Incremental dynamic analysis (IDA) requires the analysis of the non-linear response history of a structure for an ensemble of ground motions, each scaled to multiple levels of intensity and selected to cover the entire range of structural response. Recognizing that IDA of practical structures is computationally demanding, an approximate procedure based on the reduction of the number of ground m...

Though much research has been conducted regarding traction of tires in soft granular terrain, little empirical data exist on the motion of soil particles beneath a tire. A novel experimentation and analysis technique has been developed to enable investigation of terramechanics fundamentals in great detail. This technique, the Shear Interface Imaging Analysis Tool, provides visualization and ana...

Though much research has been conducted regarding traction of tires in soft granular terrain, little empirical data exist on the motion of soil particles beneath a tire. A novel experimentation and analysis technique has been developed to enable detailed investigation of robot interactions with granular soil. This technique, the Shear Interface Imaging Analysis method, provides visualization an...

In this paper, we propose a model-based method to analyze the human walking motion. This system consists of three phases: the preprocessing phase, the model construction phase, and the motion analysis phase. In the experimental results, we show that our system not only analyzes the motion characteristics of the human body, but also recognizes the motion type of the input image sequences. Finall...

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

Introduction: In radiotherapy with external surrogates, exact information of tumor position is one of the key factors that improves treatment delivery. Many dynamic tumors in thorax region of patient move mainly due to respiration and are known as intra-fractional motion error that must be compensated, as well. One of clinical strategy is using Stereotactic Body Radiation Thera...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...