NASA Technical Reports Server (NTRS)
Macala, G. A.
1983-01-01
A computer program is described that can automatically generate symbolic equations of motion for systems of hinge-connected rigid bodies with tree topologies. The dynamical formulation underlying the program is outlined, and examples are given to show how a symbolic language is used to code the formulation. The program is applied to generate the equations of motion for a four-body model of the Galileo spacecraft. The resulting equations are shown to be a factor of three faster in execution time than conventional numerical subroutines.
Quantum mechanics of a generalised rigid body
NASA Astrophysics Data System (ADS)
Gripaios, Ben; Sutherland, Dave
2016-05-01
We consider the quantum version of Arnold’s generalisation of a rigid body in classical mechanics. Thus, we quantise the motion on an arbitrary Lie group manifold of a particle whose classical trajectories correspond to the geodesics of any one-sided-invariant metric. We show how the derivation of the spectrum of energy eigenstates can be simplified by making use of automorphisms of the Lie algebra and (for groups of type I) by methods of harmonic analysis. We show how the method can be extended to cosets, generalising the linear rigid rotor. As examples, we consider all connected and simply connected Lie groups up to dimension 3. This includes the universal cover of the archetypical rigid body, along with a number of new exactly solvable models. We also discuss a possible application to the topical problem of quantising a perfect fluid.
New Langevin and gradient thermostats for rigid body dynamics
NASA Astrophysics Data System (ADS)
Davidchack, R. L.; Ouldridge, T. E.; Tretyakov, M. V.
2015-04-01
We introduce two new thermostats, one of Langevin type and one of gradient (Brownian) type, for rigid body dynamics. We formulate rotation using the quaternion representation of angular coordinates; both thermostats preserve the unit length of quaternions. The Langevin thermostat also ensures that the conjugate angular momenta stay within the tangent space of the quaternion coordinates, as required by the Hamiltonian dynamics of rigid bodies. We have constructed three geometric numerical integrators for the Langevin thermostat and one for the gradient thermostat. The numerical integrators reflect key properties of the thermostats themselves. Namely, they all preserve the unit length of quaternions, automatically, without the need of a projection onto the unit sphere. The Langevin integrators also ensure that the angular momenta remain within the tangent space of the quaternion coordinates. The Langevin integrators are quasi-symplectic and of weak order two. The numerical method for the gradient thermostat is of weak order one. Its construction exploits ideas of Lie-group type integrators for differential equations on manifolds. We numerically compare the discretization errors of the Langevin integrators, as well as the efficiency of the gradient integrator compared to the Langevin ones when used in the simulation of rigid TIP4P water model with smoothly truncated electrostatic interactions. We observe that the gradient integrator is computationally less efficient than the Langevin integrators. We also compare the relative accuracy of the Langevin integrators in evaluating various static quantities and give recommendations as to the choice of an appropriate integrator.
New Langevin and gradient thermostats for rigid body dynamics.
Davidchack, R L; Ouldridge, T E; Tretyakov, M V
2015-04-14
We introduce two new thermostats, one of Langevin type and one of gradient (Brownian) type, for rigid body dynamics. We formulate rotation using the quaternion representation of angular coordinates; both thermostats preserve the unit length of quaternions. The Langevin thermostat also ensures that the conjugate angular momenta stay within the tangent space of the quaternion coordinates, as required by the Hamiltonian dynamics of rigid bodies. We have constructed three geometric numerical integrators for the Langevin thermostat and one for the gradient thermostat. The numerical integrators reflect key properties of the thermostats themselves. Namely, they all preserve the unit length of quaternions, automatically, without the need of a projection onto the unit sphere. The Langevin integrators also ensure that the angular momenta remain within the tangent space of the quaternion coordinates. The Langevin integrators are quasi-symplectic and of weak order two. The numerical method for the gradient thermostat is of weak order one. Its construction exploits ideas of Lie-group type integrators for differential equations on manifolds. We numerically compare the discretization errors of the Langevin integrators, as well as the efficiency of the gradient integrator compared to the Langevin ones when used in the simulation of rigid TIP4P water model with smoothly truncated electrostatic interactions. We observe that the gradient integrator is computationally less efficient than the Langevin integrators. We also compare the relative accuracy of the Langevin integrators in evaluating various static quantities and give recommendations as to the choice of an appropriate integrator. PMID:25877569
Rigid body cable for virtual environments.
Servin, Martin; Lacoursière, Claude
2008-01-01
The present paper addresses real-time simulation of cables for virtual environments. A faithful physical model based on constrained rigid bodies is introduced and discretized. The performance and stability of the numerical method are analyzed in details and found to meet the requirements of interactive heavy hoisting simulations. The physical model is well behaved in the limit of infinite stiffness as well as in the elastic regime, and the tuning parameters correspond directly to conventional material constants. The integration scheme mixes the well known Störmer-Verlet method for the dynamics equations with the linearly implicit Euler method for the constraint equations and enables physical constraint relaxation and stabilization terms. The technique is shown to have superior numerical stability properties in comparison with either chain link systems, or spring and damper models. Experimental results are presented to show that the method results in stable, real-time simulations. Stability persists for moderately large fixed integration step of Delta t = 1/60 s, with hoisting loads of up to 10(5) times heavier than the elements of the cable. Further numerical experiments validating the physical model are also presented. PMID:18467754
Rigid Body Motion in Stereo 3D Simulation
ERIC Educational Resources Information Center
Zabunov, Svetoslav
2010-01-01
This paper addresses the difficulties experienced by first-grade students studying rigid body motion at Sofia University. Most quantities describing the rigid body are in relations that the students find hard to visualize and understand. They also lose the notion of cause-result relations between vector quantities, such as the relation between…
Rapid determination of RMSDs corresponding to macromolecular rigid body motions.
Popov, Petr; Grudinin, Sergei
2014-05-01
Finding the root mean sum of squared deviations (RMSDs) between two coordinate vectors that correspond to the rigid body motion of a macromolecule is an important problem in structural bioinformatics, computational chemistry, and molecular modeling. Standard algorithms compute the RMSD with time proportional to the number of atoms in the molecule. Here, we present RigidRMSD, a new algorithm that determines a set of RMSDs corresponding to a set of rigid body motions of a macromolecule in constant time with respect to the number of atoms in the molecule. Our algorithm is particularly useful for rigid body modeling applications, such as rigid body docking, and also for high-throughput analysis of rigid body modeling and simulation results. We also introduce a constant-time rotation RMSD as a similarity measure for rigid molecules. A C++ implementation of our algorithm is available at http://nano-d.inrialpes.fr/software/RigidRMSD. PMID:24615729
Brownian dynamics of confined rigid bodies
Delong, Steven; Balboa Usabiaga, Florencio; Donev, Aleksandar
2015-10-14
We introduce numerical methods for simulating the diffusive motion of rigid bodies of arbitrary shape immersed in a viscous fluid. We parameterize the orientation of the bodies using normalized quaternions, which are numerically robust, space efficient, and easy to accumulate. We construct a system of overdamped Langevin equations in the quaternion representation that accounts for hydrodynamic effects, preserves the unit-norm constraint on the quaternion, and is time reversible with respect to the Gibbs-Boltzmann distribution at equilibrium. We introduce two schemes for temporal integration of the overdamped Langevin equations of motion, one based on the Fixman midpoint method and the other based on a random finite difference approach, both of which ensure that the correct stochastic drift term is captured in a computationally efficient way. We study several examples of rigid colloidal particles diffusing near a no-slip boundary and demonstrate the importance of the choice of tracking point on the measured translational mean square displacement (MSD). We examine the average short-time as well as the long-time quasi-two-dimensional diffusion coefficient of a rigid particle sedimented near a bottom wall due to gravity. For several particle shapes, we find a choice of tracking point that makes the MSD essentially linear with time, allowing us to estimate the long-time diffusion coefficient efficiently using a Monte Carlo method. However, in general, such a special choice of tracking point does not exist, and numerical techniques for simulating long trajectories, such as the ones we introduce here, are necessary to study diffusion on long time scales.
Brownian dynamics of confined rigid bodies.
Delong, Steven; Balboa Usabiaga, Florencio; Donev, Aleksandar
2015-10-14
We introduce numerical methods for simulating the diffusive motion of rigid bodies of arbitrary shape immersed in a viscous fluid. We parameterize the orientation of the bodies using normalized quaternions, which are numerically robust, space efficient, and easy to accumulate. We construct a system of overdamped Langevin equations in the quaternion representation that accounts for hydrodynamic effects, preserves the unit-norm constraint on the quaternion, and is time reversible with respect to the Gibbs-Boltzmann distribution at equilibrium. We introduce two schemes for temporal integration of the overdamped Langevin equations of motion, one based on the Fixman midpoint method and the other based on a random finite difference approach, both of which ensure that the correct stochastic drift term is captured in a computationally efficient way. We study several examples of rigid colloidal particles diffusing near a no-slip boundary and demonstrate the importance of the choice of tracking point on the measured translational mean square displacement (MSD). We examine the average short-time as well as the long-time quasi-two-dimensional diffusion coefficient of a rigid particle sedimented near a bottom wall due to gravity. For several particle shapes, we find a choice of tracking point that makes the MSD essentially linear with time, allowing us to estimate the long-time diffusion coefficient efficiently using a Monte Carlo method. However, in general, such a special choice of tracking point does not exist, and numerical techniques for simulating long trajectories, such as the ones we introduce here, are necessary to study diffusion on long time scales. PMID:26472363
Brownian dynamics of confined rigid bodies
NASA Astrophysics Data System (ADS)
Delong, Steven; Balboa Usabiaga, Florencio; Donev, Aleksandar
2015-10-01
We introduce numerical methods for simulating the diffusive motion of rigid bodies of arbitrary shape immersed in a viscous fluid. We parameterize the orientation of the bodies using normalized quaternions, which are numerically robust, space efficient, and easy to accumulate. We construct a system of overdamped Langevin equations in the quaternion representation that accounts for hydrodynamic effects, preserves the unit-norm constraint on the quaternion, and is time reversible with respect to the Gibbs-Boltzmann distribution at equilibrium. We introduce two schemes for temporal integration of the overdamped Langevin equations of motion, one based on the Fixman midpoint method and the other based on a random finite difference approach, both of which ensure that the correct stochastic drift term is captured in a computationally efficient way. We study several examples of rigid colloidal particles diffusing near a no-slip boundary and demonstrate the importance of the choice of tracking point on the measured translational mean square displacement (MSD). We examine the average short-time as well as the long-time quasi-two-dimensional diffusion coefficient of a rigid particle sedimented near a bottom wall due to gravity. For several particle shapes, we find a choice of tracking point that makes the MSD essentially linear with time, allowing us to estimate the long-time diffusion coefficient efficiently using a Monte Carlo method. However, in general, such a special choice of tracking point does not exist, and numerical techniques for simulating long trajectories, such as the ones we introduce here, are necessary to study diffusion on long time scales.
Energy and momentum conserving algorithms for rigid body contact
Puso, M.A.; Zywicz, E.
1998-04-09
Energy-momentum conserving methods are developed for rigid body dynamics with contact. Because these methods are unconditionally stable, they are not time step dependent and, hence, are well suited for incorporation into structural mechanics finite element codes. Both penalty and Lagrange multiplier methods are developed herein and are the extension of the energy-momentum conserving integration schemes for rigid bodies given by Simo and Wong [1].
On the inertial motions of liquid-filled rigid bodies
NASA Astrophysics Data System (ADS)
Mazzone, Giusy; Galdi, Giovanni; Zunino, Paolo
2013-11-01
We consider a rigid body with a cavity completely filled by a viscous liquid and study the inertial motions of the system liquid-filled rigid body S . The equations governing the motion of this coupled system are given by the Navier-Stokes equations and the equations of the balance of the total angular momentum of S in absence of external forces and torques. Given any initial motion to the coupled system, characterized by an initial relative velocity of the fluid and an initial total angular momentum, we give a complete description of the behavior that the system liquid-filled rigid body will show at large times. From both analytical and numerical viewpoints, we are able to prove a longstanding conjecture stated by Zhukovskii, namely that S will eventually reach a steady state which is a rigid body permanent rotation. In other words, the liquid goes to rest with respect to the rigid body and the coupled system will rotate as a whole rigid body, with a constant angular velocity that is directed along one of the principal axes of inertia of the system.
New generalizations of the integrable problems in rigid body dynamics
NASA Astrophysics Data System (ADS)
Yehia, H. M.
1997-10-01
We consider the general problem of motion of a rigid body about a fixed point under the action of an axisymmetric combination of potential and gyroscopic forces. We introduce six cases of this problem which are completely integrable for arbitrary initial conditions. The new cases generalize by several parameters all, but one, of the known results in the subject of rigid body dynamics. Namely, we generalize all the results due to Euler, Lagrange, Clebsch, Kovalevskaya, Brun and Lyapunov and also their subsequent generalizations by Rubanovsky and the present author.
Knowledge-In-Action: An Example with Rigid Body Motion
ERIC Educational Resources Information Center
Da Costa, Sayonara Salvador Cabral; Moreira, Marco Antonio
2005-01-01
This paper reports the analysis of the resolution of a paper-and-pencil problem, by eight undergraduate students majoring in engineering (six) and physics (two) at the Pontifcia Universidade Catlica do Rio Grande do Sul, in Porto Alegre, Brazil. The problem concerns kinetics of a rigid body, and the analysis was done in the light of Johnson-Lairds…
Stability characterizations of fixtured rigid bodies with Coulomb friction
PANG,J.S.; TRINKLE,JEFFREY C.
2000-02-15
This paper formally introduces several stability characterizations of fixtured three-dimensional rigid bodies initially at rest and in unilateral contact with Coulomb friction. These characterizations, weak stability and strong stability, arise naturally from the dynamic model of the system, formulated as a complementarity problem. Using the tools of complementarity theory, these characterizations are studied in detail to understand their properties and to develop techniques to identify the stability classifications of general systems subjected to known external loads.
Direct inversion of rigid-body rotational dynamics
NASA Technical Reports Server (NTRS)
Bach, Ralph; Paielli, Russell
1990-01-01
The global linearization (inversion) of rigid-body rotational dynamics is reviewed and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.
Stabilization of the permanent rotations of a rigid body
NASA Astrophysics Data System (ADS)
Biiarov, T.; Krementulo, V. V.; Tazhekov, A.
1991-08-01
The problem of stabilization of the equilibrium and permanent rotations of a heavy rigid body with a fixed point is solved in the classical cases of Euler, Lagrange, and Kovalevskaya using methods of analytical control theory. In the above cases, the control moments obtained in explicit form provide for the asymptotic stability of the permanent rotation on the whole. The control moments are selected in the form of linear functions with respect to perturbations.
Lie-Poisson integrators for rigid body dynamics in the solar system
NASA Astrophysics Data System (ADS)
Touma, J.; Wisdom, J.
1994-03-01
The n-body mapping method of Wisdom & Holman (1991) is generalized to encompass rotational dynamics. The Lie-Poisson structure of rigid body dynamics is discussed. Integrators which preserve that structure are derived for the motion of a free rigid body and for the motion of rigid bodies interacting gravitationally with mass points.
Adiabatic invariants, diffusion and acceleration in rigid body dynamics
NASA Astrophysics Data System (ADS)
Borisov, Alexey V.; Mamaev, Ivan S.
2016-03-01
The onset of adiabatic chaos in rigid body dynamics is considered. A comparison of the analytically calculated diffusion coefficient describing probabilistic effects in the zone of chaos with a numerical experiment is made. An analysis of the splitting of asymptotic surfaces is performed and uncertainty curves are constructed in the Poincaré-Zhukovsky problem. The application of Hamiltonian methods to nonholonomic systems is discussed. New problem statements are given which are related to the destruction of an adiabatic invariant and to the acceleration of the system (Fermi's acceleration).
Control of the rigid body and dynamics with symmetry
NASA Astrophysics Data System (ADS)
Lum, Kai-Yew
This dissertation explores various problems in the control of the rigid body and related dynamical systems with symmetry, utilizing various modeling approaches and control techniques. We first derive a control law that asymptotically stabilizes an unbalanced top to the sleeping motion. We rewrite the classical Euler-Poisson equations by projecting the phase space onto IRsp5. The control law is based on the Hamilton-Jacobi-Bellman theory with zero dynamics and partial stability. Lyapunov techniques are used in the analysis. Next, the control of rotor imbalance with magnetic bearings is considered in the adaptive virtual autobalancing and adaptive autocentering approaches. We derive single-plane and two-plane balancing control algorithms that provide asymptotic estimates of the rotor imbalance, and that guarantee consistent performance under varying spin rate. These algorithms are based on emulation of the mechanical autobalancer. We discuss the theory based on linear analysis, and simulation and experimental results. We go on to investigate symmetry properties associated with mechanical control systems and certain nonlinear control systems. First, we generalize the classical Serret-Andoyer transformation for the free rigid body to left-invariant, hyperregular Hamiltonian systems on Tsp*SO(3), employing the notion of symplectic (Marsden-Weinstein) reduction. We then apply this result to the controlled rigid body, and show that for Hamiltonian controls that preserve the rigid body structure, the generalized Serret-Andoyer transformation yields a two dimensional representation of the closed-loop motion in canonical form. Applications to the stability analysis of relative equilibria and numerical integration are also discussed. Finally, we apply the concept of reduction to certain regulation problems on smooth manifolds. Following the works of Van der Schaft (1981) and Grizzle and Marcus (1985), we show that an output feedback regulation problem possessing certain
Metrics and connections for rigid-body kinematics
Zefran, M.; Kumar, V.; Croke, C.
1999-02-01
The set of rigid-body motions forms a Lie group called SE(3), the special Euclidean group in three dimensions. In this paper, the authors investigate possible choices of Riemannian metrics and affine connections on SE(3) for applications to kinematic analysis and robot-trajectory planning. In the first part of the paper, they study metrics whose geodesics are screw motions. They prove that no Riemannian metric can have such geodesics, and they show that the metrics whose geodesics are screw motions from a two-parameter family of semi-Riemannian metrics. In the second part of the paper, they investigate affine connections which through the covariant derivative give the correct expression for the acceleration of a rigid body. They prove that there is a unique symmetric connection with this property. Furthermore, they show that there is a family of Riemannian metrics that are compatible with such a connection. These metrics are products of the bi-invariant metric on the group of rotations and a positive-definite constant metric on the group of translations.
Plane stress problems using hysteretic rigid body spring network models
NASA Astrophysics Data System (ADS)
Christos, Sofianos D.; Vlasis, Koumousis K.
2016-08-01
In this work, a discrete numerical scheme is presented capable of modeling the hysteretic behavior of 2D structures. Rigid Body Spring Network (RBSN) models that were first proposed by Kawai (Nucl Eng Des 48(1):29-207, 1978) are extended to account for hysteretic elastoplastic behavior. Discretization is based on Voronoi tessellation, as proposed specifically for RBSN models to ensure uniformity. As a result, the structure is discretized into convex polygons that form the discrete rigid bodies of the model. These are connected with three zero length, i.e., single-node springs in the middle of their common facets. The springs follow the smooth hysteretic Bouc-Wen model which efficiently incorporates classical plasticity with no direct reference to a yield surface. Numerical results for both static and dynamic loadings are presented, which validate the proposed simplified spring-mass formulation. In addition, they verify the model's applicability on determining primarily the displacement field and plastic zones compared to the standard elastoplastic finite element method.
Computational Fluid Dynamics Demonstration of Rigid Bodies in Motion
NASA Technical Reports Server (NTRS)
Camarena, Ernesto; Vu, Bruce T.
2011-01-01
The Design Analysis Branch (NE-Ml) at the Kennedy Space Center has not had the ability to accurately couple Rigid Body Dynamics (RBD) and Computational Fluid Dynamics (CFD). OVERFLOW-D is a flow solver that has been developed by NASA to have the capability to analyze and simulate dynamic motions with up to six Degrees of Freedom (6-DOF). Two simulations were prepared over the course of the internship to demonstrate 6DOF motion of rigid bodies under aerodynamic loading. The geometries in the simulations were based on a conceptual Space Launch System (SLS). The first simulation that was prepared and computed was the motion of a Solid Rocket Booster (SRB) as it separates from its core stage. To reduce computational time during the development of the simulation, only half of the physical domain with respect to the symmetry plane was simulated. Then a full solution was prepared and computed. The second simulation was a model of the SLS as it departs from a launch pad under a 20 knot crosswind. This simulation was reduced to Two Dimensions (2D) to reduce both preparation and computation time. By allowing 2-DOF for translations and 1-DOF for rotation, the simulation predicted unrealistic rotation. The simulation was then constrained to only allow translations.
A method for measuring the inertia properties of rigid bodies
NASA Astrophysics Data System (ADS)
Gobbi, M.; Mastinu, G.; Previati, G.
2011-01-01
A method for the measurement of the inertia properties of rigid bodies is presented. Given a rigid body and its mass, the method allows to measure (identify) the centre of gravity location and the inertia tensor during a single test. The proposed technique is based on the analysis of the free motion of a multi-cable pendulum to which the body under consideration is connected. The motion of the pendulum and the forces acting on the system are recorded and the inertia properties are identified by means of a proper mathematical procedure based on a least square estimation. After the body is positioned on the test rig, the full identification procedure takes less than 10 min. The natural frequencies of the pendulum and the accelerations involved are quite low, making this method suitable for many practical applications. In this paper, the proposed method is described and two test rigs are presented: the first is developed for bodies up to 3500 kg and the second for bodies up to 400 kg. A validation of the measurement method is performed with satisfactory results. The test rig holds a third part quality certificate according to an ISO 9001 standard and could be scaled up to measure the inertia properties of huge bodies, such as trucks, airplanes or even ships.
Hurricane Balls: A rigid-body-motion project for undergraduates
NASA Astrophysics Data System (ADS)
Jackson, David P.; Mertens, David; Pearson, Brett J.
2015-11-01
We discuss a project on rigid-body motion that is appropriate for students in an upper-division course in classical mechanics. We analyze the motion of Hurricane Balls, two spheres that are welded (or glued) together so they act as a single object that can be spun like a top. The steady-state motion consists of purely rotational motion about the center of mass, such that only one ball is in contact with the table as it rolls without slipping. We give a qualitative explanation for why one ball rises into the air, and we theoretically analyze the system using multiple approaches. We also perform a high-speed video analysis to obtain experimental data on how the orientation depends on the spin rate, and find agreement within a few percent of the theory.
Absolute and relative choreographies in rigid body dynamics
NASA Astrophysics Data System (ADS)
Borisov, A. V.; Kilin, A. A.; Mamaev, I. S.
2008-06-01
For the classical problem of motion of a rigid body about a fixed point with zero area integral, we present a family of solutions that are periodic in the absolute space. Such solutions are known as choreographies. The family includes the well-known Delone solutions (for the Kovalevskaya case), some particular solutions for the Goryachev-Chaplygin case, and the Steklov solution. The “genealogy” of solutions of the family naturally appearing from the energy continuation and their connection with the Staude rotations are considered. It is shown that if the integral of areas is zero, the solutions are periodic with respect to a coordinate frame that rotates uniformly about the vertical (relative choreographies).
Dynamical analysis of an orbiting three-rigid-body system
Pagnozzi, Daniele E-mail: james.biggs@strath.ac.uk; Biggs, James D. E-mail: james.biggs@strath.ac.uk
2014-12-10
The development of multi-joint-spacecraft mission concepts calls for a deeper understanding of their nonlinear dynamics to inform and enhance system design. This paper presents a study of a three-finite-shape rigid-body system under the action of an ideal central gravitational field. The aim of this paper is to gain an insight into the natural dynamics of this system. The Hamiltonian dynamics is derived and used to identify relative attitude equilibria of the system with respect to the orbital reference frame. Then a numerical investigation of the behaviour far from the equilibria is provided using tools from modern dynamical systems theory such as energy methods, phase portraits and Poincarè maps. Results reveal a complex structure of the dynamics as well as the existence of connections between some of the equilibria. Stable equilibrium configurations appear to be surrounded by very narrow regions of regular and quasi-regular motions. Trajectories evolve on chaotic motions in the rest of the domain.
Direct numerical simulation of rigid bodies in multiphase flow within an Eulerian framework
NASA Astrophysics Data System (ADS)
Rauschenberger, P.; Weigand, B.
2015-06-01
A new method is presented to simulate rigid body motion in the Volume-of-Fluid based multiphase code Free Surface 3D. The specific feature of the new method is that it works within an Eulerian framework without the need for a Lagrangian representation of rigid bodies. Several test cases are shown to prove the validity of the numerical scheme. The technique is able to conserve the shape of arbitrarily shaped rigid bodies and predict terminal velocities of rigid spheres. The instability of a falling ellipsoid is captured. Multiple rigid bodies including collisions may be considered using only one Volume-of-Fluid variable which allows to simulate the drafting, kissing and tumbling phenomena of two rigid spheres. The method can easily be extended to rigid bodies undergoing phase change processes.
Error analysis of rigid body posture measurement system based on circular feature points
NASA Astrophysics Data System (ADS)
Huo, Ju; Cui, Jishan; Yang, Ning
2015-02-01
For monocular vision pose parameters determine the problem, feature-based target feature points on the plane quadrilateral, an improved two-stage iterative algorithm is proposed to improve the optimization of rigid body posture measurement calculating model. Monocular vision rigid body posture measurement system is designed; experimentally in each coordinate system determined coordinate a unified method to unify the each feature point measure coordinates; theoretical analysis sources of error from rigid body posture measurement system simulation experiments. Combined with the actual experimental analysis system under the condition of simulation error of pose accuracy of measurement, gives the comprehensive error of measurement system, for improving measurement precision of certain theoretical guiding significance.
A general purpose nonlinear rigid body mass finite element for application to rotary wing dynamics
NASA Technical Reports Server (NTRS)
Hamilton, B. K.; Straub, F. K.; Ruzicka, G. C.
1991-01-01
The Second Generation Comprehensive Helicopter Analysis System employs the present formulation of the general-purpose nonlinear rigid body mass finite element, which represents the hub masses, blade tip masses, and pendulum vibration absorbers. The rigid body mass element has six degrees of freedom, and accounts for gravitational as well as dynamic effects. A consequence of deriving the element's equations from various physical principles is that, prior to the transformation which couples the rigid body mass element to the rotor blade finite element, the forces obtained for each element are fundamentally different; this is true notwithstanding the degrees-of-freedom of each element are parameterized using the same coordinates.
Interactions between rigid-body and flexible-body motions in maneuvering spacecraft
NASA Technical Reports Server (NTRS)
Silverberg, Larry M.; Park, Sungtae
1990-01-01
The present consideration of the significant interactions between rigid-body and flexible-body motions in maneuvering spacecraft proceeds by distinguishing between the two types of motion on the basis of a tracking coordinate system which coincides with the rigid-body component of the motion, as well as by maintaining the motion relative to the tracking coordinate as orthogonal to the rigid-body motion. The elastic motion is excited by the rigid-body motion via Coriolis terms, angular acceleration terms, and centrifugal terms. These interactions are illustrated for spacecraft undergoing bidirectional elastic motions via the dynamics of constantly rotating free-free beams subject to combined bending and longitudinal vibration.
State-variable models of structures having rigid-body modes
NASA Technical Reports Server (NTRS)
Craig, Roy R., Jr.; Su, Tsu-Jeng; Ni, Zhenhua
1990-01-01
In cases where the equations of motion of a structure having rigid-body freedom are cast in state-variable form, generalized state rigid-body modes may be needed. It is possible to find a linearly-independent set of generalized vectors which transform an n x n matrix into the almost-diagonal Jordan form. Attention is presently given to equations governing these generalized eigenvectors, together with illustrative examples of the damped and undamped structure cases.
