: pourquoi le tremblement s'est produit? quand sera le prochain dans une certaine région? Afin de répondre aux premières questions, une représentation physique du phénomène est nécessaire. La construction de ce modèle est l'objectif scientifique de ce travail doctoral qui est réalisé dans le cadre de la modélisation cinématique. Pour effectuer cette caractérisation, les modèles cinématiques de la source sismique sont un des outils utilisés par les sismologues. Il s’agit de comprendre la source sismique comme une dislocation en propagation sur la géométrie d’une faille active. Les modèles de sources cinématiques sont une représentation physique de l’histoire temporelle et spatiale d’une telle rupture en propagation. Cette modélisation est dite approche cinématique car les histoires de la rupture inférées par ce type de technique sont obtenues sans tenir compte des forces qui causent l'origine du séisme.Dans cette thèse, je présente une nouvelle méthode d'inversion cinématique capable d'assimiler, hiérarchiquement en temps, les traces de données à travers des fenêtres de temps évolutives. Cette formulation relie la fonction de taux de glissement et les sismogrammes observés, en préservant la positivité de cette fonction et la causalité quand on parcourt l'espace de modèles. Cette approche, profite de la structure creuse de l’histoire spatio-temporelle de la rupture sismique ainsi que de la causalité entre la rupture et chaque enregistrement différé par l'opérateur. Cet opérateur de propagation des ondes connu, est différent pour chaque station. Cette formulation progressive, à la fois sur l’espace de données et sur l’espace de modèle, requiert des hypothèses modérées sur les fonctions de taux de glissement attendues, ainsi que des stratégies de préconditionnement sur le gradient local estimé pour chaque paramètre du taux de glissement. Ces hypothèses sont basées sur de simples modèles physiques de rupture attendus. Les applications réussies de cette méthode aux cas synthétiques (Source Inversion Validation Exercise project) et aux données réelles du séisme de Kumamoto 2016 (Mw=7.0), ont permis d’illustrer les avantages de cette approche alternative d’une inversion cinématique linéaire de la source sismique.L’objectif sous-jacent de cette nouvelle formulation sera la quantification des incertitudes d’un tel modèle. Afin de mettre en évidence les propriétés clés prises en compte dans cette approche linéaire, dans ce travail, j'explore l'application de la stratégie bayésienne connue comme Hamiltonian Monte Carlo (HMC). Cette méthode semble être l’une des possibles stratégies qui peut être appliquée à ce problème linéaire sur-paramétré. Les résultats montrent qu’elle est compatible avec la stratégie linéaire dans le domaine temporel présentée ici. Grâce à une estimation efficace du gradient local de la fonction coût, on peut explorer rapidement l'espace de grande dimension des solutions possibles, tandis que la linéarité est préservée. Dans ce travail, j'explore la performance de la stratégie HMC traitant des cas synthétiques simples, afin de permettre une meilleure compréhension de tous les concepts et ajustements nécessaires pour une exploration correcte de l'espace de modèles probables. Les résultats de cette investigation préliminaire sont encourageants et ouvrent une nouvelle façon d'aborder le problème de la modélisation de la reconstruction cinématique de la source sismique, ainsi, que de l’évaluation des incertitudes associées. / The earthquake characterization is a fundamental research field in seismology, which final goal is to provide accurate estimations of earthquake attributes. In this study field, various questions may rise such as the following ones: when and where did an earthquake happen? How large was it? What is its evolution in space and time? In addition, more challenging questions can be addressed such as the following ones: why did it occur? What is the next one in a given area? In order to progress in the first list of questions, a physical description, or model, of the event is necessary. The investigation of such model (or image) is the scientific topic I investigate during my PhD in the framework of kinematic source models. Understanding the seismic source as a propagating dislocation that occurs across a given geometry of an active fault, the kinematic source models are the physical representations of the time and space history of such rupture propagation. Such physical representation is said to be a kinematic approach because the inferred rupture histories are obtained without taking into account the forces that might cause the origin of the dislocation.In this PhD dissertation, I present a new hierarchical time kinematic source inversion method able to assimilate data traces through evolutive time windows. A linear time-domain formulation relates the slip-rate function and seismograms, preserving the positivity of this function and the causality when spanning the model space: taking benefit of the time-space sparsity of the rupture model evolution is as essential as considering the causality between rupture and each record delayed by the known propagator operator different for each station. This progressive approach, both on the data space and on the model space, does require mild assumptions on prior slip-rate functions or preconditioning strategies on the slip-rate local gradient estimations. These assumptions are based on simple physical expected rupture models. Successful applications of this method to a well-known benchmark (Source Inversion Validation Exercise 1) and to the recorded data of the 2016 Kumamoto mainshock (Mw=7.0) illustrate the advantages of this alternative approach of a linear kinematic source inversion.The underlying target of this new formulation will be the future uncertainty quantification of such model reconstruction. In order to achieve this goal, as well as to highlight key properties considered in this linear time-domain approach, I explore the Hamiltonian Monte Carlo (HMC) stochastic Bayesian framework, which appears to be one of the possible and very promising strategies that can be applied to this stabilized over-parametrized optimization of a linear forward problem to assess the uncertainties on kinematic source inversions. The HMC technique shows to be compatible with the linear time-domain strategy here presented. This technique, thanks to an efficient estimation of the local gradient of the misfit function, appears to be able to rapidly explore the high-dimensional space of probable solutions, while the linearity between unknowns and observables is preserved. In this work, I investigate the performance of the HMC strategy dealing with simple synthetic cases with almost perfect illumination, in order to provide a better understanding of all the concepts and required tunning to achieve a correct exploration of the model space. The results from this preliminary investigation are promising and open a new way of tackling the kinematic source reconstruction problem and the assessment of the associated uncertainties.

