Society of today is struggling with both large amounts of emissions as well as congestion on the roads. For this reason, AFRY in collaboration with Volvo GTT is working on develop and implement longer and heavier transports in traffic network. These combinations are called high capacity transport and have high performance-based demands. Dynamic stability is one demand that can be improved for the DUOCAT, which is a high capacity transport combination. The hypothesis is that a displacement backward in the direction of travel of the v-stay can improve the dynamic stability. The v-stay is a component of the rear wheel suspension and has an important function regarding dynamic stability by absorbing lateral forces. To achieve better dynamic stability, the goal is to create counter steering on the rear axle of the DUO-CAT through small design changes on the v-stay. The suggestion from Volvo is to move the v-stay backward in the direction of travel, which in this thesis has become the focus in both concept generation and design work. The thesis includes development of new concepts of the v-stay. An extensive evaluation process consisting of dynamic analysis was carried out in PTC Creo Parametric, which made it possible to compare the new concepts with the current v-stay. An important part of the thesis is to obtain a simplified model that simulate the physical conditions. The delimitations are to examine lateral acceleration with load on the axle and friction between asphalt and wheels. The maneuver in the analyses emulates a quick lane change at 80 km/h. This has resulted in a new concept that includes the current v-stay where only the position on the frame and axle is changed with the help of new fastening components. The new concept provides an increased counter steering of 6%. The conclusion is that a displacement backwards in the direction of travel of the vehicle gives an increased counter steering. Future work is required to achieve the desired improved steering and safety requirements.

The primary goal of human locomotion is to translate the body from point A to point B, but humans must have the variability and stability to adapt and recover from constraints they may encounter. The overarching aim of this dissertation was to investigate how constraints arising from external factors (i.e., military load carriage and speed) and internal factors (i.e., hip pain) affect kinematic variability and local dynamic stability of gait. In study 1, I focus on using traditional biomechanical measures to investigate if females and males use different gait mechanics when carrying military-relevant loads, as females and males are known to use different mechanics when walking with no load. In this study, I found that females and males do use different gait mechanics when walking with military-relevant loads. Females make kinematic adaptations at the ankle and knee while males make kinematic adaptations at the hip. The differences in adaptations between females and males may be related to females’ greater risk of injury when carrying load. In study 2, I used the same cohort to investigate how military-relevant loads affect the kinematic variability and local dynamic stability of gait. I found that kinematic variability and local dynamic stability were similarly affected by load. Participants had greater kinematic variability and decreased local dynamic stability when carrying loads, which may indicate an increased risk of falling while carrying load. I also found that local dynamic stability increased with increased walking speed at all loads in the mediolateral and anteroposterior directions. However, decreased stability was detected in the vertical direction, which may require increased energy expenditure. The results of this study indicate that walking faster with increased loads may be more stable, but less energy efficient. In study 3, I investigated the how kinematic variability and local dynamic stability were affected in individuals with hip pain and a history of developmental dysplasia. I found that kinematic variability and local dynamic stability were not similarly affected in these individuals. I found that kinematic variability was greater in individuals with hip pain compared to healthy controls, but there was no difference in local dynamic stability between groups. The overall finding of this dissertation is that the relationship between kinematic variability and local dynamic stability may be dependent on the factor investigated. / 2020-07-06T00:00:00Z