Rigid body dynamics approach to Stokesian dynamics simulations of nonspherical particles
NASA Astrophysics Data System (ADS)
Kutteh, Ramzi
2010-05-01
We describe an algorithm for performing Stokesian dynamics (SD) simulations of suspensions of arbitrary shape rigid particles with hydrodynamic interactions, modeled as rigid groups of spheres, the hydrodynamic mobility matrix of which is accurately computable by several established schemes for spheres. The algorithm is based on Stokesian rigid body equations of translational and rotational motion, which we have derived by an approach formally analogous to that of Newtonian rigid body dynamics. Particle orientation is represented in terms of Euler parameters (quaternion of rotation). This rigid body SD algorithm (RBSDA) complements recently described constraint SD algorithms [R. Kutteh, J. Chem. Phys. 119, 9280 (2003); R. Kutteh, Phys. Rev. E 69, 011406 (2004)], over which it offers the same computational advantages in imposing total rigidity that the basic rigid body molecular dynamics (MD) algorithm offers over constraint MD algorithms. We show that SD simulation results generated with the RBSDA, in bounded and unbounded geometries, agree very well with those from experiment and other SD and non-SD methods, and are numerically identical to those from a constraint SD algorithm, HSHAKE. Finally, for completeness we also describe a third (additional to the constraint SD and rigid body SD approaches) more traditional approach for SD simulations of arbitrary shape rigid particles modeled as rigid groups of spheres.
Rigid body dynamics approach to Stokesian dynamics simulations of nonspherical particles.
Kutteh, Ramzi
2010-05-01
We describe an algorithm for performing Stokesian dynamics (SD) simulations of suspensions of arbitrary shape rigid particles with hydrodynamic interactions, modeled as rigid groups of spheres, the hydrodynamic mobility matrix of which is accurately computable by several established schemes for spheres. The algorithm is based on Stokesian rigid body equations of translational and rotational motion, which we have derived by an approach formally analogous to that of Newtonian rigid body dynamics. Particle orientation is represented in terms of Euler parameters (quaternion of rotation). This rigid body SD algorithm (RBSDA) complements recently described constraint SD algorithms [R. Kutteh, J. Chem. Phys. 119, 9280 (2003); R. Kutteh, Phys. Rev. E 69, 011406 (2004)], over which it offers the same computational advantages in imposing total rigidity that the basic rigid body molecular dynamics (MD) algorithm offers over constraint MD algorithms. We show that SD simulation results generated with the RBSDA, in bounded and unbounded geometries, agree very well with those from experiment and other SD and non-SD methods, and are numerically identical to those from a constraint SD algorithm, HSHAKE. Finally, for completeness we also describe a third (additional to the constraint SD and rigid body SD approaches) more traditional approach for SD simulations of arbitrary shape rigid particles modeled as rigid groups of spheres. PMID:20459156
NONUNIFORM FOURIER TRANSFORMS FOR RIGID-BODY AND MULTI-DIMENSIONAL ROTATIONAL CORRELATIONS
BAJAJ, CHANDRAJIT; BAUER, BENEDIKT; BETTADAPURA, RADHAKRISHNA; VOLLRATH, ANTJE
2013-01-01
The task of evaluating correlations is central to computational structural biology. The rigid-body correlation problem seeks the rigid-body transformation (R, t), R ∈ SO(3), t ∈ ℝ3 that maximizes the correlation between a pair of input scalar-valued functions representing molecular structures. Exhaustive solutions to the rigid-body correlation problem take advantage of the fast Fourier transform to achieve a speedup either with respect to the sought translation or rotation. We present PFcorr, a new exhaustive solution, based on the non-equispaced SO(3) Fourier transform, to the rigid-body correlation problem; unlike previous solutions, ours achieves a combination of translational and rotational speedups without requiring equispaced grids. PFcorr can be straightforwardly applied to a variety of problems in protein structure prediction and refinement that involve correlations under rigid-body motions of the protein. Additionally, we show how it applies, along with an appropriate flexibility model, to analogs of the above problems in which the flexibility of the protein is relevant. PMID:24379643
An incompressible smoothed particle hydrodynamics method for the motion of rigid bodies in fluids
NASA Astrophysics Data System (ADS)
Tofighi, N.; Ozbulut, M.; Rahmat, A.; Feng, J. J.; Yildiz, M.
2015-09-01
A two-dimensional incompressible smoothed particle hydrodynamics scheme is presented for simulation of rigid bodies moving through Newtonian fluids. The scheme relies on combined usage of the rigidity constraints and the viscous penalty method to simulate rigid body motion. Different viscosity ratios and interpolation schemes are tested by simulating a rigid disc descending in quiescent medium. A viscosity ratio of 100 coupled with weighted harmonic averaging scheme has been found to provide satisfactory results. The performance of the resulting scheme is systematically tested for cases with linear motion, rotational motion and their combination. The test cases include sedimentation of a single and a pair of circular discs, sedimentation of an elliptic disc and migration and rotation of a circular disc in linear shear flow. Comparison with previous results at various Reynolds numbers indicates that the proposed method captures the motion of rigid bodies driven by flow or external body forces accurately.
NASA Technical Reports Server (NTRS)
Fleischer, G. E.; Likins, P. W.
1975-01-01
Three computer subroutines designed to solve the vector-dyadic differential equations of rotational motion for systems that may be idealized as a collection of hinge-connected rigid bodies assembled in a tree topology, with an optional flexible appendage attached to each body are reported. Deformations of the appendages are mathematically represented by modal coordinates and are assumed small. Within these constraints, the subroutines provide equation solutions for (1) the most general case of unrestricted hinge rotations, with appendage base bodies nominally rotating at a constant speed, (2) the case of unrestricted hinge rotations between rigid bodies, with the restriction that those rigid bodies carrying appendages are nominally nonspinning, and (3) the case of small hinge rotations and nominally nonrotating appendages. Sample problems and their solutions are presented to illustrate the utility of the computer programs.
Virtual rigid body: a new optical tracking paradigm in image-guided interventions
NASA Astrophysics Data System (ADS)
Cheng, Alexis; Lee, David S.; Deshmukh, Nishikant; Boctor, Emad M.
2015-03-01
Tracking technology is often necessary for image-guided surgical interventions. Optical tracking is one the options, but it suffers from line of sight and workspace limitations. Optical tracking is accomplished by attaching a rigid body marker, having a pattern for pose detection, onto a tool or device. A larger rigid body results in more accurate tracking, but at the same time large size limits its usage in a crowded surgical workspace. This work presents a prototype of a novel optical tracking method using a virtual rigid body (VRB). We define the VRB as a 3D rigid body marker in the form of pattern on a surface generated from a light source. Its pose can be recovered by observing the projected pattern with a stereo-camera system. The rigid body's size is no longer physically limited as we can manufacture small size light sources. Conventional optical tracking also requires line of sight to the rigid body. VRB overcomes these limitations by detecting a pattern projected onto the surface. We can project the pattern onto a region of interest, allowing the pattern to always be in the view of the optical tracker. This helps to decrease the occurrence of occlusions. This manuscript describes the method and results compared with conventional optical tracking in an experiment setup using known motions. The experiments are done using an optical tracker and a linear-stage, resulting in targeting errors of 0.38mm+/-0.28mm with our method compared to 0.23mm+/-0.22mm with conventional optical markers. Another experiment that replaced the linear stage with a robot arm resulted in rotational errors of 0.50+/-0.31° and 2.68+/-2.20° and the translation errors of 0.18+/-0.10 mm and 0.03+/-0.02 mm respectively.
Physical pendulum—a simple experiment can give comprehensive information about a rigid body
NASA Astrophysics Data System (ADS)
Kladivová, Mária; Mucha, L'ubomír
2014-03-01
A simple experiment with a physical pendulum examining some aspects of rigid body motion is presented in this paper. The experiment consists of measuring the period of oscillation of a rod with non-homogeneous mass distribution used as a physical pendulum, dependent upon the position of the pivot axis. The obtained dependence provides sufficient information to calculate the position of the centre of mass, moment of inertia of the rigid body and local gravitational acceleration. This experiment is intended for secondary school and undergraduate students.
NASA Astrophysics Data System (ADS)
Nguyen, Trung Dac; Phillips, Carolyn L.; Anderson, Joshua A.; Glotzer, Sharon C.
2011-11-01
Molecular dynamics (MD) methods compute the trajectory of a system of point particles in response to a potential function by numerically integrating Newton's equations of motion. Extending these basic methods with rigid body constraints enables composite particles with complex shapes such as anisotropic nanoparticles, grains, molecules, and rigid proteins to be modeled. Rigid body constraints are added to the GPU-accelerated MD package, HOOMD-blue, version 0.10.0. The software can now simulate systems of particles, rigid bodies, or mixed systems in microcanonical (NVE), canonical (NVT), and isothermal-isobaric (NPT) ensembles. It can also apply the FIRE energy minimization technique to these systems. In this paper, we detail the massively parallel scheme that implements these algorithms and discuss how our design is tuned for the maximum possible performance. Two different case studies are included to demonstrate the performance attained, patchy spheres and tethered nanorods. In typical cases, HOOMD-blue on a single GTX 480 executes 2.5-3.6 times faster than LAMMPS executing the same simulation on any number of CPU cores in parallel. Simulations with rigid bodies may now be run with larger systems and for longer time scales on a single workstation than was previously even possible on large clusters.
A penalty immersed boundary method for a rigid body in fluid
NASA Astrophysics Data System (ADS)
Kim, Yongsam; Peskin, Charles S.
2016-03-01
We extend the penalty immersed boundary (pIB) method to the interaction between a rigid body and a surrounding fluid. The pIB method is based on the idea of splitting an immersed boundary, which here is a rigid body, notionally into two Lagrangian components: one is a massive component carrying all mass of the rigid body and the other is massless. These two components are connected by a system of stiff springs with 0 rest length. The massless component interacts with the surrounding fluid: it moves at the local fluid velocity and exerts force locally on the fluid. The massive component has no direct interaction with the surrounding fluid and behaves as though in a vacuum, following the dynamics of a rigid body, in which the acting forces and torques are generated from the system of stiff springs that connects the two Lagrangian components. We verify the pIB method by computing the drag coefficients of a cylinder and ball descending though a fluid under the influence of gravity and also by studying the interaction of two such descending cylinders and likewise the interaction of two such descending balls. The computational results are quite comparable to those in the literature. As a further example of an application, we include a freely falling maple seed with autorotation.
NASA Astrophysics Data System (ADS)
Patrinopoulos, Matthaios; Kefalis, Chrysovalantis
2015-12-01
In this paper, we focus on smartphones as experimental tools; specifically we use the gyroscope sensor of a smartphone to study the turning motion of a rigid body. Taking into consideration recent work concerning that topic, we try to use the gyroscope sensor in studying the complex motion of a rolling cylinder on a slope.
Numerical simulation of a moving rigid body in a rarefied gas
NASA Astrophysics Data System (ADS)
Shrestha, Samir; Tiwari, Sudarshan; Klar, Axel; Hardt, Steffen
2015-07-01
In this paper we present a numerical scheme to simulate a moving rigid body with arbitrary shape suspended in a rarefied gas. The rarefied gas is simulated by solving the Boltzmann equation using a DSMC particle method. The motion of the rigid body is governed by the Newton-Euler equations, where the force and the torque on the rigid body are computed from the momentum transfer of the gas molecules colliding with the body. On the other hand, the motion of the rigid body influences the gas flow in its surroundings. We validate the numerical scheme by considering a moving piston problem in 1D and the Einstein relation for Brownian motion of the suspended particle in 3D. In the piston problem it is shown that the equilibrium position of the moving piston converges to the analytical solution for a wide range of Knudsen numbers. In the case of Brownian motion the translational as well as the rotational degrees of freedom are taken into account. In this case it is shown that the numerically computed translational and rotational diffusion coefficients converge to the theoretical values. Finally, the motion of an object of complex shape under the influence of a thermophoretic force is investigated.
Periodic solutions in the Kovalevskaya case of a rigid body in rotation about a fixed point
NASA Astrophysics Data System (ADS)
El-Sabaa, F. M. F.
1992-07-01
The method of small parameters introduced by Poincare is used to obtain the period solution of the problem of a rigid body in the Kovalevskaya case with k (the Kovalevskaya constant of integration) as a small parameter. The asymptotic solution is obtained in terms of elliptic integrals for the (complete integrable) Kovalevskaya top.
Lorentz Contraction, Bell's Spaceships and Rigid Body Motion in Special Relativity
ERIC Educational Resources Information Center
Franklin, Jerrold
2010-01-01
The meaning of Lorentz contraction in special relativity and its connection with Bell's spaceships parable is discussed. The motion of Bell's spaceships is then compared with the accelerated motion of a rigid body. We have tried to write this in a simple form that could be used to correct students' misconceptions due to conflicting earlier…
Planar dynamics of a uniform beam with rigid bodies affixed to the ends
NASA Technical Reports Server (NTRS)
Storch, J.; Gates, S.
1983-01-01
The planar dynamics of a uniform elastic beam subject to a variety of geometric and natural boundary conditions and external excitations were analyzed. The beams are inextensible and capable of small transverse bending deformations only. Classical beam vibration eigenvalue problems for a cantilever with tip mass, a cantilever with tip body and an unconstrained beam with rigid bodies at each are examined. The characteristic equations, eigenfunctions and orthogonality relations for each are derived. The forced vibration of a cantilever with tip body subject to base acceleration is analyzed. The exact solution of the governing nonhomogeneous partial differential equation with time dependent boundary conditions is presented and compared with a Rayleigh-Ritz approximate solution. The arbitrary planar motion of an elastic beam with rigid bodies at the ends is addressed. Equations of motion are derived for two modal expansions of the beam deflection. The motion equations are cast in a first order form suitable for numerical integration. Selected FORTRAN programs are provided.
Compliant mechanism road bicycle brake: a rigid-body replacement case study
Olsen, Brian M; Howell, Larry L; Magleby, Spencer P
2011-01-19
The design of high-performance bicycle brakes is complicated by the competing design objectives of increased performance and low weight. But this challenge also provides a good case study to demonstrate the design of compliant mechanisms to replace current rigid-link mechanisms. This paper briefly reviews current road brake designs, demonstrates the use of rigid-body replacement synthesis to design a compliant mechanism, and illustrates the combination of compliant mechanism design tools. The resulting concept was generated from the modified dual-pivot brake design and is a partially compliant mechanism where one pin has the dual role of a joint and a mounting pin. The pseudo-rigid-body model, finite element analysis, and optimization algorithms are used to generate design dimensions, and designs are considered for both titanium and E-glass flexures. The resulting design has the potential of reducing the part count and overall weight while maintaining a performance similar to the benchmark.
A New Approach to Rigid Body Minimization with Application to Molecular Docking*
Mirzaei, Hanieh; Kozakov, Dima; Beglov, Dmitri; Paschalidis, Ioannis Ch.; Vajda, Sandor; Vakili, Pirooz
2013-01-01
Our work is motivated by energy minimization in the space of rigid affine transformations of macromolecules, an essential step in computational protein-protein docking. We introduce a novel representation of rigid body motion that leads to a natural formulation of the energy minimization problem as an optimization on the SO(3)×R3 manifold, rather than the commonly used SE(3). The new representation avoids the complications associated with optimization on the SE(3) manifold and provides additional flexibilities for optimization not available in that formulation. The approach is applicable to general rigid body minimization problems. Our computational results for a local optimization algorithm developed based on the new approach show that it is about an order of magnitude faster than a state of art local minimization algorithms for computational protein-protein docking. PMID:24763338
Topological classification of the Goryachev integrable case in rigid body dynamics
NASA Astrophysics Data System (ADS)
Nikolaenko, S. S.
2016-01-01
A topological analysis of the Goryachev integrable case in rigid body dynamics is made on the basis of the Fomenko-Zieschang theory. The invariants (marked molecules) which are obtained give a complete description, from the standpoint of Liouville classification, of the systems of Goryachev type on various level sets of the energy. It turns out that on appropriate energy levels the Goryachev case is Liouville equivalent to many classical integrable systems and, in particular, the Joukowski, Clebsch, Sokolov and Kovalevskaya-Yehia cases in rigid body dynamics, as well as to some integrable billiards in plane domains bounded by confocal quadrics -- in other words, the foliations given by the closures of generic solutions of these systems have the same structure. Bibliography: 15 titles.
Stabilization of the rotational motion of a rigid body on a vibrating base
NASA Astrophysics Data System (ADS)
Krementulo, V. V.
1984-12-01
The problem of the optimum (in a certain sense) stabilization of the permanent rotation of a heavy rigid body on a vibrating base is solved in the context of analytical control theory. Stabilization is achieved by means of a gimbal-suspended balanced gyroscope controlled by three moments. The control moments, obtained in explicit form, ensure the asymptotic stability of the rotational motion of the body along all of its phase coordinates and a minimum of a certain integral functional.
Estimation of motion parameters for a rigid body from its orthogonal projection
NASA Technical Reports Server (NTRS)
Ganguly, S.; Ghosh, B.; Tarn, T. J.; Bejczy, A. K.
1989-01-01
An estimate is presented of the motion parameters, namely, linear and angular velocities of a rigid body rotating and translating in three-dimensional-space. It is assumed that the velocities are constant and that only the orthogonal projection of the motion is observable. In particular, if (x, y, z) is the Cartesian coordinate, it is assumed that the projection of the motion on the x-y plane is observed and the information along the z coordinate is lost.
Molina, John J; Yamamoto, Ryoichi
2013-12-21
An improved formulation of the "Smoothed Profile" method is introduced to perform direct numerical simulations of arbitrary rigid body dispersions in a Newtonian host solvent. Previous implementations of the method were restricted to spherical particles, severely limiting the types of systems that could be studied. The validity of the method is carefully examined by computing the friction/mobility tensors for a wide variety of geometries and comparing them to reference values obtained from accurate solutions to the Stokes-Equation. PMID:24359350
A stable FSI algorithm for light rigid bodies in compressible flow
NASA Astrophysics Data System (ADS)
Banks, J. W.; Henshaw, W. D.; Sjögreen, B.
2013-07-01
In this article we describe a stable partitioned algorithm that overcomes the added mass instability arising in fluid-structure interactions of light rigid bodies and inviscid compressible flow. The new algorithm is stable even for bodies with zero mass and zero moments of inertia. The approach is based on a local characteristic projection of the force on the rigid body and is a natural extension of the recently developed algorithm for coupling compressible flow and deformable bodies [1-3]. The new algorithm advances the solution in the fluid domain with a standard upwind scheme and explicit time-stepping. The Newton-Euler system of ordinary differential equations governing the motion of the rigid body is augmented by added mass correction terms. This system, which is very stiff for light bodies, is solved with an A-stable diagonally implicit Runge-Kutta scheme. The implicit system (there is one independent system for each body) consists of only 3d+d2 scalar unknowns in d=2 or d=3 space dimensions and is fast to solve. The overall cost of the scheme is thus dominated by the cost of the explicit fluid solver. Normal mode analysis is used to prove the stability of the approximation for a one-dimensional model problem and numerical computations confirm these results. In multiple space dimensions the approach naturally reveals the form of the added mass tensors in the equations governing the motion of the rigid body. These tensors, which depend on certain surface integrals of the fluid impedance, couple the translational and angular velocities of the body. Numerical results in two space dimensions, based on the use of moving overlapping grids and adaptive mesh refinement, demonstrate the behavior and efficacy of the new scheme. These results include the simulation of the difficult problems of shock impingement on an ellipse and a more complex body with appendages, both with zero mass.
Efficient time-symmetric simulation of torqued rigid bodies using Jacobi elliptic functions
NASA Astrophysics Data System (ADS)
Celledoni, E.; Säfström, N.
2006-05-01
If the three moments of inertia are distinct, the solution to the Euler equations for the free rigid body is given in terms of Jacobi elliptic functions. Using the arithmetic-geometric mean algorithm (Abramowitz and Stegun 1992 Handbook of Mathematical Functions with Formulas, Graphs, and Mathematical Tables (New York: Dover)), these functions can be calculated efficiently and accurately. Compared to standard numerical ODE and Lie-Poisson solvers, the overall approach yields a faster and more accurate numerical solution to the Euler equations. This approach is designed for mass asymmetric rigid bodies. In the case of symmetric bodies, the exact solution is available in terms of trigonometric functions, see Dullweber et al (1997 J. Chem. Phys. 107 5840-51), Reich (1996 Fields Inst. Commun. 10 181-91) and Benettin et al (2001 SIAM J. Sci. Comp. 23 1189-203) for details. In this paper, we consider the case of asymmetric rigid bodies subject to external forces. We consider a strategy similar to the symplectic splitting method proposed in Reich (1996 Fields Inst. Commun. 10 181-91) and Dullweber et al (1997 J. Chem. Phys. 107 5840-51). The method proposed here is time-symmetric. We decompose the vector field of our problem into a free rigid body (FRB) problem and another completely integrable vector field. The FRB problem consists of the Euler equations and a differential equation for the 3 × 3 orientation matrix. The Euler equations are integrated exactly while the matrix equation is approximated using a truncated Magnus series. In our experiments, we observe that the overall numerical solution benefits greatly from the very accurate solution of the Euler equations. We apply the method to the heavy top and the simulation of artificial satellite attitude dynamics.
On the motion of a heavy rigid body in an ideal fluid with circulation.
Borisov, Alexey V; Mamaev, Ivan S
2006-03-01
We consider Chaplygin's equations [Izd. Akad. Nauk SSSR 3, 3 (1933)] describing the planar motion of a rigid body in an unbounded volume of an ideal fluid while circulation around the body is not zero. Hamiltonian structures and new integrable cases are revealed; certain remarkable partial solutions are found and their stability is examined. The nonintegrability of the system describing the motion of a body in the field of gravity is proved and the chaotic behavior of the system is illustrated. PMID:16599749
Hamilton's Equations with Euler Parameters for Rigid Body Dynamics Modeling. Chapter 3
NASA Technical Reports Server (NTRS)
Shivarama, Ravishankar; Fahrenthold, Eric P.
2004-01-01
A combination of Euler parameter kinematics and Hamiltonian mechanics provides a rigid body dynamics model well suited for use in strongly nonlinear problems involving arbitrarily large rotations. The model is unconstrained, free of singularities, includes a general potential energy function and a minimum set of momentum variables, and takes an explicit state space form convenient for numerical implementation. The general formulation may be specialized to address particular applications, as illustrated in several three dimensional example problems.
The phase topology of a special case of Goryachev integrability in rigid body dynamics
Ryabov, P. E.
2014-07-31
The phase topology of a special case of Goryachev integrability in the problem of motion of a rigid body in a fluid is investigated using the method of Boolean functions, which was developed by Kharlamov for algebraically separated systems. The bifurcation diagram of the moment map is found and the Fomenko invariant, which classifies the systems up to rough Liouville equivalence, is specified. Bibliography: 15 titles. (paper)
New conditional integrable cases of motion of a rigid body with Kovalevskaya's configuration
NASA Astrophysics Data System (ADS)
Yehia, H. M.; Elmandouh, A. A.
2011-01-01
We consider the general problem of motion of a rigid body about a fixed point under the action of an axisymmetric combination of potential and gyroscopic forces. We introduce two new cases of this problem which are integrable on the zero level of the cyclic integral. The new cases are combined generalizations of several previously known ones, namely those of Kovalevskaya, Yehia, Sokolov, Yehia and Bedweihi and Goriatchev, by the introduction of additional parameters to the structure of each.
The phase topology of a special case of Goryachev integrability in rigid body dynamics
NASA Astrophysics Data System (ADS)
Ryabov, P. E.
2014-07-01
The phase topology of a special case of Goryachev integrability in the problem of motion of a rigid body in a fluid is investigated using the method of Boolean functions, which was developed by Kharlamov for algebraically separated systems. The bifurcation diagram of the moment map is found and the Fomenko invariant, which classifies the systems up to rough Liouville equivalence, is specified. Bibliography: 15 titles.
NASA Technical Reports Server (NTRS)
Fitzpatrick, P. M.; Harmon, G. R.; Cochran, J. E.; Shaw, W. A.
1974-01-01
Some methods of approaching a solution to the Hamilton-Jacobi equation are outlined and examples are given to illustrate particular methods. These methods may be used for cases where the Hamilton-Jacobi equation is not separable and have been particularly useful in solving the rigid body motion of an earth satellite subjected to gravity torques. These general applications may also have usefulness in studying the motion of satellites with aerodynamic torque and in studying space vehicle motion where thrusting is involved.
A new pre-loaded beam geometric stiffness matrix with full rigid body capabilities
NASA Technical Reports Server (NTRS)
Bosela, P. A.; Fertis, D. G.; Shaker, F. J.
1992-01-01
Space structures, such as the Space Station solar arrays, must be extremely light-weight, flexible structures. Accurate prediction of the natural frequencies and mode shapes is essential for determining the structural adequacy of components, and designing a controls system. The tension pre-load in the 'blanket' of photovoltaic solar collectors, and the free/free boundary conditions of a structure in space, causes serious reservations on the use of standard finite element techniques of solution. In particular, a phenomenon known as 'grounding', or false stiffening, of the stiffness matrix occurs during rigid body rotation. The authors have previously shown that the grounding phenomenon is caused by a lack of rigid body rotational capability, and is typical in beam geometric stiffness matrices formulated by others, including those which contain higher order effects. The cause of the problem was identified as the force imbalance inherent in the formulations. In this paper, the authors develop a beam geometric stiffness matrix for a directed force problem, and show that the resultant global stiffness matrix contains complete rigid body mode capabilities, and performs very well in the diagonalization methodology customarily used in dynamic analysis.
NASA Astrophysics Data System (ADS)
Wang, Chengjie; Eldredge, Jeff D.
2015-08-01
A strong coupling algorithm is presented for simulating the dynamic interactions between incompressible viscous flows and rigid-body systems in both two- and three-dimensional problems. In this work, the Navier-Stokes equations for incompressible flow are solved on a uniform Cartesian grid by the vorticity-based immersed boundary projection method of Colonius and Taira. Dynamical equations for arbitrary rigid-body systems are also developed. The proposed coupling method attempts to unify the treatment of constraints in the fluid and structure-the incompressibility of the fluid, the linkages in the rigid-body system, and the conditions at the interface-through the use of Lagrange multipliers. The resulting partitioned system of equations is solved with a simple relaxation scheme, based on an identification of virtual inertia from the fluid. The scheme achieves convergence in only 2 to 5 iterations per time step for a wide variety of mass ratios. The formulation requires that only a subset of the discrete fluid equations be solved in each iteration. Several two- and three-dimensional numerical tests are conducted to validate and demonstrate the method, including a falling cylinder, flapping of flexible wings, self-excited oscillations of a system of many linked plates in a free stream, and passive pivoting of a finite aspect ratio plate under the influence of gravity in a free stream. The results from the current method are compared with previous experimental and numerical results and good agreement is achieved.
Modeling the bacterial flagellum by an elastic network of rigid bodies
NASA Astrophysics Data System (ADS)
Speier, C.; Vogel, R.; Stark, H.
2011-08-01
Bacteria such as Escherichia coli propel themselves by rotating a bundle of helical filaments, each driven by a rotary motor embedded in the cell membrane. Each filament is an assembly of thousands of copies of the protein flagellin which assumes two different states. We model the filament by an elastic network of rigid bodies that form bonds with one another according to a scheme suggested by Namba and Vondervistz (1997 Q. Rev. Biophys. 30 1-65) and add additional binding sites at the inner part of the rigid body. Our model reproduces the helical parameters of the 12 possible polymorphic configurations very well. We demonstrate that its energetical ground state corresponds to the normal helical form, usually observed in nature, only when inner and outer binding sites of the rigid body have a large axial displacement. This finding correlates directly to the elongated shape of the flagellin molecule. An Ising Hamiltonian in our model directly addresses the two states of the flagellin protein. It contains an external field that represents external parameters which allow us to alter the ground state of the filament.
