40 CFR 1065.310 - Torque calibration.

Code of Federal Regulations, 2012 CFR

2012-07-01

... reference force is measured. The lever arm must be perpendicular to gravity (i.e., horizontal), and it must... known distance along a lever arm. Make sure the weights' lever arm is perpendicular to gravity (i.e... gravity (using this equation: force = mass · acceleration). The local acceleration of gravity, a g, at...

Spacecraft stability and control

NASA Technical Reports Server (NTRS)

Barret, Chris

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Today, satellite stability and control has become a higher priority. For a satellite design that is to have a life expectancy of 14 years, appropriate spacecraft flight control systems will be reviewed, stability requirements investigated, and an appropriate flight control system recommended in order to see the design process. Disturbance torques, including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques, will be assessed to quantify the disturbance environment so that the required compensating torques can be determined. The control torques, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, inertia augmentation techniques, three-axis control, and reaction control systems (RCSs), will be considered. Conditions for stability will also be considered.

Gravitational force and torque on a solar power satellite considering the structural flexibility

NASA Astrophysics Data System (ADS)

Zhao, Yi; Zhang, Jingrui; Zhang, Yao; Zhang, Jun; Hu, Quan

2017-11-01

The solar power satellites (SPS) are designed to collect the constant solar energy and beam it to Earth. They are traditionally large in scale and flexible in structure. In order to obtain an accurate model of such system, the analytical expressions of the gravitational force, gravity gradient torque and modal force are investigated. They are expanded to the fourth order in a Taylor series with the elastic displacements considered. It is assumed that the deformation of the structure is relatively small compared with its characteristic length, so that the assumed mode method is applicable. The high-order moments of inertia and flexibility coefficients are presented. The comprehensive dynamics of a large flexible SPS and its orbital, attitude and vibration evolutions with different order gravitational forces, gravity gradient torques and modal forces in geosynchronous Earth orbit are performed. Numerical simulations show that an accurate representation of the SPS‧ dynamic characteristics requires the retention of the higher moments of inertia and flexibility. Perturbations of orbit, attitude and vibration can be retained to the 1-2nd order gravitational forces, the 1-2nd order gravity gradient torques and the 1-2nd order modal forces for a large flexible SPS in geosynchronous Earth orbit.

Acceleration and torque feedback for robotic control - Experimental results

NASA Technical Reports Server (NTRS)

Mclnroy, John E.; Saridis, George N.

1990-01-01

Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

Combined Effects of Gravity, Bending Moment, Bearing Clearance, and Input Torque on Wind Turbine Planetary Gear Load Sharing: Preprint

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

Guo, Y.; Keller, J.; LaCava, W.

2012-09-01

This computational work investigates planetary gear load sharing of three-mount suspension wind turbine gearboxes. A three dimensional multibody dynamic model is established, including gravity, bending moments, fluctuating mesh stiffness, nonlinear tooth contact, and bearing clearance. A flexible main shaft, planetary carrier, housing, and gear shafts are modeled using reduced degrees-of-freedom through modal compensation. This drivetrain model is validated against the experimental data of Gearbox Reliability Collaborative for gearbox internal loads. Planet load sharing is a combined effect of gravity, bending moment, bearing clearance, and input torque. Influences of each of these parameters and their combined effects on the resulting planetmore » load sharing are investigated. Bending moments and gravity induce fundamental excitations in the rotating carrier frame, which can increase gearbox internal loads and disturb load sharing. Clearance in carrier bearings reduces the bearing load carrying capacity and thus the bending moment from the rotor can be transmitted into gear meshes. With bearing clearance, the bending moment can cause tooth micropitting and can induce planet bearing fatigue, leading to reduced gearbox life. Planet bearings are susceptible to skidding at low input torque.« less

Atmospheric Gravitational Torque Variations Based on Various Gravity Fields

NASA Technical Reports Server (NTRS)

Sanchez, Braulio V.; Rowlands, David; Smith, David E. (Technical Monitor)

2001-01-01

Advancements in the study of the Earth's variable rate of rotation and the motion of its rotation axis have given impetus to the analysis of the torques between the atmosphere, oceans and solid Earth. The output from global general circulation models of the atmosphere (pressure, surface stress) is being used as input to the torque computations. Gravitational torque between the atmosphere, oceans and solid Earth is an important component of the torque budget. Computation of the gravitational torque involves the adoption of a gravitational model from a wide variety available. The purpose of this investigation is to ascertain to what extent this choice might influence the results of gravitational torque computations.

