Listar Laboratorio de Enxeñaría Mecánica (LIM) por data de publicación
Mostrando ítems 21-40 de 51
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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 ... -
Effect of gravity in wheel/terrain interaction models
(2020)[Abstract] Predicting the motion of wheeled robots in unstructured environments is an important and challenging problem. The study of planetary exploration rovers on soft terrain introduces the additional need to consider ... -
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 ... -
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, ... -
Assessment of Methods for the Real-Time Simulation of Electronic and Thermal Circuits
(MDPI, 2020-03)[Abstract] Time–domain simulation of electronic and thermal circuits is required by a large array of applications, such as the design and optimization of electric vehicle powertrain components. While efficient execution ... -
Performance indicators for wheeled robots traversing obstacles
(2020-04)[Abstract] An important element of wheeled robot operations on uneven and unstructured terrain is the ability to overcome obstacles. In this letter, we deal with a part of this obstacle negotiation problem. We particularly ... -
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 ... -
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 ... -
Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation
(IEEE, 2020-11-24)[Abstract] The growing functionalities implemented on vehicles have increased the importance ofsimulation in the design process. This complexity is mainly driven by the introduction of electri ed powertrains,Advanced Driver ... -
A Fair and EMG‑Validated Comparison of Recruitment Criteria, Musculotendon Models and Muscle Coordination Strategies, for the Inverse‑Dynamics Based Optimization of Muscle Forces During Gait
(BioMed Central Ltd., 2021-01)[Abstract] Experimental studies and EMG collections suggest that a specific strategy of muscle coordination is chosen by the central nervous system to perform a given motor task. A popular mathematical approach for solving ... -
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, ... -
Thermal Parameter and State Estimation for Digital Twins of E-Powertrain Components
(IEEEAccess, 2021-07)[Abstract] The performance of powertrain components in electric vehicles is tightly intertwined with their thermal behavior. In practical applications, their temperature must be monitored and kept below certain thresholds ... -
Multibody-Based Input and State Observers Using Adaptive Extended Kalman Filter
(MDPI, 2021-08)[Abstract] The aim of this work is to explore the suitability of adaptive methods for state estimators based on multibody dynamics, which present severe non-linearities. The performance of a Kalman filter relies on the ... -
Lower Back Injury Prevention and Sensitization of Hip Hinge with Neutral Spine Using Wearable Sensors during Lifting Exercises
(MDPI, 2021-08)[Abstract] The popularization and industrialization of fitness over the past decade, with the rise of big box gyms and group classes, has reduced the quality of the basic formation and assessment of practitioners, which ... -
Editorial of Special Issue Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans
(MDPI, 2021-09)[Abstract] The combination of physical sensors and computational models to provide additional information about system states, inputs and/or parameters, in what is known as virtual sensing, is becoming more and more popular ... -
Roll Angle Estimation of a Motorcycle through Inertial Measurements
(MDPI, 2021-10)[Abstract] Currently, the interest in creating autonomous driving vehicles and progressively more sophisticated active safety systems is growing enormously, being a prevailing importance factor for the end user when choosing ... -
Determination of the 3D Human Spine Posture from Wearable Inertial Sensors and a Multibody Model of the Spine
(MDPI, 2022)[Abstract] Determination of spine posture is of great interest for the effective prevention, evaluation, treatment and evolution monitoring of spinal disorders. Limitations of traditional imaging systems, including cost, ... -
Energy-based monitoring and correction to enhance the accuracy and stability of explicit co-simulation
(Springer, 2022)[Abstract] The simulation of complex engineering applications often requires the consideration of component-level dynamics whose nature and time-scale differ across the elements of which the system is composed. Co-simulation ... -
Eigenstructure assignment and compensation of explicit co-simulation problems
(2022)[Abstract] Co-simulation is an effective and versatile way to determine the forward-dynamics behaviour of complex engineering applications. In co-simulation setups, the overall system dynamics is split into several subsystems ... -
State estimator based on an indirect Kalman filter for a hydraulically actuated multibody system
(Springer, 2022-02-22)[Abstract] In multibody system dynamics, the equations of motion are often coupled with systems of other physical nature, such as hydraulics. To infer the real dynamical state of such a coupled multibody system at any ...