An Interface for Specifying Rigid-Body Motions for CFD Applications
NASA Technical Reports Server (NTRS)
Murman, Scott M.; Chan, William; Aftosmis, Michael; Meakin, Robert L.; Kwak, Dochan (Technical Monitor)
2003-01-01
An interface for specifying rigid-body motions for CFD applications is presented. This interface provides a means of describing a component hierarchy in a geometric configuration, as well as the motion (prescribed or six-degree-of-freedom) associated with any component. The interface consists of a general set of datatypes, along with rules for their interaction, and is designed to be flexible in order to evolve as future needs dictate. The specification is currently implemented with an XML file format which is portable across platforms and applications. The motion specification is capable of describing general rigid body motions, and eliminates the need to write and compile new code within the application software for each dynamic configuration, allowing client software to automate dynamic simulations. The interface is integrated with a GUI tool which allows rigid body motions to be prescribed and verified interactively, promoting access to non-expert users. Illustrative examples, as well as the raw XML source of the file specifications, are included.
Limitations of rigid body descriptions for heavy-duty diesel engine vibration
Hoffman, D.M.W.; Dowling, D.R.
1999-04-01
Internal combustion engine vibration modeling commonly relies on assuming the engine is a linearly reacting rigid body, thereby ignoring rotating, reciprocating, and nonsolid engine components. Limitations of this approach are identified from a series of experiments on a heavy-duty in-line six-cylinder Diesel engine typical of Class VIII trucks. Measurement of all three orthogonal vibration force components were made at each of three engine mounts during standard impact-excitation modal identification tests on the quiescent engine and during engine operation. The running-engine vibration forces, measured throughout the test engine load and speed operating envelope, were projected onto the quiescent-engine rigid body modes to determine the modal content and residual vibration as a function of frequency. Modal decomposition results for the running engine show that the quiescent-engine rigid body modes, with modal frequencies between 5.6 and 26.3 Hz, account for 80 percent or more of the measured engine vibration forces for all engine speeds and loads in a bandwidth from zero to 200 Hz. The likely origins of the residual vibration within this bandwidth are discussed.
Rigid Body Modes Influence On Microvibration Analysis-Application To Swarm
NASA Astrophysics Data System (ADS)
Laduree, G.; Fransen, S.; Baldesi, G.; Pflieger, I.
2012-07-01
Microvibrations are defined as low level mechanical disturbances affecting payload performance, generated by mobile parts or mechanism operating on-board the spacecraft, like momentum or reaction wheels, pointing mechanism, cryo-coolers or thrusters. The disturbances caused by these sources are transmitted through the spacecraft structure and excite modes of that structure or elements of the payload impacting its performance (e.g. Line of sight rotations inducing some image quality degradation). The dynamic interaction between these three elements (noise source, spacecraft structure and sensitive receiver) makes the microvibration prediction a delicate problem. Microvibration sources are generally of concern in the frequency range from a few Hz to 1000 Hz. However, in some specific cases, high stability at lower frequencies might be requested. This is the case of the SWARM mission, whose objectives are to provide the best ever survey of the geomagnetic field and its temporal evolution as well as supplementary information for studying the interaction of the magnetic field with other physical quantities describing the Earth system (e.g. ocean circulation). Among its instruments, SWARM is embarking a very sensitive 6-axis accelerometer in the low frequency range (10-8 m/s2 or rad/s2 between 10-4 and 0.1 Hz) located at its Centre of Gravity and an Absolute Scalar Magnetometer located at the tip of a boom far from the spacecraft body. The ASM performs its measurements by rotating an alternative magnetic field around its main axis thanks to a piezo-electric motor. This repeated disturbance might generate some pollution of the accelerometer science data. The objective of this work is to focus on the interaction of the rigid body mode calculation method with the elastic contribution of the normal modes excited by the noise source frequency content. It has indeed been reported in the past that NASTRAN Lanczos rigid body modes may lead to inaccurate rigid-body accelerations
Rivera, Gabriel; Rivera, Angela R V; Dougherty, Erin E; Blob, Richard W
2006-11-01
The ability to capture prey and avoid predation in aquatic habitats depends strongly on the ability to perform unsteady maneuvers (e.g. turns), which itself depends strongly on body flexibility. Two previous studies of turning performance in rigid-bodied taxa have found either high maneuverability or high agility, but not both. However, examinations of aquatic turning performance in rigid-bodied animals have had limited taxonomic scope and, as such, the effects of many body shapes and designs on aquatic maneuverability and agility have yet to be examined. Turtles represent the oldest extant lineage of rigid-bodied vertebrates and the only aquatic rigid-bodied tetrapods. We evaluated the aquatic turning performance of painted turtles, Chrysemys picta (Schneider, 1783) using the minimum length-specific radius of the turning path (R/L) and the average turning rate (omega(avg)) as measures of maneuverability and agility, respectively. We filmed turtles conducting forward and backward turns in an aquatic arena. Each type of turn was executed using a different pattern of limb movements. During forward turns, turtles consistently protracted the inboard forelimb and held it stationary into the flow, while continuing to move the outboard forelimb and both hindlimbs as in rectilinear swimming. The limb movements of backward turns were more complex than those of forward turns, but involved near simultaneous retraction and protraction of contralateral fore- and hindlimbs, respectively. Forward turns had a minimum R/L of 0.0018 (the second single lowest value reported from any animal) and a maximum omega(avg) of 247.1 degrees. Values of R/L for backward turns (0.0091-0.0950 L) were much less variable than that of forward turns (0.0018-1.0442 L). The maneuverability of turtles is similar to that recorded previously for rigid-bodied boxfish. However, several morphological features of turtles (e.g. shell morphology and limb position) appear to increase agility relative to the body
NASA Technical Reports Server (NTRS)
Likins, P. W.
1974-01-01
Equations of motion are derived for use in simulating a spacecraft or other complex electromechanical system amenable to idealization as a set of hinge-connected rigid bodies of tree topology, with rigid axisymmetric rotors and nonrigid appendages attached to each rigid body in the set. In conjunction with a previously published report on finite-element appendage vibration equations, this report provides a complete minimum-dimension formulation suitable for generic programming for digital computer numerical integration.
NASA Technical Reports Server (NTRS)
Zimmerman, M.
1979-01-01
The classical mechanics results for free precession which are needed in order to calculate the weak field, slow-motion, quadrupole-moment gravitational waves are reviewed. Within that formalism, algorithms are given for computing the exact gravitational power radiated and waveforms produced by arbitrary rigid-body freely-precessing sources. The dominant terms are presented in series expansions of the waveforms for the case of an almost spherical object precessing with a small wobble angle. These series expansions, which retain the precise frequency dependence of the waves, may be useful for gravitational astronomers when freely-precessing sources begin to be observed.
Unsteady hydrodynamic effect of rotation on steady rigid-body motion
NASA Astrophysics Data System (ADS)
Bhattacharya, S.
2005-08-01
Owing to the inertial effect of the flow, an unsteady hydrodynamic force will act on a particle of arbitrary shape undergoing a steady rigid-body motion with small but finite Reynolds number if the axis of rotation of the particle is not its axis of rotational symmetry. Unsteady flow field is generated owing to such rotation of the body and as a result the particle experiences a time-dependent translational resistance. In this paper, we analyse this time-dependent hydrodynamic force and obtain its higher-order correction by systematically expanding the Navier Stokes equation in small Reynolds number.
On the identifiability of a rigid body moving in a stationary viscous fluid
NASA Astrophysics Data System (ADS)
Conca, Carlos; Schwindt, Erica L.; Takahashi, Takéo
2012-01-01
This paper is devoted to a geometrical inverse problem associated with a fluid-structure system. More precisely, we consider the interaction between a moving rigid body and a viscous and incompressible fluid. Assuming a low Reynolds regime, the inertial forces can be neglected and, therefore, the fluid motion is modelled by the Stokes system. We first prove the well posedness of the corresponding system. Then we show an identifiability result: with one measure of the Cauchy forces of the fluid on one given part of the boundary and at some positive time, the shape of a convex body and its initial position are identified.
Fast time-reversible algorithms for molecular dynamics of rigid-body systems.
Kajima, Yasuhiro; Hiyama, Miyabi; Ogata, Shuji; Kobayashi, Ryo; Tamura, Tomoyuki
2012-06-21
In this paper, we present time-reversible simulation algorithms for rigid bodies in the quaternion representation. By advancing a time-reversible algorithm [Y. Kajima, M. Hiyama, S. Ogata, and T. Tamura, J. Phys. Soc. Jpn. 80, 114002 (2011)] that requires iterations in calculating the angular velocity at each time step, we propose two kinds of iteration-free fast time-reversible algorithms. They are easily implemented in codes. The codes are compared with that of existing algorithms through demonstrative simulation of a nanometer-sized water droplet to find their stability of the total energy and computation speeds. PMID:22779579
Annihilation of angular momentum drift during spinning-up and thrusting maneuvers of rigid bodies
NASA Technical Reports Server (NTRS)
Longuski, J. M.; Kia, T.; Breckenridge, W. G.
1984-01-01
A very simple, yet accurate, heuristic solution for the spiral path of the angular momentum vector during spin-up and spin-down maneuvers of rigid body spacecraft is presented. A two-burn scheme is proposed consisting of a burn, a coast, and a second burn of the spin thruster. The appropriate burn times are found by a transcendental equation similar to Kepler's equation. Numerical results verify the accuracy of the burn, coast, and burn times given by closed form expressions. The scheme can also be applied to the problem of axial thrusting during constant spin.
An implicit time-stepping scheme for rigid body dynamics with Coulomb friction
STEWART,DAVID; TRINKLE,JEFFREY C.
2000-02-15
In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, the method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, the method is distinct from previous impulsive methods in that it does not require explicit collision checking and it can handle simultaneous impacts. Numerical results are given for one planar and one three-dimensional example, which demonstrate the practicality of the method, and its convergence as the step size becomes small.
Dynamical models for a spacecraft idealized as a set of multi-hinged rigid bodies
NASA Technical Reports Server (NTRS)
Larson, V.
1973-01-01
A brief description is presented of a canonical set of equations which governs the behavior of an n-body spacecraft. General results are given for the case in which the spacecraft is modeled in terms of n rigid bodies connected by dissipative elastic joints. The final equations are free from constraint torques and involve only r variables (r is the number of degrees of freedom of the system). An advantage which accompanies the elimination of the constraint torques is a decrease in the computer run time (especially when n is large).
Torques on a nearly rigid body in a relativistic gravitational field
NASA Technical Reports Server (NTRS)
Caporali, A.
1980-01-01
The effect of post-Newtonian potentials on the rotation of a nearly rigid body is shown to consist of a precession and a torque. The frequency of the precession can be exactly represented by means of suitable differential operators. The relativistic torques in the quadrupole approximation depend on the instantaneous orientation of the principal axes of one body with respect to the position like the classical torque and velocity of the other. For a relatively low mass body, such as a gyroscope, these velocity-dependent torques have no observable consequences.
Analytic Theory and Control of the Motion of Spinning Rigid Bodies
NASA Technical Reports Server (NTRS)
Tsiotras, Panagiotis
1993-01-01
Numerical simulations are often resorted to, in order to understand the attitude response and control characteristics of a rigid body. However, this approach in performing sensitivity and/or error analyses may be prohibitively expensive and time consuming, especially when a large number of problem parameters are involved. Thus, there is an important role for analytical models in obtaining an understanding of the complex dynamical behavior. In this dissertation, new analytic solutions are derived for the complete attitude motion of spinning rigid bodies, under minimal assumptions. Hence, we obtain the most general solutions reported in the literature so far. Specifically, large external torques and large asymmetries are included in the problem statement. Moreover, problems involving large angular excursions are treated in detail. A new tractable formulation of the kinematics is introduced which proves to be extremely helpful in the search for analytic solutions of the attitude history of such kinds of problems. The main utility of the new formulation becomes apparent however, when searching for feedback control laws for stabilization and/or reorientation of spinning spacecraft. This is an inherently nonlinear problem, where standard linear control techniques fail. We derive a class of control laws for spin axis stabilization of symmetric spacecraft using only two pairs of gas jet actuators. Practically, this could correspond to a spacecraft operating in failure mode, for example. Theoretically, it is also an important control problem which, because of its difficulty, has received little, if any, attention in the literature. The proposed control laws are especially simple and elegant. A feedback control law that achieves arbitrary reorientation of the spacecraft is also derived, using ideas from invariant manifold theory. The significance of this research is twofold. First, it provides a deeper understanding of the fundamental behavior of rigid bodies subject to body
NASA Astrophysics Data System (ADS)
Zhang, N.; Zong, Z.
2011-11-01
The dynamic elastic response of a floating ship hull girder to an underwater explosion bubble is normally composed of two parts: rigid-body motion and elastic deformation. However, the effects of rigid-body motion have consistently been neglected in the current literature based on the assumption that they are small. In this paper, our focus is on the study of rigid-body motion effects on the hull girder's elastic deformation, also known as the ‘whipping response’. A theory of interaction between a gas bubble and a hull girder is presented. The bubble dynamic equations combined with the bubble migration, free surface effect and drag force considerations are solved numerically using the Runge-Kutta method. The rigid-body and elastic responses of the hull that are induced by the impulsive pressure of a bubble are calculated using the methods presented herein. Two different examples of real ships are given to demonstrate the effect of rigid-body motion on whipping responses. The numerical results show that rigid-body motions reduce the amplitudes and vibration natural periods of the bending moments of the hull girder. These effects can be ignored for slender hulls, but must be taken into consideration for shorter/wider hulls so as not to underestimate the longitudinal strength.
Coupled motion of rigid bodies about their center of mass. [Shuttle/payload system
NASA Technical Reports Server (NTRS)
Jezewski, D. J.; Donaldson, J. D.
1979-01-01
Nontrivial analytical solutions for the coupled motion of two rigid bodies about their center of mass are obtained on the assumptions that the rigid bodies are coupled by a massless rigid boom and that no external forces are acting on the system. Both relative rotational and translational motions of the two bodies are considered. General equations of motion are derived by regarding the two bodies as consisting of two distinct systems of particles and by applying the principle of conservation of angular momentum. It is shown that a basic nontrivial solution can be obtained for the translational problem if an assumption is made concerning the relative orientation of one principal axis of inertia of each body and that fundamental nontrivial solutions are readily obtained for the rotational problem if an additional assumption is made with respect to the symmetry of one body. Certain stability criteria are found for some of these motions by defining regions of constraint for the relative translational and rotational elements.
Rotational kinematics of a rigid body about a fixed axis: development and analysis of an inventory
NASA Astrophysics Data System (ADS)
Mashood, K. K.; Singh, Vijay A.
2015-07-01
We present the development, administration, and analysis of a focused inventory on the rotational kinematics of a rigid body around a fixed axis. The inventory, which is made up of 13 multiple-choice questions, was developed on the basis of interactions with students and teachers. The systematic and iterative aspects of the construction of the inventory are illustrated. The questions, which were validated, were administered to a set of teachers (N = 25) and two groups of preuniversity students (N = 74 and 905) in India. Students, as well as teachers, exhibited difficulties in applying the operational definition of angular velocity to a rigid body. Many erroneously assumed that an angular acceleration cannot exist without a net torque. Patterns of reasoning resulting in errors were identified and categorized under four broad themes. These include inappropriate extensions of familiar procedural practices, reasoning cued by primitive elements in thought, lack of differentiation between related but distinct concepts, and indiscriminate use of equations. The inventory was also administered to introductory-level students (N = 384) at the University of Washington. Popular distractors to most items were similar to the Indian students.
Rigid body mode identification of the PAH-2 helicopter using the eigensystem realization algorithm
NASA Technical Reports Server (NTRS)
Schenk, Axel; Pappa, Richard S.
1992-01-01
The rigid body modes of the PAH-2 'Tiger' helicopter were identified using the Eigensystem Realization Algorithm (ERA). This work complements ground vibration tests performed using DLR's traditional phase resonance technique and the ISSPA (Identification of Structural System Parameters) method. Rigid body modal parameters are important for ground resonance prediction. Time-domain data for ERA were obtained by inverse Fourier transformation of frequency response functions measured with stepped-sine excitation. Mode purity (based on the Phase Resonance Criterion) was generally equal to or greater than corresponding results obtained in the ground vibration tests. All identified natural frequencies and mode shapes correlate well with corresponding ground vibration test results. The modal identification approach discussed in this report has become increasingly attractive in recent years due to the steadily declining cost and increased performance of scientific computers. As illustrated in this application, modern time-domain methods can be successfully applied to data acquired using DLR's existing test equipment. Some suggestions are made for future applications of time domain modal identification in this manner.
Three-Axis Time-Optimal Attitude Maneuvers of a Rigid-Body
NASA Astrophysics Data System (ADS)
Wang, Xijing; Li, Jisheng
With the development trends for modern satellites towards macro-scale and micro-scale, new demands are requested for its attitude adjustment. Precise pointing control and rapid maneuvering capabilities have long been part of many space missions. While the development of computer technology enables new optimal algorithms being used continuously, a powerful tool for solving problem is provided. Many papers about attitude adjustment have been published, the configurations of the spacecraft are considered rigid body with flexible parts or gyrostate-type systems. The object function always include minimum time or minimum fuel. During earlier satellite missions, the attitude acquisition was achieved by using the momentum ex change devices, performed by a sequential single-axis slewing strategy. Recently, the simultaneous three-axis minimum-time maneuver(reorientation) problems have been studied by many researchers. It is important to research the minimum-time maneuver of a rigid spacecraft within onboard power limits, because of potential space application such as surveying multiple targets in space and academic value. The minimum-time maneuver of a rigid spacecraft is a basic problem because the solutions for maneuvering flexible spacecraft are based on the solution to the rigid body slew problem. A new method for the open-loop solution for a rigid spacecraft maneuver is presented. Having neglected all perturbation torque, the necessary conditions of spacecraft from one state to another state can be determined. There is difference between single-axis with multi-axis. For single- axis analytical solution is possible and the switching line passing through the state-space origin belongs to parabolic. For multi-axis, it is impossible to get analytical solution due to the dynamic coupling between the axes and must be solved numerically. Proved by modern research, Euler axis rotations are quasi-time-optimal in general. On the basis of minimum value principles, a research for
Identification of motion parameters of a rigid body from its orthogonal and perspective projections
NASA Technical Reports Server (NTRS)
Ganguly, S.; Ghosh, B.; Tarn, T. J.; Bejczy, A. K.
1989-01-01
An estimate is made of the motion parameters, namely, linear and angular velocities, of a rigid body rotating and translating in three-space. The authors assume that the velocities are constant and that the motion is not completely observable. They consider two separate cases of partial observations corresponding to the orthogonal and the perspective projections, respectively. If (x, y, z) is the Cartesian coordinate of the three-space, the authors assume in the first case that the projection of the motion on the x-y plane is observed. If (r, theta, phi) is the polar coordinates of the three-space, they assume in the second case that the parameter vector (theta, phi) is observed. The use of both of these cases to estimate the motion parameters is discussed.
NASA Technical Reports Server (NTRS)
Rodriguez, G.
1988-01-01
The inverse and forward dynamics problems for a set of rigid bodies connected by hinges to form a topological tree are solved by using recursive techniques from linear filtering and smoothing theory. An inward filtering sequence computes a set of constraint moments and forces. This is followed by an outward sequence to determine a corresponding set of angular and linear accelerations. An inward sequence begins at the tips of all of the terminal bodies of the tree and proceeds inwardly through all of the branches until it reaches the root. Similarly, an outward sequence begins at the root and propagates to all of the tree branches until it reaches the tips of the terminal bodies. The paper also provides an approach to evaluate recursively the composite multibody system inertia matrix and its inverse.
Unsteady transonic flow past airfoils in rigid-body motion. [UFLO5
Chang, I C
1981-03-01
With the aim of developing a fast and accurate computer code for predicting the aerodynamic forces needed for a flutter analysis, some basic concepts in computational transonics are reviewed. The unsteady transonic flow past airfoils in rigid body motion is adequately described by the potential flow equation as long as the boundary layer remains attached. The two dimensional unsteady transonic potential flow equation in quasilinear form with first order radiation boundary conditions is solved by an alternating direction implicit scheme in an airfoil attached sheared parabolic coordinate system. Numerical experiments show that the scheme is very stable and is able to resolve the higher nonlinear transonic effects for filter analysis within the context of an inviscid theory.
Implementation of Kane's Method for a Spacecraft Composed of Multiple Rigid Bodies
NASA Technical Reports Server (NTRS)
Stoneking, Eric T.
2013-01-01
Equations of motion are derived for a general spacecraft composed of rigid bodies connected via rotary (spherical or gimballed) joints in a tree topology. Several supporting concepts are developed in depth. Basis dyads aid in the transition from basis-free vector equations to component-wise equations. Joint partials allow abstraction of 1-DOF, 2-DOF, 3-DOF gimballed and spherical rotational joints to a common notation. The basic building block consisting of an "inner" body and an "outer" body connected by a joint enables efficient organization of arbitrary tree structures. Kane's equation is recast in a form which facilitates systematic assembly of large systems of equations, and exposes a relationship of Kane's equation to Newton and Euler's equations which is obscured by the usual presentation. The resulting system of dynamic equations is of minimum dimension, and is suitable for numerical solution by computer. Implementation is ·discussed, and illustrative simulation results are presented.
A Computational Model for Suspended Large Rigid Bodies in 3D Unsteady Viscous Flows
NASA Astrophysics Data System (ADS)
Xiao, Feng
1999-11-01
A 3D numerical model for computing large rigid objects suspended in fluid flow has been developed. Rather than calculating the surface pressure upon the solid body, we evaluate the net force and torque based on a volume force formulation. The total effective force is obtained by summing up the forces at the Eulerian grids occupied by the rigid body. The effects of the moving bodies are coupled to the fluid flow by imposing the velocity field of the bodies to the fluid. A Poisson equation is used to compute the pressure over the whole domain. The objects are identified by color functions and calculated by the PPM scheme and a tangent function transformation which scales the transition region of the computed interface to a compact thickness. The model is then implemented on a parallel computer of distributed memory and validated with Stokes and low Reynolds number flows.
NASA Technical Reports Server (NTRS)
Damodaran, Murali
1988-01-01
Unsteady inviscid transonic flow over airfoils in arbitrary rigid body motion is analyzed numerically by solving the two-dimensional unsteady Euler equations in integral form using a finite volume scheme. The solution procedure is based on an explicit Runge-Kutta time-stepping scheme wherein the spatial terms are central-differenced and a combination of second- and fourth-differences in the flow variables are used to form the numerical dissipation terms to stabilize the scheme. Unsteady calculations are started from converged steady-state solutions as initial conditions. Nonreflective boundary conditions are imposed on the far-field boundaries. Results are presented and, where possible, validated against available numerical and experimental data for airfoils subjected to a step change in angle of attack, airfoils oscillating and plunging in transonic flow, and airfoils immersed in a time-varying free stream.
The problem of exact interior solutions for rotating rigid bodies in general relativity
NASA Technical Reports Server (NTRS)
Wahlquist, H. D.
1993-01-01
The (3 + 1) dyadic formalism for timelike congruences is applied to derive interior solutions for stationary, axisymmetric, rigidly rotating bodies. In this approach the mathematics is formulated in terms of three-space-covariant, first-order, vector-dyadic, differential equations for a and Omega, the acceleration and angular velocity three-vectors of the rigid body; for T, the stress dyadic of the matter; and for A and B, the 'electric' and 'magnetic' Weyl curvature dyadics which describe the gravitational field. It is shown how an appropriate ansatz for the forms of these dyadics can be used to discover exact rotating interior solutions such as the perfect fluid solution first published in 1968. By incorporating anisotropic stresses, a generalization is found of that previous solution and, in addition, a very simple new solution that can only exist in toroidal configurations.
NASA Astrophysics Data System (ADS)
Weng, Shengxuan; Yue, Dong
2016-02-01
In this note, the distributed event-triggered cooperative attitude control of multiple rigid bodies with leader-follower architecture is investigated, where both the cases of static and dynamic leaders are all considered. Two distributed triggering procedures are first introduced for the followers and leaders, and then the distributed cooperative controllers are designed under the proposed triggering schemes. Under the designed controllers with the event-triggered strategies, it is shown that the orientations of followers converge to the convex hull formed by the desired leaders' orientations with zero angular velocities. Moreover, the communication pressure in network is reduced and the energy of each agent is saved. Simulation results show the effectiveness of the proposed method.
Secular solution for delta-V during spin rate change maneuvers of rigid body spacecraft
NASA Technical Reports Server (NTRS)
Klumpe, E. W.; Longuski, J. M.
1984-01-01
Analytic expressions have been found for Euler's Equations of Motion and for the Eulerian Angles for both symmetric and near symmetric rigid bodies under the influence of arbitrary constant body-fixed torques. These solutions have been used to solve for the secular terms in the translational delta-V equations in inertial space. This secular delta-V solution is of interest in application to spinning spacecraft in that it describes the average direction of the delta-V of the spacecraft during a spin-up maneuver. Numerical integration of the governing differential equations has verified that the secular delta-V solution is valid for large time and is accurate in many physical situations including spin-up maneuvers of the Galileo spacecraft.
The acoustic far-field of rigid bodies in arbitrary motion
NASA Technical Reports Server (NTRS)
Farassat, F.
1974-01-01
The far-field sound produced by a rigid body in arbitrary motion, with shock discontinuities close to the body, is studied. The analysis is based on the work of Ffowcs Williams and Hawkings (1969). An expression for the far-field sound pressure is obtained in the form of surface and line integrals carried out over a contracting sphere and its intersection with the body and shock surfaces. It is also found that in addition to the quadrupole distribution, the discontinuities in Lighthill stress at the shock, the fluid stresses at the body surface, and the curvatures (principal and mean) of the body and shock surfaces contribute to the sound field. Two examples are worked out.
In Silico Single-Molecule Manipulation of DNA with Rigid Body Dynamics
Carrivain, Pascal; Barbi, Maria; Victor, Jean-Marc
2014-01-01
We develop a new powerful method to reproduce in silico single-molecule manipulation experiments. We demonstrate that flexible polymers such as DNA can be simulated using rigid body dynamics thanks to an original implementation of Langevin dynamics in an open source library called Open Dynamics Engine. We moreover implement a global thermostat which accelerates the simulation sampling by two orders of magnitude. We reproduce force-extension as well as rotation-extension curves of reference experimental studies. Finally, we extend the model to simulations where the control parameter is no longer the torsional strain but instead the torque, and predict the expected behavior for this case which is particularly challenging theoretically and experimentally. PMID:24586127
In silico single-molecule manipulation of DNA with rigid body dynamics.
Carrivain, Pascal; Barbi, Maria; Victor, Jean-Marc
2014-02-01
We develop a new powerful method to reproduce in silico single-molecule manipulation experiments. We demonstrate that flexible polymers such as DNA can be simulated using rigid body dynamics thanks to an original implementation of Langevin dynamics in an open source library called Open Dynamics Engine. We moreover implement a global thermostat which accelerates the simulation sampling by two orders of magnitude. We reproduce force-extension as well as rotation-extension curves of reference experimental studies. Finally, we extend the model to simulations where the control parameter is no longer the torsional strain but instead the torque, and predict the expected behavior for this case which is particularly challenging theoretically and experimentally. PMID:24586127
NASA Technical Reports Server (NTRS)
Zimmermann, M.; Szedenits, E., Jr.
1979-01-01
An axially symmetric, torque-free rigid body, rotating and precessing, emits gravitational quadrupole radiation at two frequencies, omega and 2 omega, corresponding to the l = 2, m = 1,2 spherical harmonics. The paper presents explicitly the waveforms of the two polarizations at both frequencies. From observations of gravitational waves, one can derive information about the body's orientation and its precession amplitude. Electromagnetic radiation emitted by a spot fixed on the surface of the body arrives in pulses at a mean frequency Omega which is typically different from omega. If the body is not axially symmetric but the amplitude of the precession is small, the gravitational radiation at the lower frequency omega is split into two frequencies on either side of the electromagnetic pulse frequency. Explicit waveforms for the two polarizations in this case are also presented.
The Serret-Andoyer formalism in rigid-body dynamics: I. Symmetries and perturbations
NASA Astrophysics Data System (ADS)
Gurfil, P.; Elipe, A.; Tangren, W.; Efroimsky, M.
