Time-Varying Expression of the Formation Flying along Circular Trajectories

NASA Technical Reports Server (NTRS)

Kawaguchi, Jun'ichiro

2007-01-01

Usually, the formation flying associated with circular orbits is discussed through the well-known Hill s or C-W equations of motion. This paper dares to present and discuss the coordinates that may contain time-varying coefficients. The discussion presents how the controller s performance is affected by the selection of coordinates, and also looks at the special coordinate suitable for designating a target bin to which each spacecraft in the formation has only to be guided. It is revealed that the latter strategy may incorporate the J2 disturbance automatically.

Numerical Simulation of Particle Motion in a Curved Channel

NASA Astrophysics Data System (ADS)

Liu, Yi; Nie, Deming

2018-01-01

In this work the lattice Boltzmann method (LBM) is used to numerically study the motion of a circular particle in a curved channel at intermediate Reynolds numbers (Re). The effects of the Reynolds number and the initial particle position are taken into account. Numerical results include the streamlines, particle trajectories and final equilibrium positions. It has been found that the particle is likely to migrate to a similar equilibrium position irrespective of its initial position when Re is large.

Curved trajectories of actin-based motility in two dimensions

NASA Astrophysics Data System (ADS)

Wen, Fu-Lai; Leung, Kwan-tai; Chen, Hsuan-Yi

2012-05-01

Recent experiments have reported fascinating geometrical trajectories for actin-based motility of bacteria Listeria monocytogenes and functionalized beads. To understand the physical mechanism for these trajectories, we constructed a phenomenological model to study the motion of an actin-propelled disk in two dimensions. In our model, the force and actin density on the surface of the disk are influenced by the translation and rotation of the disk, which in turn is induced by the asymmetric distributions of those densities. We show that this feedback can destabilize a straight trajectory, leading to circular, S-shape and other geometrical trajectories observed in the experiments through bifurcations in the distributions of the force and actin density. The relation between our model and the models for self-propelled deformable particles is emphasized and discussed.

Self-propelled Brownian spinning top: dynamics of a biaxial swimmer at low Reynolds numbers.

PubMed

Wittkowski, Raphael; Löwen, Hartmut

2012-02-01

Recently the Brownian dynamics of self-propelled (active) rodlike particles was explored to model the motion of colloidal microswimmers, catalytically driven nanorods, and bacteria. Here we generalize this description to biaxial particles with arbitrary shape and derive the corresponding Langevin equation for a self-propelled Brownian spinning top. The biaxial swimmer is exposed to a hydrodynamic Stokes friction force at low Reynolds numbers, to fluctuating random forces and torques as well as to an external and an internal (effective) force and torque. The latter quantities control its self-propulsion. Due to biaxiality and hydrodynamic translational-rotational coupling, the Langevin equation can only be solved numerically. In the special case of an orthotropic particle in the absence of external forces and torques, the noise-free (zero-temperature) trajectory is analytically found to be a circular helix. This trajectory is confirmed numerically to be more complex in the general case of an arbitrarily shaped particle under the influence of arbitrary forces and torques involving a transient irregular motion before ending up in a simple periodic motion. By contrast, if the external force vanishes, no transient regime is found, and the particle moves on a superhelical trajectory. For orthotropic particles, the noise-averaged trajectory is a generalized concho-spiral. We furthermore study the reduction of the model to two spatial dimensions and classify the noise-free trajectories completely finding circles, straight lines with and without transients, as well as cycloids and arbitrary periodic trajectories. © 2012 American Physical Society

Implied Dynamics Biases the Visual Perception of Velocity

PubMed Central

La Scaleia, Barbara; Zago, Myrka; Moscatelli, Alessandro; Lacquaniti, Francesco; Viviani, Paolo

2014-01-01

We expand the anecdotic report by Johansson that back-and-forth linear harmonic motions appear uniform. Six experiments explore the role of shape and spatial orientation of the trajectory of a point-light target in the perceptual judgment of uniform motion. In Experiment 1, the target oscillated back-and-forth along a circular arc around an invisible pivot. The imaginary segment from the pivot to the midpoint of the trajectory could be oriented vertically downward (consistent with an upright pendulum), horizontally leftward, or vertically upward (upside-down). In Experiments 2 to 5, the target moved uni-directionally. The effect of suppressing the alternation of movement directions was tested with curvilinear (Experiment 2 and 3) or rectilinear (Experiment 4 and 5) paths. Experiment 6 replicated the upright condition of Experiment 1, but participants were asked to hold the gaze on a fixation point. When some features of the trajectory evoked the motion of either a simple pendulum or a mass-spring system, observers identified as uniform the kinematic profiles close to harmonic motion. The bias towards harmonic motion was most consistent in the upright orientation of Experiment 1 and 6. The bias disappeared when the stimuli were incompatible with both pendulum and mass-spring models (Experiments 3 to 5). The results are compatible with the hypothesis that the perception of dynamic stimuli is biased by the laws of motion obeyed by natural events, so that only natural motions appear uniform. PMID:24667578

Dynamics of Space Particles and Spacecrafts Passing by the Atmosphere of the Earth

PubMed Central

Prado, Antonio Fernando Bertachini de Almeida; Golebiewska, Justyna

2013-01-01

The present research studies the motion of a particle or a spacecraft that comes from an orbit around the Sun, which can be elliptic or hyperbolic, and that makes a passage close enough to the Earth such that it crosses its atmosphere. The idea is to measure the Sun-particle two-body energy before and after this passage in order to verify its variation as a function of the periapsis distance, angle of approach, and velocity at the periapsis of the particle. The full system is formed by the Sun, the Earth, and the particle or the spacecraft. The Sun and the Earth are in circular orbits around their center of mass and the motion is planar for all the bodies involved. The equations of motion consider the restricted circular planar three-body problem with the addition of the atmospheric drag. The initial conditions of the particle or spacecraft (position and velocity) are given at the periapsis of its trajectory around the Earth. PMID:24396298

Dynamics of space particles and spacecrafts passing by the atmosphere of the Earth.

PubMed

Gomes, Vivian Martins; Prado, Antonio Fernando Bertachini de Almeida; Golebiewska, Justyna

2013-01-01

The present research studies the motion of a particle or a spacecraft that comes from an orbit around the Sun, which can be elliptic or hyperbolic, and that makes a passage close enough to the Earth such that it crosses its atmosphere. The idea is to measure the Sun-particle two-body energy before and after this passage in order to verify its variation as a function of the periapsis distance, angle of approach, and velocity at the periapsis of the particle. The full system is formed by the Sun, the Earth, and the particle or the spacecraft. The Sun and the Earth are in circular orbits around their center of mass and the motion is planar for all the bodies involved. The equations of motion consider the restricted circular planar three-body problem with the addition of the atmospheric drag. The initial conditions of the particle or spacecraft (position and velocity) are given at the periapsis of its trajectory around the Earth.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and motors to produce combined arc and straight-line motion. The simulation and experiment show interesting results by demonstrating smooth motion in both acceleration and jerk and significant improvements of positioning accuracy in trajectory planning.

Motion Trajectories for Wide-area Surveying with a Rover-based Distributed Spectrometer

NASA Technical Reports Server (NTRS)

Tunstel, Edward; Anderson, Gary; Wilson, Edmond

2006-01-01

A mobile ground survey application that employs remote sensing as a primary means of area coverage is highlighted. It is distinguished from mobile robotic area coverage problems that employ contact or proximity-based sensing. The focus is on a specific concept for performing mobile surveys in search of biogenic gases on planetary surfaces using a distributed spectrometer -- a rover-based instrument designed for wide measurement coverage of promising search areas. Navigation algorithms for executing circular and spiral survey trajectories are presented for widearea distributed spectroscopy and evaluated based on area covered and distance traveled.

Explicit Low-Thrust Guidance for Reference Orbit Targeting

NASA Technical Reports Server (NTRS)

Lam, Try; Udwadia, Firdaus E.

2013-01-01

The problem of a low-thrust spacecraft controlled to a reference orbit is addressed in this paper. A simple and explicit low-thrust guidance scheme with constrained thrust magnitude is developed by combining the fundamental equations of motion for constrained systems from analytical dynamics with a Lyapunov-based method. Examples are given for a spacecraft controlled to a reference trajectory in the circular restricted three body problem.

Motion of the angular momentum vector in body coordinates for torque-free dual-spin spacecraft

NASA Technical Reports Server (NTRS)

Fedor, J. V.

1981-01-01

The motion of the angular momentum vector in body coordinates for torque free, asymmetric dual spin spacecraft without and, for a special case, with energy dissipation on the main spacecraft is investigated. Without energy dissipation, two integrals can be obtained from the Euler equations of motion. Using the classical method of elimination of variable, the motion about the equilibrium points (six for the general case) are derived with these integrals. For small nutation angle, theta, the trajectories about the theta = 0 deg and theta = 180 deg points readily show the requirements for stable motion about these points. Also the conditions needed to eliminate stable motion about the theta = 180 deg point as well as the other undesireable equilibrium points follow directly from these equations. For the special case where the angular momentum vector moves about the principal axis which contains the momentum wheel, the notion of 'free variable' azimuth angle is used. Physically this angle must vary from 0 to 2 pi in a circular periodic fashion. Expressions are thus obtained for the nutation angle in terms of the free variable and other spacecraft parameters. Results show that in general there are two separate trajectory expressions that govern the motion of the angular momentum vector in body coordinates.

Nonlinear stability and control of gliding vehicles

NASA Astrophysics Data System (ADS)

Bhatta, Pradeep

In this thesis we use nonlinear systems analysis to study dynamics and design control solutions for vehicles subject to hydrodynamic or aerodynamic forcing. Application of energy-based methods for such vehicles is challenging due to the presence of energy-conserving lift and side forces. We study how the lift force determines the geometric structure of vehicle dynamics. A Hamiltonian formulation of the integrable phugoid-mode equations provides a Lyapunov function candidate, which is used throughout the thesis for deriving equilibrium stability results and designing stabilizing control laws. A strong motivation for our work is the emergence of underwater gliders as an important observation platform for oceanography. Underwater gliders rely on buoyancy regulation and internal mass redistribution for motion control. These vehicles are attractive because they are designed to operate autonomously and continuously for several weeks. The results presented in this thesis contribute toward the development of systematic control design procedures for extending the range of provably stable maneuvers of the underwater glider. As the first major contribution we derive conditions for nonlinear stability of longitudinal steady gliding motions using singular perturbation theory. Stability is proved using a composite Lyapunov function, composed of individual Lyapunov functions that prove stability of rotational and translational subsystem equilibria. We use the composite Lyapunov function to design control laws for stabilizing desired relative equilibria in different actuation configurations for the underwater glider. We propose an approximate trajectory tracking method for an aircraft model. Our method uses exponential stability results of controllable steady gliding motions, derived by interpreting the aircraft dynamics as an interconnected system of rotational and translational subsystems. We prove bounded position error for tracking prescribed, straight-line trajectories, and demonstrate good performance in tracking unsteady trajectories in the longitudinal plane. We present all possible relative equilibrium motions for a rigid body moving in a fluid. Motion along a circular helix is a practical relative equilibrium for an underwater glider. We present a study of how internal mass distribution and buoyancy of the underwater glider influence the size of the steady circular helix, and the effect of a vehicle bottom-heaviness parameter on its stability.

SU-E-J-11: A New Optical Method to Register Patient External Motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barbes, B; Azcona, J; Moreno, M

2014-06-01

Purpose: To devise and implement a new system to measure and register the patient motion during radiotherapy treatments. Methods: The system can obtain the position of several points in the 3D-space, through their projections in the 2D-images recorded by two cameras. The algorithm needs a series of constants, that are obtained using the images of a calibrated phantom.To test the system, some adhesive labels were placed on the surface of an object. Two cameras recorded the moving object over time. An in-house developed software localized the labels in each image. In the first pair of images, the program used amore » first approximation given by the user. In the subsequent images, it used the last position as an approximate location. The final exact coordinates of the point were obtained in a two-step process using the contrast of the images. From the 2D-positions of the point in each frame, the 3D-trajectories of each of these marks were obtained.The system was tested with linear displacements, oscillations of a mechanical oscillator, circular trajectories of a rotating disk, and with respiratory motion of a volunteer. Results: Trajectories of several points were reproduced with sub-millimeter accuracy in the three directions of the space. The system was able to follow periodic motion with amplitudes lower than 0.5mm; and trajectories of rotating points at speeds up to 200mm/s. The software could also track accurately the respiration motion of a person. Conclusion: A new, inexpensive optical tracking system for patient motion has been demonstrated. The system detects motion with high accuracy. Installation and calibration of the system is simple and quick. Data collection is not expected to involve any discomfort for the patient, nor any delay for the treatment. The system could be also used as a method of warning for patient movements, and for gating. We acknowledge financial support from Fundacion Mutua Madrilena, Madrid, Spain.« less

Swimming trajectories of a three-sphere microswimmer near a wall

NASA Astrophysics Data System (ADS)

Daddi-Moussa-Ider, Abdallah; Lisicki, Maciej; Hoell, Christian; Löwen, Hartmut

2018-04-01

The hydrodynamic flow field generated by self-propelled active particles and swimming microorganisms is strongly altered by the presence of nearby boundaries in a viscous flow. Using a simple model three-linked sphere swimmer, we show that the swimming trajectories near a no-slip wall reveal various scenarios of motion depending on the initial orientation and the distance separating the swimmer from the wall. We find that the swimmer can either be trapped by the wall, completely escape, or perform an oscillatory gliding motion at a constant mean height above the wall. Using a far-field approximation, we find that, at leading order, the wall-induced correction has a source-dipolar or quadrupolar flow structure where the translational and angular velocities of the swimmer decay as inverse third and fourth powers with distance from the wall, respectively. The resulting equations of motion for the trajectories and the relevant order parameters fully characterize the transition between the states and allow for an accurate description of the swimming behavior near a wall. We demonstrate that the transition between the trapping and oscillatory gliding states is first order discontinuous, whereas the transition between the trapping and escaping states is continuous, characterized by non-trivial scaling exponents of the order parameters. In order to model the circular motion of flagellated bacteria near solid interfaces, we further assume that the spheres can undergo rotational motion around the swimming axis. We show that the general three-dimensional motion can be mapped onto a quasi-two-dimensional representational model by an appropriate redefinition of the order parameters governing the transition between the swimming states.

Trajectory of asteroid 2017 SB20 within the CRTBP

NASA Astrophysics Data System (ADS)

Tiwary, Rishikesh Dutta; Kushvah, Badam Singh; Ishwar, Bhola

2018-06-01

Regular monitoring the trajectory of asteroids to a future time is a necessity, because the variety of known probably unsafe near-Earth asteroids are increasing. The analysis is perform to avoid any incident or whether they would have a further future threat to the Earth or not. Recently a new Near Earth Asteroid (2017 SB20) has been observed to cross the Earth orbit. In view of this we obtain the trajectory of Asteroid in the circular restricted three body problem with radiation pressure and oblateness. We examine nature of Asteroid's orbit with Lyapunov Characteristic Exponents (LCEs) over a finite intervals of time. LCE of the system confirms that the motion of asteroid is chaotic in nature. With the effect of radiation pressure and oblateness the length of curve varies in both the planes. Oblateness factor is found to be more perturbative than radiation pressure. To see the precision of result obtain from numerical integration we show the error propagation and the numerical stability is assured around the singularity by applying regularized equations of motion for precise long-term study.

A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications

NASA Technical Reports Server (NTRS)

Starek, Joseph A.; Barbee, Brent W.; Pavone, Marco

2015-01-01

This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.

Exploration of bounded motion near binary systems comprised of small irregular bodies

NASA Astrophysics Data System (ADS)

Chappaz, Loic; Howell, Kathleen C.

2015-10-01

To investigate the behavior of a spacecraft near a pair of irregular bodies, consider a three-body configuration (one massless). Two massive bodies, P_1 and P_2, form the primary system; each primary is modeled as a sphere or an ellipsoid. Two primary configurations are addressed: `synchronous' and `non-synchronous'. Concepts and tools similar to those applied in the circular restricted three-body problem are exploited to construct periodic trajectories for a third body in synchronous systems. In non-synchronous systems, however, the search for third body periodic orbits is complicated by several factors. The mathematical model for the third-body motion is now time-variant and the motion of P_2 is not trivial.

Human pelvis motions when walking and when riding a therapeutic horse.

PubMed

Garner, Brian A; Rigby, B Rhett

2015-02-01

A prevailing rationale for equine assisted therapies is that the motion of a horse can provide sensory stimulus and movement patterns that mimic those of natural human activities such as walking. The purpose of this study was to quantitatively measure and compare human pelvis motions when walking to those when riding a horse. Six able-bodied children (inexperienced riders, 8-12years old) participated in over-ground trials of self-paced walking and leader-paced riding on four different horses. Five kinematic measures were extracted from three-dimensional pelvis motion data: anteroposterior, superoinferior, and mediolateral translations, list angle about the anteroposterior axis, and twist angle about the superoinferior axis. There was generally as much or more variability in motion range observed between riding on the different horses as between riding and walking. Pelvis trajectories exhibited many similar features between walking and riding, including distorted lemniscate patterns in the transverse and frontal planes. In the sagittal plane the pelvis trajectory during walking exhibited a somewhat circular pattern whereas during riding it exhibited a more diagonal pattern. This study shows that riding on a horse can generate movement patterns in the human pelvis that emulate many, but not all, characteristics of those during natural walking. Copyright © 2014 Elsevier B.V. All rights reserved.

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion.

PubMed

Lee, Dong-Jin; Lee, Sun-Kyu

2015-01-01

This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of a nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.

Line plus arc source trajectories and their R-line coverage for long-object cone-beam imaging with a C-arm system

NASA Astrophysics Data System (ADS)

Yu, Zhicong; Wunderlich, Adam; Dennerlein, Frank; Lauritsch, Günter; Noo, Frédéric

2011-06-01

Cone-beam imaging with C-arm systems has become a valuable tool in interventional radiology. Currently, a simple circular trajectory is used, but future applications should use more sophisticated source trajectories, not only to avoid cone-beam artifacts but also to allow extended volume imaging. One attractive strategy to achieve these two goals is to use a source trajectory that consists of two parallel circular arcs connected by a line segment, possibly with repetition. In this work, we address the question of R-line coverage for such a trajectory. More specifically, we examine to what extent R-lines for such a trajectory cover a central cylindrical region of interest (ROI). An R-line is a line segment connecting any two points on the source trajectory. Knowledge of R-line coverage is crucial because a general theory for theoretically exact and stable image reconstruction from axially truncated data is only known for the points in the scanned object that lie on R-lines. Our analysis starts by examining the R-line coverage for the elemental trajectories consisting of (i) two parallel circular arcs and (ii) a circular arc connected orthogonally to a line segment. Next, we utilize our understanding of the R-lines for the aforementioned elemental trajectories to determine the R-line coverage for the trajectory consisting of two parallel circular arcs connected by a tightly fit line segment. For this trajectory, we find that the R-line coverage is insufficient to completely cover any central ROI. Because extension of the line segment beyond the circular arcs helps to increase the R-line coverage, we subsequently propose a trajectory composed of two parallel circular arcs connected by an extended line. We show that the R-lines for this trajectory can fully cover a central ROI if the line extension is long enough. Our presentation includes a formula for the minimum line extension needed to achieve full R-line coverage of an ROI with a specified size, and also includes a preliminary study on the required detector size, showing that the R-lines added by the line extension are not constraining.

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

NASA Astrophysics Data System (ADS)

Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

2017-08-01

This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

A complete system for 3D reconstruction of roots for phenotypic analysis.

PubMed

Kumar, Pankaj; Cai, Jinhai; Miklavcic, Stanley J

2015-01-01

Here we present a complete system for 3D reconstruction of roots grown in a transparent gel medium or washed and suspended in water. The system is capable of being fully automated as it is self calibrating. The system starts with detection of root tips in root images from an image sequence generated by a turntable motion. Root tips are detected using the statistics of Zernike moments on image patches centred on high curvature points on root boundary and Bayes classification rule. The detected root tips are tracked in the image sequence using a multi-target tracking algorithm. Conics are fitted to the root tip trajectories using a novel ellipse fitting algorithm which weighs the data points by its eccentricity. The conics projected from the circular trajectory have a complex conjugate intersection which are image of the circular points. Circular points constraint the image of the absolute conics which are directly related to the internal parameters of the camera. The pose of the camera is computed from the image of the rotation axis and the horizon. The silhouettes of the roots and camera parameters are used to reconstruction the 3D voxel model of the roots. We show the results of real 3D reconstruction of roots which are detailed and realistic for phenotypic analysis.

Calculation of precision satellite orbits with nonsingular elements /VOP formulation/

NASA Technical Reports Server (NTRS)

Velez, C. E.; Cefola, P. J.; Long, A. C.; Nimitz, K. S.

1974-01-01

Review of some results obtained in an effort to develop efficient, high-precision trajectory computation processes for artificial satellites by optimum selection of the form of the equations of motion of the satellite and the numerical integration method. In particular, the matching of a Gaussian variation-of-parameter (VOP) formulation is considered which is expressed in terms of equinoctial orbital elements and partially decouples the motion of the orbital frame from motion within the orbital frame. The performance of the resulting orbit generators is then compared with the popular classical Cowell/Gauss-Jackson formulation/integrator pair for two distinctly different orbit types - namely, the orbit of the ATS satellite at near-geosynchronous conditions and the near-circular orbit of the GEOS-C satellite at 1000 km.

Centripetal force draws the eyes, not memory of the target, toward the center.

PubMed

Kerzel, Dirk

2003-05-01

Many observers believe that a target will continue on a curved trajectory after exiting a spiral tube. Similarly, when observers were asked to localize the final position of a target moving on a circular orbit, displacement of the judged position in the direction of forward motion ("representational momentum") and toward the center of the orbit was observed (cf. T. L. Hubbard, 1996). The present study shows that memory displacement of targets on a circular orbit is affected by eye movements. Forward displacement was larger with ocular pursuit of the target, whereas inward displacement was larger with motionless eyes. The results challenge an account attributing forward and inward displacement to mental analogues of momentum and centripetal force, respectively.

Bouncing droplets on a billiard table.

PubMed

Shirokoff, David

2013-03-01

In a set of experiments, Couder et al. demonstrate that an oscillating fluid bed may propagate a bouncing droplet through the guidance of the surface waves. I present a dynamical systems model, in the form of an iterative map, for a droplet on an oscillating bath. I examine the droplet bifurcation from bouncing to walking, and prescribe general requirements for the surface wave to support stable walking states. I show that in addition to walking, there is a region of large forcing that may support the chaotic motion of the droplet. Using the map, I then investigate the droplet trajectories in a square (billiard ball) domain. I show that in large domains, the long time trajectories are either non-periodic dense curves or approach a quasiperiodic orbit. In contrast, in small domains, at low forcing, trajectories tend to approach an array of circular attracting sets. As the forcing increases, the attracting sets break down and the droplet travels throughout space.

Quantized orbits in weakly coupled Belousov-Zhabotinsky reactors

NASA Astrophysics Data System (ADS)

Weiss, S.; Deegan, R. D.

2015-06-01

Using numerical and experimental tools, we study the motion of two coupled spiral cores in a light-sensitive variant of the Belousov-Zhabotinsky reaction. Each core resides on a separate two-dimensional domain, and is coupled to the other by light. When both spirals have the same sense of rotation, the cores are attracted to a circular trajectory with a diameter quantized in integer units of the spiral wavelength λ. When the spirals have opposite senses of rotation, the cores are attracted towards different but parallel straight trajectories, separated by an integer multiple of λ/2. We present a model that explains this behavior as the result of a spiral wavefront-core interaction that produces a deterministic displacement of the core and a retardation of its phase.

An analysis of 5-day midtropospheric flow patterns for the South Pole: 1985-1989

NASA Astrophysics Data System (ADS)

Harris, Joyce M.

1992-09-01

An analysis of 5-day midtropospheric flow patterns for the South Pole during 1985-1989 is presented. Cluster analysis was used to summarize trajectories by year and by month. The results indicate that flow from the east was most often anticyclonic and light, occurring 8-18% of the time. Westerly flow patterns were the strongest and most frequent (37-51% occurrence). They were consistently cyclonic, usually reflecting storms in the Ross Sea area, the average center of the circumpolar vortex. Strong northerly flow occurred more often in 1987 than in other years. Year-to-year variability was also evident in southwesterly flow, which was enhanced in 1988, and weaker in 1987, compared with other years. The lightest winds over the South Pole occur during January, while the most vigorous long-range transport to South Pole occurs from July through October. Selected isentropic trajectories were examined to determine errors inherent in the isobaric estimates. Isentropic trajectories from the east showed little vertical motion and good agreement with isobaric ones. Over west Antarctica, however, isentropic trajectories consistently showed positive vertical motion. As a result, their isobaric counterparts were too long and overestimated the cyclonic curvature in the flow. Preferred transport from the west with warm-air advection results from the circumpolar vortex being asymmetrical, and the average isotherms, though roughly circular, being offset to the east of the South Pole.

Exact Fan-Beam Reconstruction With Arbitrary Object Translations and Truncated Projections

NASA Astrophysics Data System (ADS)

Hoskovec, Jan; Clackdoyle, Rolf; Desbat, Laurent; Rit, Simon

2016-06-01

This article proposes a new method for reconstructing two-dimensional (2D) computed tomography (CT) images from truncated and motion contaminated sinograms. The type of motion considered here is a sequence of rigid translations which are assumed to be known. The algorithm first identifies the sufficiency of angular coverage in each 2D point of the CT image to calculate the Hilbert transform from the local “virtual” trajectory which accounts for the motion and the truncation. By taking advantage of data redundancy in the full circular scan, our method expands the reconstructible region beyond the one obtained with chord-based methods. The proposed direct reconstruction algorithm is based on the Differentiated Back-Projection with Hilbert filtering (DBP-H). The motion is taken into account during backprojection which is the first step of our direct reconstruction, before taking the derivatives and inverting the finite Hilbert transform. The algorithm has been tested in a proof-of-concept study on Shepp-Logan phantom simulations with several motion cases and detector sizes.

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lee, Dong-Jin; Lee, Sun-Kyu, E-mail: skyee@gist.ac.kr

2015-01-15

This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of amore » nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.« less

L^1 -optimality conditions for the circular restricted three-body problem

NASA Astrophysics Data System (ADS)

Chen, Zheng

2016-11-01

In this paper, the L^1 -minimization for the translational motion of a spacecraft in the circular restricted three-body problem (CRTBP) is considered. Necessary conditions are derived by using the Pontryagin Maximum Principle (PMP), revealing the existence of bang-bang and singular controls. Singular extremals are analyzed, recalling the existence of the Fuller phenomenon according to the theories developed in (Marchal in J Optim Theory Appl 11(5):441-486, 1973; Zelikin and Borisov in Theory of Chattering Control with Applications to Astronautics, Robotics, Economics, and Engineering. Birkhäuser, Basal 1994; in J Math Sci 114(3):1227-1344, 2003). The sufficient optimality conditions for the L^1 -minimization problem with fixed endpoints have been developed in (Chen et al. in SIAM J Control Optim 54(3):1245-1265, 2016). In the current paper, we establish second-order conditions for optimal control problems with more general final conditions defined by a smooth submanifold target. In addition, the numerical implementation to check these optimality conditions is given. Finally, approximating the Earth-Moon-Spacecraft system by the CRTBP, an L^1 -minimization trajectory for the translational motion of a spacecraft is computed by combining a shooting method with a continuation method in (Caillau et al. in Celest Mech Dyn Astron 114:137-150, 2012; Caillau and Daoud in SIAM J Control Optim 50(6):3178-3202, 2012). The local optimality of the computed trajectory is asserted thanks to the second-order optimality conditions developed.

Forward and backward motion of artificial helical swimmers in cylindrical channels

NASA Astrophysics Data System (ADS)

Acemoglu, Alperen; Temel, Fatma Zeynep; Yesilyurt, Serhat

2013-11-01

Motion of micro swimmers in confined geometries such as channels is important due to its relevance in in vivo medical applications such as minimally invasive surgery and drug delivery. Here, swimmers with diameters 0.8 mm and lengths 2 to 3 mm are produced with a 3D printer and cylindrical Nd2Fe14B magnets are placed inside the bodies. Rotating external magnetic field is used for the actuation of artificial swimmers. Different body and tail geometries are produced and experiments are conducted with a glycerol filled circular channel. Result demonstrate that decreasing channel diameter directly affects the forward motion of the swimmer due to the increasing drag. It is observed that step-out frequency, which defines maximum frequency at which the swimmer can establish a synchronous rotation with the external magnetic field, depends on the geometry of the swimmer and the channel diameter. There are significant differences between low and high frequency motion and forward and backward swimming. Longer tails enable higher forward velocities in high frequencies than backward ones, whereas forward and backward velocities are approximately the same at low frequencies. Furthermore backward motion is more stable than the forward one; at high frequencies, swimmers travel almost at the center of the channel for backward motion, and follow a helical trajectory near the wall during the forward motion. According to simulation results there is a flow which is induced by the rotation of the swimmer rotation that affects the swimmer's trajectory. We acknowledge the support from TUBITAK (Techonological & Research Council of Turkey) under the grant no: 111M376.

Entropy method of measuring and evaluating periodicity of quasi-periodic trajectories

NASA Astrophysics Data System (ADS)

Ni, Yanshuo; Turitsyn, Konstantin; Baoyin, Hexi; Junfeng, Li

2018-06-01

This paper presents a method for measuring the periodicity of quasi-periodic trajectories by applying discrete Fourier transform (DFT) to the trajectories and analyzing the frequency domain within the concept of entropy. Having introduced the concept of entropy, analytical derivation and numerical results indicate that entropies increase as a logarithmic function of time. Periodic trajectories typically have higher entropies, and trajectories with higher entropies mean the periodicities of the motions are stronger. Theoretical differences between two trajectories expressed as summations of trigonometric functions are also derived analytically. Trajectories in the Henon-Heiles system and the circular restricted three-body problem (CRTBP) are analyzed with the indicator entropy and compared with orthogonal fast Lyapunov indicator (OFLI). The results show that entropy is a better tool for discriminating periodicity in quasiperiodic trajectories than OFLI and can detect periodicity while excluding the spirals that are judged as periodic cases by OFLI. Finally, trajectories in the vicinity of 243 Ida and 6489 Golevka are considered as examples, and the numerical results verify these conclusions. Some trajectories near asteroids look irregular, but their higher entropy values as analyzed by this method serve as evidence of frequency regularity in three directions. Moreover, these results indicate that applying DFT to the trajectories in the vicinity of irregular small bodies and calculating their entropy in the frequency domain provides a useful quantitative analysis method for evaluating orderliness in the periodicity of quasi-periodic trajectories within a given time interval.

Stereoscopic advantages for vection induced by radial, circular, and spiral optic flows.

PubMed

Palmisano, Stephen; Summersby, Stephanie; Davies, Rodney G; Kim, Juno

2016-11-01

Although observer motions project different patterns of optic flow to our left and right eyes, there has been surprisingly little research into potential stereoscopic contributions to self-motion perception. This study investigated whether visually induced illusory self-motion (i.e., vection) is influenced by the addition of consistent stereoscopic information to radial, circular, and spiral (i.e., combined radial + circular) patterns of optic flow. Stereoscopic vection advantages were found for radial and spiral (but not circular) flows when monocular motion signals were strong. Under these conditions, stereoscopic benefits were greater for spiral flow than for radial flow. These effects can be explained by differences in the motion aftereffects generated by these displays, which suggest that the circular motion component in spiral flow selectively reduced adaptation to stereoscopic motion-in-depth. Stereoscopic vection advantages were not observed for circular flow when monocular motion signals were strong, but emerged when monocular motion signals were weakened. These findings show that stereoscopic information can contribute to visual self-motion perception in multiple ways.

Orbits of two electrons released from rest in a uniform transverse magnetic field

NASA Astrophysics Data System (ADS)

Mungan, Carl E.

2018-03-01

Two identical charged particles released from rest repel each other radially. A uniform perpendicular magnetic field will then cause their trajectories to curve into a flower petal pattern. The orbit of each particle is approximately circular with a long period for a strong magnetic field, whereas it becomes a figure-eight for a weak magnetic field with each lobe completed in a cyclotron period. For example, such radially bound motions arise for two-dimensional electron gases. The level of treatment is appropriate for an undergraduate calculus-based electromagnetism course.

Towards denoising XMCD movies of fast magnetization dynamics using extended Kalman filter.

PubMed

Kopp, M; Harmeling, S; Schütz, G; Schölkopf, B; Fähnle, M

2015-01-01

The Kalman filter is a well-established approach to get information on the time-dependent state of a system from noisy observations. It was developed in the context of the Apollo project to see the deviation of the true trajectory of a rocket from the desired trajectory. Afterwards it was applied to many different systems with small numbers of components of the respective state vector (typically about 10). In all cases the equation of motion for the state vector was known exactly. The fast dissipative magnetization dynamics is often investigated by x-ray magnetic circular dichroism movies (XMCD movies), which are often very noisy. In this situation the number of components of the state vector is extremely large (about 10(5)), and the equation of motion for the dissipative magnetization dynamics (especially the values of the material parameters of this equation) is not well known. In the present paper it is shown by theoretical considerations that - nevertheless - there is no principle problem for the use of the Kalman filter to denoise XMCD movies of fast dissipative magnetization dynamics. Copyright © 2014 Elsevier B.V. All rights reserved.

Revisiting LS I +61°303 with VLBI astrometry

NASA Astrophysics Data System (ADS)

Wu, Y. W.; Torricelli-Ciamponi, G.; Massi, M.; Reid, M. J.; Zhang, B.; Shao, L.; Zheng, X. W.

2018-03-01

We conducted multi-epoch Very Long Baseline Array (VLBA) phase-referenced observations of LS I +61°303 in order to study its precessing radio jet. Compared to similar observations in 2006, we find that the observed elliptical trajectory of emission at 8.4 GHz repeats after the 9 yr gap. The accurate alignment of the emission patterns yields a precession period of 26.926 ± 0.005 d, which is consistent with that determined by Lomb-Scargle analysis of the radio light curve. We analytically model the projection on the sky plane of the peak position of a precessing, synchrotron-emitting jet, which traces an elliptical trajectory on the sky. Comparing the simulation with the VLBA astrometry we improve our knowledge of the geometry of the system. We measure the LS I +61°303 absolute proper motion to be -0.150 ± 0.006 mas yr-1 eastward and -0.264 ± 0.006 mas yr-1 northward. Removing Galactic rotation, this reveals a small, <20 km s-1, non-circular motion, which indicates a very low kick velocity when the black hole was formed.

Analysis of the trajectory of Drosophila melanogaster in a circular open field arena.

PubMed

Valente, Dan; Golani, Ilan; Mitra, Partha P

2007-10-24

Obtaining a complete phenotypic characterization of a freely moving organism is a difficult task, yet such a description is desired in many neuroethological studies. Many metrics currently used in the literature to describe locomotor and exploratory behavior are typically based on average quantities or subjectively chosen spatial and temporal thresholds. All of these measures are relatively coarse-grained in the time domain. It is advantageous, however, to employ metrics based on the entire trajectory that an organism takes while exploring its environment. To characterize the locomotor behavior of Drosophila melanogaster, we used a video tracking system to record the trajectory of a single fly walking in a circular open field arena. The fly was tracked for two hours. Here, we present techniques with which to analyze the motion of the fly in this paradigm, and we discuss the methods of calculation. The measures we introduce are based on spatial and temporal probability distributions and utilize the entire time-series trajectory of the fly, thus emphasizing the dynamic nature of locomotor behavior. Marginal and joint probability distributions of speed, position, segment duration, path curvature, and reorientation angle are examined and related to the observed behavior. The measures discussed in this paper provide a detailed profile of the behavior of a single fly and highlight the interaction of the fly with the environment. Such measures may serve as useful tools in any behavioral study in which the movement of a fly is an important variable and can be incorporated easily into many setups, facilitating high-throughput phenotypic characterization.

Skyrmion-based high-frequency signal generator

NASA Astrophysics Data System (ADS)

Luo, Shijiang; Zhang, Yue; Shen, Maokang; Ou-Yang, Jun; Yan, Baiqian; Yang, Xiaofei; Chen, Shi; Zhu, Benpeng; You, Long

2017-03-01

Many concepts for skyrmion-based devices have been proposed, and most of their possible applications are based on the motion of skyrmions driven by a dc current in an area with a constricted geometry. However, skyrmion motion driven by a pulsed current has not been investigated so far. In this work, we propose a skyrmion-based high-frequency signal generator based on the pulsed-current-driven circular motion of skyrmions in a square-shaped film by micromagnetic simulation. The results indicate that skyrmions can move in a closed curve with central symmetry. The trajectory and cycle period can be adjusted by tuning the size of the film, the current density, the Dzyaloshinskii-Moriya interaction constant, and the local in-plane magnetic anisotropy. The period can be tuned from several nanoseconds to tens of nanoseconds, which offers the possibility to prepare high-frequency signal generator based on skyrmions.

Projectile motion of a once rotating object: physical quantities at the point of return

NASA Astrophysics Data System (ADS)

Arabasi, Sameer

2016-09-01

Vertical circular motion is a widely used example to explain non-uniform circular motion in most undergraduate general physics textbooks. However, most of these textbooks do not elaborate on the case when this motion turns into projectile motion under certain conditions. In this paper, we describe thoroughly when a mass attached to a cord, moving in a vertical circular motion, turns into a projectile and its location and velocity when it rejoins the circular orbit. This paper provides an intuitive understanding, supported by basic kinematic equations, to give an interesting elegant connection between circular motion and projectile motion—something lacking in most physics textbooks—and will be very useful to present to an undergraduate class to deepen their understanding of both models of motion.

WE-G-BRF-07: Non-Circular Scanning Trajectories with Varian Developer Mode

DOE Office of Scientific and Technical Information (OSTI.GOV)

Davis, A; Pearson, E; Pan, X

2014-06-15

Purpose: Cone-beam CT (CBCT) in image-guide radiation therapy (IGRT) typicallyacquires scan data via the circular trajectory of the linearaccelerator's (linac) gantry rotation. Though this lends itself toanalytic reconstruction algorithms like FDK, iterative reconstructionalgorithms allow for a broader range of scanning trajectories. Weimplemented a non-circular scanning trajectory with Varian's TrueBeamDeveloper Mode and performed some preliminary reconstructions toverify the geometry. Methods: We used TrueBeam Developer Mode to program a new scanning trajectorythat increases the field of view (FOV) along the gantry rotation axiswithout moving the patient. This trajectory consisted of moving thegantry in a circle, then translating the source and detector alongmore » theaxial direction before acquiring another circular scan 19 cm away fromthe first. The linear portion of the trajectory includes an additional4.5 cm above and below the axial planes of the source's circularrotation. We scanned a calibration phantom consisting of a lucite tubewith a spiral pattern of CT spots and used the maximum-likelihoodalgorithm to iteratively reconstruct the CBCT volume. Results: With the TrueBeam trajectory definition, we acquired projection dataof the calibration phantom using the previously described trajectory.We obtained a scan of the treatment couch for log normalization byscanning with the same trajectory but without the phantom present.Using the nominal geometric parameters reported in the projectionheaders with our iterative reconstruction algorithm, we obtained acorrect reconstruction of the calibration phantom. Conclusion: The ability to implement new scanning trajectories with the TrueBeamDeveloper Mode enables us access to a new parameter space for imagingwith CBCT for IGRT. Previous simulations and simple dual circle scanshave shown iterative reconstruction with non-circular trajectories canincrease the axial FOV with CBCT. Use of Developer Mode allowsexperimentally testing these and other new scanning trajectories. Support was provided in part by the University of Chicago Research Computing Center, Varian Medical Systems, and NIH Grants 1RO1CA120540, T32EB002103, S10 RR021039 and P30 CA14599. The contents of this work are solely the responsibility of the authors and do not necessarily represent the official views of the supporting organizations.« less

Low-energy Lorentz violation from high-energy modified dispersion in inertial and circular motion

NASA Astrophysics Data System (ADS)

Louko, Jorma; Upton, Samuel D.

2018-01-01

We consider an Unruh-DeWitt detector in inertial and circular motion in Minkowski spacetime of arbitrary dimension, coupled to a quantized scalar field with the Lorentz-violating dispersion relation ω =|k |f (|k |/M⋆) , where M⋆ is the Lorentz-breaking scale. Assuming that f dips below unity somewhere, we show that an inertial detector experiences large low-energy Lorentz violations in all spacetime dimensions greater than two, generalizing previous results in four dimensions. For a detector in circular motion, we show that a similar low-energy Lorentz violation occurs in three spacetime dimensions, and we lay the analytic groundwork for examining circular motion in all dimensions greater than three, generalizing previous work by Stargen, Kajuri and Sriramkumar in four dimensions. The circular motion results may be relevant for the prospects of observing the circular motion Unruh effect in analogue laboratory systems.

The effect of spatial orientation on detecting motion trajectories in noise.

PubMed

Pavan, Andrea; Casco, Clara; Mather, George; Bellacosa, Rosilari M; Cuturi, Luigi F; Campana, Gianluca

2011-09-15

A series of experiments investigated the extent to which the spatial orientation of a signal line affects discrimination of its trajectory from the random trajectories of background noise lines. The orientation of the signal line was either parallel (iso-) or orthogonal (ortho-) to its motion direction and it was identical in all respects to the noise (orientation, length and speed) except for its motion direction, rendering the signal line indistinguishable from the noise on a frame-to-frame basis. We found that discrimination of ortho-trajectories was generally better than iso-trajectories. Discrimination of ortho-trajectories was largely immune to the effects of spatial jitter in the trajectory, and to variations in step size and line-length. Discrimination of iso-trajectories was reliable provided that step-size was not too short and did not exceed line length, and that the trajectory was straight. The new result that trajectory discrimination in moving line elements is modulated by line orientation suggests that ortho- and iso-trajectory discrimination rely upon two distinct mechanisms: iso-motion discrimination involves a 'motion-streak' process that combines motion information with information about orientation parallel to the motion trajectory, while ortho-motion discrimination involves extended trajectory facilitation in a network of receptive fields with orthogonal orientation tuning. Copyright © 2011 Elsevier Ltd. All rights reserved.

On Integral Invariants for Effective 3-D Motion Trajectory Matching and Recognition.

PubMed

Shao, Zhanpeng; Li, Youfu

2016-02-01

Motion trajectories tracked from the motions of human, robots, and moving objects can provide an important clue for motion analysis, classification, and recognition. This paper defines some new integral invariants for a 3-D motion trajectory. Based on two typical kernel functions, we design two integral invariants, the distance and area integral invariants. The area integral invariants are estimated based on the blurred segment of noisy discrete curve to avoid the computation of high-order derivatives. Such integral invariants for a motion trajectory enjoy some desirable properties, such as computational locality, uniqueness of representation, and noise insensitivity. Moreover, our formulation allows the analysis of motion trajectories at a range of scales by varying the scale of kernel function. The features of motion trajectories can thus be perceived at multiscale levels in a coarse-to-fine manner. Finally, we define a distance function to measure the trajectory similarity to find similar trajectories. Through the experiments, we examine the robustness and effectiveness of the proposed integral invariants and find that they can capture the motion cues in trajectory matching and sign recognition satisfactorily.

Design of the stabilizing control of the orbital motion in the vicinity of the collinear libration point L1 using the analytical representation of the invariant manifold

NASA Astrophysics Data System (ADS)

Maliavkin, G. P.; Shmyrov, A. S.; Shmyrov, V. A.

2018-05-01

Vicinities of collinear libration points of the Sun-Earth system are currently quite attractive for the space navigation. Today, various projects on placing of spacecrafts observing the Sun in the L1 libration point and telescopes in L2 have been implemented (e.g. spacecrafts "WIND", "SOHO", "Herschel", "Planck"). Collinear libration points being unstable leads to the problem of stabilization of a spacecraft's motion. Laws of stabilizing motion control in vicinity of L1 point can be constructed using the analytical representation of a stable invariant manifold. Efficiency of these control laws depends on the precision of the representation. Within the model of Hill's approximation of the circular restricted three-body problem in the rotating geocentric coordinate system one can obtain the analytical representation of an invariant manifold filled with bounded trajectories in a form of series in terms of powers of the phase variables. Approximate representations of the orders from the first to the fourth inclusive can be used to construct four laws of stabilizing feedback motion control under which trajectories approach the manifold. By virtue of numerical simulation the comparison can be made: how the precision of the representation of the invariant manifold influences the efficiency of the control, expressed by energy consumptions (characteristic velocity). It shows that using approximations of higher orders in constructing the control laws can significantly reduce the energy consumptions on implementing the control compared to the linear approximation.

Optimal design of near-Earth asteroid sample-return trajectories in the Sun-Earth-Moon system

NASA Astrophysics Data System (ADS)

He, Shengmao; Zhu, Zhengfan; Peng, Chao; Ma, Jian; Zhu, Xiaolong; Gao, Yang

2016-08-01

In the 6th edition of the Chinese Space Trajectory Design Competition held in 2014, a near-Earth asteroid sample-return trajectory design problem was released, in which the motion of the spacecraft is modeled in multi-body dynamics, considering the gravitational forces of the Sun, Earth, and Moon. It is proposed that an electric-propulsion spacecraft initially parking in a circular 200-km-altitude low Earth orbit is expected to rendezvous with an asteroid and carry as much sample as possible back to the Earth in a 10-year time frame. The team from the Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences has reported a solution with an asteroid sample mass of 328 tons, which is ranked first in the competition. In this article, we will present our design and optimization methods, primarily including overall analysis, target selection, escape from and capture by the Earth-Moon system, and optimization of impulsive and low-thrust trajectories that are modeled in multi-body dynamics. The orbital resonance concept and lunar gravity assists are considered key techniques employed for trajectory design. The reported solution, preliminarily revealing the feasibility of returning a hundreds-of-tons asteroid or asteroid sample, envisions future space missions relating to near-Earth asteroid exploration.

Circular motion geometry using minimal data.

PubMed

Jiang, Guang; Quan, Long; Tsui, Hung-Tat

2004-06-01

Circular motion or single axis motion is widely used in computer vision and graphics for 3D model acquisition. This paper describes a new and simple method for recovering the geometry of uncalibrated circular motion from a minimal set of only two points in four images. This problem has been previously solved using nonminimal data either by computing the fundamental matrix and trifocal tensor in three images or by fitting conics to tracked points in five or more images. It is first established that two sets of tracked points in different images under circular motion for two distinct space points are related by a homography. Then, we compute a plane homography from a minimal two points in four images. After that, we show that the unique pair of complex conjugate eigenvectors of this homography are the image of the circular points of the parallel planes of the circular motion. Subsequently, all other motion and structure parameters are computed from this homography in a straighforward manner. The experiments on real image sequences demonstrate the simplicity, accuracy, and robustness of the new method.

Approximate approach for optimization space flights with a low thrust on the basis of sufficient optimality conditions

NASA Astrophysics Data System (ADS)

Salmin, Vadim V.

2017-01-01

Flight mechanics with a low-thrust is a new chapter of mechanics of space flight, considered plurality of all problems trajectory optimization and movement control laws and the design parameters of spacecraft. Thus tasks associated with taking into account the additional factors in mathematical models of the motion of spacecraft becomes increasingly important, as well as additional restrictions on the possibilities of the thrust vector control. The complication of the mathematical models of controlled motion leads to difficulties in solving optimization problems. Author proposed methods of finding approximate optimal control and evaluating their optimality based on analytical solutions. These methods are based on the principle of extending the class of admissible states and controls and sufficient conditions for the absolute minimum. Developed procedures of the estimation enabling to determine how close to the optimal founded solution, and indicate ways to improve them. Authors describes procedures of estimate for approximately optimal control laws for space flight mechanics problems, in particular for optimization flight low-thrust between the circular non-coplanar orbits, optimization the control angle and trajectory movement of the spacecraft during interorbital flights, optimization flights with low-thrust between arbitrary elliptical orbits Earth satellites.

Magnon modes and magnon-vortex scattering in two-dimensional easy-plane ferromagnets

NASA Astrophysics Data System (ADS)

Ivanov, B. A.; Schnitzer, H. J.; Mertens, F. G.; Wysin, G. M.

1998-10-01

We calculate the magnon modes in the presence of a vortex on a circular system, combining analytical calculations in the continuum limit with a numerical diagonalization of the discrete system. The magnon modes are expressed by the S matrix for magnon-vortex scattering, as a function of the parameters and the size of the system and for different boundary conditions. Certain quasilocal translational modes are identified with the frequencies which appear in the trajectory X-->(t) of the vortex center in recent molecular dynamics simulations of the full many-spin model. Using these quasilocal modes we calculate the two parameters of a third-order equation of motion for X-->(t). This equation was recently derived by a collective variable theory and describes very well the trajectories observed in the simulations. Both parameters, the vortex mass and the factor in front of X-->⃛, depend strongly on the boundary conditions.

Design, analysis and testing of a new piezoelectric tool actuator for elliptical vibration turning

NASA Astrophysics Data System (ADS)

Lin, Jieqiong; Han, Jinguo; Lu, Mingming; Yu, Baojun; Gu, Yan

2017-08-01

A new piezoelectric tool actuator (PETA) for elliptical vibration turning has been developed based on a hybrid flexure hinge connection. Two double parallel four-bar linkage mechanisms and two right circular flexure hinges were chosen to guide the motion. The two input displacement directional stiffness were modeled according to the principle of virtual work modeling method and the kinematic analysis was conducted theoretically. Finite element analysis was used to carry out static and dynamic analyses. To evaluate the performance of the developed PETA, off-line experimental tests were carried out to investigate the step responses, motion strokes, resolutions, parasitic motions, and natural frequencies of the PETA along the two input directions. The relationship between input displacement and output displacement, as well as the tool tip’s elliptical trajectory in different phase shifts was analyzed. By using the developed PETA mechanism, micro-dimple patterns were generated as the preliminary application to demonstrate the feasibility and efficiency of PETA for elliptical vibration turning.

Orbital revolution of a pair of bubbles in an acoustic field

NASA Astrophysics Data System (ADS)

Shirota, Minori; Yamashita, Kou; Inamura, Takao

2011-11-01

This experimental study aims to clarify the mechanism of orbital motion of two oscillating bubbles in an acoustic field. Trajectory of the orbital motion was observed using a high-speed video camera. Because of a good repeatability in volume oscillation of bubbles, we were also able to observe the radial motion driven at 24 kHz by stroboscopic like imaging; the cyclic bubble oscillation was appeared to slow down by capturing images at the framing rate close to the forcing frequency. The orbital motions of bubbles raging from 0.13 to 0.18 mm were examined with different forcing amplitude and in different viscous oils. As a result, we found that pairs of bubbles revolve along a circular orbit around the center of mass of the orbiting two bubbles. We also found that the two bubbles perform anti-phase radial oscillation. Although this radial oscillation should result in a repulsive secondary Bjerknes force, the bubbles kept a constant separate distance of about 1 mm, which indicates the existence of centripetal primary Bjerknes force. The angular velocity of orbital revolution increases linearly with the increase in Bjerknes force.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fattori, G; Klimpki, G; Safai, S

Purpose: We aim to compare the performance of discrete spot- or continuous line scanning combined with rescanning in mitigating residual organ motion during gated proton therapy treatments. Methods: The Quasar respiratory phantom was used to move a 2D scintillation detector on a linear trajectory with sinusoidal motion pattern (sin{sup 4}), 20 mm peak-to-peak amplitude and 5 sec period. Its motion was monitored using a customized solution based on optical tracking technology. We compared spot and line scanning plans for a monoenergetic 150 MeV circular field, 50.4 mm radius at isocenter. Transverse dose distributions at 13 cm depth in PMMA (15.47more » mm water equivalent) were measured to compare three options for motion mitigation: rescanning (10× factor), gating and their combination. The gating window was centered in the trajectory plateau to simulate end-exhale gated treatment in presence of 2 mm and 4 mm residual motion, parallel or perpendicular to the primary scanning direction. Results: When the target moves perpendicular to the primary scanning direction, large dose deviations are measured (γ3%/3mm=47%) without mitigation techniques. Beam gating combined with rescanning restores target coverage (γ3%/3mm=91%). For parallel target motion, observed dose distortions in the non-compensated irradiation are smaller (γ3%/3mm=77%). Beam gating alone recovers the 100% gamma pass-rate at 3%/3mm. Continuous line scanning reduces delivery time by up to 60% with respect to discrete spot scanning in presence of motion mitigation, and improves homogeneity when rescanning is applied (up to 20%, perpendicular motion, 4 mm residual motion). Conclusion: The direction of motion has a large impact on the target dose coverage. Nevertheless, even in the worst case scenario, gating combined with rescanning could mitigate the impact of motion on dose deposition. Moreover, continuous line rescanning improves the robustness against residual motion in the gating window. This study has received funding from the European Community’s Seventh Framework Programme (FP7/2007–2013) under grant agreement n.290605 (PSI-FELLOW/COFUND) and ‘Giuliana and Giorgio Stefanini Foundation’.« less

Circular motion of bodies of revolution

NASA Technical Reports Server (NTRS)

Kaplan, Carl

1936-01-01

The circular motion for airship-like bodies has thus far been calculated only for a prolate ellipsoid of revolution (reference 1, p.133 and reference 2). In this paper, however, the circular motion of elongated bodies of revolution more nearly resembling airships will be investigated. The results will give the effect of rotation on the pressure distribution and thus yield some information as to the stresses set up in an airship in circular flight.

Computational simulations of hydrogen circular migration in protonated acetylene induced by circularly polarized light

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shi, Xuetao; Li, Wen; Schlegel, H. Bernhard, E-mail: hbs@chem.wayne.edu

2016-08-28

The hydrogens in protonated acetylene are very mobile and can easily migrate around the C{sub 2} core by moving between classical and non-classical structures of the cation. The lowest energy structure is the T-shaped, non-classical cation with a hydrogen bridging the two carbons. Conversion to the classical H{sub 2}CCH{sup +} ion requires only 4 kcal/mol. The effect of circularly polarized light on the migration of hydrogens in oriented C{sub 2}H{sub 3}{sup +} has been simulated by Born-Oppenheimer molecular dynamics. Classical trajectory calculations were carried out with the M062X/6-311+G(3df,2pd) level of theory using linearly and circularly polarized 32 cycle 7 μmmore » cosine squared pulses with peak intensity of 5.6 × 10{sup 13} W/cm{sup 2} and 3.15 × 10{sup 13} W/cm{sup 2}, respectively. These linearly and circularly polarized pulses transfer similar amounts of energy and total angular momentum to C{sub 2}H{sub 3}{sup +}. The average angular momentum vectors of the three hydrogens show opposite directions of rotation for right and left circularly polarized light, but no directional preference for linearly polarized light. This difference results in an appreciable amount of angular displacement of the three hydrogens relative to the C{sub 2} core for circularly polarized light, but only an insignificant amount for linearly polarized light. Over the course of the simulation with circularly polarized light, this corresponds to a propeller-like motion of the three hydrogens around the C{sub 2} core of protonated acetylene.« less

Multi-Body Capture to Low-altitude Circular Orbits at Europa

NASA Technical Reports Server (NTRS)

Grebow, Daniel J.; Petropoulos, Anastassios E.; Finlayson, Paul A.

2011-01-01

For capture to a 200-km circular orbit around Europa, millions of different points along the orbit are simulated in the Jupiter-Europa Restricted 3-Body Problem. The transfers exist as members of families of trajectories, where certain families consistently outperform the others. The trajectories are not sensitive to changes in inclination for the final circular orbit. The top performing trajectories appear to follow the invariant manifolds of L2 Lyapunov orbits for capture into a retrograde orbit, and in some cases saving up to 40% of the from the patched 2-body problem. Transfers are attached to the current nominal mission for NASA's Jupiter-Europa Orbiter, where the total cost is roughly 100 m/s less than the baseline mission.

Space Instrument Optimization by Implementing of Generic Three Bodies Circular Restricted Problem

NASA Astrophysics Data System (ADS)

Nejat, Cyrus

2011-01-01

In this study, the main discussion emphasizes on the spacecraft operation with a concentration on stationary points in space. To achieve these objectives, the circular restricted problem was solved for selected approaches. The equations of motion of three body restricted problem was demonstrated to apply in cases other than Lagrange's (1736-1813 A.D.) achievements, by means of the purposed CN (Cyrus Nejat) theorem along with appropriate comments. In addition to five Lagrange, two other points, CN1 and CN2 were found to be in unstable equilibrium points in a very large distance respect to Lagrange points, but stable at infinity. A very interesting simulation of Milky Way Galaxy and Andromeda Galaxy were created to find the Lagrange points, CN points (Cyrus Nejat Points), and CN lines (Cyrus Nejat Lines). The equations of motion were rearranged such a way that the transfer trajectory would be conical, by means of decoupling concept. The main objective was to make a halo orbit transfer about CN lines. The author purposes therefore that all of the corresponding sizing design that they must be developed by optimization techniques would be considered in future approaches. The optimization techniques are sufficient procedures to search for the most ideal response of a system.

Multisensory Self-Motion Compensation During Object Trajectory Judgments

PubMed Central

Dokka, Kalpana; MacNeilage, Paul R.; DeAngelis, Gregory C.; Angelaki, Dora E.

2015-01-01

Judging object trajectory during self-motion is a fundamental ability for mobile organisms interacting with their environment. This fundamental ability requires the nervous system to compensate for the visual consequences of self-motion in order to make accurate judgments, but the mechanisms of this compensation are poorly understood. We comprehensively examined both the accuracy and precision of observers' ability to judge object trajectory in the world when self-motion was defined by vestibular, visual, or combined visual–vestibular cues. Without decision feedback, subjects demonstrated no compensation for self-motion that was defined solely by vestibular cues, partial compensation (47%) for visually defined self-motion, and significantly greater compensation (58%) during combined visual–vestibular self-motion. With decision feedback, subjects learned to accurately judge object trajectory in the world, and this generalized to novel self-motion speeds. Across conditions, greater compensation for self-motion was associated with decreased precision of object trajectory judgments, indicating that self-motion compensation comes at the cost of reduced discriminability. Our findings suggest that the brain can flexibly represent object trajectory relative to either the observer or the world, but a world-centered representation comes at the cost of decreased precision due to the inclusion of noisy self-motion signals. PMID:24062317

Key frame extraction based on spatiotemporal motion trajectory

NASA Astrophysics Data System (ADS)

Zhang, Yunzuo; Tao, Ran; Zhang, Feng

2015-05-01

Spatiotemporal motion trajectory can accurately reflect the changes of motion state. Motivated by this observation, this letter proposes a method for key frame extraction based on motion trajectory on the spatiotemporal slice. Different from the well-known motion related methods, the proposed method utilizes the inflexions of the motion trajectory on the spatiotemporal slice of all the moving objects. Experimental results show that although a similar performance is achieved in the single-objective screen, by comparing the proposed method to that achieved with the state-of-the-art methods based on motion energy or acceleration, the proposed method shows a better performance in a multiobjective video.

Uniform circular motion concept attainment through circle share learning model using real media

NASA Astrophysics Data System (ADS)

Ponimin; Suparmi; Sarwanto; Sunarno, W.

2017-01-01

Uniform circular motion is an important concept and has many applications in life. Student’s concept understanding of uniform circular motion is not optimal because the teaching learning is not carried out properly in accordance with the characteristics of the concept. To improve student learning outcomes required better teaching learning which is match with the characteristics of uniform circular motion. The purpose of the study is to determine the effect of real media and circle share model to the understanding of the uniform circular motion concept. The real media was used to visualize of uniform circular motion concept. The real media consists of toy car, round table and spring balance. Circle share model is a learning model through discussion sequentially and programmed. Each group must evaluate the worksheets of another group in a circular position. The first group evaluates worksheets the second group, the second group evaluates worksheets third group, and the end group evaluates the worksheets of the first group. Assessment of learning outcomes includes experiment worksheets and post-test of students. Based on data analysis we obtained some findings. First, students can explain the understanding of uniform circular motion whose angular velocity and speed is constant correctly. Second, students can distinguish the angular velocity and linear velocity correctly. Third, students can explain the direction of the linear velocity vector and the direction of the centripetal force vector. Fourth, the student can explain the influence of the mass, radius, and velocity toward the centripetal force. Fifth, students can explain the principle of combined of wheels. Sixth, teaching learning used circle share, can increase student activity, experimental results and efficiency of discussion time.

Coupled orbit-attitude mission design in the circular restricted three-body problem

NASA Astrophysics Data System (ADS)

Guzzetti, Davide

Trajectory design increasingly leverages multi-body dynamical structures that are based on an understanding of various types of orbits in the Circular Restricted Three-Body Problem (CR3BP). Given the more complex dynamical environment, mission applications may also benefit from deeper insight into the attitude motion. In this investigation, the attitude dynamics are coupled with the trajectories in the CR3BP. In a highly sensitive dynamical model, such as the orbit-attitude CR3BP, periodic solutions allow delineation of the fundamental dynamical structures. Periodic solutions are also a subset of motions that are bounded over an infinite time-span (assuming no perturbing factors), without the necessity to integrate over an infinite time interval. Euler equations of motion and quaternion kinematics describe the rotational behavior of the spacecraft, whereas the translation of the center of mass is modeled in the CR3BP equations. A multiple shooting and continuation procedure are employed to target orbit-attitude periodic solutions in this model. Application of Floquet theory, Poincare mapping, and grid search to identify initial guesses for the targeting algorithm is described. In the Earth-Moon system, representative scenarios are explored for axisymmetric vehicles with various inertia characteristics, assuming that the vehicles move along Lyapunov, halo as well as distant retrograde orbits. A rich structure of possible periodic behaviors appears to pervade the solution space in the coupled problem. The stability analysis of the attitude dynamics for the selected families is included. Among the computed solutions, marginally stable and slowly diverging rotational behaviors exist and may offer interesting mission applications. Additionally, the solar radiation pressure is included and a fully coupled orbit-attitude model is developed. With specific application to solar sails, various guidance algorithms are explored to direct the spacecraft along a desired path, when the mutual interaction between orbit and attitude dynamics is considered. Each strategy implements a different form of control input, ranging from instantaneous reorientation of the sail pointing direction to the application of control torques, and it is demonstrated within a simple station keeping scenario.

Finding the Speed of a Bicycle in Circular Motion by Measuring the Lean Angle of the Bicycle

ERIC Educational Resources Information Center

Ben-Abu, Yuval; Wolfson, Ira; Yizhaq, Hezi

2018-01-01

We suggest an activity for measuring the speed of a bicycle going in circular motion by measuring the bicycle's lean angle. In this activity students will be able to feel the strength that is being activated on their bodies while they are moving in circular motion. They will also understand that it is impossible to ride in a circle without the…

Precession and circularization of elliptical space-tether motion

NASA Technical Reports Server (NTRS)

Chapel, Jim D.; Grosserode, Patrick

1993-01-01

In this paper, we present a simplified analytic model for predicting motion of long space tethers. The perturbation model developed here addresses skip rope motion, where each end of the tether is held in place and the middle of the tether swings with a motion similar to that of a child's skip rope. If the motion of the tether midpoint is elliptical rather than circular, precession of the ellipse complicates the procedures required to damp this motion. The simplified analytic model developed in this paper parametrically predicts the precession of elliptical skip rope motion. Furthermore, the model shows that elliptic skip rope motion will circularize when damping is present in the longitudinal direction. Compared with high-fidelity simulation results, this simplified model provides excellent predictions of these phenomena.

