The Himalayan orogen provides an incredible natural laboratory to test models for continent-continent collision. The highest peaks of the Himalayas are composed of the Greater Himalayan Sequence (GHS), which is bound by a north-dipping low angle detachment fault above (South Tibetan detachment; STD) and by a thrust fault below (Main Central thrust; MCT). Assuming simultaneous movement on these features, the GHS can be modeled as a southward extruding wedge or channel. Channel flow models describe the coupling between mid-crustal flow, driven by gradients in lithostatic pressure between the Tibetan Plateau and the Indian plate, and focused denudation on the range front. Although the general geometry and shear sense criteria for these bounding shear zones has been documented, prior to this investigation, relatively few attempts had been made to quantify the spatial and temporal variation in flow path history for rocks from an exhumed section of the proposed mid-crustal channel. Results from this investigation demonstrate that mid-crustal flow at high deformation temperatures was distributed throughout the proposed channel. As these rocks began to exhume to shallower crustal conditions and therefore lower temperatures, deformation began to become partitioned away from the core of the channel and into the bounding shear zones. Based on these results a new method (Rigid Grain Net) to measure the relative contributions of pure and simple shear (vorticity) is proposed. Detailed thermobarometric analysis was conducted on rocks from the highest structural level in the Khumbu region, Nepal to construct pressure-temperature-time-deformation paths during the tectonic evolution of the GHS between ~32-16 Ma. Another aspect of the project suggests that the most active feature of the region is the N-S trending Ama Drime Massif (ADM). By combining new structural interpretation with existing remote sensing data this investigation proposes that the ADM is being exhumed during extension that is coupled with denudation in the trans-Himalayan Arun River gorge. Together these data provide important insights into the dynamic links between regional-scale climate and crustal-scale tectonics. / Ph. D.

Manipuladores robóticos com cinemática paralela apresentam alta rigidez, alta relação carga/peso próprio e boa precisão quando comparados a manipuladores de cinemática serial. No entanto, a região de trabalho dos manipuladores paralelos é limitada devido à presença de singularidade. Com o objetivo de aumentar a região de trabalho, redundâncias cinemáticas podem ser introduzidas nas cadeias cinemáticas. Devido à sua arquitetura paralela, a incerteza nos parâmetros geométricos pode ter grande influência no comportamento cinemático e no desempenho dinâmico. O estudo do impacto dessas incertezas quando redundâncias são introduzidas em uma manipulador robótico planar de cinemática paralela é o objetivo desse trabalho. Distribuições normais foram adotadas para a avaliação do comprimento dos elos. O impacto dessas variações foi avaliado numericamente através da comparação de resultados da simulação de trajetórias para os diferentes manipuladores robóticos. Além disso, verificou-se o impacto dessas variações nas regiões de singularidades dos sistemas robóticos. Essas avaliações numéricas foram realizadas para o manipulador robótico 3(P)RRR. Este manipulador consiste de 3 cadeias cinemáticas em paralelo. Cada cadeia apresenta uma junta prismática ativa (P), uma junta de revolução ativa (R) e duas juntas de revolução passivas (RR). Através desse trabalho, uma metodologia de avaliação do impacto de incerteza geométricas em manipuladores robóticos paralelos com redundância de atuação foi proposta e investigada. / Parallel kinematic manipulators present higher rigidity, better load capacity and improved accuracy when compared to serial kinematic manipulators. However, the workspace of parallel kinematic manipulator is usually limited due to the presence of singularity regions. In order to enlarge the workspace, kinematic redundancy can be introduced in the kinematic chains. Due to its parallel architecture, the uncertainty and variability of some geometric parameters may have great influence on its kinematic behavior and dynamic performance. The impact of these variabilities when redundancies are considered should also be verified. The aim of this study is to evaluate some geometric uncertainties in the links\' dimensions of a planar parallel robot manipulator with kinematic redundancy. Normal distributions are adopted for evaluating the variability of length of the links. The impact of these changes was evaluated numerically by comparing the results obtained by simulating trajectories for different robotic manipulators. In addition, the impact of these variabilities in the singularity regions is also assessed. These numerical evaluations have been performed for the redundant manipulator 3(P)RRR. This manipulator consists of three kinematic chains in parallel. Each chain has an active prismatic joint (P), an active revolute joint (R) and two passive revolute joints (RR). Through this work, a methodology for assessing the impact of geometric uncertainty in parallel robotic manipulators with kinematic redundancy has been proposed and investigated.