2007-08-01
This paper reviews the Serret-Andoyer (SA) canonical formalism in rigid-body dynamics, and presents some new results. As is well known, the problem of unsupported and unperturbed rigid rotator can be reduced. The availability of this reduction is offered by the underlying symmetry, that stems from conservation of the angular momentum and rotational kinetic energy. When a perturbation is turned on, these quantities are no longer preserved. Nonetheless, the language of reduced description remains extremely instrumental even in the perturbed case. We describe the canonical reduction performed by the Serret-Andoyer (SA) method, and discuss its applications to attitude dynamics and to the theory of planetary rotation. Specifically, we consider the case of angular-velocity-dependent torques, and discuss the variation-of-parameters-inherent antinomy between canonicity and osculation. Finally, we address the transformation of the Andoyer variables into action-angle ones, using the method of Sadov.
Attitude dynamics simulation subroutines for systems of hinge-connected rigid bodies
NASA Technical Reports Server (NTRS)
Fleischer, G. E.; Likins, P. W.
1974-01-01
Several computer subroutines are designed to provide the solution to minimum-dimension sets of discrete-coordinate equations of motion for systems consisting of an arbitrary number of hinge-connected rigid bodies assembled in a tree topology. In particular, these routines may be applied to: (1) the case of completely unrestricted hinge rotations, (2) the totally linearized case (all system rotations are small), and (3) the mixed, or partially linearized, case. The use of the programs in each case is demonstrated using a five-body spacecraft and attitude control system configuration. The ability of the subroutines to accommodate prescribed motions of system bodies is also demonstrated. Complete listings and user instructions are included for these routines (written in FORTRAN V) which are intended as multi- and general-purpose tools in the simulation of spacecraft and other complex electromechanical systems.
NASA Astrophysics Data System (ADS)
Bolsinov, A. V.; Kozlov, V. V.; Fomenko, A. T.
1995-06-01
Contents Introduction §1. The general Maupertuis principle §2. The Maupertuis principle in the dynamics of a massive rigid body §3. The Maupertuis principle and the explicit form of the metric generated on the sphere by a quadratic Hamiltonian on the Lie algebra of the group of motions of R3 §4. Classical cases of integrability in rigid body dynamics and the corresponding geodesic flows on the sphere §5. Integrable metrics on the torus and on the sphere §6. Conjectures §7. The complexity of integrable geodesic flows of 1-2-metrics on the sphere and on the torus §8. A rougher conjecture: the complexities of non-singularly integrable metrics on the sphere or on the torus coincide with those of the known integrable 1-2-metrics §9. The geodesic flow on an ellipsoid is topologically orbitally equivalent to the Euler integral case in the dynamics of a rigid body Bibliography
NASA Technical Reports Server (NTRS)
Kia, T.; Longuski, J. M.
1984-01-01
Analytic error bounds are presented for the solutions of approximate models for self-excited near-symmetric rigid bodies. The error bounds are developed for analytic solutions to Euler's equations of motion. The results are applied to obtain a simplified analytic solution for Eulerian rates and angles. The results of a sample application of the range and error bound expressions for the case of the Galileo spacecraft experiencing transverse torques demonstrate the use of the bounds in analyses of rigid body spin change maneuvers.
NASA Astrophysics Data System (ADS)
Nguyen, Trung D.; Phillips, Carolyn L.; Anderson, Joshua A.; Glotzer, Sharon C.
2011-03-01
Rigid body constraints are commonly used in a wide range of molecular modeling applications from the atomistic scale, modeling the bonds in molecules such as water, carbon dioxide, and benzene, to the colloidal scale, modeling macroscopic rods, plates and patchy nanoparticles. While the parallel implementations of rigid constraints for molecular dynamics simulations for distributed memory clusters have poor performance scaling, on shared memory systems, such as multi-core CPUs and many-core graphics processing units (GPUs), rigid body constraints can be parallelized so that significantly better performance is possible. We have designed a massively parallel rigid body constraint algorithm and implemented it in HOOMD-Blue, a GPU-accelerated, open-source, general purpose molecular dynamics simulation package. For typical simulations, the GPU implementation running on a single NVID IA GTX 480 card is twice as fast as LAMMPS running on 32 CPU cores. In the HOOMD-blue code package, rigid constraints can be used seamlessly with non-rigid parts of the system and with different integration methods, including NVE, NVT, NPT, and Brownian Dynamics. We have also incorporated the FIRE energy minimization algorithm, reformulated to be applicable to mixed systems of rigid bodies and non-rigid particles.
NASA Technical Reports Server (NTRS)
Fitzpatrick, P. M.; Harmon, G. R.; Liu, J. J. F.; Cochran, J. E.
1974-01-01
The formalism for studying perturbations of a triaxial rigid body within the Hamilton-Jacobi framework is developed. The motion of a triaxial artificial earth satellite about its center of mass is studied. Variables are found which permit separation, and the Euler angles and associated conjugate momenta are obtained as functions of canonical constants and time.
Inertial Motions of a Rigid Body with a Cavity Filled with a Viscous Liquid
NASA Astrophysics Data System (ADS)
Disser, Karoline; Galdi, Giovanni P.; Mazzone, Giusy; Zunino, Paolo
2016-07-01
We study inertial motions of the coupled system, {S}, constituted by a rigid body containing a cavity entirely filled with a viscous liquid. We show that for arbitrary initial data having only finite kinetic energy, every corresponding weak solution (à la Leray-Hopf) converges, as time goes to infinity, to a uniform rotation, unless two central moments of inertia of {S} coincide and are strictly greater than the third one. This corroborates a famous "conjecture" of N.Ye. Zhukovskii in several physically relevant cases. Moreover, we show that, in a known range of initial data, this rotation may only occur along the central axis of inertia of {S} with the larger moment of inertia. We also provide necessary and sufficient conditions for the rigorous nonlinear stability of permanent rotations, which improve and/or generalize results previously given by other authors under different types of approximation. Finally, we present results obtained by a targeted numerical simulation that, on the one hand, complement the analytical findings, whereas, on the other hand, point out new features that the analysis is yet not able to catch, and, as such, lay the foundation for interesting and challenging future investigation.
Parker, Jason G; Mair, Bernard A; Gilland, David R
2009-10-01
In this article, a new method is introduced for estimating the motion of the heart due to respiration in gated cardiac SPECT using a rigid-body model with rotation parametrized by a unit quaternion. The method is based on minimizing the sum of squared errors between the reference and the deformed frames resulting from the usual optical flow constraint by using an optimized conjugate gradient routine. This method does not require any user-defined parameters or penalty terms, which simplifies its use in a clinical setting. Using a mathematical phantom, the method was quantitatively compared to the principal axis method, as well as an iterative method in which the rotation matrix was represented by Euler angles. The quaternion-based method was shown to be substantially more accurate and robust across a wide range of extramyocardial activity levels than the principal axis method. Compared with the Euler angle representation, the quaternion-based method resulted in similar accuracy but a significant reduction in computation times. Finally, the quaternion-based method was investigated using a respiratory-gated cardiac SPECT acquisition of a human subject. The motion-corrected image has increased sharpness and myocardial uniformity compared to the uncorrected image. PMID:19928105
SHED: A program for three-dimensional, rigid body, shroud ejection dynamics
Segalman, D.J.
1988-03-01
The computer program SHED (for SHroud Ejection Dynamics) which calculates the exoatmospheric trajectory of a missile shroud is described. This rigid body dynamics program follows the motion of the shroud as its motors accelerate it ahead and away form the missile. Of particular interest is the ability of SHED to accommodate the forces produced by the motors which are ''fixed'' to the body in the sense that they both translate and rotate along with the body. The code as written has the following capabilities: The resulting program can accommodate an arbitrary number of motors, arranged in an arbitrary manner on the shroud, and each imposing an arbitrary schedule of thrust; The shroud may have any arbitrary shape; and Guides can be accommodated which protect the payload by preventing shroud rotation or lateral motion until the shroud has passed over the guide. Limitations are that all bodies are assumed to be rigid and aerodynamic loads are not included. SHED has proven itself sufficiently robust and versatile to permit a critical comparison of a large range of shroud separation strategies in selecting a separation strategy for the Strategic TARgeting System (STARS) funded by the Army SDI Office. 8 refs., 9 figs.
A simple molecular mechanics integrator in mixed rigid body and dihedral angle space
Vitalis, Andreas; Pappu, Rohit V.
2014-07-21
We propose a numerical scheme to integrate equations of motion in a mixed space of rigid-body and dihedral angle coordinates. The focus of the presentation is biomolecular systems and the framework is applicable to polymers with tree-like topology. By approximating the effective mass matrix as diagonal and lumping all bias torques into the time dependencies of the diagonal elements, we take advantage of the formal decoupling of individual equations of motion. We impose energy conservation independently for every degree of freedom and this is used to derive a numerical integration scheme. The cost of all auxiliary operations is linear in the number of atoms. By coupling the scheme to one of two popular thermostats, we extend the method to sample constant temperature ensembles. We demonstrate that the integrator of choice yields satisfactory stability and is free of mass-metric tensor artifacts, which is expected by construction of the algorithm. Two fundamentally different systems, viz., liquid water and an α-helical peptide in a continuum solvent are used to establish the applicability of our method to a wide range of problems. The resultant constant temperature ensembles are shown to be thermodynamically accurate. The latter relies on detailed, quantitative comparisons to data from reference sampling schemes operating on exactly the same sets of degrees of freedom.
Generalized Predictive Control of Dynamic Systems with Rigid-Body Modes
NASA Technical Reports Server (NTRS)
Kvaternik, Raymond G.
2013-01-01
Numerical simulations to assess the effectiveness of Generalized Predictive Control (GPC) for active control of dynamic systems having rigid-body modes are presented. GPC is a linear, time-invariant, multi-input/multi-output predictive control method that uses an ARX model to characterize the system and to design the controller. Although the method can accommodate both embedded (implicit) and explicit feedforward paths for incorporation of disturbance effects, only the case of embedded feedforward in which the disturbances are assumed to be unknown is considered here. Results from numerical simulations using mathematical models of both a free-free three-degree-of-freedom mass-spring-dashpot system and the XV-15 tiltrotor research aircraft are presented. In regulation mode operation, which calls for zero system response in the presence of disturbances, the simulations showed reductions of nearly 100%. In tracking mode operations, where the system is commanded to follow a specified path, the GPC controllers produced the desired responses, even in the presence of disturbances.
Aoun, Bachir
2016-05-01
A new Reverse Monte Carlo (RMC) package "fullrmc" for atomic or rigid body and molecular, amorphous, or crystalline materials is presented. fullrmc main purpose is to provide a fully modular, fast and flexible software, thoroughly documented, complex molecules enabled, written in a modern programming language (python, cython, C and C++ when performance is needed) and complying to modern programming practices. fullrmc approach in solving an atomic or molecular structure is different from existing RMC algorithms and software. In a nutshell, traditional RMC methods and software randomly adjust atom positions until the whole system has the greatest consistency with a set of experimental data. In contrast, fullrmc applies smart moves endorsed with reinforcement machine learning to groups of atoms. While fullrmc allows running traditional RMC modeling, the uniqueness of this approach resides in its ability to customize grouping atoms in any convenient way with no additional programming efforts and to apply smart and more physically meaningful moves to the defined groups of atoms. In addition, fullrmc provides a unique way with almost no additional computational cost to recur a group's selection, allowing the system to go out of local minimas by refining a group's position or exploring through and beyond not allowed positions and energy barriers the unrestricted three dimensional space around a group. PMID:26800289
Phase topology of one irreducible integrable problem in the dynamics of a rigid body
NASA Astrophysics Data System (ADS)
Ryabov, P. E.
2013-08-01
We consider the integrable system with three degrees of freedom for which V. V. Sokolov and A. V. Tsiganov specified the Lax pair. The Lax representation generalizes the L-A pair found by A. G. Reyman and M. A. Semenov-Tian-Shansky for the Kovalevskaya gyrostat in a double field. We give explicit formulas for the additional first integrals K and G (independent almost everywhere), which are functionally related to the coefficients of the spectral curve for the Sokolov-Tsiganov L-A pair. Using this form of the additional integrals K and G and the Kharlamov parametric reduction, we analytically present two invariant four-dimensional submanifolds where the induced dynamical system is Hamiltonian (almost everywhere) with two degrees of freedom. The system of equations specifying one of the invariant submanifolds is a generalization of the invariant relations for the integrable Bogoyavlensky case (rotation of a magnetized rigid body in homogeneous gravitational and magnetic fields). We use the method of critical subsystems to describe the phase topology of the whole system. For each subsystem, we construct the bifurcation diagrams and specify the bifurcations of the Liouville tori both inside the subsystems and in the whole system.
NASA Technical Reports Server (NTRS)
Abdallah, Ayman A.; Barnett, Alan R.; Widrick, Timothy W.; Manella, Richard T.; Miller, Robert P.
1994-01-01
When using all MSC/NASTRAN eigensolution methods except Lanczos, the analyst can replace the coupled system rigid-body modes calculated within DMAP module READ with mass orthogonalized and normalized rigid-body modes generated from the system stiffness. This option is invoked by defining MSC/NASTRAN r-set degrees of freedom via the SUPORT bulk data card. The newly calculated modes are required if the rigid-body modes calculated by the eigensolver are not 'clean' due to numerical roundoffs in the solution. When performing transient structural dynamic load analysis, the numerical roundoffs can result in inaccurate rigid-body accelerations which affect steady-state responses. Unfortunately, when using the Lanczos method and defining r-set degrees of freedom, the rigid-body modes calculated within DMAP module REIGL are retained. To overcome this limitation and to allow MSC/NASTRAN to handle SUPORT degrees of freedom identically for all eigensolvers, a DMAP Alter has been written which replaces Lanczos-calculated rigid-body modes with stiffness-generated rigid-body modes. The newly generated rigid-body modes are normalized with respect to the system mass and orthogonalized using the Gram-Schmidt technique. This algorithm has been implemented as an enhancement to an existing coupled loads methodology.
A comparison of seven methods of within-subjects rigid-body pedobarographic image registration.
Pataky, Todd C; Goulermas, John Y; Crompton, Robin H
2008-10-20
Image registration, the process of transforming images such that homologous structures optimally overlap, provides the pre-processing foundation for pixel-level functional image analysis. The purpose of this study was to compare the performances of seven methods of within-subjects pedobarographic image registration: (1) manual, (2) principal axes, (3) centre of pressure trajectory, (4) mean squared error, (5) probability-weighted variance, (6) mutual information, and (7) exclusive OR. We assumed that foot-contact geometry changes were negligibly small trial-to-trial and thus that a rigid-body transformation could yield optimum registration performance. Thirty image pairs were randomly selected from our laboratory database and were registered using each method. To compensate for inter-rater variability, the mean registration parameters across 10 raters were taken as representative of manual registration. Registration performance was assessed using four dissimilarity metrics (#4-7 above). One-way MANOVA found significant differences between the methods (p<0.001). Bonferroni post-hoc tests revealed that the centre of pressure method performed the poorest (p<0.001) and that the principal axes method tended to perform more poorly than remaining methods (p<0.070). Average manual registration was not different from the remaining methods (p=1.000). The results suggest that a variety of linear registration methods are appropriate for within-subjects pedobarographic images, and that manual image registration is a viable alternative to algorithmic registration when parameters are averaged across raters. The latter finding, in particular, may be useful for cases of image peculiarities resulting from outlier trials or from experimental manipulations that induce substantial changes in contact area or pressure profile geometry. PMID:18790481
Borazjani, Iman; Ge, Liang; Sotiropoulos, Fotis
2008-08-10
The sharp-interface CURVIB approach of Ge and Sotiropoulos [L. Ge, F. Sotiropoulos, A Numerical Method for Solving the 3D Unsteady Incompressible Navier-Stokes Equations in Curvilinear Domains with Complex Immersed Boundaries, Journal of Computational Physics 225 (2007) 1782-1809] is extended to simulate fluid structure interaction (FSI) problems involving complex 3D rigid bodies undergoing large structural displacements. The FSI solver adopts the partitioned FSI solution approach and both loose and strong coupling strategies are implemented. The interfaces between immersed bodies and the fluid are discretized with a Lagrangian grid and tracked with an explicit front-tracking approach. An efficient ray-tracing algorithm is developed to quickly identify the relationship between the background grid and the moving bodies. Numerical experiments are carried out for two FSI problems: vortex induced vibration of elastically mounted cylinders and flow through a bileaflet mechanical heart valve at physiologic conditions. For both cases the computed results are in excellent agreement with benchmark simulations and experimental measurements. The numerical experiments suggest that both the properties of the structure (mass, geometry) and the local flow conditions can play an important role in determining the stability of the FSI algorithm. Under certain conditions unconditionally unstable iteration schemes result even when strong coupling FSI is employed. For such cases, however, combining the strong-coupling iteration with under-relaxation in conjunction with the Aitken's acceleration technique is shown to effectively resolve the stability problems. A theoretical analysis is presented to explain the findings of the numerical experiments. It is shown that the ratio of the added mass to the mass of the structure as well as the sign of the local time rate of change of the force or moment imparted on the structure by the fluid determine the stability and convergence of the FSI
Borazjani, Iman; Ge, Liang; Sotiropoulos, Fotis
2010-01-01
The sharp-interface CURVIB approach of Ge and Sotiropoulos [L. Ge, F. Sotiropoulos, A Numerical Method for Solving the 3D Unsteady Incompressible Navier-Stokes Equations in Curvilinear Domains with Complex Immersed Boundaries, Journal of Computational Physics 225 (2007) 1782–1809] is extended to simulate fluid structure interaction (FSI) problems involving complex 3D rigid bodies undergoing large structural displacements. The FSI solver adopts the partitioned FSI solution approach and both loose and strong coupling strategies are implemented. The interfaces between immersed bodies and the fluid are discretized with a Lagrangian grid and tracked with an explicit front-tracking approach. An efficient ray-tracing algorithm is developed to quickly identify the relationship between the background grid and the moving bodies. Numerical experiments are carried out for two FSI problems: vortex induced vibration of elastically mounted cylinders and flow through a bileaflet mechanical heart valve at physiologic conditions. For both cases the computed results are in excellent agreement with benchmark simulations and experimental measurements. The numerical experiments suggest that both the properties of the structure (mass, geometry) and the local flow conditions can play an important role in determining the stability of the FSI algorithm. Under certain conditions unconditionally unstable iteration schemes result even when strong coupling FSI is employed. For such cases, however, combining the strong-coupling iteration with under-relaxation in conjunction with the Aitken’s acceleration technique is shown to effectively resolve the stability problems. A theoretical analysis is presented to explain the findings of the numerical experiments. It is shown that the ratio of the added mass to the mass of the structure as well as the sign of the local time rate of change of the force or moment imparted on the structure by the fluid determine the stability and convergence of the
A vector-dyadic development of the equations of motion for N-coupled rigid bodies and point masses
NASA Technical Reports Server (NTRS)
Frisch, H. P.
1974-01-01
The equations of motion are derived, in vector-dyadic format, for a topological tree of coupled rigid bodies, point masses, and symmetrical momentum wheels. These equations were programmed, and form the basis for the general-purpose digital computer program N-BOD. A complete derivation of the equations of motion is included along with a description of the methods used for kinematics, constraint elimination, and for the inclusion of nongyroscope forces and torques acting external or internal to the system.
NASA Astrophysics Data System (ADS)
Romano, Marcello
2008-08-01
New exact analytic solutions are introduced for the rotational motion of a rigid body having two equal principal moments of inertia and subjected to an external torque which is constant in magnitude. In particular, the solutions are obtained for the following cases: (1) Torque parallel to the symmetry axis and arbitrary initial angular velocity; (2) Torque perpendicular to the symmetry axis and such that the torque is rotating at a constant rate about the symmetry axis, and arbitrary initial angular velocity; (3) Torque and initial angular velocity perpendicular to the symmetry axis, with the torque being fixed with the body. In addition to the solutions for these three forced cases, an original solution is introduced for the case of torque-free motion, which is simpler than the classical solution as regards its derivation and uses the rotation matrix in order to describe the body orientation. This paper builds upon the recently discovered exact solution for the motion of a rigid body with a spherical ellipsoid of inertia. In particular, by following Hestenes’ theory, the rotational motion of an axially symmetric rigid body is seen at any instant in time as the combination of the motion of a “virtual” spherical body with respect to the inertial frame and the motion of the axially symmetric body with respect to this “virtual” body. The kinematic solutions are presented in terms of the rotation matrix. The newly found exact analytic solutions are valid for any motion time length and rotation amplitude. The present paper adds further elements to the small set of special cases for which an exact solution of the rotational motion of a rigid body exists.
NASA Astrophysics Data System (ADS)
Lācis, Uǧis; Taira, Kunihiko; Bagheri, Shervin
2016-01-01
Dispersion of low-density rigid particles with complex geometries is ubiquitous in both natural and industrial environments. We show that while explicit methods for coupling the incompressible Navier-Stokes equations and Newton's equations of motion are often sufficient to solve for the motion of cylindrical particles with low density ratios, for more complex particles - such as a body with a protrusion - they become unstable. We present an implicit formulation of the coupling between rigid body dynamics and fluid dynamics within the framework of the immersed boundary projection method. Similarly to previous work on this method, the resulting matrix equation in the present approach is solved using a block-LU decomposition. Each step of the block-LU decomposition is modified to incorporate the rigid body dynamics. We show that our method achieves second-order accuracy in space and first-order in time (third-order for practical settings), only with a small additional computational cost to the original method. Our implicit coupling yields stable solution for density ratios as low as 10-4. We also consider the influence of fictitious fluid located inside the rigid bodies on the accuracy and stability of our method.
NASA Astrophysics Data System (ADS)
Lohr, M. B.
2008-10-01
The rotational motion of a torque-free axisymmetric rigid body is precession. This motion has been expressed analytically in the literature given the body's initial orientation and rotational dynamics parameters, i.e. inertia ratio and initial angular velocities or precession parameters. The inverse problem of deriving these dynamics parameters given orientation in time has been implemented numerically but has not yet been solved analytically. If a rigid body is precessing, and its orientation with respect to an arbitrary inertial frame is provided at three equally spaced points in time such that the rotational motion is not undersampled, an analytical inverse solution is presented for the precession rate, relative spin rate, coning angle and angular velocities; if the precessional motion is due to inertial axisymmetry and torque-free motion, the inertia ratio is also derived. Additionally, an analytical methodology is presented to test for non-precessional motion. These techniques are applicable to various problems in space science and astronomy, where non-precessional motion or the rotational dynamics parameters of this type of rigid body must be accurately derived from its orientation or relative orientation in time.
Arumugam, Sankar; Xing Aitang; Jameson, Michael G.; Holloway, Lois
2013-03-15
Purpose: Image guided radiotherapy (IGRT) using cone beam computed tomography (CBCT) images greatly reduces interfractional patient positional uncertainties. An understanding of uncertainties in the IGRT process itself is essential to ensure appropriate use of this technology. The purpose of this study was to develop a phantom capable of assessing the accuracy of IGRT hardware and software including a 6 degrees of freedom patient positioning system and to investigate the accuracy of the Elekta XVI system in combination with the HexaPOD robotic treatment couch top. Methods: The constructed phantom enabled verification of the three automatic rigid body registrations (gray value, bone, seed) available in the Elekta XVI software and includes an adjustable mount that introduces known rotational offsets to the phantom from its reference position. Repeated positioning of the phantom was undertaken to assess phantom rotational accuracy. Using this phantom the accuracy of the XVI registration algorithms was assessed considering CBCT hardware factors and image resolution together with the residual error in the overall image guidance process when positional corrections were performed through the HexaPOD couch system. Results: The phantom positioning was found to be within 0.04 ({sigma}= 0.12) Degree-Sign , 0.02 ({sigma}= 0.13) Degree-Sign , and -0.03 ({sigma}= 0.06) Degree-Sign in X, Y, and Z directions, respectively, enabling assessment of IGRT with a 6 degrees of freedom patient positioning system. The gray value registration algorithm showed the least error in calculated offsets with maximum mean difference of -0.2({sigma}= 0.4) mm in translational and -0.1({sigma}= 0.1) Degree-Sign in rotational directions for all image resolutions. Bone and seed registration were found to be sensitive to CBCT image resolution. Seed registration was found to be most sensitive demonstrating a maximum mean error of -0.3({sigma}= 0.9) mm and -1.4({sigma}= 1.7) Degree-Sign in translational
Multiple-Zone Diffractive Optic Element for Laser Ranging Applications
NASA Technical Reports Server (NTRS)
Ramos-Izquierdo, Luis A.
2011-01-01
A diffractive optic element (DOE) can be used as a beam splitter to generate multiple laser beams from a single input laser beam. This technology has been recently used in LRO s Lunar Orbiter Laser Altimeter (LOLA) instrument to generate five laser beams that measure the lunar topography from a 50-km nominal mapping orbit (see figure). An extension of this approach is to use a multiple-zone DOE to allow a laser altimeter instrument to operate over a wider range of distances. In particular, a multiple-zone DOE could be used for applications that require both mapping and landing on a planetary body. In this case, the laser altimeter operating range would need to extend from several hundred kilometers down to a few meters. The innovator was recently involved in an investigation how to modify the LOLA instrument for the OSIRIS asteroid mapping and sample return mission. One approach is to replace the DOE in the LOLA laser beam expander assembly with a multiple-zone DOE that would allow for the simultaneous illumination of the asteroid with mapping and landing laser beams. The proposed OSIRIS multiple-zone DOE would generate the same LOLA five-beam output pattern for high-altitude topographic mapping, but would simultaneously generate a wide divergence angle beam using a small portion of the total laser energy for the approach and landing portion of the mission. Only a few percent of the total laser energy is required for approach and landing operations as the return signal increases as the inverse square of the ranging height. A wide divergence beam could be implemented by making the center of the DOE a diffractive or refractive negative lens. The beam energy and beam divergence characteristics of a multiple-zone DOE could be easily tailored to meet the requirements of other missions that require laser ranging data. Current single-zone DOE lithographic manufacturing techniques could also be used to fabricate a multiple-zone DOE by masking the different DOE zones during
NASA Astrophysics Data System (ADS)
Dobson, G. J.
1998-07-01
Newton's treatment of the precession of the equinoxes in his Philosophiae Naturalis Principia Mathematica was recognised by d'Alembert in 1749 as being faulty, despite the very close agreement between Newton's calculated value for the rate of precesion and the observed value. Here, the author presents an analysis of Newton's geometrical methods applied in his treatment of precession and claims that it was basically flawed because Newton lacked knowledge of the principles of rigid body dynamics and, in particular, was unaware of the idea of angular momentum.
NASA Technical Reports Server (NTRS)
Knauber, R. N.
1982-01-01
A FORTRAN coded computer program and method for evaluation of the rigid body disturbing moments for a launch vehicle first stage based on post-flight measurements is described. The technique is a straightforward deterministic approach. Residual moments are computed to satisfy the equations of motion. Residuals are expressed in terms of altered vehicle characteristics; the aerodynamic coefficients, thrust misalignment, and control effectiveness. This method was used on the Scout launch vehicle and uncovered several significant differences between flight data and wind tunnel data. The computer program is written in FORTRAN IV for a CDC CYBER 173 computer system.
NASA Astrophysics Data System (ADS)
Reaungamornrat, S.; Wang, A. S.; Uneri, A.; Otake, Y.; Zhao, Z.; Khanna, A. J.; Siewerdsen, J. H.