TH-AB-202-05: BEST IN PHYSICS (JOINT IMAGING-THERAPY): First Online Ultrasound-Guided MLC Tracking for Real-Time Motion Compensation in Radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ipsen, S; Bruder, R; Schweikard, A

Purpose: While MLC tracking has been successfully used for motion compensation of moving targets, current real-time target localization methods rely on correlation models with x-ray imaging or implanted electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging yields volumetric data in real-time (4D) without ionizing radiation. We report the first results of online 4D ultrasound-guided MLC tracking in a phantom. Methods: A real-time tracking framework was installed on a 4D ultrasound station (Vivid7 dimension, GE) and used to detect a 2mm spherical lead marker inside a water tank. The volumetric frame rate was 21.3Hz (47ms). The marker wasmore » rigidly attached to a motion stage programmed to reproduce nine tumor trajectories (five prostate, four lung). The 3D marker position from ultrasound was used for real-time MLC aperture adaption. The tracking system latency was measured and compensated by prediction for lung trajectories. To measure geometric accuracy, anterior and lateral conformal fields with 10cm circular aperture were delivered for each trajectory. The tracking error was measured as the difference between marker position and MLC aperture in continuous portal imaging. For dosimetric evaluation, 358° VMAT fields were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using a 3%/3 mm γ-test. Results: The tracking system latency was 170ms. The mean root-mean-square tracking error was 1.01mm (0.75mm prostate, 1.33mm lung). Tracking reduced the mean γ-failure rate from 13.9% to 4.6% for prostate and from 21.8% to 0.6% for lung with high-modulation VMAT plans and from 5% (prostate) and 18% (lung) to 0% with low modulation. Conclusion: Real-time ultrasound tracking was successfully integrated with MLC tracking for the first time and showed similar accuracy and latency as other methods while holding the potential to measure target motion non-invasively. SI was supported by the Graduate School for Computing in Medicine and Life Science, German Excellence Initiative [grant DFG GSC 235/1].« less

Electron spin polarization in realistic trajectories around the magnetic node of two counter-propagating, circularly polarized, ultra-intense lasers

NASA Astrophysics Data System (ADS)

Del Sorbo, D.; Seipt, D.; Thomas, A. G. R.; Ridgers, C. P.

2018-06-01

It has recently been suggested that two counter-propagating, circularly polarized, ultra-intense lasers can induce a strong electron spin polarization at the magnetic node of the electromagnetic field that they setup (Del Sorbo et al 2017 Phys. Rev. A 96 043407). We confirm these results by considering a more sophisticated description that integrates over realistic trajectories. The electron dynamics is weakly affected by the variation of power radiated due to the spin polarization. The degree of spin polarization differs by approximately 5% if considering electrons initially at rest or already in a circular orbit. The instability of trajectories at the magnetic node induces a spin precession associated with the electron migration that establishes an upper temporal limit to the polarization of the electron population of about one laser period.

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach

PubMed Central

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-01-01

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks. PMID:26729123

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach.

PubMed

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-12-30

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks.

Radar for tracer particles

NASA Astrophysics Data System (ADS)

Ott, Felix; Herminghaus, Stephan; Huang, Kai

2017-05-01

We introduce a radar system capable of tracking a 5 mm spherical target continuously in three dimensions. The 10 GHz (X-band) radar system has a transmission power of 1 W and operates in the near field of the horn antennae. By comparing the phase shift of the electromagnetic wave traveling through the free space with an IQ-mixer, we obtain the relative movement of the target with respect to the antennae. From the azimuth and inclination angles of the receiving antennae obtained in the calibration, we reconstruct the target trajectory in a three-dimensional Cartesian system. Finally, we test the tracking algorithm with target moving in circular as well as in pendulum motions and discuss the capability of the radar system.

Accurate orbit propagation in the presence of planetary close encounters

NASA Astrophysics Data System (ADS)

Amato, Davide; Baù, Giulio; Bombardelli, Claudio

2017-09-01

We present an efficient strategy for the numerical propagation of small Solar system objects undergoing close encounters with massive bodies. The trajectory is split into several phases, each of them being the solution of a perturbed two-body problem. Formulations regularized with respect to different primaries are employed in two subsequent phases. In particular, we consider the Kustaanheimo-Stiefel regularization and a novel set of non-singular orbital elements pertaining to the Dromo family. In order to test the proposed strategy, we perform ensemble propagations in the Earth-Sun Circular Restricted 3-Body Problem (CR3BP) using a variable step size and order multistep integrator and an improved version of Everhart's radau solver of 15th order. By combining the trajectory splitting with regularized equations of motion in short-term propagations (1 year), we gain up to six orders of magnitude in accuracy with respect to the classical Cowell's method for the same computational cost. Moreover, in the propagation of asteroid (99942) Apophis through its 2029 Earth encounter, the position error stays within 100 metres after 100 years. In general, as to improve the performance of regularized formulations, the trajectory must be split between 1.2 and 3 Hill radii from the Earth. We also devise a robust iterative algorithm to stop the integration of regularized equations of motion at a prescribed physical time. The results rigorously hold in the CR3BP, and similar considerations may apply when considering more complex models. The methods and algorithms are implemented in the naples fortran 2003 code, which is available online as a GitHub repository.

Entropic Movement Complexity Reflects Subjective Creativity Rankings of Visualized Hand Motion Trajectories

PubMed Central

Peng, Zhen; Braun, Daniel A.

2015-01-01

In a previous study we have shown that human motion trajectories can be characterized by translating continuous trajectories into symbol sequences with well-defined complexity measures. Here we test the hypothesis that the motion complexity individuals generate in their movements might be correlated to the degree of creativity assigned by a human observer to the visualized motion trajectories. We asked participants to generate 55 novel hand movement patterns in virtual reality, where each pattern had to be repeated 10 times in a row to ensure reproducibility. This allowed us to estimate a probability distribution over trajectories for each pattern. We assessed motion complexity not only by the previously proposed complexity measures on symbolic sequences, but we also propose two novel complexity measures that can be directly applied to the distributions over trajectories based on the frameworks of Gaussian Processes and Probabilistic Movement Primitives. In contrast to previous studies, these new methods allow computing complexities of individual motion patterns from very few sample trajectories. We compared the different complexity measures to how a group of independent jurors rank ordered the recorded motion trajectories according to their personal creativity judgment. We found three entropic complexity measures that correlate significantly with human creativity judgment and discuss differences between the measures. We also test whether these complexity measures correlate with individual creativity in divergent thinking tasks, but do not find any consistent correlation. Our results suggest that entropic complexity measures of hand motion may reveal domain-specific individual differences in kinesthetic creativity. PMID:26733896

Estimating non-circular motions in barred galaxies using numerical N-body simulations

NASA Astrophysics Data System (ADS)

Randriamampandry, T. H.; Combes, F.; Carignan, C.; Deg, N.

2015-12-01

The observed velocities of the gas in barred galaxies are a combination of the azimuthally averaged circular velocity and non-circular motions, primarily caused by gas streaming along the bar. These non-circular flows must be accounted for before the observed velocities can be used in mass modelling. In this work, we examine the performance of the tilted-ring method and the DISKFIT algorithm for transforming velocity maps of barred spiral galaxies into rotation curves (RCs) using simulated data. We find that the tilted-ring method, which does not account for streaming motions, under-/overestimates the circular motions when the bar is parallel/perpendicular to the projected major axis. DISKFIT, which does include streaming motions, is limited to orientations where the bar is not aligned with either the major or minor axis of the image. Therefore, we propose a method of correcting RCs based on numerical simulations of galaxies. We correct the RC derived from the tilted-ring method based on a numerical simulation of a galaxy with similar properties and projections as the observed galaxy. Using observations of NGC 3319, which has a bar aligned with the major axis, as a test case, we show that the inferred mass models from the uncorrected and corrected RCs are significantly different. These results show the importance of correcting for the non-circular motions and demonstrate that new methods of accounting for these motions are necessary as current methods fail for specific bar alignments.

Dynamic analysis of astronaut motions in microgravity: Applications for Extravehicular Activity (EVA)

NASA Technical Reports Server (NTRS)

Newman, Dava J.

1995-01-01

Simulations of astronaut motions during extravehicular activity (EVA) tasks were performed using computational multibody dynamics methods. The application of computational dynamic simulation to EVA was prompted by the realization that physical microgravity simulators have inherent limitations: viscosity in neutral buoyancy tanks; friction in air bearing floors; short duration for parabolic aircraft; and inertia and friction in suspension mechanisms. These limitations can mask critical dynamic effects that later cause problems during actual EVA's performed in space. Methods of formulating dynamic equations of motion for multibody systems are discussed with emphasis on Kane's method, which forms the basis of the simulations presented herein. Formulation of the equations of motion for a two degree of freedom arm is presented as an explicit example. The four basic steps in creating the computational simulations were: system description, in which the geometry, mass properties, and interconnection of system bodies are input to the computer; equation formulation based on the system description; inverse kinematics, in which the angles, velocities, and accelerations of joints are calculated for prescribed motion of the endpoint (hand) of the arm; and inverse dynamics, in which joint torques are calculated for a prescribed motion. A graphical animation and data plotting program, EVADS (EVA Dynamics Simulation), was developed and used to analyze the results of the simulations that were performed on a Silicon Graphics Indigo2 computer. EVA tasks involving manipulation of the Spartan 204 free flying astronomy payload, as performed during Space Shuttle mission STS-63 (February 1995), served as the subject for two dynamic simulations. An EVA crewmember was modeled as a seven segment system with an eighth segment representing the massive payload attached to the hand. For both simulations, the initial configuration of the lower body (trunk, upper leg, and lower leg) was a neutral microgravity posture. In the first simulation, the payload was manipulated around a circular trajectory of 0.15 m radius in 10 seconds. It was found that the wrist joint theoretically exceeded its ulnal deviation limit by as much as 49. 8 deg and was required to exert torques as high as 26 N-m to accomplish the task, well in excess of the wrist physiological limit of 12 N-m. The largest torque in the first simulation, 52 N-m, occurred in the ankle joint. To avoid these problems, the second simulation placed the arm in a more comfortable initial position and the radius and speed of the circular trajectory were reduced by half. As a result, the joint angles and torques were reduced to values well within their physiological limits. In particular, the maximum wrist torque for the second simulation was only 3 N-m and the maximum ankle torque was only 6 N-m.

Discrimination of curvature from motion during smooth pursuit eye movements and fixation.

PubMed

Ross, Nicholas M; Goettker, Alexander; Schütz, Alexander C; Braun, Doris I; Gegenfurtner, Karl R

2017-09-01

Smooth pursuit and motion perception have mainly been investigated with stimuli moving along linear trajectories. Here we studied the quality of pursuit movements to curved motion trajectories in human observers and examined whether the pursuit responses would be sensitive enough to discriminate various degrees of curvature. In a two-interval forced-choice task subjects pursued a Gaussian blob moving along a curved trajectory and then indicated in which interval the curve was flatter. We also measured discrimination thresholds for the same curvatures during fixation. Motion curvature had some specific effects on smooth pursuit properties: trajectories with larger amounts of curvature elicited lower open-loop acceleration, lower pursuit gain, and larger catch-up saccades compared with less curved trajectories. Initially, target motion curvatures were underestimated; however, ∼300 ms after pursuit onset pursuit responses closely matched the actual curved trajectory. We calculated perceptual thresholds for curvature discrimination, which were on the order of 1.5 degrees of visual angle (°) for a 7.9° curvature standard. Oculometric sensitivity to curvature discrimination based on the whole pursuit trajectory was quite similar to perceptual performance. Oculometric thresholds based on smaller time windows were higher. Thus smooth pursuit can quite accurately follow moving targets with curved trajectories, but temporal integration over longer periods is necessary to reach perceptual thresholds for curvature discrimination. NEW & NOTEWORTHY Even though motion trajectories in the real world are frequently curved, most studies of smooth pursuit and motion perception have investigated linear motion. We show that pursuit initially underestimates the curvature of target motion and is able to reproduce the target curvature ∼300 ms after pursuit onset. Temporal integration of target motion over longer periods is necessary for pursuit to reach the level of precision found in perceptual discrimination of curvature. Copyright © 2017 the American Physiological Society.

Analysis of direct transfer trajectories from LL2 halo orbits to LLOs

NASA Astrophysics Data System (ADS)

Cao, Pengfei; He, Boyong; Li, Haiyang

2017-09-01

A convenient procedure for designing the direct transfer trajectory from lunar L2 point (LL2) halo orbit to a low lunar orbit (LLO) is presented in this paper. The trajectory characteristics are analyzed to support the manned lunar missions design aimed at lunar surface global access. The concise procedure is established based on the circular restricted three-body problem (CR3BP) model. An analytical algorithm is employed to estimate an initial maneuver vector for approaching the Moon in its close vicinity. An iteration process is adopted to generate favorable trajectory that satisfies the constraints at perilune. By introducing a number of intermediate coordinate frames, an algorithm to compute the arriving LLO inclination and right ascension of ascending node (RAAN) is proposed. The orbital inclination and RAAN in this paper are defined and established in the J2000 frame rather than in the synodical frame. Numerical results show that, regardless of value of out-of-plane amplitude (Az) of the halo orbit, the overall maneuver cost of the trajectory largely depends on departure position, and it has two minima around 0.65 km/s. Further study shows that the values of the arriving LLO inclination and RAAN largely depend on the choices of the departure time and the value of Az. The periodicity, due to the natural motion of the Moon, is discovered to play a role in this time dependency. It is concluded that the fuel optimal trajectory permits access to almost any final lunar orbit, including a polar orbit, by means of varying the departure time and Az value.

A Unified Model of Heading and Path Perception in Primate MSTd

PubMed Central

Layton, Oliver W.; Browning, N. Andrew

2014-01-01

Self-motion, steering, and obstacle avoidance during navigation in the real world require humans to travel along curved paths. Many perceptual models have been proposed that focus on heading, which specifies the direction of travel along straight paths, but not on path curvature, which humans accurately perceive and is critical to everyday locomotion. In primates, including humans, dorsal medial superior temporal area (MSTd) has been implicated in heading perception. However, the majority of MSTd neurons respond optimally to spiral patterns, rather than to the radial expansion patterns associated with heading. No existing theory of curved path perception explains the neural mechanisms by which humans accurately assess path and no functional role for spiral-tuned cells has yet been proposed. Here we present a computational model that demonstrates how the continuum of observed cells (radial to circular) in MSTd can simultaneously code curvature and heading across the neural population. Curvature is encoded through the spirality of the most active cell, and heading is encoded through the visuotopic location of the center of the most active cell's receptive field. Model curvature and heading errors fit those made by humans. Our model challenges the view that the function of MSTd is heading estimation, based on our analysis we claim that it is primarily concerned with trajectory estimation and the simultaneous representation of both curvature and heading. In our model, temporal dynamics afford time-history in the neural representation of optic flow, which may modulate its structure. This has far-reaching implications for the interpretation of studies that assume that optic flow is, and should be, represented as an instantaneous vector field. Our results suggest that spiral motion patterns that emerge in spatio-temporal optic flow are essential for guiding self-motion along complex trajectories, and that cells in MSTd are specifically tuned to extract complex trajectory estimation from flow. PMID:24586130

Flash trajectory imaging of target 3D motion

NASA Astrophysics Data System (ADS)

Wang, Xinwei; Zhou, Yan; Fan, Songtao; He, Jun; Liu, Yuliang

2011-03-01

We present a flash trajectory imaging technique which can directly obtain target trajectory and realize non-contact measurement of motion parameters by range-gated imaging and time delay integration. Range-gated imaging gives the range of targets and realizes silhouette detection which can directly extract targets from complex background and decrease the complexity of moving target image processing. Time delay integration increases information of one single frame of image so that one can directly gain the moving trajectory. In this paper, we have studied the algorithm about flash trajectory imaging and performed initial experiments which successfully obtained the trajectory of a falling badminton. Our research demonstrates that flash trajectory imaging is an effective approach to imaging target trajectory and can give motion parameters of moving targets.

The generation of centripetal force when walking in a circle: insight from the distribution of ground reaction forces recorded by plantar insoles.

PubMed

Turcato, Anna Maria; Godi, Marco; Giordano, Andrea; Schieppati, Marco; Nardone, Antonio

2015-01-09

Turning involves complex reorientation of the body and is accompanied by asymmetric motion of the lower limbs. We investigated the distribution of the forces under the two feet, and its relation to the trajectory features and body medio-lateral displacement during curved walking. Twenty-six healthy young participants walked under three different randomized conditions: in a straight line (LIN), in a circular clockwise path and in a circular counter-clockwise path. Both feet were instrumented with Pedar-X insoles. An accelerometer was fixed to the trunk to measure the medio-lateral inclination of the body. We analyzed walking speed, stance duration as a percent of gait cycle (%GC), the vertical component of the ground reaction force (vGRF) of both feet during the entire stance, and trunk inclination. Gait speed was faster during LIN than curved walking, but not affected by the direction of the curved trajectory. Trunk inclination was negligible during LIN, while the trunk was inclined toward the center of the path during curved trajectories. Stance duration of LIN foot and foot inside the curved trajectory (Foot-In) was longer than for foot outside the trajectory (Foot-Out). vGRF at heel strike was larger in LIN than in curved walking. At mid-stance, vGRF for both Foot-In and Foot-Out was higher than for LIN foot. At toe off, vGRF for both Foot-In and Foot-Out was lower than for LIN foot; in addition, Foot-In had lower vGRF than Foot-Out. During curved walking, a greater loading of the lateral heel occurred for Foot-Out than Foot-In and LIN foot. On the contrary, a smaller lateral loading of the heel was found for Foot-In than LIN foot. At the metatarsal heads, an opposite behaviour was seen, since lateral loading decreased for Foot-Out and increased for Foot-In. The lower gait speed during curved walking is shaped by the control of trunk inclination and the production of asymmetric loading of heel and metatarsal heads, hence by the different contribution of the feet in producing the body inclination towards the centre of the trajectory.

Finding the speed of a bicycle in circular motion by measuring the lean angle of the bicycle

NASA Astrophysics Data System (ADS)

Ben-Abu, Yuval; Wolfson, Ira; Yizhaq, Hezi

2018-05-01

We suggest an activity for measuring the speed of a bicycle going in circular motion by measuring the bicycle’s lean angle. In this activity students will be able to feel the strength that is being activated on their bodies while they are moving in circular motion. They will also understand that it is impossible to ride in a circle without the bicycle leaning at an angle, an action that is performed intuitively.

Note on the displacement of a trajectory of hyperbolic motion in curved space-time

NASA Astrophysics Data System (ADS)

Krikorian, R. A.

2012-04-01

The object of this note is to present a physical application of the theory of the infinitesimal deformations or displacements of curves developed by Yano using the concept of Lie derivative. It is shown that an infinitesimal point transformation which carries a given trajectory of hyperbolic motion into a trajectory of the same type, and preserves the affine parametrization of the trajectory, defines a homothetic motion.

Suggested Courseware for the Non-Calculus Physics Student: Projectile Motion, Circular Motion, Rotational Dynamics, and Statics.

ERIC Educational Resources Information Center

Mahoney, Joyce; And Others

1988-01-01

Evaluates 10 courseware packages covering topics for introductory physics. Discusses the price; sub-topics; program type; interaction; possible hardware; time; calculus required; graphics; and comments on each program. Recommends two packages in projectile and circular motion, and three packages in statics and rotational dynamics. (YP)

Symmetry in circularly polarized molecular high-order harmonic generation with intense bicircular laser pulses

NASA Astrophysics Data System (ADS)

Yuan, Kai-Jun; Bandrauk, André D.

2018-02-01

We present symmetry effects of laser fields and molecular geometries in circularly polarized high-order harmonic generation by bichromatic counter-rotating circularly polarized laser pulses. Simulations are performed on oriented molecules by numerically solving time-dependent Schrödinger equations. We discuss how electron recollision trajectories by the orthogonal laser field polarizations influence the harmonic polarization by using a time-frequency analysis of harmonics. It is found that orientation-dependent asymmetric ionization in linear molecules due to Coulomb potentials gives rise to a dependence of the polarization on the harmonic frequency. Effects of Coriolis forces are also presented on harmonic generation. Electron recollision trajectories illustrate the effects of the relative symmetry of the field and the molecule, thus paving a method for circularly polarized attosecond pulse generation and molecular orbital imaging in more complex systems.

A study of the influence of the sun on optimal two-impulse Earth-to-Moon trajectories with moderate time of flight in the three-body and four-body models

NASA Astrophysics Data System (ADS)

Filho, Luiz Arthur Gagg; da Silva Fernandes, Sandro

2017-05-01

In this work, a study about the influence of the Sun on optimal two-impulse Earth-to-Moon trajectories for interior transfers with moderate time of flight is presented considering the three-body and the four-body models. The optimization criterion is the total characteristic velocity which represents the fuel consumption of an infinite thrust propulsion system. The optimization problem has been formulated using the classic planar circular restricted three-body problem (PCR3BP) and the planar bi-circular restricted four-body problem (PBR4BP), and, it consists of transferring a spacecraft from a circular low Earth orbit (LEO) to a circular low Moon orbit (LMO) with minimum fuel consumption. The Sequential Gradient Restoration Algorithm (SGRA) is applied to determine the optimal solutions. Numerical results are presented for several final altitudes of a clockwise or a counterclockwise circular low Moon orbit considering a specified altitude of a counterclockwise circular low Earth orbit. Two types of analysis are performed: in the first one, the initial position of the Sun is taken as a parameter and the major parameters describing the optimal trajectories are obtained by solving an optimization problem of one degree of freedom. In the second analysis, an optimization problem with two degrees of freedom is considered and the initial position of the Sun is taken as an additional unknown.

Motion control of the rabbit ankle joint with a flat interface nerve electrode.

PubMed

Park, Hyun-Joo; Durand, Dominique M

2015-12-01

A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle. A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator. The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°. The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems. © 2015 Wiley Periodicals, Inc.

Unique Aeolian Transport Mechanisms on Mars: Respective Roles of Percussive and Repercussive Grain Populations in the Sediment Load

NASA Technical Reports Server (NTRS)

Marshall, John R.

1999-01-01

Experiments show that when sand-size grains impact a sediment surface with energy levels commensurate for Mars, small craters are formed by the ejection of several hundred grains from the bed. The experiments were conducted with a modified crossbow in which a sand-impelling sabot replaced the bolt-firing mechanism. Individual grains of sand could be fired at loose sand targets to observe ballistic effects unhindered by aerodynamic mobilization of the bed. Impact trajectories simulated the saltation process on dune surfaces. Impact craters were not elongated despite glancing (15 deg.) bed impact; the craters were very close to being circular. High-speed photography showed them to grow in both diameter and depth after the impactor had ricochetted from the crater site. The delayed response of the bed was "explosive" in nature, and created a miniature ejecta curtain spreading upward and outward for many centimeters for impact of 100-300 micron-diameter grains into similar material. This behavior is explained by deposition of elastic energy in the bed by the "percussive" grain. Impact creates a subsurface stress regime or "quasi-Boussinesq" compression field. Elastic recovery of the bed occurs by dilatancy; shear stresses suddenly convert the grains to open packing and they consequently become forcefully ejected from the site. Random jostling of the grains causes radial homogenization of stress vectors and a resulting circular crater. A stress model based on repercussive bed dilatancy and interparticle adhesive forces (for smaller grains) predicts, to first order, the observed crater volumes for various impact conditions. On earth, only a few grains are mobilized by a percussive saltating grain; some grains are "knudged" along the ground, and some are partly expelled on short trajectories. These motions constitute reptation transport. On Mars, saltation and reptation become indistinct: secondary or "repercussive" trajectories have sufficient vertical impulse to create a dense saltation population of many tens or hundreds of grains for each single high-speed saltation percussion of the bed. Impact cascading will lead to near-surface distortion of the boundary layer, and choked flow formed by a dense "slurry" of sand, with the majority of grains mobilized by repercussive forces rather than by aerodynamic lift. This proceeds until a fully-matured transport layer imposes self- limitations as grain-population density constrains the free-path motion of individual grains.

Unique Aeolian Transport Mechanisms on Mars: Respective Roles of Percussive and Repercussive Grain Populations in the Sediment Load

NASA Technical Reports Server (NTRS)

Marshall, John R.

1999-01-01

Experiments show that when sand-size grains impact a sediment surface with energy levels commensurate for Mars, small craters are formed by the ejection of several hundred grains from the bed. The experiments were conducted with a modified crossbow in which a sand-impelling sabot replaced the bolt-firing mechanism. Individual grains of sand could be fired at loose sand targets to observe ballistic effects unhindered by aerodynamic mobilization of the bed. Impact trajectories simulated the saltation process on dune surfaces. Impact craters were not elongated despite glancing (15 deg.) bed impact; the craters were very close to being circular. High-speed photography showed them to grow in both diameter and depth after the impactor had ricochetted from the crater site. The delayed response of the bed was "explosive" in nature, and created a miniature ejecta curtain spreading upward and outward for many centimeters for impact of 100-300 um-diameter grains into similar material. This behavior is explained by deposition of elastic energy in the bed by the "percussive" grain. Impact creates a subsurface stress regime or "quasi-Boussinesq" compression field. Elastic recovery of the bed occurs by dilatancy; shear stresses suddenly convert the grains to open packing and they consequently become forcefully ejected from the site. Random jostling of the grains causes radial homogenization of stress vectors and a resulting circular crater. A stress model based on repercussive bed dilatancy and interparticle adhesive forces (for smaller grains) predicts, to first order, the observed crater volumes for various impact conditions. On earth, only a few grains are mobilized by a percussive saltating grain; some grains are "knudged" along the ground, and some are partly expelled on short trajectories. These motions constitute reptation transport. On Mars, saltation and reptation become indistinct: secondary or "repercussive" trajectories have sufficient vertical impulse to create a dense saltation population of many tens or hundreds of grains for each single high-speed saltation percussion of the bed. Impact cascading will lead to near-surface distortion of the boundary layer, and choked flow formed by a dense "slurry" of sand, with the majority of grains mobilized by repercussive forces rather than by aerodynamic lift. This proceeds until a fully-matured transport layer imposes self-limitations as grain-population density constrains the free-path motion of individial grains.

Processing Motion Signals in Complex Environments

NASA Technical Reports Server (NTRS)

Verghese, Preeti

2000-01-01

Motion information is critical for human locomotion and scene segmentation. Currently we have excellent neurophysiological models that are able to predict human detection and discrimination of local signals. Local motion signals are insufficient by themselves to guide human locomotion and to provide information about depth, object boundaries and surface structure. My research is aimed at understanding the mechanisms underlying the combination of motion signals across space and time. A target moving on an extended trajectory amidst noise dots in Brownian motion is much more detectable than the sum of signals generated by independent motion energy units responding to the trajectory segments. This result suggests that facilitation occurs between motion units tuned to similar directions, lying along the trajectory path. We investigated whether the interaction between local motion units along the motion direction is mediated by contrast. One possibility is that contrast-driven signals from motion units early in the trajectory sequence are added to signals in subsequent units. If this were the case, then units later in the sequence would have a larger signal than those earlier in the sequence. To test this possibility, we compared contrast discrimination thresholds for the first and third patches of a triplet of sequentially presented Gabor patches, aligned along the motion direction. According to this simple additive model, contrast increment thresholds for the third patch should be higher than thresholds for the first patch.The lack of a measurable effect on contrast thresholds for these various manipulations suggests that the pooling of signals along a trajectory is not mediated by contrast-driven signals. Instead, these results are consistent with models that propose that the facilitation of trajectory signals is achieved by a second-level network that chooses the strongest local motion signals and combines them if they occur in a spatio-temporal sequence consistent with a trajectory. These results parallel the lack of increased apparent contrast along a static contour made up of similarly oriented elements.

The onset of chaos in orbital pilot-wave dynamics.

PubMed

Tambasco, Lucas D; Harris, Daniel M; Oza, Anand U; Rosales, Rodolfo R; Bush, John W M

2016-10-01

We present the results of a numerical investigation of the emergence of chaos in the orbital dynamics of droplets walking on a vertically vibrating fluid bath and acted upon by one of the three different external forces, specifically, Coriolis, Coulomb, or linear spring forces. As the vibrational forcing of the bath is increased progressively, circular orbits destabilize into wobbling orbits and eventually chaotic trajectories. We demonstrate that the route to chaos depends on the form of the external force. When acted upon by Coriolis or Coulomb forces, the droplet's orbital motion becomes chaotic through a period-doubling cascade. In the presence of a central harmonic potential, the transition to chaos follows a path reminiscent of the Ruelle-Takens-Newhouse scenario.

Attraction of posture and motion-trajectory elements of conspecific biological motion in medaka fish.

PubMed

Shibai, Atsushi; Arimoto, Tsunehiro; Yoshinaga, Tsukasa; Tsuchizawa, Yuta; Khureltulga, Dashdavaa; Brown, Zuben P; Kakizuka, Taishi; Hosoda, Kazufumi

2018-06-05

Visual recognition of conspecifics is necessary for a wide range of social behaviours in many animals. Medaka (Japanese rice fish), a commonly used model organism, are known to be attracted by the biological motion of conspecifics. However, biological motion is a composite of both body-shape motion and entire-field motion trajectory (i.e., posture or motion-trajectory elements, respectively), and it has not been revealed which element mediates the attractiveness. Here, we show that either posture or motion-trajectory elements alone can attract medaka. We decomposed biological motion of the medaka into the two elements and synthesized visual stimuli that contain both, either, or none of the two elements. We found that medaka were attracted by visual stimuli that contain at least one of the two elements. In the context of other known static visual information regarding the medaka, the potential multiplicity of information regarding conspecific recognition has further accumulated. Our strategy of decomposing biological motion into these partial elements is applicable to other animals, and further studies using this technique will enhance the basic understanding of visual recognition of conspecifics.

Controlling orbital angular momentum of an optical vortex by varying its ellipticity

NASA Astrophysics Data System (ADS)

Kotlyar, Victor V.; Kovalev, Alexey A.

2018-03-01

An exact analytical expression is obtained for the orbital angular momentum (OAM) of a Gaussian optical vortex with a different degree of ellipticity. The OAM turned out to be proportional to the ratio of two Legendre polynomials of adjoining orders. It is shown that if an elliptical optical vortex is embedded into the center of the waist of a circularly symmetrical Gaussian beam, then the normalized OAM of such laser beam is fractional and it does not exceed the topological charge n. If, on the contrary, a circularly symmetrical optical vortex is embedded into the center of the waist of an elliptical Gaussian beam, then the OAM is equal to n. If the optical vortex and the Gaussian beam have the same (or matched) ellipticity degree, then the OAM of the laser beam is greater than n. Continuous varying of the OAM of a laser beam by varying its ellipticity degree can be used in optical trapping for accelerated motion of microscopic particles along an elliptical trajectory as well as in quantum informatics for detecting OAM-entangled photons.

FIBER AND INTEGRATED OPTICS: Propagation of circularly polarized light along a curved trajectory

NASA Astrophysics Data System (ADS)

Sadykov, Nail R.

1992-10-01

How the eigenfunction of an optical fiber is affected by a slight curvature at bends of the fiber without twisting is analyzed. The effect of a twisting of the ray trajectory in the case with curvature is examined theoretically by the geometric-optics approach. The results are used to analyze the problem of the turning of a meridional ray due to a circular polarization in a multimode optical fiber with a parabolic profile of the refractive index.

Dual Sticky Hierarchical Dirichlet Process Hidden Markov Model and Its Application to Natural Language Description of Motions.

PubMed

Hu, Weiming; Tian, Guodong; Kang, Yongxin; Yuan, Chunfeng; Maybank, Stephen

2017-09-25

In this paper, a new nonparametric Bayesian model called the dual sticky hierarchical Dirichlet process hidden Markov model (HDP-HMM) is proposed for mining activities from a collection of time series data such as trajectories. All the time series data are clustered. Each cluster of time series data, corresponding to a motion pattern, is modeled by an HMM. Our model postulates a set of HMMs that share a common set of states (topics in an analogy with topic models for document processing), but have unique transition distributions. For the application to motion trajectory modeling, topics correspond to motion activities. The learnt topics are clustered into atomic activities which are assigned predicates. We propose a Bayesian inference method to decompose a given trajectory into a sequence of atomic activities. On combining the learnt sources and sinks, semantic motion regions, and the learnt sequence of atomic activities, the action represented by the trajectory can be described in natural language in as automatic a way as possible. The effectiveness of our dual sticky HDP-HMM is validated on several trajectory datasets. The effectiveness of the natural language descriptions for motions is demonstrated on the vehicle trajectories extracted from a traffic scene.

An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

PubMed

Rañó, Iñaki

2012-07-01

Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.

Can walking motions improve visually induced rotational self-motion illusions in virtual reality?

PubMed

Riecke, Bernhard E; Freiberg, Jacob B; Grechkin, Timofey Y

2015-02-04

Illusions of self-motion (vection) can provide compelling sensations of moving through virtual environments without the need for complex motion simulators or large tracked physical walking spaces. Here we explore the interaction between biomechanical cues (stepping along a rotating circular treadmill) and visual cues (viewing simulated self-rotation) for providing stationary users a compelling sensation of rotational self-motion (circular vection). When tested individually, biomechanical and visual cues were similarly effective in eliciting self-motion illusions. However, in combination they yielded significantly more intense self-motion illusions. These findings provide the first compelling evidence that walking motions can be used to significantly enhance visually induced rotational self-motion perception in virtual environments (and vice versa) without having to provide for physical self-motion or motion platforms. This is noteworthy, as linear treadmills have been found to actually impair visually induced translational self-motion perception (Ash, Palmisano, Apthorp, & Allison, 2013). Given the predominant focus on linear walking interfaces for virtual-reality locomotion, our findings suggest that investigating circular and curvilinear walking interfaces offers a promising direction for future research and development and can help to enhance self-motion illusions, presence and immersion in virtual-reality systems. © 2015 ARVO.

Demonstrating Circular Motion with a Model Satellite/Earth System

ERIC Educational Resources Information Center

Whittaker, Jeff

2008-01-01

A number of interesting demonstrations of circular and satellite motion have been described in this journal. This paper presents a variation of a centripetal force apparatus found in G.D. Freier and F.J. Anderson's "A Demonstration Handbook for Physics," which has been modified in order to demonstrate both centripetal force and satellite motion.…

Determination of the Static Friction Coefficient from Circular Motion

ERIC Educational Resources Information Center

Molina-Bolívar, J. A.; Cabrerizo-Vílchez, M. A.

2014-01-01

This paper describes a physics laboratory exercise for determining the coefficient of static friction between two surfaces. The circular motion of a coin placed on the surface of a rotating turntable has been studied. For this purpose, the motion is recorded with a high-speed digital video camera recording at 240 frames s[superscript-1], and the…

Determination of the static friction coefficient from circular motion

NASA Astrophysics Data System (ADS)

Molina-Bolívar, J. A.; Cabrerizo-Vílchez, M. A.

2014-07-01

This paper describes a physics laboratory exercise for determining the coefficient of static friction between two surfaces. The circular motion of a coin placed on the surface of a rotating turntable has been studied. For this purpose, the motion is recorded with a high-speed digital video camera recording at 240 frames s-1, and the videos are analyzed using Tracker video-analysis software, allowing the students to dynamically model the motion of the coin. The students have to obtain the static friction coefficient by comparing the centripetal and maximum static friction forces. The experiment only requires simple and inexpensive materials. The dynamics of circular motion and static friction forces are difficult for many students to understand. The proposed laboratory exercise addresses these topics, which are relevant to the physics curriculum.

Elimination of secular terms from the differential equations for the elements of perturbed two-body motion

NASA Technical Reports Server (NTRS)

Bond, Victor R.; Fraietta, Michael F.

1991-01-01

In 1961, Sperling linearized and regularized the differential equations of motion of the two-body problem by changing the independent variable from time to fictitious time by Sundman's transformation (r = dt/ds) and by embedding the two-body energy integral and the Laplace vector. In 1968, Burdet developed a perturbation theory which was uniformly valid for all types of orbits using a variation of parameters approach on the elements which appeared in Sperling's equations for the two-body solution. In 1973, Bond and Hanssen improved Burdet's set of differential equations by embedding the total energy (which is a constant when the potential function is explicitly dependent upon time.) The Jacobian constant was used as an element to replace the total energy in a reformulation of the differential equations of motion. In the process, another element which is proportional to a component of the angular momentum was introduced. Recently trajectories computed during numerical studies of atmospheric entry from circular orbits and low thrust beginning in near-circular orbits exhibited numerical instability when solved by the method of Bond and Gottlieb (1989) for long time intervals. It was found that this instability was due to secular terms which appear on the righthand sides of the differential equations of some of the elements. In this paper, this instability is removed by the introduction of another vector integral called the delta integral (which replaces the Laplace Vector) and another scalar integral which removes the secular terms. The introduction of these integrals requires a new derivation of the differential equations for most of the elements. For this rederivation, the Lagrange method of variation of parameters is used, making the development more concise. Numerical examples of this improvement are presented.

Different motion cues are used to estimate time-to-arrival for frontoparallel and looming trajectories

PubMed Central

Calabro, Finnegan J.; Beardsley, Scott A.; Vaina, Lucia M.

2012-01-01

Estimation of time-to-arrival for moving objects is critical to obstacle interception and avoidance, as well as to timing actions such as reaching and grasping moving objects. The source of motion information that conveys arrival time varies with the trajectory of the object raising the question of whether multiple context-dependent mechanisms are involved in this computation. To address this question we conducted a series of psychophysical studies to measure observers’ performance on time-to-arrival estimation when object trajectory was specified by angular motion (“gap closure” trajectories in the frontoparallel plane), looming (colliding trajectories, TTC) or both (passage courses, TTP). We measured performance of time-to-arrival judgments in the presence of irrelevant motion, in which a perpendicular motion vector was added to the object trajectory. Data were compared to models of expected performance based on the use of different components of optical information. Our results demonstrate that for gap closure, performance depended only on the angular motion, whereas for TTC and TTP, both angular and looming motion affected performance. This dissociation of inputs suggests that gap closures are mediated by a separate mechanism than that used for the detection of time-to-collision and time-to-passage. We show that existing models of TTC and TTP estimation make systematic errors in predicting subject performance, and suggest that a model which weights motion cues by their relative time-to-arrival provides a better account of performance. PMID:22056519

The Mechanism for Processing Random-Dot Motion at Various Speeds in Early Visual Cortices

PubMed Central

An, Xu; Gong, Hongliang; McLoughlin, Niall; Yang, Yupeng; Wang, Wei

2014-01-01

All moving objects generate sequential retinotopic activations representing a series of discrete locations in space and time (motion trajectory). How direction-selective neurons in mammalian early visual cortices process motion trajectory remains to be clarified. Using single-cell recording and optical imaging of intrinsic signals along with mathematical simulation, we studied response properties of cat visual areas 17 and 18 to random dots moving at various speeds. We found that, the motion trajectory at low speed was encoded primarily as a direction signal by groups of neurons preferring that motion direction. Above certain transition speeds, the motion trajectory is perceived as a spatial orientation representing the motion axis of the moving dots. In both areas studied, above these speeds, other groups of direction-selective neurons with perpendicular direction preferences were activated to encode the motion trajectory as motion-axis information. This applied to both simple and complex neurons. The average transition speed for switching between encoding motion direction and axis was about 31°/s in area 18 and 15°/s in area 17. A spatio-temporal energy model predicted the transition speeds accurately in both areas, but not the direction-selective indexes to random-dot stimuli in area 18. In addition, above transition speeds, the change of direction preferences of population responses recorded by optical imaging can be revealed using vector maximum but not vector summation method. Together, this combined processing of motion direction and axis by neurons with orthogonal direction preferences associated with speed may serve as a common principle of early visual motion processing. PMID:24682033

Dynamics with a Nonstandard Inertia-Acceleration Relation: An Alternative to Dark Matter in Galactic Systems

NASA Astrophysics Data System (ADS)

Milgrom, M.

1994-02-01

We investigate particle dynamics that is governed by a nonstandard kinetic action of a special form. We are guided by a phenomenological scheme-the modified dynamics (MOND)-that imputes the mass discrepancy, observed in galactic systems, not to the presence of dark matter, but to a departure from Newtonian dynamics below a certain scale of accelerations, a0. The particle's equation of motion in a potential φ is derived from an action, S, of the form S ~ Sk[r(t), a0] - ∫ φ dt. The limit a0 --> 0 corresponds to Newtonian dynamics, and there the kinetic action Sk must take the standard form. In the opposite limit, a0 --> ∞ we require Sk --> 0-and more specifically, for circular orbits Sk ~ a-10-in order to attain the phenomenological success of MOND. Galilei-invariant such theories must be strongly nonlocal. This is a blessing, as such theories need not suffer from the illnesses that are endemic to higher-derivative theories. We comment on the possibility that such a modified law of motion is an effective theory resulting from the elimination of degrees of freedom pertaining to the universe at large (the near equality a0 ≍ cH0 being a trace of that connection). We derive a general virial relation for bounded trajectories. Exact solutions are obtained for circular orbits, which pertain to rotation curves of disk galaxies. We also explore, in passing, theories that depart from the conventional Newtonian dynamics for very low frequencies.

Geometrically derived difference formulae for the numerical integration of trajectory problems

NASA Technical Reports Server (NTRS)

Mcleod, R. J. Y.; Sanz-Serna, J. M.

1982-01-01

An initial value problem for the autonomous system of ordinary differential equations dy/dt = f(y), where y is a vector, is considered. In a number of practical applications the interest lies in obtaining the curve traced by the solution y. These applications include the computation of trajectories in mechanical problems. The term 'trajectory problem' is employed to refer to these cases. Lambert and McLeod (1979) have introduced a method involving local rotation of the axes in the y-plane for the two-dimensional case. The present investigation continues the study of difference schemes specifically derived for trajectory problems. A simple geometrical way of constructing such methods is presented, and the local accuracy of the schemes is investigated. A circularly exact, fixed-step predictor-corrector algorithm is defined, and a variable-step version of a circularly exact algorithm is presented.

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints. Ph.D. Thesis Final Report

NASA Technical Reports Server (NTRS)

Chung, Ching-Luan

1990-01-01

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

Bayesian Decision Tree for the Classification of the Mode of Motion in Single-Molecule Trajectories

PubMed Central

Türkcan, Silvan; Masson, Jean-Baptiste

2013-01-01

Membrane proteins move in heterogeneous environments with spatially (sometimes temporally) varying friction and with biochemical interactions with various partners. It is important to reliably distinguish different modes of motion to improve our knowledge of the membrane architecture and to understand the nature of interactions between membrane proteins and their environments. Here, we present an analysis technique for single molecule tracking (SMT) trajectories that can determine the preferred model of motion that best matches observed trajectories. The method is based on Bayesian inference to calculate the posteriori probability of an observed trajectory according to a certain model. Information theory criteria, such as the Bayesian information criterion (BIC), the Akaike information criterion (AIC), and modified AIC (AICc), are used to select the preferred model. The considered group of models includes free Brownian motion, and confined motion in 2nd or 4th order potentials. We determine the best information criteria for classifying trajectories. We tested its limits through simulations matching large sets of experimental conditions and we built a decision tree. This decision tree first uses the BIC to distinguish between free Brownian motion and confined motion. In a second step, it classifies the confining potential further using the AIC. We apply the method to experimental Clostridium Perfingens -toxin (CPT) receptor trajectories to show that these receptors are confined by a spring-like potential. An adaptation of this technique was applied on a sliding window in the temporal dimension along the trajectory. We applied this adaptation to experimental CPT trajectories that lose confinement due to disaggregation of confining domains. This new technique adds another dimension to the discussion of SMT data. The mode of motion of a receptor might hold more biologically relevant information than the diffusion coefficient or domain size and may be a better tool to classify and compare different SMT experiments. PMID:24376584

A high-order time-accurate interrogation method for time-resolved PIV

NASA Astrophysics Data System (ADS)

Lynch, Kyle; Scarano, Fulvio

2013-03-01

A novel method is introduced for increasing the accuracy and extending the dynamic range of time-resolved particle image velocimetry (PIV). The approach extends the concept of particle tracking velocimetry by multiple frames to the pattern tracking by cross-correlation analysis as employed in PIV. The working principle is based on tracking the patterned fluid element, within a chosen interrogation window, along its individual trajectory throughout an image sequence. In contrast to image-pair interrogation methods, the fluid trajectory correlation concept deals with variable velocity along curved trajectories and non-zero tangential acceleration during the observed time interval. As a result, the velocity magnitude and its direction are allowed to evolve in a nonlinear fashion along the fluid element trajectory. The continuum deformation (namely spatial derivatives of the velocity vector) is accounted for by adopting local image deformation. The principle offers important reductions of the measurement error based on three main points: by enlarging the temporal measurement interval, the relative error becomes reduced; secondly, the random and peak-locking errors are reduced by the use of least-squares polynomial fits to individual trajectories; finally, the introduction of high-order (nonlinear) fitting functions provides the basis for reducing the truncation error. Lastly, the instantaneous velocity is evaluated as the temporal derivative of the polynomial representation of the fluid parcel position in time. The principal features of this algorithm are compared with a single-pair iterative image deformation method. Synthetic image sequences are considered with steady flow (translation, shear and rotation) illustrating the increase of measurement precision. An experimental data set obtained by time-resolved PIV measurements of a circular jet is used to verify the robustness of the method on image sequences affected by camera noise and three-dimensional motions. In both cases, it is demonstrated that the measurement time interval can be significantly extended without compromising the correlation signal-to-noise ratio and with no increase of the truncation error. The increase of velocity dynamic range scales more than linearly with the number of frames included for the analysis, which supersedes by one order of magnitude the pair correlation by window deformation. The main factors influencing the performance of the method are discussed, namely the number of images composing the sequence and the polynomial order chosen to represent the motion throughout the trajectory.

Representing and selecting vibrational angular momentum states for quasiclassical trajectory chemical dynamics simulations.

PubMed

Lourderaj, Upakarasamy; Martínez-Núñez, Emilio; Hase, William L

2007-10-18

Linear molecules with degenerate bending modes have states, which may be represented by the quantum numbers N and L. The former gives the total energy for these modes and the latter identifies their vibrational angular momentum jz. In this work, the classical mechanical analog of the N,L-quantum states is reviewed, and an algorithm is presented for selecting initial conditions for these states in quasiclassical trajectory chemical dynamics simulations. The algorithm is illustrated by choosing initial conditions for the N = 3 and L = 3 and 1 states of CO2. Applications of this algorithm are considered for initial conditions without and with zero-point energy (zpe) included in the vibrational angular momentum states and the C-O stretching modes. The O-atom motions in the x,y-plane are determined for these states from classical trajectories in Cartesian coordinates and are compared with the motion predicted by the normal-mode model. They are only in agreement for the N = L = 3 state without vibrational angular momentum zpe. For the remaining states, the Cartesian O-atom motions are considerably different from the elliptical motion predicted by the normal-mode model. This arises from bend-stretch coupling, including centrifugal distortion, in the Cartesian trajectories, which results in tubular instead of elliptical motion. Including zpe in the C-O stretch modes introduces considerable complexity into the O-atom motions for the vibrational angular momentum states. The short-time O-atom motions for these trajectories are highly irregular and do not appear to have any identifiable characteristics. However, the O-atom motions for trajectories integrated for substantially longer period of times acquire unique properties. With C-O stretch zpe included, the long-time O-atom motion becomes tubular for trajectories integrated to approximately 14 ps for the L = 3 states and to approximately 44 ps for the L = 1 states.

Sample-Based Motion Planning in High-Dimensional and Differentially-Constrained Systems

DTIC Science & Technology

2010-02-01

Reachable Set . . . 88 6-1 LittleDog Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 6-2 Dog bounding up stairs ...planning algorithm implemented on LittleDog, a quadruped robot . The motion planning algorithm successfully planned bounding trajectories over extremely...a motion planning algorithm implemented on LittleDog, a quadruped robot . The motion planning algorithm successfully planned bounding trajectories

Numerical simulation of temperature at drilling micro-hole on moving CO2 laser irradiated sticking plaster

NASA Astrophysics Data System (ADS)

Rao, Zhiming; He, Zhifang; Du, Jianqiang; Zhang, Xinyou; Ai, Guoping; Zhang, Chunqiang; Wu, Tao

2012-03-01

This paper applied numerical simulation of temperature by using finite element analysis software Ansys to study a model of drilling on sticking plaster. The continuous CO2 laser doing uniform linear motion and doing uniform circular motion irradiated sticking plaster to vaporize. The sticking plaster material was chosen as the thermal conductivity, the heat capacity and the density. For temperatures above 450 °C, sticking plaster would be vaporized. Based on the mathematical model of heat transfer, the process of drilling sticking plaster by laser beams could be simulated by Ansys. The simulation results showed the distribution of the temperature at the surface of the sticking plaster with the time of vaporizing at CO2 laser to do uniform linear motion and to do uniform circular motion. The temperature of sticking plaster CO2 laser to do uniform linear motion was higher than CO2 laser to do uniform circular motion in the same condition.

The transformation of regular circular motion into straight motion according to Nasir al din al-Tusi - a genious model for the conscious preservation of a defect of Ptolemy's lunar theory (German Title: Die Umwandlung gleichförmiger Kreisbewegung in geradlinige Bewegung nach Nasir al din al-Tusi - Ein geniales Modell zur bewußten Beibehaltung eines Mangels der Ptolemäischen Mondtheorie)

NASA Astrophysics Data System (ADS)

Hein, Olaf; Mader, Rolf

Nasir al din al-Tusi (1201-1274) was one of the most important universal scholars of Islam. As a convinced Aristotelian, he rejected Ptolemy's modifications of the Aristotelian dogma of uniform circular motion. He created a theory of lunar motion which is only based on uniform circular motion, and which results in the same representation of lunar motion as conceived by Ptolemy. He successfully attempted to consciously preserve, and not to correct, an error of Ptolemy's theory (the doubling of the earth-moon distance in the syzygies as compared to the quadratures). We explain the Tusi mechanism and point out its philosophical consequences (the unwanted dissolution of the difference between the extra- and intralunar world).

Statistical learning of movement.

PubMed

Ongchoco, Joan Danielle Khonghun; Uddenberg, Stefan; Chun, Marvin M

2016-12-01

The environment is dynamic, but objects move in predictable and characteristic ways, whether they are a dancer in motion, or a bee buzzing around in flight. Sequences of movement are comprised of simpler motion trajectory elements chained together. But how do we know where one trajectory element ends and another begins, much like we parse words from continuous streams of speech? As a novel test of statistical learning, we explored the ability to parse continuous movement sequences into simpler element trajectories. Across four experiments, we showed that people can robustly parse such sequences from a continuous stream of trajectories under increasingly stringent tests of segmentation ability and statistical learning. Observers viewed a single dot as it moved along simple sequences of paths, and were later able to discriminate these sequences from novel and partial ones shown at test. Observers demonstrated this ability when there were potentially helpful trajectory-segmentation cues such as a common origin for all movements (Experiment 1); when the dot's motions were entirely continuous and unconstrained (Experiment 2); when sequences were tested against partial sequences as a more stringent test of statistical learning (Experiment 3); and finally, even when the element trajectories were in fact pairs of trajectories, so that abrupt directional changes in the dot's motion could no longer signal inter-trajectory boundaries (Experiment 4). These results suggest that observers can automatically extract regularities in movement - an ability that may underpin our capacity to learn more complex biological motions, as in sport or dance.

Analytical evaluation of the trajectories of hypersonic projectiles launched into space

NASA Astrophysics Data System (ADS)

Stutz, John David

An equation of motion has been derived that may be solved using simple analytic functions which describes the motion of a projectile launched from the surface of the Earth into space accounting for both Newtonian gravity and aerodynamic drag. The equation of motion is based upon the Kepler equation of motion differential and variable transformations with the inclusion of a decaying angular momentum driving function and appropriate simplifying assumptions. The new equation of motion is first compared to various numerical and analytical trajectory approximations in a non-rotating Earth reference frame. The Modified Kepler solution is then corrected to include Earth rotation and compared to a rotating Earth simulation. Finally, the modified equation of motion is used to predict the apogee and trajectory of projectiles launched into space by the High Altitude Research Project from 1961 to 1967. The new equation of motion allows for the rapid equalization of projectile trajectories and intercept solutions that may be used to calculate firing solutions to enable ground launched projectiles to intercept or rendezvous with targets in low Earth orbit such as ballistic missiles.

Interplanetary Trajectories, Encke Method (ITEM)

NASA Technical Reports Server (NTRS)

Whitlock, F. H.; Wolfe, H.; Lefton, L.; Levine, N.

1972-01-01

Modified program has been developed using improved variation of Encke method which avoids accumulation of round-off errors and avoids numerical ambiguities arising from near-circular orbits of low inclination. Variety of interplanetary trajectory problems can be computed with maximum accuracy and efficiency.

A Study of Shuttlecock's Trajectory in Badminton.

PubMed

Chen, Lung-Ming; Pan, Yi-Hsiang; Chen, Yung-Jen

2009-01-01

The main purpose of this study was to construct and validate a motion equation for the flight of the badminton and to find the relationship between the air resistance force and a shuttlecock's speed. This research method was based on motion laws of aerodynamics. It applied aerodynamic theories to construct motion equation of a shuttlecock's flying trajectory under the effects of gravitational force and air resistance force. The result showed that the motion equation of a shuttlecock's flight trajectory could be constructed by determining the terminal velocity. The predicted shuttlecock trajectory fitted the measured data fairly well. The results also revealed that the drag force was proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory. Finally, this study suggested that we could use a scientific approach to measure a shuttlecock's velocity objectively when testing the quality of shuttlecocks. And could be used to replace the traditional subjective method of the Badminton World Federation based on players' striking shuttlecocks, as well as applying research findings to improve professional knowledge of badminton player training. Key pointsThe motion equation of a shuttlecock's flying trajectory could be constructed by determining the terminal velocity in aerodynamics.Air drag force is proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory.

Optimal trajectories for the aeroassisted flight experiment, 1988-89

NASA Technical Reports Server (NTRS)

Miele, A.

1989-01-01

Research is summarized on optimal trajectories for the aeroassisted flight experiment, performed by the Aero-Astronautics Group of Rice University during the period 1988 through 1989. This research includes the following topics: (1) equations of motion in an Earth-fixed system; (2) equations of motion in an inertial system; (3) formultion of the optimal trajectory problem; (4) results on the optimal trajectory problem; and (5) guidance implications.

Projectile Motion on an Inclined Misty Surface: I. Capturing and Analysing the Trajectory

ERIC Educational Resources Information Center

Ho, S. Y.; Foong, S. K.; Lim, C. H.; Lim, C. C.; Lin, K.; Kuppan, L.

2009-01-01

Projectile motion is usually the first non-uniform two-dimensional motion that students will encounter in a pre-university physics course. In this article, we introduce a novel technique for capturing the trajectory of projectile motion on an inclined Perspex plane. This is achieved by coating the Perspex with a thin layer of fine water droplets…

Articulated Multimedia Physics, Lesson 10, Circular Motion.

ERIC Educational Resources Information Center

New York Inst. of Tech., Old Westbury.

As the tenth lesson of the Articulated Multimedia Physics Course, instructional materials relating to circular motion are presented in this study guide. The topics are concerned with instantaneous velocity, centripetal force, centrifugal force, and satellite paths. The content is arranged in scrambled form, and the use of matrix transparencies is…

Classifying Motion.

ERIC Educational Resources Information Center

Duzen, Carl; And Others

1992-01-01

Presents a series of activities that utilizes a leveling device to classify constant and accelerated motion. Applies this classification system to uniform circular motion and motion produced by gravitational force. (MDH)

Nonrigid Autofocus Motion Correction for Coronary MR Angiography with a 3D Cones Trajectory

PubMed Central

Ingle, R. Reeve; Wu, Holden H.; Addy, Nii Okai; Cheng, Joseph Y.; Yang, Phillip C.; Hu, Bob S.; Nishimura, Dwight G.

2014-01-01

Purpose: To implement a nonrigid autofocus motion correction technique to improve respiratory motion correction of free-breathing whole-heart coronary magnetic resonance angiography (CMRA) acquisitions using an image-navigated 3D cones sequence. Methods: 2D image navigators acquired every heartbeat are used to measure superior-inferior, anterior-posterior, and right-left translation of the heart during a free-breathing CMRA scan using a 3D cones readout trajectory. Various tidal respiratory motion patterns are modeled by independently scaling the three measured displacement trajectories. These scaled motion trajectories are used for 3D translational compensation of the acquired data, and a bank of motion-compensated images is reconstructed. From this bank, a gradient entropy focusing metric is used to generate a nonrigid motion-corrected image on a pixel-by-pixel basis. The performance of the autofocus motion correction technique is compared with rigid-body translational correction and no correction in phantom, volunteer, and patient studies. Results: Nonrigid autofocus motion correction yields improved image quality compared to rigid-body-corrected images and uncorrected images. Quantitative vessel sharpness measurements indicate superiority of the proposed technique in 14 out of 15 coronary segments from three patient and two volunteer studies. Conclusion: The proposed technique corrects nonrigid motion artifacts in free-breathing 3D cones acquisitions, improving image quality compared to rigid-body motion correction. PMID:24006292

An externally and internally deformable, programmable lung motion phantom

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheung, Yam; Sawant, Amit, E-mail: amit.sawant@utsouthwestern.edu

Purpose: Most clinically deployed strategies for respiratory motion management in lung radiotherapy (e.g., gating and tracking) use external markers that serve as surrogates for tumor motion. However, typical lung phantoms used to validate these strategies are based on a rigid exterior and a rigid or a deformable-interior. Such designs do not adequately represent respiration because the thoracic anatomy deforms internally as well as externally. In order to create a closer approximation of respiratory motion, the authors describe the construction and experimental testing of an externally as well as internally deformable, programmable lung phantom. Methods: The outer shell of a commerciallymore » available lung phantom (RS-1500, RSD, Inc.) was used. The shell consists of a chest cavity with a flexible anterior surface, and embedded vertebrae, rib-cage and sternum. A custom-made insert was designed using a piece of natural latex foam block. A motion platform was programmed with sinusoidal and ten patient-recorded lung tumor trajectories. The platform was used to drive a rigid foam “diaphragm” that compressed/decompressed the phantom interior. Experimental characterization comprised of determining the reproducibility and the external–internal correlation of external and internal marker trajectories extracted from kV x-ray fluoroscopy. Experiments were conducted to illustrate three example applications of the phantom—(i) validating the geometric accuracy of the VisionRT surface photogrammetry system; (ii) validating an image registration tool, NiftyReg; and (iii) quantifying the geometric error due to irregular motion in four-dimensional computed tomography (4DCT). Results: The phantom correctly reproduced sinusoidal and patient-derived motion, as well as realistic respiratory motion-related effects such as hysteresis. The reproducibility of marker trajectories over multiple runs for sinusoidal as well as patient traces, as characterized by fluoroscopy, was within 0.25 mm RMS error. The motion trajectories of internal and external radio-opaque markers as measured by fluoroscopy were found to be highly correlated (R > 0.95). Using the phantom, it was demonstrated that the motion trajectories of regions-of-interest on the surface as measured by VisionRT are highly consistent with corresponding fluoroscopically acquired surface marker trajectories, with RMS errors within 0.26 mm. Furthermore, it was shown that the trajectories of external and internal marker trajectories derived from NiftyReg deformation vector fields were within 1 mm root mean square errors comparing to trajectories obtained by segmenting markers from individual fluoro frames. Finally, it was shown that while 4DCT can be used to localize internal markers for sinusoidal motion with reasonable accuracy, the localization error increases significantly (by a factor of ∼2) in the presence of cycle-to-cycle variations that are observed in patient-derived respiratory motion. Conclusions: The authors have developed a realistic externally and internally deformable, programmable lung phantom that will serve as a valuable tool for clinical and investigational motion management studies in thoracic and abdominal radiation therapies.« less

Targeting Ballistic Lunar Capture Trajectories Using Periodic Orbits in the Sun-Earth CRTBP

NASA Technical Reports Server (NTRS)

Cooley, D.S.; Griesemer, Paul Ricord; Ocampo, Cesar

2009-01-01

A particular periodic orbit in the Earth-Sun circular restricted three body problem is shown to have the characteristics needed for a ballistic lunar capture transfer. An injection from a circular parking orbit into the periodic orbit serves as an initial guess for a targeting algorithm. By targeting appropriate parameters incrementally in increasingly complicated force models and using precise derivatives calculated from the state transition matrix, a reliable algorithm is produced. Ballistic lunar capture trajectories in restricted four body systems are shown to be able to be produced in a systematic way.

A computational model for reference-frame synthesis with applications to motion perception.

PubMed

Clarke, Aaron M; Öğmen, Haluk; Herzog, Michael H

2016-09-01

As discovered by the Gestaltists, in particular by Duncker, we often perceive motion to be within a non-retinotopic reference frame. For example, the motion of a reflector on a bicycle appears to be circular, whereas, it traces out a cycloidal path with respect to external world coordinates. The reflector motion appears to be circular because the human brain subtracts the horizontal motion of the bicycle from the reflector motion. The bicycle serves as a reference frame for the reflector motion. Here, we present a general mathematical framework, based on vector fields, to explain non-retinotopic motion processing. Using four types of non-retinotopic motion paradigms, we show how the theory works in detail. For example, we show how non-retinotopic motion in the Ternus-Pikler display can be computed. Copyright © 2015 Elsevier Ltd. All rights reserved.

When eyes drive hand: Influence of non-biological motion on visuo-motor coupling.

PubMed

Thoret, Etienne; Aramaki, Mitsuko; Bringoux, Lionel; Ystad, Sølvi; Kronland-Martinet, Richard

2016-01-26

Many studies stressed that the human movement execution but also the perception of motion are constrained by specific kinematics. For instance, it has been shown that the visuo-manual tracking of a spotlight was optimal when the spotlight motion complies with biological rules such as the so-called 1/3 power law, establishing the co-variation between the velocity and the trajectory curvature of the movement. The visual or kinesthetic perception of a geometry induced by motion has also been shown to be constrained by such biological rules. In the present study, we investigated whether the geometry induced by the visuo-motor coupling of biological movements was also constrained by the 1/3 power law under visual open loop control, i.e. without visual feedback of arm displacement. We showed that when someone was asked to synchronize a drawing movement with a visual spotlight following a circular shape, the geometry of the reproduced shape was fooled by visual kinematics that did not respect the 1/3 power law. In particular, elliptical shapes were reproduced when the circle is trailed with a kinematics corresponding to an ellipse. Moreover, the distortions observed here were larger than in the perceptual tasks stressing the role of motor attractors in such a visuo-motor coupling. Finally, by investigating the direct influence of visual kinematics on the motor reproduction, our result conciliates previous knowledge on sensorimotor coupling of biological motions with external stimuli and gives evidence to the amodal encoding of biological motion. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Motion of a carrier with a mobile load along a rough inclined plane

NASA Astrophysics Data System (ADS)

Bilchenko, G. G.

