Parallel Kinematic Mechanisms (PKMs) are well suited for high-accuracy applications such as meso-milling. However, drawbacks such as limited platform tilting angle and high configuration dependency of stiffness often limit their usage. In this Thesis, a new six degree-of-freedom (dof) PKM architecture based on a 3×PPRS topology is proposed, in order to address these problems. The new PKM is presented, and its inverse kinematics and Jocobian matrix are derived. The kinematic relations are incorporated into MATLAB to calculate the workspace of the PKM. The stiffness of the new PKM is obtained using Finite Element Analysis (FEA), and configuration dependency of stiffness is investigated. The proposed new mechanism is compared with three similar existing 6-dof PKMs, and it is shown that the new PKM exhibits higher stiffness. Lastly, three meso-Milling Machine Tool prototypes were designed and built. In particular, Prototype III is based on the new mechanism.

Parallel Kinematic Mechanisms (PKMs) are well suited for high-accuracy applications such as meso-milling. However, drawbacks such as limited platform tilting angle and high configuration dependency of stiffness often limit their usage. In this Thesis, a new six degree-of-freedom (dof) PKM architecture based on a 3×PPRS topology is proposed, in order to address these problems. The new PKM is presented, and its inverse kinematics and Jocobian matrix are derived. The kinematic relations are incorporated into MATLAB to calculate the workspace of the PKM. The stiffness of the new PKM is obtained using Finite Element Analysis (FEA), and configuration dependency of stiffness is investigated. The proposed new mechanism is compared with three similar existing 6-dof PKMs, and it is shown that the new PKM exhibits higher stiffness. Lastly, three meso-Milling Machine Tool prototypes were designed and built. In particular, Prototype III is based on the new mechanism.

A method for allocating tolerances to exactly constrained assemblies is developed. The procedure is established as an optimization subject to constraints. The objective is to minimize the manufacturing cost of the assembly while respecting an acceptable level of performance. This method is particularly interesting for exactly constrained components that should be mass-produced. This thesis presents the different concepts used to develop the method. It describes exact constraint theory, manufacturing variations, optimization concepts, and the related mathematical tools. Then it explains how to relate these different topics in order to perform a tolerance allocation. The developed method is applied on two relevant exactly constrained examples: multi-fiber connectors, and kinematic coupling. Every time a mathematical model of the system and its corresponding manufacturing variations is established. Then an optimization procedure uses this model to minimize the manufacturing cost of the system while respecting its functional requirements. The results of the tolerance allocation are verified with Monte Carlo simulation.

