Orientador: Ricardo Machado Leite de Barros / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Educação Fisica / Made available in DSpace on 2018-08-08T23:00:32Z (GMT). No. of bitstreams: 1 Miana_AndreiaNogueira_M.pdf: 1861684 bytes, checksum: 665eaddcfbbcd37b0517005f4dfb680e (MD5) Previous issue date: 2007 / Resumo: O propósito deste trabalho foi comparar dois protocolos para análise cinemática de velocistas em função das velocidades, segmentos corporais e ângulos articulares durante a marcha e a corrida. Um protocolo utiliza marcadores fixados diretamente sobre a pele e outro utiliza marcadores montados sobre estruturas rígidas fixadas no segmento corporal. Seis velocistas do sexo masculino, usando ambos os protocolos, andaram a 5 Km/h e correram a 20 Km/h, em uma esteira ergométrica. Os velocistas foram representados por um modelo tridimensional constituído por quinze segmentos corporais: cabeça, tórax, pelve, pés, pernas, coxas, braços e antebraços. Foram utilizadas oito câmeras de vídeo digital (120 Hz) para aquisição das imagens e a calibração das câmeras e reconstrução das coordenadas 3D dos marcadores foram feitas no software Dvideo®. O tratamento e análise dos dados foram feitos em ambiente Matlab??7.0. Os resultados mostraram que a variabilidade do comprimento dos segmentos e das distâncias entre os marcadores e a diferença máxima entre os ângulos obtidos por cada protocolo foram maiores com o aumento da velocidade, mostrando que os erros na análise do movimento durante a corrida foram maiores que estes durante a marcha. Não houve efeito das velocidades na correlação entre os ângulos obtidos por cada protocolo. A variabilidade da distância entre os marcadores foi maior nos membros inferiores do que nos membros superiores e a variabilidade do comprimento da perna foi maior do que esta nos outros segmentos. Os resultados também mostraram que a maior correlação foi encontrada entre os ângulos de flexão/extensão (0,99) obtidos por cada protocolo e para cada articulação, seguido dos ângulos de adução/abdução (0,78) e dos ângulos de rotação interna/externa (0,65). E os menores valores encontrados na diferença angular máxima foram entre os ângulos de flexão/extensão (6,3° ± 3,4°) obtidos por cada protocolo e para cada articulação, seguido dos ângulos de adução/abdução (13,2° ± 7,9°) e dos ângulos de rotação interna/externa (17,2° ± 8,4°). Os protocolos não apresentaram diferenças na variabilidade do comprimento dos segmentos e também na análise da cinemática angular, porém os ângulos de adução/abdução e rotação externa/interna devem ser observados com mais cautela / Abstract: The purpose of this study was to compare two protocols for kinematical analysis of sprinters according to velocities, body segments and joint angles during walking and running. The first protocol uses retroreflective markers mounted on fixtures attached to the body segment and the second uses retroreflective markers directly located on the skin surface. Six male athletes were studied during treadmill running at 5 and 20 Km/h and recorded with eight 120 Hz video cameras. A three-dimensional model constituted by fifteen segments represented the sprinters: head, thorax, pelvis, the right and left feet, shanks, thighs, scapulas, arms and forearms. The calibration of the cameras, the synchronization of the registrations and the 3D reconstruction of the coordinates of the markers were done in the Dvideo ® software. All data were analyzed using Matlab® 7.0. The results show that the variability of the length of the segments and of the distances between the markers and the maximum difference maximum between the angles obtained by each protocol were higher with the increase of the velocities, showing that the errors in the analysis of the movement during the running were larger than these ones during the gait. There was no effect of the velocities in the correlation between the angles obtained by each protocol. The variability of the distances between the markers in the lower limb were higher than this one in the upper limbs and the variability of the length of the shank was higher than this one in the other segments. The results also showed a higher correlation was found between the flexion/extension angles (0,99) obtained by each protocol and for each joint, followed by the abduction/adduction angles (0,78) and the angles of internal/external rotation (0,65). The lower values found in the maximum angular difference were between the flexion/extension angles (6,3° ± 3,4°) obtained by each protocol and for each articulation, followed by the abduction/adduction angles (13,2° ± 7,9°) and the angles of internal/external rotation (17,2° ± 8,4°). No differences were found in the variability of the length of the segments and also in the analysis of the angular kinematics, however the adduction/abduction and internal/external rotation angles should be regarded with much more caution / Mestrado / Biodinamica do Movimento Humano / Mestre em Educação Física