2018-03-01

The mechanical system consisting of a carrier and a load is considered. The load can move respectively the carrier according to the preset given motion law. The carrier motion from rest caused the load motion is investigated. The carrier can move translationally along rectilinear trajectory along rough inclined plane. The trajectory is the line of the greatest descent. The axis of rectilinear channel along which the load moves is situated in vertical plane containing the carrier trajectory. The Coulomb model is taken to describe the friction forces on sloped plane. Differential equations of motion of carrier with load are obtained. The sufficient condition of the carrier motion without detachment from inclined plane is given. For two special cases of the channel installation angle and the plane inclination angle combination the motion types are described. The computation experiments results are presented: the carrier motions in the special cases are illustrated, the phase portraits for some types of motions are constructed.

On the road to somewhere: Brain potentials reflect language effects on motion event perception.

PubMed

Flecken, Monique; Athanasopoulos, Panos; Kuipers, Jan Rouke; Thierry, Guillaume

2015-08-01

Recent studies have identified neural correlates of language effects on perception in static domains of experience such as colour and objects. The generalization of such effects to dynamic domains like motion events remains elusive. Here, we focus on grammatical differences between languages relevant for the description of motion events and their impact on visual scene perception. Two groups of native speakers of German or English were presented with animated videos featuring a dot travelling along a trajectory towards a geometrical shape (endpoint). English is a language with grammatical aspect in which attention is drawn to trajectory and endpoint of motion events equally. German, in contrast, is a non-aspect language which highlights endpoints. We tested the comparative perceptual saliency of trajectory and endpoint of motion events by presenting motion event animations (primes) followed by a picture symbolising the event (target): In 75% of trials, the animation was followed by a mismatching picture (both trajectory and endpoint were different); in 10% of trials, only the trajectory depicted in the picture matched the prime; in 10% of trials, only the endpoint matched the prime; and in 5% of trials both trajectory and endpoint were matching, which was the condition requiring a response from the participant. In Experiment 1 we recorded event-related brain potentials elicited by the picture in native speakers of German and native speakers of English. German participants exhibited a larger P3 wave in the endpoint match than the trajectory match condition, whereas English speakers showed no P3 amplitude difference between conditions. In Experiment 2 participants performed a behavioural motion matching task using the same stimuli as those used in Experiment 1. German and English participants did not differ in response times showing that motion event verbalisation cannot readily account for the difference in P3 amplitude found in the first experiment. We argue that, even in a non-verbal context, the grammatical properties of the native language and associated sentence-level patterns of event encoding influence motion event perception, such that attention is automatically drawn towards aspects highlighted by the grammar. Copyright © 2015 The Authors. Published by Elsevier B.V. All rights reserved.

A straightforward method to compute average stochastic oscillations from data samples.

PubMed

Júlvez, Jorge

2015-10-19

Many biological systems exhibit sustained stochastic oscillations in their steady state. Assessing these oscillations is usually a challenging task due to the potential variability of the amplitude and frequency of the oscillations over time. As a result of this variability, when several stochastic replications are averaged, the oscillations are flattened and can be overlooked. This can easily lead to the erroneous conclusion that the system reaches a constant steady state. This paper proposes a straightforward method to detect and asses stochastic oscillations. The basis of the method is in the use of polar coordinates for systems with two species, and cylindrical coordinates for systems with more than two species. By slightly modifying these coordinate systems, it is possible to compute the total angular distance run by the system and the average Euclidean distance to a reference point. This allows us to compute confidence intervals, both for the average angular speed and for the distance to a reference point, from a set of replications. The use of polar (or cylindrical) coordinates provides a new perspective of the system dynamics. The mean trajectory that can be obtained by averaging the usual cartesian coordinates of the samples informs about the trajectory of the center of mass of the replications. In contrast to such a mean cartesian trajectory, the mean polar trajectory can be used to compute the average circular motion of those replications, and therefore, can yield evidence about sustained steady state oscillations. Both, the coordinate transformation and the computation of confidence intervals, can be carried out efficiently. This results in an efficient method to evaluate stochastic oscillations.

Classification and Segmentation of Nanoparticle Diffusion Trajectories in Cellular Micro Environments

PubMed Central

Kroll, Alexandra; Haramagatti, Chandrashekara R.; Lipinski, Hans-Gerd; Wiemann, Martin

2017-01-01

Darkfield and confocal laser scanning microscopy both allow for a simultaneous observation of live cells and single nanoparticles. Accordingly, a characterization of nanoparticle uptake and intracellular mobility appears possible within living cells. Single particle tracking allows to measure the size of a diffusing particle close to a cell. However, within the more complex system of a cell’s cytoplasm normal, confined or anomalous diffusion together with directed motion may occur. In this work we present a method to automatically classify and segment single trajectories into their respective motion types. Single trajectories were found to contain more than one motion type. We have trained a random forest with 9 different features. The average error over all motion types for synthetic trajectories was 7.2%. The software was successfully applied to trajectories of positive controls for normal- and constrained diffusion. Trajectories captured by nanoparticle tracking analysis served as positive control for normal diffusion. Nanoparticles inserted into a diblock copolymer membrane was used to generate constrained diffusion. Finally we segmented trajectories of diffusing (nano-)particles in V79 cells captured with both darkfield- and confocal laser scanning microscopy. The software called “TraJClassifier” is freely available as ImageJ/Fiji plugin via https://git.io/v6uz2. PMID:28107406

Recollision induced excitation-ionization with counter-rotating two-color circularly polarized laser field

NASA Astrophysics Data System (ADS)

Ben, Shuai; Guo, Pei-Ying; Pan, Xue-Fei; Xu, Tong-Tong; Song, Kai-Li; Liu, Xue-Shen

2017-07-01

Nonsequential double ionization of Ar by a counter-rotating two-color circularly polarized laser field is theoretically investigated. At the combined intensity in the "knee" structure range, the double ionization occurs mainly through recollision induced excitation followed by subsequent ionization of Ar+∗ . By tracing the history of the recollision trajectories, we explain how the relative intensity ratio of the two colors controls the correlated electron dynamics and optimizes the ionization yields. The major channels contributing to enhancing the double ionization are through the elliptical trajectories with smaller travel time but not through the triangle shape or the other long cycle trajectories. Furthermore, the correlated electron dynamics could be limited to the attosecond time scale by adjusting the relative intensity ratio. Finally, the double ionization from doubly excited complex at low laser intensity is qualitatively discussed.

Adaptive zooming in X-ray computed tomography.

PubMed

Dabravolski, Andrei; Batenburg, Kees Joost; Sijbers, Jan

2014-01-01

In computed tomography (CT), the source-detector system commonly rotates around the object in a circular trajectory. Such a trajectory does not allow to exploit a detector fully when scanning elongated objects. Increase the spatial resolution of the reconstructed image by optimal zooming during scanning. A new approach is proposed, in which the full width of the detector is exploited for every projection angle. This approach is based on the use of prior information about the object's convex hull to move the source as close as possible to the object, while avoiding truncation of the projections. Experiments show that the proposed approach can significantly improve reconstruction quality, producing reconstructions with smaller errors and revealing more details in the object. The proposed approach can lead to more accurate reconstructions and increased spatial resolution in the object compared to the conventional circular trajectory.

Orbit period modulation for relative motion using continuous low thrust in the two-body and restricted three-body problems

NASA Astrophysics Data System (ADS)

Arnot, C. S.; McInnes, C. R.; McKay, R. J.; Macdonald, M.; Biggs, J.

2018-02-01

This paper presents rich new families of relative orbits for spacecraft formation flight generated through the application of continuous thrust with only minimal intervention into the dynamics of the problem. Such simplicity facilitates implementation for small, low-cost spacecraft with only position state feedback, and yet permits interesting and novel relative orbits in both two- and three-body systems with potential future applications in space-based interferometry, hyperspectral sensing, and on-orbit inspection. Position feedback is used to modify the natural frequencies of the linearised relative dynamics through direct manipulation of the system eigenvalues, producing new families of stable relative orbits. Specifically, in the Hill-Clohessy-Wiltshire frame, simple adaptations of the linearised dynamics are used to produce a circular relative orbit, frequency-modulated out-of-plane motion, and a novel doubly periodic cylindrical relative trajectory for the purposes of on-orbit inspection. Within the circular restricted three-body problem, a similar minimal approach with position feedback is used to generate new families of stable, frequency-modulated relative orbits in the vicinity of a Lagrange point, culminating in the derivation of the gain requirements for synchronisation of the in-plane and out-of-plane frequencies to yield a singly periodic tilted elliptical relative orbit with potential use as a Lunar far-side communications relay. The Δ v requirements for the cylindrical relative orbit and singly periodic Lagrange point orbit are analysed, and it is shown that these requirements are modest and feasible for existing low-thrust propulsion technology.

The free-flight response of Drosophila to motion of the visual environment.

PubMed

Mronz, Markus; Lehmann, Fritz-Olaf

2008-07-01

In the present study we investigated the behavioural strategies with which freely flying fruit flies (Drosophila) control their flight trajectories during active optomotor stimulation in a free-flight arena. We measured forward, turning and climbing velocities of single flies using high-speed video analysis and estimated the output of a 'Hassenstein-Reichardt' elementary motion detector (EMD) array and the fly's gaze to evaluate flight behaviour in response to a rotating visual panorama. In a stationary visual environment, flight is characterized by flight saccades during which the animals turn on average 120 degrees within 130 ms. In a rotating environment, the fly's behaviour typically changes towards distinct, concentric circular flight paths where the radius of the paths increases with increasing arena velocity. The EMD simulation suggests that this behaviour is driven by a rotation-sensitive EMD detector system that minimizes retinal slip on each compound eye, whereas an expansion-sensitive EMD system with a laterally centred visual focus potentially helps to achieve centring response on the circular flight path. We developed a numerical model based on force balance between horizontal, vertical and lateral forces that allows predictions of flight path curvature at a given locomotor capacity of the fly. The model suggests that turning flight in Drosophila is constrained by the production of centripetal forces needed to avoid side-slip movements. At maximum horizontal velocity this force may account for up to 70% of the fly's body weight during yaw turning. Altogether, our analyses are widely consistent with previous studies on Drosophila free flight and those on the optomotor response under tethered flight conditions.

Design, analysis, and testing of a flexure-based vibration-assisted polishing device

NASA Astrophysics Data System (ADS)

Gu, Yan; Zhou, Yan; Lin, Jieqiong; Lu, Mingming; Zhang, Chenglong; Chen, Xiuyuan

2018-05-01

A vibration-assisted polishing device (VAPD) composed of leaf-spring and right-circular flexure hinges is proposed with the aim of realizing vibration-assisted machining along elliptical trajectories. To design the structure, energy methods and the finite-element method are used to calculate the performance of the proposed VAPD. An improved bacterial foraging optimization algorithm is used to optimize the structural parameters. In addition, the performance of the VAPD is tested experimentally. The experimental results indicate that the maximum strokes of the two directional mechanisms operating along the Z1 and Z2 directions are 29.5 μm and 29.3 μm, respectively, and the maximum motion resolutions are 10.05 nm and 10.01 nm, respectively. The maximum working bandwidth is 1,879 Hz, and the device has a good step response.

HP-9825A HFRMP trajectory processor (#TRAJ), detailed description. [relative motion of the space shuttle orbiter and a free-flying payload

NASA Technical Reports Server (NTRS)

Kindall, S. M.

1980-01-01

The computer code for the trajectory processor (#TRAJ) of the high fidelity relative motion program is described. The #TRAJ processor is a 12-degrees-of-freedom trajectory integrator (6 degrees of freedom for each of two vehicles) which can be used to generate digital and graphical data describing the relative motion of the Space Shuttle Orbiter and a free-flying cylindrical payload. A listing of the code, coding standards and conventions, detailed flow charts, and discussions of the computational logic are included.

Seeing Circles and Drawing Ellipses: When Sound Biases Reproduction of Visual Motion

PubMed Central

Aramaki, Mitsuko; Bringoux, Lionel; Ystad, Sølvi; Kronland-Martinet, Richard

2016-01-01

The perception and production of biological movements is characterized by the 1/3 power law, a relation linking the curvature and the velocity of an intended action. In particular, motions are perceived and reproduced distorted when their kinematics deviate from this biological law. Whereas most studies dealing with this perceptual-motor relation focused on visual or kinaesthetic modalities in a unimodal context, in this paper we show that auditory dynamics strikingly biases visuomotor processes. Biologically consistent or inconsistent circular visual motions were used in combination with circular or elliptical auditory motions. Auditory motions were synthesized friction sounds mimicking those produced by the friction of the pen on a paper when someone is drawing. Sounds were presented diotically and the auditory motion velocity was evoked through the friction sound timbre variations without any spatial cues. Remarkably, when subjects were asked to reproduce circular visual motion while listening to sounds that evoked elliptical kinematics without seeing their hand, they drew elliptical shapes. Moreover, distortion induced by inconsistent elliptical kinematics in both visual and auditory modalities added up linearly. These results bring to light the substantial role of auditory dynamics in the visuo-motor coupling in a multisensory context. PMID:27119411

Measuring the circular motion of small objects using laser stroboscopic images.

PubMed

Wang, Hairong; Fu, Y; Du, R

2008-01-01

Measuring the circular motion of a small object, including its displacement, speed, and acceleration, is a challenging task. This paper presents a new method for measuring repetitive and/or nonrepetitive, constant speed and/or variable speed circular motion using laser stroboscopic images. Under stroboscopic illumination, each image taken by an ordinary camera records multioutlines of an object in motion; hence, processing the stroboscopic image will be able to extract the motion information. We built an experiment apparatus consisting of a laser as the light source, a stereomicroscope to magnify the image, and a normal complementary metal oxide semiconductor camera to record the image. As the object is in motion, the stroboscopic illumination generates a speckle pattern on the object that can be recorded by the camera and analyzed by a computer. Experimental results indicate that the stroboscopic imaging is stable under various conditions. Moreover, the characteristics of the motion, including the displacement, the velocity, and the acceleration can be calculated based on the width of speckle marks, the illumination intensity, the duty cycle, and the sampling frequency. Compared with the popular high-speed camera method, the presented method may achieve the same measuring accuracy, but with much reduced cost and complexity.

Efficiency enhancement of a self-propelled pitching profile using non-sinusoidal trajectories

NASA Astrophysics Data System (ADS)

Mekadem, M.; Chihani, E.; Oualli, H.; Hanchi, S.; Bouabdallah, A.; Gad-El-Hak, M.

2017-11-01

A symmetrical profile is subjected to non-sinusoidal pitching motion. The airfoil has a chord length c = 0.006 m and a semi-circular leading edge with a diameter of D = 0.001 m. The extrados and intrados are two straight lines that intersect at a tapered trailing edge, and the pitching pivot point is positioned at the leading edge. The pitching frequency is in the range of 1 <= f <= 190 Hz, while the tangential amplitude of the flapping trailing edge varies from 18% to 114% of the foil cord. To improve the airfoil propulsive performance, two-dimensional numerical simulations are implemented on FLUENT. The Reynolds number based upon the maximum profile thickness D varies in the range of 35 <= Re <= 210 , which matches insect's Reynolds numbers. The foil movement is executed using the dynamic mesh technique and a user defined function (UDF). The adopted mesh has 70,445 nodes with 5,1960 quadrilateral cells. The results are in good agreement with prior experiments, and, compared to sinusoidal oscillations, show that non-sinusoidal flapping trajectories lead to advancing velocity increase of 550%. Additionally, if improved propulsive efficiency is sought, non-sinusoidal flapping lead to better thrust.

CPG-inspired workspace trajectory generation and adaptive locomotion control for quadruped robots.

PubMed

Liu, Chengju; Chen, Qijun; Wang, Danwei

2011-06-01

This paper deals with the locomotion control of quadruped robots inspired by the biological concept of central pattern generator (CPG). A control architecture is proposed with a 3-D workspace trajectory generator and a motion engine. The workspace trajectory generator generates adaptive workspace trajectories based on CPGs, and the motion engine realizes joint motion imputes. The proposed architecture is able to generate adaptive workspace trajectories online by tuning the parameters of the CPG network to adapt to various terrains. With feedback information, a quadruped robot can walk through various terrains with adaptive joint control signals. A quadruped platform AIBO is used to validate the proposed locomotion control system. The experimental results confirm the effectiveness of the proposed control architecture. A comparison by experiments shows the superiority of the proposed method against the traditional CPG-joint-space control method.

Quantitative underwater 3D motion analysis using submerged video cameras: accuracy analysis and trajectory reconstruction.

PubMed

Silvatti, Amanda P; Cerveri, Pietro; Telles, Thiago; Dias, Fábio A S; Baroni, Guido; Barros, Ricardo M L

2013-01-01

In this study we aim at investigating the applicability of underwater 3D motion capture based on submerged video cameras in terms of 3D accuracy analysis and trajectory reconstruction. Static points with classical direct linear transform (DLT) solution, a moving wand with bundle adjustment and a moving 2D plate with Zhang's method were considered for camera calibration. As an example of the final application, we reconstructed the hand motion trajectories in different swimming styles and qualitatively compared this with Maglischo's model. Four highly trained male swimmers performed butterfly, breaststroke and freestyle tasks. The middle fingertip trajectories of both hands in the underwater phase were considered. The accuracy (mean absolute error) of the two calibration approaches (wand: 0.96 mm - 2D plate: 0.73 mm) was comparable to out of water results and highly superior to the classical DLT results (9.74 mm). Among all the swimmers, the hands' trajectories of the expert swimmer in the style were almost symmetric and in good agreement with Maglischo's model. The kinematic results highlight symmetry or asymmetry between the two hand sides, intra- and inter-subject variability in terms of the motion patterns and agreement or disagreement with the model. The two outcomes, calibration results and trajectory reconstruction, both move towards the quantitative 3D underwater motion analysis.

Wiimote Experiments: Circular Motion

ERIC Educational Resources Information Center

Kouh, Minjoon; Holz, Danielle; Kawam, Alae; Lamont, Mary

2013-01-01

The advent of new sensor technologies can provide new ways of exploring fundamental physics. In this paper, we show how a Wiimote, which is a handheld remote controller for the Nintendo Wii video game system with an accelerometer, can be used to study the dynamics of circular motion with a very simple setup such as an old record player or a…

Wiimote Experiments: Circular Motion

NASA Astrophysics Data System (ADS)

Kouh, Minjoon; Holz, Danielle; Kawam, Alae; Lamont, Mary

2013-03-01

The advent of new sensor technologies can provide new ways of exploring fundamental physics. In this paper, we show how a Wiimote, which is a handheld remote controller for the Nintendo Wii video game system with an accelerometer, can be used to study the dynamics of circular motion with a very simple setup such as an old record player or a bicycle wheel.

Projectile and Circular Motion: A Model Four-Week Unit of Study for a High School Physics Class Using Physics Courseware.

ERIC Educational Resources Information Center

Geigel, Joan; And Others

A self-paced program designed to integrate the use of computers and physics courseware into the regular classroom environment is offered for physics high school teachers in this module on projectile and circular motion. A diversity of instructional strategies including lectures, demonstrations, videotapes, computer simulations, laboratories, and…

Gesture Recognition Based on the Probability Distribution of Arm Trajectories

NASA Astrophysics Data System (ADS)

Wan, Khairunizam; Sawada, Hideyuki

The use of human motions for the interaction between humans and computers is becoming an attractive alternative to verbal media, especially through the visual interpretation of the human body motion. In particular, hand gestures are used as non-verbal media for the humans to communicate with machines that pertain to the use of the human gestures to interact with them. This paper introduces a 3D motion measurement of the human upper body for the purpose of the gesture recognition, which is based on the probability distribution of arm trajectories. In this study, by examining the characteristics of the arm trajectories given by a signer, motion features are selected and classified by using a fuzzy technique. Experimental results show that the use of the features extracted from arm trajectories effectively works on the recognition of dynamic gestures of a human, and gives a good performance to classify various gesture patterns.

The long-time dynamics of two hydrodynamically-coupled swimming cells.

PubMed

Michelin, Sébastien; Lauga, Eric

2010-05-01

Swimming microorganisms such as bacteria or spermatozoa are typically found in dense suspensions, and exhibit collective modes of locomotion qualitatively different from that displayed by isolated cells. In the dilute limit where fluid-mediated interactions can be treated rigorously, the long-time hydrodynamics of a collection of cells result from interactions with many other cells, and as such typically eludes an analytical approach. Here, we consider the only case where such problem can be treated rigorously analytically, namely when the cells have spatially confined trajectories, such as the spermatozoa of some marine invertebrates. We consider two spherical cells swimming, when isolated, with arbitrary circular trajectories, and derive the long-time kinematics of their relative locomotion. We show that in the dilute limit where the cells are much further away than their size, and the size of their circular motion, a separation of time scale occurs between a fast (intrinsic) swimming time, and a slow time where hydrodynamic interactions lead to change in the relative position and orientation of the swimmers. We perform a multiple-scale analysis and derive the effective dynamical system--of dimension two--describing the long-time behavior of the pair of cells. We show that the system displays one type of equilibrium, and two types of rotational equilibrium, all of which are found to be unstable. A detailed mathematical analysis of the dynamical systems further allows us to show that only two cell-cell behaviors are possible in the limit of t-->infinity, either the cells are attracted to each other (possibly monotonically), or they are repelled (possibly monotonically as well), which we confirm with numerical computations. Our analysis shows therefore that, even in the dilute limit, hydrodynamic interactions lead to new modes of cell-cell locomotion.

Modeling Drosophila Positional Preferences in Open Field Arenas with Directional Persistence and Wall Attraction

PubMed Central

Soibam, Benjamin; Goldfeder, Rachel L.; Manson-Bishop, Claire; Gamblin, Rachel; Pletcher, Scott D.; Shah, Shishir; Gunaratne, Gemunu H.; Roman, Gregg W.

2012-01-01

In open field arenas, Drosophila adults exhibit a preference for arena boundaries over internal walls and open regions. Herein, we investigate the nature of this preference using phenomenological modeling of locomotion to determine whether local arena features and constraints on movement alone are sufficient to drive positional preferences within open field arenas of different shapes and with different internal features. Our model has two components: directional persistence and local wall force. In regions far away from walls, the trajectory is entirely characterized by a directional persistence probability, , for each movement defined by the step size, , and the turn angle, . In close proximity to walls, motion is computed from and a local attractive force which depends on the distance between the fly and points on the walls. The directional persistence probability was obtained experimentally from trajectories of wild type Drosophila in a circular open field arena and the wall force was computed to minimize the difference between the radial distributions from the model and Drosophila in the same circular arena. The two-component model for fly movement was challenged by comparing the positional preferences from the two-component model to wild type Drosophila in a variety of open field arenas. In most arenas there was a strong concordance between the two-component model and Drosophila. In more complex arenas, the model exhibits similar trends, but some significant differences were found. These differences suggest that there are emergent features within these complex arenas that have significance for the fly, such as potential shelter. Hence, the two-component model is an important step in defining how Drosophila interact with their environment. PMID:23071591

More on accreting black hole spacetime in equatorial plane

NASA Astrophysics Data System (ADS)

Salahshoor, K.; Nozari, K.; Khesali, A. R.

2017-02-01

Spacetime around an accreting black hole is an interesting issue to study. The metric of an isolated black hole (rotating or non-rotating) spacetime has been well-known for decades. Although metrics of some spacetimes containing accreting black holes are known in some situations, the issue has some faces that are not well-known yet and need further investigation. In this paper, we construct a new form of metric which the effect of accretion disk on black hole spacetime is taken into account in the equatorial plane. We study motion and trajectories of massive particles and also photons falling from infinity towards black hole in equatorial plane around the black hole. We use an exponential form for the density profile of the accretion disk in equatorial plane as ρ =ρ0e^{-α r}. We show that with this density profile, the disk is radially stable if α ≤ 3 × 10^{-3} (in units of length inverse). In order to study some important quantities related to the accretion disks such as locations of marginally stable circular orbits (r_{ms} or r_{ISCO}), marginally bounded circular orbits (r_{mb}), and also photon orbits in equatorial plane, we use the effective potential approach. We show that in this spacetime metric the innermost stable circular orbit in equatorial plane is given by r_{ISCO}=4.03 μ (where μ =MG/c 2) which is different, but comparable, with the Schwarzschild spacetime result, r^{(Sch)}_{ISCO}=6 μ . We show that the maximum radiation efficiency of the accretion disk, η , in equatorial plane is 8.6 percent which is greater than the corresponding value for Schwarzschild spacetime. Finally, we show that in this setup photons can have stable circular orbits in equatorial plane unlike the Schwarzschild spacetime.

Developmental changes in children's understanding of horizontal projectile motion.

PubMed

Mou, Yi; Zhu, Liqi; Chen, Zhe

2015-08-01

This study investigated 5- to 13-year-old children's performance in solving horizontal projectile motion problems, in which they predicted the trajectory of a carried object released from a carrier in three different contexts. The results revealed that 5- and 8-year-olds' trajectory predictions were easily distracted by salient contextual features (e.g. the relative spatial locations between objects), whereas a proportion of 11- and 13-year-olds' performance suggested the engagement of the impetus concept in trajectory prediction. The impetus concept is a typical misconception of inertial motion that assumes that motion is caused by force. Children's performance across ages suggested that their naïve knowledge of projectile motion was neither well-developed and coherent nor completely fragmented. Instead, this study presented the dynamic process in which children with age gradually overcame the influences of contextual features and consistently used the impetus concept across motion problems. © 2014 International Union of Psychological Science.

Essential dynamics/factor analysis for the interpretation of molecular dynamics trajectories

NASA Astrophysics Data System (ADS)

Kaźmierkiewicz, R.; Czaplewski, C.; Lammek, B.; Ciarkowski, J.

1999-01-01

Subject of this work is the analysis of molecular dynamics (MD) trajectories of neurophysins I (NPI) and II (NPII) and their complexes with the neurophyseal nonapeptide hormones oxytocin (OT) and vasopresssin (VP), respectively, simulated in water. NPs serve in the neurosecretory granules as carrier proteins for the hormones before their release to the blood. The starting data consisted of two pairs of different trajectories for each of the (NPII/VP)2 and (NPI/OT)2 heterotetramers and two more trajectories for the NPII2 and NPI2 homodimers (six trajectories in total). Using essential dynamics which, to our judgement, is equivalent to factor analysis, we found that only about 10 degrees of freedom per trajectory are necessary and sufficient to describe in full the motions relevant for the function of the protein. This is consistent with these motions to explain about 90% of the total variance of the system. These principal degrees of freedom represent slow anharmonic motional modes, clearly pointing at distinguished mobility of the atoms involved in the protein's functionality.

A practical six-degree of freedom solar sail dynamics model for optimizing solar sail trajectories with torque constraints

NASA Technical Reports Server (NTRS)

Lisano, Michael E.

2004-01-01

Controlled flight of a solar sail-propelled spacecraft ('sailcraft') is a six-degree-of-freedom dynamics problem. Current state-of-the-art tools that simulate and optimize the trajectories flown by sailcraft do not treat the full kinetic (i.e. force and torque-constrained) motion, instead treating a discrete history of commanded sail attitudes, and either neglecting the sail attitude motion over an integration timestep, or treating the attitude evolution kinematically with a spline or similar treatment. The present paper discusses an aspect of developing a next generation sailcraf trajectory designing optimization tool JPL, for NASA's Solar Sail Spaceflight Simulation Software (SS). The aspect discussed in an experimental approach to modeling full six-degree-of-freedom kinetic motion of a solar sail in a trajectory propagator. Early results from implementing this approach in a new trajectory propagation tool are given.

Fluid-structure interaction of two bodies in an inviscid fluid

NASA Astrophysics Data System (ADS)

Tchieu, A. A.; Crowdy, D.; Leonard, A.

2010-10-01

The interaction of two arbitrary bodies immersed in a two-dimensional inviscid fluid is investigated. Given the linear and angular velocities of the bodies, the solution of the potential flow problem with zero circulation around both bodies is reduced to the determination of a suitable Laurent series in a conformally mapped domain that satisfies the boundary conditions. The potential flow solution is then used to determine the force and moment acting on each body by using generalized Blasius formulas. The current formulation is applied to two examples. First, the case of two rigid circular cylinders interacting in an unbounded domain is investigated. The forces on two cylinders with prescribed motion (forced-forced) is determined and compared to previous results for validation purposes. We then study the response of a single "free" cylinder due to the prescribed motion of the other cylinder (forced-free). This forced-free situation is used to justify the hydrodynamic benefits of drafting in aquatic locomotion. In the case of two neutrally buoyant circular cylinders, the aft cylinder is capable of attaining a substantial propulsive force that is the same order of magnitude of its inertial forces. Additionally, the coupled interaction of two cylinders given an arbitrary initial condition (free-free) is studied to show the differences of perfect collisions with and without the presence of an inviscid fluid. For a certain range of collision parameters, the fluid acts to deflect the cylinder paths just enough before the collision to drastically affect the long time trajectories of the bodies. In the second example, the flapping of two plates is explored. It is seen that the interactions between each plate can cause a net force and torque at certain instants in time, but for idealized sinusoidal motions in irrotational potential flow, there is no net force and torque acting at the system center.

Using a Computer Microphone Port to Study Circular Motion: Proposal of a Secondary School Experiment

ERIC Educational Resources Information Center

Soares, A. A.; Borcsik, F. S.

2016-01-01

In this work we present an inexpensive experiment proposal to study the kinematics of uniform circular motion in a secondary school. We used a PC sound card to connect a homemade simple sensor to a computer and used the free sound analysis software "Audacity" to record experimental data. We obtained quite good results even in comparison…

Methodology for the regulation of boom sprayers operating in circular trajectories.

PubMed

Garcia-Ramos, Francisco Javier; Vidal, Mariano; Boné, Antonio; Serreta, Alfredo

2011-01-01

A methodology for the regulation of boom sprayers working in circular trajectories has been developed. In this type of trajectory, the areas of the plots of land treated by the outer nozzles of the boom are treated at reduced rates, and those treated by the inner nozzles are treated in excess. The goal of this study was to establish the methodology to determine the flow of the individual nozzles on the boom to guarantee that the dose of the product applied per surface unit is similar across the plot. This flow is a function of the position of the equipment (circular trajectory radius) and of the displacement velocity such that the treatment applied per surface unit is uniform. GPS technology was proposed as a basis to establish the position and displacement velocity of the tractor. The viability of this methodology was simulated considering two circular plots with radii of 160 m and 310 m, using three sets of equipment with boom widths of 14.5, 24.5 and 29.5 m. Data showed as increasing boom widths produce bigger errors in the surface dose applied (L/m(2)). Error also increases with decreasing plot surface. As an example, considering the three boom widths of 14.5, 24.5 and 29.5 m working on a circular plot with a radius of 160 m, the percentage of surface with errors in the applied surface dose greater than 5% was 30%, 58% and 65% respectively. Considering a circular plot with radius of 310 m the same errors were 8%, 22% and 31%. To obtain a uniform superficial dose two sprayer regulation alternatives have been simulated considering a 14.5 m boom: the regulation of the pressure of each nozzle and the regulation of the pressure of each boom section. The viability of implementing the proposed methodology on commercial boom sprayers using GPS antennas to establish the position and displacement velocity of the tractor was justified with a field trial in which a self-guiding commercial GPS system was used along with three precision GPS systems located in the sprayer boom. The use of an unique central GPS unit should allow the estimation of the work parameters of the boom nozzles (including those located at the boom ends) with great accuracy.

Lunar Navigation with Libration Point Orbiters and GPS

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

2004-01-01

NASA is currently studying a Vision for Space Exploration based on spiral development of robotic and piloted missions to the moon and Mars, but research into how to perform such missions has continued ever since the first era of lunar exploration. One area of study that a number of researchers have pursued is libration point navigation and communication relay concepts. These concepts would appear to support many of NASA's current requirements for navigation and communications coverage for human and robotic spacecraft operating in lunar space and beyond. In trading libration point concepts against other options, designers must consider issues such as the number of spacecraft, required to provide coverage, insertion and stationkeeping costs, power and data rate requirements, frequency allocations, and many others. The libration points, along with a typical cis-lunar trajectory, are equilibrium locations for an infinitesimal mass in the rotating coordinate system that follows the motion of two massive bodies in circular orbits with respect to their common barycenter. There are three co-linear points along the line connecting the massive bodies: between the bodies, beyond the secondary body, and beyond the primary body. The relative distances of these points along the line connecting the bodies depend on the mass ratios. There are also two points that form equilateral triangles with the massive bodies. Ideally, motion in the neighborhood of the co-linear points is unstable, while motion near the equilibrium points is stable. However, in the real world, the motions are highly perturbed so that a satellite will require stationkeeping maneuvers.

Characteristics of circular features on comet 67P/Churyumov-Gerasimenko

NASA Astrophysics Data System (ADS)

Deller, J. F.; Güttler, C.; Tubiana, C.; Hofmann, M.; Sierks, H.

2017-09-01

Comet 67P/Churyumov-Gerasimenko shows a large variety of circular structures such as pits, elevated roundish features in Imhotep, and even a single occurrence of a plausible fresh impact crater. Imaging the pits in the Ma'at region, aiming to understand their structure and origin drove the design of the final descent trajectory of the Rosetta spacecraft. The high-resolution images obtained during the last mission phase allow us to study these pits as exemplary circular features. A complete catalogue of circular features gives us the possibility to compare and classify these structures systematically.

Modelling the Projectile Motion of a Cricket Ball.

ERIC Educational Resources Information Center

Coutis, Peter

1998-01-01

Presents the equations of motion governing the trajectory of a cricket ball subject to a linear drag force. Uses a perturbation expansion technique to solve the resulting trajectory equation for the range of a cricket ball struck into the outfield. (Author/ASK)

Steady States of the Parametric Rotator and Pendulum

ERIC Educational Resources Information Center

Bouzas, Antonio O.

2010-01-01

We discuss several steady-state rotation and oscillation modes of the planar parametric rotator and pendulum with damping. We consider a general elliptic trajectory of the suspension point for both rotator and pendulum, for the latter at an arbitrary angle with gravity, with linear and circular trajectories as particular cases. We treat the…

A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

NASA Astrophysics Data System (ADS)

Güler, Fatma; Kasap, Emin

Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.

Zero, minimum and maximum relative radial acceleration for planar formation flight dynamics near triangular libration points in the Earth-Moon system

NASA Astrophysics Data System (ADS)

Salazar, F. J. T.; Masdemont, J. J.; Gómez, G.; Macau, E. E.; Winter, O. C.

2014-11-01

Assume a constellation of satellites is flying near a given nominal trajectory around L4 or L5 in the Earth-Moon system in such a way that there is some freedom in the selection of the geometry of the constellation. We are interested in avoiding large variations of the mutual distances between spacecraft. In this case, the existence of regions of zero and minimum relative radial acceleration with respect to the nominal trajectory will prevent from the expansion or contraction of the constellation. In the other case, the existence of regions of maximum relative radial acceleration with respect to the nominal trajectory will produce a larger expansion and contraction of the constellation. The goal of this paper is to study these regions in the scenario of the Circular Restricted Three Body Problem by means of a linearization of the equations of motion relative to the periodic orbits around L4 or L5. This study corresponds to a preliminar planar formation flight dynamics about triangular libration points in the Earth-Moon system. Additionally, the cost estimate to maintain the constellation in the regions of zero and minimum relative radial acceleration or keeping a rigid configuration is computed with the use of the residual acceleration concept. At the end, the results are compared with the dynamical behavior of the deviation of the constellation from a periodic orbit.

Leveraging natural dynamical structures to explore multi-body systems

NASA Astrophysics Data System (ADS)

Bosanac, Natasha

Multi-body systems have become the target of an increasing number of mission concepts and observations, supplying further information about the composition, origin and dynamical environment of bodies within the solar system and beyond. In many of these scenarios, identification and characterization of the particular solutions that exist in a circular restricted three-body model is valuable. This insight into the underlying natural dynamical structures is achieved via the application of dynamical systems techniques. One application of such analysis is trajectory design for CubeSats, which are intended to explore cislunar space and other planetary systems. These increasingly complex mission objectives necessitate innovative trajectory design strategies for spacecraft within our solar system, as well as the capability for rapid and well-informed redesign. Accordingly, a trajectory design framework is constructed using dynamical systems techniques and demonstrated for the Lunar IceCube mission. An additional application explored in this investigation involves the motion of an exoplanet near a binary star system. Due to the strong gravitational field near a binary star, physicists have previously leveraged these systems as testbeds for examining the validity of gravitational and relativistic theories. In this investigation, a preliminary analysis into the effect of an additional three-body interaction on the dynamical environment near a large mass ratio binary system is conducted. As demonstrated through both of these sample applications, identification and characterization of the natural particular solutions that exist within a multi-body system supports a well-informed and guided analysis.

Motion generation of robotic surgical tasks: learning from expert demonstrations.

PubMed

Reiley, Carol E; Plaku, Erion; Hager, Gregory D

2010-01-01

Robotic surgical assistants offer the possibility of automating portions of a task that are time consuming and tedious in order to reduce the cognitive workload of a surgeon. This paper proposes using programming by demonstration to build generative models and generate smooth trajectories that capture the underlying structure of the motion data recorded from expert demonstrations. Specifically, motion data from Intuitive Surgical's da Vinci Surgical System of a panel of expert surgeons performing three surgical tasks are recorded. The trials are decomposed into subtasks or surgemes, which are then temporally aligned through dynamic time warping. Next, a Gaussian Mixture Model (GMM) encodes the experts' underlying motion structure. Gaussian Mixture Regression (GMR) is then used to extract a smooth reference trajectory to reproduce a trajectory of the task. The approach is evaluated through an automated skill assessment measurement. Results suggest that this paper presents a means to (i) extract important features of the task, (ii) create a metric to evaluate robot imitative performance (iii) generate smoother trajectories for reproduction of three common medical tasks.

Motion-based prediction explains the role of tracking in motion extrapolation.

PubMed

Khoei, Mina A; Masson, Guillaume S; Perrinet, Laurent U

2013-11-01

During normal viewing, the continuous stream of visual input is regularly interrupted, for instance by blinks of the eye. Despite these frequents blanks (that is the transient absence of a raw sensory source), the visual system is most often able to maintain a continuous representation of motion. For instance, it maintains the movement of the eye such as to stabilize the image of an object. This ability suggests the existence of a generic neural mechanism of motion extrapolation to deal with fragmented inputs. In this paper, we have modeled how the visual system may extrapolate the trajectory of an object during a blank using motion-based prediction. This implies that using a prior on the coherency of motion, the system may integrate previous motion information even in the absence of a stimulus. In order to compare with experimental results, we simulated tracking velocity responses. We found that the response of the motion integration process to a blanked trajectory pauses at the onset of the blank, but that it quickly recovers the information on the trajectory after reappearance. This is compatible with behavioral and neural observations on motion extrapolation. To understand these mechanisms, we have recorded the response of the model to a noisy stimulus. Crucially, we found that motion-based prediction acted at the global level as a gain control mechanism and that we could switch from a smooth regime to a binary tracking behavior where the dot is tracked or lost. Our results imply that a local prior implementing motion-based prediction is sufficient to explain a large range of neural and behavioral results at a more global level. We show that the tracking behavior deteriorates for sensory noise levels higher than a certain value, where motion coherency and predictability fail to hold longer. In particular, we found that motion-based prediction leads to the emergence of a tracking behavior only when enough information from the trajectory has been accumulated. Then, during tracking, trajectory estimation is robust to blanks even in the presence of relatively high levels of noise. Moreover, we found that tracking is necessary for motion extrapolation, this calls for further experimental work exploring the role of noise in motion extrapolation. Copyright © 2013 Elsevier Ltd. All rights reserved.

Unsteady Newton-Busemann flow theory. Part 2: Bodies of revolution

NASA Technical Reports Server (NTRS)

Hui, W. H.; Tobak, M.

1981-01-01

Newtonian flow theory for unsteady flow past oscillating bodies of revolution at very high Mach numbers is completed by adding a centrifugal force correction to the impact pressures. Exact formulas for the unsteady pressure and the stability derivatives are obtained in closed form and are applicable to bodies of revolution that have arbitrary shapes, arbitrary thicknesses, and either sharp or blunt noses. The centrifugal force correction arising from the curved trajectories followed by the fluid particles in unsteady flow cannot be neglected even for the case of a circular cone. With this correction, the present theory is in excellent agreement with experimental results for sharp cones and for cones with small nose bluntness; gives poor agreement with the results of experiments in air for bodies with moderate or large nose bluntness. The pitching motions of slender power-law bodies of revulution are shown to be always dynamically stable according to Newton-Busemann theory.

A standing wave linear ultrasonic motor operating in in-plane expanding and bending modes.

PubMed

Chen, Zhijiang; Li, Xiaotian; Ci, Penghong; Liu, Guoxi; Dong, Shuxiang

2015-03-01

A novel standing wave linear ultrasonic motor operating in in-plane expanding and bending modes was proposed in this study. The stator (or actuator) of the linear motor was made of a simple single Lead Zirconate Titanate (PZT) ceramic square plate (15 × 15 × 2 mm(3)) with a circular hole (D = 6.7 mm) in the center. The geometric parameters of the stator were computed with the finite element analysis to produce in-plane bi-mode standing wave vibration. The calculated results predicted that a driving tip attached at midpoint of one edge of the stator can produce two orthogonal, approximate straight-line trajectories, which can be used to move a slider in linear motion via frictional forces in forward or reverse direction. The investigations showed that the proposed linear motor can produce a six times higher power density than that of a previously reported square plate motor.

Motion Tree Delineates Hierarchical Structure of Protein Dynamics Observed in Molecular Dynamics Simulation

PubMed Central

Moritsugu, Kei; Koike, Ryotaro; Yamada, Kouki; Kato, Hiroaki; Kidera, Akinori

2015-01-01

Molecular dynamics (MD) simulations of proteins provide important information to understand their functional mechanisms, which are, however, likely to be hidden behind their complicated motions with a wide range of spatial and temporal scales. A straightforward and intuitive analysis of protein dynamics observed in MD simulation trajectories is therefore of growing significance with the large increase in both the simulation time and system size. In this study, we propose a novel description of protein motions based on the hierarchical clustering of fluctuations in the inter-atomic distances calculated from an MD trajectory, which constructs a single tree diagram, named a “Motion Tree”, to determine a set of rigid-domain pairs hierarchically along with associated inter-domain fluctuations. The method was first applied to the MD trajectory of substrate-free adenylate kinase to clarify the usefulness of the Motion Tree, which illustrated a clear-cut dynamics picture of the inter-domain motions involving the ATP/AMP lid and the core domain together with the associated amplitudes and correlations. The comparison of two Motion Trees calculated from MD simulations of ligand-free and -bound glutamine binding proteins clarified changes in inherent dynamics upon ligand binding appeared in both large domains and a small loop that stabilized ligand molecule. Another application to a huge protein, a multidrug ATP binding cassette (ABC) transporter, captured significant increases of fluctuations upon binding a drug molecule observed in both large scale inter-subunit motions and a motion localized at a transmembrane helix, which may be a trigger to the subsequent structural change from inward-open to outward-open states to transport the drug molecule. These applications demonstrated the capabilities of Motion Trees to provide an at-a-glance view of various sizes of functional motions inherent in the complicated MD trajectory. PMID:26148295

Catching What We Can't See: Manual Interception of Occluded Fly-Ball Trajectories

PubMed Central

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories. PMID:23166653

Catching what we can't see: manual interception of occluded fly-ball trajectories.

PubMed

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories.

Detailed description of the HP-9825A HFRMP trajectory processor (TRAJ)

NASA Technical Reports Server (NTRS)

Kindall, S. M.; Wilson, S. W.

1979-01-01

The computer code for the trajectory processor of the HP-9825A High Fidelity Relative Motion Program is described in detail. The processor is a 12-degrees-of-freedom trajectory integrator which can be used to generate digital and graphical data describing the relative motion of the Space Shuttle Orbiter and a free-flying cylindrical payload. Coding standards and flow charts are given and the computational logic is discussed.

Bodily Expression Support for Creative Dance Education by Grasping-Type Musical Interface with Embedded Motion and Grasp Sensors †

PubMed Central

Yamaguchi, Tomoyuki; Kadone, Hideki

2017-01-01

Dance has been made mandatory as one of the physical education courses in Japan because it can cultivate capacities for expression and communication. Among several types of dance education, creative dance especially contributes to the cultivation of these capacities. However, creative dance requires some level of particular skills, as well as creativity, and it is difficult to presuppose these pre-requisites in beginner-level dancers without experience. We propose a novel supporting device for dance beginners to encourage creative dance performance by continuously generating musical sounds in real-time in accordance with their bodily movements. It has embedded sensors developed for this purpose. Experiments to evaluate the effectiveness of the device were conducted with ten beginner-level dancers. Using the proposed device, the subjects demonstrated enhanced creative dance movements with greater variety, evaluated in terms of Laban dance movement description. Also, using the device, they performed with better accuracy and repeatability in a task where they produced an imagined circular trajectory by hand. The proposed interface is effective in terms of creative dance activity and accuracy of motion generation for beginner-level dancers. PMID:28531114

Planning nonlinear access paths for temporal bone surgery.

PubMed

Fauser, Johannes; Sakas, Georgios; Mukhopadhyay, Anirban

2018-05-01

Interventions at the otobasis operate in the narrow region of the temporal bone where several highly sensitive organs define obstacles with minimal clearance for surgical instruments. Nonlinear trajectories for potential minimally invasive interventions can provide larger distances to risk structures and optimized orientations of surgical instruments, thus improving clinical outcomes when compared to existing linear approaches. In this paper, we present fast and accurate planning methods for such nonlinear access paths. We define a specific motion planning problem in [Formula: see text] with notable constraints in computation time and goal pose that reflect the requirements of temporal bone surgery. We then present [Formula: see text]-RRT-Connect: two suitable motion planners based on bidirectional Rapidly exploring Random Tree (RRT) to solve this problem efficiently. The benefits of [Formula: see text]-RRT-Connect are demonstrated on real CT data of patients. Their general performance is shown on a large set of realistic synthetic anatomies. We also show that these new algorithms outperform state-of-the-art methods based on circular arcs or Bézier-Splines when applied to this specific problem. With this work, we demonstrate that preoperative and intra-operative planning of nonlinear access paths is possible for minimally invasive surgeries at the otobasis.

On the local standard of rest

NASA Technical Reports Server (NTRS)

Yuan, C.

1982-01-01

Under the influence of a spiral gravitational field, there should be differences among the mean motions of different types of objects with different dispersion velocities in a sipral galaxy. The old stars with high dispersion velocity should have essentially no mean motion normal to the galactic rotation. On the other hand, young objects and interstellar gas may be moving relative to the old stars at a velocity of a few kilometer per second in both the radial (galacto-centric), and circular directions, depending on the spiral model adopted. Such a velocity is usually referred as the systematic motion or the streaming motion. The conventionally adopted local standard of rest is indeed co-moving with the young objects of the solar vicinity. Therefore, it has a net systematic motion with respect to the circular motion of an equilibrium galactic model, defined by the old stars.

The Improvement of Efficiency in the Numerical Computation of Orbit Trajectories

NASA Technical Reports Server (NTRS)

Dyer, J.; Danchick, R.; Pierce, S.; Haney, R.

1972-01-01

An analysis, system design, programming, and evaluation of results are described for numerical computation of orbit trajectories. Evaluation of generalized methods, interaction of different formulations for satellite motion, transformation of equations of motion and integrator loads, and development of efficient integrators are also considered.

Simulations of Dissipative Circular Restricted Three-body Problems Using the Velocity-scaling Correction Method

NASA Astrophysics Data System (ADS)

Wang, Shoucheng; Huang, Guoqing; Wu, Xin

2018-02-01

In this paper, we survey the effect of dissipative forces including radiation pressure, Poynting–Robertson drag, and solar wind drag on the motion of dust grains with negligible mass, which are subjected to the gravities of the Sun and Jupiter moving in circular orbits. The effect of the dissipative parameter on the locations of five Lagrangian equilibrium points is estimated analytically. The instability of the triangular equilibrium point L4 caused by the drag forces is also shown analytically. In this case, the Jacobi constant varies with time, whereas its integral invariant relation still provides a probability for the applicability of the conventional fourth-order Runge–Kutta algorithm combined with the velocity scaling manifold correction scheme. Consequently, the velocity-only correction method significantly suppresses the effects of artificial dissipation and a rapid increase in trajectory errors caused by the uncorrected one. The stability time of an orbit, regardless of whether it is chaotic or not in the conservative problem, is apparently longer in the corrected case than in the uncorrected case when the dissipative forces are included. Although the artificial dissipation is ruled out, the drag dissipation leads to an escape of grains. Numerical evidence also demonstrates that more orbits near the triangular equilibrium point L4 escape as the integration time increases.

Mass Spectrometer Containing Multiple Fixed Collectors

NASA Technical Reports Server (NTRS)

Moskala, Robert; Celo, Alan; Voss, Guenter; Shaffer, Tom

2008-01-01

A miniature mass spectrometer that incorporates features not typically found in prior mass spectrometers is undergoing development. This mass spectrometer is designed to simultaneously measure the relative concentrations of five gases (H2, He, N2, O2, and Ar) in air, over the relative-concentration range from 10(exp -6) to 1, during a sampling time as short as 1 second. It is intended to serve as a prototype of a product line of easy-to-use, portable, lightweight, highspeed, relatively inexpensive instruments for measuring concentrations of multiple chemical species in such diverse applications as detecting explosive or toxic chemicals in air, monitoring and controlling industrial processes, measuring concentrations of deliberately introduced isotopes in medical and biological investigations, and general environmental monitoring. The heart of this mass spectrometer is an integral combination of a circular cycloidal mass analyzer, multiple fixed ion collectors, and two mass-selective ion sources. By circular cycloidal mass analyzer is meant an analyzer that includes (1) two concentric circular cylindrical electrodes for applying a radial electric field and (2) a magnet arranged to impose a magnetic flux aligned predominantly along the cylindrical axis, so that ions, once accelerated into the annulus between the electrodes, move along circular cycloidal trajectories. As in other mass analyzers, trajectory of each ion is determined by its mass-to-charge ratio, and so ions of different species can be collected simultaneously by collectors (Faraday cups) at different locations intersected by the corresponding trajectories (see figure). Unlike in other mass analyzers, the installation of additional collectors to detect additional species does not necessitate increasing the overall size of the analyzer assembly.

Theory of electromagnetic insertion devices and the corresponding synchrotron radiation

NASA Astrophysics Data System (ADS)

Shumail, Muhammad; Tantawi, Sami G.

2016-07-01

Permanent magnet insertion devices (IDs), which are the main radiation generating devices in synchrotron light sources and free-electron lasers, use a time-invariant but space-periodic magnetic field to wiggle relativistic electrons for short-wavelength radiation generation. Recently, a high power microwave based undulator has also been successfully demonstrated at SLAC which promises the advantage of dynamic tunability of radiation spectrum and polarization. Such IDs employ transverse elecromagnetic fields which are periodic in both space and time to undulate the electrons. In this paper we develop a detailed theory of the principle of electromagnetic IDs from first principles for both linear and circular polarization modes. The electromagnetic equivalent definitions of undulator period (λu) and undulator deflection parameter (K ) are derived. In the inertial frame where the average momentum of the electron is zero, we obtain the figure-8-like trajectory for the linear polarization mode and the circular trajectory for the circular polarization mode. The corresponding radiation spectra and the intensity of harmonics is also calculated.

Task Decomposition Module For Telerobot Trajectory Generation

NASA Astrophysics Data System (ADS)

Wavering, Albert J.; Lumia, Ron

1988-10-01

A major consideration in the design of trajectory generation software for a Flight Telerobotic Servicer (FTS) is that the FTS will be called upon to perform tasks which require a diverse range of manipulator behaviors and capabilities. In a hierarchical control system where tasks are decomposed into simpler and simpler subtasks, the task decomposition module which performs trajectory planning and execution should therefore be able to accommodate a wide range of algorithms. In some cases, it will be desirable to plan a trajectory for an entire motion before manipulator motion commences, as when optimizing over the entire trajectory. Many FTS motions, however, will be highly sensory-interactive, such as moving to attain a desired position relative to a non-stationary object whose position is periodically updated by a vision system. In this case, the time-varying nature of the trajectory may be handled either by frequent replanning using updated sensor information, or by using an algorithm which creates a less specific state-dependent plan that determines the manipulator path as the trajectory is executed (rather than a priori). This paper discusses a number of trajectory generation techniques from these categories and how they may be implemented in a task decompo-sition module of a hierarchical control system. The structure, function, and interfaces of the proposed trajectory gener-ation module are briefly described, followed by several examples of how different algorithms may be performed by the module. The proposed task decomposition module provides a logical structure for trajectory planning and execution, and supports a large number of published trajectory generation techniques.

Misperceptions in the Trajectories of Objects undergoing Curvilinear Motion

PubMed Central

Yilmaz, Ozgur; Tripathy, Srimant P.; Ogmen, Haluk

2012-01-01

Trajectory perception is crucial in scene understanding and action. A variety of trajectory misperceptions have been reported in the literature. In this study, we quantify earlier observations that reported distortions in the perceived shape of bilinear trajectories and in the perceived positions of their deviation. Our results show that bilinear trajectories with deviation angles smaller than 90 deg are perceived smoothed while those with deviation angles larger than 90 degrees are perceived sharpened. The sharpening effect is weaker in magnitude than the smoothing effect. We also found a correlation between the distortion of perceived trajectories and the perceived shift of their deviation point. Finally, using a dual-task paradigm, we found that reducing attentional resources allocated to the moving target causes an increase in the perceived shift of the deviation point of the trajectory. We interpret these results in the context of interactions between motion and position systems. PMID:22615775

Electromagnetic guided couch and multileaf collimator tracking on a TrueBeam accelerator

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hansen, Rune; Ravkilde, Thomas; Worm, Esben Schjødt

2016-05-15

Purpose: Couch and MLC tracking are two promising methods for real-time motion compensation during radiation therapy. So far, couch and MLC tracking experiments have mainly been performed by different research groups, and no direct comparison of couch and MLC tracking of volumetric modulated arc therapy (VMAT) plans has been published. The Varian TrueBeam 2.0 accelerator includes a prototype tracking system with selectable couch or MLC compensation. This study provides a direct comparison of the two tracking types with an otherwise identical setup. Methods: Several experiments were performed to characterize the geometric and dosimetric performance of electromagnetic guided couch and MLCmore » tracking on a TrueBeam accelerator equipped with a Millennium MLC. The tracking system latency was determined without motion prediction as the time lag between sinusoidal target motion and the compensating motion of the couch or MLC as recorded by continuous MV portal imaging. The geometric and dosimetric tracking accuracies were measured in tracking experiments with motion phantoms that reproduced four prostate and four lung tumor trajectories. The geometric tracking error in beam’s eye view was determined as the distance between an embedded gold marker and a circular MLC aperture in continuous MV images. The dosimetric tracking error was quantified as the measured 2%/2 mm gamma failure rate of a low and a high modulation VMAT plan delivered with the eight motion trajectories using a static dose distribution as reference. Results: The MLC tracking latency was approximately 146 ms for all sinusoidal period lengths while the couch tracking latency increased from 187 to 246 ms with decreasing period length due to limitations in the couch acceleration. The mean root-mean-square geometric error was 0.80 mm (couch tracking), 0.52 mm (MLC tracking), and 2.75 mm (no tracking) parallel to the MLC leaves and 0.66 mm (couch), 1.14 mm (MLC), and 2.41 mm (no tracking) perpendicular to the leaves. The motion-induced gamma failure rate was in mean 0.1% (couch tracking), 8.1% (MLC tracking), and 30.4% (no tracking) for prostate motion and 2.9% (couch), 2.4% (MLC), and 41.2% (no tracking) for lung tumor motion. The residual tracking errors were mainly caused by inadequate adaptation to fast lung tumor motion for couch tracking and to prostate motion perpendicular to the MLC leaves for MLC tracking. Conclusions: Couch and MLC tracking markedly improved the geometric and dosimetric accuracies of VMAT delivery. However, the two tracking types have different strengths and weaknesses. While couch tracking can correct perfectly for slowly moving targets such as the prostate, MLC tracking may have considerably larger dose errors for persistent target shift perpendicular to the MLC leaves. Advantages of MLC tracking include faster dynamics with better adaptation to fast moving targets, the avoidance of moving the patient, and the potential to track target rotations and deformations.« less

Molecular adsorption steers bacterial swimming at the air/water interface.

PubMed

Morse, Michael; Huang, Athena; Li, Guanglai; Maxey, Martin R; Tang, Jay X

2013-07-02

Microbes inhabiting Earth have adapted to diverse environments of water, air, soil, and often at the interfaces of multiple media. In this study, we focus on the behavior of Caulobacter crescentus, a singly flagellated bacterium, at the air/water interface. Forward swimming C. crescentus swarmer cells tend to get physically trapped at the surface when swimming in nutrient-rich growth medium but not in minimal salt motility medium. Trapped cells move in tight, clockwise circles when viewed from the air with slightly reduced speed. Trace amounts of Triton X100, a nonionic surfactant, release the trapped cells from these circular trajectories. We show, by tracing the motion of positively charged colloidal beads near the interface that organic molecules in the growth medium adsorb at the interface, creating a high viscosity film. Consequently, the air/water interface no longer acts as a free surface and forward swimming cells become hydrodynamically trapped. Added surfactants efficiently partition to the surface, replacing the viscous layer of molecules and reestablishing free surface behavior. These findings help explain recent similar studies on Escherichia coli, showing trajectories of variable handedness depending on media chemistry. The consistent behavior of these two distinct microbial species provides insights on how microbes have evolved to cope with challenging interfacial environments. Copyright © 2013 Biophysical Society. Published by Elsevier Inc. All rights reserved.

GENERAL: Application of Symplectic Algebraic Dynamics Algorithm to Circular Restricted Three-Body Problem

NASA Astrophysics Data System (ADS)

Lu, Wei-Tao; Zhang, Hua; Wang, Shun-Jin

2008-07-01

Symplectic algebraic dynamics algorithm (SADA) for ordinary differential equations is applied to solve numerically the circular restricted three-body problem (CR3BP) in dynamical astronomy for both stable motion and chaotic motion. The result is compared with those of Runge-Kutta algorithm and symplectic algorithm under the fourth order, which shows that SADA has higher accuracy than the others in the long-term calculations of the CR3BP.

Selectively transporting small chiral particles with circularly polarized Airy beams.

PubMed

Lu, Wanli; Chen, Huajin; Guo, Sandong; Liu, Shiyang; Lin, Zhifang

2018-05-01

Based on the full wave simulation, we demonstrate that a circularly polarized vector Airy beam can selectively transport small chiral particles along a curved trajectory via the chirality-tailored optical forces. The transverse optical forces can draw the chiral particles with different particle chirality towards or away from the intensity maxima of the beam, leading to the selective trapping in the transverse plane. The transversely trapped chiral particles are then accelerated along a curved trajectory of the Airy beam by the chirality-tailored longitudinal scattering force, rendering an alternative way to sort and/or transport chiral particles with specified helicity. Finally, the underlying physics of the chirality induced transverse trap and de-trap phenomena are examined by the analytical theory within the dipole approximation.

Bayesian approach to MSD-based analysis of particle motion in live cells.

PubMed

Monnier, Nilah; Guo, Syuan-Ming; Mori, Masashi; He, Jun; Lénárt, Péter; Bathe, Mark

2012-08-08

Quantitative tracking of particle motion using live-cell imaging is a powerful approach to understanding the mechanism of transport of biological molecules, organelles, and cells. However, inferring complex stochastic motion models from single-particle trajectories in an objective manner is nontrivial due to noise from sampling limitations and biological heterogeneity. Here, we present a systematic Bayesian approach to multiple-hypothesis testing of a general set of competing motion models based on particle mean-square displacements that automatically classifies particle motion, properly accounting for sampling limitations and correlated noise while appropriately penalizing model complexity according to Occam's Razor to avoid over-fitting. We test the procedure rigorously using simulated trajectories for which the underlying physical process is known, demonstrating that it chooses the simplest physical model that explains the observed data. Further, we show that computed model probabilities provide a reliability test for the downstream biological interpretation of associated parameter values. We subsequently illustrate the broad utility of the approach by applying it to disparate biological systems including experimental particle trajectories from chromosomes, kinetochores, and membrane receptors undergoing a variety of complex motions. This automated and objective Bayesian framework easily scales to large numbers of particle trajectories, making it ideal for classifying the complex motion of large numbers of single molecules and cells from high-throughput screens, as well as single-cell-, tissue-, and organism-level studies. Copyright © 2012 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Design and analysis of a 3D Elliptical Micro-Displacement Motion Stage

NASA Astrophysics Data System (ADS)

Lin, Jieqiong; Zhao, Dongpo; Lu, Mingming; Zhou, Jiakang

2017-12-01

Micro-displacement motion stage driven by piezoelectric actuator has a significant demand in the field of ultra-precision machining in recent years, while the design of micro-displacement motion stage plays an important role to realize a large displacement output and high precision control. Thus, a 3D elliptical micro-displacement motion stage driven by three PZT actuators has been developed. Firstly, the 3D elliptical trajectory of this motion stage could be adjusted through the form of the PZT actuators input signal. Then, the desired trajectory was obtained by adjusting the micro displacement of the motion stage in 3D elliptical space. Finally, the trajectory simulation and the finite element simulation were applied in this motion stage. The experimental results shown that, the output displacement of the three directions under the input force of the 1600N were 14μm, 16μm and 74μm, respectively. And the first three modes were 1471.6Hz, 2698.4Hz and 2803.4Hz, respectively. Analysis and experiments were carried out to verify the performance, result proved that a large output displacement and high precision control could be obtained.

Assessing randomness and complexity in human motion trajectories through analysis of symbolic sequences

PubMed Central

Peng, Zhen; Genewein, Tim; Braun, Daniel A.

2014-01-01

Complexity is a hallmark of intelligent behavior consisting both of regular patterns and random variation. To quantitatively assess the complexity and randomness of human motion, we designed a motor task in which we translated subjects' motion trajectories into strings of symbol sequences. In the first part of the experiment participants were asked to perform self-paced movements to create repetitive patterns, copy pre-specified letter sequences, and generate random movements. To investigate whether the degree of randomness can be manipulated, in the second part of the experiment participants were asked to perform unpredictable movements in the context of a pursuit game, where they received feedback from an online Bayesian predictor guessing their next move. We analyzed symbol sequences representing subjects' motion trajectories with five common complexity measures: predictability, compressibility, approximate entropy, Lempel-Ziv complexity, as well as effective measure complexity. We found that subjects' self-created patterns were the most complex, followed by drawing movements of letters and self-paced random motion. We also found that participants could change the randomness of their behavior depending on context and feedback. Our results suggest that humans can adjust both complexity and regularity in different movement types and contexts and that this can be assessed with information-theoretic measures of the symbolic sequences generated from movement trajectories. PMID:24744716

Measurement of three-dimensional posture and trajectory of lower body during standing long jumping utilizing body-mounted sensors.

