Stones

Journal Papers

Biomechanics

Modelling musculoskeletal systems and generating simulations of human movement

  • Uchida TK*, Seth A*. Conclusion or Illusion: Quantifying uncertainty in inverse analyses from marker-based motion capture due to errors in marker registration and model scaling. Frontiers in Bioengineering and Biotechnology 10: 874725, 2022 (*co-first authors). doi: 10.3389/fbioe.2022.874725. [download]

  • Akhavanfar M, Uchida TK, Clouthier AL, Graham RB. Sharing the load: modeling loads in OpenSim to simulate two-handed lifting. Multibody System Dynamics 54(2): 213–234, 2022. doi: 10.1007/s11044-021-09808-7.

  • Cseke B, Uchida TK, Doumit M. Simulating ideal assistive strategies to reduce the metabolic cost of walking in the elderly. IEEE Transactions on Biomedical Engineering 69(9): 2797–2805, 2022. doi: 10.1109/TBME.2022.3153951.

  • Bailey CA, Uchida TK, Nantel J, Graham RB. Validity and sensitivity of an inertial measurement unit-driven biomechanical model of motor variability for gait. Sensors 21(22): 7690, 2021. doi: 10.3390/s21227690. [download]

  • Dunne JJ*, Uchida TK*, Besier TF, Delp SL, Seth A. A marker registration method to improve joint angles computed by constrained inverse kinematics. PLoS ONE 16(5): e0252425, 2021 (*co-first authors). doi: 10.1371/journal.pone.0252425. [download]

  • Seth A*, Hicks JL*, Uchida TK*, Habib A, Dembia CL, Dunne JJ, Ong CF, DeMers MS, Rajagopal A, Millard M, Hamner SR, Arnold EM, Yong JR, Lakshmikanth SK, Sherman MA, Ku JP, Delp SL. OpenSim: Simulating musculoskeletal dynamics and neuromuscular control to study human and animal movement. PLoS Computational Biology 14(7): e1006223, 2018 (*co-first authors). doi: 10.1371/journal.pcbi.1006223. Featured on the cover of PLoS Computational Biology, July 2018 issue. [download]

  • Dembia CL, Silder A, Uchida TK, Hicks JL, Delp SL. Simulating ideal assistive devices to reduce the metabolic cost of walking with heavy loads. PLoS ONE 12(7): e0180320, 2017. doi: 10.1371/journal.pone.0180320. [download]

  • Uchida TK, Seth A, Pouya S, Dembia CL, Hicks JL, Delp SL. Simulating ideal assistive devices to reduce the metabolic cost of running. PLoS ONE 11(9): e0163417, 2016. doi: 10.1371/journal.pone.0163417. [download]

  • Uchida TK, Hicks JL, Dembia CL, Delp SL. Stretching your energetic budget: how tendon compliance affects the metabolic cost of running. PLoS ONE 11(3): e0150378, 2016. doi: 10.1371/journal.pone.0150378. [download]

  • Hicks JL, Uchida TK, Seth A, Rajagopal A, Delp SL. Is my model good enough? Best practices for verification and validation of musculoskeletal models and simulations of movement. Journal of Biomechanical Engineering 137(2): 020905, 2015. doi: 10.1115/1.4029304. [download]

  • Millard M, Uchida T, Seth A, Delp SL. Flexing computational muscle: modeling and simulation of musculotendon dynamics. Journal of Biomechanical Engineering 135(2): 021005, 2013. doi: 10.1115/1.4023390. [download]

Delay Differential Equations

Methods for simulating dynamic systems containing delays

  • Shaik J, Uchida TK, Vyasarayani CP. Effect of delay on control of direct resonance of ships in beam waves using a proportional–derivative controller with delay. Journal of Computational and Nonlinear Dynamics 17(6): 061004, 2022. doi: 10.1115/1.4053561. Featured article on the JCND website. [download]

  • Kandala SS, Uchida TK, Vyasarayani CP. Pole placement for delay differential equations with time-periodic delays using Galerkin approximations. Journal of Computational and Nonlinear Dynamics 16(9): 091007, 2021. doi: 10.1115/1.4051590. [download]

  • Samukham S, Uchida TK, Vyasarayani CP. Fast generation of stability charts for time-delay systems using continuation of characteristic roots. Journal of Computational and Nonlinear Dynamics 15(11): 111008, 2020. doi: 10.1115/1.4048362. [download]

  • Kandala SS, Samukham S, Uchida TK, Vyasarayani CP. Spurious roots of delay differential equations using Galerkin approximations. Journal of Vibration and Control 26(15–16): 1178–1184, 2020. doi: 10.1177/1077546319894172. [download]

  • Kandala SS, Chakraborty S, Uchida TK, Vyasarayani CP. Hybrid method-of-receptances and optimization-based technique for pole placement in time-delayed systems. International Journal of Dynamics and Control 8(2): 558–569, 2020. doi: 10.1007/s40435-019-00570-5.

