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Path planning and re-planning for serial 6 degree of freedom (DOF) robotic systems is challenging due to complex kinematic structure and application conditions which affects the robot's tool frame position, orientation and singularity avoidance. These three characteristics represent the key elements for production planning and layout design of the automated manufacturing systems. The robot trajectory represents series of connected points in 3D space. Each point is defined with its position and orientation related to the robot's base frames or predefined user frame. The robot will move from point to point using the desired motion type (linear, arc, or joint). The trajectory planning requires first to check if robot can reach the selected part(s). This can be simply done by placing the part(s) inside the robot's work envelope. The robot's work envelope represents a set of all robots' reachable points without considering their orientation.

When performing trajectory planning for robotic applications, there are many aspects to consider, such as the reach conditions, joint and end-effector velocities, accelerations and jerk conditions, etc. The reach conditions are dependent on the end-effector orientations and the robot kinematic structure. The reach condition feasibility is the first consideration to be addressed prior to optimizing a solution. The ‘functional’ work space or work window represents a region of feasible reach conditions, and is a sub-set of the work envelope. It is not intuitive to define. Consequently, 2D solution approaches are proposed. The 3D travel paths are decomposed to a 2D representation via radial projections. Forward kinematic representations are employed to define a 2D boundary curve for each desired end effector orientation.

Natural fiber-reinforced composites are currently gaining increasing attention as potential substitutes to pervasive synthetic fiber-reinforced composites, particularly glass fiber-reinforced plastics (GFRP). The advantages of the former category of composites include (a) being conducive to occupational health and safety during fabrication of parts as well as handling as compared to GFRP, (b) economy especially when compared to carbon fiber-reinforced composites (CFRC), (c) biodegradability of fibers, and (d) aesthetic appeal. Jute fibers are especially relevant in this context as jute fabric has a consistent supply base with reliable mechanical properties. Recent studies have shown that components such as tubes and plates made of jute-polyester (JP) composites can have competitive performance under impact loading when compared with similar GFRP-based structures.

Upper interior head impact safety is an important consideration in vehicle design and is covered under FMVSS 201. This standard generally requires that HIC(d) should not exceed 1000 when a legitimate target in the upper interior of a vehicle is impacted with a featureless Hybrid III headform at a velocity of 15 mph (6.7 m/s). As HIC and therefore HIC(d) is based on translational deceleration experienced at the CG of a test headform, its applicability is often doubted in protection against injury that can be caused due to rotational acceleration of head during impact. A study is carried out here using an improved lumped parameter model (LPM) representing headform impact for cases in which moderate to significant headform rotation may be present primarily due to the geometric configuration of targets.

Biomechanical surrogates are used in various forms to study head impact response in automotive applications and for assessing helmet performance. Surrogate headforms include those from the National Operating Committee on Standards for Athletic Equipment (NOCSAE) and the many variants of the Hybrid III. However, the response of these surrogates to loading at the chin and how that response may affect the loads transferred from the jaw to the rest of the head are unknown. To address part of that question, the current study compares the chin impact response performance of select human surrogates to that of the cadaver. A selection of Hybrid III and NOCSAE based surrogates with fixed and articulating jaws were tested under drop mass impact conditions that were used to describe post mortem human subject (PMHS) response to impacts at the chin (Craig et al., 2008). Results were compared to the PMHS response with cumulative variance technique (Rhule et al., 2002).

This study investigated driver glances while engaging in infotainment tasks in a stationary vehicle while surrogate driving: watching a driving video recorded from a driver’s viewpoint and projected on a large screen, performing a lane-tracking task, and performing the Tactile Detection Response Task (TDRT) to measure attentional effects of secondary tasks on event detection and response. Twenty-four participants were seated in a 2014 Toyota Corolla production vehicle with the navigation system option. They performed the lane-tracking task using the vehicle’s steering wheel, fitted with a laser pointer to indicate wheel movement on the driving video. Participants simultaneously performed the TDRT and a variety of infotainment tasks, including Manual and Mixed-Mode versions of Destination Entry and Cancel, Contact Dialing, Radio Tuning, Radio Preset selection, and other Manual tasks. Participants also completed the 0-and 1-Back pure auditory-vocal tasks.