PubMed

Ibata, Yuki; Kitamura, Seiji; Motoi, Kosuke; Sagawa, Koichi

2013-01-01

The measurement method of three-dimensional posture and flying trajectory of lower body during jumping motion using body-mounted wireless inertial measurement units (WIMU) is introduced. The WIMU is composed of three-dimensional (3D) accelerometer and gyroscope of two kinds with different dynamic range and one 3D geomagnetic sensor to adapt to quick movement. Three WIMUs are mounted under the chest, right thigh and right shank. Thin film pressure sensors are connected to the shank WIMU and are installed under right heel and tiptoe to distinguish the state of the body motion between grounding and jumping. Initial and final postures of trunk, thigh and shank at standing-still are obtained using gravitational acceleration and geomagnetism. The posture of body is determined using the 3D direction of each segment updated by the numerical integration of angular velocity. Flying motion is detected from pressure sensors and 3D flying trajectory is derived by the double integration of trunk acceleration applying the 3D velocity of trunk at takeoff. Standing long jump experiments are performed and experimental results show that the joint angle and flying trajectory agree with the actual motion measured by the optical motion capture system.

REVIEWS OF TOPICAL PROBLEMS: Motion of particles and photons in the gravitational field of a rotating body (In memory of Vladimir Afanas'evich Ruban)

NASA Astrophysics Data System (ADS)

Dymnikova, I. G.

1986-03-01

A study is made of the trajectories of free motion of test particles and photons in the Kerr metric, which describes the gravitational field of a rotating massive body. The trajectories are classified on the basis of the integrals of the motion, which have a clear physical meaning. The cases of a strong gravitational field in the neighborhood of a rotating black hole as well as the weak-field approximation describing the motion of particles in the gravitational field of a rotating star or galaxy are considered. The review includes bound states (orbits) in the field of a rotating mass, scattering and gravitational capture of particles and photons by a rotating black hole, trajectories of falling into a black hole, and the bending of light rays and the gravitational time delay of signals in the gravitational field of a rotating body.

SU-C-BRF-05: Design and Geometric Validation of An Externally and Internally Deformable, Programmable Lung Motion Phantom

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheung, Y; Sawant, A

Purpose: Most clinically-deployed strategies for respiratory motion management in lung radiotherapy (e.g., gating, tracking) use external markers that serve as surrogates for tumor motion. However, typical lung phantoms used to validate these strategies are rigid-exterior+rigid-interior or rigid-exterior+deformable-interior. Neither class adequately represents the human anatomy, which is deformable internally as well as externally. We describe the construction and experimental validation of a more realistic, externally- and internally-deformable, programmable lung phantom. Methods: The outer shell of a commercially-available lung phantom (RS- 1500, RSD Inc.) was used. The shell consists of a chest cavity with a flexible anterior surface, and embedded vertebrae, rib-cagemore » and sternum. A 3-axis platform was programmed with sinusoidal and six patient-recorded lung tumor trajectories. The platform was used to drive a rigid foam ‘diaphragm’ that compressed/decompressed the phantom interior. Experimental characterization comprised of mapping the superior-inferior (SI) and anterior-posterior (AP) trajectories of external and internal radioopaque markers with kV x-ray fluoroscopy and correlating these with optical surface monitoring using the in-room VisionRT system. Results: The phantom correctly reproduced the programmed motion as well as realistic effects such as hysteresis. The reproducibility of marker trajectories over multiple runs for sinusoidal as well as patient traces, as characterized by fluoroscopy, was within 0.4 mm RMS error for internal as well as external markers. The motion trajectories of internal and external markers as measured by fluoroscopy were found to be highly correlated (R=0.97). Furthermore, motion trajectories of arbitrary points on the deforming phantom surface, as recorded by the VisionRT system also showed a high correlation with respect to the fluoroscopically-measured trajectories of internal markers (R=0.92). Conclusion: We have developed a realistic externally- and internally-deformable lung phantom that will serve as a valuable tool for clinical QA and motion management research. This work was supported through funding from the NIH and VisionRT Ltd. Amit Sawant has research funding from Varian Medical Systems, VisionRT and Elekta.« less

Comparison of Low-Energy Lunar Transfer Trajectories to Invariant Manifolds

NASA Technical Reports Server (NTRS)

Anderson, Rodney L.; Parker, Jeffrey S.

2011-01-01

In this study, transfer trajectories from the Earth to the Moon that encounter the Moon at various flight path angles are examined, and lunar approach trajectories are compared to the invariant manifolds of selected unstable orbits in the circular restricted three-body problem. Previous work focused on lunar impact and landing trajectories encountering the Moon normal to the surface, and this research extends the problem with different flight path angles in three dimensions. The lunar landing geometry for a range of Jacobi constants are computed, and approaches to the Moon via invariant manifolds from unstable orbits are analyzed for different energy levels.

Projectile Motion with a Drag Force: Were the Medievals Right After All?

ERIC Educational Resources Information Center

La Rocca, Paola; Riggi, Francesco

2009-01-01

An educational and historical study of the projectile motion with drag forces dependent on speed shows, by simple results, that trajectories quite similar to those depicted before the Galilean era may be obtained with a realistic choice of quantities involved. Numerical simulations of the trajectory in space and velocity coordinates help us to…

Solution to Projectile Motion with Quadratic Drag and Graphing the Trajectory in Spreadsheets

ERIC Educational Resources Information Center

Benacka, Jan

2010-01-01

This note gives the analytical solution to projectile motion with quadratic drag by decomposing the velocity vector to "x," "y" coordinate directions. The solution is given by definite integrals. First, the impact angle is estimated from above, then the projectile coordinates are computed, and the trajectory is graphed at various launch angles and…

Optimal control of the ballistic motion of Airy beams.

PubMed

Hu, Yi; Zhang, Peng; Lou, Cibo; Huang, Simon; Xu, Jingjun; Chen, Zhigang

2010-07-01

We demonstrate the projectile motion of two-dimensional truncated Airy beams in a general ballistic trajectory with controllable range and height. We show that the peak beam intensity can be delivered to any desired location along the trajectory as well as repositioned to a given target after displacement due to propagation through disordered or turbulent media.

Collision-free motion of two robot arms in a common workspace

NASA Technical Reports Server (NTRS)

Basta, Robert A.; Mehrotra, Rajiv; Varanasi, Murali R.

1987-01-01

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

Relationship between selected orientation rest frame, circular vection and space motion sickness

NASA Technical Reports Server (NTRS)

Harm, D. L.; Parker, D. E.; Reschke, M. F.; Skinner, N. C.

1998-01-01

Space motion sickness (SMS) and spatial orientation and motion perception disturbances occur in 70-80% of astronauts. People select "rest frames" to create the subjective sense of spatial orientation. In microgravity, the astronaut's rest frame may be based on visual scene polarity cues and on the internal head and body z axis (vertical body axis). The data reported here address the following question: Can an astronaut's orientation rest frame be related and described by other variables including circular vection response latencies and space motion sickness? The astronaut's microgravity spatial orientation rest frames were determined from inflight and postflight verbal reports. Circular vection responses were elicited by rotating a virtual room continuously at 35 degrees/s in pitch, roll and yaw with respect to the astronaut. Latency to the onset of vection was recorded from the time the crew member opened their eyes to the onset of vection. The astronauts who used visual cues exhibited significantly shorter vection latencies than those who used internal z axis cues. A negative binomial regression model was used to represent the observed total SMS symptom scores for each subject for each flight day. Orientation reference type had a significant effect, resulting in an estimated three-fold increase in the expected motion sickness score on flight day 1 for astronauts who used visual cues. The results demonstrate meaningful classification of astronauts' rest frames and their relationships to sensitivity to circular vection and SMS. Thus, it may be possible to use vection latencies to predict SMS severity and duration.

Wave drift damping acting on multiple circular cylinders (model tests)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kinoshita, Takeshi; Sunahara, Shunji; Bao, W.

1995-12-31

The wave drift damping for the slow drift motion of a four-column platform is experimentally investigated. The estimation of damping force of the slow drift motion of moored floating structures in ocean waves, is one of the most important topics. Bao et al. calculated an interaction of multiple circular cylinders based on the potential flow theory, and showed that the wave drift damping is significantly influenced by the interaction between cylinders. This calculation method assumes that the slow drift motion is approximately replaced by steady current, that is, structures on slow drift motion are supposed to be equivalent to onesmore » in both regular waves and slow current. To validate semi-analytical solutions of Bao et al., experiments were carried out. At first, added resistance due to waves acting on a structure composed of multiple (four) vertical circular cylinders fixed to a slowly moving carriage, was measured in regular waves. Next, the added resistance of the structure moored by linear spring to the slowly moving carriage were measured in regular waves. Furthermore, to validate the assumption that the slow drift motion is replaced by steady current, free decay tests in still water and in regular waves were compared with the simulation of the slow drift motion using the wave drift damping coefficient obtained by the added resistance tests.« less

Real-time physics-based 3D biped character animation using an inverted pendulum model.

PubMed

Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

2010-01-01

We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yang, Jing; Key Laboratory of Low Dimensional Quantum Structures and Quantum Control of Ministry of Education, Hunan Normal University, Changsha, Hunan 410081; Yu, Hongwei, E-mail: hwyu@hunnu.edu.cn

We study the spontaneous excitation of a detector (modeled by a two-level atom) in circular motion coupled nonlinearly to vacuum massless Rarita–Schwinger fields in the ultrarelativistic limit and demonstrate that the spontaneous excitation occurs for ground-state atoms in circular motion in vacuum but the excitation rate is not of a pure thermal form as that of the atoms in linear uniform acceleration. An interesting feature is that terms of odd powers in acceleration appear in the excitation rate whereas in the linear acceleration case there are only terms of even powers present. On the other hand, what makes the presentmore » case unique in comparison to the atom’s coupling to other fields that are previously studied is the appearance of the terms proportional to the seventh and ninth powers of acceleration in the mean rate of change of atomic energy which are absent in the scalar, electromagnetic and Dirac field cases. -- Highlights: •Circular Unruh effect for detector coupled to Rarita–Schwinger field. •Nonlinear coupling between the detector and the fields. •Detector in circular motion does not feel pure thermal bath. •Excitation rate contains terms of odd powers in acceleration.« less

Minimum impulse three-body trajectories.

NASA Technical Reports Server (NTRS)

D'Amario, L.; Edelbaum, T. N.

1973-01-01

A rapid and accurate method of calculating optimal impulsive transfers in the restricted problem of three bodies has been developed. The technique combines a multi-conic method of trajectory integration with primer vector theory and an accelerated gradient method of trajectory optimization. A unique feature is that the state transition matrix and the primer vector are found analytical without additional integrations or differentiations. The method has been applied to the determination of optimal two and three impulse transfers between the L2 libration point and circular orbits about both the earth and the moon.

Size-dependent quantum diffusion of Gd atoms within Fe nano-corrals

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hu, J.; Cao, R. X.; Miao, B. F.

2013-12-01

We systematically studied the size-dependent quantum diffusion of Gd atoms within Fe circular quantum corrals on Ag(111). By varying the size of the quantum corrals, different types of patterns are observed inside the corrals, including a single dot and circular orbits for the diffusion of Gd adatoms. In addition, the motion of the adatoms also forms circular-like orbits outside the corral. Via quantitative analysis, we confirm that the regions with adatoms' high visiting probability are consistent with the positions of the local electronic density-of-states maxima, both inside and outside the corrals within a < 0.2 nm offset. The results agreemore » well with kinetic Monte Carlo simulations that utilize the experimentally determined interaction between Gd and Fe circular corrals. These findings demonstrate that one can engineer adatom motion by controlling the size of the quantum corrals.« less

Hand interception of occluded motion in humans: a test of model-based vs. on-line control

PubMed Central

Zago, Myrka; Lacquaniti, Francesco

2015-01-01

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. PMID:26133803

Algorithm for fuel conservative horizontal capture trajectories

NASA Technical Reports Server (NTRS)

Neuman, F.; Erzberger, H.

1981-01-01

A real time algorithm for computing constant altitude fuel-conservative approach trajectories for aircraft is described. The characteristics of the trajectory computed were chosen to approximate the extremal trajectories obtained from the optimal control solution to the problem and showed a fuel difference of only 0.5 to 2 percent for the real time algorithm in favor of the extremals. The trajectories may start at any initial position, heading, and speed and end at any other final position, heading, and speed. They consist of straight lines and a series of circular arcs of varying radius to approximate constant bank-angle decelerating turns. Throttle control is maximum thrust, nominal thrust, or zero thrust. Bank-angle control is either zero or aproximately 30 deg.

Trajectory of coronary motion and its significance in robotic motion cancellation.

PubMed

Cattin, Philippe; Dave, Hitendu; Grünenfelder, Jürg; Szekely, Gabor; Turina, Marko; Zünd, Gregor

2004-05-01

To characterize remaining coronary artery motion of beating pig hearts after stabilization with an 'Octopus' using an optical remote analysis technique. Three pigs (40, 60 and 65 kg) underwent full sternotomy after receiving general anesthesia. An 8-bit high speed black and white video camera (50 frames/s) coupled with a laser sensor (60 microm resolution) were used to capture heart wall motion in all three dimensions. Dopamine infusion was used to deliberately modulate cardiac contractility. Synchronized ECG, blood pressure, airway pressure and video data of the region around the first branching point of the left anterior descending (LAD) coronary artery after Octopus stabilization were captured for stretches of 8 s each. Several sequences of the same region were captured over a period of several minutes. Computerized off-line analysis allowed us to perform minute characterization of the heart wall motion. The movement of the points of interest on the LAD ranged from 0.22 to 0.81 mm in the lateral plane (x/y-axis) and 0.5-2.6 mm out of the plane (z-axis). Fast excursions (>50 microm/s in the lateral plane) occurred corresponding to the QRS complex and the T wave; while slow excursion phases (<50 microm/s in the lateral plane) were observed during the P wave and the ST segment. The trajectories of the points of interest during consecutive cardiac cycles as well as during cardiac cycles minutes apart remained comparable (the differences were negligible), provided the hemodynamics remained stable. Inotrope-induced changes in cardiac contractility influenced not only the maximum excursion, but also the shape of the trajectory. Normal positive pressure ventilation displacing the heart in the thoracic cage was evident by the displacement of the reference point of the trajectory. The movement of the coronary artery after stabilization appears to be still significant. Minute characterization of the trajectory of motion could provide the substrate for achieving motion cancellation for existing robotic systems. Velocity plots could also help improve gated cardiac imaging.

Inquiry style interactive virtual experiments: a case on circular motion

NASA Astrophysics Data System (ADS)

Zhou, Shaona; Han, Jing; Pelz, Nathaniel; Wang, Xiaojun; Peng, Liangyu; Xiao, Hua; Bao, Lei

2011-11-01

Interest in computer-based learning, especially in the use of virtual reality simulations is increasing rapidly. While there are good reasons to believe that technologies have the potential to improve teaching and learning, how to utilize the technology effectively in teaching specific content difficulties is challenging. To help students develop robust understandings of correct physics concepts, we have developed interactive virtual experiment simulations that have the unique feature of enabling students to experience force and motion via an analogue joystick, allowing them to feel the applied force and simultaneously see its effects. The simulations provide students learning experiences that integrate both scientific representations and low-level sensory cues such as haptic cues under a single setting. In this paper, we introduce a virtual experiment module on circular motion. A controlled study has been conducted to evaluate the impact of using this virtual experiment on students' learning of force and motion in the context of circular motion. The results show that the interactive virtual experiment method is preferred by students and is more effective in helping students grasp the physics concepts than the traditional education method such as problem-solving practices. Our research suggests that well-developed interactive virtual experiments can be useful tools in teaching difficult concepts in science.

SU-D-207A-06: Pediatric Abdominal Organ Motion Quantified Via a Novel 4D MRI Method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Uh, J; Krasin, MJ; Lucas, JT

Purpose: To develop a 4D MRI method for assessing respiration-induced abdominal organ motion in children receiving radiation therapy. Methods: A 4D MRI using internal image-based respiratory surrogate has been developed and implemented on a clinical scanner (1.5T Siemens Avanto). Ten patients (younger group: N=6, 2–5 years, anesthetized; older group: N=4, 11–15 years) with neuroblastoma, Wilm’s tumor rhabdomyosarcoma, or desmoplastic small round cell tumor received free breathing 4D MRI scans for treatment planning. Coronal image slices of the entire abdomen were retrospectively constructed in 10 respiratory phases. A B-spline deformable registration (Metz et al. 2011) was performed on 4D datasets tomore » automatically derive motion trajectories of selected anatomical landmarks, including the dome and the center of the liver, and the superior edges of kidneys and spleen. The extents of the motion in three dimensions (anteroposterior, AP; mediolateral, ML; superoinferior, SI) and the correlations between organ motion trajectories were quantified. Results: The 4D MRI scans were successfully performed in <20 minutes for all patients without the use of any external device. Organ motion extents were larger in adolescents (kidneys: 3–13 mm SI, liver and spleen: 6–18 mm SI) than in younger children (kidneys:<3mm in all directions; liver and spleen: 1–8 mm SI, 1–5 mm ML and AP). The magnitude of respiratory motion in some adolescents may warrant special motion management. Motion trajectories were not synchronized across selected anatomical landmarks, particularly in the ML and AP directions, indicating inter- and intra-organ variations of the respiratory-induced motion. Conclusion: The developed 4D MRI acquisition and motion analysis methods provide a non-ionizing, non-invasive approach to automatically measure the organ motion trajectory in the pediatric abdomen. It is useful for defining ITV and PRV, monitoring changes in target motion patterns during the treatment course, and studying interplay effects in proton scanning.« less

Bifurcation and stability analysis of rotating chemical spirals in circular domains: Boundary-induced meandering and stabilization

NASA Astrophysics Data System (ADS)

Bär, Markus; Bangia, Anil K.; Kevrekidis, Ioannis G.

2003-05-01

Recent experimental and model studies have revealed that the domain size may strongly influence the dynamics of rotating spirals in two-dimensional pattern forming chemical reactions. Hartmann et al. [Phys. Rev. Lett. 76, 1384 (1996)], report a frequency increase of spirals in circular domains with diameters substantially smaller than the spiral wavelength in a large domain for the catalytic NO+CO reaction on a microstructured platinum surface. Accompanying simulations with a simple reaction-diffusion system reproduced the behavior. Here, we supplement these studies by a numerical bifurcation and stability analysis of rotating spirals in a simple activator-inhibitor model. The problem is solved in a corotating frame of reference. No-flux conditions are imposed at the boundary of the circular domain. At large domain sizes, eigenvalues and eigenvectors very close to those corresponding to infinite medium translational invariance are observed. Upon decrease of domain size, we observe a simultaneous change in the rotation frequency and a deviation of these eigenvalues from being neutrally stable (zero real part). The latter phenomenon indicates that the translation symmetry of the spiral solution is appreciably broken due to the interaction with the (now nearby) wall. Various dynamical regimes are found: first, the spiral simply tries to avoid the boundary and its tip moves towards the center of the circular domain corresponding to a negative real part of the “translational” eigenvalues. This effect is noticeable at a domain radius of R

Perception of object trajectory: parsing retinal motion into self and object movement components.

PubMed

Warren, Paul A; Rushton, Simon K

2007-08-16

A moving observer needs to be able to estimate the trajectory of other objects moving in the scene. Without the ability to do so, it would be difficult to avoid obstacles or catch a ball. We hypothesized that neural mechanisms sensitive to the patterns of motion generated on the retina during self-movement (optic flow) play a key role in this process, "parsing" motion due to self-movement from that due to object movement. We investigated this "flow parsing" hypothesis by measuring the perceived trajectory of a moving probe placed within a flow field that was consistent with movement of the observer. In the first experiment, the flow field was consistent with an eye rotation; in the second experiment, it was consistent with a lateral translation of the eyes. We manipulated the distance of the probe in both experiments and assessed the consequences. As predicted by the flow parsing hypothesis, manipulating the distance of the probe had differing effects on the perceived trajectory of the probe in the two experiments. The results were consistent with the scene geometry and the type of simulated self-movement. In a third experiment, we explored the contribution of local and global motion processing to the results of the first two experiments. The data suggest that the parsing process involves global motion processing, not just local motion contrast. The findings of this study support a role for optic flow processing in the perception of object movement during self-movement.

Helical paths, gravitaxis, and separation phenomena for mass-anisotropic self-propelling colloids: Experiment versus theory

NASA Astrophysics Data System (ADS)

Campbell, Andrew I.; Wittkowski, Raphael; ten Hagen, Borge; Löwen, Hartmut; Ebbens, Stephen J.

2017-08-01

The self-propulsion mechanism of active colloidal particles often generates not only translational but also rotational motion. For particles with an anisotropic mass density under gravity, the motion is usually influenced by a downwards oriented force and an aligning torque. Here we study the trajectories of self-propelled bottom-heavy Janus particles in three spatial dimensions both in experiments and by theory. For a sufficiently large mass anisotropy, the particles typically move along helical trajectories whose axis is oriented either parallel or antiparallel to the direction of gravity (i.e., they show gravitaxis). In contrast, if the mass anisotropy is small and rotational diffusion is dominant, gravitational alignment of the trajectories is not possible. Furthermore, the trajectories depend on the angular self-propulsion velocity of the particles. If this component of the active motion is strong and rotates the direction of translational self-propulsion of the particles, their trajectories have many loops, whereas elongated swimming paths occur if the angular self-propulsion is weak. We show that the observed gravitational alignment mechanism and the dependence of the trajectory shape on the angular self-propulsion can be used to separate active colloidal particles with respect to their mass anisotropy and angular self-propulsion, respectively.

Near-inertial motions in the Brazil Current at 24°S-36°S: Observations by satellite tracked drifters

NASA Astrophysics Data System (ADS)

Assireu, Arcilan T.; Dauhut, Thibaut; dos Santos, Francisco A.; Lorenzzetti, João A.

2017-08-01

Increased spatial and temporal resolution of recent observations and modeling have pointed out the importance of small scale structures (in the range of 1-50 km) for the mixing processes in the ocean. Based on high-frequency drifter measurements, we show here that the near-inertial currents (NICs) can contribute significantly to the surface kinetic energy in the Brazil Current (BC) region and, therefore, should be properly taken into account in the studies of transport and mixing processes. To characterize these submesoscale features, we examine the current response to the wind forcing in the Brazilian ocean margin between 24°S and 36°S using 3-hourly sampled trajectories of satellite-tracked drifters. Our results indicate a preference for anti-cyclonic circular motions, with a rotating period close to the local inertial period, consistent with near-inertial motions in the Southern Hemisphere (SH). Wind stress time series, from three months of wind measurements, along with synoptic weather charts, are used to relate the observed NICs to the atmospheric forcing. During SH spring, NICs occur in 4.7-15 day bursts and account for 15-45% of the total surface current variance. This intermittency is related to atmospheric cold frontal passages, low pressure systems, and sea breeze/land breeze circulations. The predominance of NICs south of 28°S appears to be related to the increased Effective Inertial Frequency (EIF), which is the inertial frequency changed by the sub-inertial background flow.

On the local standard of rest. [comoving with young objects in gravitational field of spiral galaxies

NASA Technical Reports Server (NTRS)

Yuan, C.

1983-01-01

Under the influence of a spiral gravitational field, there should be differences among the mean motions of different types of objects with different dispersion velocities in a spiral galaxy. The old stars with high dispersion velocity should have essentially no mean motion normal to the galactic rotation. On the other hand, young objects and interstellar gas may be moving relative to the old stars at a velocity of a few kilometer per second in both the radial (galacto-centric), and circular directions, depending on the spiral model adopted. Such a velocity is usually referred as the systematic motion or the streaming motion. The conventionally adopted local standard of rest is indeed co-moving with the young objects of the solar vicinity. Therefore, it has a net systematic motion with respect to the circular motion of an equilibrium galactic model, defined by the old stars. Previously announced in STAR as N83-24443

3D Measurement of Forearm and Upper Arm during Throwing Motion using Body Mounted Sensor

NASA Astrophysics Data System (ADS)

Koda, Hideharu; Sagawa, Koichi; Kuroshima, Kouta; Tsukamoto, Toshiaki; Urita, Kazutaka; Ishibashi, Yasuyuki

The aim of this study is to propose the measurement method of three-dimensional (3D) movement of forearm and upper arm during pitching motion of baseball using inertial sensors without serious consideration of sensor installation. Although high accuracy measurement of sports motion is achieved by using optical motion capture system at present, it has some disadvantages such as the calibration of cameras and limitation of measurement place. Whereas the proposed method for 3D measurement of pitching motion using body mounted sensors provides trajectory and orientation of upper arm by the integration of acceleration and angular velocity measured on upper limb. The trajectory of forearm is derived so that the elbow joint axis of forearm corresponds to that of upper arm. Spatial relation between upper limb and sensor system is obtained by performing predetermined movements of upper limb and utilizing angular velocity and gravitational acceleration. The integration error is modified so that the estimated final position, velocity and posture of upper limb agree with the actual ones. The experimental results of the measurement of pitching motion show that trajectories of shoulder, elbow and wrist estimated by the proposed method are highly correlated to those from the motion capture system within the estimation error of about 10 [%].

Quantum trajectories in elastic atom-surface scattering: threshold and selective adsorption resonances.

PubMed

Sanz, A S; Miret-Artés, S

2005-01-01

The elastic resonant scattering of He atoms off the Cu(117) surface is fully described with the formalism of quantum trajectories provided by Bohmian mechanics. Within this theory of quantum motion, the concept of trapping is widely studied and discussed. Classically, atoms undergo impulsive collisions with the surface, and then the trapped motion takes place covering at least two consecutive unit cells. However, from a Bohmian viewpoint, atom trajectories can smoothly adjust to the equipotential energy surface profile in a sort of sliding motion; thus the trapping process could eventually occur within one single unit cell. In particular, both threshold and selective adsorption resonances are explained by means of this quantum trapping considering different space and time scales. Furthermore, a mapping between each region of the (initial) incoming plane wave and the different parts of the diffraction and resonance patterns can be easily established, an important issue only provided by a quantum trajectory formalism. (c) 2005 American Institute of Physics.

Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application

NASA Astrophysics Data System (ADS)

Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain

2014-12-01

Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.

Modification of equation of motion of fluid-conveying pipe for laminar and turbulent flow profiles

NASA Astrophysics Data System (ADS)

Guo, C. Q.; Zhang, C. H.; Païdoussis, M. P.

2010-07-01

Considering the non-uniformity of the flow velocity distribution in fluid-conveying pipes caused by the viscosity of real fluids, the centrifugal force term in the equation of motion of the pipe is modified for laminar and turbulent flow profiles. The flow-profile-modification factors are found to be 1.333, 1.015-1.040 and 1.035-1.055 for laminar flow in circular pipes, turbulent flow in smooth-wall circular pipes and turbulent flow in rough-wall circular pipes, respectively. The critical flow velocities for divergence in the above-mentioned three cases are found to be 13.4%, 0.74-1.9% and 1.7-2.6%, respectively, lower than that with plug flow, while those for flutter are even lower, which could reach 36% for the laminar flow profile. By introducing two new concepts of equivalent flow velocity and equivalent mass, fluid-conveying pipe problems with different flow profiles can be solved with the equation of motion for plug flow.

Neck Proprioception Shapes Body Orientation and Perception of Motion

PubMed Central

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject’s mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes. PMID:25414660

Neck proprioception shapes body orientation and perception of motion.

PubMed

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject's mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes.

Stop Faking It! Finally Understanding Science So You Can Teach It. Force and Motion.

ERIC Educational Resources Information Center

Robertson, William C.

This book aims to develop an understanding of basic physics concepts among school teachers in grades 3-8. The concepts covered in this book include force, motion, gravity, and circular motion without intimidating detailed units and formulas. Chapters include: (1) "Newton's First One"; (2) "In Which We Describe Motion and Then Change…

Self-Paced Physics, Segment 18.

ERIC Educational Resources Information Center

New York Inst. of Tech., Old Westbury.

Eighty-seven problems are included in this volume which is arranged to match study segments 2 through 14. The subject matter is related to projectiles, simple harmonic motion, kinetic friction, multiple pulley arrangements, motion on inclined planes, circular motion, potential energy, kinetic energy, center of mass, Newton's laws, elastic and…

KymoKnot: A web server and software package to identify and locate knots in trajectories of linear or circular polymers.

PubMed

Tubiana, Luca; Polles, Guido; Orlandini, Enzo; Micheletti, Cristian

2018-06-07

The KymoKnot software package and web server identifies and locates physical knots or proper knots in a series of polymer conformations. It is mainly intended as an analysis tool for trajectories of linear or circular polymers, but it can be used on single instances too, e.g. protein structures in PDB format. A key element of the software package is the so-called minimally interfering chain closure algorithm that is used to detect physical knots in open chains and to locate the knotted region in both open and closed chains. The web server offers a user-friendly graphical interface that identifies the knot type and highlights the knotted region on each frame of the trajectory, which the user can visualize interactively from various viewpoints. The dynamical evolution of the knotted region along the chain contour is presented as a kymograph. All data can be downloaded in text format. The KymoKnot package is licensed under the BSD 3-Clause licence. The server is publicly available at http://kymoknot.sissa.it/kymoknot/interactive.php .

Search for and Study of Nearly Periodic Orbits in the Plane Problem of Three Equal-Mass Bodies

NASA Astrophysics Data System (ADS)

Martynova, A. I.; Orlov, V. V.

2005-09-01

We analyze nearly periodic solutions in the plane problem of three equal-mass bodies by numerically simulating the dynamics of triple systems. We identify families of orbits in which all three points are on one straight line (syzygy) at the initial time. In this case, at fixed total energy of a triple system, the set of initial conditions is a bounded region in four-dimensional parameter space. We scan this region and identify sets of trajectories in which the coordinates and velocities of all bodies are close to their initial values at certain times (which are approximately multiples of the period). We classify the nearly periodic orbits by the structure of trajectory loops over one period. We have found the families of orbits generated by von Schubart’s stable periodic orbit revealed in the rectilinear three-body problem. We have also found families of hierarchical, nearly periodic trajectories with prograde and retrograde motions. In the orbits with prograde motions, the trajectory loops of two close bodies form looplike structures. The trajectories with retrograde motions are characterized by leafed structures. Orbits with central and axial symmetries are identified among the families found.

Hand interception of occluded motion in humans: a test of model-based vs. on-line control.

PubMed

La Scaleia, Barbara; Zago, Myrka; Lacquaniti, Francesco

2015-09-01

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. Copyright © 2015 the American Physiological Society.

Atmospheric guidance law for planar skip trajectories

NASA Technical Reports Server (NTRS)

Mease, K. D.; Mccreary, F. A.

1985-01-01

The applicability of an approximate, closed-form, analytical solution to the equations of motion, as a basis for a deterministic guidance law for controlling the in-plane motion during a skip trajectory, is investigated. The derivation of the solution by the method of matched asymptotic expansions is discussed. Specific issues that arise in the application of the solution to skip trajectories are addressed. Based on the solution, an explicit formula for the approximate energy loss due to an atmospheric pass is derived. A guidance strategy is proposed that illustrates the use of the approximate solution. A numerical example shows encouraging performance.

Disentangling Random Motion and Flow in a Complex Medium

PubMed Central

Koslover, Elena F.; Chan, Caleb K.; Theriot, Julie A.

2016-01-01

We describe a technique for deconvolving the stochastic motion of particles from large-scale fluid flow in a dynamic environment such as that found in living cells. The method leverages the separation of timescales to subtract out the persistent component of motion from single-particle trajectories. The mean-squared displacement of the resulting trajectories is rescaled so as to enable robust extraction of the diffusion coefficient and subdiffusive scaling exponent of the stochastic motion. We demonstrate the applicability of the method for characterizing both diffusive and fractional Brownian motion overlaid by flow and analytically calculate the accuracy of the method in different parameter regimes. This technique is employed to analyze the motion of lysosomes in motile neutrophil-like cells, showing that the cytoplasm of these cells behaves as a viscous fluid at the timescales examined. PMID:26840734

Statistical characteristics of trajectories of diamagnetic unicellular organisms in a magnetic field.

PubMed

Gorobets, Yu I; Gorobets, O Yu

2015-01-01

The statistical model is proposed in this paper for description of orientation of trajectories of unicellular diamagnetic organisms in a magnetic field. The statistical parameter such as the effective energy is calculated on basis of this model. The resulting effective energy is the statistical characteristics of trajectories of diamagnetic microorganisms in a magnetic field connected with their metabolism. The statistical model is applicable for the case when the energy of the thermal motion of bacteria is negligible in comparison with their energy in a magnetic field and the bacteria manifest the significant "active random movement", i.e. there is the randomizing motion of the bacteria of non thermal nature, for example, movement of bacteria by means of flagellum. The energy of the randomizing active self-motion of bacteria is characterized by the new statistical parameter for biological objects. The parameter replaces the energy of the randomizing thermal motion in calculation of the statistical distribution. Copyright © 2014 Elsevier Ltd. All rights reserved.

Dynamic trajectory-based couch motion for improvement of radiation therapy trajectories in cranial SRT

DOE Office of Scientific and Technical Information (OSTI.GOV)

MacDonald, R. Lee; Thomas, Christopher G., E-mail: Chris.Thomas@cdha.nshealth.ca; Department of Medical Physics, Nova Scotia Cancer Centre, Queen Elizabeth II Health Sciences Centre, Halifax, Nova Scotia B3H 1V7

2015-05-15

Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space,more » indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion during radiation therapy to minimize the geometrical overlap in the beams-eye-view of target volumes and the organs-at-risk can have an appreciable dose reduction to organs-at-risk.« less

Project Physics Tests 1, Concepts of Motion.

ERIC Educational Resources Information Center

Harvard Univ., Cambridge, MA. Harvard Project Physics.

Test items relating to Project Physics Unit 1 are presented in this booklet, consisting of 70 multiple-choice and 20 problem-and-essay questions. Concepts of motion are examined with respect to velocities, acceleration, forces, vectors, Newton's laws, and circular motion. Suggestions are made for time consumption in answering some items. Besides…

Blind retrospective motion correction of MR images.

PubMed

Loktyushin, Alexander; Nickisch, Hannes; Pohmann, Rolf; Schölkopf, Bernhard

2013-12-01

Subject motion can severely degrade MR images. A retrospective motion correction algorithm, Gradient-based motion correction, which significantly reduces ghosting and blurring artifacts due to subject motion was proposed. The technique uses the raw data of standard imaging sequences; no sequence modifications or additional equipment such as tracking devices are required. Rigid motion is assumed. The approach iteratively searches for the motion trajectory yielding the sharpest image as measured by the entropy of spatial gradients. The vast space of motion parameters is efficiently explored by gradient-based optimization with a convergence guarantee. The method has been evaluated on both synthetic and real data in two and three dimensions using standard imaging techniques. MR images are consistently improved over different kinds of motion trajectories. Using a graphics processing unit implementation, computation times are in the order of a few minutes for a full three-dimensional volume. The presented technique can be an alternative or a complement to prospective motion correction methods and is able to improve images with strong motion artifacts from standard imaging sequences without requiring additional data. Copyright © 2013 Wiley Periodicals, Inc., a Wiley company.

Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

NASA Astrophysics Data System (ADS)

Cowlagi, Raghvendra V.

Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematical model. We propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. The main contributions of this thesis are: 1. A motion planning framework based on history-dependent costs (H-costs) in cell decomposition graphs for incorporating vehicle dynamical constraints: this framework offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning, 2. An efficient and flexible algorithm for finding optimal H-cost paths, 3. A precise and general formulation of a local trajectory problem (the tile motion planning problem) that allows independent development of the discrete planner and the trajectory planner, while maintaining "compatibility" between the two planners, 4. A local trajectory generation algorithm using mpc, and the application of the concept of effective target sets for a significant simplification of the local trajectory generation problem, 5. The geometric analysis of curvature-bounded traversal of rectangular channels, leading to less conservative results in comparison with a result reported in the literature, and also to the efficient construction of effective target sets for the solution of the tile motion planning problem, 6. A wavelet-based multi-resolution path planning scheme, and a proof of completeness of the proposed scheme: such proofs are altogether absent from other works on multi-resolution path planning, 7. A technique for extracting all information about cells---namely, the locations, the sizes, and the associated image intensities---directly from the set of significant detail coefficients considered for path planning at a given iteration, and 8. The extension of the multi-resolution path planning scheme to include vehicle dynamical constraints using the aforementioned history-dependent costs approach. The future work includes an implementation of the proposed framework involving a discrete planner that solves classical planning problems more general than the single-query path planning problem considered thus far, and involving trajectory generation schemes for realistic vehicle dynamical models such as the bicycle model.

Multiobjective Optimization of Low-Energy Trajectories Using Optimal Control on Dynamical Channels

NASA Technical Reports Server (NTRS)

Coffee, Thomas M.; Anderson, Rodney L.; Lo, Martin W.

2011-01-01

We introduce a computational method to design efficient low-energy trajectories by extracting initial solutions from dynamical channels formed by invariant manifolds, and improving these solutions through variational optimal control. We consider trajectories connecting two unstable periodic orbits in the circular restricted 3-body problem (CR3BP). Our method leverages dynamical channels to generate a range of solutions, and approximates the areto front for impulse and time of flight through a multiobjective optimization of these solutions based on primer vector theory. We demonstrate the application of our method to a libration orbit transfer in the Earth-Moon system.

Experimental study of trajectory planning and control of a high precision robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Enhanced sampling by multiple molecular dynamics trajectories: carbonmonoxy myoglobin 10 micros A0-->A(1-3) transition from ten 400 picosecond simulations.

PubMed

Loccisano, Anne E; Acevedo, Orlando; DeChancie, Jason; Schulze, Brita G; Evanseck, Jeffrey D

2004-05-01

The utility of multiple trajectories to extend the time scale of molecular dynamics simulations is reported for the spectroscopic A-states of carbonmonoxy myoglobin (MbCO). Experimentally, the A0-->A(1-3) transition has been observed to be 10 micros at 300 K, which is beyond the time scale of standard molecular dynamics simulations. To simulate this transition, 10 short (400 ps) and two longer time (1.2 ns) molecular dynamics trajectories, starting from five different crystallographic and solution phase structures with random initial velocities centered in a 37 A radius sphere of water, have been used to sample the native-fold of MbCO. Analysis of the ensemble of structures gathered over the cumulative 5.6 ns reveals two biomolecular motions involving the side chains of His64 and Arg45 to explain the spectroscopic states of MbCO. The 10 micros A0-->A(1-3) transition involves the motion of His64, where distance between His64 and CO is found to vary up to 8.8 +/- 1.0 A during the transition of His64 from the ligand (A(1-3)) to bulk solvent (A0). The His64 motion occurs within a single trajectory only once, however the multiple trajectories populate the spectroscopic A-states fully. Consequently, multiple independent molecular dynamics simulations have been found to extend biomolecular motion from 5 ns of total simulation to experimental phenomena on the microsecond time scale.

Motion Planning of Two Stacker Cranes in a Large-Scale Automated Storage/Retrieval System

NASA Astrophysics Data System (ADS)

Kung, Yiheng; Kobayashi, Yoshimasa; Higashi, Toshimitsu; Ota, Jun

We propose a method for reducing the computational time of motion planning for stacker cranes. Most automated storage/retrieval systems (AS/RSs) are only equipped with one stacker crane. However, this is logistically challenging, and greater work efficiency in warehouses, such as those using two stacker cranes, is required. In this paper, a warehouse with two stacker cranes working simultaneously is proposed. Unlike warehouses with only one crane, trajectory planning in those with two cranes is very difficult. Since there are two cranes working together, a proper trajectory must be considered to avoid collision. However, verifying collisions is complicated and requires a considerable amount of computational time. As transport work in AS/RSs occurs randomly, motion planning cannot be conducted in advance. Planning an appropriate trajectory within a restricted duration would be a difficult task. We thereby address the current problem of motion planning requiring extensive calculation time. As a solution, we propose a “free-step” to simplify the procedure of collision verification and reduce the computational time. On the other hand, we proposed a method to reschedule the order of collision verification in order to find an appropriate trajectory in less time. By the proposed method, we reduce the calculation time to less than 1/300 of that achieved in former research.

On motions of a carrier with a mobile load along a rough inclined plane

NASA Astrophysics Data System (ADS)

Bilchenko, Grigory; Bilchenko, Grigory; Bilchenko, Nataly

2018-05-01

A mechanical system consisting of a carrier and a load is considered. The load can move respectively to the carrier according to a predetermined motion law. The carrier can move translationally along a rectilinear trajectory on a rough inclined plane. The trajectory is the line of the greatest descent. The axis of the rectilinear channel, along which the load moves, is located in a vertical plane passing through the trajectory of the carrier. The Coulomb dry friction model is applied for simulation the forces of resistance to the motion of the carrier from the side of the underlying inclined plane. The extreme value of plane inclination angle at which the carrier is at rest, when the load is stationary, is obtained by taking into account the frictional forces of sliding at rest. Differential equations of motion of a carrier with a load moving with respect to the carrier are obtained taking into account the requirement of motion of the carrier along an inclined plane without detachment. The determining relationships are given which made it possible to classify the types of carrier motion when the channel setting angle and the plane inclination angle are related by a certain inequality. The results of computational experiments are presented.

SU-D-207A-05: Investigating Sparse-Sampled MRI for Motion Management in Thoracic Radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sabouri, P; Sawant, A; Arai, T

Purpose: Sparse sampling and reconstruction-based MRI techniques represent an attractive strategy to achieve sufficiently high image acquisition speed while maintaining image quality for the task of radiotherapy guidance. In this study, we examine rapid dynamic MRI using a sparse sampling sequence k-t BLAST in capturing motion-induced, cycle-to-cycle variations in tumor position. We investigate the utility of long-term MRI-based motion monitoring as a means of better characterizing respiration-induced tumor motion compared to a single-cycle 4DCT. Methods: An MRI-compatible, programmable, deformable lung motion phantom with eleven 1.5 ml water marker tubes was placed inside a 3.0 T whole-body MR scanner (Philips Ingenia).more » The phantom was programmed with 10 lung tumor motion traces previously recorded using the Synchrony system. 2D+t image sequences of a coronal slice were acquired using a balanced-SSFP sequence combined with k-t BLAST (accn=3, resolution=0.66×0.66×5 mm3; acquisition time = 110 ms/slice). kV fluoroscopic (ground truth) and 4DCT imaging was performed with the same phantom setup and motion trajectories. Marker positions in all three modalities were segmented and tracked using an opensource deformable image registration package, NiftyReg. Results: Marker trajectories obtained from rapid MRI exhibited <1 mm error compared to kv Fluoro trajectories in the presence of complex motion including baseline shifts and changes in respiratory amplitude, indicating the ability of MRI to monitor motion with adequate geometric fidelity for the purpose of radiotherapy guidance. In contrast, the trajectory derived from 4DCT exhibited significant errors up to 6 mm due to cycle-to-cycle variations and baseline shifts. Consequently, 4DCT was found to underestimate the range of marker motion by as much as 50%. Conclusion: Dynamic MRI is a promising tool for radiotherapy motion management as it permits for longterm, dose-free, soft-tissue-based monitoring of motion, yielding richer and more accurate information about tumor position and motion range compared to the current state-of-the-art, 4DCT. This work was partially supported through research funding from National Institutes of Health (R01CA169102).« less

How many atoms are required to characterize accurately trajectory fluctuations of a protein?

NASA Astrophysics Data System (ADS)

Cukier, Robert I.

2010-06-01

Large molecules, whose thermal fluctuations sample a complex energy landscape, exhibit motions on an extended range of space and time scales. Principal component analysis (PCA) is often used to extract dominant motions that in proteins are typically domain motions. These motions are captured in the large eigenvalue (leading) principal components. There is also information in the small eigenvalues, arising from approximate linear dependencies among the coordinates. These linear dependencies suggest that instead of using all the atom coordinates to represent a trajectory, it should be possible to use a reduced set of coordinates with little loss in the information captured by the large eigenvalue principal components. In this work, methods that can monitor the correlation (overlap) between a reduced set of atoms and any number of retained principal components are introduced. For application to trajectory data generated by simulations, where the overall translational and rotational motion needs to be eliminated before PCA is carried out, some difficulties with the overlap measures arise and methods are developed to overcome them. The overlap measures are evaluated for a trajectory generated by molecular dynamics for the protein adenylate kinase, which consists of a stable, core domain, and two more mobile domains, referred to as the LID domain and the AMP-binding domain. The use of reduced sets corresponding, for the smallest set, to one-eighth of the alpha carbon (CA) atoms relative to using all the CA atoms is shown to predict the dominant motions of adenylate kinase. The overlap between using all the CA atoms and all the backbone atoms is essentially unity for a sum over PCA modes that effectively capture the exact trajectory. A reduction to a few atoms (three in the LID and three in the AMP-binding domain) shows that at least the first principal component, characterizing a large part of the LID-binding and AMP-binding motion, is well described. Based on these results, the overlap criterion should be applicable as a guide to postulating and validating coarse-grained descriptions of generic biomolecular assemblies.

Research on motion model for the hypersonic boost-glide aircraft

NASA Astrophysics Data System (ADS)

Xu, Shenda; Wu, Jing; Wang, Xueying

2015-11-01

A motion model for the hypersonic boost-glide aircraft(HBG) was proposed in this paper, which also analyzed the precision of model through simulation. Firstly the trajectory of HBG was analyzed, and a scheme which divide the trajectory into two parts then build the motion model on each part. Secondly a restrained model of boosting stage and a restrained model of J2 perturbation were established, and set up the observe model. Finally the analysis of simulation results show the feasible and high-accuracy of the model, and raise a expectation for intensive research.

Mapa MEGNO para satélites irregulares de Satuno

NASA Astrophysics Data System (ADS)

Moyano, M. M.; Leiva, A. M.

By implementing the elliptic restricted three-body model we obtain high resolution dynamical maps in the phase space region corresponding to that where Saturn's irregular satellites are currently found. The nature of the trajectories is characterized by the MEGNO chaos indicator (Cincotta P. and Simó C., 2000), which allows to identify regions of chaotic and quasi- periodic trajectories much faster than with other indicators (e.g. Lyapunov exponents). The results obtained allow to identify with great detail the boundaries of the regions of regular motion, chaotic motion, and substruc- tures associated to mean motion resonances. FULL TEXT IN SPANISH

Interfractional variability of respiration-induced esophageal tumor motion quantified using fiducial markers and four-dimensional cone-beam computed tomography.

PubMed

Jin, Peng; Hulshof, Maarten C C M; van Wieringen, Niek; Bel, Arjan; Alderliesten, Tanja

2017-07-01

To investigate the interfractional variability of respiration-induced esophageal tumor motion using fiducial markers and four-dimensional cone-beam computed tomography (4D-CBCT) and assess if a 4D-CT is sufficient for predicting the motion during the treatment. Twenty-four patients with 63 markers visible in the retrospectively reconstructed 4D-CBCTs were included. For each marker, we calculated the amplitude and trajectory of the respiration-induced motion. Possible time trends of the amplitude over the treatment course and the interfractional variability of amplitudes and trajectory shapes were assessed. Further, the amplitudes measured in the 4D-CT were compared to those in the 4D-CBCTs. The amplitude was largest in the cranial-caudal direction of the distal esophagus (mean: 7.1mm) and proximal stomach (mean: 7.8mm). No time trend was observed in the amplitude over the treatment course. The interfractional variability of amplitudes and trajectory shapes was limited (mean: ≤1.4mm). Moreover, small and insignificant deviation was found between the amplitudes quantified in the 4D-CT and in the 4D-CBCT (mean absolute difference: ≤1.0mm). The limited interfractional variability of amplitudes and trajectory shapes and small amplitude difference between 4D-CT-based and 4D-CBCT-based measurements imply that a single 4D-CT would be sufficient for predicting the respiration-induced esophageal tumor motion during the treatment course. Copyright © 2017 Elsevier B.V. All rights reserved.

Does representational momentum reflect a distortion of the length or the endpoint of a trajectory?

PubMed

Hubbard, Timothy L; Motes, Michael A

2002-01-01

Observers viewed a moving target, and after the target vanished, indicated either the initial position or the final position of the target. In Experiment 1, an auditory tone cued observers to indicate either the initial position or the final position; in Experiment 2, different groups of observers indicated the initial position or the final position. Judgments of the initial position were displaced backward in the direction opposite to motion, and judgments of the final position were displaced forward in the direction of motion. The data suggest that the remembered trajectory is longer than the actual trajectory, and the displacement pattern is not consistent with the hypothesis that representational momentum results from a distortion of memory for the location of a trajectory.

Collective circular motion in synchronized and balanced formations with second-order rotational dynamics

NASA Astrophysics Data System (ADS)

Jain, Anoop; Ghose, Debasish

2018-01-01

This paper considers collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective motions with the heading angles of the agents synchronized or balanced. In synchronization, the agents and their centroid have a common velocity direction, while in balancing, the movement of agents causes the location of the centroid to become stationary. The agents are initially considered to move at unit speed around individual circles at different angular velocities. It is assumed that the agents are subjected to limited communication constraints, and exchange relative information according to a time-invariant undirected graph. We present suitable feedback control laws for each of these motion coordination tasks by considering a second-order rotational dynamics of the agent. Simulations are given to illustrate the theoretical findings.

Polynomial expansions of single-mode motions around equilibrium points in the circular restricted three-body problem

NASA Astrophysics Data System (ADS)

Lei, Hanlun; Xu, Bo; Circi, Christian

2018-05-01

In this work, the single-mode motions around the collinear and triangular libration points in the circular restricted three-body problem are studied. To describe these motions, we adopt an invariant manifold approach, which states that a suitable pair of independent variables are taken as modal coordinates and the remaining state variables are expressed as polynomial series of them. Based on the invariant manifold approach, the general procedure on constructing polynomial expansions up to a certain order is outlined. Taking the Earth-Moon system as the example dynamical model, we construct the polynomial expansions up to the tenth order for the single-mode motions around collinear libration points, and up to order eight and six for the planar and vertical-periodic motions around triangular libration point, respectively. The application of the polynomial expansions constructed lies in that they can be used to determine the initial states for the single-mode motions around equilibrium points. To check the validity, the accuracy of initial states determined by the polynomial expansions is evaluated.

Nonlinear Drift-Kinetic Equation in the Presence of a Circularly Polarized Wave

NASA Technical Reports Server (NTRS)

Khazanov, G. V.; Krivorutsky, E. N.; Whitaker, Ann F. (Technical Monitor)

2001-01-01

Equations of the single particle motion and nonlinear kinetic equation for plasma in the presence of a circularly polarized wave of arbitrary frequency in the drift approximation are presented. The nonstationarity and inhomogeneity of the plasma-wave system are taken into account.

Bright circularly polarized soft X-ray high harmonics for X-ray magnetic circular dichroism.

PubMed

Fan, Tingting; Grychtol, Patrik; Knut, Ronny; Hernández-García, Carlos; Hickstein, Daniel D; Zusin, Dmitriy; Gentry, Christian; Dollar, Franklin J; Mancuso, Christopher A; Hogle, Craig W; Kfir, Ofer; Legut, Dominik; Carva, Karel; Ellis, Jennifer L; Dorney, Kevin M; Chen, Cong; Shpyrko, Oleg G; Fullerton, Eric E; Cohen, Oren; Oppeneer, Peter M; Milošević, Dejan B; Becker, Andreas; Jaroń-Becker, Agnieszka A; Popmintchev, Tenio; Murnane, Margaret M; Kapteyn, Henry C

2015-11-17

We demonstrate, to our knowledge, the first bright circularly polarized high-harmonic beams in the soft X-ray region of the electromagnetic spectrum, and use them to implement X-ray magnetic circular dichroism measurements in a tabletop-scale setup. Using counterrotating circularly polarized laser fields at 1.3 and 0.79 µm, we generate circularly polarized harmonics with photon energies exceeding 160 eV. The harmonic spectra emerge as a sequence of closely spaced pairs of left and right circularly polarized peaks, with energies determined by conservation of energy and spin angular momentum. We explain the single-atom and macroscopic physics by identifying the dominant electron quantum trajectories and optimal phase-matching conditions. The first advanced phase-matched propagation simulations for circularly polarized harmonics reveal the influence of the finite phase-matching temporal window on the spectrum, as well as the unique polarization-shaped attosecond pulse train. Finally, we use, to our knowledge, the first tabletop X-ray magnetic circular dichroism measurements at the N4,5 absorption edges of Gd to validate the high degree of circularity, brightness, and stability of this light source. These results demonstrate the feasibility of manipulating the polarization, spectrum, and temporal shape of high harmonics in the soft X-ray region by manipulating the driving laser waveform.

Bright circularly polarized soft X-ray high harmonics for X-ray magnetic circular dichroism

PubMed Central

Fan, Tingting; Grychtol, Patrik; Knut, Ronny; Hernández-García, Carlos; Hickstein, Daniel D.; Zusin, Dmitriy; Gentry, Christian; Dollar, Franklin J.; Mancuso, Christopher A.; Hogle, Craig W.; Kfir, Ofer; Legut, Dominik; Carva, Karel; Ellis, Jennifer L.; Dorney, Kevin M.; Chen, Cong; Shpyrko, Oleg G.; Fullerton, Eric E.; Cohen, Oren; Oppeneer, Peter M.; Milošević, Dejan B.; Becker, Andreas; Jaroń-Becker, Agnieszka A.; Popmintchev, Tenio; Murnane, Margaret M.; Kapteyn, Henry C.

2015-01-01

We demonstrate, to our knowledge, the first bright circularly polarized high-harmonic beams in the soft X-ray region of the electromagnetic spectrum, and use them to implement X-ray magnetic circular dichroism measurements in a tabletop-scale setup. Using counterrotating circularly polarized laser fields at 1.3 and 0.79 µm, we generate circularly polarized harmonics with photon energies exceeding 160 eV. The harmonic spectra emerge as a sequence of closely spaced pairs of left and right circularly polarized peaks, with energies determined by conservation of energy and spin angular momentum. We explain the single-atom and macroscopic physics by identifying the dominant electron quantum trajectories and optimal phase-matching conditions. The first advanced phase-matched propagation simulations for circularly polarized harmonics reveal the influence of the finite phase-matching temporal window on the spectrum, as well as the unique polarization-shaped attosecond pulse train. Finally, we use, to our knowledge, the first tabletop X-ray magnetic circular dichroism measurements at the N4,5 absorption edges of Gd to validate the high degree of circularity, brightness, and stability of this light source. These results demonstrate the feasibility of manipulating the polarization, spectrum, and temporal shape of high harmonics in the soft X-ray region by manipulating the driving laser waveform. PMID:26534992

Abnormal gait pattern emerges during curved trajectories in high-functioning Parkinsonian patients walking in line at normal speed

PubMed Central

Godi, Marco; Giardini, Marica; Arcolin, Ilaria; Nardone, Antonio; Giordano, Andrea; Schieppati, Marco

2018-01-01

Background Several patients with Parkinson´s disease (PD) can walk normally along straight trajectories, and impairment in their stride length and cadence may not be easily discernible. Do obvious abnormalities occur in these high-functioning patients when more challenging trajectories are travelled, such as circular paths, which normally implicate a graded modulation in the duration of the interlimb gait cycle phases? Methods We compared a cohort of well-treated mildly to moderately affected PD patients to a group of age-matched healthy subjects (HS), by deliberately including HS spontaneously walking at the same speed of the patients with PD. All participants performed, in random order: linear and circular walking (clockwise and counter-clockwise) at self-selected speed. By means of pressure-sensitive insoles, we recorded walking speed, cadence, duration of single support, double support, swing phase, and stride time. Stride length-cadence relationships were built for linear and curved walking. Stride-to-stride variability of temporal gait parameters was also estimated. Results Walking speed, cadence or stride length were not different between PD and HS during linear walking. Speed, cadence and stride length diminished during curved walking in both groups, stride length more in PD than HS. In PD compared to HS, the stride length-cadence relationship was altered during curved walking. Duration of the double-support phase was also increased during curved walking, as was variability of the single support, swing phase and double support phase. Conclusion The spatio-temporal gait pattern and variability are significantly modified in well-treated, high-functioning patients with PD walking along circular trajectories, even when they exhibit no changes in speed in straight-line walking. The increased variability of the gait phases during curved walking is an identifying characteristic of PD. We discuss our findings in term of interplay between control of balance and of locomotor progression: the former is challenged by curved trajectories even in high-functioning patients, while the latter may not be critically affected. PMID:29750815

SU-E-J-136: Evaluation of a Non-Invasive Method on Lung Tumor Tracking.

PubMed

Zhao, T; White, B; Low, D

2012-06-01

to develop a non-invasive method to track lung motion in free-breathing patients. A free-breathing breathing model has been developed to use tidal volume and air flow rate as surrogates for lung trajectories. In this study, 4D CT data sets were acquired during simulation and were reconstructed into 10 phases. Total lung capacities were calculated from the reconstructed images. Continuous signals from the abdominal pneumatic belt were correlated to the volumes and were therefore converted into a curve of tidal volumes. Air flow rate were calculated as the first order derivative of the tidal volume curve. Lung trajectories in the 10 reconstructed images were obtained using B-Spline registration. Parameters of the free-breathing lung motion model were fit from the tidal volumes, airflow rates and lung trajectories using the simulation data. Patients were rescanned every week during the treatment. Prediction of lung trajectories from the model were given and compared to the actual positions in BEV. Trajectories of lung were predicted with residual error of 1.49mm at 95th percentile of all tracked points. Tracking was stable and reproducible over two weeks. Non-invasive tumor tracking based on a free-breathing lung motion model is feasible and stable over weeks. © 2012 American Association of Physicists in Medicine.

TU-F-17A-03: An Analytical Respiratory Perturbation Model for Lung Motion Prediction

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, G; Yuan, A; Wei, J

2014-06-15

Purpose: Breathing irregularity is common, causing unreliable prediction in tumor motion for correlation-based surrogates. Both tidal volume (TV) and breathing pattern (BP=ΔVthorax/TV, where TV=ΔVthorax+ΔVabdomen) affect lung motion in anterior-posterior and superior-inferior directions. We developed a novel respiratory motion perturbation (RMP) model in analytical form to account for changes in TV and BP in motion prediction from simulation to treatment. Methods: The RMP model is an analytical function of patient-specific anatomic and physiologic parameters. It contains a base-motion trajectory d(x,y,z) derived from a 4-dimensional computed tomography (4DCT) at simulation and a perturbation term Δd(ΔTV,ΔBP) accounting for deviation at treatment from simulation.more » The perturbation is dependent on tumor-specific location and patient-specific anatomy. Eleven patients with simulation and treatment 4DCT images were used to assess the RMP method in motion prediction from 4DCT1 to 4DCT2, and vice versa. For each patient, ten motion trajectories of corresponding points in the lower lobes were measured in both 4DCTs: one served as the base-motion trajectory and the other as the ground truth for comparison. In total, 220 motion trajectory predictions were assessed. The motion discrepancy between two 4DCTs for each patient served as a control. An established 5D motion model was used for comparison. Results: The average absolute error of RMP model prediction in superior-inferior direction is 1.6±1.8 mm, similar to 1.7±1.6 mm from the 5D model (p=0.98). Some uncertainty is associated with limited spatial resolution (2.5mm slice thickness) and temporal resolution (10-phases). Non-corrected motion discrepancy between two 4DCTs is 2.6±2.7mm, with the maximum of ±20mm, and correction is necessary (p=0.01). Conclusion: The analytical motion model predicts lung motion with accuracy similar to the 5D model. The analytical model is based on physical relationships, requires no training, and therefore is potentially more resilient to breathing irregularities. On-going investigation introduces airflow into the RMP model for improvement. This research is in part supported by NIH (U54CA137788/132378). AY would like to thank MSKCC summer medical student research program supported by National Cancer Institute and hosted by Department of Medical Physics at MSKCC.« less

Kinematics of flagellar swimming in Euglena gracilis: Helical trajectories and flagellar shapes.

PubMed

Rossi, Massimiliano; Cicconofri, Giancarlo; Beran, Alfred; Noselli, Giovanni; DeSimone, Antonio

2017-12-12

The flagellar swimming of euglenids, which are propelled by a single anterior flagellum, is characterized by a generalized helical motion. The 3D nature of this swimming motion, which lacks some of the symmetries enjoyed by more common model systems, and the complex flagellar beating shapes that power it make its quantitative description challenging. In this work, we provide a quantitative, 3D, highly resolved reconstruction of the swimming trajectories and flagellar shapes of specimens of Euglena gracilis We achieved this task by using high-speed 2D image recordings taken with a conventional inverted microscope combined with a precise characterization of the helical motion of the cell body to lift the 2D data to 3D trajectories. The propulsion mechanism is discussed. Our results constitute a basis for future biophysical research on a relatively unexplored type of eukaryotic flagellar movement. Copyright © 2017 the Author(s). Published by PNAS.

Perception of object motion in three-dimensional space induced by cast shadows.

PubMed

Katsuyama, Narumi; Usui, Nobuo; Nose, Izuru; Taira, Masato

2011-01-01

Cast shadows can be salient depth cues in three-dimensional (3D) vision. Using a motion illusion in which a ball is perceived to roll in depth on the bottom or to flow in the front plane depending on the slope of the trajectory of its cast shadow, we investigated cortical mechanisms underlying 3D vision based on cast shadows using fMRI techniques. When modified versions of the original illusion, in which the slope of the shadow trajectory (shadow slope) was changed in 5 steps from the same one as the ball trajectory to the horizontal, were presented to participants, their perceived ball trajectory shifted gradually from rolling on the bottom to floating in the front plane as the change of the shadow slope. This observation suggests that the perception of the ball trajectory in this illusion is strongly affected by the motion of the cast shadow. In the fMRI study, cortical activity during observation of the movies of the illusion was investigated. We found that the bilateral posterior-occipital sulcus (POS) and right ventral precuneus showed activation related to the perception of the ball trajectory induced by the cast shadows in the illusion. Of these areas, it was suggested that the right POS may be involved in the inferring of the ball trajectory by the given spatial relation between the ball and the shadow. Our present results suggest that the posterior portion of the medial parietal cortex may be involved in 3D vision by cast shadows. Copyright © 2010 Elsevier Inc. All rights reserved.

Steering particles by breaking symmetries

NASA Astrophysics Data System (ADS)

Bet, Bram; Samin, Sela; Georgiev, Rumen; Burak Eral, Huseyin; van Roij, René

2018-06-01

We derive general equations of motions for highly-confined particles that perform quasi-two-dimensional motion in Hele-Shaw channels, which we solve analytically, aiming to derive design principles for self-steering particles. Based on symmetry properties of a particle, its equations of motion can be simplified, where we retrieve an earlier-known equation of motion for the orientation of dimer particles consisting of disks (Uspal et al 2013 Nat. Commun. 4), but now in full generality. Subsequently, these solutions are compared with particle trajectories that are obtained numerically. For mirror-symmetric particles, excellent agreement between the analytical and numerical solutions is found. For particles lacking mirror symmetry, the analytic solutions provide means to classify the motion based on particle geometry, while we find that taking the side-wall interactions into account is important to accurately describe the trajectories.

Fractional Brownian motion and motion governed by the fractional Langevin equation in confined geometries.