Investigation of Motorcycle Steering Torque Components

NASA Astrophysics Data System (ADS)

Cossalter, V.; Lot, R.; Massaro, M.; Peretto, M.

2011-10-01

When driving along a circular path, the rider controls a motorcycle mainly by the steering torque. This work addresses an in-depth analysis of the steady state cornering and in particular the decomposition of the motorcycle steering torque in its main components, such as road-tyre forces, gyroscopic torques, centrifugal and gravity effects. A detailed and experimentally validated multibody model of the motorcycle is used herein to analyze the steering torque components at different speeds and lateral accelerations. First the road tests are compared with the numerical results for three different vehicles and then a numerical investigation is carried out to decompose the steering torque. Finally, the effect of longitudinal acceleration and deceleration on steering torque components is presented.

Magnetic attitude control torque generation of a gravity gradient stabilized satellite

NASA Astrophysics Data System (ADS)

Suhadis, N. M.; Salleh, M. B.; Rajendran, P.

2018-05-01

Magnetic torquer is used to generate a magnetic dipole moment onboard satellites whereby a control torque for attitude control purposes is generated when it couples with the geomagnetic field. This technique has been considered very attractive for satellites operated in Low Earth Orbit (LEO) as the strength of the geomagnetic field is relatively high below the altitude of 1000 km. This paper presents the algorithm used to generate required magnetic dipole moment by 3 magnetic torquers mounted onboard a gravity gradient stabilized satellite operated at an altitude of 540 km with nadir pointing mission. As the geomagnetic field cannot be altered and its magnitude and direction vary with respect to the orbit altitude and inclination, a comparison study of attitude control torque generation performance with various orbit inclination is performed where the structured control algorithm is simulated for 13°, 33° and 53° orbit inclinations to see how the variation of the satellite orbit affects the satellite's attitude control torque generation. Results from simulation show that the higher orbit inclination generates optimum magnetic attitude control torque for accurate nadir pointing mission.

Effect of gravity-like torque on goal-directed arm movements in microgravity.

PubMed

Bringoux, L; Blouin, J; Coyle, T; Ruget, H; Mouchnino, L

2012-05-01

Gravitational force level is well-known to influence arm motor control. Specifically, hyper- or microgravity environments drastically change pointing accuracy and kinematics, particularly during initial exposure. These modifications are thought to partly reflect impairment in arm position sense. Here we investigated whether applying normogravitational constraints at joint level during microgravity episodes of parabolic flights could restore movement accuracy equivalent to that observed on Earth. Subjects with eyes closed performed arm reaching movements toward predefined sagittal angular positions in four environment conditions: normogravity, hypergravity, microgravity, and microgravity with elastic bands attached to the arm to mimic gravity-like torque at the shoulder joint. We found that subjects overshot and undershot the target orientations in hypergravity and microgravity, respectively, relative to a normogravity baseline. Strikingly, adding gravity-like torque prior to and during movements performed in microgravity allowed subjects to be as accurate as in normogravity. In the former condition, arm movement kinematics, as notably illustrated by the relative time to peak velocity, were also unchanged relative to normogravity, whereas significant modifications were found in hyper- and microgravity. Overall, these results suggest that arm motor planning and control are tuned with respect to gravitational information issued from joint torque, which presumably enhances arm position sense and activates internal models optimally adapted to the gravitoinertial environment.

40 CFR 1065.310 - Torque calibration.

Code of Federal Regulations, 2010 CFR

2010-07-01

... maintenance. Use good engineering judgment to repeat the calibration. Follow the torque transducer... the U.S. National Oceanographic and Atmospheric Administration's surface gravity prediction Web site at http://www.ngs.noaa.gov/cgi-bin/grav_pdx.prl. If this Web site is unavailable, you may use the...

40 CFR 1065.310 - Torque calibration.

Code of Federal Regulations, 2011 CFR

2011-07-01

... maintenance. Use good engineering judgment to repeat the calibration. Follow the torque transducer... the U.S. National Oceanographic and Atmospheric Administration's surface gravity prediction Web site at http://www.ngs.noaa.gov/cgi-bin/grav_pdx.prl. If this Web site is unavailable, you may use the...