While tremendous advances have been made in prosthesis technology, a greater understanding of amputee gait is needed, especially among amputees in developing countries. Field studies as well as prosthesis technology in developing countries are limited due to barriers associated with equipment and resources availability. Furthermore, individuals with lower limb amputation experience increased difficulty walking and a higher fall rate compared to non-amputees, which may be exacerbated by environment, terrain, or prosthesis componentry. Due to the importance of walking on various terrain for increased quality of life as well as the differences between prosthesis technology available in developing and developed countries, a better understanding of amputee gait on underdeveloped outdoor terrain is needed. We began to address these needs with three studies that explored factors that influenced and predicted amputee gait on realistic end-user outdoor terrain. First, we investigated the effects of environment (i.e. indoor laboratory or outdoor natural walking path), terrain, and amputation level on energy expenditure and dynamic stability while walking among lower limb amputees and non-amputees. We found that terrain and amputation level affected amputee energy expenditure and stability while environment and specific uneven terrain type had minimal effects. These results may guide future work investigating the effects of terrain in laboratory-based studies. Second, we investigated the ability to predict quantitative measures of amputee gait on outdoor underdeveloped terrain from laboratory-based measurements. We found individual participant characteristics and easily accessible measures of indoor gait were as or more effective at predicting energy expenditure and dynamic stability than gait measures requiring greater experimental and analytical resources. These results may offer a tool for researchers to assess performance among amputees in various settings without the need for expensive and technical equipment. Third, we examined the effect of a low-cost prosthetic knee joint on amputee gait. Specifically, we investigated the effects of on energy expenditure, gait stability, and perceptions of the low-cost prosthetic knee joint while walking on indoor and outdoor terrains. We found evidence that the low-cost knee increased energy expenditure and increased some characteristics of dynamic stability while decreased others. Furthermore, we also identified key insights among amputees about the performance of the low-cost prosthetic knee joint that could aid in future design modifications of the knee. Together, these studies help to clarify differences in walking performance between laboratory and outdoor terrains among lower limb amputees, help circumvent the challenges of obtaining quantitative gait measures during field studies in developing countries and may help guide the future design and use of low-cost prosthetic knee technology. / Doctor of Philosophy / While tremendous advances have been made in prosthesis technology, a greater understanding of how lower limb amputees walk (i.e. amputee gait) is needed, especially among amputees in developing countries. Studies in the field as well as the devices that amputees where to walk (prosthesis technology) in developing countries are limited due to barriers associated with equipment and resources availability. Furthermore, individuals with lower limb amputation experience increased difficulty walking and a higher fall rates compared to non-amputees, which may be exacerbated by environment, terrain, or components of the prosthesis. Due to the importance of walking on various terrain for increased quality of life as well as the differences between prosthesis technology available in developing and developed countries, a better understanding of how amputees walk on uneven outdoor terrain is needed. We began to address these needs with three studies that explored factors that influenced and predicted how amputees walk on realistic end-user outdoor terrain. First, we investigated the effects of environment (i.e. indoor laboratory or outdoor natural walking path), terrain, and amputation level on energy expenditure and walking stability among lower limb amputees and non-amputees. We found that terrain and amputation level affected amputee energy expenditure and stability while environment and specific uneven terrain type had minimal effects. These results may guide future work investigating the effects of terrain in laboratory-based studies. Second, we investigated whether we could predict amputee walking performance on outdoor underdeveloped terrain from laboratory-based measurements. We found individual participant characteristics and easily accessible performance measures were as or more effective at predicting energy expenditure and stability than performance measures requiring greater experimental and analytical resources. These results may offer a tool for researchers to assess performance among amputees in various settings without the need for expensive and technical equipment. Third, we examined the effect of a low-cost prosthetic knee joint on amputee gait. Specifically, we investigated the effects of on energy expenditure, gait stability, and perceptions of the low-cost prosthetic knee joint while walking on indoor and outdoor terrains. We found evidence that the low-cost knee increased energy expenditure and increased some characteristics of stability while decreased others. Furthermore, we also identified key insights among amputees about the performance of the low-cost prosthetic knee joint that could aid in future design modifications of the knee. Together, these studies help to clarify differences in walking performance between laboratory and outdoor terrains among lower limb amputees, help circumvent the challenges of obtaining quantitative gait measures during field studies in developing countries and may help guide the future design and use of low-cost prosthetic knee technology.

When a power system is subjected to a disturbance, the power flow changes, leading to deviations in the synchronous generator rotor angles. The rotor angle deviations propagate as electromechanical waves (EMWs) throughout the power system. These waves became observable since the development of synchrophasor measurement instruments. The speed of EMW propagation is hundreds of miles per second, much less than the electromagnetic wave propagation speed, which is the speed of light. Recently, with the development of renewable energy resources and a growth in using HVDC and FACTS devices, these waves are propagating slower, and their impacts are more considerable and complicated. The protection system needs a control system that can take suitable action based on local measurements to overcome the results of power system faults. Therefore, the dynamic behavior of power systems should be properly observed. The EMW propagation in the literature was studied using assumptions such as constant voltage throughout the entire power system and zero resistances and equal series reactances for the transmission lines. Although these assumptions help simplify the power system study model, the model cannot capture the entire power system's dynamic behaviors, since these assumptions are unrealistic. This research will develop an accurate model for EMW propagation when the system is facing a disturbance using a continuum model. The model includes a novel inertia distribution. It also investigates the impacts of voltage changes in the power system on EMW behaviors and when these impacts are negligible. Furthermore, the impacts of the internal reactances of synchronous generators and the resistances of transmission lines on EMW propagation are explored. / Doctor of Philosophy / Power systems, essential for electricity supply, undergo disturbances causing changes in power flow and synchronous generator behavior. These disturbances create electromechanical waves (EMWs) that influence system dynamics. Recent advancements, including renewable energy integration and new technologies, alter EMW behavior, posing challenges for control and protection systems. Existing studies simplify models, limiting their accuracy. This research aims to develop a realistic EMW propagation model considering factors like novel inertia distribution, voltage changes, and internal generator properties. This work addresses the evolving power landscape, enhancing our understanding of power system dynamics for improved control and reliability.