PubMed

Jeon, Jae-Hyung; Metzler, Ralf

2010-02-01

Motivated by subdiffusive motion of biomolecules observed in living cells, we study the stochastic properties of a non-Brownian particle whose motion is governed by either fractional Brownian motion or the fractional Langevin equation and restricted to a finite domain. We investigate by analytic calculations and simulations how time-averaged observables (e.g., the time-averaged mean-squared displacement and displacement correlation) are affected by spatial confinement and dimensionality. In particular, we study the degree of weak ergodicity breaking and scatter between different single trajectories for this confined motion in the subdiffusive domain. The general trend is that deviations from ergodicity are decreased with decreasing size of the movement volume and with increasing dimensionality. We define the displacement correlation function and find that this quantity shows distinct features for fractional Brownian motion, fractional Langevin equation, and continuous time subdiffusion, such that it appears an efficient measure to distinguish these different processes based on single-particle trajectory data.

Orbital Transfer Techniques for Round-Trip Mars Missions

NASA Astrophysics Data System (ADS)

Landau, D. F.; Barbee, B. W.; Woolley, R. C.; Gershman, R.

2012-06-01

Efficient methods to transfer among a variety of Mars orbits is presented. Emphasis is placed on connecting arrival and departure interplanetary trajectories to an arbitrary circular target orbit for a hybrid human/robotic Mars sample return mission.

Motion streaks in fast motion rivalry cause orientation-selective suppression.

PubMed

Apthorp, Deborah; Wenderoth, Peter; Alais, David

2009-05-14

We studied binocular rivalry between orthogonally translating arrays of random Gaussian blobs and measured the strength of rivalry suppression for static oriented probes. Suppression depth was quantified by expressing monocular probe thresholds during dominance relative to thresholds during suppression. Rivalry between two fast motions or two slow motions was compared in order to test the suggestion that fast-moving objects leave oriented "motion streaks" due to temporal integration (W. S. Geisler, 1999). If fast motions do produce motion streaks, then fast motion rivalry might also entail rivalry between the orthogonal streak orientations. We tested this using a static oriented probe that was aligned either parallel to the motion trajectory (hence collinear with the "streaks") or was orthogonal to the trajectory, predicting that rivalry suppression would be greater for parallel probes, and only for rivalry between fast motions. Results confirmed that suppression depth did depend on probe orientation for fast motion but not for slow motion. Further experiments showed that threshold elevations for the oriented probe during suppression exhibited clear orientation tuning. However, orientation-tuned elevations were also present during dominance, suggesting within-channel masking as the basis of the extra-deep suppression. In sum, the presence of orientation-dependent suppression in fast motion rivalry is consistent with the "motion streaks" hypothesis.

An Earth-Moon System Trajectory Design Reference Catalog

NASA Technical Reports Server (NTRS)

Folta, David; Bosanac, Natasha; Guzzetti, Davide; Howell, Kathleen C.

2014-01-01

As demonstrated by ongoing concept designs and the recent ARTEMIS mission, there is, currently, significant interest in exploiting three-body dynamics in the design of trajectories for both robotic and human missions within the Earth-Moon system. The concept of an interactive and 'dynamic' catalog of potential solutions in the Earth-Moon system is explored within this paper and analyzed as a framework to guide trajectory design. Characterizing and compiling periodic and quasi-periodic solutions that exist in the circular restricted three-body problem may offer faster and more efficient strategies for orbit design, while also delivering innovative mission design parameters for further examination.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Revealing nonergodic dynamics in living cells from a single particle trajectory

NASA Astrophysics Data System (ADS)

Lanoiselée, Yann; Grebenkov, Denis S.

2016-05-01

We propose the improved ergodicity and mixing estimators to identify nonergodic dynamics from a single particle trajectory. The estimators are based on the time-averaged characteristic function of the increments and can thus capture additional information on the process as compared to the conventional time-averaged mean-square displacement. The estimators are first investigated and validated for several models of anomalous diffusion, such as ergodic fractional Brownian motion and diffusion on percolating clusters, and nonergodic continuous-time random walks and scaled Brownian motion. The estimators are then applied to two sets of earlier published trajectories of mRNA molecules inside live Escherichia coli cells and of Kv2.1 potassium channels in the plasma membrane. These statistical tests did not reveal nonergodic features in the former set, while some trajectories of the latter set could be classified as nonergodic. Time averages along such trajectories are thus not representative and may be strongly misleading. Since the estimators do not rely on ensemble averages, the nonergodic features can be revealed separately for each trajectory, providing a more flexible and reliable analysis of single-particle tracking experiments in microbiology.

EFFECTS OF NON-CIRCULAR MOTIONS ON AZIMUTHAL COLOR GRADIENTS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Martinez-Garcia, Eric E.; Gonzalez-Lopezlira, Rosa A.; Gomez, Gilberto C., E-mail: emartinez@cida.v, E-mail: r.gonzalez@crya.unam.m, E-mail: g.gomez@crya.unam.m

2009-12-20

Assuming that density waves trigger star formation, and that young stars preserve the velocity components of the molecular gas where they are born, we analyze the effects that non-circular gas orbits have on color gradients across spiral arms. We try two approaches, one involving semianalytical solutions for spiral shocks, and another with magnetohydrodynamic (MHD) numerical simulation data. We find that, if non-circular motions are ignored, the comparison between observed color gradients and stellar population synthesis models would in principle yield pattern speed values that are systematically too high for regions inside corotation, with the difference between the real and themore » measured pattern speeds increasing with decreasing radius. On the other hand, image processing and pixel averaging result in systematically lower measured spiral pattern speed values, regardless of the kinematics of stellar orbits. The net effect is that roughly the correct pattern speeds are recovered, although the trend of higher measured OMEGA{sub p} at lower radii (as expected when non-circular motions exist but are neglected) should still be observed. We examine the MartInez-GarcIa et al. photometric data and confirm that this is indeed the case. The comparison of the size of the systematic pattern speed offset in the data with the predictions of the semianalytical and MHD models corroborates that spirals are more likely to end at outer Lindblad resonance, as these authors had already found.« less

Robot Trajectories Comparison: A Statistical Approach

PubMed Central

Ansuategui, A.; Arruti, A.; Susperregi, L.; Yurramendi, Y.; Jauregi, E.; Lazkano, E.; Sierra, B.

2014-01-01

The task of planning a collision-free trajectory from a start to a goal position is fundamental for an autonomous mobile robot. Although path planning has been extensively investigated since the beginning of robotics, there is no agreement on how to measure the performance of a motion algorithm. This paper presents a new approach to perform robot trajectories comparison that could be applied to any kind of trajectories and in both simulated and real environments. Given an initial set of features, it automatically selects the most significant ones and performs a statistical comparison using them. Additionally, a graphical data visualization named polygraph which helps to better understand the obtained results is provided. The proposed method has been applied, as an example, to compare two different motion planners, FM2 and WaveFront, using different environments, robots, and local planners. PMID:25525618

Study on Vortex-Induced Motions of A New Type of Deep Draft Multi-Columns FDPSO

NASA Astrophysics Data System (ADS)

Gu, Jia-yang; Xie, Yu-lin; Zhao, Yuan; Li, Wen-juan; Tao, Yan-wu; Huang, Xiang-hong

2018-03-01

A numerical simulation and an experimental study on vortex-induced motion (VIM) of a new type of deep draft multi-columns floating drilling production, storage and offloading (FDPSO) are presented in this paper. The main dimension, the special variable cross-section column and the cabin arrangement of the octagonal pontoon are introduced based on the result. The numerical simulation is adapted to study the effects of current incidence angles and reduced velocities on this platform's sway motion response. The 300 m water depth equivalent truncated mooring system is adopted for the model tests. The model tests are carried out to check the reliability of numerical simulation. The results consist of surge, sway and yaw motions, as well as motion trajectories. The maximum sway amplitudes for different types of offshore platform is also studied. The main results show that the peak frequencies of sway motion under different current incidence angles and reduced velocities vary around the natural frequency. The analysis result of flow field indicates that the change of distribution of vortex in vertical presents significant influences on the VIM of platform. The trend of sway amplitude ratio curve of this new type FDPSO differs from the other types of platform. Under 45° current incidence angle, the sway amplitude of this new type of FDPSO is much smaller than those of other types of offshore platform at 4.4 ≤ V r ≤ 8.9. The typical `8' shape trajectory does not appear in the platform's motion trajectories.

3D Tracking of Diatom Motion in Turbulent Flow

NASA Astrophysics Data System (ADS)

Variano, E. A.; Brandt, L.; Sardina, G.; Ardekani, M.; Pujara, N.; Ayers, S.; Du Clos, K.; Karp-Boss, L.; Jumars, P. A.

2016-02-01

We present laboratory measurements of single-celled and chain forming diatom motion in a stirred turbulence tank. The overarching goal is to explore whether diatoms track flow with fidelity (passive tracers) or whether interactions with cell density and shape result in biased trajectories that alter settling velocities. Diatom trajectories are recorded in 3D using a stereoscopic, calibrated tracking tool. Turbulence is created in a novel stirred tank, designed to create motions that match those found in the ocean surface mixed layer at scales less than 10 cm. The data are analyzed for evidence of enhanced particle clustering, an indicator of turbulently altered settling rates

Theoretical Foundation of Copernicus: A Unified System for Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Ocampo, Cesar; Senent, Juan S.; Williams, Jacob

2010-01-01

The fundamental methods are described for the general spacecraft trajectory design and optimization software system called Copernicus. The methods rely on a unified framework that is used to model, design, and optimize spacecraft trajectories that may operate in complex gravitational force fields, use multiple propulsion systems, and involve multiple spacecraft. The trajectory model, with its associated equations of motion and maneuver models, are discussed.

Three-bead steering microswimmers

NASA Astrophysics Data System (ADS)

Rizvi, Mohd Suhail; Farutin, Alexander; Misbah, Chaouqi

2018-02-01

The self-propelled microswimmers have recently attracted considerable attention as model systems for biological cell migration as well as artificial micromachines. A simple and well-studied microswimmer model consists of three identical spherical beads joined by two springs in a linear fashion with active oscillatory forces being applied on the beads to generate self-propulsion. We have extended this linear microswimmer configuration to a triangular geometry where the three beads are connected by three identical springs in an equilateral triangular manner. The active forces acting on each spring can lead to autonomous steering motion; i.e., allowing the swimmer to move along arbitrary paths. We explore the microswimmer dynamics analytically and pinpoint its rich character depending on the nature of the active forces. The microswimmers can translate along a straight trajectory, rotate at a fixed location, as well as perform a simultaneous translation and rotation resulting in complex curved trajectories. The sinusoidal active forces on the three springs of the microswimmer contain naturally four operating parameters which are more than required for the steering motion. We identify the minimal operating parameters which are essential for the motion of the microswimmer along any given arbitrary trajectory. Therefore, along with providing insights into the mechanics of the complex motion of the natural and artificial microswimmers, the triangular three-bead microswimmer can be utilized as a model for targeted drug delivery systems and autonomous underwater vehicles where intricate trajectories are involved.

Analysis of free breathing motion using artifact reduced 4D CT image data

NASA Astrophysics Data System (ADS)

Ehrhardt, Jan; Werner, Rene; Frenzel, Thorsten; Lu, Wei; Low, Daniel; Handels, Heinz

2007-03-01

The mobility of lung tumors during the respiratory cycle is a source of error in radiotherapy treatment planning. Spatiotemporal CT data sets can be used for studying the motion of lung tumors and inner organs during the breathing cycle. We present methods for the analysis of respiratory motion using 4D CT data in high temporal resolution. An optical flow based reconstruction method was used to generate artifact-reduced 4D CT data sets of lung cancer patients. The reconstructed 4D CT data sets were segmented and the respiratory motion of tumors and inner organs was analyzed. A non-linear registration algorithm is used to calculate the velocity field between consecutive time frames of the 4D data. The resulting velocity field is used to analyze trajectories of landmarks and surface points. By this technique, the maximum displacement of any surface point is calculated, and regions with large respiratory motion are marked. To describe the tumor mobility the motion of the lung tumor center in three orthogonal directions is displayed. Estimated 3D appearance probabilities visualize the movement of the tumor during the respiratory cycle in one static image. Furthermore, correlations between trajectories of the skin surface and the trajectory of the tumor center are determined and skin regions are identified which are suitable for prediction of the internal tumor motion. The results of the motion analysis indicate that the described methods are suitable to gain insight into the spatiotemporal behavior of anatomical and pathological structures during the respiratory cycle.

Automatic acquisition of motion trajectories: tracking hockey players

NASA Astrophysics Data System (ADS)

Okuma, Kenji; Little, James J.; Lowe, David

2003-12-01

Computer systems that have the capability of analyzing complex and dynamic scenes play an essential role in video annotation. Scenes can be complex in such a way that there are many cluttered objects with different colors, shapes and sizes, and can be dynamic with multiple interacting moving objects and a constantly changing background. In reality, there are many scenes that are complex, dynamic, and challenging enough for computers to describe. These scenes include games of sports, air traffic, car traffic, street intersections, and cloud transformations. Our research is about the challenge of inventing a descriptive computer system that analyzes scenes of hockey games where multiple moving players interact with each other on a constantly moving background due to camera motions. Ultimately, such a computer system should be able to acquire reliable data by extracting the players" motion as their trajectories, querying them by analyzing the descriptive information of data, and predict the motions of some hockey players based on the result of the query. Among these three major aspects of the system, we primarily focus on visual information of the scenes, that is, how to automatically acquire motion trajectories of hockey players from video. More accurately, we automatically analyze the hockey scenes by estimating parameters (i.e., pan, tilt, and zoom) of the broadcast cameras, tracking hockey players in those scenes, and constructing a visual description of the data by displaying trajectories of those players. Many technical problems in vision such as fast and unpredictable players' motions and rapid camera motions make our challenge worth tackling. To the best of our knowledge, there have not been any automatic video annotation systems for hockey developed in the past. Although there are many obstacles to overcome, our efforts and accomplishments would hopefully establish the infrastructure of the automatic hockey annotation system and become a milestone for research in automatic video annotation in this domain.

On-Line Use of Three-Dimensional Marker Trajectory Estimation From Cone-Beam Computed Tomography Projections for Precise Setup in Radiotherapy for Targets With Respiratory Motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Worm, Esben S., E-mail: esbeworm@rm.dk; Department of Medical Physics, Aarhus University Hospital, Aarhus; Hoyer, Morten

2012-05-01

Purpose: To develop and evaluate accurate and objective on-line patient setup based on a novel semiautomatic technique in which three-dimensional marker trajectories were estimated from two-dimensional cone-beam computed tomography (CBCT) projections. Methods and Materials: Seven treatment courses of stereotactic body radiotherapy for liver tumors were delivered in 21 fractions in total to 6 patients by a linear accelerator. Each patient had two to three gold markers implanted close to the tumors. Before treatment, a CBCT scan with approximately 675 two-dimensional projections was acquired during a full gantry rotation. The marker positions were segmented in each projection. From this, the three-dimensionalmore » marker trajectories were estimated using a probability based method. The required couch shifts for patient setup were calculated from the mean marker positions along the trajectories. A motion phantom moving with known tumor trajectories was used to examine the accuracy of the method. Trajectory-based setup was retrospectively used off-line for the first five treatment courses (15 fractions) and on-line for the last two treatment courses (6 fractions). Automatic marker segmentation was compared with manual segmentation. The trajectory-based setup was compared with setup based on conventional CBCT guidance on the markers (first 15 fractions). Results: Phantom measurements showed that trajectory-based estimation of the mean marker position was accurate within 0.3 mm. The on-line trajectory-based patient setup was performed within approximately 5 minutes. The automatic marker segmentation agreed with manual segmentation within 0.36 {+-} 0.50 pixels (mean {+-} SD; pixel size, 0.26 mm in isocenter). The accuracy of conventional volumetric CBCT guidance was compromised by motion smearing ({<=}21 mm) that induced an absolute three-dimensional setup error of 1.6 {+-} 0.9 mm (maximum, 3.2) relative to trajectory-based setup. Conclusions: The first on-line clinical use of trajectory estimation from CBCT projections for precise setup in stereotactic body radiotherapy was demonstrated. Uncertainty in the conventional CBCT-based setup procedure was eliminated with the new method.« less

Flight trajectories with maximum tangential thrust in a central Newtonian field

NASA Astrophysics Data System (ADS)

Azizov, A. G.; Korshunova, N. A.

1983-07-01

The paper examines the two-dimensional problem of determining the optimal trajectories of a point moving with a limited per-second mass consumption in a central Newtonian field. It is shown that one of the cases in which the variational equations in the Meier formulation can be integrated in quadratures is motion with maximum tangential thrust. Trajectories corresponding to this motion are determined. By way of application, attention is given to the problem of determining the thrust which assures maximum kinetic energy for the point at the moment t = t1, corresponding to the mass consumption M0 - M1, where M0 and M1 are, respectively, the initial and final mass.

Flapping Wings of an Inclined Stroke Angle: Experiments and Reduced-Order Models in Dual Aerial/Aquatic Flight

NASA Astrophysics Data System (ADS)

Izraelevitz, Jacob; Triantafyllou, Michael

2016-11-01

Flapping wings in nature demonstrate a large force actuation envelope, with capabilities beyond the limits of static airfoil section coefficients. Puffins, guillemots, and other auks particularly showcase this mechanism, as they are able to both generate both enough thrust to swim and lift to fly, using the same wing, by changing the wing motion trajectory. The wing trajectory is therefore an additional design criterion to be optimized along with traditional aircraft parameters, and could possibly enable dual aerial/aquatic flight. We showcase finite aspect-ratio flapping wing experiments, dynamic similarity arguments, and reduced-order models for predicting the performance of flapping wings that carry out complex motion trajectories.

On the Adaptation of Pelvic Motion by Applying 3-dimensional Guidance Forces Using TPAD.

PubMed

Kang, Jiyeon; Vashista, Vineet; Agrawal, Sunil K

2017-09-01

Pelvic movement is important to human locomotion as the center of mass is located near the center of pelvis. Lateral pelvic motion plays a crucial role to shift the center of mass on the stance leg, while swinging the other leg and keeping the body balanced. In addition, vertical pelvic movement helps to reduce metabolic energy expenditure by exchanging potential and kinetic energy during the gait cycle. However, patient groups with cerebral palsy or stroke have excessive pelvic motion that leads to high energy expenditure. In addition, they have higher chances of falls as the center ofmass could deviate outside the base of support. In this paper, a novel control method is suggested using tethered pelvic assist device (TPAD) to teach subjects to walk with a specified target pelvic trajectory while walking on a treadmill. In this method, a force field is applied to the pelvis to guide it to move on a target trajectory and correctional forces are applied, if the pelvis motion has excessive deviations from the target trajectory. Three different experimentswith healthy subjects were conducted to teach them to walk on a new target pelvic trajectory with the presented control method. For all three experiments, the baseline trajectory of the pelvis was experimentally determined for each participating subject. To design a target pelvic trajectory which is different from the baseline, Experiment I scaled up the lateral component of the baseline pelvic trajectory, while Experiment II scaled down the lateral component of the baseline trajectory. For both Experiments I and II, the controller generated a 2-D force field in the transverse plane to provide the guidance force. In this paper, seven subjects were recruited for each experiment who walked on the treadmill with suggested control methods and visual feedback of their pelvic trajectory. The results show that the subjects were able to learn the target pelvic trajectory in each experiment and also retained the training effects after the completion of the experiment. In Experiment III, both lateral and vertical components of the pelvic trajectory were scaled down from the baseline trajectory. The force field was extended to three dimensions in order to correct the vertical pelvic movement as well. Three subgroups (force feedback alone, visual feedback alone, and both force and visual feedback) were recruited to understand the effects of force feedback and visual feedback alone to distinguish the results from Experiments I and II. The results showthat a trainingmethod that combines visual and force feedback is superior to the training methods with visual or force feedback alone. We believe that the present control strategy holds potential in training and correcting abnormal pelvic movements in different patient populations.

Possible microplate generation at RRR triple junctions due to the non-circular finite motion of plates relative to each other

NASA Astrophysics Data System (ADS)

Cronin, V. S.

2012-12-01

First generation ideas of the kinematic stability of triple junctions lead to the common belief that the geometry of ridge-ridge-ridge (RRR) triple junctions remains constant over time under conditions of symmetric spreading. Given constant relative motion between each plate pair -- that is, the pole of plate relative motion is fixed to both plates in each pair during finite motion, as assumed in many accounts of plate kinematics -- there would be no boundary mismatch at the triple junction and no apparent kinematic reason why a microplate might develop there. But if, in a given RRR triple junction, the finite motion of one plate as observed from the other plate is not circular (as is generally the case, given the three-plate problem of plate kinematics), the geometry of the ridges and the triple junction will vary with time (Cronin, 1992, Tectonophys 207, 287-301). To explore the possible consequences of non-circular finite motion between plates at an RRR triple junction, a simple model was coded based on the cycloid finite-motion model (e.g., Cronin, 1987, Geology 15, 1006-1009) using NNR-MORVEL56 velocities for individual plates (Argus et al., 2011, G3 12, doi: 10.1029/2011GC003751). Initial assumptions include a spherical Earth, symmetric spreading, and constant angular velocities during the modeled finite time interval. The assumed-constant angular velocity vectors constitute a reference frame for observing finite plate motion. Typical results are [1] that the triple junction migrates relative to a coordinate system fixed to the angular-velocity vectors, [2] ridge axes rotates relative to each other, and [3] a boundary mismatch develops at the synthetic triple junction that might result in microplate nucleation. In a model simulating the Galapagos triple junction between the Cocos, Nazca and Pacific plates whose initial state did not include the Galapagos microplate, the mismatch gap was as much as ~3.4 km during 3 Myr of model displacement (see figure). The centroid of the synthetic triple junction translates ~81 km toward azimuth ~352° in 3 Myr. Of course, the details will vary as different angular velocity vectors are used; however, modeling indicates that non-circular finite relative motion between adjacent plates generally results in boundary mismatches and rotation of ridge segments relative to each other at RRR triple junctions. Left: synthetic Galapagos triple junction at initial model time, without a microplate. Right: synthetic triple junction after 3 Myr displacement, illustrating the resulting boundary mismatch (gap) and rotated ridge axes.

Analysis of Petal Rotation Trajectory Characteristics

NASA Technical Reports Server (NTRS)

Anderson, Rodney L.; Campagnola, Stefano; Buffington, Brent B.

2014-01-01

In this study, the characteristics of petal rotation trajectories are explored in both the two-body and circular restricted three-body problem (CRTBP) models. Petal rotation trajectories alternate long and short resonances of different kinds to rotate the line of apsides. They are typically computed using the patched conic model, and they are used in a number of different missions and mission concepts including Cassini, JUICE, and Europa mission concepts. Petal rotation trajectories are first analyzed here using the patched conic model to quantify their characteristics and search for cases with fast rotation of the line of apsides. When they are computed in the CRTBP, they are unstable periodic orbits with corresponding stable and unstable manifolds. The characteristics of these orbits are explored from a dynamical systems perspective in the second phase of the study.

Curvilinear approach to an intersection and visual detection of a collision.

PubMed

Berthelon, C; Mestre, D

1993-09-01

Visual motion perception plays a fundamental role in vehicle control. Recent studies have shown that the pattern of optical flow resulting from the observer's self-motion through a stable environment is used by the observer to accurately control his or her movements. However, little is known about the perception of another vehicle during self-motion--for instance, when a car driver approaches an intersection with traffic. In a series of experiments using visual simulations of car driving, we show that observers are able to detect the presence of a moving object during self-motion. However, the perception of the other car's trajectory appears to be strongly dependent on environmental factors, such as the presence of a road sign near the intersection or the shape of the road. These results suggest that local and global visual factors determine the perception of a car's trajectory during self-motion.

Continuous quantum measurement and the quantum to classical transition

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bhattacharya, Tanmoy; Habib, Salman; Jacobs, Kurt

2003-04-01

While ultimately they are described by quantum mechanics, macroscopic mechanical systems are nevertheless observed to follow the trajectories predicted by classical mechanics. Hence, in the regime defining macroscopic physics, the trajectories of the correct classical motion must emerge from quantum mechanics, a process referred to as the quantum to classical transition. Extending previous work [Bhattacharya, Habib, and Jacobs, Phys. Rev. Lett. 85, 4852 (2000)], here we elucidate this transition in some detail, showing that once the measurement processes that affect all macroscopic systems are taken into account, quantum mechanics indeed predicts the emergence of classical motion. We derive inequalities thatmore » describe the parameter regime in which classical motion is obtained, and provide numerical examples. We also demonstrate two further important properties of the classical limit: first, that multiple observers all agree on the motion of an object, and second, that classical statistical inference may be used to correctly track the classical motion.« less

A Generalized-Compliant-Motion Primitive

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1993-01-01

Computer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.

Single-particle tracking: applications to membrane dynamics.

PubMed

Saxton, M J; Jacobson, K

1997-01-01

Measurements of trajectories of individual proteins or lipids in the plasma membrane of cells show a variety of types of motion. Brownian motion is observed, but many of the particles undergo non-Brownian motion, including directed motion, confined motion, and anomalous diffusion. The variety of motion leads to significant effects on the kinetics of reactions among membrane-bound species and requires a revision of existing views of membrane structure and dynamics.

POCS-based reconstruction of multiplexed sensitivity encoded MRI (POCSMUSE): a general algorithm for reducing motion-related artifacts

PubMed Central

Chu, Mei-Lan; Chang, Hing-Chiu; Chung, Hsiao-Wen; Truong, Trong-Kha; Bashir, Mustafa R.; Chen, Nan-kuei

2014-01-01

Purpose A projection onto convex sets reconstruction of multiplexed sensitivity encoded MRI (POCSMUSE) is developed to reduce motion-related artifacts, including respiration artifacts in abdominal imaging and aliasing artifacts in interleaved diffusion weighted imaging (DWI). Theory Images with reduced artifacts are reconstructed with an iterative POCS procedure that uses the coil sensitivity profile as a constraint. This method can be applied to data obtained with different pulse sequences and k-space trajectories. In addition, various constraints can be incorporated to stabilize the reconstruction of ill-conditioned matrices. Methods The POCSMUSE technique was applied to abdominal fast spin-echo imaging data, and its effectiveness in respiratory-triggered scans was evaluated. The POCSMUSE method was also applied to reduce aliasing artifacts due to shot-to-shot phase variations in interleaved DWI data corresponding to different k-space trajectories and matrix condition numbers. Results Experimental results show that the POCSMUSE technique can effectively reduce motion-related artifacts in data obtained with different pulse sequences, k-space trajectories and contrasts. Conclusion POCSMUSE is a general post-processing algorithm for reduction of motion-related artifacts. It is compatible with different pulse sequences, and can also be used to further reduce residual artifacts in data produced by existing motion artifact reduction methods. PMID:25394325

Vibration of Shells

NASA Technical Reports Server (NTRS)

Leissa, A. W.

1973-01-01

The vibrational characteristics and mechanical properties of shell structures are discussed. The subjects presented are: (1) fundamental equations of thin shell theory, (2) characteristics of thin circular cylindrical shells, (3) complicating effects in circular cylindrical shells, (4) noncircular cylindrical shell properties, (5) characteristics of spherical shells, and (6) solution of three-dimensional equations of motion for cylinders.

Transmission of wave energy in curved ducts. [acoustic propagation within rigid walls

NASA Technical Reports Server (NTRS)

Rostafinski, W.

1974-01-01

Investigation of the ability of circular bends to transmit acoustic energy flux. A formulation of wave-energy flow is developed for motion in curved ducts. A parametric study over a range of frequencies shows the ability of circular bends to transmit energy in the case of perfectly rigid walls.

A cardioid oscillator with asymmetric time ratio for establishing CPG models.

PubMed

Fu, Q; Wang, D H; Xu, L; Yuan, G

2018-01-13

Nonlinear oscillators are usually utilized by bionic scientists for establishing central pattern generator models for imitating rhythmic motions by bionic scientists. In the natural word, many rhythmic motions possess asymmetric time ratios, which means that the forward and the backward motions of an oscillating process sustain different times within one period. In order to model rhythmic motions with asymmetric time ratios, nonlinear oscillators with asymmetric forward and backward trajectories within one period should be studied. In this paper, based on the property of the invariant set, a method to design the closed curve in the phase plane of a dynamic system as its limit cycle is proposed. Utilizing the proposed method and considering that a cardioid curve is a kind of asymmetrical closed curves, a cardioid oscillator with asymmetric time ratios is proposed and realized. Through making the derivation of the closed curve in the phase plane of a dynamic system equal to zero, the closed curve is designed as its limit cycle. Utilizing the proposed limit cycle design method and according to the global invariant set theory, a cardioid oscillator applying a cardioid curve as its limit cycle is achieved. On these bases, the numerical simulations are conducted for analyzing the behaviors of the cardioid oscillator. The example utilizing the established cardioid oscillator to simulate rhythmic motions of the hip joint of a human body in the sagittal plane is presented. The results of the numerical simulations indicate that, whatever the initial condition is and without any outside input, the proposed cardioid oscillator possesses the following properties: (1) The proposed cardioid oscillator is able to generate a series of periodic and anti-interference self-exciting trajectories, (2) the generated trajectories possess an asymmetric time ratio, and (3) the time ratio can be regulated by adjusting the oscillator's parameters. Furthermore, the comparison between the simulated trajectories by the established cardioid oscillator and the measured angle trajectories of the hip angle of a human body show that the proposed cardioid oscillator is fit for imitating the rhythmic motions of the hip of a human body with asymmetric time ratios.

Controlling electron quantum paths for generation of circularly polarized high-order harmonics by H2+ subject to tailored (ω , 2 ω ) counter-rotating laser fields

NASA Astrophysics Data System (ADS)

Heslar, John; Telnov, Dmitry A.; Chu, Shih-I.

2018-04-01

Recently, studies of high-order harmonics (HHG) from atoms driven by bichromatic counter-rotating circularly polarized laser fields as a source of coherent circularly polarized extreme ultraviolet (XUV) and soft-x-ray beams in a tabletop-scale setup have received considerable attention. Here, we demonstrate the ability to control the electron recollisions giving three returns per one cycle of the fundamental frequency ω by using tailored bichromatic (ω , 2 ω ) counter-rotating circularly polarized laser fields with a molecular target. The full control of the electronic pathway is first analyzed by a classical trajectory analysis and then extended to a detailed quantum study of H2+ molecules in bichromatic (ω , 2 ω ) counter-rotating circularly polarized laser fields. The radiation spectrum contains doublets of left- and right-circularly polarized harmonics in the XUV ranges. We study in detail the below-, near-, and above-threshold harmonic regions and describe how excited-state resonances alter the ellipticity and phase of the generated harmonic peaks.

Amplified effect of Brownian motion in bacterial near-surface swimming

PubMed Central

Li, Guanglai; Tam, Lick-Kong; Tang, Jay X.

2008-01-01

Brownian motion influences bacterial swimming by randomizing displacement and direction. Here, we report that the influence of Brownian motion is amplified when it is coupled to hydrodynamic interaction. We examine swimming trajectories of the singly flagellated bacterium Caulobacter crescentus near a glass surface with total internal reflection fluorescence microscopy and observe large fluctuations over time in the distance of the cell from the solid surface caused by Brownian motion. The observation is compared with computer simulation based on analysis of relevant physical factors, including electrostatics, van der Waals force, hydrodynamics, and Brownian motion. The simulation reproduces the experimental findings and reveals contribution from fluctuations of the cell orientation beyond the resolution of present observation. Coupled with hydrodynamic interaction between the bacterium and the boundary surface, the fluctuations in distance and orientation subsequently lead to variation of the swimming speed and local radius of curvature of swimming trajectory. These results shed light on the fundamental roles of Brownian motion in microbial motility, nutrient uptake, and adhesion. PMID:19015518

Bright circularly polarized soft X-ray high harmonics for X-ray magnetic circular dichroism

DOE PAGES

Fan, Tingting; Grychtol, Patrik; Knut, Ronny; ...

2015-11-03

Here, we demonstrate, to our knowledge, the first bright circularly polarized high-harmonic beams in the soft X-ray region of the electromagnetic spectrum, and use them to implement X-ray magnetic circular dichroism measurements in a tabletop-scale setup. Using counterrotating circularly polarized laser fields at 1.3 and 0.79 µm, we generate circularly polarized harmonics with photon energies exceeding 160 eV. The harmonic spectra emerge as a sequence of closely spaced pairs of left and right circularly polarized peaks, with energies determined by conservation of energy and spin angular momentum. We explain the single-atom and macroscopic physics by identifying the dominant electron quantummore » trajectories and optimal phase-matching conditions. The first advanced phase-matched propagation simulations for circularly polarized harmonics reveal the influence of the finite phase-matching temporal window on the spectrum, as well as the unique polarization-shaped attosecond pulse train. Finally, we use, to our knowledge, the first tabletop X-ray magnetic circular dichroism measurements at the N 4,5 absorption edges of Gd to validate the high degree of circularity, brightness, and stability of this light source. These results demonstrate the feasibility of manipulating the polarization, spectrum, and temporal shape of high harmonics in the soft X-ray region by manipulating the driving laser waveform.« less

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

Cold Rydberg atoms in circular states

NASA Astrophysics Data System (ADS)

Anderson, David; Schwarzkopf, Andrew; Raithel, Georg

2012-06-01

Circular-state Rydberg atoms are interesting in that they exhibit a unique combination of extraordinary properties; long lifetimes (˜n^5), large magnetic moments (l=|m|=n-1) and no first order Stark shift. Circular states have found applications in cavity quantum electrodynamics and precision measurements [1,2], among other studies. In this work we present the production of circular states in an atom trapping apparatus using an adiabatic state-switching method (the crossed-field method [3]). To date, we have observed lifetimes of adiabatically prepared states of several milliseconds. Their relatively large ionization electric fields have been verified by time-of-flight signatures of ion trajectories. We intend to explore the magnetic trapping of circular state Rydberg atoms, as well as their production and interaction properties in ultra-cold and degenerate samples.[4pt] [1] P. Bertet et al., Phys. Rev. Lett., 88, 14 (2002)[0pt] [2] M. Brune et al., Phys. Rev. Lett., 72, 21 (1994)[0pt] [3] D. Delande and J.C. Gay, Europhys. Lett., 5, 303-308 (1988).

Differential contributions to the interception of occluded ballistic trajectories by the temporoparietal junction, area hMT/V5+, and the intraparietal cortex.

PubMed

Delle Monache, Sergio; Lacquaniti, Francesco; Bosco, Gianfranco

2017-09-01

The ability to catch objects when transiently occluded from view suggests their motion can be extrapolated. Intraparietal cortex (IPS) plays a major role in this process along with other brain structures, depending on the task. For example, interception of objects under Earth's gravity effects may depend on time-to-contact predictions derived from integration of visual signals processed by hMT/V5+ with a priori knowledge of gravity residing in the temporoparietal junction (TPJ). To investigate this issue further, we disrupted TPJ, hMT/V5+, and IPS activities with transcranial magnetic stimulation (TMS) while subjects intercepted computer-simulated projectile trajectories perturbed randomly with either hypo- or hypergravity effects. In experiment 1 , trajectories were occluded either 750 or 1,250 ms before landing. Three subject groups underwent triple-pulse TMS (tpTMS, 3 pulses at 10 Hz) on one target area (TPJ | hMT/V5+ | IPS) and on the vertex (control site), timed at either trajectory perturbation or occlusion. In experiment 2 , trajectories were entirely visible and participants received tpTMS on TPJ and hMT/V5+ with same timing as experiment 1 tpTMS of TPJ, hMT/V5+, and IPS affected differently the interceptive timing. TPJ stimulation affected preferentially responses to 1-g motion, hMT/V5+ all response types, and IPS stimulation induced opposite effects on 0-g and 2-g responses, being ineffective on 1-g responses. Only IPS stimulation was effective when applied after target disappearance, implying this area might elaborate memory representations of occluded target motion. Results are compatible with the idea that IPS, TPJ, and hMT/V5+ contribute to distinct aspects of visual motion extrapolation, perhaps through parallel processing. NEW & NOTEWORTHY Visual extrapolation represents a potential neural solution to afford motor interactions with the environment in the face of missing information. We investigated relative contributions by temporoparietal junction (TPJ), hMT/V5+, and intraparietal cortex (IPS), cortical areas potentially involved in these processes. Parallel organization of visual extrapolation processes emerged with respect to the target's motion causal nature: TPJ was primarily involved for visual motion congruent with gravity effects, IPS for arbitrary visual motion, whereas hMT/V5+ contributed at earlier processing stages. Copyright © 2017 the American Physiological Society.

Molecular electron recollision dynamics in intense circularly polarized laser pulses

NASA Astrophysics Data System (ADS)

Bandrauk, André D.; Yuan, Kai-Jun

2018-04-01

Extreme UV and x-ray table top light sources based on high-order harmonic generation (HHG) are focused now on circular polarization for the generation of circularly polarized attosecond pulses as new tools for controlling electron dynamics, such as charge transfer and migration and the generation of attosecond quantum electron currents for ultrafast magneto-optics. A fundamental electron dynamical process in HHG is laser induced electron recollision with the parent ion, well established theoretically and experimentally for linear polarization. We discuss molecular electron recollision dynamics in circular polarization by theoretical analysis and numerical simulation. The control of the polarization of HHG with circularly polarized ionizing pulses is examined and it is shown that bichromatic circularly polarized pulses enhance recollision dynamics, rendering HHG more efficient, especially in molecules because of their nonspherical symmetry. The polarization of the harmonics is found to be dependent on the compatibility of the rotational symmetry of the net electric field created by combinations of bichromatic circularly polarized pulses with the dynamical symmetry of molecules. We show how the field and molecule symmetry influences the electron recollision trajectories by a time-frequency analysis of harmonics. The results, in principle, offer new unique controllable tools in the study of attosecond molecular electron dynamics.

Trajectories of Listeria-type motility in two dimensions

NASA Astrophysics Data System (ADS)

Wen, Fu-Lai; Leung, Kwan-tai; Chen, Hsuan-Yi

2012-12-01

Force generated by actin polymerization is essential in cell motility and the locomotion of organelles or bacteria such as Listeria monocytogenes. Both in vivo and in vitro experiments on actin-based motility have observed geometrical trajectories including straight lines, circles, S-shaped curves, and translating figure eights. This paper reports a phenomenological model of an actin-propelled disk in two dimensions that generates geometrical trajectories. Our model shows that when the evolutions of actin density and force per filament on the disk are strongly coupled to the disk self-rotation, it is possible for a straight trajectory to lose its stability. When the instability is due to a pitchfork bifurcation, the resulting trajectory is a circle; a straight trajectory can also lose stability through a Hopf bifurcation, and the resulting trajectory is an S-shaped curve. We also show that a half-coated disk, which mimics the distribution of functionalized proteins in Listeria, also undergoes similar symmetry-breaking bifurcations when the straight trajectory loses stability. For both a fully coated disk and a half-coated disk, when the trajectory is an S-shaped curve, the angular frequency of the disk self-rotation is different from that of the disk trajectory. However, for circular trajectories, these angular frequencies are different for a fully coated disk but the same for a half-coated disk.

Studies of aircraft differential maneuvering. Report 75-27: Calculating of differential-turning barrier surfaces. Report 75-26: A user's guide to the aircraft energy-turn and tandem-motion computer programs. Report 75-7: A user's guide to the aircraft energy-turn hodograph program. [numerical analysis of tactics and aircraft maneuvers of supersonic attack aircraft

NASA Technical Reports Server (NTRS)

Kelley, H. J.; Lefton, L.

1976-01-01

The numerical analysis of composite differential-turn trajectory pairs was studied for 'fast-evader' and 'neutral-evader' attitude dynamics idealization for attack aircraft. Transversality and generalized corner conditions are examined and the joining of trajectory segments discussed. A criterion is given for the screening of 'tandem-motion' trajectory segments. Main focus is upon the computation of barrier surfaces. Fortunately, from a computational viewpoint, the trajectory pairs defining these surfaces need not be calculated completely, the final subarc of multiple-subarc pairs not being required. Some calculations for pairs of example aircraft are presented. A computer program used to perform the calculations is included.

Non-adiabatic molecular dynamics with complex quantum trajectories. I. The diabatic representation.

PubMed

Zamstein, Noa; Tannor, David J

2012-12-14

We extend a recently developed quantum trajectory method [Y. Goldfarb, I. Degani, and D. J. Tannor, J. Chem. Phys. 125, 231103 (2006)] to treat non-adiabatic transitions. Each trajectory evolves on a single surface according to Newton's laws with complex positions and momenta. The transfer of amplitude between surfaces stems naturally from the equations of motion, without the need for surface hopping. In this paper we derive the equations of motion and show results in the diabatic representation, which is rarely used in trajectory methods for calculating non-adiabatic dynamics. We apply our method to the first two benchmark models introduced by Tully [J. Chem. Phys. 93, 1061 (1990)]. Besides giving the probability branching ratios between the surfaces, the method also allows the reconstruction of the time-dependent wavepacket. Our results are in quantitative agreement with converged quantum mechanical calculations.

A guidance and navigation system for continuous low thrust vehicles. M.S. Thesis

NASA Technical Reports Server (NTRS)

Tse, C. J. C.

1973-01-01

A midcourse guidance and navigation system for continuous low thrust vehicles is described. A set of orbit elements, known as the equinoctial elements, are selected as the state variables. The uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time nominal trajectory is defined and the equation of motion and the measurement equation are linearized about this nominal trajectory. An exponential cost criterion is constructed and a linear feedback guidance law is derived to control the thrusting direction of the engine. Using this guidance law, the vehicle will fly in a trajectory neighboring the nominal trajectory. The extended Kalman filter is used for state estimation. Finally a short mission using this system is simulated. The results indicate that this system is very efficient for short missions.

Numerical analysis of two and three dimensional buoyancy driven water-exit of a circular cylinder

NASA Astrophysics Data System (ADS)

Moshari, Shahab; Nikseresht, Amir Hossein; Mehryar, Reza

2014-06-01

With the development of the technology of underwater moving bodies, the need for developing the knowledge of surface effect interaction of free surface and underwater moving bodies is increased. Hence, the two-phase flow is a subject which is interesting for many researchers all around the world. In this paper, the non-linear free surface deformations which occur during the water-exit of a circular cylinder due to its buoyancy are solved using finite volume discretization based code, and using Volume of Fluid (VOF) scheme for solving two phase flow. Dynamic mesh model is used to simulate dynamic motion of the cylinder. In addition, the effect of cylinder mass in presence of an external force is studied. Moreover, the oblique exit and entry of a circular cylinder with two exit angles is simulated. At last, water-exit of a circular cylinder in six degrees of freedom is simulated in 3D using parallel processing. The simulation errors of present work (using VOF method) for maximum velocity and height of a circular cylinder are less than the corresponding errors of level set method reported by previous researchers. Oblique exit shows interesting results; formation of waves caused by exit of the cylinder, wave motion in horizontal direction and the air trapped between the waves are observable. In 3D simulation the visualization of water motion on the top surface of the cylinder and the free surface breaking on the front and back faces of the 3D cylinder at the exit phase are observed which cannot be seen in 2D simulation. Comparing the results, 3D simulation shows better agreement with experimental data, specially in the maximum height position of the cylinder.

Evolving geometrical heterogeneities of fault trace data

NASA Astrophysics Data System (ADS)

Wechsler, Neta; Ben-Zion, Yehuda; Christofferson, Shari

2010-08-01

We perform a systematic comparative analysis of geometrical fault zone heterogeneities using derived measures from digitized fault maps that are not very sensitive to mapping resolution. We employ the digital GIS map of California faults (version 2.0) and analyse the surface traces of active strike-slip fault zones with evidence of Quaternary and historic movements. Each fault zone is broken into segments that are defined as a continuous length of fault bounded by changes of angle larger than 1°. Measurements of the orientations and lengths of fault zone segments are used to calculate the mean direction and misalignment of each fault zone from the local plate motion direction, and to define several quantities that represent the fault zone disorder. These include circular standard deviation and circular standard error of segments, orientation of long and short segments with respect to the mean direction, and normal separation distances of fault segments. We examine the correlations between various calculated parameters of fault zone disorder and the following three potential controlling variables: cumulative slip, slip rate and fault zone misalignment from the plate motion direction. The analysis indicates that the circular standard deviation and circular standard error of segments decrease overall with increasing cumulative slip and increasing slip rate of the fault zones. The results imply that the circular standard deviation and error, quantifying the range or dispersion in the data, provide effective measures of the fault zone disorder, and that the cumulative slip and slip rate (or more generally slip rate normalized by healing rate) represent the fault zone maturity. The fault zone misalignment from plate motion direction does not seem to play a major role in controlling the fault trace heterogeneities. The frequency-size statistics of fault segment lengths can be fitted well by an exponential function over the entire range of observations.

3D hand motion trajectory prediction from EEG mu and beta bandpower.

PubMed

Korik, A; Sosnik, R; Siddique, N; Coyle, D

2016-01-01

A motion trajectory prediction (MTP) - based brain-computer interface (BCI) aims to reconstruct the three-dimensional (3D) trajectory of upper limb movement using electroencephalography (EEG). The most common MTP BCI employs a time series of bandpass-filtered EEG potentials (referred to here as the potential time-series, PTS, model) for reconstructing the trajectory of a 3D limb movement using multiple linear regression. These studies report the best accuracy when a 0.5-2Hz bandpass filter is applied to the EEG. In the present study, we show that spatiotemporal power distribution of theta (4-8Hz), mu (8-12Hz), and beta (12-28Hz) bands are more robust for movement trajectory decoding when the standard PTS approach is replaced with time-varying bandpower values of a specified EEG band, ie, with a bandpower time-series (BTS) model. A comprehensive analysis comprising of three subjects performing pointing movements with the dominant right arm toward six targets is presented. Our results show that the BTS model produces significantly higher MTP accuracy (R~0.45) compared to the standard PTS model (R~0.2). In the case of the BTS model, the highest accuracy was achieved across the three subjects typically in the mu (8-12Hz) and low-beta (12-18Hz) bands. Additionally, we highlight a limitation of the commonly used PTS model and illustrate how this model may be suboptimal for decoding motion trajectory relevant information. Although our results, showing that the mu and beta bands are prominent for MTP, are not in line with other MTP studies, they are consistent with the extensive literature on classical multiclass sensorimotor rhythm-based BCI studies (classification of limbs as opposed to motion trajectory prediction), which report the best accuracy of imagined limb movement classification using power values of mu and beta frequency bands. The methods proposed here provide a positive step toward noninvasive decoding of imagined 3D hand movements for movement-free BCIs. © 2016 Elsevier B.V. All rights reserved.

Jogging on a Carousel

NASA Astrophysics Data System (ADS)

Wilson, Alpha E.

2011-12-01

To jog around the periphery of a carousel at rest requires that the jogger experience a constant state of acceleration perpendicular to the direction of motion and directed toward the axis of rotation (centripetal). The jogger could achieve this centripetal acceleration by leaning inward, thereby using a horizontal weight component to provide the necessary centripetal force. There are two ordinary cases of circular motion involving the carousel that can be handled by the simple centripetal acceleration formula, where the joggers speed v is squared and then divided by the radius r of the path being followed (a = v2/r). One case would be as above, with the carousel at rest and the jogger moving on a circular path around it. The other case would be the jogger at rest on the carousel at a radial point r while it is moving with linear speed v. The situation can be made significantly more interesting and informative by letting the jogger be in motion while the carousel is in motion.

Development of a 6DOF robotic motion phantom for radiation therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary

Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left–right), Y (superior–inferior), Z (anterior–posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronizedmore » motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the Stewart–Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 min, with a maximal RMSE of 0.04 mm translationally and 0.04° rotationally, and a prostate trajectory over 2 min, with a maximal RMSE of 0.06 mm translationally and 0.04° rotationally. Conclusions: This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Such functionality makes the robotic phantom usable for either quality assurance or research purposes.« less

Human movement training with a cable driven ARm EXoskeleton (CAREX).

PubMed

Mao, Ying; Jin, Xin; Gera Dutta, Geetanjali; Scholz, John P; Agrawal, Sunil K

2015-01-01

In recent years, the authors have proposed lightweight exoskeleton designs for upper arm rehabilitation using multi-stage cable-driven parallel mechanism. Previously, the authors have demonstrated via experiments that it is possible to apply "assist-as-needed" forces in all directions at the end-effector with such an exoskeleton acting on an anthropomorphic machine arm. A human-exoskeleton interface was also presented to show the feasibility of CAREX on human subjects. The goals of this paper are to 1) further address issues when CAREX is mounted on human subjects, e.g., generation of continuous cable tension trajectories 2) demonstrate the feasibility and effectiveness of CAREX on movement training of healthy human subjects and a stroke patient. In this research, CAREX is rigidly attached to an arm orthosis worn by human subjects. The cable routing points are optimized to achieve a relatively large "tensioned" static workspace. A new cable tension planner based on quadratic programming is used to generate continuous cable tension trajectory for smooth motion. Experiments were carried out on eight healthy subjects. The experimental results show that CAREX can help the subjects move closer to a prescribed circular path using the force fields generated by the exoskeleton. The subjects also adapt to the path shortly after training. CAREX was also evaluated on a stroke patient to test the feasibility of its use on patients with neural impairment. The results show that the patient was able to move closer to a prescribed straight line path with the "assist-as-needed" force field.

Open-field arena boundary is a primary object of exploration for Drosophila

PubMed Central

Soibam, Benjamin; Mann, Monica; Liu, Lingzhi; Tran, Jessica; Lobaina, Milena; Kang, Yuan Yuan; Gunaratne, Gemunu H; Pletcher, Scott; Roman, Gregg

2012-01-01

Drosophila adults, when placed into a novel open-field arena, initially exhibit an elevated level of activity followed by a reduced stable level of spontaneous activity and spend a majority of time near the arena edge, executing motions along the walls. In order to determine the environmental features that are responsible for the initial high activity and wall-following behavior exhibited during exploration, we examined wild-type and visually impaired mutants in arenas with different vertical surfaces. These experiments support the conclusion that the wall-following behavior of Drosophila is best characterized by a preference for the arena boundary, and not thigmotaxis or centrophobicity. In circular arenas, Drosophila mostly move in trajectories with low turn angles. Since the boundary preference could derive from highly linear trajectories, we further developed a simulation program to model the effects of turn angle on the boundary preference. In an hourglass-shaped arena with convex-angled walls that forced a straight versus wall-following choice, the simulation with constrained turn angles predicted general movement across a central gap, whereas Drosophila tend to follow the wall. Hence, low turn angled movement does not drive the boundary preference. Lastly, visually impaired Drosophila demonstrate a defect in attenuation of the elevated initial activity. Interestingly, the visually impaired w1118 activity decay defect can be rescued by increasing the contrast of the arena's edge, suggesting that the activity decay relies on visual detection of the boundary. The arena boundary is, therefore, a primary object of exploration for Drosophila. PMID:22574279

SU-F-BRB-16: A Spreadsheet Based Automatic Trajectory GEnerator (SAGE): An Open Source Tool for Automatic Creation of TrueBeam Developer Mode Robotic Trajectories

DOE Office of Scientific and Technical Information (OSTI.GOV)

Etmektzoglou, A; Mishra, P; Svatos, M

Purpose: To automate creation and delivery of robotic linac trajectories with TrueBeam Developer Mode, an open source spreadsheet-based trajectory generation tool has been developed, tested and made freely available. The computing power inherent in a spreadsheet environment plus additional functions programmed into the tool insulate users from the underlying schema tedium and allow easy calculation, parameterization, graphical visualization, validation and finally automatic generation of Developer Mode XML scripts which are directly loadable on a TrueBeam linac. Methods: The robotic control system platform that allows total coordination of potentially all linac moving axes with beam (continuous, step-and-shoot, or combination thereof) becomesmore » available in TrueBeam Developer Mode. Many complex trajectories are either geometric or can be described in analytical form, making the computational power, graphing and programmability available in a spreadsheet environment an easy and ideal vehicle for automatic trajectory generation. The spreadsheet environment allows also for parameterization of trajectories thus enabling the creation of entire families of trajectories using only a few variables. Standard spreadsheet functionality has been extended for powerful movie-like dynamic graphic visualization of the gantry, table, MLC, room, lasers, 3D observer placement and beam centerline all as a function of MU or time, for analysis of the motions before requiring actual linac time. Results: We used the tool to generate and deliver extended SAD “virtual isocenter” trajectories of various shapes such as parameterized circles and ellipses. We also demonstrated use of the tool in generating linac couch motions that simulate respiratory motion using analytical parameterized functions. Conclusion: The SAGE tool is a valuable resource to experiment with families of complex geometric trajectories for a TrueBeam Linac. It makes Developer Mode more accessible as a vehicle to quickly translate research ideas into machine readable scripts without programming knowledge. As an open source initiative, it also enables researcher collaboration on future developments. I am a full time employee at Varian Medical Systems, Palo Alto, California.« less

A Circularly Arranged Sextuple Triptycene Gear Molecule.

PubMed

Ube, Hitoshi; Yamada, Ryo; Ishida, Jun-Ichi; Sato, Hiroyasu; Shiro, Motoo; Shionoya, Mitsuhiko

2017-11-22

Herein we report the synthesis of a circularly arranged sextuple triptycene gear molecule, hexakis(10-dodecyloxy-9-triptycyl)ethynylbenzene, via the trimerization of the corresponding triyne with a cobalt catalyst. The six triptycene gears are closely engaged with each other as confirmed by single crystal X-ray structure analysis, and their motion in solution was established by NMR spectroscopy. Notably, when one bulky RuCp* complex was attached to one triptycene gear, the whole movement of the six gears was highly restricted via their mechanical engagement. Development of such a multigear molecule would provide a structural basis for molecular motion transmission systems with a switching function.

Dynamics of charges and solitons

NASA Astrophysics Data System (ADS)

Barros, Manuel; Ferrández, Ángel; Garay, Óscar J.

2018-02-01

We first show that trajectories traced by charges moving in rotational magnetic fields are, basically, the non-parallel geodesics of surfaces of revolution with coincident axis. Thus, people living in a surface of revolution are not able to sense the magnetic Hall effect induced by the surrounding magnetic field and perceive charges as influenced, exclusively, by the gravity action on the surface of revolution. Secondly, the extended Hasimoto transformations are introduced and then used to identify trajectories of charges moving through a Killing rotational magnetic field in terms of non-circular elastic curves. As a consequence, we see that in this case charges evolve along trajectories which are obtained as extended Hasimoto transforms of solitons of the filament equation.

Investigation of BPF algorithm in cone-beam CT with 2D general trajectories.

PubMed

Zou, Jing; Gui, Jianbao; Rong, Junyan; Hu, Zhanli; Zhang, Qiyang; Xia, Dan

2012-01-01

A mathematical derivation was conducted to illustrate that exact 3D image reconstruction could be achieved for z-homogeneous phantoms from data acquired with 2D general trajectories using the back projection filtration (BPF) algorithm. The conclusion was verified by computer simulation and experimental result with a circular scanning trajectory. Furthermore, the effect of the non-uniform degree along z-axis of the phantoms on the accuracy of the 3D reconstruction by BPF algorithm was investigated by numerical simulation with a gradual-phantom and a disk-phantom. The preliminary result showed that the performance of BPF algorithm improved with the z-axis homogeneity of the scanned object.

Fluorescent image tracking velocimeter

DOEpatents

Shaffer, Franklin D.

1994-01-01

A multiple-exposure fluorescent image tracking velocimeter (FITV) detects and measures the motion (trajectory, direction and velocity) of small particles close to light scattering surfaces. The small particles may follow the motion of a carrier medium such as a liquid, gas or multi-phase mixture, allowing the motion of the carrier medium to be observed, measured and recorded. The main components of the FITV include: (1) fluorescent particles; (2) a pulsed fluorescent excitation laser source; (3) an imaging camera; and (4) an image analyzer. FITV uses fluorescing particles excited by visible laser light to enhance particle image detectability near light scattering surfaces. The excitation laser light is filtered out before reaching the imaging camera allowing the fluoresced wavelengths emitted by the particles to be detected and recorded by the camera. FITV employs multiple exposures of a single camera image by pulsing the excitation laser light for producing a series of images of each particle along its trajectory. The time-lapsed image may be used to determine trajectory and velocity and the exposures may be coded to derive directional information.

A margin model to account for respiration-induced tumour motion and its variability

NASA Astrophysics Data System (ADS)

Coolens, Catherine; Webb, Steve; Shirato, H.; Nishioka, K.; Evans, Phil M.

2008-08-01

In order to reduce the sensitivity of radiotherapy treatments to organ motion, compensation methods are being investigated such as gating of treatment delivery, tracking of tumour position, 4D scanning and planning of the treatment, etc. An outstanding problem that would occur with all these methods is the assumption that breathing motion is reproducible throughout the planning and delivery process of treatment. This is obviously not a realistic assumption and is one that will introduce errors. A dynamic internal margin model (DIM) is presented that is designed to follow the tumour trajectory and account for the variability in respiratory motion. The model statistically describes the variation of the breathing cycle over time, i.e. the uncertainty in motion amplitude and phase reproducibility, in a polar coordinate system from which margins can be derived. This allows accounting for an additional gating window parameter for gated treatment delivery as well as minimizing the area of normal tissue irradiated. The model was illustrated with abdominal motion for a patient with liver cancer and tested with internal 3D lung tumour trajectories. The results confirm that the respiratory phases around exhale are most reproducible and have the smallest variation in motion amplitude and phase (approximately 2 mm). More importantly, the margin area covering normal tissue is significantly reduced by using trajectory-specific margins (as opposed to conventional margins) as the angular component is by far the largest contributor to the margin area. The statistical approach to margin calculation, in addition, offers the possibility for advanced online verification and updating of breathing variation as more data become available.

Walking Ahead: The Headed Social Force Model.

PubMed

Farina, Francesco; Fontanelli, Daniele; Garulli, Andrea; Giannitrapani, Antonio; Prattichizzo, Domenico

2017-01-01

Human motion models are finding an increasing number of novel applications in many different fields, such as building design, computer graphics and robot motion planning. The Social Force Model is one of the most popular alternatives to describe the motion of pedestrians. By resorting to a physical analogy, individuals are assimilated to point-wise particles subject to social forces which drive their dynamics. Such a model implicitly assumes that humans move isotropically. On the contrary, empirical evidence shows that people do have a preferred direction of motion, walking forward most of the time. Lateral motions are observed only in specific circumstances, such as when navigating in overcrowded environments or avoiding unexpected obstacles. In this paper, the Headed Social Force Model is introduced in order to improve the realism of the trajectories generated by the classical Social Force Model. The key feature of the proposed approach is the inclusion of the pedestrians' heading into the dynamic model used to describe the motion of each individual. The force and torque representing the model inputs are computed as suitable functions of the force terms resulting from the traditional Social Force Model. Moreover, a new force contribution is introduced in order to model the behavior of people walking together as a single group. The proposed model features high versatility, being able to reproduce both the unicycle-like trajectories typical of people moving in open spaces and the point-wise motion patterns occurring in high density scenarios. Extensive numerical simulations show an increased regularity of the resulting trajectories and confirm a general improvement of the model realism.

A guidance and navigation system for continuous low-thrust vehicles. M.S. Thesis

NASA Technical Reports Server (NTRS)

Jack-Chingtse, C.

1973-01-01

A midcourse guidance and navigation system for continuous low thrust vehicles was developed. The equinoctial elements are the state variables. Uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time trajectory is defined; equations of motion and measurements are linearized about this trajectory. An exponential cost criterion is constructed and a linear feedback quidance law is derived. An extended Kalman filter is used for state estimation. A short mission using this system is simulated. It is indicated that this system is efficient for short missions, but longer missions require accurate trajectory and ground based measurements.

Swarming bacteria migrate by Lévy Walk

NASA Astrophysics Data System (ADS)

Ariel, Gil; Rabani, Amit; Benisty, Sivan; Partridge, Jonathan D.; Harshey, Rasika M.; Be'Er, Avraham

2015-09-01

Individual swimming bacteria are known to bias their random trajectories in search of food and to optimize survival. The motion of bacteria within a swarm, wherein they migrate as a collective group over a solid surface, is fundamentally different as typical bacterial swarms show large-scale swirling and streaming motions involving millions to billions of cells. Here by tracking trajectories of fluorescently labelled individuals within such dense swarms, we find that the bacteria are performing super-diffusion, consistent with Lévy walks. Lévy walks are characterized by trajectories that have straight stretches for extended lengths whose variance is infinite. The evidence of super-diffusion consistent with Lévy walks in bacteria suggests that this strategy may have evolved considerably earlier than previously thought.

19. Detail of base of revolving lens assembly, showing bottom ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

19. Detail of base of revolving lens assembly, showing bottom of lamp at center and brass tens framework at edges of circular platform. Mercury float bearing lies in circular well just beneath lens platform. (Blurred due to lens motion.) - Block Island Southeast Light, Spring Street & Mohegan Trail at Mohegan Bluffs, New Shoreham, Washington County, RI

Nonlinear Drift-Kinetic Equation in the Presence of a Circularly Polarized Wave

NASA Technical Reports Server (NTRS)

Khazanov, G. V.; Krivorutsky, E. N.; Six, N. Frank (Technical Monitor)

2002-01-01

Equations of the single particle motion and nonlinear kinetic equation for plasma in the presence of a circularly polarized wave of arbitrary frequency in the drift approximation are presented. The nonstationarity and inhomogeneity of the plasma-wave system are taken into account. The time dependent part of the ponderomotive force is discussed.

Field signature for apparently superluminal particle motion

NASA Astrophysics Data System (ADS)

Land, Martin

2015-05-01

In the context of Stueckelberg's covariant symplectic mechanics, Horwitz and Aharonovich [1] have proposed a simple mechanism by which a particle traveling below light speed almost everywhere may exhibit a transit time that suggests superluminal motion. This mechanism, which requires precise measurement of the particle velocity, involves a subtle perturbation affecting the particle's recorded time coordinate caused by virtual pair processes. The Stueckelberg framework is particularly well suited to such problems, because it permits pair creation/annihilation at the classical level. In this paper, we study a trajectory of the type proposed by Horwitz and Aharonovich, and derive the Maxwell 4-vector potential associated with the motion. We show that the resulting fields carry a signature associated with the apparent superluminal motion, providing an independent test for the mechanism that does not require direct observation of the trajectory, except at the detector.

Three dimensional dose distribution comparison of simple and complex acquisition trajectories in dedicated breast CT

PubMed Central

Shah, Jainil P.; Mann, Steve D.; McKinley, Randolph L.; Tornai, Martin P.