Spacecraft flight control system design selection process for a geostationary communication satellite

NASA Technical Reports Server (NTRS)

Barret, C.

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Now, as we launch the Mars observer and the Cassini spacecraft, stability and control have become higher priorities. The flight control system design selection process is reviewed using as an example a geostationary communication satellite which is to have a life expectancy of 10 to 14 years. Disturbance torques including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques are assessed to quantify the disturbance environment so that the required compensating torque can be determined. Then control torque options, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, nutation dampers, inertia augmentation techniques, three-axis control, reactions control system (RCS), and RCS sizing, are considered. A flight control system design is then selected and preliminary stability criteria are met by the control gains selection.

Extended transiting discs and rings around planets and brown dwarfs: theoretical constraints

NASA Astrophysics Data System (ADS)

Zanazzi, J. J.; Lai, Dong

2017-02-01

Newly formed planets (or brown dwarfs) may possess discs or rings which occupy an appreciable fraction of the planet's Hill sphere and extend beyond the Laplace radius, where the tidal torque from the host star dominates over the torque from the oblate planet. Such a disc/ring can exhibit unique, detectable transit signatures, provided that the disc/ring is significantly misaligned with the orbital plane of the planet. There exists tentative evidence for an extended ring system around the young K5 star 1 SWASP J140747-354542. We present a general theoretical study of the inclination (warp) profile of circumplanetary discs under the combined influences of the tidal torque from the central star, the torque from the oblate planet, and the self-gravity of the disc. We calculate the equilibrium warp profile (`generalized Laplace surface') and investigate the condition for coherent precession of the disc. We find that to maintain a non-negligible misalignment between the extended outer disc and the planet's orbital plane, and to ensure coherent disc precession, the disc surface density must be sufficiently large so that the self-gravity torque overcomes the tidal torque from the central star. Our analysis and quantitative results can be used to constrain the parameters of transiting circumplanetary discs which may be detected in the future.

Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance

NASA Astrophysics Data System (ADS)

He, Jun; Gao, Feng; Bai, Yongjun; Wu, Shengfu

2013-11-01

The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

Electrical torques on the electrostatic gyro in the gyro relativity experiment

NASA Technical Reports Server (NTRS)

Eby, P.; Darbo, W.

1980-01-01

A comprehensive discussion and calculation of electrical torques on an electrostatic gyro as they relate to the gyroscope experiment to test general relativity is presented. Drift rates were computed for some typical state of the art rotors, including higher harmonics in the rotor shape. The effect of orbital averaging of gravity gradient forces, roll averaging of torques, and the effect of spin averaging on the effective shape of the rotor were considered. The electrical torques are reduced sufficiently in a low g environment to permit a measurement of the relativistic drifts predicted by general relativity.

Building complex simulations rapidly using MATRIX(x): The Space Station redesign

NASA Technical Reports Server (NTRS)

Carrington, C. K.

1994-01-01

MSFC's quick response to the Space Station redesign effort last year required the development of a computer simulation to model the attitude and station-keeping dynamics of a complex body with rotating solar arrays in orbit around the Earth. The simulation was written using a rapid-prototyping graphical simulation and design tool called MATRIX(x) and provided the capability to quickly remodel complex configuration changes by icon manipulation using a mouse. The simulation determines time-dependent inertia properties, and models forces and torques from gravity-gradient, solar radiation, and aerodynamic disturbances. Surface models are easily built from a selection of beams, plates, tetrahedrons, and cylinders. An optimization scheme was written to determine the torque equilibrium attitudes that balance gravity-gradient and aerodynamic torques over an orbit, and propellant-usage estimates were determined. The simulation has been adapted to model the attitude dynamics for small spacecraft.

Quantifying anti-gravity torques in the design of a powered exoskeleton.

PubMed

Ragonesi, Daniel; Agrawal, Sunil; Sample, Whitney; Rahman, Tariq

2011-01-01

Designing an upper extremity exoskeleton for people with arm weakness requires knowledge of the passive and active residual force capabilities of users. This paper experimentally measures the passive gravitational torques of 3 groups of subjects: able-bodied adults, able bodied children, and children with neurological disabilities. The experiment involves moving the arm to various positions in the sagittal plane and measuring the gravitational force at the wrist. This force is then converted to static gravitational torques at the elbow and shoulder. Data are compared between look-up table data based on anthropometry and empirical data. Results show that the look-up torques deviate from experimentally measured torques as the arm reaches up and down. This experiment informs designers of Upper Limb orthoses on the contribution of passive human joint torques.