Ma thèse vise à contribuer au développement et l’amélioration de la cinématique de la partie supérieure du robot HYDROïD pour des tâches bi-manuelles, tout en basant sur une étude biomécanique de cette partie chez l’être humain.Pour atteindre notre objectif majeur, ce travail adopte dans un premier temps une nouvelle structure hybride de 4 degrés de liberté (ddl) pour le torse du robot, distribués en 3 ddl au niveau lombaire et un ddl au niveau thoracique. Cette structure était identifiée après une analyse de l’espace de travail d’un modèle multi-corps simulant la colonne vertébrale d’un être humain, et une étude d’optimisation de ce modèle permettant la synthèse de la structure envisagée.Dans un second temps, une amélioration de la cinématique du bras du robot a été mise en place, en introduisant la notion de l’épaule complexe au présente structure. Le choix de ce nouveau degré de liberté était le fruit d’une approche systématique pour augmenter l’anthropomorphisme géométrie du bras souhaité vers un bras humain de la même taille.Les 2 structures proposées ont passé par la suite par la phase de conception mécanique tout en respectant les contraintes géométriques et en se basant sur l’énergie hydraulique comme étant l’énergie d’ actionnement de ces systèmes. Enfin, le Modèle Géometrique Inverse (MGI) pour la solution générique du torse a été établi et son adaptation à notre cas particulier a été identifiée. Une solution optimisée pour ce mécanisme basée sur 2 différents critères a ensuite été donnée. / My thesis aims at contributing to the development and improvement of the upper body of HYDROïD robot for bi-manual tasks, while basing on a bio-mechanical study of this part of the human being. To reach our major goal, this work adopts, at first, a novel hybrid structure of 4 degrees of freedom (DOF) for the trunk of the robot, distributed in three DOF at the lumbar level and one DOF at the thoracic level. This structure was identified after an analysis of the work-space of a multi-body model feigning the vertebral column of a human being, and an optimization study of that model allowing the synthesis of the envisaged structure. Secondly, an improvement of the kinematics of the robor arm was organized, by introducing the notion of the shoulder complex in the present structure. The choice of this new degree of freedom was the fruit of a systematic approach to increase the anthropomorphism geometry of the arm wished towards a humanitarian arm of the same size.The two proposed structures crossed afterward by the mechanical design phase while respecting all the geometrical constraints and by using the hydraulic energy as being the type of actuation of these systems. Finally, the Inverse Geometrical Model (IGM) for the generic solution of the trunk was established and its adaptation to our particular case was identified. An optimized solution for this mechanism based on 2 various criteria was then given.

L’usinage 5 axes à grande vitesse est de plus en plus utilisé dans l’industrie pour réaliser des pièces de géométrie complexe à forte valeur ajoutée avec pour contrainte de respecter la qualité géométrique tout en maximisant la productivité. Dans ce contexte, la FAO et plus particulièrement la génération des trajectoires d’usinage jouent un rôle prépondérant. Ces travaux proposent de définir des trajectoires en fonction de la pièce à réaliser mais aussi de la structure poly articulée et de ses performances cinématiques. La grande diversité des structures en termes d’architecture et de cinématique impose une méthode de calcul générique facilitant la définition de trajectoires adaptées pour leur suivi. L’état de l’art des travaux réalisé dans les domaines de l’usinage et de la robotique pour répondre à cette problématique conduit à utiliser des polytopes de manipulabilité cinématique pour modéliser les contraintes cinématiques. L’analyse de ces polytopes et de la géométrie de la pièce à usiner permet de générer des trajectoires avec une vitesse outil/pièce maîtrisée et un temps de parcours réduit dans le cas de l’usinage 5 axes positionné et de l’usinage 5 axes continu. Ce formalisme met en avant les fortes dépendances entre les différents paramètres de la stratégie d’usinage (positionnement de la pièce, direction d’avance et orientation de l’outil) et permet de privilégier certaines combinaisons de ces paramètres pour maîtriser la vitesse d’exécution de la trajectoire. / 5 axes high speed milling is increasingly used for manufacturing high addedvalue parts with complex forms in order to respect surface quality while maximizing productivity. In this context, CAM and more specifically toolpath computations play a major part. This work proposes to define toolpath depending on the workpiece but also onkinematical capacities of the polyarticulated structure.The large variety of structure in terms of architecture and kinematic enforce a generic calculation method to simplify adaptative toolpath generation. A state of the art realized in machining and robotics proposes to investigate the use of kinematical manipulability polytopes to represent kinematical capacities. An analysis of the polytopes and of the workpiece allows to generate toolpaths with a controlled feedrate and a decreasing time in 5 axes positionned milling and in 5 axes continous milling. This formalism highlights strong interactions between milling strategy parameters (workpiece setup, feed direction, tool orientation) and allows to prioritize specific parameters mix to have a controlled execution feedrate.

No description available.

京都大学 / 0048 / 新制・課程博士 / 博士(理学) / 甲第18801号 / 理博第4059号 / 新制||理||1584(附属図書館) / 31752 / 京都大学大学院理学研究科地球惑星科学専攻 / (主査)教授 岩田 知孝, 教授 平原 和朗, 准教授 久家 慶子 / 学位規則第4条第1項該当 / Doctor of Science / Kyoto University / DGAM

No description available.