2015-01-01

Purpose: A novel breast CT system capable of arbitrary 3D trajectories has been developed to address cone beam sampling insufficiency as well as to image further into the patient’s chest wall. The purpose of this study was to characterize any trajectory-related differences in 3D x-ray dose distribution in a pendant target when imaged with different orbits. Methods: Two acquisition trajectories were evaluated: circular azimuthal (no-tilt) and sinusoidal (saddle) orbit with ±15° tilts around a pendant breast, using Monte Carlo simulations as well as physical measurements. Simulations were performed with tungsten (W) filtration of a W-anode source; the simulated source flux was normalized to the measured exposure of a W-anode source. A water-filled cylindrical phantom was divided into 1 cm3 voxels, and the cumulative energy deposited was tracked in each voxel. Energy deposited per voxel was converted to dose, yielding the 3D distributed dose volumes. Additionally, three cylindrical phantoms of different diameters (10, 12.5, and 15 cm) and an anthropomorphic breast phantom, initially filled with water (mimicking pure fibroglandular tissue) and then with a 75% methanol-25% water mixture (mimicking 50–50 fibroglandular-adipose tissues), were used to simulate the pendant breast geometry and scanned on the physical system. Ionization chamber calibrated radiochromic film was used to determine the dose delivered in a 2D plane through the center of the volume for a fully 3D CT scan using the different orbits. Results: Measured experimental results for the same exposure indicated that the mean dose measured throughout the central slice for different diameters ranged from 3.93 to 5.28 mGy, with the lowest average dose measured on the largest cylinder with water mimicking a homogeneously fibroglandular breast. These results align well with the cylinder phantom Monte Carlo studies which also showed a marginal difference in dose delivered by a saddle trajectory in the central slice. Regardless of phantom material or filled fluid density, dose delivered by the saddle scan was negligibly different than the simple circular, no-tilt scans. The average dose measured in the breast phantom was marginally higher for saddle than the circular no tilt scan at 3.82 and 3.87 mGy, respectively. Conclusions: Not only does nontraditional 3D-trajectory CT scanning yield more complete sampling of the breast volume but also has comparable dose deposition throughout the breast and anterior chest volume, as verified by Monte Carlo simulation and physical measurements. PMID:26233179

Toward the quantification of a conceptual framework for movement ecology using circular statistical modeling.

PubMed

Shimatani, Ichiro Ken; Yoda, Ken; Katsumata, Nobuhiro; Sato, Katsufumi

2012-01-01

To analyze an animal's movement trajectory, a basic model is required that satisfies the following conditions: the model must have an ecological basis and the parameters used in the model must have ecological interpretations, a broad range of movement patterns can be explained by that model, and equations and probability distributions in the model should be mathematically tractable. Random walk models used in previous studies do not necessarily satisfy these requirements, partly because movement trajectories are often more oriented or tortuous than expected from the models. By improving the modeling for turning angles, this study aims to propose a basic movement model. On the basis of the recently developed circular auto-regressive model, we introduced a new movement model and extended its applicability to capture the asymmetric effects of external factors such as wind. The model was applied to GPS trajectories of a seabird (Calonectris leucomelas) to demonstrate its applicability to various movement patterns and to explain how the model parameters are ecologically interpreted under a general conceptual framework for movement ecology. Although it is based on a simple extension of a generalized linear model to circular variables, the proposed model enables us to evaluate the effects of external factors on movement separately from the animal's internal state. For example, maximum likelihood estimates and model selection suggested that in one homing flight section, the seabird intended to fly toward the island, but misjudged its navigation and was driven off-course by strong winds, while in the subsequent flight section, the seabird reset the focal direction, navigated the flight under strong wind conditions, and succeeded in approaching the island.

On Choosing a Rational Flight Trajectory to the Moon

NASA Astrophysics Data System (ADS)

Gordienko, E. S.; Khudorozhkov, P. A.

2017-12-01

The algorithm for choosing a trajectory of spacecraft flight to the Moon is discussed. The characteristic velocity values needed for correcting the flight trajectory and a braking maneuver are estimated using the Monte Carlo method. The profile of insertion and flight to a near-circular polar orbit with an altitude of 100 km of an artificial lunar satellite (ALS) is given. The case of two corrections applied during the flight and braking phases is considered. The flight to an ALS orbit is modeled in the geocentric geoequatorial nonrotating coordinate system with the influence of perturbations from the Earth, the Sun, and the Moon factored in. The characteristic correction costs corresponding to corrections performed at different time points are examined. Insertion phase errors, the errors of performing the needed corrections, and the errors of determining the flight trajectory parameters are taken into account.

Contingency Trajectory Design for a Lunar Orbit Insertion Maneuver Failure by the LADEE Spacecraft

NASA Technical Reports Server (NTRS)

Genova, A. L.

2014-01-01

This paper presents results from a contingency trajectory analysis performed for the Lunar Atmosphere & Dust Environment Explorer (LADEE) mission in the event of a missed lunar-orbit insertion (LOI) maneuver by the LADEE spacecraft. The effects of varying solar perturbations in the vicinity of the weak stability boundary (WSB) in the Sun-Earth system on the trajectory design are analyzed and discussed. It is shown that geocentric recovery trajectory options existed for the LADEE spacecraft, depending on the spacecraft's recovery time to perform an Earth escape-prevention maneuver after the hypothetical LOI maneuver failure and subsequent path traveled through the Sun-Earth WSB. If Earth-escape occurred, a heliocentric recovery option existed, but with reduced science capacapability for the spacecraft in an eccentric, not circular near-equatorial retrograde lunar orbit.

The behavior of cold gas in spheroidal galactic potentials

NASA Astrophysics Data System (ADS)

Simonson, G. F.

1982-03-01

The motions of cold gas residing in various spheroidal galactic potential wells are investigated, both analytically and through extensive numerical calculations. It is found that a gaseous layer embedded in the potential has a preferred orientation, in which individual gas clouds have orbits which do not precess. The gas will damp to the preferred orbits, through the combined effects of differential precession and radial excursions from circular trajectories, on time scales of less than one to two billion years for orbits of moderate radius. For elliptical galaxies with embedded gas disks this work provides a clear discriminator between prolate and oblate mass distributions. The preferred gas orbits lie in the equatorial planes of both of these potentials, so if a gas disk is seen projected against the minor axis of an elliptical, that galaxy is truly prolate, while if the lane is aligned with the major axis, the system is oblate. Tabulated observations show that both prolate and oblate ellipticals exist, in perhaps equal numbers. True axial ratios and spatial orientations can also be determined for these objects.

A graphical approach to electric sail mission design with radial thrust

NASA Astrophysics Data System (ADS)

Mengali, Giovanni; Quarta, Alessandro A.; Aliasi, Generoso

2013-02-01

This paper describes a semi-analytical approach to electric sail mission analysis under the assumption that the spacecraft experiences a purely radial, outward, propulsive acceleration. The problem is tackled by means of the potential well concept, a very effective idea that was originally introduced by Prussing and Coverstone in 1998. Unlike a classical procedure that requires the numerical integration of the equations of motion, the proposed method provides an estimate of the main spacecraft trajectory parameters, as its maximum and minimum attainable distance from the Sun, with the simple use of analytical relationships and elementary graphs. A number of mission scenarios clearly show the effectiveness of the proposed approach. In particular, when the spacecraft parking orbit is either circular or elliptic it is possible to find the optimal performances required to reach an escape condition or a given distance from the Sun. Another example is given by the optimal strategy required to reach a heliocentric Keplerian orbit of prescribed orbital period. Finally the graphical approach is applied to the preliminary design of a nodal mission towards a Near Earth Asteroid.

Visiting Vehicle Ground Trajectory Tool

NASA Technical Reports Server (NTRS)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Does Helicobacter pylori exhibit corkscrew motion while swimming?

NASA Astrophysics Data System (ADS)

Constantino, Maira; Hardcastle, Joseph; Bansil, Rama

2015-03-01

Helicobacter pylori is a spiral shaped bacterium associated with ulcers, gastric cancer, gastritis among other diseases. In order to colonize the harsh acidic environment of the stomach H. pylori has to go across the viscoelastic mucus layer of the stomach. Many studies have been conducted on the swimming of H. pylori in viscous media however none have taken into account the influence of cell-body shape on the trajectory. We present an experimental study of the effects of body shape in the swimming trajectory of H. pylori in viscous media by a quantitative analysis of the bacterium rotation and translation in gels using phase contrast microscopy and particle tracking techniques. Preliminary microscopic tracking measurements show very well defined helical trajectories in the spiral-shaped wild type H. pylori. These helical trajectories are not seen in rod-shaped mutants which sometimes display whirling motion about one end acting as a hinge. We will present an analysis of the different trajectories for bacteria swimming in media with different viscoelastic parameters. Supported by the National Science Foundation PHY PoLS.

An unconditionally stable method for numerically solving solar sail spacecraft equations of motion

NASA Astrophysics Data System (ADS)

Karwas, Alex

Solar sails use the endless supply of the Sun's radiation to propel spacecraft through space. The sails use the momentum transfer from the impinging solar radiation to provide thrust to the spacecraft while expending zero fuel. Recently, the first solar sail spacecraft, or sailcraft, named IKAROS completed a successful mission to Venus and proved the concept of solar sail propulsion. Sailcraft experimental data is difficult to gather due to the large expenses of space travel, therefore, a reliable and accurate computational method is needed to make the process more efficient. Presented in this document is a new approach to simulating solar sail spacecraft trajectories. The new method provides unconditionally stable numerical solutions for trajectory propagation and includes an improved physical description over other methods. The unconditional stability of the new method means that a unique numerical solution is always determined. The improved physical description of the trajectory provides a numerical solution and time derivatives that are continuous throughout the entire trajectory. The error of the continuous numerical solution is also known for the entire trajectory. Optimal control for maximizing thrust is also provided within the framework of the new method. Verification of the new approach is presented through a mathematical description and through numerical simulations. The mathematical description provides details of the sailcraft equations of motion, the numerical method used to solve the equations, and the formulation for implementing the equations of motion into the numerical solver. Previous work in the field is summarized to show that the new approach can act as a replacement to previous trajectory propagation methods. A code was developed to perform the simulations and it is also described in this document. Results of the simulations are compared to the flight data from the IKAROS mission. Comparison of the two sets of data show that the new approach is capable of accurately simulating sailcraft motion. Sailcraft and spacecraft simulations are compared to flight data and to other numerical solution techniques. The new formulation shows an increase in accuracy over a widely used trajectory propagation technique. Simulations for two-dimensional, three-dimensional, and variable attitude trajectories are presented to show the multiple capabilities of the new technique. An element of optimal control is also part of the new technique. An additional equation is added to the sailcraft equations of motion that maximizes thrust in a specific direction. A technical description and results of an example optimization problem are presented. The spacecraft attitude dynamics equations take the simulation a step further by providing control torques using the angular rate and acceleration outputs of the numerical formulation.

Three-dimensional short-wavelength instabilities in the near-wake of a circular cylinder

NASA Astrophysics Data System (ADS)

Jethani, Yogesh; Kumar, Kamal; Sameen, A.; Mathur, Manikandan

2017-11-01

We perform local stability analysis of the near-wake region of two-dimensional flow past a circular cylinder for Reynolds number in the range Re ∈ [ 10 , 300 ] . The local stability equations that govern the leading-order amplitude of short-wavelength perturbations are solved along closed fluid particle trajectories in the numerically simulated flow-fields for both the steady (Re <= 45) and unsteady vortex-shedding (Re > 45) regimes; the study is further complemented with analysis on time-averaged flows for 50 <= Re <= 300 . For steady and time-averaged flow, the inviscidly most unstable regions occur either at the core or at the edge of the separation bubble, with elliptic instability as the dominant mode for all Re . The effectiveness of viscous damping in eliminating the inviscid instabilities and the validity of the WKBJ approximation in the present context are studied. In the unsteady vortex-shedding regime, two types (I and II) of closed trajectories are identified for all Re and the inviscid growth rates as a function of Re are plotted for both. For type I trajectory, a bifurcation occurs at Re 250 . Potential relevance of our results in understanding the transition from steady flow to vortex-shedding and the subsequent secondary instabilities are discussed.

Paraxial propagation of the first-order chirped Airy vortex beams in a chiral medium.

PubMed

Xie, Jintao; Zhang, Jianbin; Ye, Junran; Liu, Haowei; Liang, Zhuoying; Long, Shangjie; Zhou, Kangzhu; Deng, Dongmei

2018-03-05

We introduce the propagation of the first-order chirped Airy vortex beams (FCAiV) in a chiral medium analytically. Results show that the FCAiV beams split into the left circularly polarized vortex (LCPV) beams and the right circularly polarized vortex (RCPV) beams, which have totally different propagation trajectories in the chiral medium. In this paper, we investigate the effects of the first-order chirped parameter β, the chiral parameter γ and the optical vortex on the propagation process of the FCAiV beams. It is shown that the propagation trajectory of the FCAiV beams declines with the chirped parameter increasing. Besides, the increase of the chiral parameter acting on the LCPV beams makes the relative position between the main lobe and the optical vortex further while the effect on the RCPV beams is the opposite. Furthermore, the relative position between the main lobe and the optical vortex contributes to the position of the intensity focusing. Meanwhile, with the chiral parameter increasing, the maximum gradient and scattering forces of the LCPV beams decrease but those of the RCPV beams will increase during the propagation. It is significant that we can control the propagation trajectory, the intensity focusing position and the radiation forces of the FCAiV beams by varying the chirped parameter and the chiral parameter.

Research in the Restricted Problems of Three and Four Bodies Final Scientific Report

NASA Technical Reports Server (NTRS)

Richards, Paul B.; Bernstein, Irwin S.; Chai, Winchung A.; Cronin, Jane; Ellis, Jordan; Fine, William E.; Kass, Sheldon; Musa, Samuel A.; Russell, Lawrence H.

1968-01-01

Seven studies have been conducted on research in the existence and nature of solutions of the restricted problems of three and four bodies. The details and results of five of these research investigations have already been published, and the latest two studies will be published shortly. A complete bibliography of publications is included in this report. This research has been primarily qualitative and has yielded new information on the behavior of trajectories near the libration points in the Earth-Moon-Sun and Sun-Jupiter-Saturn systems, and on the existence of periodic trajectories about the libration points of the circular and elliptical restricted four-body models. We have also implemented Birkhoff's normalization process for conservative and nonconservative Hamiltonian systems with equilibrium points. This makes available a technique for analyzing stability properties of certain nonlinear dynamical systems, and we have applied this technique to the circular and elliptical restricted three-body models. A related study was also conducted to determine the feasibility of using cislunar periodic trajectories for various space missions. Preliminary results suggest that this concept is attractive for space flight safety operations in cislunar space. Results of this research will be of interest to mathematicians, particularly those working in ordinary differential equations, dynamical systems and celestial mechanics; to astronomers; and to space guidance and mission analysts.

A Novel Respiratory Motion Perturbation Model Adaptable to Patient Breathing Irregularities

PubMed Central

Yuan, Amy; Wei, Jie; Gaebler, Carl P.; Huang, Hailiang; Olek, Devin; Li, Guang

2016-01-01

Purpose To develop a physical, adaptive motion perturbation model to predict tumor motion using feedback from dynamic measurement of breathing conditions to compensate for breathing irregularities. Methods and Materials A novel respiratory motion perturbation (RMP) model was developed to predict tumor motion variations caused by breathing irregularities. This model contained 2 terms: the initial tumor motion trajectory, measured from 4-dimensional computed tomography (4DCT) images, and motion perturbation, calculated from breathing variations in tidal volume (TV) and breathing pattern (BP). The motion perturbation was derived from the patient-specific anatomy, tumor-specific location, and time-dependent breathing variations. Ten patients were studied, and 2 amplitude-binned 4DCT images for each patient were acquired within 2 weeks. The motion trajectories of 40 corresponding bifurcation points in both 4DCT images of each patient were obtained using deformable image registration. An in-house 4D data processing toolbox was developed to calculate the TV and BP as functions of the breathing phase. The motion was predicted from the simulation 4DCT scan to the treatment 4DCT scan, and vice versa, resulting in 800 predictions. For comparison, noncorrected motion differences and the predictions from a published 5-dimensional model were used. Results The average motion range in the superoinferior direction was 9.4 ± 4.4 mm, the average ΔTV ranged from 10 to 248 mm3 (−26% to 61%), and the ΔBP ranged from 0 to 0.2 (−71% to 333%) between the 2 4DCT scans. The mean noncorrected motion difference was 2.0 ± 2.8 mm between 2 4DCT motion trajectories. After applying the RMP model, the mean motion difference was reduced significantly to 1.2 ± 1.8 mm (P = .0018), a 40% improvement, similar to the 1.2 ± 1.8 mm (P = .72) predicted with the 5-dimensional model. Conclusions A novel physical RMP model was developed with an average accuracy of 1.2 ± 1.8 mm for interfraction motion prediction, similar to that of a published lung motion model. This physical RMP was analytically derived and is able to adapt to breathing irregularities. Further improvement of this RMP model is under investigation. PMID:27745981

A Novel Respiratory Motion Perturbation Model Adaptable to Patient Breathing Irregularities

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yuan, Amy; Wei, Jie; Gaebler, Carl P.

Purpose: To develop a physical, adaptive motion perturbation model to predict tumor motion using feedback from dynamic measurement of breathing conditions to compensate for breathing irregularities. Methods and Materials: A novel respiratory motion perturbation (RMP) model was developed to predict tumor motion variations caused by breathing irregularities. This model contained 2 terms: the initial tumor motion trajectory, measured from 4-dimensional computed tomography (4DCT) images, and motion perturbation, calculated from breathing variations in tidal volume (TV) and breathing pattern (BP). The motion perturbation was derived from the patient-specific anatomy, tumor-specific location, and time-dependent breathing variations. Ten patients were studied, and 2more » amplitude-binned 4DCT images for each patient were acquired within 2 weeks. The motion trajectories of 40 corresponding bifurcation points in both 4DCT images of each patient were obtained using deformable image registration. An in-house 4D data processing toolbox was developed to calculate the TV and BP as functions of the breathing phase. The motion was predicted from the simulation 4DCT scan to the treatment 4DCT scan, and vice versa, resulting in 800 predictions. For comparison, noncorrected motion differences and the predictions from a published 5-dimensional model were used. Results: The average motion range in the superoinferior direction was 9.4 ± 4.4 mm, the average ΔTV ranged from 10 to 248 mm{sup 3} (−26% to 61%), and the ΔBP ranged from 0 to 0.2 (−71% to 333%) between the 2 4DCT scans. The mean noncorrected motion difference was 2.0 ± 2.8 mm between 2 4DCT motion trajectories. After applying the RMP model, the mean motion difference was reduced significantly to 1.2 ± 1.8 mm (P=.0018), a 40% improvement, similar to the 1.2 ± 1.8 mm (P=.72) predicted with the 5-dimensional model. Conclusions: A novel physical RMP model was developed with an average accuracy of 1.2 ± 1.8 mm for interfraction motion prediction, similar to that of a published lung motion model. This physical RMP was analytically derived and is able to adapt to breathing irregularities. Further improvement of this RMP model is under investigation.« less

Correlated motion of protein subdomains and large-scale conformational flexibility of RecA protein filament

NASA Astrophysics Data System (ADS)

Yu, Garmay; A, Shvetsov; D, Karelov; D, Lebedev; A, Radulescu; M, Petukhov; V, Isaev-Ivanov

2012-02-01

Based on X-ray crystallographic data available at Protein Data Bank, we have built molecular dynamics (MD) models of homologous recombinases RecA from E. coli and D. radiodurans. Functional form of RecA enzyme, which is known to be a long helical filament, was approximated by a trimer, simulated in periodic water box. The MD trajectories were analyzed in terms of large-scale conformational motions that could be detectable by neutron and X-ray scattering techniques. The analysis revealed that large-scale RecA monomer dynamics can be described in terms of relative motions of 7 subdomains. Motion of C-terminal domain was the major contributor to the overall dynamics of protein. Principal component analysis (PCA) of the MD trajectories in the atom coordinate space showed that rotation of C-domain is correlated with the conformational changes in the central domain and N-terminal domain, that forms the monomer-monomer interface. Thus, even though C-terminal domain is relatively far from the interface, its orientation is correlated with large-scale filament conformation. PCA of the trajectories in the main chain dihedral angle coordinate space implicates a co-existence of a several different large-scale conformations of the modeled trimer. In order to clarify the relationship of independent domain orientation with large-scale filament conformation, we have performed analysis of independent domain motion and its implications on the filament geometry.

A Comparison of Trajectory Optimization Methods for the Impulsive Minimum Fuel Rendezvous Problem

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Mailhe, Laurie M.; Guzman, Jose J.

2003-01-01

In this paper we present, a comparison of trajectory optimization approaches for the minimum fuel rendezvous problem. Both indirect and direct methods are compared for a variety of test cases. The indirect approach is based on primer vector theory. The direct approaches are implemented numerically and include Sequential Quadratic Programming (SQP). Quasi- Newton and Nelder-Meade Simplex. Several cost function parameterizations are considered for the direct approach. We choose one direct approach that appears to be the most flexible. Both the direct and indirect methods are applied to a variety of test cases which are chosen to demonstrate the performance of each method in different flight regimes. The first test case is a simple circular-to-circular coplanar rendezvous. The second test case is an elliptic-to-elliptic line of apsides rotation. The final test case is an orbit phasing maneuver sequence in a highly elliptic orbit. For each test case we present a comparison of the performance of all methods we consider in this paper.

Demonstrating the Direction of Angular Velocity in Circular Motion

ERIC Educational Resources Information Center

Demircioglu, Salih; Yurumezoglu, Kemal; Isik, Hakan

2015-01-01

Rotational motion is ubiquitous in nature, from astronomical systems to household devices in everyday life to elementary models of atoms. Unlike the tangential velocity vector that represents the instantaneous linear velocity (magnitude and direction), an angular velocity vector is conceptually more challenging for students to grasp. In physics…

Optimal four-impulse rendezvous between coplanar elliptical orbits

NASA Astrophysics Data System (ADS)

Wang, JianXia; Baoyin, HeXi; Li, JunFeng; Sun, FuChun

2011-04-01

Rendezvous in circular or near circular orbits has been investigated in great detail, while rendezvous in arbitrary eccentricity elliptical orbits is not sufficiently explored. Among the various optimization methods proposed for fuel optimal orbital rendezvous, Lawden's primer vector theory is favored by many researchers with its clear physical concept and simplicity in solution. Prussing has applied the primer vector optimization theory to minimum-fuel, multiple-impulse, time-fixed orbital rendezvous in a near circular orbit and achieved great success. Extending Prussing's work, this paper will employ the primer vector theory to study trajectory optimization problems of arbitrary eccentricity elliptical orbit rendezvous. Based on linearized equations of relative motion on elliptical reference orbit (referred to as T-H equations), the primer vector theory is used to deal with time-fixed multiple-impulse optimal rendezvous between two coplanar, coaxial elliptical orbits with arbitrary large eccentricity. A parameter adjustment method is developed for the prime vector to satisfy the Lawden's necessary condition for the optimal solution. Finally, the optimal multiple-impulse rendezvous solution including the time, direction and magnitudes of the impulse is obtained by solving the two-point boundary value problem. The rendezvous error of the linearized equation is also analyzed. The simulation results confirmed the analyzed results that the rendezvous error is small for the small eccentricity case and is large for the higher eccentricity. For better rendezvous accuracy of high eccentricity orbits, a combined method of multiplier penalty function with the simplex search method is used for local optimization. The simplex search method is sensitive to the initial values of optimization variables, but the simulation results show that initial values with the primer vector theory, and the local optimization algorithm can improve the rendezvous accuracy effectively with fast convergence, because the optimal results obtained by the primer vector theory are already very close to the actual optimal solution. If the initial values are taken randomly, it is difficult to converge to the optimal solution.

Maximum Range of a Projectile Thrown from Constant-Speed Circular Motion

NASA Astrophysics Data System (ADS)

Poljak, Nikola

2016-11-01

The problem of determining the angle θ at which a point mass launched from ground level with a given speed v0 will reach a maximum distance is a standard exercise in mechanics. There are many possible ways of solving this problem, leading to the well-known answer of θ = π/4, producing a maximum range of D max = v0 2 / g , with g being the free-fall acceleration. Conceptually and calculationally more difficult problems have been suggested to improve student proficiency in projectile motion, with the most famous example being the Tarzan swing problem. The problem of determining the maximum distance of a point mass thrown from constant-speed circular motion is presented and analyzed in detail in this text. The calculational results confirm several conceptually derived conclusions regarding the initial throw position and provide some details on the angles and the way of throwing (underhand or overhand) that produce the maximum throw distance.

Self-Organized Dynamic Flocking Behavior from a Simple Deterministic Map

NASA Astrophysics Data System (ADS)

Krueger, Wesley

2007-10-01

Coherent motion exhibiting large-scale order, such as flocking, swarming, and schooling behavior in animals, can arise from simple rules applied to an initial random array of self-driven particles. We present a completely deterministic dynamic map that exhibits emergent, collective, complex motion for a group of particles. Each individual particle is driven with a constant speed in two dimensions adopting the average direction of a fixed set of non-spatially related partners. In addition, the particle changes direction by π as it reaches a circular boundary. The dynamical patterns arising from these rules range from simple circular-type convective motion to highly sophisticated, complex, collective behavior which can be easily interpreted as flocking, schooling, or swarming depending on the chosen parameters. We present the results as a series of short movies and we also explore possible order parameters and correlation functions capable of quantifying the resulting coherence.

Particle motion around magnetized black holes: Preston-Poisson space-time

DOE Office of Scientific and Technical Information (OSTI.GOV)

Konoplya, R. A.

We analyze the motion of massless and massive particles around black holes immersed in an asymptotically uniform magnetic field and surrounded by some mechanical structure, which provides the magnetic field. The space-time is described by the Preston-Poisson metric, which is the generalization of the well-known Ernst metric with a new parameter, tidal force, characterizing the surrounding structure. The Hamilton-Jacobi equations allow the separation of variables in the equatorial plane. The presence of a tidal force from the surroundings considerably changes the parameters of the test particle motion: it increases the radius of circular orbits of particles and increases the bindingmore » energy of massive particles going from a given circular orbit to the innermost stable orbit near the black hole. In addition, it increases the distance of the minimal approach, time delay, and bending angle for a ray of light propagating near the black hole.« less

Quantum Stochastic Trajectories: The Fokker-Planck-Bohm Equation Driven by the Reduced Density Matrix.

PubMed

Avanzini, Francesco; Moro, Giorgio J

2018-03-15

The quantum molecular trajectory is the deterministic trajectory, arising from the Bohm theory, that describes the instantaneous positions of the nuclei of molecules by assuring the agreement with the predictions of quantum mechanics. Therefore, it provides the suitable framework for representing the geometry and the motions of molecules without neglecting their quantum nature. However, the quantum molecular trajectory is extremely demanding from the computational point of view, and this strongly limits its applications. To overcome such a drawback, we derive a stochastic representation of the quantum molecular trajectory, through projection operator techniques, for the degrees of freedom of an open quantum system. The resulting Fokker-Planck operator is parametrically dependent upon the reduced density matrix of the open system. Because of the pilot role played by the reduced density matrix, this stochastic approach is able to represent accurately the main features of the open system motions both at equilibrium and out of equilibrium with the environment. To verify this procedure, the predictions of the stochastic and deterministic representation are compared for a model system of six interacting harmonic oscillators, where one oscillator is taken as the open quantum system of interest. The undeniable advantage of the stochastic approach is that of providing a simplified and self-contained representation of the dynamics of the open system coordinates. Furthermore, it can be employed to study the out of equilibrium dynamics and the relaxation of quantum molecular motions during photoinduced processes, like photoinduced conformational changes and proton transfers.

Ranges of motion after reverse shoulder arthroplasty improve significantly the first year after surgery in patients with rheumatoid arthritis.

PubMed

Tiusanen, Hannu; Sarantsin, Pjotor; Stenholm, Miika; Mattie, Ryan; Saltychev, Mikhail

2016-07-01

To evaluate the trajectory of the change in range of motion after reverse shoulder joint replacement during 3-year follow-up among patients with rheumatoid arthritis. Retrospective cohort longitudinal study of 76 shoulder replacements performed in a university clinic. The range of shoulder motion was assessed by a physiotherapist using a manual goniometer with 5-degree precision before the surgery and 1, 3, 6, 12, and 36 months postoperatively. The shapes of the regression curves suggest that the improvement or decline observed in joint motion was happening mostly during the first year after surgery. After 1 year, the trajectories become flat and they remained unchanged until the end of follow-up. After shoulder joint replacement, the range of shoulder motion showed substantial changes during the first year only. This should be taken into account when scheduling control visits, planning rehabilitation, and predicting the use of community services after the surgery.

Asynchrony between position and motion signals in the saccadic system.

PubMed

Schreiber, Céline; Missal, Marcus; Lefèvre, Philippe

2006-02-01

The influence of position and motion signals on saccades was studied in two dimensions (2D) using a double step-ramp paradigm. We showed the presence of a predictive component in 2D catch-up saccade programming that is based on motion signals and influences both saccade amplitude and orientation. Interestingly, a significant proportion of catch-up saccades was characterized by a large curvature or a sudden change of direction in midflight for large values of retinal slip. For these saccades, a quantitative analysis showed that their trajectory could be explained by an asynchrony between position and motion signals in saccade programming. When the saccade trajectory was not straight, position error was always available first and influenced the initial orientation of the saccade, whereas retinal slip determined the final orientation. This new paradigm could be used in electrophysiological experiments, where it should prove to be very useful to study position and motion pathways separately in catch-up saccades.

Expressions of Different-Trajectory Caused Motion Events in Chinese

ERIC Educational Resources Information Center

Paul, Jing Z.

2013-01-01

We perform motion events in all aspects of our daily life, from walking home to jumping into a pool, from throwing a frisbee to pushing a shopping cart. The fact that languages may encode such motion events in different fashions has raised intriguing questions regarding the typological classifications of natural languages in relation to…

Variation in Angular Velocity and Angular Acceleration of a Particle in Rectilinear Motion

ERIC Educational Resources Information Center

Mashood, K. K.; Singh, V. A.

2012-01-01

We discuss the angular velocity ([image omitted]) and angular acceleration ([image omitted]) associated with a particle in rectilinear motion with constant acceleration. The discussion was motivated by an observation that students and even teachers have difficulty in ascribing rotational motion concepts to a particle when the trajectory is a…

Two-Dimensional Motions of Rockets

ERIC Educational Resources Information Center

Kang, Yoonhwan; Bae, Saebyok

2007-01-01

We analyse the two-dimensional motions of the rockets for various types of rocket thrusts, the air friction and the gravitation by using a suitable representation of the rocket equation and the numerical calculation. The slope shapes of the rocket trajectories are discussed for the three types of rocket engines. Unlike the projectile motions, the…

TU-CD-304-01: FEATURED PRESENTATION and BEST IN PHYSICS (THERAPY): Trajectory Modulated Arc Therapy: Development of Novel Arc Delivery Techniques Integrating Dynamic Table Motion for Extended Volume Treatments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chin, E; Hoppe, R; Million, L

2015-06-15

Purpose: Integration of coordinated robotic table motion with inversely-planned arc delivery has the potential to resolve table-top delivery limitations of large-field treatments such as Total Body Irradiation (TBI), Total Lymphoid Irradiation (TLI), and Cranial-Spinal Irradiation (CSI). We formulate the foundation for Trajectory Modulated Arc Therapy (TMAT), and using Varian Developer Mode capabilities, experimentally investigate its practical implementation for such techniques. Methods: A MATLAB algorithm was developed for inverse planning optimization of the table motion, MLC positions, and gantry motion under extended-SSD geometry. To maximize the effective field size, delivery trajectories for TMAT TBI were formed with the table rotated atmore » 270° IEC and dropped vertically to 152.5cm SSD. Preliminary testing of algorithm parameters was done through retrospective planning analysis. Robotic delivery was programmed using custom XML scripting on the TrueBeam Developer Mode platform. Final dose was calculated using the Eclipse AAA algorithm. Initial verification of delivery accuracy was measured using OSLDs on a solid water phantom of varying thickness. Results: A comparison of DVH curves demonstrated that dynamic couch motion irradiation was sufficiently approximated by static control points spaced in intervals of less than 2cm. Optimized MLC motion decreased the average lung dose to 68.5% of the prescription dose. The programmed irradiation integrating coordinated table motion was deliverable on a TrueBeam STx linac in 6.7 min. With the couch translating under an open 10cmx20cm field angled at 10°, OSLD measurements along the midline of a solid water phantom at depths of 3, 5, and 9cm were within 3% of the TPS AAA algorithm with an average deviation of 1.2%. Conclusion: A treatment planning and delivery system for Trajectory Modulated Arc Therapy of extended volumes has been established and experimentally demonstrated for TBI. Extension to other treatment techniques such as TLI and CSI is readily achievable through the developed platform. Grant Funding by Varian Medical Systems.« less

SU-G-JeP4-03: Anomaly Detection of Respiratory Motion by Use of Singular Spectrum Analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kotoku, J; Kumagai, S; Nakabayashi, S

Purpose: The implementation and realization of automatic anomaly detection of respiratory motion is a very important technique to prevent accidental damage during radiation therapy. Here, we propose an automatic anomaly detection method using singular value decomposition analysis. Methods: The anomaly detection procedure consists of four parts:1) measurement of normal respiratory motion data of a patient2) calculation of a trajectory matrix representing normal time-series feature3) real-time monitoring and calculation of a trajectory matrix of real-time data.4) calculation of an anomaly score from the similarity of the two feature matrices. Patient motion was observed by a marker-less tracking system using a depthmore » camera. Results: Two types of motion e.g. cough and sudden stop of breathing were successfully detected in our real-time application. Conclusion: Automatic anomaly detection of respiratory motion using singular spectrum analysis was successful in the cough and sudden stop of breathing. The clinical use of this algorithm will be very hopeful. This work was supported by JSPS KAKENHI Grant Number 15K08703.« less

Relationships of a Circular Singer Arm Gesture to Acoustical and Perceptual Measures of Singing: A Motion Capture Study

ERIC Educational Resources Information Center

Brunkan, Melissa C.

2016-01-01

The purpose of this study was to validate previous research that suggests using movement in conjunction with singing tasks can affect intonation and perception of the task. Singers (N = 49) were video and audio recorded, using a motion capture system, while singing a phrase from a familiar song, first with no motion, and then while doing a low,…

Spectral analysis of point-vortex dynamics: first application to vortex polygons in a circular domain

NASA Astrophysics Data System (ADS)

Speetjens, M. F. M.; Meleshko, V. V.; van Heijst, G. J. F.

2014-06-01

The present study addresses the classical problem of the dynamics and stability of a cluster of N-point vortices of equal strength arranged in a polygonal configuration (‘N-vortex polygons’). In unbounded domains, such N-vortex polygons are unconditionally stable for N\\leqslant 7. Confinement in a circular domain tightens the stability conditions to N\\leqslant 6 and a maximum polygon size relative to the domain radius. This work expands on existing studies on stability and integrability by a first giving an exploratory spectral analysis of the dynamics of N vortex polygons in circular domains. Key to this is that the spectral signature of the time evolution of vortex positions reflects their qualitative behaviour. Expressing vortex motion by a generic evolution operator (the so-called Koopman operator) provides a rigorous framework for such spectral analyses. This paves the way to further differentiation and classification of point-vortex behaviour beyond stability and integrability. The concept of Koopman-based spectral analysis is demonstrated for N-vortex polygons. This reveals that conditional stability can be seen as a local form of integrability and confirms an important generic link between spectrum and dynamics: discrete spectra imply regular (quasi-periodic) motion; continuous (sub-)spectra imply chaotic motion. Moreover, this exposes rich nonlinear dynamics as intermittency between regular and chaotic motion and quasi-coherent structures formed by chaotic vortices. Dedicated to the memory of Slava Meleshko, a dear friend and inspiring colleague.

Modulation of a protein free-energy landscape by circular permutation.

PubMed

Radou, Gaël; Enciso, Marta; Krivov, Sergei; Paci, Emanuele

2013-11-07

Circular permutations usually retain the native structure and function of a protein while inevitably perturbing its folding dynamics. By using simulations with a structure-based model and a rigorous methodology to determine free-energy surfaces from trajectories, we evaluate the effect of a circular permutation on the free-energy landscape of the protein T4 lysozyme. We observe changes which, although subtle, largely affect the cooperativity between the two subdomains. Such a change in cooperativity has been previously experimentally observed and recently also characterized using single molecule optical tweezers and the Crooks relation. The free-energy landscapes show that both the wild type and circular permutant have an on-pathway intermediate, previously experimentally characterized, in which one of the subdomains is completely formed. The landscapes, however, differ in the position of the rate-limiting step for folding, which occurs before the intermediate in the wild type and after in the circular permutant. This shift of transition state explains the observed change in the cooperativity. The underlying free-energy landscape thus provides a microscopic description of the folding dynamics and the connection between circular permutation and the loss of cooperativity experimentally observed.

Neural Network Training by Integration of Adjoint Systems of Equations Forward in Time

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Barhen, Jacob (Inventor)

1999-01-01

A method and apparatus for supervised neural learning of time dependent trajectories exploits the concepts of adjoint operators to enable computation of the gradient of an objective functional with respect to the various parameters of the network architecture in a highly efficient manner. Specifically. it combines the advantage of dramatic reductions in computational complexity inherent in adjoint methods with the ability to solve two adjoint systems of equations together forward in time. Not only is a large amount of computation and storage saved. but the handling of real-time applications becomes also possible. The invention has been applied it to two examples of representative complexity which have recently been analyzed in the open literature and demonstrated that a circular trajectory can be learned in approximately 200 iterations compared to the 12000 reported in the literature. A figure eight trajectory was achieved in under 500 iterations compared to 20000 previously required. Tbc trajectories computed using our new method are much closer to the target trajectories than was reported in previous studies.

Neural network training by integration of adjoint systems of equations forward in time

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Barhen, Jacob (Inventor)

1992-01-01

A method and apparatus for supervised neural learning of time dependent trajectories exploits the concepts of adjoint operators to enable computation of the gradient of an objective functional with respect to the various parameters of the network architecture in a highly efficient manner. Specifically, it combines the advantage of dramatic reductions in computational complexity inherent in adjoint methods with the ability to solve two adjoint systems of equations together forward in time. Not only is a large amount of computation and storage saved, but the handling of real-time applications becomes also possible. The invention has been applied it to two examples of representative complexity which have recently been analyzed in the open literature and demonstrated that a circular trajectory can be learned in approximately 200 iterations compared to the 12000 reported in the literature. A figure eight trajectory was achieved in under 500 iterations compared to 20000 previously required. The trajectories computed using our new method are much closer to the target trajectories than was reported in previous studies.

Accurate approximation of in-ecliptic trajectories for E-sail with constant pitch angle

NASA Astrophysics Data System (ADS)

Huo, Mingying; Mengali, Giovanni; Quarta, Alessandro A.

2018-05-01

Propellantless continuous-thrust propulsion systems, such as electric solar wind sails, may be successfully used for new space missions, especially those requiring high-energy orbit transfers. When the mass-to-thrust ratio is sufficiently large, the spacecraft trajectory is characterized by long flight times with a number of revolutions around the Sun. The corresponding mission analysis, especially when addressed within an optimal context, requires a significant amount of simulation effort. Analytical trajectories are therefore useful aids in a preliminary phase of mission design, even though exact solution are very difficult to obtain. The aim of this paper is to present an accurate, analytical, approximation of the spacecraft trajectory generated by an electric solar wind sail with a constant pitch angle, using the latest mathematical model of the thrust vector. Assuming a heliocentric circular parking orbit and a two-dimensional scenario, the simulation results show that the proposed equations are able to accurately describe the actual spacecraft trajectory for a long time interval when the propulsive acceleration magnitude is sufficiently small.

Constants of the motion, universal time and the Hamilton-Jacobi function in general relativity

NASA Astrophysics Data System (ADS)

O'Hara, Paul

2013-04-01

In most text books of mechanics, Newton's laws or Hamilton's equations of motion are first written down and then solved based on initial conditions to determine the constants of the motions and to describe the trajectories of the particles. In this essay, we take a different starting point. We begin with the metrics of general relativity and show how they can be used to construct by inspection constants of motion, which can then be used to write down the equations of the trajectories. This will be achieved by deriving a Hamiltonian-Jacobi function from the metric and showing that its existence requires all of the above mentioned properties. The article concludes by showing that a consistent theory of such functions also requires the need for a universal measure of time which can be identified with the "worldtime" parameter, first introduced by Steuckelberg and later developed by Horwitz and Piron.

The Milky Way's Circular Velocity Curve and Its Constraint on the Galactic Mass with RR Lyrae Stars

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ablimit, Iminhaji; Zhao, Gang, E-mail: iminhaji@nao.cas.cn, E-mail: gzhao@nao.cas.cn

We present a sample of 1148 ab-type RR Lyrae (RRLab) variables identified from Catalina Surveys Data Release 1, combined with SDSS DR8 and LAMOST DR4 spectral data. We first use a large sample of 860 Galactic halo RRLab stars and derive the circular velocity distributions for the stellar halo. With the precise distances and carefully determined radial velocities (the center-of-mass radial velocities) and by considering the pulsation of the RRLab stars in our sample, we can obtain a reliable and comparable stellar halo circular velocity curve. We follow two different prescriptions for the velocity anisotropy parameter β in the Jeansmore » equation to study the circular velocity curve and mass profile. Additionally, we test two different solar peculiar motions in our calculation. The best result we obtained with the adopted solar peculiar motion 1 of ( U , V , W ) = (11.1, 12, 7.2) km s{sup −1} is that the enclosed mass of the Milky Way within 50 kpc is (3.75 ± 1.33) × 10{sup 11} M {sub ⊙} based on β = 0 and the circular velocity 180 ± 31.92 (km s{sup −1}) at 50 kpc. This result is consistent with dynamical model results, and it is also comparable to the results of previous similar works.« less

The structure and stability of orbits in Hoag-like ring systems

NASA Astrophysics Data System (ADS)

Bannikova, Elena Yu

2018-05-01

Ring galaxies are amazing objects exemplified by the famous case of Hoag's Object. Here the mass of the central galaxy may be comparable to the mass of the ring, making it a difficult case to model mechanically. In a previous paper, it was shown that the outer potential of a torus (ring) can be represented with good accuracy by the potential of a massive circle with the same mass. This approach allows us to simplify the problem of the particle motion in the gravitational field of a torus associated with a central mass by replacing the torus with a massive circle. In such a system, there is a circle of unstable equilibrium that we call `Lagrangian circle' (LC). Stable circular orbits exist only in some region limited by the last possible circular orbit related to the disappearance of the extrema of the effective potential. We call this orbit `the outermost stable circular orbit' (OSCO) by analogy with the innermost stable circular orbit (ISCO) in the relativistic case of a black hole. Under these conditions, there is a region between OSCO and LC where the circular motion is not possible due to the competition between the gravitational forces by the central mass and the ring. As a result, a gap in the matter distribution can form in Hoag-like system with massive rings.

Vehicle Guidance and Control Along Circular Trajectories

DTIC Science & Technology

1992-09-01

the line of sight, while Chism [2] studied a cross track error based control law. Hawkinson [3] extended the results to the multiple input case when...Thesis, Naval Postgraduate School, Monterey, California, June. 2. Chism , S., (1990) "Robust path tracking of autonomous underwater vehicles using sliding

Edge effects on the fluttering characteristics of freely falling planar particles

NASA Astrophysics Data System (ADS)

Blay Esteban, Luis; Shrimpton, John; Ganapathisubramani, Bharathram

2018-06-01

The effect of particle edge geometry on the descent motion of freely falling planar particles is examined through experiments. Various planar particles, such as disk and polygons, with identical frontal areas (Ap) and different number of edges (or perimeter) are used. All particles are designed such that their values of Galileo number (G ) and dimensionless moment of inertia (I*) correspond to the previously identified fluttering regime of particle motion. Several modes of secondary motion are observed for the same particle and conditions, and these are not equally probable. This probability depends on the particle shape. Disks and heptagons were found to prefer a "planar zig-zag" behavior. These planar motions are composed of gliding sweeps and turning sections. As the number of sides in the polygon decreases, i.e., for hexagons and pentagons, the trajectory transitions to a more three-dimensional form. These trajectories were found to be restricted to one plane per swing, but the subsequent swings are in other planes. Further decrease in number of sides to a square results in the trajectories having a severe out-of-plane motion. These subregimes of particle motion within the fluttering regime are consistent with those reported for disks in previous studies. Based on this information, a length scale that accounts for the frontal area of the particles and its edge geometry (i.e., perimeter) is proposed. This length scale represents an approach to determine an equivalent disk for planar particles such that the phase diagram in the Reynolds number (Re) and dimensionless moment of inertia (I*) domain can be used to characterize the motion of planar particles with different frontal geometries. However, further experiments covering other domains of the regime map are needed to verify its universality.

The determination of high-resolution spatio-temporal glacier motion fields from time-lapse sequences

NASA Astrophysics Data System (ADS)

Schwalbe, Ellen; Maas, Hans-Gerd

2017-12-01

This paper presents a comprehensive method for the determination of glacier surface motion vector fields at high spatial and temporal resolution. These vector fields can be derived from monocular terrestrial camera image sequences and are a valuable data source for glaciological analysis of the motion behaviour of glaciers. The measurement concepts for the acquisition of image sequences are presented, and an automated monoscopic image sequence processing chain is developed. Motion vector fields can be derived with high precision by applying automatic subpixel-accuracy image matching techniques on grey value patterns in the image sequences. Well-established matching techniques have been adapted to the special characteristics of the glacier data in order to achieve high reliability in automatic image sequence processing, including the handling of moving shadows as well as motion effects induced by small instabilities in the camera set-up. Suitable geo-referencing techniques were developed to transform image measurements into a reference coordinate system.The result of monoscopic image sequence analysis is a dense raster of glacier surface point trajectories for each image sequence. Each translation vector component in these trajectories can be determined with an accuracy of a few centimetres for points at a distance of several kilometres from the camera. Extensive practical validation experiments have shown that motion vector and trajectory fields derived from monocular image sequences can be used for the determination of high-resolution velocity fields of glaciers, including the analysis of tidal effects on glacier movement, the investigation of a glacier's motion behaviour during calving events, the determination of the position and migration of the grounding line and the detection of subglacial channels during glacier lake outburst floods.

Twisting/Swirling Motions during a Prominence Eruption as Seen from SDO/AIA

NASA Astrophysics Data System (ADS)

Pant, V.; Datta, A.; Banerjee, D.; Chandrashekhar, K.; Ray, S.

2018-06-01

A quiescent prominence was observed at the northwest limb of the Sun using different channels of the Atmospheric Imaging Assembly on board the Solar Dynamics Observatory. We report and analyze twisting/swirling motions during and after the prominence eruption. We segregate the observed rotational motions into small and large scales. Small-scale rotational motions manifest in the barbs of the prominence, while the large-scale rotation manifests as the roll motion during the prominence eruption. We noticed that both footpoints of the prominence rotate in the counterclockwise direction. We propose that a similar sense of rotation in both footpoints leads to a prominence eruption. The prominence erupted asymmetrically near the southern footpoint, which may be due to an uneven mass distribution and location of the cavity near the southern footpoint. Furthermore, we study the swirling motion of the plasma along different circular paths in the cavity of the prominence after the prominence eruption. The rotational velocities of the plasma moving along different circular paths are estimated to be ∼9–40 km s‑1. These swirling motions can be explained in terms of twisted magnetic field lines in the prominence cavity. Finally we observe the twist built up in the prominence, being carried away by the coronal mass ejection, as seen in the Large Angle Spectrometric Coronagraph on board the Solar and Heliospheric Observatory.

Flow Mapping Based on the Motion-Integration Errors of Autonomous Underwater Vehicles

NASA Astrophysics Data System (ADS)

Chang, D.; Edwards, C. R.; Zhang, F.

2016-02-01

Knowledge of a flow field is crucial in the navigation of autonomous underwater vehicles (AUVs) since the motion of AUVs is affected by ambient flow. Due to the imperfect knowledge of the flow field, it is typical to observe a difference between the actual and predicted trajectories of an AUV, which is referred to as a motion-integration error (also known as a dead-reckoning error if an AUV navigates via dead-reckoning). The motion-integration error has been essential for an underwater glider to compute its flow estimate from the travel information of the last leg and to improve navigation performance by using the estimate for the next leg. However, the estimate by nature exhibits a phase difference compared to ambient flow experienced by gliders, prohibiting its application in a flow field with strong temporal and spatial gradients. In our study, to mitigate the phase problem, we have developed a local ocean model by combining the flow estimate based on the motion-integration error with flow predictions from a tidal ocean model. Our model has been used to create desired trajectories of gliders for guidance. Our method is validated by Long Bay experiments in 2012 and 2013 in which we deployed multiple gliders on the shelf of South Atlantic Bight and near the edge of Gulf Stream. In our recent study, the application of the motion-integration error is further extended to create a spatial flow map. Considering that the motion-integration errors of AUVs accumulate along their trajectories, the motion-integration error is formulated as a line integral of ambient flow which is then reformulated into algebraic equations. By solving an inverse problem for these algebraic equations, we obtain the knowledge of such flow in near real time, allowing more effective and precise guidance of AUVs in a dynamic environment. This method is referred to as motion tomography. We provide the results of non-parametric and parametric flow mapping from both simulated and experimental data.

Observation of ionization enhancement in two-color circularly polarized laser fields

NASA Astrophysics Data System (ADS)

Mancuso, Christopher A.; Dorney, Kevin M.; Hickstein, Daniel D.; Chaloupka, Jan L.; Tong, Xiao-Min; Ellis, Jennifer L.; Kapteyn, Henry C.; Murnane, Margaret M.

2017-08-01

When atoms are irradiated by two-color circularly polarized laser fields the resulting strong-field processes are dramatically different than when the same atoms are irradiated by a single-color ultrafast laser. For example, electrons can be driven in complex two-dimensional trajectories before rescattering or circularly polarized high harmonics can be generated, which was once thought impossible. Here, we show that two-color circularly polarized lasers also enable control over the ionization process itself and make a surprising finding: the ionization rate can be enhanced by up to 700 % simply by switching the relative helicity of the two-color circularly polarized laser field. This enhancement is experimentally observed in helium, argon, and krypton over a wide range of intensity ratios of the two-color field. We use a combination of advanced quantum and fully classical calculations to explain this ionization enhancement as resulting in part due to the increased density of excited states available for resonance-enhanced ionization in counter-rotating fields compared with co-rotating fields. In the future, this effect could be used to probe the excited state manifold of complex molecules.

Differences in gaze anticipation for locomotion with and without vision

PubMed Central

Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

2015-01-01

Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

Six-Degree-of-Freedom Trajectory Optimization Utilizing a Two-Timescale Collocation Architecture

NASA Technical Reports Server (NTRS)

Desai, Prasun N.; Conway, Bruce A.

2005-01-01

Six-degree-of-freedom (6DOF) trajectory optimization of a reentry vehicle is solved using a two-timescale collocation methodology. This class of 6DOF trajectory problems are characterized by two distinct timescales in their governing equations, where a subset of the states have high-frequency dynamics (the rotational equations of motion) while the remaining states (the translational equations of motion) vary comparatively slowly. With conventional collocation methods, the 6DOF problem size becomes extraordinarily large and difficult to solve. Utilizing the two-timescale collocation architecture, the problem size is reduced significantly. The converged solution shows a realistic landing profile and captures the appropriate high-frequency rotational dynamics. A large reduction in the overall problem size (by 55%) is attained with the two-timescale architecture as compared to the conventional single-timescale collocation method. Consequently, optimum 6DOF trajectory problems can now be solved efficiently using collocation, which was not previously possible for a system with two distinct timescales in the governing states.

Experiences in Delta mission planning

NASA Technical Reports Server (NTRS)

Kork, J.

1981-01-01

The Delta launch vehicle has experienced 153 successful launches since 1960 and 40 more are scheduled. Relying on up-to-date technology and proven flight hardware, the Delta vehicle has been used for low to high circular and geosynchronous transfer orbits, high elliptic probes, and lunar and planetary missions. A history of Delta launches and configuration modifications is presented, noting a 92-95% success rate and its cost effective role in reimbursable missions. Elements of mission planning such as feasibility studies (1-3 yrs), spacecraft restraints manuals, reference trajectories, preliminary mission analysis, detailed test objectives, range/safety studies, guided nominal trajectory, and mission specific studies are discussed. Trajectory shaping determines vehicle and spacecraft restraints, optimizes the trajectory, and maximizes the payload capabilities. Improvements in the Delta vehicle have boosted payloads from 100 to 2890 lbs., improving the price per pound ratio, as costs have risen, only by a factor of three. Current launch schedules extend well into 1985.

Trajectory generation for an on-road autonomous vehicle

NASA Astrophysics Data System (ADS)

Horst, John; Barbera, Anthony

2006-05-01

We describe an algorithm that generates a smooth trajectory (position, velocity, and acceleration at uniformly sampled instants of time) for a car-like vehicle autonomously navigating within the constraints of lanes in a road. The technique models both vehicle paths and lane segments as straight line segments and circular arcs for mathematical simplicity and elegance, which we contrast with cubic spline approaches. We develop the path in an idealized space, warp the path into real space and compute path length, generate a one-dimensional trajectory along the path length that achieves target speeds and positions, and finally, warp, translate, and rotate the one-dimensional trajectory points onto the path in real space. The algorithm moves a vehicle in lane safely and efficiently within speed and acceleration maximums. The algorithm functions in the context of other autonomous driving functions within a carefully designed vehicle control hierarchy.

Rotating Magnetic Structures Associated with a Quasi-circular Ribbon Flare

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, Haidong; Jiang, Yunchun; Yang, Jiayan

We present the detection of a small eruption and the associated quasi-circular ribbon flare during the emergence of a bipole occurring on 2015 February 3. Under a fan dome, a sigmoid was rooted in a single magnetic bipole, which was encircled by negative polarity. The nonlinear force-free field extrapolation shows the presence of twisted field lines, which can represent a sigmoid structure. The rotation of the magnetic bipole may cause the twisting of magnetic field lines. An initial brightening appeared at one of the footpoints of the sigmoid, where the positive polarity slides toward a nearby negative polarity field region.more » The sigmoid displayed an ascending motion and then interacted intensively with the spine-like field. This type of null point reconnection in corona led to a violent blowout jet, and a quasi-circular flare ribbon was also produced. The magnetic emergence and rotational motion are the main contributors to the energy buildup for the flare, while the cancellation and collision might act as a trigger.« less

Analysis of the Multiple-Solution Response of a Flexible Rotor Supported on Non-Linear Squeeze Film Dampers

NASA Astrophysics Data System (ADS)

ZHU, C. S.; ROBB, D. A.; EWINS, D. J.

2002-05-01

The multiple-solution response of rotors supported on squeeze film dampers is a typical non-linear phenomenon. The behaviour of the multiple-solution response in a flexible rotor supported on two identical squeeze film dampers with centralizing springs is studied by three methods: synchronous circular centred-orbit motion solution, numerical integration method and slow acceleration method using the assumption of a short bearing and cavitated oil film; the differences of computational results obtained by the three different methods are compared in this paper. It is shown that there are three basic forms for the multiple-solution response in the flexible rotor system supported on the squeeze film dampers, which are the resonant, isolated bifurcation and swallowtail bifurcation multiple solutions. In the multiple-solution speed regions, the rotor motion may be subsynchronous, super-subsynchronous, almost-periodic and even chaotic, besides synchronous circular centred, even if the gravity effect is not considered. The assumption of synchronous circular centred-orbit motion for the journal and rotor around the static deflection line can be used only in some special cases; the steady state numerical integration method is very useful, but time consuming. Using the slow acceleration method, not only can the multiple-solution speed regions be detected, but also the non-synchronous response regions.

Projectile Motion in the "Language" of Orbital Motion

ERIC Educational Resources Information Center

Zurcher, Ulrich

2011-01-01

We consider the orbit of projectiles launched with arbitrary speeds from the Earth's surface. This is a generalization of Newton's discussion about the transition from parabolic to circular orbits, when the launch speed approaches the value [image omitted]. We find the range for arbitrary launch speeds and angles, and calculate the eccentricity of…

Self-similar motion of a Nambu-Goto string

NASA Astrophysics Data System (ADS)

Igata, Takahisa; Houri, Tsuyoshi; Harada, Tomohiro

2016-09-01

We study the self-similar motion of a string in a self-similar spacetime by introducing the concept of a self-similar string, which is defined as the world sheet to which a homothetic vector field is tangent. It is shown that in Nambu-Goto theory, the equations of motion for a self-similar string reduce to those for a particle. Moreover, under certain conditions such as the hypersurface orthogonality of the homothetic vector field, the equations of motion for a self-similar string simplify to the geodesic equations on a (pseudo)Riemannian space. As a concrete example, we investigate a self-similar Nambu-Goto string in a spatially flat Friedmann-Lemaître-Robertson-Walker expanding universe with self-similarity and obtain solutions of open and closed strings, which have various nontrivial configurations depending on the rate of the cosmic expansion. For instance, we obtain a circular solution that evolves linearly in the cosmic time while keeping its configuration by the balance between the effects of the cosmic expansion and string tension. We also show the instability for linear radial perturbation of the circular solutions.

Broad Search for Unstable Resonant Orbits in the Planar Circular Restricted Three-Body Problem

NASA Technical Reports Server (NTRS)

Anderson, Rodney L.; Campagnola, Stefano; Lantoine, Gregory

2013-01-01

Unstable resonant orbits in the circular restricted three-body problem have increasingly been used for trajectory design using optimization and invariant manifold techniques.In this study, several methods for computing these unstable resonant orbits are explored including flyby maps, continuation from two-body models, and grid searches. Families of orbits are computed focusing on the Jupiter-Europa system, and their characteristics are explored. Different parameters such as period and stability are examined for each set of resonantor bits, and the continuation of several specific orbits is explored in more detail.

Two Episodes of Magnetic Reconnections during a Confined Circular-ribbon Flare

NASA Astrophysics Data System (ADS)

Li, Ting; Yang, Shuhong; Zhang, Qingmin; Hou, Yijun; Zhang, Jun

2018-06-01

We analyze a unique event with an M1.8 confined circular-ribbon flare on 2016 February 13, with successive formations of two circular ribbons at the same location. The flare had two distinct phases of UV and extreme ultraviolet emissions with an interval of about 270 s, of which the second peak was energetically more important. The first episode was accompanied by the eruption of a mini-filament and the fast elongation motion of a thin circular ribbon (CR1) along the counterclockwise direction at a speed of about 220 km s‑1. Two elongated spine-related ribbons were also observed, with the inner ribbon co-temporal with CR1 and the remote brightenings forming ∼20 s later. In the second episode, another mini-filament erupted and formed a blowout jet. The second circular ribbon and two spine-related ribbons showed similar elongation motions with that during the first episode. The extrapolated three-dimensional coronal magnetic fields reveal the existence of a fan-spine topology, together with a quasi-separatrix layer (QSL) halo surrounding the fan plane and another QSL structure outlining the inner spine. We suggest that continuous null-point reconnection between the filament and ambient open field occurs in each episode, leading to the sequential opening of the filament and significant shifts of the fan plane footprint. For the first time, we propose a compound eruption model of circular-ribbon flares consisting of two sets of successively formed ribbons and eruptions of multiple filaments in a fan-spine-type magnetic configuration.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin's maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin`s maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

Dynamics of essential collective motions in proteins: Theory

NASA Astrophysics Data System (ADS)

Stepanova, Maria

2007-11-01

A general theoretical background is introduced for characterization of conformational motions in protein molecules, and for building reduced coarse-grained models of proteins, based on the statistical analysis of their phase trajectories. Using the projection operator technique, a system of coupled generalized Langevin equations is derived for essential collective coordinates, which are generated by principal component analysis of molecular dynamic trajectories. The number of essential degrees of freedom is not limited in the theory. An explicit analytic relation is established between the generalized Langevin equation for essential collective coordinates and that for the all-atom phase trajectory projected onto the subspace of essential collective degrees of freedom. The theory introduced is applied to identify correlated dynamic domains in a macromolecule and to construct coarse-grained models representing the conformational motions in a protein through a few interacting domains embedded in a dissipative medium. A rigorous theoretical background is provided for identification of dynamic correlated domains in a macromolecule. Examples of domain identification in protein G are given and employed to interpret NMR experiments. Challenges and potential outcomes of the theory are discussed.

Automatic design of fiber-reinforced soft actuators for trajectory matching

NASA Astrophysics Data System (ADS)

Connolly, Fionnuala; Walsh, Conor J.; Bertoldi, Katia

2017-01-01

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.

The eivaN: A forward-looking interactive orbital trajectory plotting tool for use with proximity operations (PROX OPS) and other maneuvers: Description and user's manual

NASA Technical Reports Server (NTRS)

Brody, Adam R.

1988-01-01

The results of vehicle burns on-orbit are very difficult to anticipate because of nonlinearities in the equations of motion governing orbiting bodies. This confusion was noticed firsthand in prior experimentation. Out of plane motion is relatively simple as it is uncoupled from the other two degrees of freedom. However, in plane thrusts are more complex because the motions resulting from these inputs are coupled. An interactive planning device, eivaN, was developed to plot resulting trajectories, to provide a better comprehension of orbital mechanics effects, and to help the user to develop heuristics for on-orbit mission planning. The eivaN runs with Microsoft Excel on a Macintosh computer. It provides a forward looking display: burn parameters in the three orthogonal axes in addition to time inputted, and the resultant trajectory is then plotted. Position and velocity components for any burn at any user specified time are readily available. A new area of research related to the human factors of real time, on-orbit mission planning was identified and is currently being investigated.

Automatic design of fiber-reinforced soft actuators for trajectory matching

PubMed Central

Connolly, Fionnuala; Walsh, Conor J.; Bertoldi, Katia

2017-01-01

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb. PMID:27994133

Automatic design of fiber-reinforced soft actuators for trajectory matching.

PubMed

Connolly, Fionnuala; Walsh, Conor J; Bertoldi, Katia

2017-01-03

Soft actuators are the components responsible for producing motion in soft robots. Although soft actuators have allowed for a variety of innovative applications, there is a need for design tools that can help to efficiently and systematically design actuators for particular functions. Mathematical modeling of soft actuators is an area that is still in its infancy but has the potential to provide quantitative insights into the response of the actuators. These insights can be used to guide actuator design, thus accelerating the design process. Here, we study fluid-powered fiber-reinforced actuators, because these have previously been shown to be capable of producing a wide range of motions. We present a design strategy that takes a kinematic trajectory as its input and uses analytical modeling based on nonlinear elasticity and optimization to identify the optimal design parameters for an actuator that will follow this trajectory upon pressurization. We experimentally verify our modeling approach, and finally we demonstrate how the strategy works, by designing actuators that replicate the motion of the index finger and thumb.

Molecular dynamics: deciphering the data.

PubMed

Dauber-Osguthorpe, P; Maunder, C M; Osguthorpe, D J

1996-06-01

The dynamic behaviour of molecules is important in determining their activity. Molecular dynamics (MD) simulations give a detailed description of motion, from small fluctuations to conformational transitions, and can include solvent effects. However, extracting useful information about conformational motion from a trajectory is not trivial. We have used digital signal-processing techniques to characterise the motion in MD simulations, including: calculating the frequency distribution, applying filtering functions, and extraction of vectors defining the characteristic motion for each frequency in an MD simulation. We describe here some typical results obtained for peptides and proteins. The nature of the low-frequency modes of motion, as obtained from MD and normal mode (NM) analysis, of Ace-(Ala)31-Nma and of a proline mutant is discussed. Low-frequency modes extracted from the MD trajectories of Rop protein and phospholipase A2 reveal characteristic motions of secondary structure elements, as well as concerned motions that are of significance to the protein's biological activity. MD simulations are also used frequently as a tool for conformational searches and for investigating protein folding/unfolding. We have developed a novel method that uses time-domain filtering to channel energy into conformational motion and thus enhance conformational transitions. The selectively enhanced molecular dynamics method is tested on the small molecule hexane.

Molecular dynamics: Deciphering the data

NASA Astrophysics Data System (ADS)

Dauber-Osguthorpe, Pnina; Maunder, Colette M.; Osguthorpe, David J.