Manipuladores robóticos com cinemática paralela apresentam alta rigidez, alta relação carga/peso próprio e boa precisão quando comparados a manipuladores de cinemática serial. No entanto, a região de trabalho dos manipuladores paralelos é limitada devido à presença de singularidade. Com o objetivo de aumentar a região de trabalho, redundâncias cinemáticas podem ser introduzidas nas cadeias cinemáticas. Devido à sua arquitetura paralela, a incerteza nos parâmetros geométricos pode ter grande influência no comportamento cinemático e no desempenho dinâmico. O estudo do impacto dessas incertezas quando redundâncias são introduzidas em uma manipulador robótico planar de cinemática paralela é o objetivo desse trabalho. Distribuições normais foram adotadas para a avaliação do comprimento dos elos. O impacto dessas variações foi avaliado numericamente através da comparação de resultados da simulação de trajetórias para os diferentes manipuladores robóticos. Além disso, verificou-se o impacto dessas variações nas regiões de singularidades dos sistemas robóticos. Essas avaliações numéricas foram realizadas para o manipulador robótico 3(P)RRR. Este manipulador consiste de 3 cadeias cinemáticas em paralelo. Cada cadeia apresenta uma junta prismática ativa (P), uma junta de revolução ativa (R) e duas juntas de revolução passivas (RR). Através desse trabalho, uma metodologia de avaliação do impacto de incerteza geométricas em manipuladores robóticos paralelos com redundância de atuação foi proposta e investigada. / Parallel kinematic manipulators present higher rigidity, better load capacity and improved accuracy when compared to serial kinematic manipulators. However, the workspace of parallel kinematic manipulator is usually limited due to the presence of singularity regions. In order to enlarge the workspace, kinematic redundancy can be introduced in the kinematic chains. Due to its parallel architecture, the uncertainty and variability of some geometric parameters may have great influence on its kinematic behavior and dynamic performance. The impact of these variabilities when redundancies are considered should also be verified. The aim of this study is to evaluate some geometric uncertainties in the links\' dimensions of a planar parallel robot manipulator with kinematic redundancy. Normal distributions are adopted for evaluating the variability of length of the links. The impact of these changes was evaluated numerically by comparing the results obtained by simulating trajectories for different robotic manipulators. In addition, the impact of these variabilities in the singularity regions is also assessed. These numerical evaluations have been performed for the redundant manipulator 3(P)RRR. This manipulator consists of three kinematic chains in parallel. Each chain has an active prismatic joint (P), an active revolute joint (R) and two passive revolute joints (RR). Through this work, a methodology for assessing the impact of geometric uncertainty in parallel robotic manipulators with kinematic redundancy has been proposed and investigated.