Orientador: Antonio Guilhermo Borges Neto / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Ciencias Medicas. / Made available in DSpace on 2018-08-12T03:50:01Z (GMT). No. of bitstreams: 1 Oliveira_Robertade_D.pdf: 4460655 bytes, checksum: f3f50fd7e512e461cbe4b77ba1053ad9 (MD5) Previous issue date: 2008 / Resumo: O acidente vascular cerebral (AVC) é reconhecido como uma das maiores causas de morbidade e mortalidade. Seqüelas decorrentes deste evento podem levar à incapacidade motora e déficits de leves a severos. Para classificar melhor a disfunção sensitivo-motora, o equilíbrio e as habilidades para as atividades de vida diária (AVD's), escalas de avaliações quantitativas e qualitativas estão sendo amplamente utilizadas. O objetivo do Artigo 1 foi verificar a correlação existente entre a Escala de Fugl-Meyer (FM), Escala de Equilíbrio de Berg (EEB) e Índice de Barthel (IB). Foram recrutados 20 pacientes com diagnóstico de AVC crônico, que passaram pelas avaliações por cerca de uma hora. Os resultados demonstraram que a FM se correlaciona positivamente com o IB e a EEB, mostrando que, quando utilizadas em conjunto, classificam de forma esclarecedora o quadro físico geral do paciente com AVC. Após o AVC, o comprometimento da função do membro superior é a seqüela mais comum, podendo ser permanente. Os movimentos de alcance feitos com o membro superior hemiparético são freqüentemente acompanhados por movimentos compensatórios de tronco e cintura-escapular. O uso da terapia de restrição de tronco visa evitar a movimentação compensatória de tronco, propiciando o desenvolvimento de padrões motores mais próximos do normal no braço afetado. Através do uso de escalas de mensuração clínica, foram observados os benefícios da terapia de restrição de tronco em 11 sujeitos com seqüela de AVC que passaram por 20 sessões de treinamento (Artigo 2). Em um segundo estudo (Artigo 3), 20 sujeitos foram recrutados e divididos em dois grupos de treinamento (20 sessões): Grupo com Tronco Restrito (GTR - treinamento de alcance com o tronco restrito) e o Grupo com Tronco Livre (GTL - treinamento de alcance sem restrição de tronco, enfatizando o uso da orientação verbal). O objetivo foi verificar os benefícios a longo prazo do treinamento de alcance tarefa-específica associado à terapia de restrição de tronco, utilizando como instrumentos de medida as escalas clínicas (Escala Modificada de Ashworth, FM, IB e EEB) e a avaliação cinemática do movimento (deslocamento, velocidade, angulação). As avaliações foram divididas em três momentos: a primeira foi realizada na admissão (PRÉ); a segunda, no final do período total de treinamento (PÓS) e a terceira, três meses após o término do tratamento (RET). O treinamento tarefa-específica associado à terapia de restrição de tronco (GTR) mostrou-se eficaz a longo prazo para a melhora dos movimentos articulares ativos de ombro e cotovelo, além de propiciar melhora no planejamento interno do movimento. Em contrapartida, o uso contínuo da restrição provocou dependência aos pacientes e não foi eficaz na redução dos graus adicionais de liberdade (tronco) a longo prazo. Apesar do treinamento baseado em orientações verbais (GTL) ter sido mais eficaz na retenção do tronco, não houve melhora significativa nas amplitudes articulares voluntárias de membro superior. Acredita-se que os pacientes que passaram por este tipo de tratamento ficaram mais atentos ao recrutamento anormal de graus adicionais de liberdade e não exploraram de forma efetiva as combinações multiarticulares presentes membro superior. / Abstract: Stroke is recognized as one of the major causes of morbidity and mortality. Sequels deriving from this event may lead to motor disability and from mild to severe deficits. In order to better classify sensory-motor dysfunction, balance and ability to perform activities of daily living (ADL), quantitative and qualitative evaluation scales have been used. The aim of Article 1 was to verify the correlation between the Fugl-Meyer Assessment Scale (FM), Berg Balance Scale (BBS) and Barthel Index (BI). Twenty chronic stroke patients were submitted to an evaluation that spent approximately one hour. The results demonstrated that the FM was positively correlated with the BBS and BI, showing that when they are employed together, make it possible to design the general clinical performance of the stroke patient. After stroke, upper limb function impairment is the most common sequel that could lead to permanent dysfunction. Reaching movements made with hemiparetic upper limbs are often followed by compensatory trunk and shoulder-girdle movements. The use of the trunk restraint therapy aims at avoiding the compensatory trunk movement providing the development of normal motor patterns in the affected upper limb. The benefits of the trunk restraint therapy could be observed through the clinical measures scales in eleven stroke subjects that performed twenty training sessions (Article 2). In another study (Article 3), twenty patients were recruited and divided into two training groups (20 sessions): Trunk restraint group (TRG - reaching training with trunk restraint) and trunk free group (TFG - reaching training without trunk restraint, providing emphasis in the verbal cue). The aim was to verify the long term benefits of the task-specific training with trunk restraint using the clinical scales (Modified Ashworth Scale, FM, BI and BBS) and the kinematic analysis (displacement, velocity, angles) like evaluation tools. The evaluations were performed in three phases: the first, in admission time (PRE test); the second, after the end of the treatment (POST test); and the third, three months after the completed treatment (retention test - RET test). Task-specific training associated with the trunk restraint therapy (TRG) proved to be a long-term effective treatment in the enhancement of shoulder and elbow active joint range, as well as in the improvement of the internal planning of the movement. However, the continuous use of restraint may have caused dependence to the patients and was not efficient in long term reduction of the additional degrees of freedom (trunk). Although the verbal cue training (TFG) was more effective in the trunk retention, there was no significant improvement in the upper limb joint ranges. Therefore patients who sustained this type of treatment developed more attention in the abnormal recruitment of the additional degrees of freedom, and did not efficiently explore the multi-joint combinations presented in the upper limb. / Doutorado / Ciencias Biomedicas / Doutor em Ciências Médicas