2014-03-01
Purpose: Deformable registration of preoperative and intraoperative images facilitates accurate localization of target and critical anatomy in image-guided spine surgery. However, conventional deformable registration fails to preserve the morphology of rigid bone anatomy and can impart distortions that confound high-precision intervention. We propose a constrained registration method that preserves rigid morphology while allowing deformation of surrounding soft tissues. Method: The registration method aligns preoperative 3D CT to intraoperative cone-beam CT (CBCT) using free-form deformation (FFD) with penalties on rigid body motion imposed according to a simple intensity threshold. The penalties enforced 3 properties of a rigid transformation - namely, constraints on affinity (AC), orthogonality (OC), and properness (PC). The method also incorporated an injectivity constraint (IC) to preserve topology. Physical experiments (involving phantoms, an ovine spine, and a human cadaver) as well as digital simulations were performed to evaluate the sensitivity to registration parameters, preservation of rigid body morphology, and overall registration accuracy of constrained FFD in comparison to conventional unconstrained FFD (denoted uFFD) and Demons registration. Result: FFD with orthogonality and injectivity constraints (denoted FFD+OC+IC) demonstrated improved performance compared to uFFD and Demons. Affinity and properness constraints offered little or no additional improvement. The FFD+OC+IC method preserved rigid body morphology at near-ideal values of zero dilatation (D = 0.05, compared to 0.39 and 0.56 for uFFD and Demons, respectively) and shear (S = 0.08, compared to 0.36 and 0.44 for uFFD and Demons, respectively). Target registration error (TRE) was similarly improved for FFD+OC+IC (0.7 mm), compared to 1.4 and 1.8 mm for uFFD and Demons. Results were validated in human cadaver studies using CT and CBCT images, with FFD+OC+IC providing excellent preservation
NASA Astrophysics Data System (ADS)
Wu, Shunguang; Hong, Lang
2008-04-01
A framework of simultaneously estimating the motion and structure parameters of a 3D object by using high range resolution (HRR) and ground moving target indicator (GMTI) measurements with template information is given. By decoupling the motion and structure information and employing rigid-body constraints, we have developed the kinematic and measurement equations of the problem. Since the kinematic system is unobservable by using only one scan HRR and GMTI measurements, we designed an architecture to run the motion and structure filters in parallel by using multi-scan measurements. Moreover, to improve the estimation accuracy in large noise and/or false alarm environments, an interacting multi-template joint tracking (IMTJT) algorithm is proposed. Simulation results have shown that the averaged root mean square errors for both motion and structure state vectors have been significantly reduced by using the template information.
A boundary integral approach to analyze the viscous scattering of a pressure wave by a rigid body
Homentcovschi, Dorel; Miles, Ronald N.
2008-01-01
The paper provides boundary integral equations for solving the problem of viscous scattering of a pressure wave by a rigid body. By using this mathematical tool uniqueness and existence theorems are proved. Since the boundary conditions are written in terms of velocities, vector boundary integral equations are obtained for solving the problem. The paper introduces single-layer viscous potentials and also a stress tensor. Correspondingly, a viscous double-layer potential is defined. The properties of all these potentials are investigated. By representing the scattered field as a combination of a single-layer viscous potential and a double-layer viscous potential the problem is reduced to the solution of a singular vectorial integral equation of Fredholm type of the second kind. In the case where the stress vector on the boundary is the main quantity of interest the corresponding boundary singular integral equation is proved to have a unique solution. PMID:18709178
NASA Astrophysics Data System (ADS)
Hagelueken, Gregor; Abdullin, Dinar; Ward, Richard; Schiemann, Olav
2013-10-01
Nanometer distance measurements based on electron paramagnetic resonance methods in combination with site-directed spin labelling are powerful tools for the structural analysis of macromolecules. The software package mtsslSuite provides scientists with a set of tools for the translation of experimental distance distributions into structural information. The package is based on the previously published mtsslWizard software for in silico spin labelling. The mtsslSuite includes a new version of MtsslWizard that has improved performance and now includes additional types of spin labels. Moreover, it contains applications for the trilateration of paramagnetic centres in biomolecules and for rigid-body docking of subdomains of macromolecular complexes. The mtsslSuite is tested on a number of challenging test cases and its strengths and weaknesses are evaluated.
NASA Technical Reports Server (NTRS)
Longuski, J. M.
1980-01-01
Analytic expressions are found for Euler's Equations of Motion and for the Eulerian Angles for both symmetric and near symmetric rigid bodies under the influence of arbitrary constant body-fixed torques. These solutions provide the body-fixed angular velocities and the attitude of the body, respectively, as functions of time. They are of special interest in applications to spinning spacecraft (such as the Galileo Spacecraft to be launched in 1984) because they include the effect of time-varying spin rate. Thus they can be applied to spin-up and spin-down maneuvers as well as to error analysis for thruster misalignments. The solutions are given for arbitrary initial conditions in terms of Fresnel, Sine and Cosine Integrals. Numerical integration of the governing differential equations has verified that the approximate analytic solutions are very accurate in many physical situations of interest.
Mondal, Manas; Halder, Sukanya; Chakrabarti, Jaydeb; Bhattacharyya, Dhananjay
2016-04-01
Stacking interaction between the aromatic heterocyclic bases plays an important role in the double helical structures of nucleic acids. Considering the base as rigid body, there are total of 18 degrees of freedom of a dinucleotide step. Some of these parameters show sequence preferences, indicating that the detailed atomic interactions are important in the stacking. Large variants of non-canonical base pairs have been seen in the crystallographic structures of RNA. However, their stacking preferences are not thoroughly deciphered yet from experimental results. The current theoretical approaches use either the rigid body degrees of freedom where the atomic information are lost or computationally expensive all atom simulations. We have used a hybrid simulation approach incorporating Monte-Carlo Metropolis sampling in the hyperspace of 18 stacking parameters where the interaction energies using AMBER-parm99bsc0 and CHARMM-36 force-fields were calculated from atomic positions. We have also performed stacking energy calculations for structures from Monte-Carlo ensemble by Dispersion corrected density functional theory. The available experimental data with Watson-Crick base pairs are compared to establish the validity of the method. Stacking interaction involving A:U and G:C base pairs with non-canonical G:U base pairs also were calculated and showed that these structures were also sequence dependent. This approach could be useful to generate multiscale modeling of nucleic acids in terms of coarse-grained parameters where the atomic interactions are preserved. This method would also be useful to predict structure and dynamics of different base pair steps containing non Watson-Crick base pairs, as found often in the non-coding RNA structures. © 2015 Wiley Periodicals, Inc. Biopolymers 105: 212-226, 2016. PMID:26600167
McCaldon, R. J.
1964-01-01
Individuals can carry out complex activity while in a state of impaired consciousness, a condition termed “automatism”. Consciousness must be considered from both an organic and a psychological aspect, because impairment of consciousness may occur in both ways. Automatism may be classified as normal (hypnosis), organic (temporal lobe epilepsy), psychogenic (dissociative fugue) or feigned. Often painstaking clinical investigation is necessary to clarify the diagnosis. There is legal precedent for assuming that all crimes must embody both consciousness and will. Jurists are loath to apply this principle without reservation, as this would necessitate acquittal and release of potentially dangerous individuals. However, with the sole exception of the defence of insanity, there is at present no legislation to prohibit release without further investigation of anyone acquitted of a crime on the grounds of “automatism”. PMID:14199824
Klauda, Jeffery B.; Roberts, Mary F.; Redfield, Alfred G.; Brooks, Bernard R.; Pastor, Richard W.
2008-01-01
Molecular dynamics simulations and 31P-NMR spin-lattice (\\documentclass[10pt]{article} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{pmc} \\usepackage[Euler]{upgreek} \\pagestyle{empty} \\oddsidemargin -1.0in \\begin{document} \\begin{equation*}R_{1}\\end{equation*}\\end{document}) relaxation rates from 0.022 to 21.1 T of fluid phase dipalmitoylphosphatidylcholine bilayers are compared. Agreement between experiment and direct prediction from simulation indicates that the dominant slow relaxation (correlation) times of the dipolar and chemical shift anisotropy spin-lattice relaxation are ∼10 ns and 3 ns, respectively. Overall reorientation of the lipid body, consisting of the phosphorus, glycerol, and acyl chains, is well described within a rigid-body model. Wobble, with \\documentclass[10pt]{article} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{pmc} \\usepackage[Euler]{upgreek} \\pagestyle{empty} \\oddsidemargin -1.0in \\begin{document} \\begin{equation*}D_{{\\bot}}=\\end{equation*}\\end{document} 1–2 × 108 s−1, is the primary component of the 10 ns relaxation; this timescale is consistent with the tumbling of a lipid-sized cylinder in a medium with the viscosity of liquid hexadecane. The value for \\documentclass[10pt]{article} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{pmc} \\usepackage[Euler]{upgreek} \\pagestyle{empty} \\oddsidemargin -1.0in \\begin{document} \\begin{equation*}D_{{\\Vert}},\\end{equation*}\\end{document} the diffusion constant for rotation about the long axis of the lipid body, is difficult to determine precisely because of averaging by fast motions and wobble; it is tentatively estimated to be 1 × 107 s−1. The resulting D‖/D⊥
Bull, Diana L.
2015-09-23
The fundamental interactions between waves, a floating rigid-body, and a moonpool that is selectively open to atmosphere or enclosed to purposefully induce pressure fluctuations are investigated. The moonpool hydrodynamic characteristics and the hydrodynamic coupling to the rigid-body are derived implicitly through reciprocity relations on an array of field points. By modeling the free surface of the moonpool in this manner, an explicit hydrodynamic coupling term is included in the equations of motion. This coupling results in the migration of the moonpool's natural resonance frequency from the piston frequency to a new frequency when enclosed in a floating rigid-body. Two geometries that highlight distinct aspects of marine vessels and oscillating water column (OWC) renewable energy devices are analyzed to reveal the coupled natural resonance migration. The power performance of these two OWCs in regular waves is also investigated. The air chamber is enclosed and a three-dimensional, linear, frequency domain performance model that links the rigid-body to the moonpool through a linear resistive control strategy is detailed. Furthermore, an analytic expression for the optimal linear resistive control values in regular waves is presented.
Bull, Diana L.
2015-09-23
The fundamental interactions between waves, a floating rigid-body, and a moonpool that is selectively open to atmosphere or enclosed to purposefully induce pressure fluctuations are investigated. The moonpool hydrodynamic characteristics and the hydrodynamic coupling to the rigid-body are derived implicitly through reciprocity relations on an array of field points. By modeling the free surface of the moonpool in this manner, an explicit hydrodynamic coupling term is included in the equations of motion. This coupling results in the migration of the moonpool's natural resonance frequency from the piston frequency to a new frequency when enclosed in a floating rigid-body. Two geometriesmore » that highlight distinct aspects of marine vessels and oscillating water column (OWC) renewable energy devices are analyzed to reveal the coupled natural resonance migration. The power performance of these two OWCs in regular waves is also investigated. The air chamber is enclosed and a three-dimensional, linear, frequency domain performance model that links the rigid-body to the moonpool through a linear resistive control strategy is detailed. Furthermore, an analytic expression for the optimal linear resistive control values in regular waves is presented.« less
ERIC Educational Resources Information Center
Bellver-Cebreros, Consuelo; Rodriguez-Danta, Marcelo
2009-01-01
An apparently unnoticed analogy between the torque-free motion of a rotating rigid body about a fixed point and the propagation of light in anisotropic media is stated. First, a new plane construction for visualizing this torque-free motion is proposed. This method uses an intrinsic representation alternative to angular momentum and independent of…
Comparison between single and multi-camera view videogrammetry for estimating 6DOF of a rigid body
NASA Astrophysics Data System (ADS)
Nocerino, Erica; Menna, Fabio; Remondino, Fabio
2015-05-01
Motion capture (MOCAP) systems are used in many fields of application (e.g., machine vision, navigation, industrial measurements, medicine) for tracking and measuring the 6DOF (Degrees-Of-Freedom) of bodies. A variety of systems has been developed in the commercial, as well as research domain, exploiting different sensors and techniques, among which optical methods, based on multi-epoch photogrammetry, are the most common. The authors have developed an off-line low-cost MOCAP system made up of three consumer-grade video cameras, i.e. a multi-view camera system. The system was employed in two different case studies for measuring the motion of personnel working onboard a fishing boat and of a ship model in a towing tank (or model basin) subjected to different sea conditions. In this contribution, the same three single cameras are separately processed to evaluate the performances of a sequential space resection method for estimated the 6DOF of a rigid body (a ship model during high frequency tests in a model basin). The results from each video camera are compared with the motion estimated using the multi-view approach, with the aim of providing a quantitative assessment of the performances obtainable.
NASA Astrophysics Data System (ADS)
Elshaboury, S. M.; Abouelmagd, Elbaz I.; Kalantonis, V. S.; Perdios, E. A.
2016-09-01
The restricted three-body problem when the primaries are triaxial rigid bodies is considered and its basic dynamical features are studied. In particular, the equilibrium points are identified as well as their stability is determined in the special case when the Euler angles of rotational motion are accordingly θi = ψi = π/2 and φi = π/2, i = 1, 2. It is found that three unstable collinear equilibrium points exist and two triangular such points which may be stable. Special attention has also been paid to the study of simple symmetric periodic orbits and 31 families consisting of such orbits have been determined. It has been found that only one of these families consists entirely of unstable members while the remaining families contain stable parts indicating that other families bifurcate from them. Finally, using the grid-search technique a global solution in the space of initial conditions is obtained which comprises simple and of higher multiplicities symmetric periodic orbits as well as escape and collision orbits.
A heterogeneous system based on GPU and multi-core CPU for real-time fluid and rigid body simulation
NASA Astrophysics Data System (ADS)
da Silva Junior, José Ricardo; Gonzalez Clua, Esteban W.; Montenegro, Anselmo; Lage, Marcos; Dreux, Marcelo de Andrade; Joselli, Mark; Pagliosa, Paulo A.; Kuryla, Christine Lucille
2012-03-01
Computational fluid dynamics in simulation has become an important field not only for physics and engineering areas but also for simulation, computer graphics, virtual reality and even video game development. Many efficient models have been developed over the years, but when many contact interactions must be processed, most models present difficulties or cannot achieve real-time results when executed. The advent of parallel computing has enabled the development of many strategies for accelerating the simulations. Our work proposes a new system which uses some successful algorithms already proposed, as well as a data structure organisation based on a heterogeneous architecture using CPUs and GPUs, in order to process the simulation of the interaction of fluids and rigid bodies. This successfully results in a two-way interaction between them and their surrounding objects. As far as we know, this is the first work that presents a computational collaborative environment which makes use of two different paradigms of hardware architecture for this specific kind of problem. Since our method achieves real-time results, it is suitable for virtual reality, simulation and video game fluid simulation problems.
Taylor, L.M.; Preece, D.S.
1989-07-01
The computer program DMC (Distinct Motion Code) determines the two-dimensional planar rigid body motion of an arbitrary number of spherical shaped particles. The code uses an explicit central difference time integration algorithm to calculate the motion of the particles. Contact constraints between the particles are enforced using the penalty method. Coulomb friction and viscous damping are included in the collisions. The explicit time integration is conditionally stable with a time increment size which is dependent on the mass of the smallest particle in the mesh and the penalty stiffness used for the contact forces. The code chooses the spring stiffness based on the Young's modulus and Poisson's ratio of the material. The ability to tie spheres in pairs with a constraint condition is included in the code. The code has been written in an extremely efficient manner with particular emphasis placed on vector processing. While this does not impose any restrictions on non-vector processing computers, it does provide extremely fast results on vector processing computers. A bucket sorting or boxing algorithm is used to reduce the number of comparisons which must be made between spheres to determine the contact pairs. The sorting algorithm is completely algebraic and contains no logical branching. 13 refs., 14 figs., 4 tabs.
NASA Astrophysics Data System (ADS)
Taylor, L. M.; Preece, D. S.
1989-07-01
The computer program Distinct Motion Code (DMC) determines the two-dimensional planar rigid body motion of an arbitrary number of spherical shaped particles. The code uses an explicit central difference time integration algorithm to calculate the motion of the particles. Contact constraints between the particles are enforced using the penalty method. Coulomb friction and viscous damping are included in the collisions. The explicit time integration is conditionally stable with a time increment size which is dependent on the mass of the smallest particle in the mesh and the penalty stiffness used for the contact forces. The code chooses the spring stiffness based on the Young's modulus and Poisson's ratio of the material. The ability to tie spheres in pairs with a constraint condition is included in the code. The code has been written in an extremely efficient manner with particular emphasis placed on vector processing. While this does not impose any restrictions on non-vector processing computers, it does provide extremely fast results on vector processing computers. A bucket sorting or boxing algorithm is used to reduce the number of comparisons which must be made between spheres to determine the contact pairs. The sorting algorithm is completely algebraic and contains no logical branching.
A topological classification of the Chaplygin systems in the dynamics of a rigid body in a fluid
Nikolaenko, S S
2014-02-28
The paper is concerned with the topological analysis of the Chaplygin integrable case in the dynamics of a rigid body in a fluid. A full list of the topological types of Chaplygin systems in their dependence on the energy level is compiled on the basis of the Fomenko-Zieschang theory. An effective description of the topology of the Liouville foliation in terms of natural coordinate variables is also presented, which opens a direct way to calculating topological invariants. It turns out that on all nonsingular energy levels Chaplygin systems are Liouville equivalent to the well-known Euler case in the dynamics of a rigid body with fixed point. Bibliography: 23 titles.
NASA Astrophysics Data System (ADS)
Varkhalev, Iu. P.
1988-07-01
The first Liapunov method is used to investigate sufficient conditions for the existence of asymptotically pendulum motions of a rigid body with a single fixed point. A region of permissible values of the parameters characterizing the body mass corresponding to the asymptotically pendulum motions is defined. The existence of such motions in the case of the Kovalevskii solution and their absence in the Goriachev-Chapolygin solution are demonstrated.
Unseren, M.A.
1997-04-20
The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.
NASA Technical Reports Server (NTRS)
Liu, J. J. F.; Fitzpatrick, P. M.
1973-01-01
Variational equations were applied to the case of a rapidly spinning triaxial body moving in an elliptic orbit, in which the orbital plane is regressing at a constant rate. The explicit differential equations obtained in this application were integrated by the method of averaging to develop secular analytical expressions, which, to first-order in a small parameter, describe the complete space motions of the rigid body under the influence of nonresonant gravity-gradient perturbations. The effects of aerodynamic torque on the rotational motion of an orbiting satellite are studied, as another example of the application of the variational equations derived and the method of averaging.
NASA Astrophysics Data System (ADS)
Romano, Marcello
2008-03-01
The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to arbitrary initial angular velocity. In the paper a parametrization of the rotation by three complex numbers is used. In particular, the rows of the rotation matrix are seen as elements of the unit sphere and projected, by stereographic projection, onto points on the complex plane. In this representation, the kinematic differential equation reduces to an equation of Riccati type, which is solved through appropriate choices of substitutions, thereby yielding an analytic solution in terms of confluent hypergeometric functions. The rotation matrix is recovered from the three complex rotation variables by inverse stereographic map. The results of a numerical experiment confirming the exactness of the analytic solution are reported. The newly found analytic solution is valid for any motion time length and rotation amplitude. The present paper adds a further element to the small set of special cases for which an exact solution of the rotational motion of a rigid body exists.
Automatic assembly of space stations
NASA Technical Reports Server (NTRS)
Wang, P. K. C.
1985-01-01
A problem in the automatic assembly of space stations is the determination of guidance laws for the terminal rendezvous and docking of two structural components or modules. The problem involves the feedback control of both the relative attitude and translational motion of the modules. A suitable mathematical model based on rigid body dynamics was used. The basic requirements, physical constraints and difficulties associated with the control problem are discussed. An approach which bypasses some of the difficulties is proposed. A nonlinear guidance law satisfying the basic requirements is derived. The implementation requirements is discussed. The performance of the resulting feedback control system with rigid and flexible structural components is studied by computer simulation.
Multiple zone coal degasification potential in the Warrior coal field of Alabama
Graves, S.L.; Beavers, W.M.; Patton, A.
1982-01-01
The Upper Pottsville formation in the Warrior Coal Field of Alabama has six recognized groups of bituminous coal seams. Three of these groups, the Pratt, Mary Lee, and Black Creek consist of seams containing commercially significant quantities of methane. In parts of the Warrior Coal Field, where all three groups can be penetrated in one vertical borehole, the potential production from multiple zone completion wells can result in commercially profitable wells. Various open hole and through the casing completion procedures are being applied resulting in successful methane production from these multiple zone coal gas wells.
NASA Astrophysics Data System (ADS)
Connolly, C. M.; Konik, A.; Dasari, P. K. R.; Segars, P.; Zheng, S.; Johnson, K. L.; Dey, J.; King, M. A.
2011-03-01
Patient motion can cause artifacts, which can lead to difficulty in interpretation. The purpose of this study is to create 3D digital anthropomorphic phantoms which model the location of the structures of the chest and upper abdomen of human volunteers undergoing a series of clinically relevant motions. The 3D anatomy is modeled using the XCAT phantom and based on MRI studies. The NURBS surfaces of the XCAT are interactively adapted to fit the MRI studies. A detailed XCAT phantom is first developed from an EKG triggered Navigator acquisition composed of sagittal slices with a 3 x 3 x 3 mm voxel dimension. Rigid body motion states are then acquired at breath-hold as sagittal slices partially covering the thorax, centered on the heart, with 9 mm gaps between them. For non-rigid body motion requiring greater sampling, modified Navigator sequences covering the entire thorax with 3 mm gaps between slices are obtained. The structures of the initial XCAT are then adapted to fit these different motion states. Simultaneous to MRI imaging the positions of multiple reflective markers on stretchy bands about the volunteer's chest and abdomen are optically tracked in 3D via stereo imaging. These phantoms with combined position tracking will be used to investigate both imaging-data-driven and motion-tracking strategies to estimate and correct for patient motion. Our initial application will be to cardiacperfusion SPECT imaging where the XCAT phantoms will be used to create patient activity and attenuation distributions for each volunteer with corresponding motion tracking data from the markers on the body-surface. Monte Carlo methods will then be used to simulate SPECT acquisitions, which will be used to evaluate various motion estimation and correction strategies.
van Zundert, G C P; Bonvin, A M J J
2016-08-01
Cryo-electron microscopy provides fascinating structural insight into large macromolecular machines at increasing detail. Despite significant advances in the field, the resolution of the resulting three-dimensional images is still typically insufficient for de novo model building. To bridge the resolution gap and give an atomic interpretation to the data, high-resolution models are typically placed into the density as rigid bodies. Unfortunately, this is often done manually using graphics software, a subjective method that can lead to over-interpretation of the data. A more objective approach is to perform an exhaustive cross-correlation-based search to fit subunits into the density. Here we show, using five experimental ribosome maps ranging in resolution from 5.5 to 6.9Å, that cross-correlation-based fitting is capable of successfully fitting subunits correctly in the density for over 90% of the cases. Importantly, we provide indicators for the reliability and ambiguity of a fit, using the Fisher z-transformation and its associated confidence intervals, giving a formal approach to identify over-interpreted regions in the density. In addition, we quantify the resolution requirement for a successful fit as a function of the subunit size. For larger subunits the resolution of the data can be down-filtered to 20Å while still retaining an unambiguous fit. We leverage this information through the use of multi-scale image pyramids to accelerate the search up to 30-fold on CPUs and 40-fold on GPUs at a negligible loss in success rate. We implemented this approach in our rigid-body fitting software PowerFit, which can be freely downloaded from https://github.com/haddocking/powerfit. PMID:27318041
Iwakiri, Junichi; Hamada, Michiaki; Asai, Kiyoshi; Kameda, Tomoshi
2016-09-13
RNA-protein interactions play fundamental roles in many biological processes. To understand these interactions, it is necessary to know the three-dimensional structures of RNA-protein complexes. However, determining the tertiary structure of these complexes is often difficult, suggesting that an accurate rigid body docking for RNA-protein complexes is needed. In general, the rigid body docking process is divided into two steps: generating candidate structures from the individual RNA and protein structures and then narrowing down the candidates. In this study, we focus on the former problem to improve the prediction accuracy in RNA-protein docking. Our method is based on the integration of physicochemical information about RNA into ZDOCK, which is known as one of the most successful computer programs for protein-protein docking. Because recent studies showed the current force field for molecular dynamics simulation of protein and nucleic acids is quite accurate, we modeled the physicochemical information about RNA by force fields such as AMBER and CHARMM. A comprehensive benchmark of RNA-protein docking, using three recently developed data sets, reveals the remarkable prediction accuracy of the proposed method compared with existing programs for docking: the highest success rate is 34.7% for the predicted structure of the RNA-protein complex with the best score and 79.2% for 3,600 predicted ones. Three full atomistic force fields for RNA (AMBER94, AMBER99, and CHARMM22) produced almost the same accurate result, which showed current force fields for nucleic acids are quite accurate. In addition, we found that the electrostatic interaction and the representation of shape complementary between protein and RNA plays the important roles for accurate prediction of the native structures of RNA-protein complexes. PMID:27494732
NASA Astrophysics Data System (ADS)
Rupnik, Ewelina; Jansa, Josef
2013-04-01
Central to our investigation is determination of dynamic behaviour of a highly reflective platform floating on water, as well as derivation of parameters defining instantaneous water state. The employed imaging setup consists of three off-the-shelf dSLR cameras capable of video recording at a 30Hz frame rate. In order to observe a change, the non-rigid and non-diffuse bodies impose the adoption of artificial targetting and custom measurement algorithms. Attention will be given to an in-house software tool implemented to carry out point measurement, correspondence search, tracking and outlier detection methods in the presence of specular reflections and a multimedia scene. A methodology for retrieval of wave parameters in regular wave conditions is also automatically handled by the software and will be discussed. In the context of performed measurements and achieved results, we will point out the extent to which consumer grade camera can fulfil automation and accuracy demands of industrial applications and the pitfalls entailed. Lastly, we will elaborate on visual representation of computed motion and deformations.
Multiple zone coal degasification potential in Warrior coal field of Alabama
Graves, S.L.; Patton, A.F.; Beavers, W.M.
1983-09-01
The upper Pottsville Formation in the Warrior coal field of Alabama has seven recognized groups of bituminous coal seams. Three of these groups, the Pratt, Mary Lee, and Black Creek, consist of seams containing commercially significant quantities of methane. Each group has several seams within a vertical interval that, in many areas, can be stimulated collectively. In parts of the Warrior coal field, where all three groups can be penetrated in one vertical borehole, the potential production from multiple zone completion wells can result in commerically profitable wells. Various open-hole and through-the-casing completion procedures are being applied, resulting in successful methane production from these multiple zone coal gas wells.
Multiple zone coal degasification potential in the Warrior coal field of Alabama
Graves, S.L.; Patton, A.F.; Beavers, W.M.
1983-01-01
The upper Pottsville Formation in the Warrior coal field of Alabama has 7 recognized groups of bituminous coal seams. Three of these groups, the Pratt, Mary Lee, and Black Creek, consist of seams containing commercially significant quantities of methane. Each group has several seams within a vertical interval that, in many areas, can be collectively stimulated. In parts of the Warrior coal field, where all 3 groups can be penetrated in one vertical borehole, the potential production from multiple zone completion wells can result in commercially profitable wells. Various open hole and through-the-casing completion procedures are being applied, resulting in successful methane production from these multiple-zone-coal-gas wells.
NASA Astrophysics Data System (ADS)
Lin, Zone-Ching; Huang, Jen-Ching
2004-11-01
A rigid body boundary layer interface force (RIF) model for stress calculation on the nanoscale is proposed in this paper for calculating stress based on molecular dynamics. The RIF model is used to study the stress-stain behaviour when nanoscale single crystal copper is under uniaxial tension, and is used for 15 tensile simulations each with different strain rate. The stress-strain curve established from simulation was first converted into a true stress-strain curve; a regression analysis was then applied in order to find the flow curve. From simulation results, it is found that the strain rate has large influence on both K and n values of the flow curve. At low strain rate (less than 1 × 1012 s-1), both K and n values decrease with the increase of strain rate. When the strain rate exceeds 1 × 1012 s-1, the strain rate against the K and n values of the flow curve approaches a constant. Flow curve equations considering the influence of strain rate are derived; both complete and simplified forms of flow curve equations are also derived. It is observed that the lower the strain rates, the higher the fluctuations of the stress-strain curve. Furthermore, the increase of strain rate resulting in a smoother stress-strain curve is also found.
