Dynamics simulation of human box delivering task
Chair
Xiang, YujiangCommittee
Peterson, RorikChen, Cheng-fu
Keyword
Lifting and carryingComputer simulation
Human body
Human mechanics
Models
Human skeleton
Design
Human factors
Metadata
Show full item recordAbstract
The dynamic optimization of a box delivery motion is a complex task. The key component is to achieve an optimized motion associated with the box weight, delivering speed, and location. This thesis addresses one solution for determining the optimal delivery of a box. The delivering task is divided into five subtasks: lifting, transition step, carrying, transition step, and unloading. Each task is simulated independently with appropriate boundary conditions so that they can be stitched together to render a complete delivering task. Each task is formulated as an optimization problem. The design variables are joint angle profiles. For lifting and carrying task, the objective function is the dynamic effort. The unloading task is a byproduct of the lifting task, but done in reverse, starting with holding the box and ending with it at its final position. In contrast, for transition task, the objective function is the combination of dynamic effort and joint discomfort. The various joint parameters are analyzed consisting of joint torque, joint angles, and ground reactive forces. A viable optimization motion is generated from the simulation results. It is also empirically validated. This research holds significance for professions containing heavy box lifting and delivering tasks and would like to reduce the chance of injury.Description
Thesis (M.S.) University of Alaska Fairbanks, 2018Table of Contents
Chapter 1 Introduction -- Chapter 2 Skeletal Human Modeling -- Chapter 3 Kinematics and Dynamics -- Chapter 4 Lifting Simulation -- Chapter 5 Carrying Simulation -- Chapter 6 Delivering Simulation -- Chapter 7 Conclusion and Future Research -- Reference.Date
2018-05Type
ThesisRelated items
Showing items related by title, author, creator and subject.
-
Comparison of lower body segment alignment of elite level hockey players to age-matched non-hockey playersLower body overuse and insidious onset injuries are thought to have an underlying biomechanical component which may be predisposing to injury. The purpose of this study was to compare lower body biomechanical characteristics for elite hockey players to matched controls. I hypothesize that elite hockey players have a greater degree of anterior pelvic tilt, greater varus knee angle, a higher foot arch and feet held in parallel more during gait than a matched non-skating population. Measures were taken of elite level, college aged, male hockey players and compared to cross country runners (ten subjects in each group) who served as controls for trunk angle, pelvic tilt angle, knee alignment, (varus/valgus angle), foot angle, arch index (arch height), hip, center of range of motion, hip external rotation, hip internal rotation, hip total range of motion (ROM), knee transverse plane ROM, and step width. The results obtained support the hypothesis for anterior pelvic tilt and foot angle during gait. Although knee angle was in the expected varus direction it was not significant and no differences were observed in the foot arch between the groups. All other measurements not directly related to the hypothesis were not significantly different with the exception of mean step width. The obtained results are important as recent literature describes a lower body posture of medial collapse into "dynamic valgus" as being predisposing to injury. Results show, on the spectrum from lower body varus to lower body valgus, hockey players are on the varus side of the spectrum in all attributes except arch height, which was similar in both populations. Since lower body alignment is thought to be coupled, this inconsistency appears contrary to the "medial collapse into dynamic valgus" model and may explain why foot orthotics and athletic shoes used as an injury intervention often fail.
-
Maximum weight lifting prediction considering dynamic joint strengthThis thesis describes an efficient optimization method for predicting the maximum lifting weight considering dynamic joint strength in symmetric box lifting using a skeletal model. Dynamic joint strength is modeled as a three-dimensional function of joint angle and joint angular velocity based on experimentally obtained joint strength data. The function is further formulated as the joint torque limit constraint in an inverse dynamics optimization formulation to predict the lifting motion. In the proposed optimization formulation, external load is treated as design variables along with joint angle profiles, which are represented by control points of B-spline curves. By using this new formulation, dynamic lifting motion and strategy can be predicted for a symmetric maximum weight box lifting task with given initial and final box locations. Results show that incorporating dynamic strength is critical in predicting the lifting motion in extreme lifting conditions. The prediction outputs in joint space are incorporated in OpenSim software to find out muscles force and activity during the movement. Electromyography data are collected for a regular weight lifting to validate the integration process between the predictive model (joint model) and OpenSim model (muscle model). The proposed algorithm and analysis method based on motion prediction and OpenSim can be further developed as a useful ergonomic tool to protect workers from injury in manual material handling.
-
Linked disturbance interactions in South-Central Alaska: implications for ecosystems and peopleCommunities and ecosystems in the Alaskan boreal forest are undergoing substantial change. People contribute to this change. They are also impacted by the consequences. For example, wildfire and spruce bark beetle (Dendroctonus rufipennis) outbreaks have increased in frequency and severity due to warming trends, affecting the ecosystem and services important to people. I conducted a study to explore the social and ecological implications of changing natural disturbances. I evaluated how the occurrence of spruce bark beetle outbreak has altered the probability of wildfire between 2001 and 2009 on the Kenai Peninsula, Alaska. Modeling the effects of bark beetle outbreak on the probability of large wildfire (> 500 ha) and small wildfires (<500 ha), I found that the influence of the outbreak differed as a function of wildfire size. The occurrence and length of outbreak increased large wildfire probability. Small wildfires were mediated by human influence and less so by bark beetle outbreak. I also used spatial econometric techniques to estimate how wildfires and the bark beetle outbreak affected property values on the Kenai Peninsula in 2001 and 2010. I found that wildfires> 3.3 ha and the bark-beetle outbreak increased property values. Wildfires <3.3 ha decreased property values.
