Search Results (745)

This paper presents a detailed kinematic analysis of a double-toggle jaw crusher used for the primary crushing of hard and bulky materials. The study introduces an innovative mathematical modeling method for the motion of the mechanism’s components, eliminating the need for traditional decomposition into structural groups. General equations are developed to determine the positions, linear velocities, and angular displacements of the moving elements, providing a solid foundation for equipment design and study. The generated mathematical model was validated using real-world dimensions of an SMD-117-type jaw crusher and by comparison with simulation results obtained from Mathcad, Linkage, Roberts Animator, and GIM software. The results demonstrated a high degree of agreement between the calculated and simulated trajectories and linear velocities. The analysis of angular displacements and linear velocities confirmed the cyclic nature of the mechanism’s motion, characterized by sinusoidal variations and low oscillations, which are relevant for assessing variable loads. Through its rigorous approach and multi-source validation, the research makes a significant contribution to the development of more efficient, durable, and adaptable jaw crushers for modern industrial requirements. Full article

Background and Objectives: Anterior cruciate ligament (ACL) injury rates remain high and have a significant impact on female football players. This study aims to evaluate knee kinematics and lower limb muscle activity in players at risk of ACL injury compared to healthy players through three side-cutting tests. It also investigates how the amplitude of a change in direction influences stabilization parameters. Materials and Methods: A cross-sectional case–control study was conducted with 16 second division female futsal players (23.93 ± 5.16 years), divided into injured (n = 8) and healthy groups (n = 8). Injured players had a history of non-contact knee injury involving valgus collapse, without undergoing surgical intervention. Three change of direction tests, namely the Change of Direction and Acceleration Test (CODAT), Go Back (GOB) test, and Turn (TURN) test, were used for evaluation. The peak and range of knee joint angles and angular velocities across three planes, along with the average rectified and peak envelope EMG signals of the Biceps Femoris (BF), Semitendinosus (ST), Vastus Medialis (VM), and Lateral Gastrocnemius (LG), were recorded during the preparation and load phases. Group differences were analyzed using two-factor mixed-model ANOVA with pairwise comparisons. Statistical significance was set at p < 0.05. Results: Injured players demonstrated lower external tibial rotation angular velocity and a greater range of motion in tibial external rotation compared to healthy players. Additionally, the injured group showed significantly higher average rectified muscle activity in VM and LG both increased by 4% during the load phase. The CODAT and TURN tests elicited higher BF and VM muscle activity, compared to the GOB test. The TURN test also showed greater extension angular velocity in the sagittal plane. Conclusions: The results revealed differences in knee kinematics and muscle activity between players at risk of ACL injury and healthy players, influenced by the amplitude of directional changes. Players altered transverse plane mechanics and increased VM and LG activation during LOAD may reflect a dysfunctional motor pattern, while the greater sagittal plane angular velocity and VM and BF activation from the CODAT and the TURN test highlight their higher potential to replicate ACL injury mechanisms compared to the GOB test. Full article

The objective of this study is to investigate the effects of macrosynthetic polypropylene fibres as shear reinforcement in a concrete crack. An experimental study was conducted using twenty push-off specimens with varying volumes of fibres, along with plain concrete specimens as a reference. The testing methodology allowed for the analysis of crack kinematics by measuring the evolution of normal and shear stresses in relation to slip and crack opening. This facilitated the creation of diagrams similar to those presented by Walraven (1980) for crack interface shear transfer, but in this case, applied to concrete reinforced with macrosynthetic polypropylene fibres. The findings demonstrate that macrosynthetic polypropylene fibres significantly enhance shear behaviour, particularly when their volume exceeds 8 kg/m³. This study provides valuable insights into the behaviour of macrosynthetic polypropylene fibres under shear loading conditions and highlights their potential benefits as effective shear reinforcement. Full article