Repetitive stress injuries are common in the workplace where workers perform repetitive tasks continuously throughout the day. Muscle fatigue may lead to injury either directly through muscle damage or indirectly through changes in coordination, development of muscle imbalances, kinematic and muscle activation variability, and/or movement instability. To better understand the role of muscle fatigue in changes in movement parameters, we studied how muscle fatigue and muscle imbalances affected the control of movement timing, variability, and stability during a repetitive upper extremity sawing task. Since muscle fatigue leads to delayed muscle and cognitive response times, we might expect the ability to maintain movement timing would decline with muscle fatigue. We compared timing errors pre- and post-fatigue as subjects performed this repetitive sawing task synchronized with a metronome using standard techniques and a goalequivalent manifold (GEM) approach. No differences in basic performance parameters were found. Significant decreases in the temporal correlations of the timing errors and velocities indicated that subjects made more frequent corrections to their movements post-fatigue. Muscle fatigue may lead to movement instability through a variety of mechanisms including delayed muscle response times and muscle imbalances. To measure movement stability, we must first define a state space that describes the movement. We compared a variety of different state space definitions and found that state spaces composed of angles and velocities with little redundant information provide the most consistent results. We then studied the affect of fatigue on the shoulder flexor muscles and general fatigue of the arm on movement stability. Subjects were able to maintain stability in spite of muscle fatigue, shoulder strength imbalance and decreased muscle cocontraction. Little is known about the time course for adaptations in response to fatigue. We studied the effect of muscle fatigue on movement coordination, kinematic variability and movement stability while subjects performed the same sawing task at two work heights. Increasing the height of the task caused subjects to make more adjustments to their movement patterns in response to muscle fatigue. Subjects also exhibited some increases in kinematic variability at the shoulder but no changes in movement stability. These findings suggest that people alter their kinematic patterns in response to fatigue possibly to maintain stability at the expense of increased variability. / text

This thesis discusses the kinematic calibration of the constraining linkage of a four degrees of freedom parallel manipulator. The manipulator has hybrid actuation of joints and wires, however the wires are not considered in this calibration. Two of the passive joints of the manipulator contain sensing so the calibration of the constraining linkage can be considered. Four kinematic models are developed for the manipulator. For each of these models, an independent set of model parameters are identified through an analysis of the augmented identification Jacobian matrix. Three different methods for formulating the augmented identification Jacobian matrix are explored. For the calibration, an optical tracking system is used to track the end-effector of the manipulator. The procedure to collect the calibration data is explained and the sources of error are considered. To further analyze the sources of error, simulated input data is created and the calibration using the experimental data and the simulated data are compared. In an attempt to improve the calibration, the selection of measured poses to be used for calibration is explored. Several different pose selection criteria have been proposed in the literature and five are evaluated in this work. The pose selection criteria were applied to the experimental manipulator and also a simulated two degrees of freedom manipulator. It is found that the pose selection criteria have a large impact when few poses are used; however the best results occur when a large number of poses are used for the calibration. An experimental calibration is carried out for the manipulator. Using the joint encoders and the kinematic model, the expected pose of the end-effector is calculated. The actual pose is measured using a vision tracking system and the difference between the actual and expected pose is minimized by adjusting the model parameters using a nonlinear optimization method. / Thesis (Master, Mechanical and Materials Engineering) -- Queen's University, 2013-01-06 22:46:05.076

Title: Selected parameters of gait and foot in consideration of the individual's body height Objectives: This thesis deals with a dependence of the selected gait and foot characteristics on a person's body height. These parameters are compared between a group of men and a group of women. In addition, a validity of selected formulas used for a determination of body height is evaluated. Methods: Mutual relation among the gait and foot characteristics and the individual's body height is observed. The thesis is a descriptive - association research, the comparative method is chosen in the practical part of the thesis. For an objectification of the research, the Plantograph and the 3D kinematic gait analysis performed by Qualysis system was used. Results: It was found out that the selected formulas used for a determination of body height are valid. The best results are brought by the formulas which count with a length of a bare foot, the length of a step and a double-step. On the contrary, the worse results are achieved by using the formulas which count with the dimension of shoe print. A tight dependence of the foot length and the length of the step / double-step on the body height was proven. A minimum dependence of the foot width on the body height was proven. Nevertheless the foot width is verifiably...