Older adults, especially older women, produce less muscular power than young adults, due primarily to slower maximal contractile velocity. These decrements may lead to increased fall risk in older women and can be exacerbated by fatigue. Recently, a 32 min walking task (32MWT) was shown to elicit fatigue in older women. The purpose of this study was to determine whether knee extensor (KE) maximal velocity is related to dynamic stability (margin of stability, MoS) in young and older women pre- and post-32MWT. METHODS: Nine young (Y; 24.3+1.1years, mean±SE) and 17 older (O; 71.1±1.1years) healthy women completed 2 testing sessions on separate days: 1) electrically-stimulated and voluntary KE muscle characteristics were measured to determine rates of force development and relaxation (RFD, RFR) and half-relaxation times (T1/2) as well as peak isometric torque, power generated at 270 deg∙s-1, and maximal contractile velocity of the dominant leg; 2) MoS was measured using a forward fall test at 25% body weight; 10 baseline trials were performed. On both testing days, the 32MWT was performed following baseline measures. All variables of interest were then collected during 30 min of recovery. RESULTS: MoS was higher in young than older women (Y: 0.044±0.021m, O: -0.130±0.033m, p=0.001) and increased over the 10 baseline trials in both groups (p=0.01). Post-32MWT, both groups showed decreased isometric torque (Y: p=0.04, O: p-1 (Y: p=0.05, O: p=0.01), and unaltered MoS (Y: p=0.34, O: p=0.52) and maximal velocity (Y: p=0.22, O: p=0.54). Additionally, T1/2 was lower post-32MWT in older (p20.32) or post-32MWT (r20.22) in either group. CONCLUSIONS: The 32MWT elicited fatigue in some contractile variables, but improved or had no effect on others. Maximal KE contractile velocity was not associated with MoS in young or older women. Future studies are needed to determine other potential mechanisms of lower MoS in older than young women. The increase in MoS over 10 baseline trials should be considered by researchers when using the forward fall test to evaluate real-world fall risk.

Massive infrastructure networks such as electric power, natural gas, or water systems play a pivotal role in everyday human lives. Development and operation of these networks is extremely capital-intensive. Moreover, security and reliability of these networks is critical. This work identifies and addresses a diverse class of computationally challenging and time-critical problems pertaining to these networks. This dissertation extends the state of the art on three fronts. First, general proofs of uniqueness for network flow problems are presented, thus addressing open problems. Efficient network flow solvers based on energy function minimizations, convex relaxations, and mixed-integer programming are proposed with performance guarantees. Second, a novel approach is developed for sample-efficient training of deep neural networks (DNN) aimed at solving optimal network dispatch problems. The novel feature here is that the DNNs are trained to match not only the minimizers, but also their sensitivities with respect to the optimization problem parameters. Third, control mechanisms are designed that ensure resilient and stable network operation. These novel solutions are bolstered by mathematical guarantees and extensive simulations on benchmark power, water, and natural gas networks. / Doctor of Philosophy / Massive infrastructure networks play a pivotal role in everyday human lives. A minor service disruption occurring locally in electric power, natural gas, or water networks is considered a significant loss. Uncertain demands, equipment failures, regulatory stipulations, and most importantly complicated physical laws render managing these networks an arduous task. Oftentimes, the first principle mathematical models for these networks are well known. Nevertheless, the computations needed in real-time to make spontaneous decisions frequently surpass the available resources. Explicitly identifying such problems, this dissertation extends the state of the art on three fronts: First, efficient models enabling the operators to tractably solve some routinely encountered problems are developed using fundamental and diverse mathematical tools; Second, quickly trainable machine learning based solutions are developed that enable spontaneous decision making while learning offline from sophisticated mathematical programs; and Third, control mechanisms are designed that ensure a safe and autonomous network operation without human intervention. These novel solutions are bolstered by mathematical guarantees and extensive simulations on benchmark power, water, and natural gas networks.

Millions of people sustain a mild traumatic brain injury (concussion) each year. While most clinical signs and symptoms resolve within 7-10 days for the majority of typical concussions, some gait and balance tasks have shown abnormalities lasting beyond the resolution of clinical symptoms. These abnormalities can persist after athletes have been medically cleared for competition, yet the implications of such changes are unclear. Most prior research has examined straight gait and standard measures of balance, yet there is a lack of knowledge regarding potential persistent effects on non-straight maneuvers or on indicators of motor control variability or complexity. To expand the knowledge of post-concussion locomotor and postural changes, this investigation examined the recovery of recently concussed athletes longitudinally, over the course of one year, in three domains: 1) path selection and body kinematics during turning gait, 2) non-linear local dynamic stability during straight gait, and 3) postural control complexity during quiet standing. Compared to matched health controls, concussed athletes exhibited significant and persistent differences in turning kinematics, local dynamic stability, and postural complexity over the initial six weeks following injury. These motor differences may increase the risk of injury to concussed athletes who are cleared to return to play. Given the persistent nature of these effects, future clinical tests may benefit from incorporating gait assessments before returning athletes to competition. Future research should prospectively and longitudinally monitor locomotor and postural control in conjunction with structural and functional changes within the brain to better understand the pathophysiology of concussions and potential rehabilitation strategies. / Ph. D.