With the renewed interest in the supersonic and hypersonic flight vehicles, new inverse Euler methods are developed in these flow regimes where a space marching numerical technique is valid. In order to get a general understanding for the specification of target pressure distributions, a study of minimum drag body shapes was conducted over a Mach number range from 3 to 12. Numerical results show that the power law bodies result in low drag shapes, where the n=.69 (l/d = 3) or n=.70 (l/d = 5) shapes have lower drag than the previous theoretical results (n=.75 or n=.66 depending on the particular form of the theory). To validate the results, a numerical analysis was made including viscous effects and the effect of gas model. From a detailed numerical examination for the nose regions of the minimum drag bodies, aerodynamic bluntness and sharpness are newly defined. Numerous surface pressure-body geometry rules are examined to obtain an inverse procedure which is robust, yet demonstrates fast convergence. Each rule is analyzed and examined numerically within the inverse calculation routine for supersonic (M_∞= 3) and hypersonic (M_∞ = 6.28) speeds. Based on this analysis, an inverse method for fully three dimensional supersonic and hypersonic bodies is developed using the Euler equations. The method is designed to be easily incorporated into existing analysis codes, and provides the aerodynamic designer with a powerful tool for design of aerodynamic shapes of arbitrary cross section. These shapes can correspond to either "wing like" pressure distributions or to "body like" pressure distributions. Examples are presented illustrating the method for a non-axisymmetric fuselage type pressure distribution and a cambered wing type application. The method performs equally well for both nonlifting and lifting cases. For the three dimensional inverse procedure, the inverse solution existence and uniqueness problem are discussed. Sample calculations demonstrating this problem are also presented. / Ph. D.

This thesis develops an alternative sensor fusion approach for object orientation using low-cost MEMS inertial sensors. The alternative approach focuses on the unique challenges of small UAVs. Such challenges include the vibrational induced noise onto the accelerometer and bias offset errors of the rate gyroscope. To overcome these challenges, a sensor fusion algorithm combines the measured data from the accelerometer and rate gyroscope to achieve a single output free from vibrational noise and bias offset errors. One of the most prevalent sensor fusion algorithms used for orientation estimation is the Extended Kalman filter (EKF). The EKF filter performs the fusion process by first creating the process model using the nonlinear equations of motion and then establishing a measurement model. With the process and measurement models established, the filter operates by propagating the mean and covariance of the states through time. The success of EKF relies on the ability to establish a representative process and measurement model of the system. In most applications, the EKF measurement model utilizes the accelerometer and GPS-derived accelerations to determine an estimate of the orientation. However, if the GPS-derived accelerations are not available then the measurement model becomes less reliable when subjected to harsh vibrational environments. This situation led to the alternative approach, which focuses on the correlation between the rate gyroscope and accelerometer-derived angle. The correlation between the two sensors then determines how much the algorithm will use one sensor over the other. The result is a measurement that does not suffer from the vibrational noise or from bias offset errors.

an Internal Navigational System and a Global Navigational Satellite System (GNSS). In navigational warfare the GNSS can be jammed, therefore are a third navigational system is needed. The system that has been tried in this thesis is camera based navigation. Through a video camera and a sensor reference the position is determined. This thesis will process the matching between the sensor reference and the video image. Two methods have been implemented: normalized cross correlation and position determination through a homography. Normalized cross correlation creates a correlation matrix. The other method uses point correspondences between the images to determine a homography between the images. And through the homography obtain a position. The more point correspondences the better the position determination will be. The results have been quite good. The methods have got the right position when the Euler angles of the UAV have been known. Normalized cross correlation has been the best method of the tested methods.

Orientation estimation is a very well known topic in many fields such as in aerospace or robotics. However, the sensors used are usually very ex- pensive, heavy and big, which make them not suitable for IoT (Internet of Things) based applications. This thesis presents a study of how different sensor fusion algorithms perform in low cost hardware and in high acceler- ation scenarios. For this purpose, an Arduino MKR1000 is used together with an accelerometer, gyroscope and magnetometer. The objective of the thesis is to choose the most suitable algorithm for the purposed practical application, which consists on attaching the device to a moving object, such as a skate board or a bike. Once the orientation is estimated, a movement recognition algorithm that was developed is able to match what trick or movement was performed. The algorithm chosen was the Madgwick one with some minor adjustments, which uses quaternions for the estimation and is very resilient when the device is under strong external accelerations.

