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Kinematic Motion Control
Published in Xiaorui Zhu, Youngshik Kim, Mark Andrew Minor, Chunxin Qiu, Autonomous Mobile Robots in Unknown Outdoor Environments, 2017
Xiaorui Zhu, Youngshik Kim, Mark Andrew Minor, Chunxin Qiu
Since we focus on ideal kinematic motion-control algorithms that can produce references for the dynamic controller, robot dynamics and disturbances are not considered here. Traditional servo-type wheel controllers based upon filtered wheel encoder odometry are used to drive the robot. In a worst-case scenario, wheel odometry is fed directly to the kinematic controller instead of using ideal kinematic models. Final robot positions are obtained relative to grid work suspended above the robot to illustrate actual performance independently of wheel odometry. Measurements are taken with a tape measure, and the estimated accuracy of these measurements is ±1 mm. These experiments ultimately demonstrate that the kinematic controller is also robust to disturbances and can also be used in traditional servo loop configurations.
Leaders Lead Culture
Published in Robert D. Miller, Hearing the Voice of the Shingo Principles, 2018
To measure anything you must have a standard. For example, to measure distance you use a tape measure that contains a scale that is calibrated to a standard. Similarly to measure a weight you use a scale that is also carefully calibrated to a standard. The same with speed, sound, heat, cost, etc. The idea is that for a measurement to have validity and be useful, it must be based on a standard.
Bayesian analysis of changes in standing horizontal and vertical jump after different modes of resistance training
Published in Journal of Sports Sciences, 2022
Matthew T Wilson, Lewis J Macgregor, Jackson Fyfe, Angus M Hunter, D Lee Hamilton, Iain J Gallagher
Horizontal jump displacement was measured using a fixed tape measure and straight ruler. Participants were positioned on the start line, lining the front of their shoes with the 0 cm mark. Participants were instructed to jump horizontally as far as possible whilst maintaining their hands on their hips. Participants were not permitted to swing their arms during the jump. Participants had to land on both feet, with no secondary motions of correction, for the jump to be counted successful. A failed jump was determined if the participant moved their feet forward after the initial landing and/or the participant lost their balance upon take-off or landing. The horizontal jump distance was taken as the distance from the 0 cm mark to the back of the participant’s heel closest to the 0 cm mark.
The effects of shoe upper construction on mechanical ankle joint work during lateral shuffle movements
Published in Journal of Sports Sciences, 2021
Ashna Subramanium, Eric C. Honert, Sasa Cigoja, Benno M. Nigg
Anthropometric measurements (height, mass, leg length, calf girth, foot width, foot length, ankle width, and ankle height) were quantified using a tape measure and calipers. Subjects performed a validated Maximal Lateral Shuffle Test (MLST) (Maurus et al., 2019) in a neutral pair of shoes (adidas Speedfactory AM4LDN), which was similar to the RU condition but differed in the forefoot width (narrower than RU) to determine their maximum shuffle speed. The neutral condition was chosen for the MLST in order to avoid exposure to one of the two test conditions prior to data collection. Participants shuffled laterally towards a force plate (Kistler Instrument Corporation, Winterthur, SUI), which was at a distance of three times their leg length. Participants were instructed to strike the force plate with their right foot five times per set in synchronization with a metronome (Figure 4). A set was regarded successful if the five steps on the force plate and starting position were synchronized with the beat of the metronome. After each successful set of five steps, the metronome speed was increased by 10 beats per minute (bpm) until subjects could not perform the task successfully anymore. If a set of five steps was regarded unsuccessful, metronome speed was decreased by 5 bpm. The shuffle speed at the last successful set was recorded as the maximum shuffle speed. Participants were given a resting break of 30 seconds (+5 seconds for each successful set) (Maurus et al., 2019).
Improvements to a method for determining leg length following total hip arthroplasty
Published in Journal of Medical Engineering & Technology, 2020
Toni Wendler, Martin Heilemann, Ronny Grunert, Robert Möbius, Michael Schmidt, Stefan Schleifenbaum, Torsten Prietzel
To test the OMS under clinical-like conditions, measurements were carried out on an in a fresh and chemically unembalmed cadaver (78, male, right side) bequeathed to the Institute of Anatomy, University of Leipzig. Institutional approval was granted for using the post-mortem tissues in this study under the Saxonian Death and Funeral Act of 1994 (third section, paragraph 18 item 8). The same measurement setup was deployed as in the “model” measurements. Twenty measurements of the length of the lower limb were obtained. The true marker length was determined using a tape measure, with a measuring accuracy of ±0.5 mm and a calliper (accuracy ±0.1 mm). For this purpose, the femoral head of the cadaver was exposed. The diameter of the femoral head was measured using the calliper. The distance between the centre of the marker and the point where the straight line of marker centre and centre of femoral head crossed the surface of the femoral head was measured. The difference between this distance and the half of the diameter of the femoral head were referred to the true marker length. In order to assess the inter-rater reliability of this system, measurements were carried out by one experienced and two inexperienced users. To examine if there were significant differences between the users the t-test was used. To compare the results with the ones from Schmidt et al. [12] the HCLL was needed. So, the distance between the marker and the foot contact surface also was measured using a tape measure and added to the measured marker lengths. The comparison of the results of pre-existing and developed measurement systems was also examined using t-test.