This paper presents the development and analysis of a novel 6-DOF Cartesian parallel mechanism intended for use as a haptic device for initial sonography training. The system integrates a manipulator designed for delivering force feedback in five degrees of freedom; however, in the current stage, only mechanical architecture and kinematic validation have been conducted. Future enhancements will focus on implementing and evaluating closed-loop force control to enable complete haptic feedback. To assess the kinematic performance of the mechanism, a detailed kinematic model was developed, and both the Kinematic Conditioning Index (KCI) and Global Conditioning Index (GCI) were computed to evaluate the system’s dexterity. A trajectory simulation was conducted to validate the mechanism’s movement, using motion patterns typical in sonography procedures. Quasi-static analysis was performed to study the transmission of force and torque for generating realistic haptic feedback, critical for simulating real-life sonography. The simulation results showed consistent performance, with dexterity and torque distribution confirming the suitability of the mechanism for haptic applications in sonography training. Additionally, structural analysis verified the robustness of key components under expected loads. In order to validate the proposed design, the prototype was constructed using a combination of aluminum components and 3D-printed ABS parts, with Igus^® linear guides for precise motion. The outcomes of this study provide a foundation for the further development of a low-cost, effective sonography training system. Full article

Orthotics are often used to support the metacarpophalangeal joint (MCPj) in horses recovering from soft tissue injury; however, their effect on the MCPj biomechanics remain largely underexplored. The MCPj moves primarily in the sagittal plane, flexing during the swing phase and extending during the stance phase. The suspensory ligament and flexor tendons act as biological springs resisting MCPj extension. Injuries to these structures are common and, although early mobilization promotes their healing, controlled loading may be beneficial during rehabilitation. This study aims to evaluate the efficacy of a semirigid orthotic in limiting the MCPj extension and the MCPj range of motion, and its influence on the MCPj kinematics. Twelve healthy horses were equipped with portable inertial sensors on the distal limb. The MCPj extension and the MCPj range of motion were assessed during walking and trotting without the orthotic (S0) and with the orthotic using two different support settings (S1 and S4). Data were evaluated for normality and homoscedasticity. A Student t-test was used to compare the MCPj angle pattern of the two forelimbs of each horse at the baseline. Data were analysed using one-way ANOVA to compare the mean values across conditions, followed by paired t-tests for post-hoc comparison (significance set at p < 0.05). The results showed significant reductions in both the MCPj extension and the MCPj range of motion, with the greatest restriction occurring at the highest support setting. These results suggest that the semirigid orthotic limits the MCPj movement in the sagittal plane and consequently the load on the suspensory ligament and flexor tendons. Therefore, this orthotic device is an effective tool during rehabilitation for forelimb tendon and ligament injuries. Full article

Tracking control of a quadrotor–slung load system is extremely challenging due to its under-actuation property, couple effects, and various uncertainties. This work proposes a composite backstepping control framework combining command filter control and a multivariable finite-time disturbance observer to ensure robust position and orientation control for aerial payload transportation with high precision. Firstly, the kinematic and dynamic model under perturbations is derived based on Newton’s second law. The thrust control force consists of two orthogonal parts, each dedicated to regulating the position and orientation of the slung load independently. Then, hierarchical backstepping control generates the two parts in the load-translation and the load-orientation subsystems. Command filters are introduced into nonlinear backstepping to smoothen the control signals and overcome the problem of explosion of complexity. Additionally, to counteract the adverse effect of perturbations emerging in the linear velocity and angular velocity loops, multivariable finite-time observers are developed to ensure the estimation errors converge within a finite time horizon. Finally, comparative numerical simulation results validate the efficacy of the developed quadrotor–slung load tracking controller. Simulation results show that the proposed controller achieves smaller position tracking and orientation errors compared to traditional methods, demonstrating robust disturbance rejection and high-precision control. Full article