1996-06-01

The dynamic behaviour of molecules is important in determining their activity. Molecular dynamics (MD) simulations give a detailed description of motion, from small fluctuations to conformational transitions, and can include solvent effects. However, extracting useful information about conformational motion from a trajectory is not trivial. We have used digital signal-processing techniques to characterise the motion in MD simulations, including: calculating the frequency distribution, applying filtering functions, and extraction of vectors defining the characteristic motion for each frequency in an MD simulation. We describe here some typical results obtained for peptides and proteins. The nature of the low-frequency modes of motion, as obtained from MD and normal mode (NM) analysis, of Ace-(Ala)31-Nma and of a proline mutant is discussed. Low-frequency modes extracted from the MD trajectories of Rop protein and phospholipase A2 reveal characteristic motions of secondary structure elements, as well as concerted motions that are of significance to the protein's biological activity. MD simulations are also used frequently as a tool for conformational searches and for investigating protein folding/unfolding. We have developed a novel method that uses time-domain filtering to channel energy into conformational motion and thus enhance conformational transitions. The selectively enhanced molecular dynamics method is tested on the small molecule hexane.

The Values of Scottish Comprehensive Schooling

ERIC Educational Resources Information Center

Murphy, Daniel; Croxford, Linda; Howieson, Cathy

2016-01-01

It is just over 50 years since the government circulars in Scotland, England, and Wales which signalled an intention to abolish selection and reform secondary schooling along comprehensive lines. Each country's policy trajectories since then have been quite different. In this article the authors reflect on more than 50 years of comprehensive…

Trajectory of Charged Particle in Combined Electric and Magnetic Fields Using Interactive Spreadsheets

ERIC Educational Resources Information Center

Tambade, Popat S.

2011-01-01

The objective of this article is to graphically illustrate to the students the physical phenomenon of motion of charged particle under the action of simultaneous electric and magnetic fields by simulating particle motion on a computer. Differential equations of motions are solved analytically and path of particle in three-dimensional space are…

Mechanism test bed. Flexible body model report

NASA Technical Reports Server (NTRS)

Compton, Jimmy

1991-01-01

The Space Station Mechanism Test Bed is a six degree-of-freedom motion simulation facility used to evaluate docking and berthing hardware mechanisms. A generalized rigid body math model was developed which allowed the computation of vehicle relative motion in six DOF due to forces and moments from mechanism contact, attitude control systems, and gravity. No vehicle size limitations were imposed in the model. The equations of motion were based on Hill's equations for translational motion with respect to a nominal circular earth orbit and Newton-Euler equations for rotational motion. This rigid body model and supporting software were being refined.

Effects of changes in size, speed and distance on the perception of curved 3D trajectories

PubMed Central

Zhang, Junjun; Braunstein, Myron L.; Andersen, George J.

2012-01-01

Previous research on the perception of 3D object motion has considered time to collision, time to passage, collision detection and judgments of speed and direction of motion, but has not directly studied the perception of the overall shape of the motion path. We examined the perception of the magnitude of curvature and sign of curvature of the motion path for objects moving at eye level in a horizontal plane parallel to the line of sight. We considered two sources of information for the perception of motion trajectories: changes in angular size and changes in angular speed. Three experiments examined judgments of relative curvature for objects moving at different distances. At the closest distance studied, accuracy was high with size information alone but near chance with speed information alone. At the greatest distance, accuracy with size information alone decreased sharply but accuracy for displays with both size and speed information remained high. We found similar results in two experiments with judgments of sign of curvature. Accuracy was higher for displays with both size and speed information than with size information alone, even when the speed information was based on parallel projections and was not informative about sign of curvature. For both magnitude of curvature and sign of curvature judgments, information indicating that the trajectory was curved increased accuracy, even when this information was not directly relevant to the required judgment. PMID:23007204

Odometry and Low-Cost Sensor Fusion in Tmm Dataset

NASA Astrophysics Data System (ADS)

Manzino, A. M.; Taglioretti, C.

2016-03-01

The aim of this study is to identify the most powerful motion model and filtering technique to represent an urban terrestrial mobile mapping (TMM) survey and ultimately to obtain the best representation of the car trajectory. The authors want to test how far a motion model and a more or less refined filtering technique could bring benefits in the determination of the car trajectory. To achieve the necessary data for the application of the motion models and the filtering techniques described in the article, the authors realized a TMM survey in the urban centre of Turin by equipping a vehicle with various instruments: a low-cost action-cam also able to record the GPS trace of the vehicle even in the presence of obstructions, an inertial measurement system and an odometer. The results of analysis show in the article indicate that the Unscented Kalman Filter (UKF) technique provides good results in the determination of the vehicle trajectory, especially if the motion model considers more states (such as the positions, the tangential velocity, the angular velocity, the heading, the acceleration). The authors also compared the results obtained with a motion model characterized by four, five and six states. A natural corollary to this work would be the introduction to the UKF of the photogrammetric information obtained by the same camera placed on board the vehicle. These data would permit to establish how photogrammetric measurements can improve the quality of TMM solutions, especially in the absence of GPS signals (like urban canyons).

Locus of the apices of projectile trajectories under constant drag

NASA Astrophysics Data System (ADS)

Hernández-Saldaña, H.

2017-11-01

Using the hodograph method, we present an analytical solution for projectile coplanar motion under constant drag, parametrised by the velocity angle. We find the locus formed by the apices of the projectile trajectories, and discuss its implementation for the motion of a particle on an inclined plane in presence of Coulomb friction. The range and time of flight are obtained numerically, and we find that the optimal launching angle is smaller than in the drag-free case. This is a good example of a problem with constant dissipation of energy that includes curvature; it is appropriate for intermediate courses of mechanics.

Relative motion using analytical differential gravity

NASA Technical Reports Server (NTRS)

Gottlieb, Robert G.

1988-01-01

This paper presents a new approach to the computation of the motion of one satellite relative to another. The trajectory of the reference satellite is computed accurately subject to geopotential perturbations. This precise trajectory is used as a reference in computing the position of a nearby body, or bodies. The problem that arises in this approach is differencing nearly equal terms in the geopotential model, especially as the separation of the reference and nearby bodies approaches zero. By developing closed form expressions for differences in higher order and degree geopotential terms, the numerical problem inherent in the differencing approach is eliminated.

Feature point based 3D tracking of multiple fish from multi-view images

PubMed Central

Qian, Zhi-Ming

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly. PMID:28665966

Motion transitions of falling plates via quasisteady aerodynamics.

PubMed

Hu, Ruifeng; Wang, Lifeng

2014-07-01

In this paper, we study the dynamics of freely falling plates based on the Kirchhoff equation and the quasisteady aerodynamic model. Motion transitions among fluttering, tumbling along a cusp-like trajectory, irregular, and tumbling along a straight trajectory are obtained by solving the dynamical equations. Phase diagrams spanning between the nondimensional moment of inertia and aerodynamic coefficients or aspect ratio are built to identify regimes for these falling styles. We also investigate the stability of fixed points and bifurcation scenarios. It is found that the transitions are all heteroclinic bifurcations and the influence of the fixed-point stability is local.

Feature point based 3D tracking of multiple fish from multi-view images.

PubMed

Qian, Zhi-Ming; Chen, Yan Qiu

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly.

Optimization of Spiral-Based Pulse Sequences for First Pass Myocardial Perfusion Imaging

PubMed Central

Salerno, Michael; Sica, Christopher T.; Kramer, Christopher M.; Meyer, Craig H.

2010-01-01

While spiral trajectories have multiple attractive features such as their isotropic resolution, acquisition efficiency, and robustness to motion, there has been limited application of these techniques to first pass perfusion imaging because of potential off-resonance and inconsistent data artifacts. Spiral trajectories may also be less sensitive to dark-rim artifacts (DRA) that are caused, at least in part, by cardiac motion. By careful consideration of the spiral trajectory readout duration, flip angle strategy, and image reconstruction strategy, spiral artifacts can be abated to create high quality first pass myocardial perfusion images with high SNR. The goal of this paper was to design interleaved spiral pulse sequences for first-pass myocardial perfusion imaging, and to evaluate them clinically for image quality and the presence of dark-rim, blurring, and dropout artifacts. PMID:21590802

Feasibility study of a procedure to detect and warn of low level wind shear

NASA Technical Reports Server (NTRS)

Turkel, B. S.; Kessel, P. A.; Frost, W.

1981-01-01

A Doppler radar system which provides an aircraft with advanced warning of longitudinal wind shear is described. This system uses a Doppler radar beamed along the glide slope linked with an on line microprocessor containing a two dimensional, three degree of freedom model of the motion of an aircraft including pilot/autopilot control. The Doppler measured longitudinal glide slope winds are entered into the aircraft motion model, and a simulated controlled aircraft trajectory is calculated. Several flight path deterioration parameters are calculated from the computed aircraft trajectory information. The aircraft trajectory program, pilot control models, and the flight path deterioration parameters are discussed. The performance of the computer model and a test pilot in a flight simulator through longitudinal and vertical wind fields characteristic of a thunderstorm wind field are compared.

Primer vector theory applied to the linear relative-motion equations. [for N-impulse space trajectory optimization

NASA Technical Reports Server (NTRS)

Jezewski, D.

1980-01-01

Prime vector theory is used in analyzing a set of linear relative-motion equations - the Clohessy-Wiltshire (C/W) equations - to determine the criteria and necessary conditions for an optimal N-impulse trajectory. The analysis develops the analytical criteria for improving a solution by: (1) moving any dependent or independent variable in the initial and/or final orbit, and (2) adding intermediate impulses. If these criteria are violated, the theory establishes a sufficient number of analytical equations. The subsequent satisfaction of these equations will result in the optimal position vectors and times of an N-impulse trajectory. The solution is examined for the specific boundary conditions of: (1) fixed-end conditions, two impulse, and time-open transfer; (2) an orbit-to-orbit transfer; and (3) a generalized renezvous problem.

Schrödinger–Langevin equation with quantum trajectories for photodissociation dynamics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chou, Chia-Chun, E-mail: ccchou@mx.nthu.edu.tw

The Schrödinger–Langevin equation is integrated to study the wave packet dynamics of quantum systems subject to frictional effects by propagating an ensemble of quantum trajectories. The equations of motion for the complex action and quantum trajectories are derived from the Schrödinger–Langevin equation. The moving least squares approach is used to evaluate the spatial derivatives of the complex action required for the integration of the equations of motion. Computational results are presented and analyzed for the evolution of a free Gaussian wave packet, a two-dimensional barrier model, and the photodissociation dynamics of NOCl. The absorption spectrum of NOCl obtained from themore » Schrödinger–Langevin equation displays a redshift when frictional effects increase. This computational result agrees qualitatively with the experimental results in the solution-phase photochemistry of NOCl.« less

Hybrid 3-D rocket trajectory program. Part 1: Formulation and analysis. Part 2: Computer programming and user's instruction. [computerized simulation using three dimensional motion analysis

NASA Technical Reports Server (NTRS)

Huang, L. C. P.; Cook, R. A.

1973-01-01

Models utilizing various sub-sets of the six degrees of freedom are used in trajectory simulation. A 3-D model with only linear degrees of freedom is especially attractive, since the coefficients for the angular degrees of freedom are the most difficult to determine and the angular equations are the most time consuming for the computer to evaluate. A computer program is developed that uses three separate subsections to predict trajectories. A launch rail subsection is used until the rocket has left its launcher. The program then switches to a special 3-D section which computes motions in two linear and one angular degrees of freedom. When the rocket trims out, the program switches to the standard, three linear degrees of freedom model.

Canonical Transformations of Kepler Trajectories

ERIC Educational Resources Information Center

Mostowski, Jan

2010-01-01

In this paper, canonical transformations generated by constants of motion in the case of the Kepler problem are discussed. It is shown that canonical transformations generated by angular momentum are rotations of the trajectory. Particular attention is paid to canonical transformations generated by the Runge-Lenz vector. It is shown that these…

Temporal Audiovisual Motion Prediction in 2D- vs. 3D-Environments

PubMed Central

Dittrich, Sandra; Noesselt, Tömme

2018-01-01

Predicting motion is essential for many everyday life activities, e.g., in road traffic. Previous studies on motion prediction failed to find consistent results, which might be due to the use of very different stimulus material and behavioural tasks. Here, we directly tested the influence of task (detection, extrapolation) and stimulus features (visual vs. audiovisual and three-dimensional vs. non-three-dimensional) on temporal motion prediction in two psychophysical experiments. In both experiments a ball followed a trajectory toward the observer and temporarily disappeared behind an occluder. In audiovisual conditions a moving white noise (congruent or non-congruent to visual motion direction) was presented concurrently. In experiment 1 the ball reappeared on a predictable or a non-predictable trajectory and participants detected when the ball reappeared. In experiment 2 the ball did not reappear after occlusion and participants judged when the ball would reach a specified position at two possible distances from the occluder (extrapolation task). Both experiments were conducted in three-dimensional space (using stereoscopic screen and polarised glasses) and also without stereoscopic presentation. Participants benefitted from visually predictable trajectories and concurrent sounds during detection. Additionally, visual facilitation was more pronounced for non-3D stimulation during detection task. In contrast, for a more complex extrapolation task group mean results indicated that auditory information impaired motion prediction. However, a post hoc cross-validation procedure (split-half) revealed that participants varied in their ability to use sounds during motion extrapolation. Most participants selectively profited from either near or far extrapolation distances but were impaired for the other one. We propose that interindividual differences in extrapolation efficiency might be the mechanism governing this effect. Together, our results indicate that both a realistic experimental environment and subject-specific differences modulate the ability of audiovisual motion prediction and need to be considered in future research. PMID:29618999

Temporal Audiovisual Motion Prediction in 2D- vs. 3D-Environments.

PubMed

Dittrich, Sandra; Noesselt, Tömme

2018-01-01

Predicting motion is essential for many everyday life activities, e.g., in road traffic. Previous studies on motion prediction failed to find consistent results, which might be due to the use of very different stimulus material and behavioural tasks. Here, we directly tested the influence of task (detection, extrapolation) and stimulus features (visual vs. audiovisual and three-dimensional vs. non-three-dimensional) on temporal motion prediction in two psychophysical experiments. In both experiments a ball followed a trajectory toward the observer and temporarily disappeared behind an occluder. In audiovisual conditions a moving white noise (congruent or non-congruent to visual motion direction) was presented concurrently. In experiment 1 the ball reappeared on a predictable or a non-predictable trajectory and participants detected when the ball reappeared. In experiment 2 the ball did not reappear after occlusion and participants judged when the ball would reach a specified position at two possible distances from the occluder (extrapolation task). Both experiments were conducted in three-dimensional space (using stereoscopic screen and polarised glasses) and also without stereoscopic presentation. Participants benefitted from visually predictable trajectories and concurrent sounds during detection. Additionally, visual facilitation was more pronounced for non-3D stimulation during detection task. In contrast, for a more complex extrapolation task group mean results indicated that auditory information impaired motion prediction. However, a post hoc cross-validation procedure (split-half) revealed that participants varied in their ability to use sounds during motion extrapolation. Most participants selectively profited from either near or far extrapolation distances but were impaired for the other one. We propose that interindividual differences in extrapolation efficiency might be the mechanism governing this effect. Together, our results indicate that both a realistic experimental environment and subject-specific differences modulate the ability of audiovisual motion prediction and need to be considered in future research.

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system.

PubMed

Ebe, Kazuyu; Sugimoto, Satoru; Utsunomiya, Satoru; Kagamu, Hiroshi; Aoyama, Hidefumi; Court, Laurence; Tokuyama, Katsuichi; Baba, Ryuta; Ogihara, Yoshisada; Ichikawa, Kosuke; Toyama, Joji

2015-08-01

To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio-caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on the target phantom during a reproduction of the patient's tumor motion. A substitute target with the patient's tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors' QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients' tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.

The aerodynamics of flight in an insect flight-mill

PubMed Central

Barkan, Shay; Soroker, Victoria

2017-01-01

Predicting the dispersal of pest insects is important for pest management schemes. Flight-mills provide a simple way to evaluate the flight potential of insects, but there are several complications in relating tethered-flight to natural flight. We used high-speed video to evaluate the effect of flight-mill design on flight of the red palm weevil (Rynchophorous ferruginneus) in four variants of a flight-mill. Two variants had the rotating radial arm pivoted on the main shaft of the rotation axis, allowing freedom to elevate the arm as the insect applied lift force. Two other variants had the pivot point fixed, restricting the radial arm to horizontal motion. Beetles were tethered with their lateral axis horizontal or rotated by 40°, as in a banked turn. Flight-mill type did not affect flight speed or wing-beat frequency, but did affect flapping kinematics. The wingtip internal to the circular trajectory was always moved faster relative to air, suggesting that the beetles were attempting to steer in the opposite direction to the curved trajectory forced by the flight-mill. However, banked beetles had lower flapping asymmetry, generated higher lift forces and lost more of their body mass per time and distance flown during prolonged flight compared to beetles flying level. The results indicate, that flapping asymmetry and low lift can be rectified by tethering the beetle in a banked orientation, but the flight still does not correspond directly to free-flight. This should be recognized and taken into account when designing flight-mills and interoperating their data. PMID:29091924

The aerodynamics of flight in an insect flight-mill.

PubMed

Ribak, Gal; Barkan, Shay; Soroker, Victoria

2017-01-01

Predicting the dispersal of pest insects is important for pest management schemes. Flight-mills provide a simple way to evaluate the flight potential of insects, but there are several complications in relating tethered-flight to natural flight. We used high-speed video to evaluate the effect of flight-mill design on flight of the red palm weevil (Rynchophorous ferruginneus) in four variants of a flight-mill. Two variants had the rotating radial arm pivoted on the main shaft of the rotation axis, allowing freedom to elevate the arm as the insect applied lift force. Two other variants had the pivot point fixed, restricting the radial arm to horizontal motion. Beetles were tethered with their lateral axis horizontal or rotated by 40°, as in a banked turn. Flight-mill type did not affect flight speed or wing-beat frequency, but did affect flapping kinematics. The wingtip internal to the circular trajectory was always moved faster relative to air, suggesting that the beetles were attempting to steer in the opposite direction to the curved trajectory forced by the flight-mill. However, banked beetles had lower flapping asymmetry, generated higher lift forces and lost more of their body mass per time and distance flown during prolonged flight compared to beetles flying level. The results indicate, that flapping asymmetry and low lift can be rectified by tethering the beetle in a banked orientation, but the flight still does not correspond directly to free-flight. This should be recognized and taken into account when designing flight-mills and interoperating their data.

On the theory of the relativistic motion of a charged particle in the field of intense electromagnetic radiation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Milant'ev, V. P., E-mail: vmilantiev@sci.pfu.edu.ru; Castillo, A. J., E-mail: vmilant@mail.ru

2013-04-15

Averaged relativistic equations of motion of a charged particle in the field of intense electromagnetic radiation have been obtained in the geometrical optics approximation using the Bogoliubov method. Constraints are determined under which these equations are valid. Oscillating additions to the smoothed dynamical variables of the particle have been found; they are reduced to known expressions in the case of the circularly and linearly polarized plane waves. It has been shown that the expressions for the averaged relativistic force in both cases contain new additional small terms weakening its action. The known difference between the expressions for the ponderomotive forcemore » in the cases of circularly and linearly polarized waves has been confirmed.« less

Bivariate Gaussian bridges: directional factorization of diffusion in Brownian bridge models.

PubMed

Kranstauber, Bart; Safi, Kamran; Bartumeus, Frederic

2014-01-01

In recent years high resolution animal tracking data has become the standard in movement ecology. The Brownian Bridge Movement Model (BBMM) is a widely adopted approach to describe animal space use from such high resolution tracks. One of the underlying assumptions of the BBMM is isotropic diffusive motion between consecutive locations, i.e. invariant with respect to the direction. Here we propose to relax this often unrealistic assumption by separating the Brownian motion variance into two directional components, one parallel and one orthogonal to the direction of the motion. Our new model, the Bivariate Gaussian bridge (BGB), tracks movement heterogeneity across time. Using the BGB and identifying directed and non-directed movement within a trajectory resulted in more accurate utilisation distributions compared to dynamic Brownian bridges, especially for trajectories with a non-isotropic diffusion, such as directed movement or Lévy like movements. We evaluated our model with simulated trajectories and observed tracks, demonstrating that the improvement of our model scales with the directional correlation of a correlated random walk. We find that many of the animal trajectories do not adhere to the assumptions of the BBMM. The proposed model improves accuracy when describing the space use both in simulated correlated random walks as well as observed animal tracks. Our novel approach is implemented and available within the "move" package for R.

Alternative transfer to the Earth-Moon Lagrangian points L4 and L5 using lunar gravity assist

NASA Astrophysics Data System (ADS)

Salazar, F. J. T.; Macau, E. E. N.; Winter, O. C.

2014-02-01

Lagrangian points L4 and L5 lie at 60° ahead of and behind the Moon in its orbit with respect to the Earth. Each one of them is a third point of an equilateral triangle with the base of the line defined by those two bodies. These Lagrangian points are stable for the Earth-Moon mass ratio. As so, these Lagrangian points represent remarkable positions to host astronomical observatories or space stations. However, this same distance characteristic may be a challenge for periodic servicing mission. This paper studies elliptic trajectories from an Earth circular parking orbit to reach the Moon's sphere of influence and apply a swing-by maneuver in order to re-direct the path of a spacecraft to a vicinity of the Lagrangian points L4 and L5. Once the geocentric transfer orbit and the initial impulsive thrust have been determined, the goal is to establish the angle at which the geocentric trajectory crosses the lunar sphere of influence in such a way that when the spacecraft leaves the Moon's gravitational field, its trajectory and velocity with respect to the Earth change in order to the spacecraft arrives at L4 and L5. In this work, the planar Circular Restricted Three Body Problem approximation is used and in order to avoid solving a two boundary problem, the patched-conic approximation is considered.

Oscillations of a Simple Pendulum with Extremely Large Amplitudes

ERIC Educational Resources Information Center

Butikov, Eugene I.

2012-01-01

Large oscillations of a simple rigid pendulum with amplitudes close to 180[degrees] are treated on the basis of a physically justified approach in which the cycle of oscillation is divided into several stages. The major part of the almost closed circular path of the pendulum is approximated by the limiting motion, while the motion in the vicinity…

Precise Measurement of Velocity Dependent Friction in Rotational Motion

ERIC Educational Resources Information Center

Alam, Junaid; Hassan, Hafsa; Shamim, Sohaib; Mahmood, Waqas; Anwar, Muhammad Sabieh

2011-01-01

Frictional losses are experimentally determined for a uniform circular disc exhibiting rotational motion. The clockwise and anticlockwise rotations of the disc, that result when a hanger tied to a thread is released from a certain height, give rise to vertical oscillations of the hanger as the thread winds and unwinds over a pulley attached to the…

LLOFX earth orbit to lunar orbit delta V estimation program user and technical documentation

NASA Technical Reports Server (NTRS)

1988-01-01

The LLOFX computer program calculates in-plane trajectories from an Earth-orbiting space station to Lunar orbit in such a way that the journey requires only two delta V burns (one to leave Earth circular orbit and one to circularize into Lunar orbit). The program requires the user to supply the Space Station altitude and Lunar orbit altitude (in km above the surface), and the desired time of flight for the transfer (in hours). It then determines and displays the trans-Lunar injection (TLI) delta V required to achieve the transfer, the Lunar orbit insertion (LOI) delta V required to circularize the orbit around the Moon, the actual time of flight, and whether the transfer orbit is elliptical or hyperbolic. Return information is also displayed. Finally, a plot of the transfer orbit is displayed.

Trochoidal X-ray Vector Radiography: Directional dark-field without grating stepping

NASA Astrophysics Data System (ADS)

Sharma, Y.; Bachche, S.; Kageyama, M.; Kuribayashi, M.; Pfeiffer, F.; Lasser, T.; Momose, A.

2018-03-01

X-ray Vector Radiography (XVR) is an imaging technique that reveals the orientations of sub-pixel sized structures within a sample. Several dark-field radiographs are acquired by rotating the sample around the beam propagation direction and stepping one of the gratings to several positions for every pose of the sample in an X-ray grating interferometry setup. In this letter, we present a method of performing XVR of a continuously moving sample without the need of any grating motion. We reconstruct the orientations within a sample by analyzing the change in the background moire fringes caused by the sample moving and simultaneously rotating in plane (trochoidal trajectory) across the detector field-of-view. Avoiding the motion of gratings provides significant advantages in terms of stability and repeatability, while the continuous motion of the sample makes this kind of system adaptable for industrial applications such as the scanning of samples on a conveyor belt. Being the first step in the direction of utilizing advanced sample trajectories to replace grating motion, this work also lays the foundations for a full three dimensional reconstruction of scattering function without grating motion.

SU-F-J-151: Evaluation of a Magnetic Resonance Image Gated Radiotherapy System Using a Motion Phantom and Radiochromic Film

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lamb, J; Ginn, J; O’Connell, D

Purpose: Magnetic resonance image (MRI) guided radiotherapy enables gating directly on target position for soft-tissue targets in the lung and abdomen. We present a dosimetric evaluation of a commercially-available FDA-approved MRI-guided radiotherapy system’s gating performance using a MRI-compatible respiratory motion phantom and radiochromic film. Methods: The MRI-compatible phantom was capable of one-dimensional motion. The phantom consisted of a target rod containing high-contrast target inserts which moved inside a body structure containing background contrast material. The target rod was equipped with a radiochromic film insert. Treatment plans were generated for a 3 cm diameter spherical target, and delivered to the phantommore » at rest and in motion with and without gating. Both sinusoidal and actual tumor trajectories (two free-breathing trajectories and one repeated-breath hold) were used. Gamma comparison at 5%/3mm was used to measure fidelity to the static target dose distribution. Results: Without gating, gamma pass rates were 24–47% depending on motion trajectory. Using our clinical standard of repeated breath holds and a gating window of 3 mm with 10% of the target allowed outside the gating boundary, the gamma pass rate was 99.6%. Relaxing the gating window to 5 mm resulted in gamma pass rate of 98.6% with repeated breath holds. For all motion trajectories gated with 3 mm margin and 10% allowed out, gamma pass rates were between 64–100% (mean:87.5%). For a 5 mm margin and 10% allowed out, gamma pass rates were between 57–98% (mean: 82.49%), significantly lower than for 3 mm by paired t-test (p=0.01). Conclusion: We validated the performance of respiratory gating based on real-time cine MRI images with the only FDA-approved MRI-guided radiotherapy system. Our results suggest that repeated breath hold gating should be used when possible for best accuracy. A 3 mm gating margin is statistically significantly more accurate than a 5 mm gating margin.« less

Cinematique et dynamique des galaxies spirales barrees

NASA Astrophysics Data System (ADS)

Hernandez, Olivier

The total mass (luminous and dark) of galaxies is derived from their circular velocities. Spectroscopic Fabry-Perot observations of the ionized gas component of spiral galaxies allow one to derive their kinematics. In the case of purely axisymmetric velocity fields--as in non-active and unbarred spirals galaxies-- the circular velocities can be derived directly. However, the velocity fields of barred galaxies (which constitute two thirds of the spirals) exhibit strong non-circular motions and need a careful analysis to retrieve the circular component. This thesis proposes the necessary steps to recover the axisymmetric component of barred spiral galaxies. The first step was to develop the best instrumentation possible for this work. [Special characters omitted.] , which is the most sensitive photon counting camera ever developed, was coupled to a Fabry-Perot interferometer. The observations of a sample of barred spiral galaxies--the BH a BAR sample--was assembled in order to obtain the most rigourous velocity fields. Then, the Tremaine-Weinberg method, which can determine the bar pattern speed and is usually used with the observations of stellar component, has been tested on the ionised gas and gave satisfactory results. Finally, all the above techniques have been applied to the BH a BAR sample in order to study the key parameters of the galaxies' evolution--bar pattern speeds, multiple stationary waves, resonances etc.--which will allow one to use N-body+SPH simulations to model properly the non-circular motions and determine the true total mass of barred spiral galaxies.

Linear and angular control of circular walking in healthy older adults and subjects with cerebellar ataxia.

PubMed

Goodworth, Adam D; Paquette, Caroline; Jones, Geoffrey Melvill; Block, Edward W; Fletcher, William A; Hu, Bin; Horak, Fay B

2012-05-01

Linear and angular control of trunk and leg motion during curvilinear navigation was investigated in subjects with cerebellar ataxia and age-matched control subjects. Subjects walked with eyes open around a 1.2-m circle. The relationship of linear to angular motion was quantified by determining the ratios of trunk linear velocity to trunk angular velocity and foot linear position to foot angular position. Errors in walking radius (the ratio of linear to angular motion) also were quantified continuously during the circular walk. Relative variability of linear and angular measures was compared using coefficients of variation (CoV). Patterns of variability were compared using power spectral analysis for the trunk and auto-covariance analysis for the feet. Errors in radius were significantly increased in patients with cerebellar damage as compared to controls. Cerebellar subjects had significantly larger CoV of feet and trunk in angular, but not linear, motion. Control subjects also showed larger CoV in angular compared to linear motion of the feet and trunk. Angular and linear components of stepping differed in that angular, but not linear, foot placement had a negative correlation from one stride to the next. Thus, walking in a circle was associated with more, and a different type of, variability in angular compared to linear motion. Results are consistent with increased difficulty of, and role of the cerebellum in, control of angular trunk and foot motion for curvilinear locomotion.

Feasibility study of a single, elliptical heliocentric Earth-Mars trajectory

NASA Technical Reports Server (NTRS)

Blake, M.; Fulgham, K.; Westrup, S.

1989-01-01

The initial intent of this design project was to evaluate the existence and feasibility of a single elliptical heliocentric Earth/Mars trajectory. This trajectory was constrained to encounter Mars twice in its orbit, within a time interval of 15 to 180 Earth days between encounters. The single ellipse restriction was soon found to be prohibitive for reasons shown later. Therefore, the approach taken in the design of the round-trip mission to Mars was to construct single-leg trajectories which connected two planets on two prescribed dates. Three methods of trajectory design were developed. Method 1 is an eclectic approach and employs Gaussian Orbit Determination (Method 1A) and Lambert-Euler Preliminary Orbit Determination (Method 1B) in conjunction with each other. Method 2 is an additional version of Lambert's Solution to orbit determination, and both a coplanar and a noncoplanar solution were developed within Method 2. In each of these methods, the fundamental variables are two position vectors and the time between the position vectors. In all methods, the motion was considered Keplerian motion and the reference frame origin was located at the sun. Perturbative effects were not considered in Method 1. The feasibility study of round-trip Earth/Mars trajectories maintains generality by considering only heliocentric trajectory parameters and planetary approach conditions. The coordinates and velocity components of the planets, for the standard epoch J2000, were computed from an approximate set of osculating elements by the procedure outlined in an ephemeris of coordinates.

Children's success at detecting circular explanations and their interest in future learning.

PubMed

Mills, Candice M; Danovitch, Judith H; Rowles, Sydney P; Campbell, Ian L

2017-10-01

These studies explore elementary-school-aged children's ability to evaluate circular explanations and whether they respond to receiving weak explanations by expressing interest in additional learning. In the first study, 6-, 8-, and 10-year-olds (n = 53) heard why questions about unfamiliar animals. For each question, they rated the quality of single explanations and later selected the best explanation between pairs of circular and noncircular explanations. When judging single explanations, 8- and 10-year-olds, and to some extent 6-year-olds, provided higher ratings for noncircular explanations compared to circular ones. When selecting between pairs of explanations, all age groups preferred noncircular explanations to circular ones, but older children did so more consistently than 6-year-olds. Children who recognized the weakness of the single circular explanations were more interested in receiving additional information about the question topics. In Study 2, all three age groups (n = 87) provided higher ratings for noncircular explanations compared to circular ones when listening to responses to how questions, but older children showed a greater distinction in their ratings than 6-year-olds. Moreover, the link between recognizing circular explanations as weak and interest in future learning could not be accounted for solely by individual differences in verbal intelligence. These findings illustrate the developmental trajectory of explanation evaluation and support that recognition of weak explanations is linked to interest in future learning across the elementary years. Implications for education are discussed.

Loop-the-Loop: An Easy Experiment, A Challenging Explanation

NASA Astrophysics Data System (ADS)

Asavapibhop, B.; Suwonjandee, N.

2010-07-01

A loop-the-loop built by the Institute for the Promotion of Teaching Science and Technology (IPST) was used in Thai high school teachers training program to demonstrate a circular motion and investigate the concept of the conservation of mechanical energy. We took videos using high speed camera to record the motions of a spherical steel ball moving down the aluminum inclined track at different released positions. The ball then moved into the circular loop and underwent a projectile motion upon leaving the track. We then asked the teachers to predict the landing position of the ball if we changed the height of the whole loop-the-loop system. We also analyzed the videos using Tracker, a video analysis software. It turned out that most teachers did not realize the effect of the friction between the ball and the track and could not obtain the correct relationship hence their predictions were inconsistent with the actual landing positions of the ball.

Post-Newtonian Circular Restricted 3-Body Problem: Schwarzschild primaries

NASA Astrophysics Data System (ADS)

Dubeibe, F. L.; Lora-Clavijo, F. D.; González, G. A.

2017-07-01

The restricted three-body problem (RTBP) has been extensively studied to investigate the stability of the solar system, extra-solar subsystems, asteroid capture, and the dynamics of two massive black holes orbited by a sun. In the present work, we study the stability of the planar circular restricted three-body problem in the context of post-Newtonian approximations. First of all, we review the results obtained from the post-Newtonian equations of motion calculated in the framework of the Einstein-Infeld-Hoffmann formalism (EIH). Therefore, using the Fodor-Hoenselers-Perjes formalism (FHP), we have performed an expansion of the gravitational potential for two primaries, deriving a new system of equations of motion, which unlike the EIH-approach, preserves the Jacobian integral of motion. Additionally, we have obtained approximate expressions for the Lagrange points in terms of a mass parameter μ, where it is found that the deviations from the classical regime are larger for the FHP than for the EIH equations.

Theory of electromagnetic insertion devices and the corresponding synchrotron radiation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shumail, Muhammad; Tantawi, Sami G.

Permanent magnet insertion devices (IDs), which are the main radiation generating devices in synchrotron light sources and free-electron lasers, use a time-invariant but space-periodic magnetic field to wiggle relativistic electrons for short-wavelength radiation generation. Recently, a high power microwave based undulator has also been successfully demonstrated at SLAC which promises the advantage of dynamic tunability of radiation spectrum and polarization. Such IDs employ transverse elecromagnetic fields which are periodic in both space and time to undulate the electrons. In this paper we develop a detailed theory of the principle of electromagnetic IDs from first principles for both linear and circularmore » polarization modes. The electromagnetic equivalent definitions of undulator period (λ u) and undulator deflection parameter (K) are derived. In the inertial frame where the average momentum of the electron is zero, we obtain the figure-8-like trajectory for the linear polarization mode and the circular trajectory for the circular polarization mode. As a result, the corresponding radiation spectra and the intensity of harmonics is also calculated.« less

Theory of electromagnetic insertion devices and the corresponding synchrotron radiation

DOE PAGES

Shumail, Muhammad; Tantawi, Sami G.

2016-07-27

Permanent magnet insertion devices (IDs), which are the main radiation generating devices in synchrotron light sources and free-electron lasers, use a time-invariant but space-periodic magnetic field to wiggle relativistic electrons for short-wavelength radiation generation. Recently, a high power microwave based undulator has also been successfully demonstrated at SLAC which promises the advantage of dynamic tunability of radiation spectrum and polarization. Such IDs employ transverse elecromagnetic fields which are periodic in both space and time to undulate the electrons. In this paper we develop a detailed theory of the principle of electromagnetic IDs from first principles for both linear and circularmore » polarization modes. The electromagnetic equivalent definitions of undulator period (λ u) and undulator deflection parameter (K) are derived. In the inertial frame where the average momentum of the electron is zero, we obtain the figure-8-like trajectory for the linear polarization mode and the circular trajectory for the circular polarization mode. As a result, the corresponding radiation spectra and the intensity of harmonics is also calculated.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shah, Jainil P., E-mail: jainil.shah@duke.edu; Mann, Steve D.; McKinley, Randolph L.

Purpose: A novel breast CT system capable of arbitrary 3D trajectories has been developed to address cone beam sampling insufficiency as well as to image further into the patient’s chest wall. The purpose of this study was to characterize any trajectory-related differences in 3D x-ray dose distribution in a pendant target when imaged with different orbits. Methods: Two acquisition trajectories were evaluated: circular azimuthal (no-tilt) and sinusoidal (saddle) orbit with ±15° tilts around a pendant breast, using Monte Carlo simulations as well as physical measurements. Simulations were performed with tungsten (W) filtration of a W-anode source; the simulated source fluxmore » was normalized to the measured exposure of a W-anode source. A water-filled cylindrical phantom was divided into 1 cm{sup 3} voxels, and the cumulative energy deposited was tracked in each voxel. Energy deposited per voxel was converted to dose, yielding the 3D distributed dose volumes. Additionally, three cylindrical phantoms of different diameters (10, 12.5, and 15 cm) and an anthropomorphic breast phantom, initially filled with water (mimicking pure fibroglandular tissue) and then with a 75% methanol-25% water mixture (mimicking 50–50 fibroglandular-adipose tissues), were used to simulate the pendant breast geometry and scanned on the physical system. Ionization chamber calibrated radiochromic film was used to determine the dose delivered in a 2D plane through the center of the volume for a fully 3D CT scan using the different orbits. Results: Measured experimental results for the same exposure indicated that the mean dose measured throughout the central slice for different diameters ranged from 3.93 to 5.28 mGy, with the lowest average dose measured on the largest cylinder with water mimicking a homogeneously fibroglandular breast. These results align well with the cylinder phantom Monte Carlo studies which also showed a marginal difference in dose delivered by a saddle trajectory in the central slice. Regardless of phantom material or filled fluid density, dose delivered by the saddle scan was negligibly different than the simple circular, no-tilt scans. The average dose measured in the breast phantom was marginally higher for saddle than the circular no tilt scan at 3.82 and 3.87 mGy, respectively. Conclusions: Not only does nontraditional 3D-trajectory CT scanning yield more complete sampling of the breast volume but also has comparable dose deposition throughout the breast and anterior chest volume, as verified by Monte Carlo simulation and physical measurements.« less

Exploration of the region near the sun-earth collinear libration points for the control of large formations

NASA Astrophysics Data System (ADS)

Heritier, Aurelie

Spacecraft formations possess many applications in the future of space exploration. During the last decade, due to the detection of a large number of extrasolar planets, new studies on formation flying in multi-body regimes have emerged to support searches for Earth-like planets in other solar systems. The L2 Sun-Earth libration point region has been a popular destination in creating an architecture for astronomical missions. It is a relatively cold environment, far from the disturbances of the Sun and, therefore, ideal for astronomical instruments. However, controlling multiple spacecraft in a multi-body environment is challenging and a good understanding of the natural dynamics in this regime is essential. The current investigation explores the dynamical environment near the L2 Sun-Earth libration point to aid in the control of formations of spacecraft. By exploiting the natural dynamics in the circular restricted three-body model (CR3BP), natural regions are determined that are particularly suitable for maintaining formations of spacecraft. The natural dynamics at small distances from a given reference trajectory are initially investigated for the placement of small formations of spacecraft. Some regions with low relative drift represent suitable locations to maintain small formations and are derived analytically using variational equations. Spacecraft located in such regions avoid large variations in their mutual distances while maintaining the orientation of the formation. These regions represent quadric surfaces, and the type of quadric surfaces, either ellipsoids or elliptic cylinders, depends on the eigenstructure reflecting the phase space along the given reference trajectory. The natural flow at large distances from a given reference trajectory is explored next to characterize regions that are suitable to maintain large formations, i.e., when the mutual distances between the spacecraft reaches tens of thousands of kilometers. Spheres of points at various locations along the reference orbit are constructed to classify the space, and regions of low natural drift on the spheres are numerically identified when the distance between two vehicles is large. These low drift regions are examined in detail, and a correspondance with the quadric surfaces that are derived for small formations is established. In particular, the orientation of these low drift zones along a given reference orbit are investigated as some parameters vary, such as the size of the formation as well as the reference orbit. Using the low natural drift regions, control strategies are then developed for large formations. Traditional controllers, such as impulsive maneuvers and linear quadratic regulators (LQR), are employed to quantify the level of control that is required to maintain large formations along specific directions in the CR3BP. Designs of new controllers are also investigated to produce some set of desired relative motions between two spacecraft placed at large mutual distances. In a potential formation option investigated in this analysis, a deputy vehicle maintains a fixed circular motion in a plane relative to a chief spacecraft moving along its reference trajectory. Finally, the effectiveness of using the low natural drift regions as derived for large formations is tested for the New Worlds Observer mission concept. This scenario involves a large telescope-occulter formation for star observations, to detect and characterize habitable terrestrial exoplanets. The low drift zones are employed to reduce the control effort to maintain a large telescope-occulter formation during the observation of inertially-fixed target stars. In particular, the occulter is maintained via a linear quadratic regulator during star observations. Given a set of inertially-fixed target stars, an automatic star sequence design process is proposed with observation and reconfiguration phases using the low drift regions. This design creates star sequences that lead to relatively small overall maneuver costs for this particular mission concept.

Noncircular features in Saturn's rings IV: Absolute radius scale and Saturn's pole direction

NASA Astrophysics Data System (ADS)

French, Richard G.; McGhee-French, Colleen A.; Lonergan, Katherine; Sepersky, Talia; Jacobson, Robert A.; Nicholson, Philip D.; Hedman, Mathew M.; Marouf, Essam A.; Colwell, Joshua E.

2017-07-01

We present a comprehensive solution for the geometry of Saturn's ring system, based on orbital fits to an extensive set of occultation observations of 122 individual ring edges and gaps. We begin with a restricted set of very high quality Cassini VIMS, UVIS, and RSS measurements for quasi-circular features in the C and B rings and the Cassini Division, and then successively add suitably weighted additional Cassini and historical occultation measurements (from Voyager, HST and the widely-observed 28 Sgr occultation of 3 Jul 1989) for additional non-circular features, to derive an absolute radius scale applicable across the entire classical ring system. As part of our adopted solution, we determine first-order corrections to the spacecraft trajectories used to determine the geometry of individual occultation chords. We adopt a simple linear model for Saturn's precession, and our favored solution yields a precession rate on the sky n^˙P = 0.207 ± 0 .006‧‧yr-1 , equivalent to an angular rate of polar motion ΩP = 0.451 ± 0 .014‧‧yr-1 . The 3% formal uncertainty in the fitted precession rate is approaching the point where it can provide a useful constraint on models of Saturn's interior, although realistic errors are likely to be larger, given the linear approximation of the precession model and possible unmodeled systematic errors in the spacecraft ephemerides. Our results are largely consistent with independent estimates of the precession rate based on historical RPX times (Nicholson et al., 1999 AAS/Division for Planetary Sciences Meeting Abstracts #31 31, 44.01) and from theoretical expectations that account for Titan's 700-yr precession period (Vienne and Duriez 1992, Astronomy and Astrophysics 257, 331-352). The fitted precession rate based on Cassini data only is somewhat lower, which may be an indication of unmodeled shorter term contributions to Saturn's polar motion from other satellites, or perhaps the result of inconsistencies in the assumed direction of Saturn's pole in the reconstructed Cassini spacecraft ephemerides. Overall, the agreement of our results with the widely-used French et al. (1993, Icarus 103, 163-214) radius scale is excellent, with very small (≲ 0.1 km) systematic differences, although differences in a few individual feature radii are as large as 6 km. Our new solution incorporates many more features across the ring system, and the fitted orbital elements correct for the several-km biases in the radii of many ring features in the French et al. (1993) catalog that were unresolved because of the large projected diameter of the occulted star in the 28 Sgr event. The formal errors in the fitted radii are generally quite small - on the order of tens of meters. Systematic errors stemming from uncertainty in the precession rate of Saturn's pole and its effect on the accuracy of the reconstructed Cassini trajectories are somewhat larger, but the absolute radius scale is relatively insensitive to 5-σ changes in the pole direction or precession rate, and we estimate the combined magnitude of these systematic errors and pole uncertainties to be of order 250 m. This estimate is likely to be improved once a new set of reconstructed Cassini trajectories has been developed, based on a self-consistent model for Saturn's pole. We demonstrate the utility of the new radius scale and the associated trajectory corrections in the analysis of short-wavelength density waves in the C ring. In online supplementary material, we provide in machine-readable form the more than 15,000 individual ring measurements used in this study, as well as details of the ring orbit fits underlying this work.

Self-propelled colloidal particle near a planar wall: A Brownian dynamics study

NASA Astrophysics Data System (ADS)

Mozaffari, Ali; Sharifi-Mood, Nima; Koplik, Joel; Maldarelli, Charles

2018-01-01

Miniaturized, self-propelled locomotors use chemo-mechanical transduction mechanisms to convert fuel in the environment to autonomous motion. Recent experimental and theoretical studies demonstrate that these autonomous engines can passively follow the contours of solid boundaries they encounter. Boundary guidance, however, is not necessarily stable: Mechanical disturbances can cause the motor to hydrodynamically depart from the passively guided pathway. Furthermore, given the scaled-down size of micromotors (typically 100 nm to10 μ m ), Brownian thermal fluctuation forces are necessarily important, and these stochastic forces can randomize passively steered trajectories. Here we examine theoretically the stability of boundary-guided motion of micromotors along infinite planar walls to mechanical disturbances and to Brownian forces. Our aim is to understand under what conditions this passively guided motion is stable. We choose a locomotor design in which spherical colloids are partially coated with a catalytic cap that reacts with solute to produce a product. The product is repelled from the particle surface, causing the particle to move with the inert face at the front (autonomous motion via self-diffusiophoresis). When propelled towards a planar wall, deterministic hydrodynamic studies demonstrate that these locomotors can exhibit, for large enough cap sizes, steady trajectories in which the particle either skims unidirectionally along the surface at a constant distance from the wall or becomes stationary. We first investigate the linear hydrodynamic stability of these states by expanding the equations of motion about the states, and we find that linear perturbations decay exponentially in time. We then study the effects of thermal fluctuations by formulating a Langevin equation for the particle motion which includes the Brownian stochastic force. The Péclet number scales the ratio of deterministic to Brownian forces, where Pe =π μ a2v˜c/kBT and a denotes the colloid radius, μ the continuous phase viscosity, v˜c the characteristic diffusiophoretic velocity, and kBT the thermal energy. The skimming and stationary states are found to persist for Pe above 103. At Pe below 200, the trajectory of a locomotor approaching the wall is unpredictable. We present representative individual trajectories along with probability distributions for statistical ensembles of particles, quantifying the effects of thermal fluctuations and illustrating the transition from unpredictable to passively guided motion.

Project Physics Handbook 1, Concepts of Motion.

ERIC Educational Resources Information Center

Harvard Univ., Cambridge, MA. Harvard Project Physics.

Thirteen experiments and 15 activities are presented in this unit handbook for student use. The experiment sections are concerned with naked-eye observation in astronomy, regularity and time, variations in data, uniform motion, gravitational acceleration, Galileo's experiments, Netson's laws, inertial and gravitational mass, trajectories, and…

Grouping and trajectory storage in multiple object tracking: impairments due to common item motions.

PubMed

Suganuma, Mutsumi; Yokosawa, Kazuhiko

2006-01-01

In our natural viewing, we notice that objects change their locations across space and time. However, there has been relatively little consideration of the role of motion information in the construction and maintenance of object representations. We investigated this question in the context of the multiple object tracking (MOT) paradigm, wherein observers must keep track of target objects as they move randomly amid featurally identical distractors. In three experiments, we observed impairments in tracking ability when the motions of the target and distractor items shared particular properties. Specifically, we observed impairments when the target and distractor items were in a chasing relationship or moved in a uniform direction. Surprisingly, tracking ability was impaired by these manipulations even when observers failed to notice them. Our results suggest that differentiable trajectory information is an important factor in successful performance of MOT tasks. More generally, these results suggest that various types of common motion can serve as cues to form more global object representations even in the absence of other grouping cues.

Experimental investigation on in-plane/out-of-plane vortex-induced vibrations of curved cylinder in parallel and perpendicular flows

NASA Astrophysics Data System (ADS)

Srinil, Narakorn; Ma, Bowen; Zhang, Licong

2018-05-01

This study is motivated by an industrial need to better understand the vortex-induced vibration (VIV) of a curved structure subject to current flows with varying directions whose data for model calibration and validation are lacking. In this paper, new experimental investigations on the two-degree-of-freedom in-plane/out-of-plane VIV of a rigid curved circular cylinder immersed in steady and uniform free-stream flows are presented. The principal objective is to examine how the approaching flow direction versus the cylinder curvature plane affects cross-flow and in-line VIV and the associated hydrodynamic properties. This is achieved by testing the curved cylinder in 3 different flow orientations comprising the parallel flows aligned with the curvature vertical plane in convex and concave configurations, and the flows perpendicular to the curvature plane. The case of varying flow velocities in a subcritical flow range with a maximum Reynolds number of about 50,000 is considered for the curved cylinder with a low mass ratio and damping ratio. Experimental results are presented and discussed in terms of the cylinder response amplitudes, inclination angles, mean displacements, motion trajectories, oscillation frequencies, hydrodynamic forces, relative phases, fluid excitation and added inertia coefficients. Comparisons with other experimental results of curved and straight cylinder VIV are also presented. The experiments highlight the important effects of cylinder curvature versus flow orientation on the combined cross-flow/in-line VIV. The maximum (minimum) responses occur in the perpendicular (convex) flow case whereas the extended lower-branch responses occur in the concave flow case. For perpendicular flows, some meaningful features are observed, including the appearances of cross-flow mean displacements and asymmetric eight-shaped motion trajectories due to multiple 2:1:1 resonances where two out-of-plane and one in-plane dominant frequencies are simultaneously excited. Overall VIV phenomena caused by the system asymmetry should be recognised in a prediction model and design codes to capture the combined effects of curved configuration and approaching flow direction.

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

PubMed Central

Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth; Suzuki, Ryusuke; Matsuura, Taeko; Toramatsu, Chie; Takao, Seishin; Nihongi, Hideaki; Shimizu, Shinichi; Umegaki, Kikuo; Shirato, Hiroki

2015-01-01

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. PMID:25129556

On the non-stationary generalized Langevin equation

NASA Astrophysics Data System (ADS)

Meyer, Hugues; Voigtmann, Thomas; Schilling, Tanja

2017-12-01

In molecular dynamics simulations and single molecule experiments, observables are usually measured along dynamic trajectories and then averaged over an ensemble ("bundle") of trajectories. Under stationary conditions, the time-evolution of such averages is described by the generalized Langevin equation. By contrast, if the dynamics is not stationary, it is not a priori clear which form the equation of motion for an averaged observable has. We employ the formalism of time-dependent projection operator techniques to derive the equation of motion for a non-equilibrium trajectory-averaged observable as well as for its non-stationary auto-correlation function. The equation is similar in structure to the generalized Langevin equation but exhibits a time-dependent memory kernel as well as a fluctuating force that implicitly depends on the initial conditions of the process. We also derive a relation between this memory kernel and the autocorrelation function of the fluctuating force that has a structure similar to a fluctuation-dissipation relation. In addition, we show how the choice of the projection operator allows us to relate the Taylor expansion of the memory kernel to data that are accessible in MD simulations and experiments, thus allowing us to construct the equation of motion. As a numerical example, the procedure is applied to Brownian motion initialized in non-equilibrium conditions and is shown to be consistent with direct measurements from simulations.

Tour of Jupiter Galilean moons: Winning solution of GTOC6

NASA Astrophysics Data System (ADS)

Colasurdo, Guido; Zavoli, Alessandro; Longo, Alessandro; Casalino, Lorenzo; Simeoni, Francesco

2014-09-01

The paper presents the trajectory designed by the Italian joint team Politecnico di Torino & Sapienza Università di Roma (Team5), winner of the 6th edition of the Global Trajectory Optimization Competition (GTOC6). In the short time available in these competitions, Team5 resorted to basic knowledge, simple tools and a powerful indirect optimization procedure. The mission concerns a 4-year tour of the Jupiter Galilean moons. The paper explains the strategy that was preliminarily devised and eventually implemented by looking for a viable trajectory. The first phase is a capture that moves the spacecraft from the arrival hyperbola to a low-energy orbit around Jupiter. Six series of flybys follow; in each one the spacecraft orbits Jupiter in resonance with a single moon; criteria to construct efficient chains of resonant flybys are presented. Transfer legs move the spacecraft from resonance with a moon to another one; precise phasing of the relevant moons is required; mission opportunities in a 11-year launch window are found by assuming ballistic trajectories and coplanar circular orbits for the Jovian satellites. The actual trajectory is found by using an indirect technique.

Particle confinement by a radially polarized laser Bessel beam

NASA Astrophysics Data System (ADS)

Laredo, Gilad; Kimura, Wayne D.; Schächter, Levi

2017-03-01

The stable trajectory of a charged particle in an external guiding field is an essential condition for its acceleration or for forcing it to generate radiation. Examples of possible guiding devices include a solenoidal magnetic field or permanent periodic magnet in klystrons, a wiggler in free-electron lasers, the lattice of any accelerator, and finally the crystal lattice for the case of channeling radiation. We demonstrate that the trajectory of a point-charge in a radially polarized laser Bessel beam may be stable similarly to the case of a positron that bounces back and forth in the potential well generated by two adjacent atomic planes. While in the case of channeling radiation, the transverse motion is controlled by a harmonic oscillator equation, for a Bessel beam the transverse motion is controlled by the Mathieu equation. Some characteristics of the motion are presented.

Statistical modelling of subdiffusive dynamics in the cytoplasm of living cells: A FARIMA approach

NASA Astrophysics Data System (ADS)

Burnecki, K.; Muszkieta, M.; Sikora, G.; Weron, A.

2012-04-01

Golding and Cox (Phys. Rev. Lett., 96 (2006) 098102) tracked the motion of individual fluorescently labelled mRNA molecules inside live E. coli cells. They found that in the set of 23 trajectories from 3 different experiments, the automatically recognized motion is subdiffusive and published an intriguing microscopy video. Here, we extract the corresponding time series from this video by image segmentation method and present its detailed statistical analysis. We find that this trajectory was not included in the data set already studied and has different statistical properties. It is best fitted by a fractional autoregressive integrated moving average (FARIMA) process with the normal-inverse Gaussian (NIG) noise and the negative memory. In contrast to earlier studies, this shows that the fractional Brownian motion is not the best model for the dynamics documented in this video.

Detecting and Analyzing Multiple Moving Objects in Crowded Environments with Coherent Motion Regions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheriyadat, Anil M.

Understanding the world around us from large-scale video data requires vision systems that can perform automatic interpretation. While human eyes can unconsciously perceive independent objects in crowded scenes and other challenging operating environments, automated systems have difficulty detecting, counting, and understanding their behavior in similar scenes. Computer scientists at ORNL have a developed a technology termed as "Coherent Motion Region Detection" that invloves identifying multiple indepedent moving objects in crowded scenes by aggregating low-level motion cues extracted from moving objects. Humans and other species exploit such low-level motion cues seamlessely to perform perceptual grouping for visual understanding. The algorithm detectsmore » and tracks feature points on moving objects resulting in partial trajectories that span coherent 3D region in the space-time volume defined by the video. In the case of multi-object motion, many possible coherent motion regions can be constructed around the set of trajectories. The unique approach in the algorithm is to identify all possible coherent motion regions, then extract a subset of motion regions based on an innovative measure to automatically locate moving objects in crowded environments.The software reports snapshot of the object, count, and derived statistics ( count over time) from input video streams. The software can directly process videos streamed over the internet or directly from a hardware device (camera).« less

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Giant saltation on Mars

PubMed Central

Almeida, Murilo P.; Parteli, Eric J. R.; Andrade, José S.; Herrmann, Hans J.

2008-01-01

Saltation, the motion of sand grains in a sequence of ballistic trajectories close to the ground, is a major factor for surface erosion, dune formation, and triggering of dust storms on Mars. Although this mode of sand transport has been matter of research for decades through both simulations and wind tunnel experiments under Earth and Mars conditions, it has not been possible to provide accurate measurements of particle trajectories in fully developed turbulent flow. Here we calculate the motion of saltating grains by directly solving the turbulent wind field and its interaction with the particles. Our calculations show that the minimal wind velocity required to sustain saltation on Mars may be surprisingly lower than the aerodynamic minimal threshold measurable in wind tunnels. Indeed, Mars grains saltate in 100 times higher and longer trajectories and reach 5-10 times higher velocities than Earth grains do. On the basis of our results, we arrive at general expressions that can be applied to calculate the length and height of saltation trajectories and the flux of grains in saltation under various physical conditions, when the wind velocity is close to the minimal threshold for saltation. PMID:18443302

A Comparison of Trajectory Optimization Methods for the Impulsive Minimum Fuel Rendezvous Problem

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Mailhe, Laurie M.; Guzman, Jose J.

2002-01-01

In this paper we present a comparison of optimization approaches to the minimum fuel rendezvous problem. Both indirect and direct methods are compared for a variety of test cases. The indirect approach is based on primer vector theory. The direct approaches are implemented numerically and include Sequential Quadratic Programming (SQP), Quasi-Newton, Simplex, Genetic Algorithms, and Simulated Annealing. Each method is applied to a variety of test cases including, circular to circular coplanar orbits, LEO to GEO, and orbit phasing in highly elliptic orbits. We also compare different constrained optimization routines on complex orbit rendezvous problems with complicated, highly nonlinear constraints.

A trajectory generation framework for modeling spacecraft entry in MDAO

NASA Astrophysics Data System (ADS)

D`Souza, Sarah N.; Sarigul-Klijn, Nesrin

2016-04-01

In this paper a novel trajectory generation framework was developed that optimizes trajectory event conditions for use in a Generalized Entry Guidance algorithm. The framework was developed to be adaptable via the use of high fidelity equations of motion and drag based analytical bank profiles. Within this framework, a novel technique was implemented that resolved the sensitivity of the bank profile to atmospheric non-linearities. The framework's adaptability was established by running two different entry bank conditions. Each case yielded a reference trajectory and set of transition event conditions that are flight feasible and implementable in a Generalized Entry Guidance algorithm.

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

PubMed

Farshchiansadegh, Ali; Melendez-Calderon, Alejandro; Ranganathan, Rajiv; Murphey, Todd D; Mussa-Ivaldi, Ferdinando A

2016-04-01

The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum). In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

Trajectory Design Employing Convex Optimization for Landing on Irregularly Shaped Asteroids

NASA Technical Reports Server (NTRS)

Pinson, Robin M.; Lu, Ping

2016-01-01

Mission proposals that land on asteroids are becoming popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site. The problem under investigation is how to design a fuel-optimal powered descent trajectory that can be quickly computed on- board the spacecraft, without interaction from ground control. An optimal trajectory designed immediately prior to the descent burn has many advantages. These advantages include the ability to use the actual vehicle starting state as the initial condition in the trajectory design and the ease of updating the landing target site if the original landing site is no longer viable. For long trajectories, the trajectory can be updated periodically by a redesign of the optimal trajectory based on current vehicle conditions to improve the guidance performance. One of the key drivers for being completely autonomous is the infrequent and delayed communication between ground control and the vehicle. Challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies and low thrust vehicles. There are two previous studies that form the background to the current investigation. The first set looked in-depth at applying convex optimization to a powered descent trajectory on Mars with promising results.1, 2 This showed that the powered descent equations of motion can be relaxed and formed into a convex optimization problem and that the optimal solution of the relaxed problem is indeed a feasible solution to the original problem. This analysis used a constant gravity field. The second area applied a successive solution process to formulate a second order cone program that designs rendezvous and proximity operations trajectories.3, 4 These trajectories included a Newtonian gravity model. The equivalence of the solutions between the relaxed and the original problem is theoretically established. The proposed solution for designing the asteroid powered descent trajectory is to use convex optimization, a gravity model with higher fidelity than Newtonian, and an iterative solution process to design the fuel optimal trajectory. The solution to the convex optimization problem is the thrust profile, magnitude and direction, that will yield the minimum fuel trajectory for a soft landing at the target site, subject to various mission and operational constraints. The equations of motion are formulated in a rotating coordinate system and includes a high fidelity gravity model. The vehicle's thrust magnitude can vary between maximum and minimum bounds during the burn. Also, constraints are included to ensure that the vehicle does not run out of propellant, or go below the asteroid's surface, and any vehicle pointing requirements. The equations of motion are discretized and propagated with the trapezoidal rule in order to produce equality constraints for the optimization problem. These equality constraints allow the optimization algorithm to solve the entire problem, without including a propagator inside the optimization algorithm.

High-harmonic generation by two-color mixing of circularly polarized laser fields

NASA Astrophysics Data System (ADS)

Milošević, D. B.; Becker, W.; Kopold, R.

2000-06-01

Dipole selection rules prevent harmonic generation by an atom in a circularly polarized laser field. However, this is not the case for a superposition of several circularly polarized fields, such as two circularly polarized fields with frequencies ω and 2ω that corotate or counter-rotate in the same plane. Harmonic generation in this environment has been observed and, in fact, found to be very intense in the counter-rotating case [1]. In a certain frequency region, the harmonics may be stronger than those radiated in a linearly polarized field of either frequency. The selection rules dictate that the harmonics are circularly polarized with a helicity that alternates from one harmonic to the next. Besides their practical interest, these harmonics are also intriguing from a fundamental point of view: the standard simple-man picture does not apply since orbits that start with zero velocity in this field almost never return to their point of departure. In terms of quantum trajectories, we discuss the mechanism that generates these harmonics. In several interesting ways, it is complementary to the case of linear polarization. [1] H. Eichmann et al., Phys. Rev. A 51, R3414 (1995)

Investigating Plasma Motion of Magnetic Clouds at 1 AU through a Velocity-modified Cylindrical Force-free Flux Rope Model

NASA Astrophysics Data System (ADS)

Wang, Y.; Shen, C.; Liu, R.; Zhou, Z.

2014-12-01

Magnetic clouds (MCs) are the interplanetary counterparts of coronal mass ejections (CMEs). Due to the very low value of Can't connect to bucket.int.confex.com:4201 (Connection refused) LWP::Protocol::http::Socket: connect: Connection refused at /usr/local/lib/perl5/site_perl/5.8.8/LWP/Protocol/http.pm line 51. in MCs, they are believed to be in a nearly force-free state and therefore are able to be modeled by a cylindrical force-free flux rope. However, the force-free state only describes the magnetic field topology but not the plasma motion of a MC. For a MC propagating in interplanetary space, the global plasma motion has three possible components: linear propagating motion of a MC away from the Sun, expanding motion and circular motion with respect to the axis of the MC. By assuming the quasi-steady evolution and self-similar expansion, we introduced the three-component motion into the cylindrical force-free flux rope model, and developed a velocity-modified model. Then we applied the model to 73 MCs observed by Wind spacecraft to investigate the properties of the plasma motion of MCs. It is found that (1) some MCs did not propagate along the Sun-Earth line, suggesting the direct evidence of the CME's deflected propagation and/or rotation in interplanetary space, (2) the expansion speed is correlated with the radial propagation speed and 62%/17% of MCs underwent a under/over-expansion at 1 AU, and (3) the circular motion does exists though it is only on the order of 10 km s-1. These findings advance our understanding of the MC's properties at 1 AU as well as the dynamic evolution of CMEs from the Sun to interplanetary space.