Feng, Bing; Gifford, Howard C.; Beach, Richard D.; Boening, Guido; Gennert, Michael A.; King, Michael A.
2008-01-01
Due to the extended imaging times employed in SPECT and PET, patient motion during imaging is a common clinical occurrence. The fast and accurate correction of the three-dimensional (3D) translational and rotational patient motion in iterative reconstruction is thus necessary to address this important cause of artifacts. We propose a method of incorporating 3D Gaussian interpolation in the projector/backprojector pair to facilitate compensation for rigid-body motion in addition to attenuation and distance-dependent blurring. The method works as the interpolation step for moving the current emission voxel estimates and attenuation maps in the global coordinate system to the new patient location in the rotating coordinate system when calculating the expected projection. It also is employed for moving back the backprojection of the ratio of the measured projection to the expected projection and backprojection of the unit value (sensitivity factor) to the original location. MCAT simulations with known six-degree-of-freedom (6DOF) motion were employed to evaluate the accuracy of our method of motion compensation. We also tested the method with acquisitions of the Data Spectrum Anthropomorphic phantom where motion during SPECT acquisition was measured using the Polaris IR motion tracking system. No motion artifacts were seen on the reconstructions with the motion compensation. PMID:16827485
O’Halloran, R; Aksoy, M; Aboussouan, E; Peterson, E; Van, A; Bammer, R
2014-01-01
Purpose Diffusion contrast in diffusion-weighted steady state free precession MRI is generated through the constructive addition of signal from many coherence pathways. Motion-induced phase causes destructive interference which results in loss of signal magnitude and diffusion contrast. In this work, a 3D navigator-based real-time correction of the rigid-body-motion-induced phase errors is developed for diffusion-weighted steady state free precession MRI. Methods The efficacy of the real-time prospective correction method in preserving phase coherence of the steady-state is tested in 3D phantom experiments and 3D scans of healthy human subjects. Results In nearly all experiments, the signal magnitude in images obtained with proposed prospective correction was higher than the signal magnitude in images obtained with no correction. In the human subjects the mean magnitude signal in the data was up to 30 percent higher with prospective motion correction than without. Prospective correction never resulted in a decrease in mean signal magnitude in either the data or in the images. Conclusions The proposed prospective motion correction method is shown to preserve the phase coherence of the steady state in diffusion-weighted steady state free precession MRI, thus mitigating signal magnitude losses that would confound the desired diffusion contrast. PMID:24715414
NASA Astrophysics Data System (ADS)
Pathak, Ashish; Raessi, Mehdi
2016-04-01
We present a three-dimensional (3D) and fully Eulerian approach to capturing the interaction between two fluids and moving rigid structures by using the fictitious domain and volume-of-fluid (VOF) methods. The solid bodies can have arbitrarily complex geometry and can pierce the fluid-fluid interface, forming contact lines. The three-phase interfaces are resolved and reconstructed by using a VOF-based methodology. Then, a consistent scheme is employed for transporting mass and momentum, allowing for simulations of three-phase flows of large density ratios. The Eulerian approach significantly simplifies numerical resolution of the kinematics of rigid bodies of complex geometry and with six degrees of freedom. The fluid-structure interaction (FSI) is computed using the fictitious domain method. The methodology was developed in a message passing interface (MPI) parallel framework accelerated with graphics processing units (GPUs). The computationally intensive solution of the pressure Poisson equation is ported to GPUs, while the remaining calculations are performed on CPUs. The performance and accuracy of the methodology are assessed using an array of test cases, focusing individually on the flow solver and the FSI in surface-piercing configurations. Finally, an application of the proposed methodology in simulations of the ocean wave energy converters is presented.
NASA Astrophysics Data System (ADS)
Irschik, H.; Krommer, M.; Nader, M.; Vetyukov, Y.; von Garssen, H.-G.
2015-01-01
The present paper is concerned with Lagrange's Equations, applied to a deformable body in the presence of rigid body degrees of freedom. The Lagrange description of Continuum Mechanics is used. An exact version of the Equations is derived first. This version, which represents an identical extension of the Fundamental Law of Dynamics, does involve the idea of virtual motions. The virtual motion is described in the framework of the Ritz-Ansatz, but our derivation does not make use of D'Alemberts principle, the principle of virtual work, or variational principles. From the exact version, by involving arguments related to the Galerkin approximation technique, we derive an approximate Ritz type version of Lagrange's Equations. This approximate version coincides with the traditional one, which is based on the notion of kinetic energy. However, since our derivation stems from the Fundamental Law of Dynamics, we have at our disposal an alternative formulation, which is based on the notion of local momentum. This momentum based version, which is the main topic of the present contribution, can be used for the purpose of performing independent checks of the energy based version of Lagrange's Equations. The momentum based version also clarifies that and how certain terms in the energy based version do cancel out. The momentum based version is worked out in the framework of the Floating Frame of Reference Formulation of Multibody Dynamics. Explicit formulas for the single terms of Lagrange's Equations are derived for the translational, rotational and flexible degrees of freedom of the deformable body, respectively. Corresponding Lagrange's Equations are explained in the light of the relations of Balance of Total Momentum, Balance of Total Moment of Momentum, of the Mean Stress Theorem and the notion of Virial of Forces. An embedding into the literature is given.
NASA Astrophysics Data System (ADS)
McBride, Carl; Noya, Eva G.; Vega, Carlos
2013-03-01
Here we provide FORTRAN source code to facilitate the calculation of the “Noya-Vega-McBride” (NVM) rotational propagator for asymmetric tops [E.G. Noya, C. Vega, C. McBride, J. Chem. Phys. 134 (2011) 054117] for a given value of PT and A, B and C, where P is the number of beads, T is the temperature, and A, B and C are the rotational constants for the system in question. The resulting NVM propagator calculated by the code provided can then be used to obtain the quantum rotational energy during a path integral Monte Carlo simulation of rigid bodies. Catalogue identifier: AEOA_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEOA_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 624734 No. of bytes in distributed program, including test data, etc.: 9890026 Distribution format: tar.gz Programming language: Fortran. Computer: Any. Operating system: Any. RAM: <2 Mbytes Classification: 16.13. External routines: Lapack routine, dsyev (code included in the distribution package). Nature of problem: Calculation of the NVM rotational propagator Solution method: Fortran implementation of the NVM propagator equation. Additional comments: Example and test calculations are provided. Running time: 2-200 hours. Two examples are provided. The PT_1497 example will take approximately 11 hours to run. The quick_test should only take a few minutes.
Inoue, Minoru; Yoshimura, Michio Sato, Sayaka; Nakamura, Mitsuhiro; Yamada, Masahiro; Hirata, Kimiko; Ogura, Masakazu; Hiraoka, Masahiro; Sasaki, Makoto; Fujimoto, Takahiro
2015-04-15
Purpose: To investigate image-registration errors when using fiducial markers with a manual method and the point-based rigid-body registration (PRBR) algorithm in accelerated partial breast irradiation (APBI) patients, with accompanying fiducial deviations. Methods: Twenty-two consecutive patients were enrolled in a prospective trial examining 10-fraction APBI. Titanium clips were implanted intraoperatively around the seroma in all patients. For image-registration, the positions of the clips in daily kV x-ray images were matched to those in the planning digitally reconstructed radiographs. Fiducial and gravity registration errors (FREs and GREs, respectively), representing resulting misalignments of the edge and center of the target, respectively, were compared between the manual and algorithm-based methods. Results: In total, 218 fractions were evaluated. Although the mean FRE/GRE values for the manual and algorithm-based methods were within 3 mm (2.3/1.7 and 1.3/0.4 mm, respectively), the percentages of fractions where FRE/GRE exceeded 3 mm using the manual and algorithm-based methods were 18.8%/7.3% and 0%/0%, respectively. Manual registration resulted in 18.6% of patients with fractions of FRE/GRE exceeding 5 mm. The patients with larger clip deviation had significantly more fractions showing large FRE/GRE using manual registration. Conclusions: For image-registration using fiducial markers in APBI, the manual registration results in more fractions with considerable registration error due to loss of fiducial objectivity resulting from their deviation. The authors recommend the PRBR algorithm as a safe and effective strategy for accurate, image-guided registration and PTV margin reduction.
Unseren, M.A.
1997-09-01
The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.
Feng, Bing; King, Michael A
2006-11-01
We developed a unique method for estimating and compensating rigid-body translations and rotations from scatter and-attenuation-compensated projection data in iterative reconstruction when multiple projection angles are acquired at the same time. During reconstruction, both the non-attenuated and attenuated line-integrals are calculated. Their ratios are then multiplied to the scatter-corrected projection data to estimate scatter-and-attenuation- compensated projection data. At the end of each iteration, the sets of compensated projection data for the angles acquired at the same time are employed to calculate the center-of mass and the inertia tensor, which are used to estimate the location and orientation of the imaging object by the principle-axes method. The estimated motion is applied in the next iteration to reposition the estimated slices and attenuation map in the projector and back-projector to match the pose of the patient at time the projections were acquired. To evaluate our method, we simulated an acquisition of the MCAT phantom with a 3-head SPECT system and imaged the Data Spectrum anthropomorphic phantom on a 3-head IRIX SPECT system. In simulations the phantom translated and rotated by the same amount 9 times. A numerical projector modeling the motion, attenuation, and distance-dependent blurring was used to generate the projection data. Poisson noise was added and 30 noise-realizations were generated. In the experiment with the anthropomorphic phantom, four 360-degree acquisitions were performed with the phantom translated or rotated beforehand. A motion-present dataset was made by mixing the 4 acquisitions. For both the MCAT phantom simulations and anthropomorphic phantom experiment, the motion-present data were reconstructed with 10 iterations of the OSEM which estimates and corrects the motion as described above. Our method obtained visually artifact-free reconstructions, while the reconstruction with no motion correction showed severe artifacts
Research on the automatic laser navigation system of the tunnel boring machine
NASA Astrophysics Data System (ADS)
Liu, Yake; Li, Yueqiang
2011-12-01
By establishing relevant coordinates of the Automatic Laser Navigation System, the basic principle of the system which accesses the TBM three-dimensional reference point and yawing angle by mathematical transformation between TBM, target prism and earth coordinate systems is discussed deeply in details. According to the way of rigid body descriptions of its posture, TBM attitude parameters measurement and data acquisition methods are proposed, and measures to improve the accuracy of the Laser Navigation System are summarized.
Takayama, Yuki; Schwieters, Charles D.; Grishaev, Alexander; Ghirlando, Rodolfo; Clore, G. Marius
2012-10-23
The first component of the bacterial phosphotransferase system, enzyme I (EI), is a multidomain 128 kDa dimer that undergoes large rigid-body conformational transitions during the course of its catalytic cycle. Here we investigate the solution structure of a non-phosphorylatable active-site mutant in which the active-site histidine is substituted by glutamine. We show that perturbations in the relative orientations and positions of the domains and subdomains can be rapidly and reliably determined by conjoined rigid-body/torsion angle/Cartesian simulated annealing calculations driven by orientational restraints from residual dipolar couplings and shape and translation information afforded by small- and wide-angle X-ray scattering. Although histidine and glutamine are isosteric, the conformational space available to a Gln side chain is larger than that for the imidazole ring of His. An additional hydrogen bond between the side chain of Gln189 located on the EIN{sup {alpha}/{beta}} subdomain and an aspartate (Asp129) on the EIN{sup {alpha}} subdomain results in a small ({approx}9{sup o}) reorientation of the EIN{sup {alpha}} and EIN{sup {alpha}/{beta}} subdomains that is in turn propagated to a larger reorientation ({approx}26{sup o}) of the EIN domain relative to the EIC dimerization domain, illustrating the positional sensitivity of the EIN domain and its constituent subdomains to small structural perturbations.
Development and characterization of an automatic technique for the alignment of fMRI time series.
Ciulla, C; Deek, F P
2001-01-01
An automatic technique for the registration of fMRI time series has been developed, implemented and tested. The method assumes the human brain to be a rigid body and computes a head coordinate system on the basis of three reference points that lies on the directions corresponding to two of the principal axes of the volume at the intersections with the head boundary. Such directions are found computing the eigenvectors of the symmetric inertia matrix of the image. The inertia components were extracted weighting pixels' coordinates with their intensity values. The three reference points were found in the same position, relative to the head, in both the test and the reference images. The technique has been tested using T2*-weighted Magnetic Resonance (MR) images in which known rigid body transformations have been applied. The results obtained indicate that the method offers subvoxel accuracy in correcting misalignment among time points in fMRI time series. PMID:11599532
NASA Astrophysics Data System (ADS)
Nie, Ren-Shi; Guo, Jian-Chun; Jia, Yong-Lu; Zhu, Shui-Qiao; Rao, Zheng; Zhang, Chun-Guang
2011-09-01
The no-type curve with negative skin of a horizontal well has been found in the current research. Negative skin is very significant to transient well test and rate decline analysis. This paper first presents the negative skin problem where the type curves with negative skin of a horizontal well are oscillatory. In order to solve the problem, we propose a new model of transient well test and rate decline analysis for a horizontal well in a multiple-zone composite reservoir. A new dimensionless definition of rD is introduced in the dimensionless mathematical modelling under different boundaries. The model is solved using the Laplace transform and separation of variables techniques. In Laplace space, the solutions for both constant rate production and constant wellbore pressure production are expressed in a unified formula. We provide graphs and thorough analysis of the new standard type curves for both well test and rate decline analysis; the characteristics of type curves are the reflections of horizontal well production in a multiple-zone reservoir. An important contribution of our paper is that our model removed the oscillation in type curves and thus solved the negative skin problem. We also show that the characteristics of type curves depend heavily on the properties of different zones, skin factor, well length, formation thickness, etc. Our research can be applied to a real case study.
NASA Astrophysics Data System (ADS)
Wang, Xiao-Lu; Fan, Xiang-Yu; He, Yong-Ming; Nie, Ren-Shi; Huang, Quan-Hua
2013-08-01
Based on material balance and Darcy's law, the governing equation with the quadratic pressure gradient term was deduced. Then the nonlinear model for fluid flow in a multiple-zone composite reservoir including the quadratic gradient term was established and solved using a Laplace transform. A series of standard log-log type curves of 1-zone (homogeneous), 2-zone and 3-zone reservoirs were plotted and nonlinear flow characteristics were analysed. The type curves governed by the coefficient of the quadratic gradient term (β) gradually deviate from those of a linear model with time elapsing. Qualitative and quantitative analyses were implemented to compare the solutions of the linear and nonlinear models. The results showed that differences of pressure transients between the linear and nonlinear models increase with elapsed time and β. At the end, a successful application of the theoretical model data against the field data shows that the nonlinear model will be a good tool to evaluate formation parameters more accurately.
Rigid Body Rate Inference from Attitude Variation
NASA Technical Reports Server (NTRS)
Bar-Itzhack, I. Y.; Harman, Richard R.; Thienel, Julie K.
2006-01-01
In this paper we research the extraction of the angular rate vector from attitude information without differentiation, in particular from quaternion measurements. We show that instead of using a Kalman filter of some kind, it is possible to obtain good rate estimates, suitable for spacecraft attitude control loop damping, using simple feedback loops, thereby eliminating the need for recurrent covariance computation performed when a Kalman filter is used. This considerably simplifies the computations required for rate estimation in gyro-less spacecraft. Some interesting qualities of the Kalman filter gain are explored, proven and utilized. We examine two kinds of feedback loops, one with varying gain that is proportional to the well known Q matrix, which is computed using the measured quaternion, and the other type of feedback loop is one with constant coefficients. The latter type includes two kinds; namely, a proportional feedback loop, and a proportional-integral feedback loop. The various schemes are examined through simulations and their performance is compared. It is shown that all schemes are adequate for extracting the angular velocity at an accuracy suitable for control loop damping.
ERIC Educational Resources Information Center
Heyes, Cecilia
2011-01-01
"Automatic imitation" is a type of stimulus-response compatibility effect in which the topographical features of task-irrelevant action stimuli facilitate similar, and interfere with dissimilar, responses. This article reviews behavioral, neurophysiological, and neuroimaging research on automatic imitation, asking in what sense it is "automatic"…
Reges, José E. O.; Salazar, A. O.; Maitelli, Carla W. S. P.; Carvalho, Lucas G.; Britto, Ursula J. B.
2016-01-01
This work is a contribution to the development of flow sensors in the oil and gas industry. It presents a methodology to measure the flow rates into multiple-zone water-injection wells from fluid temperature profiles and estimate the measurement uncertainty. First, a method to iteratively calculate the zonal flow rates using the Ramey (exponential) model was described. Next, this model was linearized to perform an uncertainty analysis. Then, a computer program to calculate the injected flow rates from experimental temperature profiles was developed. In the experimental part, a fluid temperature profile from a dual-zone water-injection well located in the Northeast Brazilian region was collected. Thus, calculated and measured flow rates were compared. The results proved that linearization error is negligible for practical purposes and the relative uncertainty increases as the flow rate decreases. The calculated values from both the Ramey and linear models were very close to the measured flow rates, presenting a difference of only 4.58 m³/d and 2.38 m³/d, respectively. Finally, the measurement uncertainties from the Ramey and linear models were equal to 1.22% and 1.40% (for injection zone 1); 10.47% and 9.88% (for injection zone 2). Therefore, the methodology was successfully validated and all objectives of this work were achieved. PMID:27420068
Reges, José E O; Salazar, A O; Maitelli, Carla W S P; Carvalho, Lucas G; Britto, Ursula J B
2016-01-01
This work is a contribution to the development of flow sensors in the oil and gas industry. It presents a methodology to measure the flow rates into multiple-zone water-injection wells from fluid temperature profiles and estimate the measurement uncertainty. First, a method to iteratively calculate the zonal flow rates using the Ramey (exponential) model was described. Next, this model was linearized to perform an uncertainty analysis. Then, a computer program to calculate the injected flow rates from experimental temperature profiles was developed. In the experimental part, a fluid temperature profile from a dual-zone water-injection well located in the Northeast Brazilian region was collected. Thus, calculated and measured flow rates were compared. The results proved that linearization error is negligible for practical purposes and the relative uncertainty increases as the flow rate decreases. The calculated values from both the Ramey and linear models were very close to the measured flow rates, presenting a difference of only 4.58 m³/d and 2.38 m³/d, respectively. Finally, the measurement uncertainties from the Ramey and linear models were equal to 1.22% and 1.40% (for injection zone 1); 10.47% and 9.88% (for injection zone 2). Therefore, the methodology was successfully validated and all objectives of this work were achieved. PMID:27420068
Experimental investigation of a single-plane automatic balancing mechanism for a rigid rotor
NASA Astrophysics Data System (ADS)
Rodrigues, D. J.; Champneys, A. R.; Friswell, M. I.; Wilson, R. E.
2011-01-01
We present an experimental investigation of a single-plane automatic balancer that is fitted to a rigid rotor. Two balls, which are free to travel around a circular race, are used to compensate for the mass imbalance in the plane of the device. The experimental rig possesses both cylindrical and conical rigid body modes and the performance of the automatic balancer is assessed for a variety of different levels of imbalance. A non-planar mathematical model that also includes the observed effect of support anisotropy is developed and numerical simulations are compared with the experimental findings. In the highly supercritical frequency range the balls act to balance the rotor and a good quantitative match is found between the model and the experimental data. However, during the rigid body resonances the dynamics of the ball balancer is highly nonlinear and for this speed range the agreement between theory and experiment is mainly qualitative. Nevertheless, the model is able to successfully reproduce many of the solution types that are found experimentally.
Automatic 3D image registration using voxel similarity measurements based on a genetic algorithm
NASA Astrophysics Data System (ADS)
Huang, Wei; Sullivan, John M., Jr.; Kulkarni, Praveen; Murugavel, Murali
2006-03-01
An automatic 3D non-rigid body registration system based upon the genetic algorithm (GA) process is presented. The system has been successfully applied to 2D and 3D situations using both rigid-body and affine transformations. Conventional optimization techniques and gradient search strategies generally require a good initial start location. The GA approach avoids the local minima/maxima traps of conventional optimization techniques. Based on the principles of Darwinian natural selection (survival of the fittest), the genetic algorithm has two basic steps: 1. Randomly generate an initial population. 2. Repeated application of the natural selection operation until a termination measure is satisfied. The natural selection process selects individuals based on their fitness to participate in the genetic operations; and it creates new individuals by inheritance from both parents, genetic recombination (crossover) and mutation. Once the termination criteria are satisfied, the optimum is selected from the population. The algorithm was applied on 2D and 3D magnetic resonance images (MRI). It does not require any preprocessing such as threshold, smoothing, segmentation, or definition of base points or edges. To evaluate the performance of the GA registration, the results were compared with results of the Automatic Image Registration technique (AIR) and manual registration which was used as the gold standard. Results showed that our GA implementation was a robust algorithm and gives very close results to the gold standard. A pre-cropping strategy was also discussed as an efficient preprocessing step to enhance the registration accuracy.
Dynamic Response and Stability Analysis of AN Automatic Ball Balancer for a Flexible Rotor
NASA Astrophysics Data System (ADS)
Chung, J.; Jang, I.
2003-01-01
Dynamic stability and time responses are studied for an automatic ball balancer of a rotor with a flexible shaft. The Stodola-Green rotor model, of which the shaft is flexible, is selected for analysis. This rotor model is able to include the influence of rigid-body rotations due to the shaft flexibility on dynamic responses. Applying Lagrange's equation to the rotor with the ball balancer, the non-linear equations of motion are derived. Based on the linearized equations, the stability of the ball balancer around the balanced equilibrium position is analyzed. On the other hand, the time responses computed from the non-linear equations are investigated. This study shows that the automatic ball balancer can achieve the balancing of a rotor with a flexible shaft if the system parameters of the balancer satisfy the stability conditions for the balanced equilibrium position.
Automatic registration of serial mammary gland sections
Arganda-Carreras, Ignacio; Fernandez-Gonzalez, Rodrigo; Ortiz-de-Solorzano, Carlos
2004-04-13
We present two new methods for automatic registration of microscope images of consecutive tissue sections. They represent two possibilities for the first step in the 3-D reconstruction of histological structures from serially sectioned tissue blocks. The goal is to accurately align the sections in order to place every relevant shape contained in each image in front of its corresponding shape in the following section before detecting the structures of interest and rendering them in 3D. This is accomplished by finding the best rigid body transformation (translation and rotation) of the image being registered by maximizing a matching function based on the image content correlation. The first method makes use of the entire image information, whereas the second one uses only the information located at specific sites, as determined by the segmentation of the most relevant tissue structures. To reduce computing time, we use a multiresolution pyramidal approach that reaches the best registration transformation in increasing resolution steps. In each step, a subsampled version of the images is used. Both methods rely on a binary image which is a thresholded version of the Sobel gradients of the image (first method) or a set of boundaries manually or automatically obtained that define important histological structures of the sections. Then distance-transform of the binary image is computed. A proximity function is then calculated between the distance image of the image being registered and that of the reference image. The transformation providing a maximum of the proximity function is then used as the starting point of the following step. This is iterated until the registration error lies below a minimum value.
Decker, R
1987-10-01
In addition to express warranties (those specifically made by the supplier in the contract) and implied warranties (those resulting from circumstances of the sale), there is one other classification of warranties that needs to be understood by hospital materials managers. These are sometimes known as automatic warranties. In the following dialogue, Doctor Decker develops these legal concepts. PMID:10284977
NASA Technical Reports Server (NTRS)
Haus, FR
1936-01-01
This report lays more stress on the principles underlying automatic piloting than on the means of applications. Mechanical details of servomotors and the mechanical release device necessary to assure instantaneous return of the controls to the pilot in case of malfunction are not included. Descriptions are provided of various commercial systems.
Robinson, H.P.
1960-06-01
An automatic counter of alpha particle tracks recorded by a sensitive emulsion of a photographic plate is described. The counter includes a source of mcdulated dark-field illumination for developing light flashes from the recorded particle tracks as the photographic plate is automatically scanned in narrow strips. Photoelectric means convert the light flashes to proportional current pulses for application to an electronic counting circuit. Photoelectric means are further provided for developing a phase reference signal from the photographic plate in such a manner that signals arising from particle tracks not parallel to the edge of the plate are out of phase with the reference signal. The counting circuit includes provision for rejecting the out-of-phase signals resulting from unoriented tracks as well as signals resulting from spurious marks on the plate such as scratches, dust or grain clumpings, etc. The output of the circuit is hence indicative only of the tracks that would be counted by a human operator.
NASA Technical Reports Server (NTRS)
Haus, FR
1936-01-01
This report concerns the study of automatic stabilizers and extends it to include the control of the three-control system of the airplane instead of just altitude control. Some of the topics discussed include lateral disturbed motion, static stability, the mathematical theory of lateral motion, and large angles of incidence. Various mechanisms and stabilizers are also discussed. The feeding of Diesel engines by injection pumps actuated by engine compression, achieves the required high speeds of injection readily and permits rigorous control of the combustible charge introduced into each cylinder and of the peak pressure in the resultant cycle.
NASA Astrophysics Data System (ADS)
Liu, Yonghuai; Rodrigues, Marcos A.
2000-03-01
This paper describes research on the application of machine vision techniques to a real time automatic inspection task of air filter components in a manufacturing line. A novel calibration algorithm is proposed based on a special camera setup where defective items would show a large calibration error. The algorithm makes full use of rigid constraints derived from the analysis of geometrical properties of reflected correspondence vectors which have been synthesized into a single coordinate frame and provides a closed form solution to the estimation of all parameters. For a comparative study of performance, we also developed another algorithm based on this special camera setup using epipolar geometry. A number of experiments using synthetic data have shown that the proposed algorithm is generally more accurate and robust than the epipolar geometry based algorithm and that the geometric properties of reflected correspondence vectors provide effective constraints to the calibration of rigid body transformations.
Miura, M.; Inuzuka, T.
1986-08-26
1. An automatic transmission with four forward speeds and one reverse position, is described which consists of: an input shaft; an output member; first and second planetary gear sets each having a sun gear, a ring gear and a carrier supporting a pinion in mesh with the sun gear and ring gear; the carrier of the first gear set, the ring gear of the second gear set and the output member all being connected; the ring gear of the first gear set connected to the carrier of the second gear set; a first clutch means for selectively connecting the input shaft to the sun gear of the first gear set, including friction elements, a piston selectively engaging the friction elements and a fluid servo in which hydraulic fluid is selectively supplied to the piston; a second clutch means for selectively connecting the input shaft to the sun gear of the second gear set a third clutch means for selectively connecting the input shaft to the carrier of the second gear set including friction elements, a piston selectively engaging the friction elements and a fluid servo in which hydraulic fluid is selectively supplied to the piston; a first drive-establishing means for selectively preventing rotation of the ring gear of the first gear set and the carrier of the second gear set in only one direction and, alternatively, in any direction; a second drive-establishing means for selectively preventing rotation of the sun gear of the second gear set; and a drum being open to the first planetary gear set, with a cylindrical intermediate wall, an inner peripheral wall and outer peripheral wall and forming the hydraulic servos of the first and third clutch means between the intermediate wall and the inner peripheral wall and between the intermediate wall and the outer peripheral wall respectively.
An automatic nonrigid registration for stained histological sections.