For unmanned aerial vehicles with long-duration autonomous missions, efficient energy management is critically important. One of the most promising solutions is solar power, the implementation of which requires the continuous orientation tracking of the Sun’s position. This study presents a three-axis active solar tracking system based on a gimbal mount, providing full kinematic control of the panel in space. A mathematical model of orientation is developed using the Earth-Centered Inertial, local geographic frame, and unmanned aerial vehicle body coordinate systems. An aerodynamic analysis is conducted, including a quantitative assessment of drag, lift, and torque on the panel. Based on the obtained characteristics, limiting conditions for the safe operation of the tracker are formulated. An adaptive control algorithm is introduced, minimizing a generalized objective function that accounts for angular deviation, aerodynamic loads, and current energy balance. Numerical simulations are described, demonstrating system stability under various scenarios: turbulence, maneuvers, power limitations, and sensor errors. The results confirm the effectiveness of the proposed approach under real-world operating conditions. Full article

This systematic review, registered in PROSPERO (CRD42025101243), aimed to evaluate how specific badminton shoe design features influence lower-limb biomechanics, injury risk, and sport-specific performance. A comprehensive search in six databases yielded 445 studies, from which 10 met inclusion criteria after duplicate removal and eligibility screening. The reviewed studies focused on modifications involving forefoot bending stiffness, torsional stiffness, lateral-wedge hardness, insole and midsole hardness, sole structure, and heel curvature. The most consistent biomechanical benefits were associated with moderate levels of forefoot and torsional stiffness (e.g., 60D) and rounded heel designs. Increased forefoot bending stiffness was associated with reduced foot torsion and knee loading during forward lunges. Torsional stiffness around 60D provided favorable ankle support and reduced knee abduction, suggesting potential protection against ligament strain. Rounded heels reduced vertical impact forces and promoted smoother knee–ankle coordination, especially in experienced athletes. Lateral-wedge designs improved movement efficiency by reducing contact time and enhancing joint stiffness. Harder midsoles, however, resulted in increased impact forces upon landing. Excessive stiffness in any component may restrict joint mobility and responsiveness. Studies included 127 male-dominated (aged 18–28) competitive athletes, assessing kinematics, impact forces, and coordination during sport-specific tasks. The reviewed studies predominantly involved male participants, with little attention to sex-specific biomechanical differences such as joint alignment and foot structure. Differences in testing methods and movement tasks further limited direct comparisons. Future research should explore real-game biomechanics, include diverse athlete populations, and investigate long-term adaptations. These efforts will contribute to the development of performance-enhancing, injury-reducing badminton shoes tailored to the unique demands of the sport. Full article

This study aimed to explore the effects of fatigue on the kinematic parameters and performance of the tennis serve, specifically speed and accuracy. Xsens inertial measurement units (IMUs) were used to obtain the kinematic parameters of the tennis serve. Seven professional tennis players participated in the study, performing multiple sets of serves along with tennis-specific fatigue-inducing drills. Key kinematic variables such as jump height, pelvis velocity, wrist height, wrist velocity, upper arm velocity, forearm velocity, and shoulder velocity were measured alongside serve speed and accuracy. Results indicated significant fatigue-induced alterations in several kinematic variables, notably jump height and wrist velocity, which affected the serve performance. Importantly, serve speed and accuracy declined in the final sets, correlating with increased heart rate and fatigue. These findings provide insights into the biomechanical effects of fatigue on the serve, with implications for training and performance optimization. Full article

Suspension structures, known for their excellent properties, have been widely used to cover medium and large spans. Their efficiency lies in their ability to primarily withstand permanent and variable loads through tension. Consequently, suspension roof structures typically adopt a parabolic shape, which remains in equilibrium under symmetric loads. However, when subjected to asymmetric loads, such structures experience significant kinematic displacements. To reduce these displacements, suspension systems with bending stiffness, commonly referred to as “rigid” cables, are employed. Such elements increase the sustainability of the suspension system compared with conventional spiral ropes. Although previous studies have analyzed the behavior of such systems under symmetric loads, this article examines the performance of an innovative cable–strut system composed of straight “rigid” elements under asymmetric loads. The behavior of three different types of suspension structures under asymmetric loads is analyzed. A non-linear analysis of forces and displacements is conducted in this system, assessing the impact of bending stiffness on the structural response. The results indicate that the proposed two-level suspension system performs more effectively under asymmetric loads than both conventional parabolic suspension structures and suspension systems comprising two straight “rigid” elements. It was found that the total forces and stresses in the “rigid” upper chord elements of the two-level system are the lowest among all the systems considered. Therefore, this system is particularly suitable for covering medium- and large-span roofs, especially when subjected to relatively large asymmetric loads. Full article