The precise and detailed characterization of the dynamic response of structures has become increasingly important in recent years. As a consequence, the accuracy of experimental data, which is often used to validate and update finite element models, has become extremely important. However, as researchers have attempted to identify and quantify sources of error in the experimental modal analysis (EMA) process, an important potential error source has been largely overlooked. Instabilities in the dynamic response of structures due to small variations in test environmental conditions may result in significant errors in experimental and analytical results, leading to erroneous and/or misleading conclusions. This thesis presents an experimental and analytical investigation of the effects of ambient temperature variations on the dynamic characteristics of a thin, square steel plate. The modal properties of the plate with two different boundary conditions and at temperatures above and below standard room temperature are examined. In addition, an analytical model is developed accounting for the effects of temperature-dependent material properties. Results indicate that natural frequencies and damping are significantly affected by changes in temperature. In the case of the natural frequency variations, the temperature-dependence of Young's modulus is the dominant factor, but boundary condition effects may also be important. Also, FRF magnitudes at spectral lines close to the resonances are very sensitive to temperature. Finally, only minor variations in the plate response shapes are observed, although significant changes in the imaginary component of the velocity field are evident. / Master of Science

No / PURPOSE. To determine the effects of blurring vision on whole-body center-of-mass (CM) dynamics and foot-clearance parameters in elderly individuals performing a single step up to a new level. METHODS. Twelve healthy subjects (mean age, 72.3 ±4.17 years) performed a single step up to a new level (heights of 73 and 146 mm). Trials were undertaken with vision optimally corrected and with vision diffusively blurred by light-scattering lenses (cataract simulation). CM and foot-clearance parameter data were assessed by analyzing data collected by a five-camera, three-dimensional (3-D) motion analysis system. RESULTS. When vision was blurred, subjects took 11% longer to execute the stepping task (P < 0.05), mediolateral displacement of the point of application of the ground reaction force vector (i.e., weighted average of all pressures over the area in contact with the ground; the so called center of pressure, CP) decreased from 37.6% of stance width to 28.3% (P < 0.01), maximum distance between the mediolateral position of the CM and CP decreased by 9.8 mm (P < 0.01), and toe clearance (distance between tip of shoe and edge of step) increased in both the horizontal (28%) and vertical (19%) direction (P < 0.05). CONCLUSIONS. These findings suggest that when vision was blurred, subjects used a twofold safety-driven adaptation: First, to increase dynamic stability they ensured that the horizontal position of their CM was kept close to the center of the base of support and second, they increased horizontal and vertical toe clearance while swinging their lead limb forward to reduce the risk of tripping.

abstract: Injuries and death associated with fall incidences pose a significant burden to society, both in terms of human suffering and economic losses. The main aim of this dissertation is to study approaches that can reduce the risk of falls. One major subset of falls is falls due to neurodegenerative disorders such as Parkinson’s disease (PD). Freezing of gait (FOG) is a major cause of falls in this population. Therefore, a new FOG detection method using wavelet transform technique employing optimal sampling window size, update time, and sensor placements for identification of FOG events is created and validated in this dissertation. Another approach to reduce the risk of falls in PD patients is to correctly diagnose PD motor subtypes. PD can be further divided into two subtypes based on clinical features: tremor dominant (TD), and postural instability and gait difficulty (PIGD). PIGD subtype can place PD patients at a higher risk for falls compared to TD patients and, they have worse postural control in comparison to TD patients. Accordingly, correctly diagnosing subtypes can help caregivers to initiate early amenable interventions to reduce the risk of falls in PIGD patients. As such, a method using the standing center-of-pressure time series data has been developed to identify PD motor subtypes in this dissertation. Finally, an intervention method to improve dynamic stability was tested and validated. Unexpected perturbation-based training (PBT) is an intervention method which has shown promising results in regard to improving balance and reducing falls. Although PBT has shown promising results, the efficacy of such interventions is not well understood and evaluated. In other words, there is paucity of data revealing the effects of PBT on improving dynamic stability of walking and flexible gait adaptability. Therefore, the effects of three types of perturbation methods on improving dynamics stability was assessed. Treadmill delivered translational perturbations training improved dynamic stability, and adaptability of locomotor system in resisting perturbations while walking. / Dissertation/Thesis / Doctoral Dissertation Biomedical Engineering 2019