Auer, Martin; Regitnig, Peter; Holzapfel, Gerhard A
2005-04-01
Automatic computer-based analyses of histological sections which are differently stained require that they are related to each other. Most registration methods are only able to perform rigid-body motion and are sensitive to noise and artifacts. Histological images, however, are accompanied by several artifacts and different contrasts, which require a nonrigid registration. In this paper, we present a hierarchical nonrigid registration algorithm able to align images, which contain minor image artifacts. The algorithm requires no a priori knowledge of the true image. The hierarchical design of the algorithm enhances robustness and accuracy, and saves computational costs. The proposed algorithm is decomposed into a fast, coarse, rigid registration step and a slower, but finer, nonrigid step. For the coarse registration, we use image pyramids, while for the second step, we combine a point-based registration with an elastic thin-plate spline interpolation. Accuracy tests, performed for 20 histological images obtained from human arteries, have shown that the error measure is acceptable, and that the image noise does not cause a problem. The associated convergence rate of the mean pixel displacement error during the rigid and nonrigid registrations is satisfying. The algorithm can be applied to various multicontrast elastic registration problems in medical imaging and may be extended to three dimensions. PMID:15825482
Fluid-Structure Interactions with Flexible and Rigid Bodies
NASA Astrophysics Data System (ADS)
Daily, David Jesse
Fluid structure interactions occur to some extent in nearly every type of fluid flow. Understanding how structures interact with fluids and visa-versa is of vital importance in many engineering applications. The purpose of this research is to explore how fluids interact with flexible and rigid structures. A computational model was used to model the fluid structure interactions of vibrating synthetic vocal folds. The model simulated the coupling of the fluid and solid domains using a fluid-structure interface boundary condition. The fluid domain used a slightly compressible flow solver to allow for the possibility of acoustic coupling with the subglottal geometry and vibration of the vocal fold model. As the subglottis lengthened, the frequency of vibration decreased until a new acoustic mode could form in the subglottis. Synthetic aperture particle image velocimetry (SAPIV) is a three-dimensional particle tracking technique. SAPIV was used to image the jet of air that emerges from vibrating human vocal folds (glottal jet) during phonation. The three-dimensional reconstruction of the glottal jet found faint evidence of flow characteristics seen in previous research, such as axis-switching, but did not have sufficient resolution to detect small features. SAPIV was further applied to reconstruct the smaller flow characteristics of the glottal jet of vibrating synthetic vocal folds. Two- and four-layer synthetic vocal fold models were used to determine how the glottal jet from the synthetic models compared to the glottal jet from excised human vocal folds. The two- and four-layer models clearly exhibited axis-switching which has been seen in other 3D analyses of the glottal jet. Cavitation in a quiescent fluid can break a rigid structure such as a glass bottle. A new cavitation number was derived to include acceleration and pressure head at cavitation onset. A cavitation stick was used to validate the cavitation number by filling it with different depths and hitting the stick to cause fluid cavitation. Acceleration was measured using an accelerometer and cavitation bubbles were detected using a high-speed camera. Cavitation in an accelerating fluid occurred at a cavitation number of 1. Keywords: Fluid structure interaction, vocal folds, acoustics, SAPIV, cavitation, slightly compressible
Stabilization of a fluid-rigid body system
NASA Astrophysics Data System (ADS)
Takahashi, Takéo; Tucsnak, Marius; Weiss, George
2015-12-01
We consider the mathematical model of a rigid ball moving in a viscous incompressible fluid occupying a bounded domain Ω, with an external force acting on the ball. We investigate in particular the case when the external force is what would be produced by a spring and a damper connecting the center of the ball h to a fixed point h1 ∈ Ω. If the initial fluid velocity is sufficiently small, and the initial h is sufficiently close to h1, then we prove the existence and uniqueness of global (in time) solutions for the model. Moreover, in this case, we show that h converges to h1, and all the velocities (of the fluid and of the ball) converge to zero. Based on this result, we derive a control law that will bring the ball asymptotically to the desired position h1 even if the initial value of h is far from h1, and the path leading to h1 is winding and complicated. Now, the idea is to use the force as described above, with one end of the spring and damper at h, while other end is jumping between a finite number of points in Ω, that depend on h (a switching feedback law).
Rigid-body molecular dynamics of DNA inside a nucleosome.
Fathizadeh, Arman; Berdy Besya, Azim; Reza Ejtehadi, Mohammad; Schiessel, Helmut
2013-03-01
The majority of eukaryotic DNA, about three quarter, is wrapped around histone proteins forming so-called nucleosomes. To study nucleosomal DNA we introduce a coarse-grained molecular dynamics model based on sequence-dependent harmonic rigid base pair step parameters of DNA and nucleosomal binding sites. Mixed parametrization based on all-atom molecular dynamics and crystallographic data of protein-DNA structures is used for the base pair step parameters. The binding site parameters are adjusted by experimental B-factor values of the nucleosome crystal structure. The model is then used to determine the energy cost for placing a twist defect into the nucleosomal DNA which allows us to use Kramers theory to calculate nucleosome sliding caused by such defects. It is shown that the twist defect scenario together with the sequence-dependent elasticity of DNA can explain the slow time scales observed for nucleosome mobility along DNA. With this method we also show how the twist defect mechanism leads to a higher mobility of DNA in the presence of sin mutations near the dyad axis. Finally, by performing simulations on 5s rDNA, 601, and telomeric base pair sequences, it is demonstrated that the current model is a powerful tool to predict nucleosome positioning. PMID:23475204
Rigid bodies for metal forming analysis with NIKE3D
Maker, B.N.
1995-01-25
Perhaps the most common approximation in engineering is that, relative to its neighbors, a system component is structurally rigid. This paper presents a development of the rigid assumption for use in nonlinear, implicit finite element codes. In this method, computational economy is gained by condensing the size of the associated linear system of equations, eliminating the processing of rigid elements, and reducing the overall nonlinearity of the problem.
Hamiltonian Dynamics of Spider-Type Multirotor Rigid Bodies Systems
Doroshin, Anton V.
2010-03-01
This paper sets out to develop a spider-type multiple-rotor system which can be used for attitude control of spacecraft. The multirotor system contains a large number of rotor-equipped rays, so it was called a 'Spider-type System', also it can be called 'Rotary Hedgehog'. These systems allow using spinups and captures of conjugate rotors to perform compound attitude motion of spacecraft. The paper describes a new method of spacecraft attitude reorientation and new mathematical model of motion in Hamilton form. Hamiltonian dynamics of the system is investigated with the help of Andoyer-Deprit canonical variables. These variables allow obtaining exact solution for hetero- and homoclinic orbits in phase space of the system motion, which are very important for qualitative analysis.
Hurricane Balls: A rigid-body-motion student project
NASA Astrophysics Data System (ADS)
Jackson, David; Mertens, David; Pearson, Brett
Hurricane Balls is a spinning-top toy that consists of two metal spheres that are welded (or glued) together. The motion of Hurricane Balls provides a beautiful example of rotational motion in which the angular velocity and angular momentum point in different directions. Because the motion is both captivating to students and extremely reproducible, this system is an ideal example to include in a classical mechanics course. Moreover, the excellent agreement between theory and experiment makes a detailed analysis of Hurricane Balls a perfect topic for an independent student project. This talk will give an overview of the system and will provide some tips on how to make such a project a successful student experience.
3-D rigid body tracking using vision and depth sensors.
Gedik, O Serdar; Alatan, A Aydn
2013-10-01
In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes. PMID:23955795
Robust tracking control of a magnetically suspended rigid body
NASA Technical Reports Server (NTRS)
Lim, Kyong B.; Cox, David E.
1994-01-01
This study is an application of H-infinity and micro-synthesis for designing robust tracking controllers for the Large Angle Magnetic Suspension Test Facility. The modeling, design, analysis, simulation, and testing of a control law that guarantees tracking performance under external disturbances and model uncertainties is investigated. The type of uncertainties considered and the tracking performance metric used is discussed. This study demonstrates the tradeoff between tracking performance at low frequencies and robustness at high frequencies. Two sets of controllers were designed and tested. The first set emphasized performance over robustness, while the second set traded off performance for robustness. Comparisons of simulation and test results are also included. Current simulation and experimental results indicate that reasonably good robust tracking performance can be attained for this system using multivariable robust control approach.
Robust tracking control of a magnetically suspended rigid body
NASA Technical Reports Server (NTRS)
Lim, Kyong B.; Cox, David E.
1993-01-01
This study is an application of H-infinity and microsynthesis for designing robust tracking controllers for the Large Angle Magnetic Suspension Test Facility. The modeling, design, analysis, simulation, and testing of a control law that guarantees tracking performance under external disturbances and model uncertainties is investigated. The type of uncertainties considered and the tracking performance metric used is discussed. This study demonstrates the tradeoff between tracking performance at low frequencies and robustness at high frequencies. Two sets of controllers were designed and tested. The first set emphasized performance over robustness, while the second set traded off performance for robustness. Comparisons of simulation and test results are also included. Current simulation and experimental results indicate that reasonably good robust tracking performance can be attained for this system, using multivariable robust control approach.
George, Ashvin K.; Sonmez, Merdim; Lederman, Robert J.; Faranesh, Anthony Z.
2011-01-15
Purpose: In X-ray fused with MRI, previously gathered roadmap MRI volume images are overlaid on live X-ray fluoroscopy images to help guide the clinician during an interventional procedure. The incorporation of MRI data allows for the visualization of soft tissue that is poorly visualized under X-ray. The widespread clinical use of this technique will require fully automating as many components as possible. While previous use of this method has required time-consuming manual intervention to register the two modalities, in this article, the authors present a fully automatic rigid-body registration method. Methods: External fiducial markers that are visible under these two complimentary imaging modalities were used to register the X-ray images with the roadmap MR images. The method has three components: (a) The identification of the 3D locations of the markers from a full 3D MR volume, (b) the identification of the 3D locations of the markers from a small number of 2D X-ray fluoroscopy images, and (c) finding the rigid-body transformation that registers the two point sets in the two modalities. For part (a), the localization of the markers from MR data, the MR volume image was thresholded, connected voxels were segmented and labeled, and the centroids of the connected components were computed. For part (b), the X-ray projection images, produced by an image intensifier, were first corrected for distortions. Binary mask images of the markers were created from the distortion-corrected X-ray projection images by applying edge detection, pattern recognition, and image morphological operations. The markers were localized in the X-ray frame using an iterative backprojection-based method which segments voxels in the volume of interest, discards false positives based on the previously computed edge-detected projections, and calculates the locations of the true markers as the centroids of the clusters of voxels that remain. For part (c), a variant of the iterative closest
Mackay, R D
2015-07-01
The automatism defence has been described as a quagmire of law and as presenting an intractable problem. Why is this so? This paper will analyse and explore the current legal position on automatism. In so doing, it will identify the problems which the case law has created, including the distinction between sane and insane automatism and the status of the 'external factor doctrine', and comment briefly on recent reform proposals. PMID:26378105
Automatic differentiation bibliography
Corliss, G.F.
1992-07-01
This is a bibliography of work related to automatic differentiation. Automatic differentiation is a technique for the fast, accurate propagation of derivative values using the chain rule. It is neither symbolic nor numeric. Automatic differentiation is a fundamental tool for scientific computation, with applications in optimization, nonlinear equations, nonlinear least squares approximation, stiff ordinary differential equation, partial differential equations, continuation methods, and sensitivity analysis. This report is an updated version of the bibliography which originally appeared in Automatic Differentiation of Algorithms: Theory, Implementation, and Application.
Automatic crack propagation tracking
NASA Technical Reports Server (NTRS)
Shephard, M. S.; Weidner, T. J.; Yehia, N. A. B.; Burd, G. S.
1985-01-01
A finite element based approach to fully automatic crack propagation tracking is presented. The procedure presented combines fully automatic mesh generation with linear fracture mechanics techniques in a geometrically based finite element code capable of automatically tracking cracks in two-dimensional domains. The automatic mesh generator employs the modified-quadtree technique. Crack propagation increment and direction are predicted using a modified maximum dilatational strain energy density criterion employing the numerical results obtained by meshes of quadratic displacement and singular crack tip finite elements. Example problems are included to demonstrate the procedure.
Digital automatic gain control
NASA Technical Reports Server (NTRS)
Uzdy, Z.
1980-01-01
Performance analysis, used to evaluated fitness of several circuits to digital automatic gain control (AGC), indicates that digital integrator employing coherent amplitude detector (CAD) is best device suited for application. Circuit reduces gain error to half that of conventional analog AGC while making it possible to automatically modify response of receiver to match incoming signal conditions.
Automatic Differentiation Package
Energy Science and Technology Software Center (ESTSC)
2007-03-01
Sacado is an automatic differentiation package for C++ codes using operator overloading and C++ templating. Sacado provide forward, reverse, and Taylor polynomial automatic differentiation classes and utilities for incorporating these classes into C++ codes. Users can compute derivatives of computations arising in engineering and scientific applications, including nonlinear equation solving, time integration, sensitivity analysis, stability analysis, optimization and uncertainity quantification.
NASA Technical Reports Server (NTRS)
Berdahl, B. J.; Carle, G. C.; Oyama, V. I.
1971-01-01
Analyzer operates unattended or up to 15 hours. It has an automatic sample injection system and can be programmed. All fluid-flow valve switching is accomplished pneumatically from miniature three-way solenoid pilot valves.
Automatic Payroll Deposit System.
ERIC Educational Resources Information Center
Davidson, D. B.
1979-01-01
The Automatic Payroll Deposit System in Yakima, Washington's Public School District No. 7, directly transmits each employee's salary amount for each pay period to a bank or other financial institution. (Author/MLF)
NASA Astrophysics Data System (ADS)
Ehyaei, J.; Moghaddam, Majid M.
2009-04-01
The paper presents analytical and numerical investigations of a system of unbalanced flexible rotating shaft equipped with n automatic ball-balancers, where the unbalanced masses are distributed in the length of the shaft. It includes the derivation of the equations of motion, the stability analysis on the basis of linearized equations of motion around the equilibrium position, and the results of the time responses of the system. The Stodola-Green rotor model, of which the shaft is assumed flexible, is proposed for the analysis step. The rotor model includes the influence of rigid-body rotations, due to the shaft flexibility. Utilizing Lagrange's method, the nonlinear equations of motion are derived. The study shows that for the angular velocities more than the first natural frequency and selecting the suitable values for the parameters of the automatic ball-balancers, which are in the stability region, the auto ball-balancers tend to improve the vibration behavior of the system, i.e., the partial balancing, but the complete balancing was achieved in a special case, where the imbalances are in the planes of the auto ball-balancers. Furthermore, it is shown that if the auto ball-balancers are closer to the unbalanced masses, a better vibration reduction is achieved.
A review of metaphase chromosome image selection techniques for automatic karyotype generation.
Arora, Tanvi; Dhir, Renu
2016-08-01
The karyotype is analyzed to detect the genetic abnormalities. It is generated by arranging the chromosomes after extracting them from the metaphase chromosome images. The chromosomes are non-rigid bodies that contain the genetic information of an individual. The metaphase chromosome image spread contains the chromosomes, but these chromosomes are not distinct bodies; they can either be individual chromosomes or be touching one another; they may be bent or even may be overlapping and thus forming a cluster of chromosomes. The extraction of chromosomes from these touching and overlapping chromosomes is a very tedious process. The segmentation of a random metaphase chromosome image may not give us correct and accurate results. Therefore, before taking up a metaphase chromosome image for analysis, it must be analyzed for the orientation of the chromosomes it contains. The various reported methods for metaphase chromosome image selection for automatic karyotype generation are compared in this paper. After analysis, it has been concluded that each metaphase chromosome image selection method has its advantages and disadvantages. PMID:26676686
Automatic quantification of changes in bone in serial MR images of joints.
Leung, Kelvin K; Holden, Mark; Saeed, Nadeem; Brooks, Keith J; Buckton, Jacky B; Williams, Ann A; Campbell, Simon P; Changani, Kumar; Reid, David G; Zhao, Yong; Wilde, Mike; Rueckert, Daniel; Hajnal, Joseph V; Hill, Derek L G
2006-12-01
Recent innovations in drug therapies have made it highly desirable to obtain sensitive biomarkers of disease progression that can be used to quantify the performance of candidate disease modifying drugs. In order to measure potential image-based biomarkers of disease progression in an experimental model of rheumatoid arthritis (RA), we present two different methods to automatically quantify changes in a bone in in-vivo serial magnetic resonance (MR) images from the model. Both methods are based on rigid and nonrigid image registration to perform the analysis. The first method uses segmentation propagation to delineate a bone from the serial MR images giving a global measure of temporal changes in bone volume. The second method uses rigid body registration to determine intensity change within a bone, and then maps these into a reference coordinate system using nonrigid registration. This gives a local measure of temporal changes in bone lesion volume. We detected significant temporal changes in local bone lesion volume in five out of eight identified candidate bone lesion regions, and significant difference in local bone lesion volume between male and female subjects in three out of eight candidate bone lesion regions. But the global bone volume was found to be fluctuating over time. Finally, we compare our findings with histology of the subjects and the manual segmentation of bone lesions. PMID:17167996
Schlecht, Martin F.; Kassakian, John G.; Caloggero, Anthony J.; Rhodes, Bruce; Otten, David; Rasmussen, Neil
1982-01-01
An automatic switching matrix that includes an apertured matrix board containing a matrix of wires that can be interconnected at each aperture. Each aperture has associated therewith a conductive pin which, when fully inserted into the associated aperture, effects electrical connection between the wires within that particular aperture. Means is provided for automatically inserting the pins in a determined pattern and for removing all the pins to permit other interconnecting patterns.
Malm, C.F.
1995-12-31
A phase lock loop automatic synchronizer, PLLS, matches generator speed starting from dead stop to bus frequency, and then locks the phase difference at zero, thereby maintaining zero slip frequency while the generator breaker is being closed to the bus. The significant difference between the PLLS and a conventional automatic synchronizer is that there is no slip frequency difference between generator and bus. The PLL synchronizer is most advantageous when the penstock pressure fluctuates the grid frequency fluctuates, or both. The PLL synchronizer is relatively inexpensive. Hydroplants with multiple units can economically be equipped with a synchronizer for each unit.
AUTOmatic Message PACKing Facility
Energy Science and Technology Software Center (ESTSC)
2004-07-01
AUTOPACK is a library that provides several useful features for programs using the Message Passing Interface (MPI). Features included are: 1. automatic message packing facility 2. management of send and receive requests. 3. management of message buffer memory. 4. determination of the number of anticipated messages from a set of arbitrary sends, and 5. deterministic message delivery for testing purposes.
Automatic finite element generators
NASA Technical Reports Server (NTRS)
Wang, P. S.
1984-01-01
The design and implementation of a software system for generating finite elements and related computations are described. Exact symbolic computational techniques are employed to derive strain-displacement matrices and element stiffness matrices. Methods for dealing with the excessive growth of symbolic expressions are discussed. Automatic FORTRAN code generation is described with emphasis on improving the efficiency of the resultant code.
Principles of Automatic Lemmatisation
ERIC Educational Resources Information Center
Hann, M. L.
1974-01-01
Introduces some algorithmic methods, for which no pre-editing is necessary, for automatically "lemmatising" raw text (changing raw text to an equivalent version in which all inflected words are artificially transformed to their dictionary look-up form). The results of a study of these methods, which used a German Text, are also given. (KM)
Reactor component automatic grapple
Greenaway, P.R.
1982-12-07
A grapple for handling nuclear reactor components in a medium such as liquid sodium which, upon proper seating and alignment of the grapple with the component as sensed by a mechanical logic integral to the grapple, automatically seizes the component. The mechanical logic system also precludes seizure in the absence of proper seating and alignment.
Reactor component automatic grapple
Greenaway, Paul R.
1982-01-01
A grapple for handling nuclear reactor components in a medium such as liquid sodium which, upon proper seating and alignment of the grapple with the component as sensed by a mechanical logic integral to the grapple, automatically seizes the component. The mechanical logic system also precludes seizure in the absence of proper seating and alignment.
Automatic Program Synthesis Reports.
ERIC Educational Resources Information Center
Biermann, A. W.; And Others
Some of the major results of future goals of an automatic program synthesis project are described in the two papers that comprise this document. The first paper gives a detailed algorithm for synthesizing a computer program from a trace of its behavior. Since the algorithm involves a search, the length of time required to do the synthesis of…
Automaticity of Conceptual Magnitude.
Gliksman, Yarden; Itamar, Shai; Leibovich, Tali; Melman, Yonatan; Henik, Avishai
2016-01-01
What is bigger, an elephant or a mouse? This question can be answered without seeing the two animals, since these objects elicit conceptual magnitude. How is an object's conceptual magnitude processed? It was suggested that conceptual magnitude is automatically processed; namely, irrelevant conceptual magnitude can affect performance when comparing physical magnitudes. The current study further examined this question and aimed to expand the understanding of automaticity of conceptual magnitude. Two different objects were presented and participants were asked to decide which object was larger on the screen (physical magnitude) or in the real world (conceptual magnitude), in separate blocks. By creating congruent (the conceptually larger object was physically larger) and incongruent (the conceptually larger object was physically smaller) pairs of stimuli it was possible to examine the automatic processing of each magnitude. A significant congruity effect was found for both magnitudes. Furthermore, quartile analysis revealed that the congruity was affected similarly by processing time for both magnitudes. These results suggest that the processing of conceptual and physical magnitudes is automatic to the same extent. The results support recent theories suggested that different types of magnitude processing and representation share the same core system. PMID:26879153
Automaticity of Conceptual Magnitude
Gliksman, Yarden; Itamar, Shai; Leibovich, Tali; Melman, Yonatan; Henik, Avishai
2016-01-01
What is bigger, an elephant or a mouse? This question can be answered without seeing the two animals, since these objects elicit conceptual magnitude. How is an object’s conceptual magnitude processed? It was suggested that conceptual magnitude is automatically processed; namely, irrelevant conceptual magnitude can affect performance when comparing physical magnitudes. The current study further examined this question and aimed to expand the understanding of automaticity of conceptual magnitude. Two different objects were presented and participants were asked to decide which object was larger on the screen (physical magnitude) or in the real world (conceptual magnitude), in separate blocks. By creating congruent (the conceptually larger object was physically larger) and incongruent (the conceptually larger object was physically smaller) pairs of stimuli it was possible to examine the automatic processing of each magnitude. A significant congruity effect was found for both magnitudes. Furthermore, quartile analysis revealed that the congruity was affected similarly by processing time for both magnitudes. These results suggest that the processing of conceptual and physical magnitudes is automatic to the same extent. The results support recent theories suggested that different types of magnitude processing and representation share the same core system. PMID:26879153
Automatic Dance Lesson Generation
ERIC Educational Resources Information Center
Yang, Yang; Leung, H.; Yue, Lihua; Deng, LiQun
2012-01-01
In this paper, an automatic lesson generation system is presented which is suitable in a learning-by-mimicking scenario where the learning objects can be represented as multiattribute time series data. The dance is used as an example in this paper to illustrate the idea. Given a dance motion sequence as the input, the proposed lesson generation…
Automatic multiple applicator electrophoresis
NASA Technical Reports Server (NTRS)
Grunbaum, B. W.
1977-01-01
Easy-to-use, economical device permits electrophoresis on all known supporting media. System includes automatic multiple-sample applicator, sample holder, and electrophoresis apparatus. System has potential applicability to fields of taxonomy, immunology, and genetics. Apparatus is also used for electrofocusing.
Keefe, Donald J.
1980-01-01
An automatically sweeping circuit for searching for an evoked response in an output signal in time with respect to a trigger input. Digital counters are used to activate a detector at precise intervals, and monitoring is repeated for statistical accuracy. If the response is not found then a different time window is examined until the signal is found.
Automatic Data Processing Glossary.
ERIC Educational Resources Information Center
Bureau of the Budget, Washington, DC.
The technology of the automatic information processing field has progressed dramatically in the past few years and has created a problem in common term usage. As a solution, "Datamation" Magazine offers this glossary which was compiled by the U.S. Bureau of the Budget as an official reference. The terms appear in a single alphabetic sequence,…
Fully automatic telemetry data processor
NASA Technical Reports Server (NTRS)
Cox, F. B.; Keipert, F. A.; Lee, R. C.
1968-01-01
Satellite Telemetry Automatic Reduction System /STARS 2/, a fully automatic computer-controlled telemetry data processor, maximizes data recovery, reduces turnaround time, increases flexibility, and improves operational efficiency. The system incorporates a CDC 3200 computer as its central element.
Automatic carrier acquisition system
NASA Technical Reports Server (NTRS)
Bunce, R. C. (Inventor)
1973-01-01
An automatic carrier acquisition system for a phase locked loop (PLL) receiver is disclosed. It includes a local oscillator, which sweeps the receiver to tune across the carrier frequency uncertainty range until the carrier crosses the receiver IF reference. Such crossing is detected by an automatic acquisition detector. It receives the IF signal from the receiver as well as the IF reference. It includes a pair of multipliers which multiply the IF signal with the IF reference in phase and in quadrature. The outputs of the multipliers are filtered through bandpass filters and power detected. The output of the power detector has a signal dc component which is optimized with respect to the noise dc level by the selection of the time constants of the filters as a function of the sweep rate of the local oscillator.
Automatism and driving offences.
Rumbold, John
2013-10-01
Automatism is a rarely used defence, but it is particularly used for driving offences because many are strict liability offences. Medical evidence is almost always crucial to argue the defence, and it is important to understand the bars that limit the use of automatism so that the important medical issues can be identified. The issue of prior fault is an important public safeguard to ensure that reasonable precautions are taken to prevent accidents. The total loss of control definition is more problematic, especially with disorders of more gradual onset like hypoglycaemic episodes. In these cases the alternative of 'effective loss of control' would be fairer. This article explores several cases, how the criteria were applied to each, and the types of medical assessment required. PMID:24112330
Automatic Abstraction in Planning
NASA Technical Reports Server (NTRS)
Christensen, J.
1991-01-01
Traditionally, abstraction in planning has been accomplished by either state abstraction or operator abstraction, neither of which has been fully automatic. We present a new method, predicate relaxation, for automatically performing state abstraction. PABLO, a nonlinear hierarchical planner, implements predicate relaxation. Theoretical, as well as empirical results are presented which demonstrate the potential advantages of using predicate relaxation in planning. We also present a new definition of hierarchical operators that allows us to guarantee a limited form of completeness. This new definition is shown to be, in some ways, more flexible than previous definitions of hierarchical operators. Finally, a Classical Truth Criterion is presented that is proven to be sound and complete for a planning formalism that is general enough to include most classical planning formalisms that are based on the STRIPS assumption.
NASA Astrophysics Data System (ADS)
Espy-Wilson, Carol
2005-04-01
Great strides have been made in the development of automatic speech recognition (ASR) technology over the past thirty years. Most of this effort has been centered around the extension and improvement of Hidden Markov Model (HMM) approaches to ASR. Current commercially-available and industry systems based on HMMs can perform well for certain situational tasks that restrict variability such as phone dialing or limited voice commands. However, the holy grail of ASR systems is performance comparable to humans-in other words, the ability to automatically transcribe unrestricted conversational speech spoken by an infinite number of speakers under varying acoustic environments. This goal is far from being reached. Key to the success of ASR is effective modeling of variability in the speech signal. This tutorial will review the basics of ASR and the various ways in which our current knowledge of speech production, speech perception and prosody can be exploited to improve robustness at every level of the system.
Samuel, A G; Kat, D
1998-04-01
Two experiments were used to test whether selective adaptation for speech occurs automatically or instead requires attentional resources. A control condition demonstrated the usual large identification shifts caused by repeatedly presenting an adapting sound (/wa/, with listeners identifying members of a /ba/-/wa/ test series). Two types of distractor tasks were used: (1) Subjects did a rapid series of arithmetic problems during the adaptation periods (Experiments 1 and 2), or (2) they made a series of rhyming judgments, requiring phonetic coding (Experiment 2). A control experiment (Experiment 3) demonstrated that these tasks normally impose a heavy attentional cost on phonetic processing. Despite this, for both experimental conditions, the observed adaptation effect was just as large as in the control condition. This result indicates that adaptation is automatic, operating at an early, preattentive level. The implications of these results for current models of speech perception are discussed. PMID:9599999
NASA Technical Reports Server (NTRS)
Dwinell, W. S.
1979-01-01
In technique, voice circuits connecting crew's cabin to launch station through umbilical connector disconnect automatically unused, or deadened portion of circuits immediately after vehicle is launched, eliminating possibility that unused wiring interferes with voice communications inside vehicle or need for manual cutoff switch and its associated wiring. Technique is applied to other types of electrical actuation circuits, also launch of mapped vehicles, such as balloons, submarines, test sleds, and test chambers-all requiring assistance of ground crew.