  • Kandala SS, Uchida TK, Vyasarayani CP. Pole placement for time-delayed systems using Galerkin approximations. Journal of Dynamic Systems, Measurement, and Control 141(5): 051012, 2019. doi: 10.1115/1.4042465.

  • Ahsan Z, Uchida TK, Subudhi A, Vyasarayani CP. Stability of human balance with reflex delays using Galerkin approximations. Journal of Computational and Nonlinear Dynamics 11(4): 041009, 2016. doi: 10.1115/1.4031979.

  • Ahsan Z, Sadath A, Uchida TK, Vyasarayani CP. Galerkin–Arnoldi algorithm for stability analysis of time-periodic delay differential equations. Nonlinear Dynamics 82(4): 1893–1904, 2015. doi: 10.1007/s11071-015-2285-9.

  • Ahsan Z, Uchida T, Vyasarayani CP. Galerkin approximations with embedded boundary conditions for retarded delay differential equations. Mathematical and Computer Modelling of Dynamical Systems 21(6): 560–572, 2015. doi: 10.1080/13873954.2015.1043741.

Impact Dynamics

Modelling rigid collisions in multibody systems

  • Uchida TK, Sherman MA, Delp SL. Making a meaningful impact: modelling simultaneous frictional collisions in spatial multibody systems. Proceedings of the Royal Society A 471(2177): 20140859, 2015. doi: 10.1098/rspa.2014.0859. [download]

Model Reduction and Simplification

Methods for improving the efficiency of dynamic simulations

  • Ahsan Z, Uchida TK, Vyasarayani CP. Adaptive sparse Galerkin methods for vibrating continuous structures. Transactions of the Canadian Society for Mechanical Engineering 40(1): 19–29, 2016. doi: 10.1139/tcsme-2016-0002.

  • Masoudi R, Uchida T, McPhee J. Reduction of multibody dynamic models in automotive systems using the proper orthogonal decomposition. Journal of Computational and Nonlinear Dynamics 10(3): 031007, 2015. doi: 10.1115/1.4029390.

  • Uchida T, Callejo A, García de Jalón J, McPhee J. On the Gröbner basis triangularization of constraint equations in natural coordinates. Multibody System Dynamics 31(3): 371–392, 2014. doi: 10.1007/s11044-013-9397-0.

  • Hall A, Uchida T, Loh F, Schmitke C, McPhee J. Reduction of a vehicle multibody dynamic model using homotopy optimization. Archive of Mechanical Engineering 60(1): 23–35, 2013. doi: 10.2478/meceng-2013-0002.

  • Uchida T, McPhee J. Driving simulator with double-wishbone suspension using efficient block-triangularized kinematic equations. Multibody System Dynamics 28(4): 331–347, 2012. doi: 10.1007/s11044-011-9299-y.

  • Uchida T, McPhee J. Using Gröbner bases to generate efficient kinematic solutions for the dynamic simulation of multi-loop mechanisms. Mechanism and Machine Theory 52: 144–157, 2012. doi: 10.1016/j.mechmachtheory.2012.01.015.

  • Uchida T, McPhee J. Triangularizing kinematic constraint equations using Gröbner bases for real-time dynamic simulation. Multibody System Dynamics 25(3): 335–356, 2011. doi: 10.1007/s11044-010-9241-8.

Parameter Identification

Methods for determining unknown system parameters

  • Manikantan R, Chakraborty S, Uchida TK, Vyasarayani CP. Parameter identification in nonlinear mechanical systems with noisy partial state measurement using PID-controller penalty functions. Mathematics 8(7): 1084, 2020. doi: 10.3390/math8071084. [download]

  • Masoudi R, Uchida T, McPhee J. Parameter estimation of an electrochemistry-based lithium-ion battery model. Journal of Power Sources 291: 215–224, 2015. doi: 10.1016/j.jpowsour.2015.04.154.

  • Uchida T, Vyasarayani CP, Smart M, McPhee J. Parameter identification for multibody systems expressed in differential-algebraic form. Multibody System Dynamics 31(4): 393–403, 2014. doi: 10.1007/s11044-013-9390-7.