A study of numerical methods of solution of the equations of motion of a controlled satellite under the influence of gravity gradient torque

NASA Technical Reports Server (NTRS)

Thompson, J. F.; Mcwhorter, J. C.; Siddiqi, S. A.; Shanks, S. P.

1973-01-01

Numerical methods of integration of the equations of motion of a controlled satellite under the influence of gravity-gradient torque are considered. The results of computer experimentation using a number of Runge-Kutta, multi-step, and extrapolation methods for the numerical integration of this differential system are presented, and particularly efficient methods are noted. A large bibliography of numerical methods for initial value problems for ordinary differential equations is presented, and a compilation of Runge-Kutta and multistep formulas is given. Less common numerical integration techniques from the literature are noted for further consideration.

Estimation of Gravitation Parameters of Saturnian Moons Using Cassini Attitude Control Flight Data

NASA Technical Reports Server (NTRS)

Krening, Samantha C.

2013-01-01

A major science objective of the Cassini mission is to study Saturnian satellites. The gravitational properties of each Saturnian moon is of interest not only to scientists but also to attitude control engineers. When the Cassini spacecraft flies close to a moon, a gravity gradient torque is exerted on the spacecraft due to the mass of the moon. The gravity gradient torque will alter the spin rates of the reaction wheels (RWA). The change of each reaction wheel's spin rate might lead to overspeed issues or operating the wheel bearings in an undesirable boundary lubrication condition. Hence, it is imperative to understand how the gravity gradient torque caused by a moon will affect the reaction wheels in order to protect the health of the hardware. The attitude control telemetry from low-altitude flybys of Saturn's moons can be used to estimate the gravitational parameter of the moon or the distance between the centers of mass of Cassini and the moon. Flight data from several low altitude flybys of three Saturnian moons, Dione, Rhea, and Enceladus, were used to estimate the gravitational parameters of these moons. Results are compared with values given in the literature.

Non-ferromagnetic retinal tacks are a tolerable risk in magnetic resonance imaging.

PubMed

Kuethe, D O; Small, K W; Blinder, R A

1991-01-01

Should patients with cobalt alloy (ASTM F563) retinal tacks (Grieshaber cat. #611.95) in their eyes be subjected to the magnetic fields used in magnetic resonance imaging? Although the tacks are not ferromagnetic, they will experience a retarding torque when they are moved at the high angular velocities of human eye motion. Because retinal tacks are small (2.85 mm x 0.9 mm), the torque is difficult to measure. Rather, we measured the torque on a model 25.4 times larger and used a scaling law derived from Maxwell's equations to calculate the force on the tack. The scaling law states that the torque varies with the cube of the object's length. To mimic the motion, models of retinal tacks were attached to Plexiglas rods and the assemblies were swung as pendulums. The pendulums were oriented in the magnetic field of a 1.5 T imager to experience the greatest retardation. Retarding torques were estimated from the rate of decrease of the pendulum amplitude, both inside and outside the magnet. Even if the retinal tacks were as conductive as 6061T6 aluminum alloy (25 MS/m) and the velocity of the surface of the eye were 24 cm/s (angular vel. of 1130 deg/s), the retarding torque would be only 1.6 times the weight of the tack acting with a lever arm as long as the distance from its tip to its center of gravity. The maximum retarding torque on an implanted retinal tack in a 1.5 T magnet is similar to the torque produced by gravity alone acting on the tack and is a tolerable risk.(ABSTRACT TRUNCATED AT 250 WORDS)

Simplified model of statistically stationary spacecraft rotation and associated induced gravity environments

NASA Technical Reports Server (NTRS)

Fichtl, G. H.; Holland, R. L.