A hidroginástica tem sido indicada para melhora em diversas capacidades físicas. Nesta modalidade podem ser realizados exercícios aeróbios, de força, além da combinação de exercícios aeróbios e de força para a adaptação em ambas as capacidades. No entanto, sobre o treinamento de força na hidroginástica, poucos são os estudos que avaliam as respostas agudas em relação aos modelos de treinamento utilizados e nenhum analisou a teoria da prescrição do treinamento de força no meio aquático baseada nos princípios das rotas metabólicas. Desta forma, o objetivo do presente estudo foi comparar as respostas cinemáticas e neuromusculares entre diferentes estratégias de treinamento de força em dois exercícios de hidroginástica realizados por mulheres jovens. Quinze mulheres (23,13±3,04 anos) realizaram os exercícios de flexão e extensão de joelho e cotovelo nas três estratégias de treinamento de força no meio aquático: duas séries de 30 segundos, três séries de 20 segundos e seis séries de 10 segundos, cuja a ordem foi randomizada. A análise cinemática foi realizada através de uma filmagem subaquática e a atividade neuromuscular através da eletromiografia de superfície, durante toda a execução dos exercícios. Além disso, foi realizado o teste de contração isométrica voluntária máxima (CVM) antes e depois do protocolo de exercícios para obter um valor de referência da amplitude do sinal eletromiográfico e para verificar se houve fadiga muscular. O teste ANOVA para medidas repetidas com post-hoc de Bonferroni foi utilizado para a comparação das variáveis cinemáticas e neuromusculares entre as diferentes estratégias e para as comparações entre as séries de 20 segundos e 10 segundos. Foi utilizado um teste t pareado para as comparações das variáveis cinemáticas e neuromusculares entre as séries de 30 segundos e para a comparação da CVM pré e pós protocolo (α=0,05). Os resultados da CVM realizadas antes e após o protocolo de exercícios não apresentaram diferença significativa, somente para a força do músculo reto femoral que demonstrou uma queda nos valores. Em relação a velocidade angular média (VAM) na comparação entre as estratégias, a estratégia 2x30s demonstrou valores significativamente menores que a estratégia 6x10s, tanto no exercício de membro superior como no de membro inferior. Já na comparação entre as séries não houve diferença significativa em nenhuma das estratégias em ambos exercícios. A velocidade angular de pico (VAP) também apresentou diferença significativa entre as estratégias no exercício de membro superior, no entanto, o post hoc de Bonferroni não identificou onde foi essa diferença. Já para o membro inferior não houve diferença entre as estratégias. Na comparação entre as séries, a VAP apresentou uma manutenção dos valores ao longo das séries. A amplitude de movimento (ADM) apresentou uma manutenção dos valores tanto no exercício de membro superior como no de membro inferior em todas as comparações. O número de repetições apresentou diferença significativa entre as estratégias: a estratégia 2x30s apresentou valores significativamente menores que a estratégia 6x10s no exercício de membro superior. Já para o membro inferior não houve diferença entre as estratégias. Na comparação entre as séries, o número de repetições apresentou uma manutenção dos valores ao longo das séries. Para as variáveis neuromusculares, não foi encontrado diferença significativa em nenhum músculo analisado tanto na comparação entre as estratégias, como na comparação entre as séries nos dois exercícios realizados. Conclui-se que com o fracionamento das séries é possível alcançar maiores velocidades de execução e desta forma o presente estudo serve como base para a teoria da prescrição do treinamento de força no meio aquático baseada nos princípios das rotas metabólicas. / Water-based physical training has been indicated for the improvement of several physical abilities. In this modality, many aerobic and resistance exercises can be performed, as also a combination of both aerobic and resistance exercises can be performed for the adaptation in both abilities. However, regarding water-based resistance training, there are few studies evaluating the acute responses in relation to the models of physical training used, and none has analyzed the theory of resistance exercise prescription in the aquatic environment based on the principles of the metabolic routes. In this way, the aim of the present study was to compare the kinematic and neuromuscular responses between different strategies of resistance training in two water-based exercises in young women. Fifteen women (23.13±3.04 years) performed the exercises knee and elbow flexion and extension in three strategies of water-based resistance training: two series of 30 seconds, three series of 20 seconds and six series of 10 seconds, in a randomized order. The kinematic analysis was conducted with an underwater filming and the neuromuscular activity was performed through surface electromyography during the whole execution of the exercises. In addition, the maximal voluntary isometric contraction (MVC) test was performed before and after the exercises protocol for obtaining a reference value of the electomyography signal amplitude and to verify if there was muscle fatigue. ANOVA for repeated measures test with post-hoc of Bonferroni were used for the comparison of the kinematic and neuromuscular variables between the different strategies and for the comparisons between 20 and 10 seconds. Paired t test was used for the comparisons of the kinematic and neuromuscular variables between the series of 30 seconds and for the comparison of the MVC before and after the protocol (α=0.05). The