Development of a 3-camera vision system and the saddle motion analysis of horses via this system

Doğan, Gözde
One of the purposes of this study is to develop a vision system consisting of 3 inexpensive, commercial cameras. The system is intended to be used for tracking the motion of objects in a large calibration volume, typically 6.5 m. wide and 0.7 m. high. Hence, a mechanism is designed and constructed for the calibration of the cameras. The second purpose of the study is to develop an algorithm, which can be used to obtain the kinematic data associated with a rigid body, using a vision system. Special filters are implemented in the algorithm to identify the 3 markers attached on the body. Optimal curves are fitted to the position data of the markers after smoothing the data appropriately. The outputs of the algorithm are the position, velocity and acceleration of any point (visible or invisible) on the body and the angular velocity and acceleration of the body. The singularities associated with the algorithm are also determined. Using the vision setup and the developed algorithm for tracking the kinematics of a rigid body, the motions of the saddles of different horses are investigated for different gaits. Similarities and differences between horses and/or gaits are analyzed to lead to quantitative results. Using the limits induced by the whole body vibration of humans, for the first time in the world, daily, allowable riding time and riding distances are determined for different horses and gaits. Furthermore, novel, quantitative horse comfort indicators are proposed. Via the experiments performed, these indicators are shown to be consistent with the comfort assessment of experienced riders. Finally, in order to implement the algorithms proposed in this study, a computer code is developed using MATLAB®.


Dynamic modeling of an excavator during digging and simulating the motion
Özünlü, Özcan Mutlu; Söylemez, Eres; Department of Mechanical Engineering (2009)
The aim of this study is to perform the dynamic force analysis of a 3-degrees-of-freedom excavator during digging the soil and to simulate the motion on computer screen. Standard load calculations are done statically, therefore the effects of forces changing with time on the system cannot be observed. The dynamic analysis method used in the thesis is Recursive Newton – Euler Method and the numerical analysis method for simulation is 4th Order Runge – Kutta Method. After this study, the effects of sudden vel...
Dynamic modelling of a backhoe-loader
Kılıç, Boran; Balkan, Raif Tuna; Department of Mechanical Engineering (2009)
The aim of this study is to develop a dynamic model of the loader system of a backhoe-loader. Rigid bodies and joints in the loader mechanism and loader hydraulic system components are modelled and analyzed in the same environment using the physical modelling toolboxes inside the commercially available simulation software, MATLAB/Simulink. Interaction between the bodies and response of the hydraulic system are obtained by co-operating the mechanical and hydraulic analyses. System variables such as pressure,...
Prediction of slip in cable-drum systems using structured neural networks
KILIÇ, Ergin; Dölen, Melik (SAGE Publications, 2014-02-01)
This study focuses on the slip prediction in a cable-drum system using artificial neural networks for the prospect of developing linear motion sensing scheme for such mechanisms. Both feed-forward and recurrent-type artificial neural network architectures are considered to capture the slip dynamics of cable-drum mechanisms. In the article, the network development is presented in a progressive (step-by-step) fashion for the purpose of not only making the design process transparent to the readers but also hig...
Route planning for unmanned air vehicles
Tulum, Kamil; İder, S. Kemal; Department of Mechanical Engineering (2009)
In this thesis, automatic routing technologies for unmanned air vehicles are investigated. A route planner that minimizes the fuel consumption and maximizes the survivability is developed. While planning the route, using more than one objective entails the auto-routing problem to multi-objective optimization considerations. In this work, these considerations are handled with search algorithms. In order to assess the route options, a fuel consumption model and a survivability model are utilized for the route...
The effect of prismatic ruoghness elements on hydraulic jump
Evcimen, Taylan Ulaş; Tokyay, Nuray; Department of Civil Engineering (2005)
The objective of this study is to determine the effect of different roughness types and arrangements on hydraulic jump characteristics in a rectangular channel. Three different types of roughness were used along experiments. All of them had rectangular prism shapes and that were placed normal to the flow direction. To avoid cavitation, height of roughness elements were arranged according to level of the channel inlet, so that the crests of roughness elements would not be protruding into the flow. The effect...
Citation Formats
G. Doğan, “Development of a 3-camera vision system and the saddle motion analysis of horses via this system,” M.S. - Master of Science, Middle East Technical University, 2009.