  • Vyasarayani CP, Uchida T, McPhee J. Single-shooting homotopy method for parameter identification in dynamical systems. Physical Review E 85(3): 036201, 2012. doi: 10.1103/PhysRevE.85.036201.

  • Vyasarayani CP, Uchida T, McPhee J. Nonlinear parameter identification in multibody systems using homotopy continuation. Journal of Computational and Nonlinear Dynamics 7(1): 011012, 2012. doi: 10.1115/1.4004885.

  • Vyasarayani CP, Uchida T, Carvalho A, McPhee J. Parameter identification in dynamic systems using the homotopy optimization approach. Multibody System Dynamics 26(4): 411–424, 2011. doi: 10.1007/s11044-011-9260-0.

  • Vyasarayani CP, Uchida T, McPhee J. Parameter identification in multibody systems using Lie series solutions and symbolic computation. Journal of Computational and Nonlinear Dynamics 6(4): 041011, 2011. doi: 10.1115/1.4003686.

Vehicle Dynamics and Control

Control strategies for improving vehicle stability and maneuverability using soft computing

  • Jalali K, Uchida T, Lambert S, McPhee J. Development of an advanced torque vectoring control system for an electric vehicle with in-wheel motors using soft computing techniques. SAE International Journal of Alternative Powertrains 2(2): 261–278, 2013. doi: 10.4271/2013-01-0698. Also published in Vehicle Dynamics, 2013, SAE Collection COLL-TP-00318.

  • Jalali K, Uchida T, McPhee J, Lambert S. Development of an advanced fuzzy active steering controller and a novel method to tune the fuzzy controller. SAE International Journal of Passenger Cars – Electronic and Electrical Systems 6(1): 241–254, 2013. doi: 10.4271/2013-01-0688. Also published in Vehicle Dynamics, 2013, SAE Collection COLL-TP-00318.

  • Jalali K, Uchida T, McPhee J, Lambert S. Development of an integrated control strategy consisting of an advanced torque vectoring controller and a genetic fuzzy active steering controller. SAE International Journal of Passenger Cars – Electronic and Electrical Systems 6(1): 222–240, 2013. doi: 10.4271/2013-01-0681. Also published in Vehicle Dynamics, 2013, SAE Collection COLL-TP-00318.

  • Jalali K, Uchida T, McPhee J, Lambert S. Development of a fuzzy slip control system for electric vehicles with in-wheel motors. SAE International Journal of Alternative Powertrains 1(1): 46–64, 2012. doi: 10.4271/2012-01-0248. Also published in Vehicle Dynamics, Stability and Control, 2012, SAE Collection COLL-TP-00241.

  • Jalali K, Uchida T, McPhee J, Lambert S. Integrated stability control system for electric vehicles with in-wheel motors using soft computing techniques. SAE International Journal of Passenger Cars – Electronic and Electrical Systems 2(1): 109–119, 2009. doi: 10.4271/2009-01-0435. Also published in Tire and Wheel Technology and Vehicle Dynamics and Simulation, 2009, SAE Collection COLL-TP-00087.

Rocks

Conference Papers

2022

  • Sampaio de Oliveira ML, Uchida TK. Elasticity tensor approximation applied to a finite element muscle model. North American Congress on Biomechanics. Ottawa, Canada, August 21–25, 2022.

  • Alambeigi K, Standen EM, Uchida TK. Heads or tails: Where should a fish store extra mass to maximize its jump distance? North American Congress on Biomechanics. Ottawa, Canada, August 21–25, 2022.

  • Bailey CA, Mir-Orefice A, Uchida TK, Nantel J, Graham RB. Smartwatch-based estimation of stride-to-stride gait variability and stability. North American Congress on Biomechanics. Ottawa, Canada, August 21–25, 2022.

  • Bailey CA, Mir-Orefice A, Uchida TK, Nantel J, Graham RB. Development of a markerless motion capture-driven OpenSim model of gait kinematics. North American Congress on Biomechanics. Ottawa, Canada, August 21–25, 2022.

  • Akhavanfar M, Mir-Orefice A, Uchida TK, Graham RB. Validating hand–mass interaction models for simulating lifting tasks in OpenSim. North American Congress on Biomechanics. Ottawa, Canada, August 21–25, 2022.

  • Baklouti F, Uchida TK. Modelling skin stretch to reduce soft-tissue artifact error in OpenSim simulations of shoulder motion. 9th World Congress of Biomechanics, Taipei, Taiwan, July 10–14, 2022.