results of the MVC performed before and after the exercises protocol did not show a significant difference, only for the strength of the rectus femoris muscle, which demonstrated lower values. In relation to the mean angular velocity (MAV), in the comparison between strategies, the 2x30s strategy demonstrated significantly lower values than the 6x10s strategy for both upper and lower limbs exercises. On the other hand, in the comparison between series there was no significant difference in none of the strategies for both exercises. Peak angular velocity (PAV) also presented significant difference between the strategies in the upper limb exercise, however, the Bonferroni post hoc test did not identify were this difference was. Regarding lower limb, there was no difference between strategies. In the comparison between series, the PAV presented maintenance of the values throughout the series. The amplitude of movement (AOM) showed maintenance of the values in both upper and lower limbs exercises in all comparisons. The number of repetitions presented significant difference between the strategies: 2x30s strategy showed significantly lower values than 6x10s strategy for the upper limb exercise. For the lower limb, there was no difference between strategies. In the comparison between series, the number of repetitions presented maintenance of the values throughout the series. For the neuromuscular variables, a significant difference was not found in none of the muscles analyzed in the comparison between strategies, as in the comparison between sets in the two exercises analyzed. It is concluded that, with the fractionation of exercise series, it is possible to accomplish higher velocities of execution and thus the present study serves as basis for the theory of water-based resistance exercise prescription in aquatic environment based on the metabolic routes principles.

Osteoarthritis (OA) is one of the leading causes of global disability. Surgical intervention in the form of Total Knee Arthroplasty (TKA) has been established as an excellent treatment modality for people with OA who experience joint symptoms that have a substantial impact on their quality of life and are refractory to non-surgical treatment. In the 1970s the concept of implanting TKAs in mechanical alignment (MA) was developed as a compromise to confer mechanical advantage to the prosthesis, ignoring the patient's natural anatomy, to prevent early failure of the implant. Until now, this compromise has not been revisited. Satisfaction following TKA remains inferior to total hip arthroplasty. The cause of this dissatisfaction is not clear. Implant survival is no longer comparable to that of the early designs of TKA, and recent studies have suggested that deviation from neutral alignment does not have the detrimental effect on survivorship as previously thought. In an attempt to improve patient satisfaction following TKA a new technique has been developed whereby the prostheses are implanted in such a way as to recreate the alignment of the knee in the patient's pre-arthritic state. This has been termed natural or kinematic alignment (KA). This thesis examines the impact of KA in TKA with the primary hypothesis that TKA performed utilising KA would lead to improved functional outcome following surgery compared to that of MA. An initial single surgeon proof of concept case series of 25 patients was performed to look at the precision of new patient specific cutting blocks. The results suggested that the cutting blocks were accurate in producing the desired cuts. Following the proof of concept case series, a feasibility study was then performed comparing the new KA technique with the standard MA technique. The feasibility study familiarised the operating surgeons with the new technology in preparation for a Randomised Control Trial (RCT). A prospective blinded RCT was performed to compare the functional outcome of patients implanted with TKA in MA with that of KA. A total of 71 patients undergoing TKA were randomised to either MA (n=35) or KA (n=36). Preand post-operative hip knee ankle (HKA) radiographs were analysed. A number of patient reported outcome measures and functional tests were assessed pre-operatively, 6 weeks, 3 months, 6 months, and at 1 year post-operation. The cutting guides were accurate. There were no statistically significant differences between the MA and KA groups at 1 year. A cohort of post-menopausal women with unilateral osteoarthritis treated with TKA utilising the KA philosophy had dual energy x-ray absorptiometry scans 1.5 years post-operatively using a modified validated densitometric analysis protocol, to assess peri-prosthetic Bone Mineral Density (BMD). The contralateral knee was scanned so that relative bone mineral density could be calculated. Statistical analysis revealed no significant difference in relative peri-prosthetic bone mineral density due to variation in implant position with respect to the Lateral Distal Femoral Angle (LDFA) and the Medial Proximal Tibial Angle (MPTA). There was a significant correlation with overall HKA angle and the relative BMD under the medial side of the tibial tray. KA TKAs appear to have comparable short-term results to MA TKAs with no significant differences in function 1 year post-operatively. Overall HKA angle rather than the individual component position caused change in relative BMD under the tibial tray, therefore aiming for an anatomical joint line may improve kinematics without a detrimental effect on the implant. Further research is required to see if any theoretical long-term functional benefits of KA are realised or if there are any potential effects on implant survival.