Impacts have been analyzed in terms of degree of injury, head injury criterion (HIC), and average acceleration as a function of time for frontal impacts against the following surfaces: 1. Rigid flat surface-fractured cadaver skull. 2. Astroturf-head drop of football-helmeted cadaver. 3. Windshield penetrating impact of a dummy. 4. Airbag-dynamic test by human volunteers. It is concluded that the linear acceleration/time concussion tolerance curve may not exist and that only impacts against relatively stiff surfaces producing impulses with short rise times can be critical. The authors hypothesize that if a head impact does not contain a critical HIC interval of less than 0.015 s, it should be considered safe as far as cerebral concussion is concerned.

A comparative study of the safety performance of asymmetric and standard HPR windshields was conducted. The effect of increased interlayer thickness was also quantified. There were four different types of asymmetric windshields which had inner layer thicknesses of 0.8 to 1.5 mm and interlayer thicknesses of 0.76 and 1.14 mm. The experimental program consisted of both full scale sled tests and headform drop tests. A total of 127 vehicular impacts were carried out using a modified Volkswagen Rabbit. The test subject was a 50th percentile Fart 572 anthropomorphic test device. The asymmetric windshields were found to have a lower lacerative potential than that of the standard windshield. The best TLI value of 5.2 was provided by a 0.8 - 0.76 mm windshield at 60 km/h. That for the standard windshield was 7.7 at the same speed. All HIC values were less than 1,000 at 48 km/h.

Conventional 30 mil HPR laminated and wide-zone monolithic tempered windshields are compared on a safety performance basis from the stand-points of occupant injuries from frontal force collisions and injury or loss of control from breakage from high speed external impact of stones. All experiments were conducted with the windshields installed by conventional methods in an automobile. Occupant injury potential as measured by the Severity Index for brain damage at a 30 mph barrier impact simulation was approximately two times as high for the tempered as for the laminated windshields, although only one tempered windshield exceeded the recommended maximum value of 1,000. Severe lacerations resulted in all impacts in which the tempered glass broke. Less severe lacerations were found for the laminated windshield impacts at comparable speeds.

Human tolerance to knee, chest, and head impacts based upon skeletal fracture of cadavers is reported. The results are based upon unrestrained cadaver impacts in a normal seated position in simulated frontal force accidents at velocities between 10 and 20 mph and stopping distances of 6-8 in. The head target was covered with 15/16 in. of padding. No skull or facial fractures were observed at loads up to 2640 lb. Extensive facial fractures and a linear skull fracture occurred during the application of the maximum head force of 4350 lb. The chest target was 6 in. in diameter with 15/16 in.of padding. The padding was rolled over the edge of the target to minimize localized high force areas on the ribs. A 1/8 in. diameter rod was inserted through the chest and fastened through a ball joint and flange to the soft tissue at the sternum.

Safety performance of an experimental windshield with a thin, chemically tempered inner pane is compared with the standard windshield and other experimental windshields. The chemically tempered windshield has a penetration velocity of 35 mph compared with 26 mph penetration velocity for the standard windshield and has lower peak head accelerations than other types used in the experiments. The windshield tested produces a bulge on impact, which decelerates the head over a long distance with low accelerations. The bulge or pocket is lined with particles that are less lacerative than the standard annealed glass.

An improved windshield with a special, thin, plastic inner surface attached to the inner surface of a three layer windshield similar to those used in the United States minimizes lacerations from occupant impact to the windshield during a collision. The plastic coats the sharp edges of the broken glass preventing or minimizing laceration. It was evaluated by comparing its laceration performance with that of a standard windshield in simulated barrier crashes at velocities up to 65 km/h. No lacerations resulted from impact to the Securiflex windshield at Barrier Equivalent Velocities up to 65 km/h. Substantial laceration resulted at velocities above 20 km/h with the standard windshield. It is concluded that the Securiflex windshield essentially eliminates lacerations in the particular vehicle involved at velocities up to at least 65 km/h.

Children riding on the bed over the cab in campers can be injured in forward force collisions from striking the glazing material and/or being ejected through the opening. The two types of glazing commonly used are acrylic and laminated. A comparison of the performance of the two types of glazing in simulated forward force collisions at velocities up to 30 mph showed the acrylic material to pose threats of neck and back injury and the laminated material to result in lacerations. Ejections occurred with the acrylic that were not present with the laminated windshields when correct glazing techniques were used. With poor installation procedures, ejections occurred in both types of glazing materials. It is concluded that the best way to avoid injury is to prevent the child from riding in the over-the-cab bunk. If the child does ride there, his body axis should be positioned at an angle to the longitudinal axis of the vehicle.