The goal of this project was to make a shirt with three embedded IMU sensors (Inertial Measurement Unit) that can measure a person’s movements throughout an entire workday. This can provide information about a person’s daily routine movements and aid in finding activities which can lead to work-related injuries in order to prevent them. The objective was hence to construct a sensor fusion framework that could retrieve the measurements from these three sensors and to create an estimate of the human body orientation and to estimate the angular movements of the arms. This was done using an extended Kalman filter which uses the accelerometer and magnetometer values to retrieve the direction of gravity and north respectively, thus providing a coordinate system that can be trusted in the long term. Since this method is sensitive to quick movements and magnetic disturbance, gyroscope measurements were used to help pick up quick movements. The gyroscope measurements need to be integrated in order to get the angle, which means that we get accumulated errors. This problem is reduced by the fact that we retrieve a correct long-term reference without accumulated errors from the accelerometer and magnetometer measurements. The Kalman filter estimates three quaternions describing the orientation of the upper body and the two arms. These quaternions were then translated into Euler angles in order to get a meaningful description of the orientations. The measurements were stored on a memory card or broadcast on both the local net and the Internet. These data were either used offline in Matlab or shown in real-time in the program Unity 3D. In the latter case the user could see that a movement gives rise to a corresponding movement on a skeleton model on the screen.

We focus on the Tensor Product Structure (TPS) of the Hilbert space and the fact that a choice in the TPS has an impact on the representation of the studied quantum system. We define the measurement problem in quantum mechanics and present some theories about quantum mechanics, each of them highlighting a different approach to quantum measurements. Then, a new approach to quantum measurement is presented by considering it as a change in the Tensor Product Structure of the Hilbert space associated with the description of a system. The system is made of a physical quantum system entangled with a measurement device. The description of the system changes to a new one where there is no entanglement anymore between the physical system and the measurement apparatus. The change in the TPS is performed using a global unitary transformation and more precisely by diagonalizing the density matrix of the system using unitary matrices. Four sets of matrices are obtained, each of them diagonalizing the density matrix in a different way for our toy model made of 2 qubits. Then, we want to recover Born’s rule directly from the diagonalizing matrices by measuring the size of their sets using Haar measure. We have not been able to conclude this program, but we outline what is expected to happen such that standard probabilities can be recovered.

This thesis deals with multi-axis position sensors, their nature and individual parts and types of these sensors. It is outlined their historical origin and the most used modern types, such as micro-electro-mechanical sensors. Further, the properties of these sensors, error sources and their compensation are discussed. Output data formats are also discussed here, such as Euler angles, their calculation and applications. The selected sensor is implemented in the simulator electronics, and the graphical application demonstrates its functions.

Diplomová práce je zaměřena na problematiku detekce a sledování polohy hlavy v obraze jako jednu s možností jak zlepšit možnosti interakce mezi počítačem a člověkem. Hlavním přínosem diplomové práce je využití inovativních hardwarových a softwarových technologií jakými jsou Microsoft Kinect, Point Cloud Library a CImg Library. Na úvod je představeno shrnutí předchozích prací na podobné téma. Následuje charakteristika a popis databáze, která byla vytvořena pro účely diplomové práce. Vyvinutý systém pro detekci a sledování polohy hlavy je založený na akvizici 3D obrazových dat a registračním algoritmu Iterative Closest Point. V závěru diplomové práce je nabídnuto hodnocení vzniklého systému a jsou navrženy možnosti jeho budoucího zlepšení.

This work deals with the creation of a graphic demo with the use of inverse kinematics. It explains the motivations that led to the creation of the demo; it briefly mentions the history of the demo as well as the principles of animation. It describes in detail the fundamentals of inverse kinematics as well as the terminology needed for the understanding of inverse kinematics. It also includes some selected algorithms. The issue of inverse kinematics is further developed in the part of the work where the principles of skinning are being described. The principles of the collision detection are also mentioned here. The conclusion consists of a detailed explanation of some of the techniques used in graphic demo, such as the L-systems or procedural textures.