Dynamic Stability Derivatives

DTIC Science & Technology

2015-06-01

kinematic viscocity , and speed-of-sound; wing geometric characteristics (area, mean aerodynamic chord and taper ratio); and its motion (free-stream...computed by integrating the vehicle’s velocity components expressed in a "trajectory" coordinate system which is fixed in space and aligned with the system...yawing motion is superfluous . The pitching motion results presented in Table 3-5 are interesting, though. Recall that the rotation rates are body

Direct Detection of the Helical Magnetic Field Geometry from 3D Reconstruction of Prominence Knot Trajectories

NASA Astrophysics Data System (ADS)

Zapiór, Maciej; Martínez-Gómez, David

2016-02-01

Based on the data collected by the Vacuum Tower Telescope located in the Teide Observatory in the Canary Islands, we analyzed the three-dimensional (3D) motion of so-called knots in a solar prominence of 2014 June 9. Trajectories of seven knots were reconstructed, giving information of the 3D geometry of the magnetic field. Helical motion was detected. From the equipartition principle, we estimated the lower limit of the magnetic field in the prominence to ≈1-3 G and from the Ampère’s law the lower limit of the electric current to ≈1.2 × 109 A.

Spiral diffusion of rotating self-propellers with stochastic perturbation

NASA Astrophysics Data System (ADS)

Nourhani, Amir; Ebbens, Stephen J.; Gibbs, John G.; Lammert, Paul E.

2016-09-01

Translationally diffusive behavior arising from the combination of orientational diffusion and powered motion at microscopic scales is a known phenomenon, but the peculiarities of the evolution of expected position conditioned on initial position and orientation have been neglected. A theory is given of the spiral motion of the mean trajectory depending upon propulsion speed, angular velocity, orientational diffusion, and rate of random chirality reversal. We demonstrate the experimental accessibility of this effect using both tadpole-like and Janus sphere dimer rotating motors. Sensitivity of the mean trajectory to the kinematic parameters suggest that it may be a useful way to determine those parameters.

Spatial orientation perception and reflexive eye movements--a perspective, an overview, and some clinical implications

NASA Technical Reports Server (NTRS)

Guedry, F. E.; Paloski, W. F. (Principal Investigator)

1996-01-01

When head motion includes a linear velocity component, eye velocity required to track an earth-fixed target depends upon: a) angular and linear head velocity, b) target distance, and c) direction of gaze relative to the motion trajectory. Recent research indicates that eye movements (LVOR), presumably otolith-mediated, partially compensate for linear velocity in small head excursions on small devices. Canal-mediated eye velocity (AVOR), otolith-mediated eye velocity (LVOR), and Ocular Torsion (OT) can be measured, one by one, on small devices. However, response dynamics that depend upon the ratio of linear to angular velocity in the motion trajectory and on subject orientation relative to the trajectory are present in a centrifuge paradigm. With this paradigm, two 3-min runs yields measures of: LVOR differentially modulated by different subject orientations in the two runs; OT dynamics in four conditions; two directions of "steady-state" OT, and two directions of AVOR. Efficient assessment of the dynamics (and of the underlying central integrative processes) may require a centrifuge radius of 1.0 meters or more. Clinical assessment of the spatial orientation system should include evaluation of central integrative processes that determine the dynamics of these responses.

Decomposition technique and optimal trajectories for the aeroassisted flight experiment

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Deaton, A. W.

1990-01-01

An actual geosynchronous Earth orbit-to-low Earth orbit (GEO-to-LEO) transfer is considered with reference to the aeroassisted flight experiment (AFE) spacecraft, and optimal trajectories are determined by minimizing the total characteristic velocity. The optimization is performed with respect to the time history of the controls (angle of attack and angle of bank), the entry path inclination and the flight time being free. Two transfer maneuvers are considered: direct ascent (DA) to LEO and indirect ascent (IA) to LEO via parking Earth orbit (PEO). By taking into account certain assumptions, the complete system can be decoupled into two subsystems: one describing the longitudinal motion and one describing the lateral motion. The angle of attack history, the entry path inclination, and the flight time are determined via the longitudinal motion subsystem. In this subsystem, the difference between the instantaneous bank angle and a constant bank angle is minimized in the least square sense subject to the specified orbital inclination requirement. Both the angles of attack and the angle of bank are shown to be constant. This result has considerable importance in the design of nominal trajectories to be used in the guidance of AFE and aeroassisted orbital transfer (AOT) vehicles.

Trajectory modulated prone breast irradiation: a LINAC-based technique combining intensity modulated delivery and motion of the couch.

PubMed

Fahimian, Benjamin; Yu, Victoria; Horst, Kathleen; Xing, Lei; Hristov, Dimitre

2013-12-01

External beam radiation therapy (EBRT) provides a non-invasive treatment alternative for accelerated partial breast irradiation (APBI), however, limitations in achievable dose conformity of current EBRT techniques have been correlated to reported toxicity. To enhance the conformity of EBRT APBI, a technique for conventional LINACs is developed, which through combined motion of the couch, intensity modulated delivery, and a prone breast setup, enables wide-angular coronal arc irradiation of the ipsilateral breast without irradiating through the thorax and contralateral breast. A couch trajectory optimization technique was developed to determine the trajectories that concurrently avoid collision with the LINAC and maintain the target within the MLC apertures. Inverse treatment planning was performed along the derived trajectory. The technique was experimentally implemented by programming the Varian TrueBeam™ STx in Developer Mode. The dosimetric accuracy of the delivery was evaluated by ion chamber and film measurements in phantom. The resulting optimized trajectory was shown to be necessarily non-isocentric, and contain both translation and rotations of the couch. Film measurements resulted in 93% of the points in the measured two-dimensional dose maps passing the 3%/3mm Gamma criterion. Preliminary treatment plan comparison to 5-field 3D-conformal, IMRT, and VMAT demonstrated enhancement in conformity, and reduction of the normal tissue V50% and V100% parameters that have been correlated with EBRT toxicity. The feasibility of wide-angular intensity modulated partial breast irradiation using motion of the couch has been demonstrated experimentally on a standard LINAC for the first time. For patients eligible for a prone setup, the technique may enable improvement of dose conformity and associated dose-volume parameters correlated with toxicity. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Emotion categorization of body expressions in narrative scenarios

PubMed Central

Volkova, Ekaterina P.; Mohler, Betty J.; Dodds, Trevor J.; Tesch, Joachim; Bülthoff, Heinrich H.

2014-01-01

Humans can recognize emotions expressed through body motion with high accuracy even when the stimuli are impoverished. However, most of the research on body motion has relied on exaggerated displays of emotions. In this paper we present two experiments where we investigated whether emotional body expressions could be recognized when they were recorded during natural narration. Our actors were free to use their entire body, face, and voice to express emotions, but our resulting visual stimuli used only the upper body motion trajectories in the form of animated stick figures. Observers were asked to perform an emotion recognition task on short motion sequences using a large and balanced set of emotions (amusement, joy, pride, relief, surprise, anger, disgust, fear, sadness, shame, and neutral). Even with only upper body motion available, our results show recognition accuracy significantly above chance level and high consistency rates among observers. In our first experiment, that used more classic emotion induction setup, all emotions were well recognized. In the second study that employed narrations, four basic emotion categories (joy, anger, fear, and sadness), three non-basic emotion categories (amusement, pride, and shame) and the “neutral” category were recognized above chance. Interestingly, especially in the second experiment, observers showed a bias toward anger when recognizing the motion sequences for emotions. We discovered that similarities between motion sequences across the emotions along such properties as mean motion speed, number of peaks in the motion trajectory and mean motion span can explain a large percent of the variation in observers' responses. Overall, our results show that upper body motion is informative for emotion recognition in narrative scenarios. PMID:25071623

A computational procedure for large rotational motions in multibody dynamics

NASA Technical Reports Server (NTRS)

Park, K. C.; Chiou, J. C.

1987-01-01

A computational procedure suitable for the solution of equations of motion for multibody systems is presented. The present procedure adopts a differential partitioning of the translational motions and the rotational motions. The translational equations of motion are then treated by either a conventional explicit or an implicit direct integration method. A principle feature of this procedure is a nonlinearly implicit algorithm for updating rotations via the Euler four-parameter representation. This procedure is applied to the rolling of a sphere through a specific trajectory, which shows that it yields robust solutions.

Origin and continuation of 3/2, 5/2, 3/1, 4/1 and 5/1 resonant periodic orbits in the circular and elliptic restricted three-body problem

NASA Astrophysics Data System (ADS)

Antoniadou, Kyriaki I.; Libert, Anne-Sophie

2018-06-01

We consider a planetary system consisting of two primaries, namely a star and a giant planet, and a massless secondary, say a terrestrial planet or an asteroid, which moves under their gravitational attraction. We study the dynamics of this system in the framework of the circular and elliptic restricted three-body problem, when the motion of the giant planet describes circular and elliptic orbits, respectively. Originating from the circular family, families of symmetric periodic orbits in the 3/2, 5/2, 3/1, 4/1 and 5/1 mean-motion resonances are continued in the circular and the elliptic problems. New bifurcation points from the circular to the elliptic problem are found for each of the above resonances, and thus, new families continued from these points are herein presented. Stable segments of periodic orbits were found at high eccentricity values of the already known families considered as whole unstable previously. Moreover, new isolated (not continued from bifurcation points) families are computed in the elliptic restricted problem. The majority of the new families mainly consists of stable periodic orbits at high eccentricities. The families of the 5/1 resonance are investigated for the first time in the restricted three-body problems. We highlight the effect of stable periodic orbits on the formation of stable regions in their vicinity and unveil the boundaries of such domains in phase space by computing maps of dynamical stability. The long-term stable evolution of the terrestrial planets or asteroids is dependent on the existence of regular domains in their dynamical neighbourhood in phase space, which could host them for long-time spans. This study, besides other celestial architectures that can be efficiently modelled by the circular and elliptic restricted problems, is particularly appropriate for the discovery of terrestrial companions among the single-giant planet systems discovered so far.

Illusory object motion in the centre of a radial pattern: The Pursuit-Pursuing illusion.

PubMed

Ito, Hiroyuki

2012-01-01

A circular object placed in the centre of a radial pattern consisting of thin sectors was found to cause a robust motion illusion. During eye-movement pursuit of a moving target, the presently described stimulus produced illusory background-object motion in the same direction as that of the eye movement. In addition, the display induced illusory stationary perception of a moving object against the whole display motion. In seven experiments, the characteristics of the illusion were examined in terms of luminance relationships and figural characteristics of the radial pattern. Some potential explanations for these findings are discussed.

On orbital stability of planar oscillations of a satellite in a circular orbit on the boundary of the parametric resonance

NASA Astrophysics Data System (ADS)

Bardin, B. S.; Chekina, E. A.

2018-05-01

We consider the motion of a satellite about its center of mass in a circular orbit. We study the problem of orbital stability for planar pendulum-like oscillations of the satellite. It is supposed that the satellite is a rigid body whose mass geometry is that of a plate. For the unperturbed motion the plane of the satellite-plate is perpendicular to the plane of the orbit. We perform a nonlinear analysis of the orbital stability of planar pendulum-like oscillations for previously unexplored parameter values corresponding to the combination resonance. It appears that in this case both formal orbital stability and instability can take place. The results of stability study are shown in stability diagrams.

Large-scale Synchronization in Carpets of Micro-rotors

NASA Astrophysics Data System (ADS)

Kanale, Anup; Guo, Hanliang; Yan, Wen; Kanso, Eva

2017-11-01

Motile cilia are ubiquitous in nature, and have a critical role in biological locomotion and fluid transport. They often beat in an orchestrated wavelike fashion, and theoretical evidence suggests that this coordinated motion could arise from hydrodynamic interactions. Models based on bead-spring oscillators were used to examine the interaction between pairs of cilia, focusing on in-phase or anti-phase synchrony, while models of hydrodynamically-coupled elastic filaments looked at metachronal coordination in large but finite numbers of interacting cilia. The latter models reproduce metachronal wave coordination, but they are not readily amenable to analysis and parametric studies that highlight the origin of the instabilities that lead to wave propagations and wavelength selection. Here, we use a known model in which each cilium is represented by a rigid sphere moving along a circular trajectory close to a wall, hence the term rotor. The rotor is driven by a cilia-inspired force profile. We generalize this model to a doubly-periodic array of rotors, assuming small distance to the bounding wall, and employ Ewald summation techniques to solve for the flow field. Our goal is to examine the conditions that give rise to stable metachronal waves and their associated wavelength.

The leap-frog effect of ring currents in benzene.

PubMed

Ligabue, Andrea; Soncini, Alessandro; Lazzeretti, Paolo

2002-03-06

Symmetry arguments show that the ring-current model proposed by Pauling, Lonsdale, and London to explain the enhanced diamagnetism of benzene is flawed by an intrinsic drawback. The minimal basis set of six atomic 2p orbitals taken into account to develop such a model is inherently insufficient to predict a paramagnetic contribution to the perpendicular component of magnetic susceptibility in planar ring systems such as benzene. Analogous considerations can be made for the hypothetical H(6) cyclic molecule. A model allowing for extended basis sets is necessary to rationalize the magnetism of aromatics. According to high-quality coupled Hartree-Fock calculations, the trajectories of the current density vector field induced by a magnetic field perpendicular to the skeletal plane of benzene in the pi electrons are noticeably different from those typical of a Larmor diamagnetic circulation, in that (i) significant deformation of the orbits from circular to hexagonal symmetry occurs, which is responsible for a paramagnetic contribution of pi electrons to the out-of-plane component of susceptibility, and (ii) a sizable component of the pi current density vector parallel to the inducing field is predicted. This causes a waving motion of pi electrons; streamlines are characterized by a "leap-frog effect".

Connecting orbits and invariant manifolds in the spatial restricted three-body problem

NASA Astrophysics Data System (ADS)

Gómez, G.; Koon, W. S.; Lo, M. W.; Marsden, J. E.; Masdemont, J.; Ross, S. D.

2004-09-01

The invariant manifold structures of the collinear libration points for the restricted three-body problem provide the framework for understanding transport phenomena from a geometrical point of view. In particular, the stable and unstable invariant manifold tubes associated with libration point orbits are the phase space conduits transporting material between primary bodies for separate three-body systems. These tubes can be used to construct new spacecraft trajectories, such as a 'Petit Grand Tour' of the moons of Jupiter. Previous work focused on the planar circular restricted three-body problem. This work extends the results to the three-dimensional case. Besides providing a full description of different kinds of libration motions in a large vicinity of these points, this paper numerically demonstrates the existence of heteroclinic connections between pairs of libration orbits, one around the libration point L1 and the other around L2. Since these connections are asymptotic orbits, no manoeuvre is needed to perform the transfer from one libration point orbit to the other. A knowledge of these orbits can be very useful in the design of missions such as the Genesis Discovery Mission, and may provide the backbone for other interesting orbits in the future.

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view.

PubMed

McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

2008-09-01

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (ID) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated. However, the algorithm presented is robust in the sense that it does not rely on a high level of agreement between the target motion measured during treatment planning and delivery.

Properties of the optimal trajectories for coplanar, aeroassisted orbital transfer

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Deaton, A. W.

1990-01-01

The optimization of trajectories for coplaner, aeroassisted orbital transfer (AOT) from a high Earth orbit (HEO) to a low Earth orbit (LEO) is examined. In particular, HEO can be a geosynchronous Earth orbit (GEO). It is assumed that the initial and final orbits are circular, that the gravitational field is central and is governed by the inverse square law, and that two impulses are employed, one at HEO exit and one at LEO entry. During the atmospheric pass, the trajectory is controlled via the lift coefficient in such a way that the total characteristic velocity is minimized. First, an ideal optimal trajectory is determined analytically for lift coefficient unbounded. This trajectory is called grazing trajectory, because the atmospheric pass is made by flying at constant altitude along the edge of the atmosphere until the excess velocity is depleted. For the grazing trajectory, the lift coefficient varies in such a way that the lift, the centrifugal force due to the Earth's curvature, the weight, and the Coriolis force due to the Earth's rotation are in static balance. Also, the grazing trajectory minimizes the total characteristic velocity and simultaneously nearly minimizes the peak values of the altitude drop, dynamic pressure, and heating rate. Next, starting from the grazing trajectory results, a real optimal trajectory is determined numerically for the lift coefficient bounded from both below and above. This trajectory is characterized by atmospheric penetration with the smallest possible entry angle, followed by flight at the lift coefficient lower bound. Consistently with the grazing trajectory behavior, the real optimal trajectory minimizes the total characteristic velocity and simultaneously nearly minimizes the peak values of the altitude drop, the dynamic pressure, and the heating rate.

Spiral Imaging in fMRI

PubMed Central

Glover, Gary H.

2011-01-01

T2*-weighted Blood Oxygen Level Dependent (BOLD) functional magnetic resonance imaging (fMRI) requires efficient acquisition methods in order to fully sample the brain in a several second time period. The most widely used approach is Echo Planar Imaging (EPI), which utilizes a Cartesian trajectory to cover k-space. This trajectory is subject to ghosts from off-resonance and gradient imperfections and is intrinsically sensitive to cardiac-induced pulsatile motion from substantial first- and higher order moments of the gradient waveform near the k-space origin. In addition, only the readout direction gradient contributes significant energy to the trajectory. By contrast, the Spiral method samples k-space with an Archimedean or similar trajectory that begins at the k-space center and spirals to the edge (Spiral-out), or its reverse, ending at the origin (Spiral-in). Spiral methods have reduced sensitivity to motion, shorter readout times, improved signal recovery in most frontal and parietal brain regions, and exhibit blurring artifacts instead of ghosts or geometric distortion. Methods combining Spiral-in and Spiral-out trajectories have further advantages in terms of diminished susceptibility-induced signal dropout and increased BOLD signal. In measurements of temporal signal to noise ratio measured in 8 subjects, Spiral-in/out exhibited significant increases over EPI in voxel volumes recovered in frontal and whole brain regions (18% and 10%, respectively). PMID:22036995

Optimal Trajectories Generation in Robotic Fiber Placement Systems

NASA Astrophysics Data System (ADS)

Gao, Jiuchun; Pashkevich, Anatol; Caro, Stéphane

2017-06-01

The paper proposes a methodology for optimal trajectories generation in robotic fiber placement systems. A strategy to tune the parameters of the optimization algorithm at hand is also introduced. The presented technique transforms the original continuous problem into a discrete one where the time-optimal motions are generated by using dynamic programming. The developed strategy for the optimization algorithm tuning allows essentially reducing the computing time and obtaining trajectories satisfying industrial constraints. Feasibilities and advantages of the proposed methodology are confirmed by an application example.

The power of a single trajectory

NASA Astrophysics Data System (ADS)

Schnellbächer, Nikolas D.; Schwarz, Ulrich S.

2018-03-01

Random walks are often evaluated in terms of their mean squared displacements, either for a large number of trajectories or for one very long trajectory. An alternative evaluation is based on the power spectral density, but here it is less clear which information can be extracted from a single trajectory. For continuous-time Brownian motion, Krapf et al now have mathematically proven that the one property that can be reliably extracted from a single trajectory is the frequency dependence of the ensemble-averaged power spectral density (Krapf et al 2018 New J. Phys. 20 023029). Their mathematical analysis also identifies the appropriate frequency window for this procedure and shows that the diffusion coefficient can be extracted by averaging over a small number of trajectories. The authors have verified their analytical results both by computer simulations and experiments.

Optimal solar sail planetocentric trajectories

NASA Technical Reports Server (NTRS)

Sackett, L. L.

1977-01-01

The analysis of solar sail planetocentric optimal trajectory problem is described. A computer program was produced to calculate optimal trajectories for a limited performance analysis. A square sail model is included and some consideration is given to a heliogyro sail model. Orbit to a subescape point and orbit to orbit transfer are considered. Trajectories about the four inner planets can be calculated and shadowing, oblateness, and solar motion may be included. Equinoctial orbital elements are used to avoid the classical singularities, and the method of averaging is applied to increase computational speed. Solution of the two-point boundary value problem which arises from the application of optimization theory is accomplished with a Newton procedure. Time optimal trajectories are emphasized, but a penalty function has been considered to prevent trajectories which intersect a planet's surface.

Particle trajectory computer program for icing analysis of axisymmetric bodies

NASA Technical Reports Server (NTRS)

Frost, Walter; Chang, Ho-Pen; Kimble, Kenneth R.

1982-01-01

General aviation aircraft and helicopters exposed to an icing environment can accumulate ice resulting in a sharp increase in drag and reduction of maximum lift causing hazardous flight conditions. NASA Lewis Research Center (LeRC) is conducting a program to examine, with the aid of high-speed computer facilities, how the trajectories of particles contribute to the ice accumulation on airfoils and engine inlets. This study, as part of the NASA/LeRC research program, develops a computer program for the calculation of icing particle trajectories and impingement limits relative to axisymmetric bodies in the leeward-windward symmetry plane. The methodology employed in the current particle trajectory calculation is to integrate the governing equations of particle motion in a flow field computed by the Douglas axisymmetric potential flow program. The three-degrees-of-freedom (horizontal, vertical, and pitch) motion of the particle is considered. The particle is assumed to be acted upon by aerodynamic lift and drag forces, gravitational forces, and for nonspherical particles, aerodynamic moments. The particle momentum equation is integrated to determine the particle trajectory. Derivation of the governing equations and the method of their solution are described in Section 2.0. General features, as well as input/output instructions for the particle trajectory computer program, are described in Section 3.0. The details of the computer program are described in Section 4.0. Examples of the calculation of particle trajectories demonstrating application of the trajectory program to given axisymmetric inlet test cases are presented in Section 5.0. For the examples presented, the particles are treated as spherical water droplets. In Section 6.0, limitations of the program relative to excessive computer time and recommendations in this regard are discussed.

Dynamic laser piercing of thick section metals

NASA Astrophysics Data System (ADS)

Pocorni, Jetro; Powell, John; Frostevarg, Jan; Kaplan, Alexander F. H.

2018-01-01

Before a contour can be laser cut the laser first needs to pierce the material. The time taken to achieve piercing should be minimised to optimise productivity. One important aspect of laser piercing is the reliability of the process because industrial laser cutting machines are programmed for the minimum reliable pierce time. In this work piercing experiments were carried out in 15 mm thick stainless steel sheets, comparing a stationary laser and a laser which moves along a circular trajectory with varying processing speeds. Results show that circular piercing can decrease the pierce duration by almost half compared to stationary piercing. High speed imaging (HSI) was employed during the piercing process to understand melt behaviour inside the pierce hole. HSI videos show that circular rotation of the laser beam forces melt to eject in opposite direction of the beam movement, while in stationary piercing the melt ejects less efficiently in random directions out of the hole.

Cesium injection system for negative ion duoplasmatrons

DOEpatents

Kobayashi, Maasaki; Prelec, Krsto; Sluyters, Theodorus J

1978-01-01

Longitudinally extending, foraminous cartridge means having a cylindrical side wall forming one flat, circular, tip end surface and an opposite end; an open-ended cavity, and uniformly spaced orifices for venting the cavity through the side wall in the annulus of a plasma ring for uniformly ejecting cesium for coating the flat, circular, surface. To this end, the cavity is filled with a cesium containing substance and attached to a heater in a hollow-discharge duoplasmatron. By coating the flat circular surface with a uniform monolayer of cesium and locating it in an electrical potential well at the end of a hollow-discharge, ion duoplasmatron source of an annular hydrogen plasma ring, the negative hydrogen production from the duoplasmatron is increased. The negative hydrogen is produced on the flat surface of the cartridge and extracted by the electrical potential well along a trajectory coaxial with the axis of the plasma ring.

Predictor laws for pictorial flight displays

NASA Technical Reports Server (NTRS)

Grunwald, A. J.

1985-01-01

Two predictor laws are formulated and analyzed: (1) a circular path law based on constant accelerations perpendicular to the path and (2) a predictor law based on state transition matrix computations. It is shown that for both methods the predictor provides the essential lead zeros for the path-following task. However, in contrast to the circular path law, the state transition matrix law furnishes the system with additional zeros that entirely cancel out the higher-frequency poles of the vehicle dynamics. On the other hand, the circular path law yields a zero steady-state error in following a curved trajectory with a constant radius. A combined predictor law is suggested that utilizes the advantages of both methods. A simple analysis shows that the optimal prediction time mainly depends on the level of precision required in the path-following task, and guidelines for determining the optimal prediction time are given.

Ball-morph: definition, implementation, and comparative evaluation.

PubMed

Whited, Brian; Rossignac, Jaroslaw Jarek

2011-06-01

We define b-compatibility for planar curves and propose three ball morphing techniques between pairs of b-compatible curves. Ball-morphs use the automatic ball-map correspondence, proposed by Chazal et al., from which we derive different vertex trajectories (linear, circular, and parabolic). All three morphs are symmetric, meeting both curves with the same angle, which is a right angle for the circular and parabolic. We provide simple constructions for these ball-morphs and compare them to each other and other simple morphs (linear-interpolation, closest-projection, curvature-interpolation, Laplace-blending, and heat-propagation) using six cost measures (travel-distance, distortion, stretch, local acceleration, average squared mean curvature, and maximum squared mean curvature). The results depend heavily on the input curves. Nevertheless, we found that the linear ball-morph has consistently the shortest travel-distance and the circular ball-morph has the least amount of distortion.

Chaotic Motion in the Solar System and Beyond

NASA Technical Reports Server (NTRS)

Lissauer, Jack; DeVincenzi, Donald (Technical Monitor)

2001-01-01

The motion of planetary bodies is the archetypal clockwork system. Indeed, clocks and calendars were developed to keep track of the relative motions of the Earth, the Sun and the Moon. However, studies over the past few decades imply that this predictable regularity does not extend to small bodies, nor does it apply to the precise trajectories of the planets themselves over long timescale.s. Various examples of chaotic motion within our Solar System and, extrasolar planetary systems will be discussed.

Eye movements and manual interception of ballistic trajectories: effects of law of motion perturbations and occlusions.

PubMed

Delle Monache, Sergio; Lacquaniti, Francesco; Bosco, Gianfranco

2015-02-01

Manual interceptions are known to depend critically on integration of visual feedback information and experience-based predictions of the interceptive event. Within this framework, coupling between gaze and limb movements might also contribute to the interceptive outcome, since eye movements afford acquisition of high-resolution visual information. We investigated this issue by analyzing subjects' head-fixed oculomotor behavior during manual interceptions. Subjects moved a mouse cursor to intercept computer-generated ballistic trajectories either congruent with Earth's gravity or perturbed with weightlessness (0 g) or hypergravity (2 g) effects. In separate sessions, trajectories were either fully visible or occluded before interception to enforce visual prediction. Subjects' oculomotor behavior was classified in terms of amounts of time they gazed at different visual targets and of overall number of saccades. Then, by way of multivariate analyses, we assessed the following: (1) whether eye movement patterns depended on targets' laws of motion and occlusions; and (2) whether interceptive performance was related to the oculomotor behavior. First, we found that eye movement patterns depended significantly on targets' laws of motion and occlusion, suggesting predictive mechanisms. Second, subjects coupled differently oculomotor and interceptive behavior depending on whether targets were visible or occluded. With visible targets, subjects made smaller interceptive errors if they gazed longer at the mouse cursor. Instead, with occluded targets, they achieved better performance by increasing the target's tracking accuracy and by avoiding gaze shifts near interception, suggesting that precise ocular tracking provided better trajectory predictions for the interceptive response.

Anakinra

MedlinePlus

... administer the injection, follow these steps: Clean the injection site with an alcohol wipe using a circular motion, ... to pinch a fold of skin at the injection site. Do not lay the syringe down or allow ...

Tense, Aspect and the Verbs of Motion.

ERIC Educational Resources Information Center

Pahomov, George S.

1979-01-01

To help students learn the imperfect and perfect aspects of Russian verbs, principles of math and physics can be utilized. This Orbit-Trajectory-Stasis method presents verbs of motion by avoiding tense, and suggests new verbal configurations for exploring both conceptual and concrete aspects. Appendices further illustrate the approach. (PMJ)

Alignment of cryo-EM movies of individual particles by optimization of image translations.

PubMed

Rubinstein, John L; Brubaker, Marcus A

2015-11-01

Direct detector device (DDD) cameras have revolutionized single particle electron cryomicroscopy (cryo-EM). In addition to an improved camera detective quantum efficiency, acquisition of DDD movies allows for correction of movement of the specimen, due to both instabilities in the microscope specimen stage and electron beam-induced movement. Unlike specimen stage drift, beam-induced movement is not always homogeneous within an image. Local correlation in the trajectories of nearby particles suggests that beam-induced motion is due to deformation of the ice layer. Algorithms have already been described that can correct movement for large regions of frames and for >1 MDa protein particles. Another algorithm allows individual <1 MDa protein particle trajectories to be estimated, but requires rolling averages to be calculated from frames and fits linear trajectories for particles. Here we describe an algorithm that allows for individual <1 MDa particle images to be aligned without frame averaging or linear trajectories. The algorithm maximizes the overall correlation of the shifted frames with the sum of the shifted frames. The optimum in this single objective function is found efficiently by making use of analytically calculated derivatives of the function. To smooth estimates of particle trajectories, rapid changes in particle positions between frames are penalized in the objective function and weighted averaging of nearby trajectories ensures local correlation in trajectories. This individual particle motion correction, in combination with weighting of Fourier components to account for increasing radiation damage in later frames, can be used to improve 3-D maps from single particle cryo-EM. Copyright © 2015 Elsevier Inc. All rights reserved.

Numerical simulation of human orientation perception during lunar landing

NASA Astrophysics Data System (ADS)

Clark, Torin K.; Young, Laurence R.; Stimpson, Alexander J.; Duda, Kevin R.; Oman, Charles M.

2011-09-01

In lunar landing it is necessary to select a suitable landing point and then control a stable descent to the surface. In manned landings, astronauts will play a critical role in monitoring systems and adjusting the descent trajectory through either supervisory control and landing point designations, or by direct manual control. For the astronauts to ensure vehicle performance and safety, they will have to accurately perceive vehicle orientation. A numerical model for human spatial orientation perception was simulated using input motions from lunar landing trajectories to predict the potential for misperceptions. Three representative trajectories were studied: an automated trajectory, a landing point designation trajectory, and a challenging manual control trajectory. These trajectories were studied under three cases with different cues activated in the model to study the importance of vestibular cues, visual cues, and the effect of the descent engine thruster creating dust blowback. The model predicts that spatial misperceptions are likely to occur as a result of the lunar landing motions, particularly with limited or incomplete visual cues. The powered descent acceleration profile creates a somatogravic illusion causing the astronauts to falsely perceive themselves and the vehicle as upright, even when the vehicle has a large pitch or roll angle. When visual pathways were activated within the model these illusions were mostly suppressed. Dust blowback, obscuring the visual scene out the window, was also found to create disorientation. These orientation illusions are likely to interfere with the astronauts' ability to effectively control the vehicle, potentially degrading performance and safety. Therefore suitable countermeasures, including disorientation training and advanced displays, are recommended.

Geometrically derived difference formulae for the numerical integration of trajectory problems

NASA Technical Reports Server (NTRS)

Mcleod, R. J. Y.; Sanz-Serna, J. M.

1981-01-01

The term 'trajectory problem' is taken to include problems that can arise, for instance, in connection with contour plotting, or in the application of continuation methods, or during phase-plane analysis. Geometrical techniques are used to construct difference methods for these problems to produce in turn explicit and implicit circularly exact formulae. Based on these formulae, a predictor-corrector method is derived which, when compared with a closely related standard method, shows improved performance. It is found that this latter method produces spurious limit cycles, and this behavior is partly analyzed. Finally, a simple variable-step algorithm is constructed and tested.

Hysteresis phenomena of the intelligent driver model for traffic flow

NASA Astrophysics Data System (ADS)

Dahui, Wang; Ziqiang, Wei; Ying, Fan

2007-07-01

We present hysteresis phenomena of the intelligent driver model for traffic flow in a circular one-lane roadway. We show that the microscopic structure of traffic flow is dependent on its initial state by plotting the fraction of congested vehicles over the density, which shows a typical hysteresis loop, and by investigating the trajectories of vehicles on the velocity-over-headway plane. We find that the trajectories of vehicles on the velocity-over-headway plane, which usually show a hysteresis loop, include multiple loops. We also point out the relations between these hysteresis loops and the congested jams or high-density clusters in traffic flow.

Development of a video image-based QA system for the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ebe, Kazuyu, E-mail: nrr24490@nifty.com; Tokuyama, Katsuichi; Baba, Ryuta

Purpose: To develop and evaluate a new video image-based QA system, including in-house software, that can display a tracking state visually and quantify the positional accuracy of dynamic tumor tracking irradiation in the Vero4DRT system. Methods: Sixteen trajectories in six patients with pulmonary cancer were obtained with the ExacTrac in the Vero4DRT system. Motion data in the cranio–caudal direction (Y direction) were used as the input for a programmable motion table (Quasar). A target phantom was placed on the motion table, which was placed on the 2D ionization chamber array (MatriXX). Then, the 4D modeling procedure was performed on themore » target phantom during a reproduction of the patient’s tumor motion. A substitute target with the patient’s tumor motion was irradiated with 6-MV x-rays under the surrogate infrared system. The 2D dose images obtained from the MatriXX (33 frames/s; 40 s) were exported to in-house video-image analyzing software. The absolute differences in the Y direction between the center of the exposed target and the center of the exposed field were calculated. Positional errors were observed. The authors’ QA results were compared to 4D modeling function errors and gimbal motion errors obtained from log analyses in the ExacTrac to verify the accuracy of their QA system. The patients’ tumor motions were evaluated in the wave forms, and the peak-to-peak distances were also measured to verify their reproducibility. Results: Thirteen of sixteen trajectories (81.3%) were successfully reproduced with Quasar. The peak-to-peak distances ranged from 2.7 to 29.0 mm. Three trajectories (18.7%) were not successfully reproduced due to the limited motions of the Quasar. Thus, 13 of 16 trajectories were summarized. The mean number of video images used for analysis was 1156. The positional errors (absolute mean difference + 2 standard deviation) ranged from 0.54 to 1.55 mm. The error values differed by less than 1 mm from 4D modeling function errors and gimbal motion errors in the ExacTrac log analyses (n = 13). Conclusions: The newly developed video image-based QA system, including in-house software, can analyze more than a thousand images (33 frames/s). Positional errors are approximately equivalent to those in ExacTrac log analyses. This system is useful for the visual illustration of the progress of the tracking state and for the quantification of positional accuracy during dynamic tumor tracking irradiation in the Vero4DRT system.« less

Motion sickness and gastric myoelectric activity as a function of speed of rotation of a circular vection drum

NASA Technical Reports Server (NTRS)

Hu, Senqi; Stern, Robert M.; Vasey, Michael W.; Koch, Kenneth L.

1989-01-01

Motion sickness symptoms and electrogastrograms (EGGs) were obtained from 60 healthy subjects while they viewed an optokinetic drum rotated at one of four speeds: 15, 30, 60 or 90 deg/s. All subjects experienced vection, illusory self-motion. Motion sickness symptoms increased as drums speed increased up to 60 deg/s. Power, spectral intensity, of the EGG at the tachygastria frequencies (4-9 cpm) was calculated at each drum rotation speed. The correlation between the motion sickness symptoms and the power at 4-9 cpm was significant. Thus, drum rotation speed influenced the spectral power of the EGG at 4-9 cpm, tachygastria, and the intensity of motion sickness symptoms.

Digital holographic microscope for measuring three-dimensional particle distributions and motions.

PubMed

Sheng, Jian; Malkiel, Edwin; Katz, Joseph

2006-06-01

Better understanding of particle-particle and particle-fluid interactions requires accurate 3D measurements of particle distributions and motions. We introduce the application of in-line digital holographic microscopy as a viable tool for measuring distributions of dense micrometer (3.2 microm) and submicrometer (0.75 microm) particles in a liquid solution with large depths of 1-10 mm. By recording a magnified hologram, we obtain a depth of field of approximately 1000 times the object diameter and a reduced depth of focus of approximately 10 particle diameters, both representing substantial improvements compared to a conventional microscope and in-line holography. Quantitative information on depth of field, depth of focus, and axial resolution is provided. We demonstrate that digital holographic microscopy can resolve the locations of several thousand particles and can measure their motions and trajectories using cinematographic holography. A sample trajectory and detailed morphological information of a free-swimming copepod nauplius are presented.

Evaluation of bacterial motility from non-Gaussianity of finite-sample trajectories using the large deviation principle

NASA Astrophysics Data System (ADS)

Hanasaki, Itsuo; Kawano, Satoyuki

2013-11-01

Motility of bacteria is usually recognized in the trajectory data and compared with Brownian motion, but the diffusion coefficient is insufficient to evaluate it. In this paper, we propose a method based on the large deviation principle. We show that it can be used to evaluate the non-Gaussian characteristics of model Escherichia coli motions and to distinguish combinations of the mean running duration and running speed that lead to the same diffusion coefficient. Our proposed method does not require chemical stimuli to induce the chemotaxis in a specific direction, and it is applicable to various types of self-propelling motions for which no a priori information of, for example, threshold parameters for run and tumble or head/tail direction is available. We also address the issue of the finite-sample effect on the large deviation quantities, but we propose to make use of it to characterize the nature of motility.

Lagrangian equations of motion of particles and photons in a Schwarzschild field

NASA Astrophysics Data System (ADS)

Ritus, V. I.

2015-11-01

The equations of motion of a particle in the gravitational field of a black hole are considered in a formulation that uses generalized coordinates, velocities, and accelerations and is convenient for finding the integrals of motion. The equations are rewritten in terms of the physical velocities and accelerations measured in the Schwarzschild frame by a stationary observer using proper local length and time standards. The attractive force due to the field and the centripetal acceleration of a particle is proportional to the particle kinetic energy m/\\sqrt{1 - v^2}, consistently with the fact that the particle kinetic energy and the photon energy \\hbarω in the field increase by the same factor compared with their values without a field. The attraction exerted on particles and photons by a gravitational field source is proportional to their kinetic energies. The particle trajectory in the ultrarelativistic limit v \\to 1 coincides with the photon trajectory.

Novel algorithm and MATLAB-based program for automated power law analysis of single particle, time-dependent mean-square displacement

NASA Astrophysics Data System (ADS)

Umansky, Moti; Weihs, Daphne

2012-08-01

In many physical and biophysical studies, single-particle tracking is utilized to reveal interactions, diffusion coefficients, active modes of driving motion, dynamic local structure, micromechanics, and microrheology. The basic analysis applied to those data is to determine the time-dependent mean-square displacement (MSD) of particle trajectories and perform time- and ensemble-averaging of similar motions. The motion of particles typically exhibits time-dependent power-law scaling, and only trajectories with qualitatively and quantitatively comparable MSD should be ensembled. Ensemble averaging trajectories that arise from different mechanisms, e.g., actively driven and diffusive, is incorrect and can result inaccurate correlations between structure, mechanics, and activity. We have developed an algorithm to automatically and accurately determine power-law scaling of experimentally measured single-particle MSD. Trajectories can then categorized and grouped according to user defined cutoffs of time, amplitudes, scaling exponent values, or combinations. Power-law fits are then provided for each trajectory alongside categorized groups of trajectories, histograms of power laws, and the ensemble-averaged MSD of each group. The codes are designed to be easily incorporated into existing user codes. We expect that this algorithm and program will be invaluable to anyone performing single-particle tracking, be it in physical or biophysical systems. Catalogue identifier: AEMD_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEMD_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.: 25 892 No. of bytes in distributed program, including test data, etc.: 5 572 780 Distribution format: tar.gz Programming language: MATLAB (MathWorks Inc.) version 7.11 (2010b) or higher, program should also be backwards compatible. Symbolic Math Toolboxes (5.5) is required. The Curve Fitting Toolbox (3.0) is recommended. Computer: Tested on Windows only, yet should work on any computer running MATLAB. In Windows 7, should be used as administrator, if the user is not the administrator the program may not be able to save outputs and temporary outputs to all locations. Operating system: Any supporting MATLAB (MathWorks Inc.) v7.11 / 2010b or higher. Supplementary material: Sample output files (approx. 30 MBytes) are available. Classification: 12 External routines: Several MATLAB subfunctions (m-files), freely available on the web, were used as part of and included in, this code: count, NaN suite, parseArgs, roundsd, subaxis, wcov, wmean, and the executable pdfTK.exe. Nature of problem: In many physical and biophysical areas employing single-particle tracking, having the time-dependent power-laws governing the time-averaged meansquare displacement (MSD) of a single particle is crucial. Those power laws determine the mode-of-motion and hint at the underlying mechanisms driving motion. Accurate determination of the power laws that describe each trajectory will allow categorization into groups for further analysis of single trajectories or ensemble analysis, e.g. ensemble and time-averaged MSD. Solution method: The algorithm in the provided program automatically analyzes and fits time-dependent power laws to single particle trajectories, then group particles according to user defined cutoffs. It accepts time-dependent trajectories of several particles, each trajectory is run through the program, its time-averaged MSD is calculated, and power laws are determined in regions where the MSD is linear on a log-log scale. Our algorithm searches for high-curvature points in experimental data, here time-dependent MSD. Those serve as anchor points for determining the ranges of the power-law fits. Power-law scaling is then accurately determined and error estimations of the parameters and quality of fit are provided. After all single trajectory time-averaged MSDs are fit, we obtain cutoffs from the user to categorize and segment the power laws into groups; cutoff are either in exponents of the power laws, time of appearance of the fits, or both together. The trajectories are sorted according to the cutoffs and the time- and ensemble-averaged MSD of each group is provided, with histograms of the distributions of the exponents in each group. The program then allows the user to generate new trajectory files with trajectories segmented according to the determined groups, for any further required analysis. Additional comments: README file giving the names and a brief description of all the files that make-up the package and clear instructions on the installation and execution of the program is included in the distribution package. Running time: On an i5 Windows 7 machine with 4 GB RAM the automated parts of the run (excluding data loading and user input) take less than 45 minutes to analyze and save all stages for an 844 trajectory file, including optional PDF save. Trajectory length did not affect run time (tested up to 3600 frames/trajectory), which was on average 3.2±0.4 seconds per trajectory.

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

NASA Astrophysics Data System (ADS)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

Self-assembly of robotic micro- and nanoswimmers using magnetic nanoparticles

NASA Astrophysics Data System (ADS)

Cheang, U. Kei; Kim, Min Jun

2015-03-01

Micro- and nanoscale robotic swimmers are very promising to significantly enhance the performance of particulate drug delivery by providing high accuracy at extremely small scales. Here, we introduce micro- and nanoswimmers fabricated using self-assembly of nanoparticles and control via magnetic fields. Nanoparticles self-align into parallel chains under magnetization. The swimmers exhibit flexibility under a rotating magnetic field resulting in chiral structures upon deformation, thereby having the prerequisite for non-reciprocal motion to move about at low Reynolds number. The swimmers are actuated wirelessly using an external rotating magnetic field supplied by approximate Helmholtz coils. By controlling the concentration of the suspended magnetic nanoparticles, the swimmers can be modulated into different sizes. Nanoscale swimmers are largely influenced by Brownian motion, as observed from their jerky trajectories. The microswimmers, which are roughly three times larger, are less vulnerable to the effects from Brownian motion. In this paper, we demonstrate responsive directional control of micro- and nanoswimmers and compare their respective diffusivities and trajectories to characterize the implications of Brownian disturbance on the motions of small and large swimmers. We then performed a simulation using a kinematic model for the magnetic swimmers including the stochastic nature of Brownian motion.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Flow regimes of adiabatic gas-liquid two-phase under rolling conditions

NASA Astrophysics Data System (ADS)

Yan, Chaoxing; Yan, Changqi; Sun, Licheng; Xing, Dianchuan; Wang, Yang; Tian, Daogui

2013-07-01

Characteristics of adiabatic air/water two-phase flow regimes under vertical and rolling motion conditions were investigated experimentally. Test sections are two rectangular ducts with the gaps of 1.41 and 10 mm, respectively, and a circular tube with 25 mm diameter. Flow regimes were recorded by a high speed CCD-camera and were identified by examining the video images. The experimental results indicate that the characteristics of flow patterns in 10 mm wide rectangular duct under vertical condition are very similar to those in circular tube, but different from the 1.41 mm wide rectangular duct. Channel size has a significant influence on flow pattern transition, boundary of which in rectangular channels tends asymptotically towards that in the circular tube with increasing the width of narrow side. Flow patterns in rolling channels are similar to each other, nevertheless, the effect of rolling motion on flow pattern transition are significantly various. Due to the remarkable influences of the friction shear stress and surface tension in the narrow gap duct, detailed flow pattern maps of which under vertical and rolling conditions are indistinguishable. While for the circular tube with 25 mm diameter, the transition from bubbly to slug flow occurs at a higher superficial liquid velocity and the churn flow covers more area on the flow regime map as the rolling period decreases.

Anomalous, non-Gaussian tracer diffusion in crowded two-dimensional environments

NASA Astrophysics Data System (ADS)

Ghosh, Surya K.; Cherstvy, Andrey G.; Grebenkov, Denis S.; Metzler, Ralf

2016-01-01

A topic of intense current investigation pursues the question of how the highly crowded environment of biological cells affects the dynamic properties of passively diffusing particles. Motivated by recent experiments we report results of extensive simulations of the motion of a finite sized tracer particle in a heterogeneously crowded environment made up of quenched distributions of monodisperse crowders of varying sizes in finite circular two-dimensional domains. For given spatial distributions of monodisperse crowders we demonstrate how anomalous diffusion with strongly non-Gaussian features arises in this model system. We investigate both biologically relevant situations of particles released either at the surface of an inner domain or at the outer boundary, exhibiting distinctly different features of the observed anomalous diffusion for heterogeneous distributions of crowders. Specifically we reveal an asymmetric spreading of tracers even at moderate crowding. In addition to the mean squared displacement (MSD) and local diffusion exponent we investigate the magnitude and the amplitude scatter of the time averaged MSD of individual tracer trajectories, the non-Gaussianity parameter, and the van Hove correlation function. We also quantify how the average tracer diffusivity varies with the position in the domain with a heterogeneous radial distribution of crowders and examine the behaviour of the survival probability and the dynamics of the tracer survival probability. Inter alia, the systems we investigate are related to the passive transport of lipid molecules and proteins in two-dimensional crowded membranes or the motion in colloidal solutions or emulsions in effectively two-dimensional geometries, as well as inside supercrowded, surface adhered cells.

Erosion in radial inflow turbines. Volume 1: Erosive particle trajectory similarity

NASA Technical Reports Server (NTRS)

Clevenger, W. B., Jr.; Tabakoff, W.

1974-01-01

Similarity parameters from the equations of motion of particles immersed in a gas flow are derived. These parameters relate the particles which follow a certain trajectory in an equivalent cold gas turbine to particles that will follow the same trajectory in a real hot gas turbine. Numerical solutions of the trajectories that particles follow in the vortex and rotor regions of a radial inflow turbine are used to verify the range of Reynolds numbers in which the derived similarity parameters are applicable. In addition, an example is presented of typical particle sizes that can be observed in high speed photographic data collection and at the same time simulate the trajectories of particles in a real hot gas turbine.

TH-A-9A-10: Prostate SBRT Delivery with Flattening-Filter-Free Mode: Benefit and Accuracy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, T; Yuan, L; Sheng, Y

Purpose: Flattening-filter-free (FFF) beam mode offered on TrueBeam™ linac enables delivering IMRT at 2400 MU/min dose rate. This study investigates the benefit and delivery accuracy of using high dose rate in the context of prostate SBRT. Methods: 8 prostate SBRT patients were retrospectively studied. In 5 cases treated with 600-MU/min dose rate, continuous prostate motion data acquired during radiation-beam-on was used to analyze motion range. In addition, the initial 1/3 of prostate motion trajectories during each radiation-beam-on was separated to simulate motion range if 2400-MU/min were used. To analyze delivery accuracy in FFF mode, MLC trajectory log files from anmore » additional 3 cases treated at 2400-MU/min were acquired. These log files record MLC expected and actual positions every 20ms, and therefore can be used to reveal delivery accuracy. Results: (1) Benefit. On average treatment at 600-MU/min takes 30s per beam; whereas 2400-MU/min requires only 11s. When shortening delivery time to ~1/3, the prostate motion range was significantly smaller (p<0.001). Largest motion reduction occurred in Sup-Inf direction, from [−3.3mm, 2.1mm] to [−1.7mm, 1.7mm], followed by reduction from [−2.1mm, 2.4mm] to [−1.0mm, 2.4mm] in Ant-Pos direction. No change observed in LR direction [−0.8mm, 0.6mm]. The combined motion amplitude (vector norm) confirms that average motion and ranges are significantly smaller when beam-on was limited to the 1st 1/3 of actual delivery time. (2) Accuracy. Trajectory log file analysis showed excellent delivery accuracy with at 2400 MU/min. Most leaf deviations during beam-on were within 0.07mm (99-percentile). Maximum leaf-opening deviations during each beam-on were all under 0.1mm for all leaves. Dose-rate was maintained at 2400-MU/min during beam-on without dipping. Conclusion: Delivery prostate SBRT with 2400 MU/min is both beneficial and accurate. High dose rates significantly reduced both treatment time and intra-beam prostate motion range. Excellent delivery accuracy was confirmed with very small leaf motion deviation.« less

Effects of modeling errors on trajectory predictions in air traffic control automation

NASA Technical Reports Server (NTRS)

Jackson, Michael R. C.; Zhao, Yiyuan; Slattery, Rhonda

1996-01-01

Air traffic control automation synthesizes aircraft trajectories for the generation of advisories. Trajectory computation employs models of aircraft performances and weather conditions. In contrast, actual trajectories are flown in real aircraft under actual conditions. Since synthetic trajectories are used in landing scheduling and conflict probing, it is very important to understand the differences between computed trajectories and actual trajectories. This paper examines the effects of aircraft modeling errors on the accuracy of trajectory predictions in air traffic control automation. Three-dimensional point-mass aircraft equations of motion are assumed to be able to generate actual aircraft flight paths. Modeling errors are described as uncertain parameters or uncertain input functions. Pilot or autopilot feedback actions are expressed as equality constraints to satisfy control objectives. A typical trajectory is defined by a series of flight segments with different control objectives for each flight segment and conditions that define segment transitions. A constrained linearization approach is used to analyze trajectory differences caused by various modeling errors by developing a linear time varying system that describes the trajectory errors, with expressions to transfer the trajectory errors across moving segment transitions. A numerical example is presented for a complete commercial aircraft descent trajectory consisting of several flight segments.

Ion trajectory simulations of axial ac dipolar excitation in the Orbitrap

NASA Astrophysics Data System (ADS)

Wu, Guangxiang; Noll, Robert J.; Plass, Wolfgang R.; Hu, Qizhi; Perry, Richard H.; Cooks, R. Graham

2006-07-01

The newly developed version of the multi-particle ion trajectory simulation program, ITSIM 6.0, was applied to simulate ac dipolar excitation of ion axial motion in the Orbitrap. The Orbitrap inner and outer electrodes were generated in AutoCAD, a 3D drawing program. The electrode geometry was imported into the 3D field solver COMSOL; the field array was then imported into ITSIM 6.0. Ion trajectories were calculated by solving Newton's equations using Runge-Kutta integration methods. Compared to the analytical solution, calculated radial components of the field at the device's "equator" (z = 0) were within 0.5% and calculated axial components midway between the inner and outer electrodes were within 0.2%. The experiments simulated here involved the control of axial motion of ions in the Orbitrap by the application of dipolar ac signals to the split outer electrodes, as described in a recently published paper from this laboratory [Hu et al., J. Phys. Chem. A 110 (2006) 2682]. In these experiments, ac signal was applied at the axial resonant frequency of a selected ion. Axial excitation and eventual ion ejection resulted when the ac was in phase with, i.e., had 0° phase relative to ion axial motion. De-excitation of ion axial motion until the ions were at z = 0 and at rest with respect to the z-axis resulted if the applied ac was out of phase with ion motion, with re-excitation of ion axial motion occurring if the dipolar ac was continued beyond this point. Both de-excitation and re-excitation could be achieved mass-selectively and depended on the amplitude and duration (number of cycles) of the applied ac. The effects of ac amplitude, frequency, phase relative to ion motion, and bandwidth of applied waveform were simulated. All simulation results were compared directly with the experimental data and good agreement was observed. Such ion motion control experiments and their simulation provide the possibility to improve Orbitrap performance and to develop tandem mass spectrometry (MS/MS) capabilities inside the Orbitrap.

Dynamic imperfections and optimized feedback design in the Compact Linear Collider main linac

NASA Astrophysics Data System (ADS)

Eliasson, Peder

2008-05-01

The Compact Linear Collider (CLIC) main linac is sensitive to dynamic imperfections such as element jitter, injected beam jitter, and ground motion. These effects cause emittance growth that, in case of ground motion, has to be counteracted by a trajectory feedback system. The feedback system itself will, due to jitter effects and imperfect beam position monitors (BPMs), indirectly cause emittance growth. Fast and accurate simulations of both the direct and indirect effects are desirable, but due to the many elements of the CLIC main linac, simulations may become very time consuming. In this paper, an efficient way of simulating linear (or nearly linear) dynamic effects is described. The method is also shown to facilitate the analytic determination of emittance growth caused by the different dynamic imperfections while using a trajectory feedback system. Emittance growth expressions are derived for quadrupole, accelerating structure, and beam jitter, for ground motion, and for noise in the feedback BPMs. Finally, it is shown how the method can be used to design a feedback system that is optimized for the optics of the machine and the ground motion spectrum of the particular site. This feedback system gives an emittance growth rate that is approximately 10 times lower than that of traditional trajectory feedbacks. The robustness of the optimized feedback system is studied for a number of additional imperfections, e.g., dipole corrector imperfections and faulty knowledge about the machine optics, with promising results.

Motion of Solid Grains During Magnetic Field-Assisted Directional Solidification

NASA Astrophysics Data System (ADS)

Wang, Jiang; Lin, Xin; Fautrelle, Yves; Nguyen-Thi, Henri; Ren, Zhongming

2018-06-01

In this paper, we report the visible evidence for thermoelectric magnetic forces (TEMFs) during magnetic field-assisted directional solidification, and their potential to control the motion of solid grains (dendrite fragments or equiaxed grains). These motions are observed by means of synchrotron X-ray radiography and compared with analytic calculations for a spherical particle's motion driven only by TEMFs, which confirms that the observed solid grain motions are the combined result of the TEMFs and gravity. We also carried out corresponding 3D numerical simulations to validate the calculations and further prove our conclusion that TEMF acts on the solid grain and affects its motion trajectory.

Analysis of Modification Mechanism of Gait with Rhythmic Cueing Training Paradigm

NASA Astrophysics Data System (ADS)

Muto, Takeshi; Kanai, Tetsuya; Sakuta, Hiroshi; Miyake, Yoshihiro

In this research, we applied the gait training method which takes in the rhythmic auditory stimulation as a pace maker to the assistance of gait motion, and analyzed the dynamical stability of the period and trajectory of the lower limbs' motions. As the result, it was clarified that, in the training style which presents a constant rhythm, trajectory of ankles was modified as the stable state which has the historical property, but the period of footsteps was not modified but susceptible to the external environment. This result suggests that the hierarchical modification mechanism of motor schema of gait is realized by the connection between the immediate and historical modification system.

Autonomous manipulation on a robot: Summary of manipulator software functions

NASA Technical Reports Server (NTRS)

Lewis, R. A.

1974-01-01

A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived. Arm trajectories using sequences of third-degree polynomials to describe the time history of each joint variable are presented and two approaches to the avoidance of obstacles are given. The equations of motion for the arm are derived and then decomposed into time-dependent factors and time-independent coefficients. Several new and simplifying relationships among the coefficients are proven. Two sample trajectories are analyzed in detail for purposes of determining the most important contributions to total force in order that relatively simple approximations to the equations of motion can be used.

Dexterity-Enhanced Telerobotic Microsurgery

NASA Technical Reports Server (NTRS)

Charles, Steve; Das, Hari; Ohm, Timothy; Boswell, Curtis; Rodriguez, Guillermo; Steele, Robert; Istrate, Dan

1997-01-01

The work reported in this paper is the result, of a collaboration between researchers at the Jet Propulsion Laboratory and Steve Charles, MD, a vitreo-retinal surgeon. The Robot Assisted MicroSurgery (RAMS) telerobotic workstation developed at JPL is a prototype of a system that will be completely under the manual control of a surgeon. The system has a slave robot that will hold surgical instruments. The slave robot motions replicate in six degrees of freedom those of tile. surgeon's hand measured using a master input device with a surgical instrument, shaped handle. The surgeon commands motions for the instrument by moving the handle in the desired trajectories. The trajectories are measured, filtered, and scaled down then used to drive the slave robot.

Acoustically Driven Fluid and Particle Motion in Confined and Leaky Systems

NASA Astrophysics Data System (ADS)

Barnkob, Rune; Nama, Nitesh; Ren, Liqiang; Huang, Tony Jun; Costanzo, Francesco; Kähler, Christian J.

2018-01-01

The acoustic motion of fluids and particles in confined and acoustically leaky systems is receiving increasing attention for its use in medicine and biotechnology. A number of contradicting physical and numerical models currently exist, but their validity is uncertain due to the unavailability of hard-to-access experimental data for validation. We provide experimental benchmarking data by measuring 3D particle trajectories and demonstrate that the particle trajectories can be described numerically without any fitting parameter by a reduced-fluid model with leaky impedance-wall conditions. The results reveal the hitherto unknown existence of a pseudo-standing wave that drives the acoustic streaming as well as the acoustic radiation force on suspended particles.

Automated detection of videotaped neonatal seizures of epileptic origin.

PubMed

Karayiannis, Nicolaos B; Xiong, Yaohua; Tao, Guozhi; Frost, James D; Wise, Merrill S; Hrachovy, Richard A; Mizrahi, Eli M

2006-06-01

This study aimed at the development of a seizure-detection system by training neural networks with quantitative motion information extracted from short video segments of neonatal seizures of the myoclonic and focal clonic types and random infant movements. The motion of the infants' body parts was quantified by temporal motion-strength signals extracted from video segments by motion-segmentation methods based on optical flow computation. The area of each frame occupied by the infants' moving body parts was segmented by clustering the motion parameters obtained by fitting an affine model to the pixel velocities. The motion of the infants' body parts also was quantified by temporal motion-trajectory signals extracted from video recordings by robust motion trackers based on block-motion models. These motion trackers were developed to adjust autonomously to illumination and contrast changes that may occur during the video-frame sequence. Video segments were represented by quantitative features obtained by analyzing motion-strength and motion-trajectory signals in both the time and frequency domains. Seizure recognition was performed by conventional feed-forward neural networks, quantum neural networks, and cosine radial basis function neural networks, which were trained to detect neonatal seizures of the myoclonic and focal clonic types and to distinguish them from random infant movements. The computational tools and procedures developed for automated seizure detection were evaluated on a set of 240 video segments of 54 patients exhibiting myoclonic seizures (80 segments), focal clonic seizures (80 segments), and random infant movements (80 segments). Regardless of the decision scheme used for interpreting the responses of the trained neural networks, all the neural network models exhibited sensitivity and specificity>90%. For one of the decision schemes proposed for interpreting the responses of the trained neural networks, the majority of the trained neural-network models exhibited sensitivity>90% and specificity>95%. In particular, cosine radial basis function neural networks achieved the performance targets of this phase of the project (i.e., sensitivity>95% and specificity>95%). The best among the motion segmentation and tracking methods developed in this study produced quantitative features that constitute a reliable basis for detecting neonatal seizures. The performance targets of this phase of the project were achieved by combining the quantitative features obtained by analyzing motion-strength signals with those produced by analyzing motion-trajectory signals. The computational procedures and tools developed in this study to perform off-line analysis of short video segments will be used in the next phase of this project, which involves the integration of these procedures and tools into a system that can process and analyze long video recordings of infants monitored for seizures in real time.

An incremental DPMM-based method for trajectory clustering, modeling, and retrieval.

PubMed

Hu, Weiming; Li, Xi; Tian, Guodong; Maybank, Stephen; Zhang, Zhongfei

2013-05-01

Trajectory analysis is the basis for many applications, such as indexing of motion events in videos, activity recognition, and surveillance. In this paper, the Dirichlet process mixture model (DPMM) is applied to trajectory clustering, modeling, and retrieval. We propose an incremental version of a DPMM-based clustering algorithm and apply it to cluster trajectories. An appropriate number of trajectory clusters is determined automatically. When trajectories belonging to new clusters arrive, the new clusters can be identified online and added to the model without any retraining using the previous data. A time-sensitive Dirichlet process mixture model (tDPMM) is applied to each trajectory cluster for learning the trajectory pattern which represents the time-series characteristics of the trajectories in the cluster. Then, a parameterized index is constructed for each cluster. A novel likelihood estimation algorithm for the tDPMM is proposed, and a trajectory-based video retrieval model is developed. The tDPMM-based probabilistic matching method and the DPMM-based model growing method are combined to make the retrieval model scalable and adaptable. Experimental comparisons with state-of-the-art algorithms demonstrate the effectiveness of our algorithm.

Equilibrium points and associated periodic orbits in the gravity of binary asteroid systems: (66391) 1999 KW4 as an example

NASA Astrophysics Data System (ADS)

Shi, Yu; Wang, Yue; Xu, Shijie

2018-04-01

The motion of a massless particle in the gravity of a binary asteroid system, referred as the restricted full three-body problem (RF3BP), is fundamental, not only for the evolution of the binary system, but also for the design of relevant space missions. In this paper, equilibrium points and associated periodic orbit families in the gravity of a binary system are investigated, with the binary (66391) 1999 KW4 as an example. The polyhedron shape model is used to describe irregular shapes and corresponding gravity fields of the primary and secondary of (66391) 1999 KW4, which is more accurate than the ellipsoid shape model in previous studies and provides a high-fidelity representation of the gravitational environment. Both of the synchronous and non-synchronous states of the binary system are considered. For the synchronous binary system, the equilibrium points and their stability are determined, and periodic orbit families emanating from each equilibrium point are generated by using the shooting (multiple shooting) method and the homotopy method, where the homotopy function connects the circular restricted three-body problem and RF3BP. In the non-synchronous binary system, trajectories of equivalent equilibrium points are calculated, and the associated periodic orbits are obtained by using the homotopy method, where the homotopy function connects the synchronous and non-synchronous systems. Although only the binary (66391) 1999 KW4 is considered, our methods will also be well applicable to other binary systems with polyhedron shape data. Our results on equilibrium points and associated periodic orbits provide general insights into the dynamical environment and orbital behaviors in proximity of small binary asteroids and enable the trajectory design and mission operations in future binary system explorations.

Astronaut John Glenn tests balance mechanism performance

NASA Image and Video Library

1962-02-01

S64-14849 (1962) --- Astronaut John H. Glenn Jr.'s balance mechanism (semi-circular-canals) is tested by running cool water into his ear and measuring effect on eye motions (nystagmus). Photo credit: NASA