Orientador: Marco Lúcio Bittencourt / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica / Made available in DSpace on 2018-08-19T02:33:02Z (GMT). No. of bitstreams: 1 Cassiani_MauriliodeBortoli_M.pdf: 5475153 bytes, checksum: e131c08cdf12f4b606583587b407be0c (MD5) Previous issue date: 2011 / Resumo: Este projeto tem como objetivo o estudo de motores com taxa de compressão variável. O estudo se inicia com uma análise dos fatores que corroboram a utilização da variação da taxa de compressão e os motores de compressão variável já existentes, incluindo as soluções construtivas usuais e os critérios de projeto adotados na área. Em seguida, são analisadas a cinemática e a dinâmica dos motores SVC Saab e MCE-5 (sistema pistão - biela - manivela), utilizando as equações de Newton-Euler, e a modelagem do ciclo Otto, assim como a determinação da curva de pressão no cilindro durante a combustão. A curva de pressão e a função do volume no cilindro são determinadas analiticamente considerando-se a variação da taxa de compressão no cilindro. Além disto, a fim de conhecer melhor as influências de parâmetros de projeto sobre a dinâmica do motor é realizada uma análise de sensibilidade nos mecanismos. Tal estudo consiste na variação dos parâmetros seguindo certos critérios para assim, obter respostas comparativas da dinâmica do sistema / Abstract: The main focus of this work is to study variable compression ratio engines. The study begins with an analysis of the factors that support the use of variable compression ratio and the engines that already exist, including the usual constructive solutions and the project criteria adopted in the area. After that, the kinematics and dynamics of Saab SVC and MCE-5 mechanisms (piston - connecting rod - crank system), using Newton-Euler equations, have been developed. Also, the cylinder pressure curve is important to be determined. The pressure curve and the cylinder volume function are evaluated analytically considering the variation of the compression ratio. The results of the calculated pressure curves were then compared with the analytical results available in the literature. Furthermore, in order to know the influence of the design parameters (crank rod length, connecting rod length, piston diameter and masses) in kinematics and dynamics, some sensitivity analyzes of the engine mechanisms must be performed. This study involves the variation of the engine parameters according to certain criteria in order to get comparative answers of the system kinematics and dynamics / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

Multibody dynamics plays the key role in the modeling, simulation, design, and control of many engineering problems. In practice, such problems may be encountered with the existence of uncertainty in the system's parameters and/or excitations. As the complexity of these problems in terms of the number of the bodies and kinematic loops (chains) increases, the effect of uncertainty in the system becomes even more significant due to the accumulation of inaccuracies. Therefore, considering uncertainty is inarguably a crucial aspect of performance analysis of a multibody problem. In fact, uncertainty needs to be propagated to the system kinematics and dynamics for the better understanding of the system behavior. This will significantly affect the design and control process of such systems. For this reason, this research presents a detailed investigation on the use of the Polynomial Chaos Expansion (PCE) method for both control and kinematic analysis of nondeterministic multibody systems.

