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On the Cosimulation of Multibody Systems and Hydraulic Dynamics
(Springer, 2020-02)
[Abstract] The simulation of mechanical devices using multibody system dynamics (MBS) algorithms frequently requires the consideration of their interaction with components of a different physical nature, such as electronics, ...
Kinematic Modelling and State Estimation of Exploration Rovers
(2019-04)
[Abstract]
State estimation is crucial for exploration rovers. It provides the pose and velocity of the rover by processing measurements from onboard sensors. Classical wheel odometry only employs encoder measurements of ...
Energy-Leak Monitoring and Correction to Enhance Stability in the Co-simulation of Mechanical Systems
(2019-01)
[Abstract]
Non-iterative co-simulation is an increasingly important technique for the simulation of
complex mechanical systems. Adopting co-simulation schemes enables the simultaneous use of computational resources and ...
An Automated Methodology to Select Functional Co-Simulation Configurations
(Springer, 2020-01)
[Abstract] The development of machinery often requires system-level analysis, in which non-mechanical subsystems, such as hydraulics, need to be considered. Co-simulation allows analysts to divide a problem into subsystems ...
Model-based coupling for co-simulation of robotic contact tasks
(IEEE, 2020-10)
[Abstract]
Co-simulation of complex robotic systems allows the different components to be modelled and simulated independently using methods and tools tailored to their nature and time-scale, which makes the implementation ...
Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motion
(Springer, 2018-07-09)
[Abstract]
Gait analysis is commonly addressed through inverse dynamics. However, forward dynamics can be advantageous when descending to muscular level, as it allows that activation and contraction equations are integrated ...
Do Muscle Synergies Improve Optimization Prediction of Muscle Activations During Gait?
(Frontiers Media S. A., 2020-07)
[Abstract] Determination of muscle forces during motion can help to understand motor control, assess pathological movement, diagnose neuromuscular disorders, or estimate joint loads. Difficulty of in vivo measurement made ...
Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
(Multidisciplinary Digital Publishing Institute, 2016)
[Abstract] This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with ...
Using Accelerometer Data to Tune the Parameters of an Extended Kalman Filter for Optical Motion Capture: Preliminary Application to Gait Analysis
(MDPI, 2021-02)
[Abstract] Optical motion capture is currently the most popular method for acquiring motion data in biomechanical applications. However, it presents a number of problems that make the process difficult and inefficient, ...
Real-time Simulation of Cable Pay-Out and Reel-In with Towed Fishing Gears
(Elsevier, 2017-02)
[Abstract]
Achieving real-time simulation of fast cable pay-out and reel-in manoeuvres with towed fishing gears is a challenging task. This work presents two new simulation methods based on simplified cable models for ...