This study examined the effect of context on the association between formant trajectories and tongue and lip kinematics in the American English diphthongs /aɪ/ and /aʊ/. Seventeen native speakers of American English had electromagnetic sensors placed on their tongue and lips to record kinematic signals that were time-aligned with the corresponding acoustic recording. Speakers produced the diphthongs in isolation, in a single word rVl context, in a phrase hVd context, and in a sentence context. Kinematic data and the F1 and F2 trajectories were extracted from the middle 50% of each diphthong production. To allow direct comparison of signals with different units of measurement, all data were converted to z-scores. The z-score records were plotted together on common axes. For each tracked sensor from each diphthong production, an absolute difference between the kinematic and acoustic variables was calculated. Average z-score difference sums were calculated for each speaker's /aɪ/ and /aʊ/ production in each context, and this measure was called the Acoustic Kinematic Disparity Index (AKDI). A repeated measures ANOVA was used to test for main context effects on the AKDI, with concurrent contrasts to test for differences between the baseline (isolated diphthong) condition and the more complex phonetic contexts. The results revealed that context has a significant impact on acoustic and kinematic relationships. The sentence context resulted in the highest number of significantly different AKDI values when compared to the isolated condition, the single word rVl context resulted in the second highest number, and the phrase level hVd context resulted in the least differences. These findings suggest, therefore, that more complex phonetic contexts have a greater effect on the acoustic and kinematic relationship. These findings imply that caution is warranted in relying on acoustics to draw inferences about articulator movements in complex phonetic contexts. These results further indicate that the investigation of sounds produced in one context does not necessarily allow a straightforward generalization to other contexts.

This study compared differences in kinematically based performance success characteristics of elite sport rock climbers during competition both within and across the variable of gender. The purpose of this study was to identify kinematically based performance success and gender differences in elite sport rock climbers for the development of further studies and gender-specific training procedures. The dependent variables included the kinematics of the dynamic grasping hand (DGH) and the center of mass (CM) and the timing of these variables. The participants included both the men and women competitors registered for the 1997 American Sport Climbing Federation's Fall National competition held at the Boulder Rock Club in Boulder, Colorado. Analysis was performed on the top five placing participants in each respective gender category (N = I 0). For comparison within gender, the first through third place finishers were classified as the top performers with a higher degree of performance success than the bottom performers who placed fourth and fifth (n = 5). Adjusted R-squared values were computed by way of multiple regression for the kinematic variables; variables providing adjusted R-squared coefficients greater than .24 were selected for further analysis. A one-way repeated measures ANOV A was computed for the selected kinematic variables and finish place of the participants. Standardized mean difference effect sizes were computed to determine practical significance. No statistical significance was found at or below the .05level of probability for finish place and any of the kinematic variables. Effect size differences were found for the DGH and CM kinematics with the top-performing men and women exhibiting more controlled horizontal movements, and more powerful but still controlled vertical movement. The control of the vertical CM motion indicated by the tops was evident from lesser distances the CM traveled. The kinematics of the CM show the top men and women with less vertical distances traveled, indicating a more efficient movement. Gender differences included the males performing the route segment with slower times but with faster DGH events. The top men provided greater event vertical velocities while the women provided greater horizontal velocities and accelerations. These differences provide considerations for the development of specific training protocols to address performance success based requirements that are gender-specific.