2021

  • Sampaio de Oliveira ML, Uchida TK. Approximation method to calculate the elasticity tensor for hyperelastic finite element models. 28th Congress of the International Society of Biomechanics, Online, July 25–29, 2021.

  • Akhavanfar M, Uchida TK, Clouthier AL, Graham RB. Sharing the load: strategies for modelling loads in OpenSim simulations of two-handed lifting. 28th Congress of the International Society of Biomechanics, Online, July 25–29, 2021.

2019

  • Seth A, Uchida TK, Hicks JL, Habib A, Dembia CL, Bianco NA, Al Borno M, Dunne JJ, Ong CF, Rajagopal A, Ku JP, Delp SL. OpenSim 4.0 and beyond: Extracting biomechanical insights from measurements, models, and simulations of movement. 27th Congress of the International Society of Biomechanics and 43rd Annual Meeting of the American Society of Biomechanics, Calgary, Canada, July 31–August 4, 2019.

2018

  • Seth A*, Uchida TK*, Hicks JL*, Habib A, Dembia CL, Dunne JJ, Ong CF, Rajagopal A, Yong JR, Ku JP, Delp SL. OpenSim 4.0: Exploring how injury, surgery, and augmentation affect human movement through simulation. 8th World Congress of Biomechanics, Dublin, Ireland, July 8–12, 2018 (*co-first authors).

2016

  • Hicks JL, Uchida TK, Seth A, Rajagopal A, Delp SL. Is my model good enough? Verification and validation of musculoskeletal models and simulations. 40th Annual Meeting of the American Society of Biomechanics, Raleigh, NC, USA, August 2–5, 2016.

2015

  • Uchida T, Hicks J, Dembia C, Delp S. Stretching your energetic budget: the effect of tendon compliance on the metabolic cost of running. 25th Congress of the International Society of Biomechanics, Glasgow, Scotland, July 12–16, 2015.

  • Dembia CL, Silder A, Uchida T, Hicks J, Delp S. Which joint to assist? Simulation-based guidelines for reducing the metabolic cost of walking with heavy loads. 25th Congress of the International Society of Biomechanics, Glasgow, Scotland, July 12–16, 2015.

  • Callejo A, Uchida T, García de Jalón J, McPhee J. Automated natural coordinate selection for fast symbolic–numeric dynamic simulation. ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, June 29–July 2, 2015.

  • Masoudi R, Uchida T, McPhee J. Reduction of a high-fidelity vehicle dynamic model using the proper orthogonal decomposition. ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, June 29–July 2, 2015.

2014

  • Uchida TK, Sherman MA, Delp SL. Making a meaningful impact: simultaneous frictional collisions in spatial multibody systems. ASME International Design Engineering Technical Conferences, Buffalo, NY, USA, August 17–20, 2014.​

  • Sherman MA, Uchida TK, Hsu JM, Delp SL. Squeezing blood from a stone: enhanced contact fidelity in a game engine–style real-time Projected Gauss–Seidel time stepper. ASME International Design Engineering Technical Conferences, Buffalo, NY, USA, August 17–20, 2014.

  • Masoudi R, Uchida T, Vilela D, Luaces A, Cuadrado J, McPhee J. An update on the web-based library of computational benchmark problems for multibody dynamics. 3rd Joint International Conference on Multibody System Dynamics, Busan, South Korea, June 30–July 3, 2014.

2013

  • Hall A, Schmitke C, Uchida T, McPhee J. Reduction of vehicle suspension models to single-degree-of-freedom equivalent kinematic joints. ECCOMAS Thematic Conference on Multibody Dynamics, Zagreb, Croatia, July 1–4, 2013.

  • Masoudi R, Uchida T, Vilela D, Luaces A, Cuadrado J, McPhee J. A library of computational benchmark problems for the multibody dynamics community. ECCOMAS Thematic Conference on Multibody Dynamics, Zagreb, Croatia, July 1–4, 2013.

  • Jalali K, Uchida T, Lambert S, McPhee J. Development of an advanced torque vectoring control system for an electric vehicle with in-wheel motors using soft computing techniques. SAE World Congress, Detroit, MI, USA, April 16–18, 2013.

  • Jalali K, Uchida T, McPhee J, Lambert S. Development of an advanced fuzzy active steering controller and a novel method to tune the fuzzy controller. SAE World Congress, Detroit, MI, USA, April 16–18, 2013.

  • Jalali K, Uchida T, McPhee J, Lambert S. Development of an integrated control strategy consisting of an advanced torque vectoring controller and a genetic fuzzy active steering controller. SAE World Congress, Detroit, MI, USA, April 16–18, 2013.

