https://engagedscholarship.csuohio.edu/cgi/viewcontent.cgi?article=1190&context=enme_facpub

Model-based estimation of muscle forces exerted during movements

We present an interactive design system that allows non-expert users to create animated mechanical characters. Given an articulated character as input, the user iteratively creates an animation by sketching motion curves indicating how different parts of the character should move. For each motion curve, our framework creates an optimized mechanism that reproduces it as closely as possible. The resulting mechanisms are attached to the character and then connected to each other using gear trains, which are created in a semi-automated fashion. The mechanical assemblies generated with our system can be driven with a single input driver, such as a hand-operated crank or an electric motor, and they can be fabricated using rapid prototyping devices. We demonstrate the versatility of our approach by designing a wide range of mechanical characters, several of which we manufactured using 3D printing. While our pipeline is designed for characters driven by planar mechanisms, significant parts of it extend directly to non-planar mechanisms, allowing us to create characters with compelling 3D motions.

/pdf/computational-design-of-mechanical-characters-4zf3769h1z.pdf

Computational design of mechanical characters

http://www.seas.ucla.edu/coopcontrol/papers/D'Andrea_NearOptical_trajectory.pdf

Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle

Performance of EAs for four-bar linkage synthesis

A combined genetic algorithm-fuzzy logic method (GA-FL) in mechanisms synthesis

Optimal synthesis of mechanisms with genetic algorithms

Multiobjective constrained optimal synthesis of planar mechanisms using a new evolutionary algorithm

The braking system is the main active safety equipment of vehicles. This paper presents a new brake system architecture based on the use of proportional servovalves. The use of servovalves allows for faster and more precise control of the pressure, preventing the wheels from locking and reducing braking distances. A new control block has been developed to determine the optimum pressure in the braking circuit. The new controller is based on the use of fuzzy logic techniques. A Kalman-filter-based estimation algorithm allows for obtaining the adhesion between the wheel and road surface and vehicle speed. These parameters are used in a fuzzy block to detect the road type. Using the road type, an artificial neural network gives an estimation of the slip that produces higher adhesion, and a final block, which is also based on fuzzy logic, determines the optimal pressure in the braking circuit. The performance of the new brake architecture and controller is evaluated by simulating driving on different road surfaces and with real tests on dry and wet asphalt.

A Novel Electrohydraulic Brake System With Tire–Road Friction Estimation and Continuous Brake Pressure Control

This paper presents methods for planning mobile robot trajectories by considering the kinematic and dynamic constraints on the vehicle motion. The resulting path is smooth and quasilinear in curvature variations. The maximum value of the curvature can be assured to be smaller than the value given by the constraints. Furthermore, speeds along the path are planned subject to the kinematic and dynamic constraints. The resulting trajectories provide ideal conditions for high precision path tracking and positioning. In the paper we present the application of the proposed methods to RAM-1, a new mobile robot designed and built for indoor and outdoor industrial environment. >

Mobile robot trajectory planning with dynamic and kinematic constraints

http://atarazanas.sci.uma.es/docs/articulos/16513423.pdf

A. Simon

Papers

Optimal synthesis of mechanisms with genetic algorithms

Multiobjective constrained optimal synthesis of planar mechanisms using a new evolutionary algorithm

A Novel Electrohydraulic Brake System With Tire–Road Friction Estimation and Continuous Brake Pressure Control

Mobile robot trajectory planning with dynamic and kinematic constraints

Combination of finite element modeling and optimization for the study of lumbar spine biomechanics considering the 3D thorax-pelvis orientation.