Submitted by Nadir Basilio (nadirsb@uninove.br) on 2018-06-18T21:35:52Z No. of bitstreams: 1 Bruno Roberto Borges Barbosa.pdf: 2216860 bytes, checksum: 0f76840e9c877a9697af40f1a2580480 (MD5) / Made available in DSpace on 2018-06-18T21:35:52Z (GMT). No. of bitstreams: 1 Bruno Roberto Borges Barbosa.pdf: 2216860 bytes, checksum: 0f76840e9c877a9697af40f1a2580480 (MD5) Previous issue date: 2015-12-04 / Introduction: Temporomandibular joint (TMJ) is part of the stomatognathic system (SE) and is responsible for sucking, chewing, talking, swallowing. The kinematics is a reliable tool for quantitative evaluation of the movement, which records the trajectories of markers fixed in the body segments and assesses more accurately the human movement. Objective: To a systematic review of the use of kinematics and its application in the TMJ and analyze the kinematic reproducibility of the jaw by means of a three-dimensional tool for functional activity. Material and Methods: The following databases were consulted: BIREME, Capes, PubMed, Science Direct, Scielo and Peter. The search terms used were: "Kinematics", "Temporomandibular Joint", "CentricRelation", "Movements", "Patient-SpecificModeling", "MovementDisorders" in English and Portuguese. After two reviewers independently search, 40 articles were found and after the application of the exclusion criteria, 17 articles were selected for analysis. Participants included in the study underwent four stages of evaluation. As early 2 and 2 after one week. All participants were assessed with RDC / TMD and to exclude any sign or symptom of TMD and clinical condition. They evaluated the movements of opening; Obliquity, rotation, Translation / Antero-posterior, lateral-lateral and vertical movement. Results: 17 articles evaluated and studied three-dimensional dispisitivos demonstrated methodological differences regarding the types of models and variables to be studied. In the opening movement of the present results are promising because it presented ICC considered excellent (0.48 to 1.32). However for the laterality movements it needs a certain amount of caution because the results ranged from "poor" good "reproducibility (0.30 to 0.57). Conclusion: There is no scientific evidence of the clinical application of any of the models of kinematics evaluation of the jaw. The three-dimensional model is reproducible to be opening Intra / Inter days and Intra / Inter evaluators and less reproducible lateral excursions for intra / inter-day and inter evaluators. / Introdução: A Articulação temporomandibular (ATM) faz parte do sistema estomatognático (SE) e é responsável pela sucção, mastigação, fala, deglutição. A cinemática é uma ferramenta confiável para avaliação quantitativa do movimento,que registra as trajetórias de marcadores fixados nos segmentos corpóreos e avalia mais precisamente o movimento humano. Objetivo: Realizar uma revisão sistemática do uso da avaliação cinemática na ATM e sua aplicabilidade e propor a análise da reprodutibilidade cinemática da mandíbula por meio de um instrumento tridimensional durante atividades funcionais. Material e Métodos: Foram consultadas as seguintes bases de dados: BIREME, Periódicos Capes, PubMed, Science Direct, Scielo e Pedro. Os termos de busca utilizados foram:” Kinematics”, “Temporomandibular Joint”, “CentricRelation”, “Movements”, “Patient-SpecificModeling”, “MovementDisorders” em inglês e português. Após a busca independente de dois revisores, foram encontrados 40 artigos e, após a aplicação dos critérios de exclusão, 17 artigos foram selecionados para a análise. Os participantes incluídos no estudo foram submetidos a 4 fases de avaliação. Sendo 2 iniciais e 2 após uma semana. Todos os participantes foram avaliados com RDC/TMD para excluir qualquer sinal e ou sintoma de DTM e a condição clínica. Foram avaliados os movimentos de Abertura; Obliquidade, Rotação, Translação/Antero-posterior, Látero-lateral e Movimento Vertical. Resultados: Os 17 artigos avaliados estudaram dispisitivos tridimensionais e demonstraram diferenças metodológicas a respeito dos tipos de modelos e variáveis a serem estudadas. No movimento de abertura os resultados do modelo tridimensional são promissores, pois apresentaram ICC considerado excelente (0,48 a 1,32). No entanto para os movimentos de Lateralidade é necessário ter uma certa cautela pois os resultados variaram de “pobre a “boa” reprodutibilidade (0,30 a 0,57). Conclusão: Não há evidencia cientifica da aplicação clínica de nenhum dos modelos de avaliação cinemática da mandibula. O modelo tridimensional é reprodutível para Abertura seja Intra/Inter dias e Intra/Inter avaliadores e menos reprodutível para as Lateralidades intra/inter dias e inter avaliadores.

京都大学 / 0048 / 新制・課程博士 / 博士(人間健康科学) / 甲第21704号 / 人健博第70号 / 新制||人健||5(附属図書館) / 京都大学大学院医学研究科人間健康科学系専攻 / (主査)教授 青山 朋樹, 教授 黒木 裕士, 教授 松田 秀一 / 学位規則第4条第1項該当 / Doctor of Human Health Sciences / Kyoto University / DFAM

京都大学 / 0048 / 新制・課程博士 / 博士(人間健康科学) / 甲第21706号 / 人健博第72号 / 新制||人健||5(附属図書館) / 京都大学大学院医学研究科人間健康科学系専攻 / (主査)教授 澤本 伸克, 教授 木下 彩栄, 教授 渡邉 大 / 学位規則第4条第1項該当 / Doctor of Human Health Sciences / Kyoto University / DFAM

Title: Kinematic Analysis of Tennis Serve. Objectives: To evaluate tennis serve realization in the selected performance category, to review speed of particular serve types and define the differences. To create detailed movement analysis of the slice serve from the right side of the court and set up a trajectory of the centre of gravity. Methods: Case study using kinematic 2D and 3D analysis was made. Results: We found out that the flat serve is the fastest type of serve. There are differences in the body centre of gravity trajectory by comparison with elite tennis players. We also found out that serving from the right side of the court is being hit higher, than from the left side. We assume there is a very close connection between serve speed and the point of impact. Keywords: tennis, serve, kinematic analysis, 2D, 3D