The patch loading resistance of slender steel plate girders is a critical factor in the design of launched steel and composite steel–concrete bridges. Traditional design methods enhance patch loading resistance through various stiffening techniques, with contributions typically estimated via code expressions calibrated on experimental data that do not always reflect the complexities of full-scale bridge applications. Finite Element (FE) modeling offers a more realistic alternative, though its practical application is often hindered by modeling uncertainties and nonlinearities. To bridge this gap, this paper introduces an advanced FE modeling approach. It provides a comprehensive description of an FE model that accurately predicts both the load–displacement behavior and the patch loading resistance. The model is benchmarked against a broad set of experimental tests and systematically investigates the effects of key modeling parameters and their interactions—material stress–strain law, boundary condition representation, stiffness of the load introduction area, initial geometric imperfections, and solving algorithms. Key findings demonstrate that a bilinear elastoplastic material model with hardening is sufficient for estimating ultimate resistance, and kinematic constraints can effectively replace rigid transverse stiffeners. The stiffness of the load application zone significantly influences the response, especially in launched bridge scenarios. Initial imperfections notably affect both stiffness and strength, with standard fabrication tolerances offering suitable input values. The modified Riks algorithm is recommended for its efficiency and stability in nonlinear regimens. The proposed methodology advances the state of practice by providing a simple yet reliable FE modeling approach for predicting patch loading resistance in real-world bridge applications, leading to safer and more reliable structural designs. Full article

During icebreaker navigation in ice-covered waters, icebreaking resistance and dynamic ice loads acting on the bow critically determine the vessel’s icebreaking performance. Quantitative characterization of the icebreaking resistance behavior and ice load distribution on the bow is essential for elucidating ship-ice interaction mechanisms, assessing icebreaking capability, and optimizing structural design. This study conducted comparative icebreaking tests on two icebreaker bow models with distinct geometries in the small ice model basin of China Ship Scientific Research Center (CSSRC SIMB). Systematic measurements were performed to quantify icebreaking resistance, capture spatiotemporal ice load distributions, and document ice failure patterns under level ice conditions. The analysis reveals that bow geometry profoundly influences icebreaking efficiency: the stem angle governs the proportion of bending failure during vertical ice penetration, while the flare angle modulates circumferential failure modes along the hull-ice interface. Notably, the sunken keel configuration enhances ice clearance by mechanically expelling fractured ice blocks. Ice load distributions exhibit pronounced nonlinearity, with localized pressure concentrations and stochastic load center migration driven by ice fracture dynamics. Furthermore, icebreaking patterns—such as fractured ice dimensions and kinematic behavior during ship-ice interaction—are quantitatively correlated with the bow designs. These experimentally validated findings provide critical insights into ice-structure interaction physics, offering an empirical foundation for performance prediction and bow-form optimization in the preliminary design of icebreakers. Full article