A series of 10 full-scale experimental simulations of pedestrian-vehicle impact was carried out using cadavers and a 95th percentile anthropomorphic dummy. The test subjects were impacted laterally and frontally at 24, 32 and 40 km/h (15, 20 and 24 mph). Each subject was extensively instrumented with miniature accelerometers, up to a maximum of 53 transducers. The nine-accelerometer scheme was used to measure angular acceleration of body segments from which it was possible to compute the head injury criterion (HIC) for cadaver head impact. A full-size Chevrolet was used as the impacting vehicle. The impact event was three-dimensional in nature during which the body segments executed complex motions. Dummy impacts were more repeatable than cadaver impacts but the response of these test subjects were quite different. The HIC was higher for head-hood impact than for head-ground impact in two of the cases analyzed.

A series of rear impact tests of varying severity was performed using a mini pick-up truck with an instrumented Hybrid III dummy at the driver position. Head, neck and chest loads were monitored. The severities of these loads from an injury standpoint were assessed using biomechanically based reference criteria that are particularly suitable for the Hybrid III. The glass Installation performed well as a head restraint. Glass fracture from head impact was achieved only when the glass was predamaged, with surface scratches on the outer (tensile) side. The amazing strength and flexibility of tempered glass and the dramatic reduction in strength caused by small surface scratches are demonstrated.

Currently, there is great interest in motorsports medicine in measuring driver head impact accelerations by adding small triaxial accelerometers to the communication earpieces worn by drivers. Various studies have attempted to validate the ability of the earpiece accelerometers to accurately measure head accelerations. Those experiments demonstrate success in being able to measure head accelerations on dummies and humans in low severity impacts and non-impact head motion. No study has been performed to ascertain the ability of the earpiece accelerometers to accurately measure rigid body head accelerations of the skull when they are mounted in a human ear canal and subjected to high severity head accelerations. This research was performed to evaluate the frequency response and coupling of the earpiece accelerometers to the human skull using post mortem human subject (PMHS) heads as the most realistic surrogate for the living human.

Most studies of pedestrian injuries focus on reducing traumatic injuries due to the primary impact between the vehicle and the pedestrian. However, based on the Pedestrian Crash Data Study (PCDS), some researchers concluded that one of the leading causes of head injury for pedestrian crashes can be attributed to the secondary impact, defined as the impact of the pedestrian with the ground after the primary impact of the pedestrian with the vehicle. The purpose of this study is to understand if different vehicle front-end profiles can affect the risk of pedestrian secondary head impact with the ground and thus help in reducing the risk of head injury during secondary head impact with ground. Pedestrian responses were studied using several front-end profiles based off a mid-size vehicle and a SUV that have been validated previously along with several MADYMO pedestrian models.

The objective of this study was to investigate potential for traumatic brain injuries (TBI) using a newly developed, geometrically detailed, finite element head model (FEHM) within the concept of a simulated injury monitor (SIMon). The new FEHM is comprised of several parts: cerebrum, cerebellum, falx, tentorium, combined pia-arachnoid complex (PAC) with cerebro-spinal fluid (CSF), ventricles, brainstem, and parasagittal blood vessels. The model's topology was derived from human computer tomography (CT) scans and then uniformly scaled such that the mass of the brain represents the mass of a 50th percentile male's brain (1.5 kg) with the total head mass of 4.5 kg. The topology of the model was then compared to the preliminary data on the average topology derived from Procrustes shape analysis of 59 individuals. Material properties of the various parts were assigned based on the latest experimental data.

A comparison is presented of the forces, accelerations, and kinematics of an anthropomorphic dummy for identical sled impacts for unrestrained, lap belted, and lap and diagonal chest restrained conditions. Biaxial accelerometers were mounted in the head, chest, and on the proximal end of the femur to obtain the accelerations during the impacts. Seat belt load cells were put in series with the belts at each anchor point. Biaxial load cells were positioned to be impacted by the head, chest, and each knee for the unrestrained condition and by the head and chest for the lap belted configuration. For the lap and diagonal chest restrained condition these load cells were not used. Impacts of 10 and 20 miles per hour were made with sled stopping distance of 4 and 9 inches, respectively. At 20 miles per hour the head struck with a force of 1580 pounds in the unrestrained mode, 600 pounds with the lap belt, and did not hit with the lap and shoulder harness.