1978-01-01

A stochastic model of spacecraft motion was developed based on the assumption that the net torque vector due to crew activity and rocket thruster firings is a statistically stationary Gaussian vector process. The process had zero ensemble mean value, and the components of the torque vector were mutually stochastically independent. The linearized rigid-body equations of motion were used to derive the autospectral density functions of the components of the spacecraft rotation vector. The cross-spectral density functions of the components of the rotation vector vanish for all frequencies so that the components of rotation were mutually stochastically independent. The autospectral and cross-spectral density functions of the induced gravity environment imparted to scientific apparatus rigidly attached to the spacecraft were calculated from the rotation rate spectral density functions via linearized inertial frame to body-fixed principal axis frame transformation formulae. The induced gravity process was a Gaussian one with zero mean value. Transformation formulae were used to rotate the principal axis body-fixed frame to which the rotation rate and induced gravity vector were referred to a body-fixed frame in which the components of the induced gravity vector were stochastically independent. Rice's theory of exceedances was used to calculate expected exceedance rates of the components of the rotation and induced gravity vector processes.

Short Range Tests of Gravity

NASA Astrophysics Data System (ADS)

Cardenas, Crystal; Harter, Andrew; Hoyle, C. D.; Leopardi, Holly; Smith, David

2014-03-01

Gravity was the first force to be described mathematically, yet it is the only fundamental force not well understood. The Standard Model of quantum mechanics describes interactions between the fundamental strong, weak and electromagnetic forces while Einstein's theory of General Relativity (GR) describes the fundamental force of gravity. There is yet to be a theory that unifies inconsistencies between GR and quantum mechanics. Scenarios of String Theory predicting more than three spatial dimensions also predict physical effects of gravity at sub-millimeter levels that would alter the gravitational inverse-square law. The Weak Equivalence Principle (WEP), a central feature of GR, states that all objects are accelerated at the same rate in a gravitational field independent of their composition. A violation of the WEP at any length would be evidence that current models of gravity are incorrect. At the Humboldt State University Gravitational Research Laboratory, an experiment is being developed to observe gravitational interactions below the 50-micron distance scale. The experiment measures the twist of a parallel-plate torsion pendulum as an attractor mass is oscillated within 50 microns of the pendulum, providing time varying gravitational torque on the pendulum. The size and distance dependence of the torque amplitude provide means to determine deviations from accepted models of gravity on untested distance scales. undergraduate.

Compensation of an attitude disturbance torque caused by magnetic substances in LEO satellites

NASA Astrophysics Data System (ADS)

Inamori, Takaya; Wang, Jihe; Saisutjarit, Phongsatorn; Ohsaki, Hiroyuki

This research considers an attitude disturbance torque caused by ferromagnetic substances in a LEO satellite. In most LEO satellite missions, a gravity gradient torque, solar pressure torque, aerodynamic torque, and magnetic dipole moment torque are considered for their attitude control systems, however, the effect of the ferromagnetic substances causing a disturbance torque in the geomagnetic field is not considered in previous satellite missions. The ferromagnetic substances such as iron cores of MTQs and a magnetic hysteresis damper for a passive attitude control system are used in various small satellites. These substances cause a disturbance torque which is almost the same magnitude of the dipole magnetic disturbance and the dominant disturbance in the worst cases. This research proposes a method to estimate and compensate for the effect of the ferromagnetic substances using an extended Kalman filter. From simulation results, the research concludes that the proposed method is useful and attractive for precise attitude control for LEO satellite missions.

Electrostatic analogy for symmetron gravity

NASA Astrophysics Data System (ADS)

Ogden, Lillie; Brown, Katherine; Mathur, Harsh; Rovelli, Kevin

2017-12-01

The symmetron model is a scalar-tensor theory of gravity with a screening mechanism that suppresses the effect of the symmetron field at high densities characteristic of the Solar System and laboratory scales but allows it to act with gravitational strength at low density on the cosmological scale. We elucidate the screening mechanism by showing that in the quasistatic Newtonian limit there are precise analogies between symmetron gravity and electrostatics for both strong and weak screening. For strong screening we find that large dense bodies behave in a manner analogous to perfect conductors in electrostatics. Based on this analogy we find that the symmetron field exhibits a lightning rod effect wherein the field gradients are enhanced near the ends of pointed or elongated objects. An ellipsoid placed in a uniform symmetron gradient is shown to experience a torque. By symmetry there is no gravitational torque in this case. Hence this effect unmasks the symmetron and might serve as the basis for future laboratory experiments. The symmetron force between a point mass and a large dense body includes a component corresponding to the interaction of the point mass with its image in the larger body. None of these effects have counterparts in the Newtonian limit of Einstein gravity. We discuss the similarities between symmetron gravity and the chameleon model as well as the differences between the two.