With the implementation of the ISO 8217-2024 marine fuel standard, the use of high-concentration biofuels in ships has become viable. However, relatively few studies have been conducted on the effects of biofuels on cylinder lubrication performance in low-speed, two-stroke marine diesel engines. In this study, catering waste oil was blended with 180 cSt low-sulfur fuel oil (LSFO) to prepare biofuels with volume fractions of 24% (B24) and 50% (B50). These biofuels were evaluated in a MAN marine diesel engine under load conditions of 25%, 50%, 75%, and 90%. The experimental results showed that, at the same engine load, the use of B50 biofuel led to lower kinematic viscosity and oxidation degree of the cylinder residual oil, but higher total base number (TBN), nitration level, PQ index, and concentrations of wear elements (Fe, Cu, Cr, Mo). These results indicate that the wear of the cylinder liner–piston ring interface was more severe when using B50 biofuel than when using B24 biofuel. For the same type of fuel, as the engine load increased, the kinematic viscosity and TBN of the residual oil decreased, while the PQ index and the concentrations of Fe, Cu, Cr, and Mo increased, reflecting the aggravated wear severity. Ferrographic analysis further revealed that ferromagnetic wear particles in the oil mainly consisted of normal wear debris. When using B50 biodiesel, a small amount of fatigue wear particles were detected. These findings offer crucial insights for optimizing biofuel utilization and improving cylinder lubrication systems in marine engines. Full article

The response to perturbations in the gait of elderly and young individuals can differ due to various factors, such as age-related changes in sensorimotor function, muscle strength, and balance control. This study aimed to identify and compare compensatory kinematic and kinetic gait strategies in response to sudden treadmill perturbations applied during the Pre-Swing phase in young and older adults. The analysis focused on determining age-related differences in joint behavior and force production under perturbation stress, with implications for fall prevention. Twenty-one young and an equal number of elderly healthy females walked on a treadmill in a virtual environment (GRAIL, Motek). Unexpected perturbations were applied five times. Principal Component Analysis (PCA) and k-means clustering identified three distinct compensatory strategies per limb. Young adults primarily employed Strategies I (42.2%) and II (40%), while older adults most often selected Strategy II (45.5%). Statistical analysis (SPM and Mann-Whitney U test, p = 0.05) showed significant between-group differences in joint angles and torques across the gait cycle. For instance, in Strategy I, young participants had significantly lower ankle plantarflexion angles (p < 0.01) and hip extension torques (p < 0.05) compared to the elderly. Strategy II in older adults showed significantly higher vGRF minimums (p < 0.01) and anterior-posterior GRF peaks (p < 0.001). The elderly adopted strategies compatible with their neuromuscular capacity rather than those minimizing joint load, as observed in the young group. These findings offer novel insights into age-related compensatory mechanisms and highlight the importance of tailored fall-prevention strategies based on biomechanical response patterns. Full article

The current pre-clinical testing standards for total hip replacements (THRs), ISO standards, use simplified loading waveforms that do not fully replicate real-world biomechanics. These standards provide a benchmark of data that may not accurately predict in vivo wear, necessitating the evaluation of physiologically relevant loading conditions. Previous studies have incorporated activities of daily living (ADLs) such as walking, jogging and stair negotiation into wear simulations. However, these studies primarily used simplified adaptations that increased axial forces and applied accelerated sinusoidal waveforms, rather than fully replicating the complex kinematics experienced by THR patients. To address this gap, this study applied patient-derived ADL profiles—jogging and stair negotiation—using a three-station hip simulator, obtained through 3D motion analysis of total hip arthroplasty patients, processed via a musculoskeletal multibody modelling approach to derive realistic hip contact forces (HCFs). The results indicate that jogging significantly increased wear rates compared to the ISO walking gait waveform, with wear increasing from 15.24 ± 0.55 to 28.68 ± 0.87 mm³/Mc. Additionally, wear was highly sensitive to changes in lubricant protein concentration, with an increase from 17 g/L to 30 g/L reducing wear by over 60%. Contrary to predictive models, stair descent resulted in higher volumetric wear (8.62 ± 0.43 mm³/0.5 Mc) compared to stair ascent (4.15 ± 0.31 mm³/0.5 Mc), despite both profiles having similar peak torques. These findings underscore the limitations of current ISO standards in replicating physiologically relevant wear patterns. The application of patient-specific loading profiles highlights the need to integrate ADLs into pre-clinical testing protocols, ensuring a more accurate assessment of implant performance and longevity. Full article