No abstract

New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation.

In the context of computer numeric control (CNC)-based sheet metal laser cutting, the problem of heat transfer simulation is relevant for the optimization of CNC programs. Current physically based simulation tools use numeric or analytic algorithms which provide accurate but slow solutions due to the underlying mathematical description of the model. This paper presents: (1) an analytic solution to the laser heating problem of rectangular sheet metal for curved laser trajectories and convective cooling, (2) a graphics processing unit (GPU) implementation of the analytic solution for fast simulation of the problem, and (3) an integration within an interactive environment for the simulation of sheet metal CNC laser cutting. This analytic approach sacrifices the material removal effect of the laser cut in the favor of an approximated real-time temperature map on the sheet metal. The articulation of thermal, geometric, and graphic feedback in virtual manufacturing environments enables interactive redefinition of the CNC programs for better product quality, lower safety risks, material waste, and energy usage among others. The error with respect to finite element analysis (FEA) in temperature prediction descends as low as 3.5%.

Determining effective hydraulic, thermal, mechanical and electrical properties of porous materials by means of classical physical experiments is often time consuming and expensive. Thus, accurate numerical calculations of material properties are of increasing interest in geophysical, manufacturing, biomechanical and environmental applications, among other fields. Characteristic material properties (e.g. intrinsic permeability, thermal conductivity and elastic moduli) depend on morphological details on the porescale such as shape and size of pores and pore throats or cracks. To obtain reliable predictions of these properties it is necessary to perform numerical analyses of sufficiently large unit cells. Such representative volume elements require optimized numerical simulation techniques. Current stateoftheart simulation tools to calculate effective permeabilities of porous materials are based on various methods, e.g. lattice Boltzmann, finite volumes or explicit jump Stokes methods. All approaches still have limitations in the maximum size of the simulation domain. In response to these deficits of the wellestablished methods we propose an efficient and reliable

In design and manufacturing, mesh segmentation is required for FACE construction in boundary representation (BRep), which in turn is central for featurebased design, machining, parametric CAD and reverse engineering, among others. Although mesh segmentation is dictated by geometry and topology, this article focuses on the topological aspect (graph spectrum), as we consider that this tool has not been fully exploited. We preprocess the mesh to obtain a edgelength homogeneous triangle set and its Graph Laplacian is calculated. We then produce a monotonically increasing permutation of the Fiedler vector (2nd eigenvector of Graph Laplacian) for encoding the connectivity among part feature submeshes. Within the mutated vector, discontinuities larger than a threshold (interactively set by a human) determine the partition of the original mesh. We present tests of our method on large complex meshes, which show results which mostly adjust to B Rep FACE partition. The achieved segmentations properly locate most manufacturing features, although it requires human interaction to avoid over segmentation. Future work includes an iterative application of this algorithm to progressively sever features of the mesh left from previous submesh removals.