2012

  • Uchida T, Callejo A, García de Jalón J, McPhee J. On the Gröbner basis triangularization of constraint equations in natural coordinates. 2nd Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May 29–June 1, 2012.

  • Uchida T, Vyasarayani CP, Smart M, McPhee J. Parameter identification for multibody systems governed by DAEs. 2nd Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May 29–June 1, 2012.

  • Hall A, Uchida T, Loh F, Schmitke C, McPhee J. Reduction of a vehicle multibody dynamic model using homotopy optimization. 2nd Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, May 29–June 1, 2012.

  • Jalali K, Uchida T, McPhee J, Lambert S. Development of an advanced slip control system for an electric vehicle with in-wheel motors using soft computing techniques. SAE World Congress, Detroit, MI, USA, April 24–26, 2012.

2011

  • Uchida T, McPhee J. Driving simulator with double-wishbone suspension using block-triangularized kinematic equations for real-time performance. ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium, July 4–7, 2011.

  • Vyasarayani CP, Uchida T, McPhee J. Nonlinear parameter identification in multibody systems using homotopy continuation. ECCOMAS Thematic Conference on Multibody Dynamics, Brussels, Belgium, July 4–7, 2011.

  • Uchida T, McPhee J. Efficient solution of kinematics for multi-loop mechanisms using Gröbner bases. 13th World Congress in Mechanism and Machine Science, Guanajuato, México, June 19–25, 2011.

2010

  • Vyasarayani CP, Uchida T, Carvalho A, McPhee J. Parameter identification in dynamic systems using the homotopy optimization approach. Workshop on Identification for Automotive Systems, Linz, Austria, July 15–16, 2010.

  • Uchida T, McPhee J. Triangularizing kinematic constraint equations using Gröbner bases for real-time dynamic simulation. 1st Joint International Conference on Multibody System Dynamics, Lappeenranta, Finland, May 25–27, 2010.

2009

  • Jalali K, Uchida T, McPhee J, Lambert S. Integrated stability control system for electric vehicles with in-wheel motors using soft computing techniques. SAE World Congress, Detroit, MI, USA, April 20–23, 2009.

2008

  • Uchida T, McPhee J. Real-time hardware-in-the-loop dynamic simulation of multibody mechatronic systems. 4th Asian Conference on Multibody Dynamics. Jeju Island, South Korea, August 20–23, 2008.

  • Uchida T, McPhee J, Suda Y. Real-time dynamic models for advanced driving simulator. Conference of the Japan Society for the Promotion of Science Summer Program. Kanagawa, Japan, June 20, 2008.

2007

  • Uchida T, McPhee J. Dynamic modelling and simulation of the Centaur skid-steered all-terrain vehicle. 21st Canadian Congress of Applied Mechanics. Toronto, Canada, June 3–7, 2007.

Bridge

Other Publications

Books

Book Chapters

  • Vyasarayani CP, Uchida T, Carvalho A, McPhee J. Parameter identification in dynamic systems using the homotopy optimization approach. In Alberer D, Hjalmarsson H, del Re L (editors). Identification for Automotive Systems. Lecture Notes in Control and Information Sciences 418: 129–145, 2012. ISBN 978-1-4471-2221-0.​

Ph.D. Thesis

  • Uchida TK. Real-time Dynamic Simulation of Constrained Multibody Systems using Symbolic Computation. Ph.D. thesis, University of Waterloo, 2011. Available on UWSpace. Also published as Real-time Dynamic Simulation of Constrained Multibody Systems: A Symbolic Computational Perspective, VDM Verlag Dr. Müller, 2011. ISBN 978-3-639-36225-1. Available at amazon.com and morebooks.de.

Preprints

  • Bailey CA, Uchida TK, Nantel J, Graham RB. Validity and sensitivity of an inertial measurement unit-driven biomechanical model of motor variability for gait. bioRxiv: 2021.09.27.461967, 2021. https://doi.org/10.1101/2021.09.27.461967. [download]

  • Samukham S, Uchida TK, Vyasarayani CP. Fast generation of stability charts for time-delay systems using continuation of characteristic roots. eprint arXiv: 2005.10719, 2020. https://arxiv.org/abs/2005.10719. [download]

  • Sadath A, Uchida TK, Vyasarayani CP. Approximating strange attractors and Lyapunov exponents of delay differential equations using Galerkin projections. eprint arXiv: 1810.01016, 2018. https://arxiv.org/abs/1810.01016. [download]