Automatic digital image registration
NASA Technical Reports Server (NTRS)
Goshtasby, A.; Jain, A. K.; Enslin, W. R.
1982-01-01
This paper introduces a general procedure for automatic registration of two images which may have translational, rotational, and scaling differences. This procedure involves (1) segmentation of the images, (2) isolation of dominant objects from the images, (3) determination of corresponding objects in the two images, and (4) estimation of transformation parameters using the center of gravities of objects as control points. An example is given which uses this technique to register two images which have translational, rotational, and scaling differences.
Zone separator for multiple zone vessels
Jones, John B.
1983-02-01
A solids-gas contact vessel, having two vertically disposed distinct reaction zones, includes a dynamic seal passing solids from an upper to a lower zone and maintaining a gas seal against the transfer of the separate treating gases from one zone to the other, and including a stream of sealing fluid at the seal.
AUTOMATIC FREQUENCY CONTROL SYSTEM
Hansen, C.F.; Salisbury, J.D.
1961-01-10
A control is described for automatically matching the frequency of a resonant cavity to that of a driving oscillator. The driving oscillator is disconnected from the cavity and a secondary oscillator is actuated in which the cavity is the frequency determining element. A low frequency is mixed with the output of the driving oscillator and the resultant lower and upper sidebands are separately derived. The frequencies of the sidebands are compared with the secondary oscillator frequency. deriving a servo control signal to adjust a tuning element in the cavity and matching the cavity frequency to that of the driving oscillator. The driving oscillator may then be connected to the cavity.
McNeilly, Clyde E.
1977-01-04
A device is provided for automatically selecting from a plurality of ranges of a scale of values to which a meter may be made responsive, that range which encompasses the value of an unknown parameter. A meter relay indicates whether the unknown is of greater or lesser value than the range to which the meter is then responsive. The rotatable part of a stepping relay is rotated in one direction or the other in response to the indication from the meter relay. Various positions of the rotatable part are associated with particular scales. Switching means are sensitive to the position of the rotatable part to couple the associated range to the meter.
Automatic speaker recognition system
NASA Astrophysics Data System (ADS)
Higgins, Alan; Naylor, Joe
1984-07-01
The Defense Communications Division of ITT (ITTDCD) has developed an automatic speaker recognition (ASR) system that meets the functional requirements defined in NRL's Statement of Work. This report is organized as follows. Chapter 2 is a short history of the development of the ASR system, both the algorithm and the implementation. Chapter 3 describes the methodology of system testing, and Chapter 4 summarizes test results. In Chapter 5, some additional testing performed using GFM test material is discussed. Conclusions derived from the contract work are given in Chapter 6.
Automatic clutch control system
Kasai, H.; Ogawa, N.; Hattori, T.; Ishihara, M.; Uriuhara, M.
1986-12-16
This patent describes an automatic clutch control system, comprising: a clutch having a full clutch engagement point and a clutch contact point; a clutch actuator for controlling a clutch stroke; a plurality of solenoid valves for controlling the clutch actuator; clutch stroke sensor means for measuring the clutch stroke and for detecting the full clutch engagement point and the clutch contact point in the clutch stroke; control means, for feeding back a stroke signal detected by the clutch stroke sensor and for controlling the solenoid valves to control clutch engagement and disengagement.
Lauritzen, T.
1982-03-23
A measuring system is disclosed for surveying and very accurately positioning objects with respect to a reference line. A principal use of this surveying system is for accurately aligning the electromagnets which direct a particle beam emitted from a particle accelerator. Prior art surveying systems require highly skilled surveyors. Prior art systems include, for example, optical surveying systems which are susceptible to operator reading errors, and celestial navigation-type surveying systems, with their inherent complexities. The present invention provides an automatic readout micrometer which can very accurately measure distances. The invention has a simplicity of operation which practically eliminates the possibilities of operator optical reading error, owning to the elimination of traditional optical alignments for making measurements. The invention has an extendable arm which carries a laser surveying target. The extendable arm can be continuously positioned over its entire length of travel by either a coarse or fine adjustment without having the fine adjustment outrun the coarse adjustment until a reference laser beam is centered on the target as indicated by a digital readout. The length of the micrometer can then be accurately and automatically read by a computer and compared with a standardized set of alignment measurements. Due to its construction, the micrometer eliminates any errors due to temperature changes when the system is operated within a standard operating temperature range.
Automatic engine control system
Geary, W.C.; Mirsaiidi, M.V.; Redfern, T.; Wolfe, D.W.
1986-01-14
This patent describes an automatic control circuit for an internal combustion engine and clutch assembly. One component of this circuit is a timer for determining the time the engine is allowed to run and the clutch is engaged and a second period of time when the clutch is automatically disengaged. Associated with the timer is a starter means to start the engine during the first time period and a clutch actuating mechanism for engaging the clutch near the first time period initiation after the starter starts the engine. An engine shut down and clutch disengagement mechanism is also responsive to the first timer. The patent then goes on to describe a supplemental timer mechanism for determining a third and fourth period of time within the second time period such that the third period being when the engine is shut off and the fourth period being when the engine runs with clutch disengaged. The starter mechanism is responsive to the supplemental timer to start the engine at the beginning of the fourth period. A shut down means stops the engine at the beginning of the third period in response to the timer.
Lauritzen, T.
A measuring system is described for surveying and very accurately positioning objects with respect to a reference line. A principle use of this surveying system is for accurately aligning the electromagnets which direct a particle beam emitted from a particle accelerator. Prior art surveying systems require highly skilled surveyors. Prior art systems include, for example, optical surveying systems which are susceptible to operator reading errors, and celestial navigation-type surveying systems, with their inherent complexities. The present invention provides an automatic readout micrometer which can very accurately measure distances. The invention has a simplicity of operation which practically eliminates the possibilities of operator optical reading error, owning to the elimination of traditional optical alignments for making measurements. The invention has an extendable arm which carries a laser surveying target. The extendable arm can be continuously positioned over its entire length of travel by either a coarse of fine adjustment without having the fine adjustment outrun the coarse adjustment until a reference laser beam is centered on the target as indicated by a digital readout. The length of the micrometer can then be accurately and automatically read by a computer and compared with a standardized set of alignment measurements. Due to its construction, the micrometer eliminates any errors due to temperature changes when the system is operated within a standard operating temperature range.
Lauritzen, Ted
1982-01-01
A measuring system is disclosed for surveying and very accurately positioning objects with respect to a reference line. A principal use of this surveying system is for accurately aligning the electromagnets which direct a particle beam emitted from a particle accelerator. Prior art surveying systems require highly skilled surveyors. Prior art systems include, for example, optical surveying systems which are susceptible to operator reading errors, and celestial navigation-type surveying systems, with their inherent complexities. The present invention provides an automatic readout micrometer which can very accurately measure distances. The invention has a simplicity of operation which practically eliminates the possibilities of operator optical reading error, owning to the elimination of traditional optical alignments for making measurements. The invention has an extendable arm which carries a laser surveying target. The extendable arm can be continuously positioned over its entire length of travel by either a coarse or fine adjustment without having the fine adjustment outrun the coarse adjustment until a reference laser beam is centered on the target as indicated by a digital readout. The length of the micrometer can then be accurately and automatically read by a computer and compared with a standardized set of alignment measurements. Due to its construction, the micrometer eliminates any errors due to temperature changes when the system is operated within a standard operating temperature range.
Automatic MR volume registration and its evaluation for the pelvis and prostate
NASA Astrophysics Data System (ADS)
Fei, Baowei; Wheaton, Andrew; Lee, Zhenghong; Duerk, Jeffrey L.; Wilson, David L.
2002-03-01
A three-dimensional (3D) mutual information registration method was created and used to register MRI volumes of the pelvis and prostate. It had special features to improve robustness. First, it used a multi-resolution approach and performed registration from low to high resolution. Second, it used two similarity measures, correlation coefficient at lower resolutions and mutual information at full resolution, because of their particular advantages. Third, we created a method to avoid local minima by restarting the registration with randomly perturbed parameters. The criterion for restarting was a correlation coefficient below an empirically determined threshold. Experiments determined the accuracy of registration under conditions found in potential applications in prostate cancer diagnosis, staging, treatment and interventional MRI (iMRI) guided therapies. Images were acquired in the diagnostic (supine) and treatment position (supine with legs raised). Images were also acquired as a function of bladder filling and the time interval between imaging sessions. Overall studies on three patients and three healthy volunteers, when both volumes in a pair were obtained in the diagnostic position under comparable conditions, bony landmarks and prostate 3D centroids were aligned within 1.6 +/- 0.2 mm and 1.4 +/- 0.2 mm, respectively, values only slightly larger than a voxel. Analysis suggests that actual errors are smaller because of the uncertainty in landmark localization and prostate segmentation. Between the diagnostic and treatment positions, bony landmarks continued to register well, but prostate centroids moved towards the posterior 2.8-3.4 mm. Manual cropping to remove voxels in the legs was necessary to register these images. In conclusion, automatic, rigid body registration is probably sufficiently accurate for many applications in prostate cancer. For potential iMRI-guided treatments, the small prostate displacement between the diagnostic and treatment positions
NASA Astrophysics Data System (ADS)
Dussol, David; Druault, Philippe; Mallat, Bachar; Delacroix, Sylvain; Germain, Grégory
2016-07-01
When performing Particle Image Velocimetry (PIV) measurements in complex fluid flows with moving interfaces and a two-phase flow, it is necessary to develop a mask to remove non-physical measurements. This is the case when studying, for example, the complex bubble sweep-down phenomenon observed in oceanographic research vessels. Indeed, in such a configuration, the presence of an unsteady free surface, of a solid-liquid interface and of bubbles in the PIV frame, leads to generate numerous laser reflections and therefore spurious velocity vectors. In this note, an image masking process is developed to successively identify the boundaries of the ship and the free surface interface. As the presence of the solid hull surface induces laser reflections, the hull edge contours are simply detected in the first PIV frame and dynamically estimated for consecutive ones. As for the unsteady surface determination, a specific process is implemented like the following: i) the edge detection of the gradient magnitude in the PIV frame, ii) the extraction of the particles by filtering high-intensity large areas related to the bubbles and/or hull reflections, iii) the extraction of the rough region containing these particles and their reflections, iv) the removal of these reflections. The unsteady surface is finally obtained with a fifth-order polynomial interpolation. The resulted free surface is successfully validated from the Fourier analysis and by visualizing selected PIV images containing numerous spurious high intensity areas. This paper demonstrates how this data analysis process leads to PIV images database without reflections and an automatic detection of both the free surface and the rigid body. An application of this new mask is finally detailed, allowing a preliminary analysis of the hydrodynamic flow.
Comparison of automatic control systems
NASA Technical Reports Server (NTRS)
Oppelt, W
1941-01-01
This report deals with a reciprocal comparison of an automatic pressure control, an automatic rpm control, an automatic temperature control, and an automatic directional control. It shows the difference between the "faultproof" regulator and the actual regulator which is subject to faults, and develops this difference as far as possible in a parallel manner with regard to the control systems under consideration. Such as analysis affords, particularly in its extension to the faults of the actual regulator, a deep insight into the mechanism of the regulator process.
Automatic Bayesian polarity determination
NASA Astrophysics Data System (ADS)
Pugh, D. J.; White, R. S.; Christie, P. A. F.
2016-04-01
The polarity of the first motion of a seismic signal from an earthquake is an important constraint in earthquake source inversion. Microseismic events often have low signal-to-noise ratios, which may lead to difficulties estimating the correct first-motion polarities of the arrivals. This paper describes a probabilistic approach to polarity picking that can be both automated and combined with manual picking. This approach includes a quantitative estimate of the uncertainty of the polarity, improving calculation of the polarity probability density function for source inversion. It is sufficiently fast to be incorporated into an automatic processing workflow. When used in source inversion, the results are consistent with those from manual observations. In some cases, they produce a clearer constraint on the range of high-probability source mechanims, and are better constrained than source mechanisms determined using a uniform probability of an incorrect polarity pick.
Automatic flowmeter calibration system
NASA Technical Reports Server (NTRS)
Lisle, R. V.; Wilson, T. L. (Inventor)
1981-01-01
A system for automatically calibrating the accuracy of a flowmeter is described. The system includes a calculator capable of performing mathematical functions responsive to receiving data signals and function command signals. A prover cylinder is provided for measuring the temperature, pressure, and time required for accumulating a predetermined volume of fluid. Along with these signals, signals representing the temperature and pressure of the fluid going into the meter are fed to a plurality of data registers. Under control of a progress controller, the data registers are read out and the information is fed through a data select circuit to the calculator. Command signals are also produced by a function select circuit and are fed to the calculator set indicating the desired function to be performed. The reading is then compared with the reading produced by the flowmeter.
Automatic beamline calibration procedures
Corbett, W.J.; Lee, M.J.; Zambre, Y.
1992-03-01
Recent experience with the SLC and SPEAR accelerators have led to a well-defined set of procedures for calibration of the beamline model using the orbit fitting program, RESOLVE. Difference orbit analysis is used to calibrate quadrupole strengths, BPM sensitivities, corrector strengths, focusing effects from insertion devices, and to determine the source of dispersion and coupling errors. Absolute orbit analysis is used to locate quadrupole misalignments, BPM offsets, or beam loss. For light source applications, the photon beam source coordinates can be found. The result is an accurate model of the accelerator which can be used for machine control. In this paper, automatable beamline calibration procedures are outlined and illustrated with recent examples. 5 refs.
NASA Technical Reports Server (NTRS)
Wing, L. D.; Cunningham, J. W. (Inventor)
1981-01-01
An automatic thermal switch to control heat flow includes a first thermally conductive plate, a second thermally conductive plate and a thermal transfer plate pivotally mounted between the first and second plates. A phase change power unit, including a plunger connected to the transfer plate, is in thermal contact with the first thermally conductive plate. A biasing element, connected to the transfer plate, biases the transfer plate in a predetermined position with respect to the first and second plates. When the phase change power unit is actuated by an increase in heat transmitted through the first plate, the plunger extends and pivots the transfer plate to vary the thermal conduction between the first and second plates through the transfer plate. The biasing element, transfer plate and piston can be arranged to provide either a normally closed or normally open thermally conductive path between the first and second plates.
Automatic Bayesian polarity determination
NASA Astrophysics Data System (ADS)
Pugh, D. J.; White, R. S.; Christie, P. A. F.
2016-07-01
The polarity of the first motion of a seismic signal from an earthquake is an important constraint in earthquake source inversion. Microseismic events often have low signal-to-noise ratios, which may lead to difficulties estimating the correct first-motion polarities of the arrivals. This paper describes a probabilistic approach to polarity picking that can be both automated and combined with manual picking. This approach includes a quantitative estimate of the uncertainty of the polarity, improving calculation of the polarity probability density function for source inversion. It is sufficiently fast to be incorporated into an automatic processing workflow. When used in source inversion, the results are consistent with those from manual observations. In some cases, they produce a clearer constraint on the range of high-probability source mechanisms, and are better constrained than source mechanisms determined using a uniform probability of an incorrect polarity pick.
NASA Technical Reports Server (NTRS)
Malin, Janice A.
1987-01-01
Automatic Routing Module (ARM) is a tool to partially automate Air Launched Cruise Missile (ALCM) routing. For any accessible launch point or target pair, ARM creates flyable routes that, within the fidelity of the models, are optimal in terms of threat avoidance, clobber avoidance, and adherence to vehicle and planning constraints. Although highly algorithmic, ARM is an expert system. Because of the heuristics applied, ARM generated routes closely resemble manually generated routes in routine cases. In more complex cases, ARM's ability to accumulate and assess threat danger in three dimensions and trade that danger off with the probability of ground clobber results in the safest path around or through difficult areas. The tools available prior to ARM did not provide the planner with enough information or present it in such a way that ensured he would select the safest path.
Mann J.R.; Wainwright, A.E.
1963-06-11
An automatic, personnel-operated, alpha-particle hand monitor is described which functions as a qualitative instrument to indicate to the person using it whether his hands are cold'' or hot.'' The monitor is activated by a push button and includes several capacitor-triggered thyratron tubes. Upon release of the push button, the monitor starts the counting of the radiation present on the hands of the person. If the count of the radiation exceeds a predetermined level within a predetermined time, then a capacitor will trigger a first thyratron tube to light a hot'' lamp. If, however, the count is below such level during this time period, another capacitor will fire a second thyratron to light a safe'' lamp. (AEC)
Automatic alkaloid removal system.
Yahaya, Muhammad Rizuwan; Hj Razali, Mohd Hudzari; Abu Bakar, Che Abdullah; Ismail, Wan Ishak Wan; Muda, Wan Musa Wan; Mat, Nashriyah; Zakaria, Abd
2014-01-01
This alkaloid automated removal machine was developed at Instrumentation Laboratory, Universiti Sultan Zainal Abidin Malaysia that purposely for removing the alkaloid toxicity from Dioscorea hispida (DH) tuber. It is a poisonous plant where scientific study has shown that its tubers contain toxic alkaloid constituents, dioscorine. The tubers can only be consumed after it poisonous is removed. In this experiment, the tubers are needed to blend as powder form before inserting into machine basket. The user is need to push the START button on machine controller for switching the water pump ON by then creating turbulence wave of water in machine tank. The water will stop automatically by triggering the outlet solenoid valve. The powders of tubers are washed for 10 minutes while 1 liter of contaminated water due toxin mixture is flowing out. At this time, the controller will automatically triggered inlet solenoid valve and the new water will flow in machine tank until achieve the desire level that which determined by ultra sonic sensor. This process will repeated for 7 h and the positive result is achieved and shows it significant according to the several parameters of biological character ofpH, temperature, dissolve oxygen, turbidity, conductivity and fish survival rate or time. From that parameter, it also shows the positive result which is near or same with control water and assuming was made that the toxin is fully removed when the pH of DH powder is near with control water. For control water, the pH is about 5.3 while water from this experiment process is 6.0 and before run the machine the pH of contaminated water is about 3.8 which are too acid. This automated machine can save time for removing toxicity from DH compared with a traditional method while less observation of the user. PMID:24783795
Morscheck, T.J.; Davis, A.R.; Huggins, M.J.
1987-06-30
This patent describes a semi-automatic mechanical change gear transmission system of the type comprising: a mechanical change gear transmission of the type comprising a transmission housing, an input shaft rotatably supported in the housing and driven by an engine through a nonpositive coupling, an output shaft rotatably supported in the housing and a plurality of selectable ratio gears selectively engageable one at a time to a first transmission element by means of positive, nonsynchronized jaw clutch assemblies for providing a plurality of manually selectable drive ratios between the input and output shafts, each of the jaw clutch assemblies comprising a first jaw clutch member rotatably associated with the first transmission element and a second jaw clutch member rotatably associated with a second transmission element, each of the first jaw clutch members axially moveable relative to the first transmission element; manually operated means for engaging and disengaging the nonpositive coupling; manually operated shifting means for engaging selected ratio gears to and disengaging selected ratio gears from the first transmission element; selection for sensing the identity of the particular ratio gear selected for manual engagement or disengagement from the first transmission element and for providing a signal; first and second rotational speed sensors for sensing the rotational speed of the first and second transmission elements and providing signals; a power synchronizer assembly selectively actuable for selectively varying the rotational speed of the second transmission element and the second jaw clutch members rotatably associated therewith; and a central processing unit semi-automatic mechanical change gear transmission system.
NASA Technical Reports Server (NTRS)
Collins, E. R., Jr.
1985-01-01
Coal cutting and removal done with minimal hazard to people. Automatic coal mine cutting, transport and roof-support movement all done by automatic machinery. Exposure of people to hazardous conditions reduced to inspection tours, maintenance, repair, and possibly entry mining.
Automatic Command Sequence Generation
NASA Technical Reports Server (NTRS)
Fisher, Forest; Gladded, Roy; Khanampompan, Teerapat
2007-01-01
Automatic Sequence Generator (Autogen) Version 3.0 software automatically generates command sequences for the Mars Reconnaissance Orbiter (MRO) and several other JPL spacecraft operated by the multi-mission support team. Autogen uses standard JPL sequencing tools like APGEN, ASP, SEQGEN, and the DOM database to automate the generation of uplink command products, Spacecraft Command Message Format (SCMF) files, and the corresponding ground command products, DSN Keywords Files (DKF). Autogen supports all the major multi-mission mission phases including the cruise, aerobraking, mapping/science, and relay mission phases. Autogen is a Perl script, which functions within the mission operations UNIX environment. It consists of two parts: a set of model files and the autogen Perl script. Autogen encodes the behaviors of the system into a model and encodes algorithms for context sensitive customizations of the modeled behaviors. The model includes knowledge of different mission phases and how the resultant command products must differ for these phases. The executable software portion of Autogen, automates the setup and use of APGEN for constructing a spacecraft activity sequence file (SASF). The setup includes file retrieval through the DOM (Distributed Object Manager), an object database used to store project files. This step retrieves all the needed input files for generating the command products. Depending on the mission phase, Autogen also uses the ASP (Automated Sequence Processor) and SEQGEN to generate the command product sent to the spacecraft. Autogen also provides the means for customizing sequences through the use of configuration files. By automating the majority of the sequencing generation process, Autogen eliminates many sequence generation errors commonly introduced by manually constructing spacecraft command sequences. Through the layering of commands into the sequence by a series of scheduling algorithms, users are able to rapidly and reliably construct the
Automatic brain tumor segmentation
NASA Astrophysics Data System (ADS)
Clark, Matthew C.; Hall, Lawrence O.; Goldgof, Dmitry B.; Velthuizen, Robert P.; Murtaugh, F. R.; Silbiger, Martin L.
1998-06-01
A system that automatically segments and labels complete glioblastoma-multiform tumor volumes in magnetic resonance images of the human brain is presented. The magnetic resonance images consist of three feature images (T1- weighted, proton density, T2-weighted) and are processed by a system which integrates knowledge-based techniques with multispectral analysis and is independent of a particular magnetic resonance scanning protocol. Initial segmentation is performed by an unsupervised clustering algorithm. The segmented image, along with cluster centers for each class are provided to a rule-based expert system which extracts the intra-cranial region. Multispectral histogram analysis separates suspected tumor from the rest of the intra-cranial region, with region analysis used in performing the final tumor labeling. This system has been trained on eleven volume data sets and tested on twenty-two unseen volume data sets acquired from a single magnetic resonance imaging system. The knowledge-based tumor segmentation was compared with radiologist-verified `ground truth' tumor volumes and results generated by a supervised fuzzy clustering algorithm. The results of this system generally correspond well to ground truth, both on a per slice basis and more importantly in tracking total tumor volume during treatment over time.
Dougherty, T.J.; Frailing, C.E.
1980-03-11
Apparatus for automatically testing automotive-type, lead acid storage batteries is disclosed in which three separate tests are made and the results thereof compared to predetermined standards in a specified order to maximize the information obtained about the battery. The three tests measure (1) whether the battery meets its cold cranking rating by drawing a predetermined load current therefrom for a predetermined period of time and determining whether the battery terminal voltage is above a specified level at the end of that period, (2) whether the battery terminal voltage is above another specified level at the end of a predetermined period of time following the completion of the first test, and (3) whether the internal resistance is acceptably low. If the battery passes the first test, it is known to be acceptable. If the battery fails the first test and passes the second test, it is known to be unacceptable. If the battery fails the first and second tests, the third test is performed. If the battery then passes the third test, it is known to be acceptable but to require a recharge, whereas if the battery then fails the third test the acceptability of the battery is then not yet determined and it must be recharged and retested.
Electronically controlled automatic transmission
Ohkubo, M.; Shiba, H.; Nakamura, K.
1989-03-28
This patent describes an electronically controlled automatic transmission having a manual valve working in connection with a manual shift lever, shift valves operated by solenoid valves which are driven by an electronic control circuit previously memorizing shift patterns, and a hydraulic circuit controlled by these manual valve and shift valves for driving brakes and a clutch in order to change speed. Shift patterns of 2-range and L-range, in addition to a shift pattern of D-range, are memorized previously in the electronic control circuit, an operation switch is provided which changes the shift pattern of the electronic control circuit to any shift pattern among those of D-range, 2-range and L-range at time of the manual shift lever being in a D-range position, a releasable lock mechanism is provided which prevents the manual shift lever from entering 2-range and L-range positions, and the hydraulic circuit is set to a third speed mode when the manual shift lever is in the D-range position. The circuit is set to a second speed mode when it is in the 2-range position, and the circuit is set to a first speed mode when it is in the L-range position, respectively, in case where the shift valves are not working.
Range, Friederike; Huber, Ludwig; Heyes, Cecilia
2011-01-01
After preliminary training to open a sliding door using their head and their paw, dogs were given a discrimination task in which they were rewarded with food for opening the door using the same method (head or paw) as demonstrated by their owner (compatible group), or for opening the door using the alternative method (incompatible group). The incompatible group, which had to counterimitate to receive food reward, required more trials to reach a fixed criterion of discrimination performance (85% correct) than the compatible group. This suggests that, like humans, dogs are subject to ‘automatic imitation’; they cannot inhibit online the tendency to imitate head use and/or paw use. In a subsequent transfer test, where all dogs were required to imitate their owners' head and paw use for food reward, the incompatible group made a greater proportion of incorrect, counterimitative responses than the compatible group. These results are consistent with the associative sequence learning model, which suggests that the development of imitation depends on sensorimotor experience and phylogenetically general mechanisms of associative learning. More specifically, they suggest that the imitative behaviour of dogs is shaped more by their developmental interactions with humans than by their evolutionary history of domestication. PMID:20667875
NASA Technical Reports Server (NTRS)
1982-01-01
Robotic welding has been of interest to industrial firms because it offers higher productivity at lower cost than manual welding. There are some systems with automated arc guidance available, but they have disadvantages, such as limitations on types of materials or types of seams that can be welded; susceptibility to stray electrical signals; restricted field of view; or tendency to contaminate the weld seam. Wanting to overcome these disadvantages, Marshall Space Flight Center, aided by Hayes International Corporation, developed system that uses closed-circuit TV signals for automatic guidance of the welding torch. NASA granted license to Combined Technologies, Inc. for commercial application of the technology. They developed a refined and improved arc guidance system. CTI in turn, licensed the Merrick Corporation, also of Nashville, for marketing and manufacturing of the new system, called the CT2 Optical Trucker. CT2 is a non-contracting system that offers adaptability to broader range of welding jobs and provides greater reliability in high speed operation. It is extremely accurate and can travel at high speed of up to 150 inches per minute.
Attaining Automaticity in the Visual Numerosity Task is Not Automatic
Speelman, Craig P.; Muller Townsend, Katrina L.
2015-01-01
This experiment is a replication of experiments reported by Lassaline and Logan (1993) using the visual numerosity task. The aim was to replicate the transition from controlled to automatic processing reported by Lassaline and Logan (1993), and to examine the extent to which this result, reported with average group results, can be observed in the results of individuals within a group. The group results in this experiment did replicate those reported by Lassaline and Logan (1993); however, one half of the sample did not attain automaticity with the task, and one-third did not exhibit a transition from controlled to automatic processing. These results raise questions about the pervasiveness of automaticity, and the interpretation of group means when examining cognitive processes. PMID:26635658
Clothes Dryer Automatic Termination Evaluation
TeGrotenhuis, Ward E.
2014-10-01
Volume 2: Improved Sensor and Control Designs Many residential clothes dryers on the market today provide automatic cycles that are intended to stop when the clothes are dry, as determined by the final remaining moisture content (RMC). However, testing of automatic termination cycles has shown that many dryers are susceptible to over-drying of loads, leading to excess energy consumption. In particular, tests performed using the DOE Test Procedure in Appendix D2 of 10 CFR 430 subpart B have shown that as much as 62% of the energy used in a cycle may be from over-drying. Volume 1 of this report shows an average of 20% excess energy from over-drying when running automatic cycles with various load compositions and dryer settings. Consequently, improving automatic termination sensors and algorithms has the potential for substantial energy savings in the U.S.