Torques on the gyro in the gyro relativity experiment

NASA Technical Reports Server (NTRS)

Eby, P.

1982-01-01

Whether the Newtonian drifts on the gyro as conceived in the gyro relativity experiment can be reduced to a level such that the geodetic and motional earth precessions of general relativity can be detected is addressed. Torques due to gas drag, electrical charging, mass unbalance, cosmic ray impacts, magnetic fields, and gravity gradients in a inclined orbit are calculated and discussed. The conditions necessary for the required accuracy are given.

Effects of solar radiation pressure torque on the rotational motion of an artificial satellite

NASA Technical Reports Server (NTRS)

Zanardi, Maria Cecilia F. P. S.; Vilhenademoraes, Rodolpho

1992-01-01

The motion of an artificial satellite about its center of mass is studied considering torques due to the gravity gradient and direct solar radiation pressure. A model for direct solar radiation torque is derived for a circular cylindrical satellite. An analytical solution is obtained by the method of variation of the parameters. This solution shows that the angular variables have secular variation but that the modulus of the rotational angular momentum, the projection of rotational angular momentum on the z axis of the moment of inertia and inertial axis z, suffer only periodic variations. Considering a hypothetical artificial satellite, a numerical application is demonstrated.

Lyapunov optimal feedback control of a nonlinear inverted pendulum

NASA Technical Reports Server (NTRS)

Grantham, W. J.; Anderson, M. J.

1989-01-01

Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

The effect of a competitive wrestling season on body weight, hydration, and muscular performance in collegiate wrestlers.

PubMed

Buford, Thomas W; Rossi, Stephen J; Smith, Douglas B; O'Brien, Matthew S; Pickering, Chris

2006-08-01

The purpose of the present investigation was to examine the effects of a collegiate wrestling season on body weight, hydration, and muscular performance. Twelve Division I collegiate wrestlers (mean +/- SE; 20.75 +/- 0.41 year) volunteered to participate in testing sessions during midseason and 3 weeks following the season. Testing consisted of weigh-in, providing a urine sample for hydration analysis, and a measure of isometric leg extension peak torque. Weight significantly increased (p < 0.05) following the completion of the competitive season. No significant change in urine specific gravity (p > 0.05) was observed. Muscular performance was affected by the season as peak torque (PT) and PT-to-body weight ratio increased significantly (p < 0.05). Following the collegiate wrestling season, augmentation in body weight and muscular performance of the wrestlers occurs without alterations in hydration status. Further research is warranted on what type of strength training program would most effectively reduce the decrements in strength associated with weight loss and the strain of a competitive season.

Autonomous spacecraft attitude control using magnetic torquing only

NASA Technical Reports Server (NTRS)

Musser, Keith L.; Ebert, Ward L.

1989-01-01

Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.

Can the self-propulsion of anisotropic microswimmers be described by using forces and torques?

NASA Astrophysics Data System (ADS)

ten Hagen, Borge; Wittkowski, Raphael; Takagi, Daisuke; Kümmel, Felix; Bechinger, Clemens; Löwen, Hartmut

2015-05-01

The self-propulsion of artificial and biological microswimmers (or active colloidal particles) has often been modelled by using a force and a torque entering into the overdamped equations for the Brownian motion of passive particles. This seemingly contradicts the fact that a swimmer is force-free and torque-free, i.e. that the net force and torque on the particle vanish. Using different models for mechanical and diffusiophoretic self-propulsion, we demonstrate here that the equations of motion of microswimmers can be mapped onto those of passive particles with the shape-dependent grand resistance matrix and formally external effective forces and torques. This is consistent with experimental findings on the circular motion of artificial asymmetric microswimmers driven by self-diffusiophoresis. The concept of effective self-propulsion forces and torques significantly facilitates the understanding of the swimming paths, e.g. for a microswimmer under gravity. However, this concept has its limitations when the self-propulsion mechanism of a swimmer is disturbed either by another particle in its close vicinity or by interactions with obstacles, such as a wall.

Frisbees, Can Lids, and Gyroscopic Effects.

ERIC Educational Resources Information Center

Crane, H. Richard

1983-01-01

Provides an explanation for the observed motion of frisbees, can lids, "clay pidgeons," and flat stones when these objects are thrown through the air. Explanation focuses on forces (gravity and air), torque, and gyroscopic precession. (JN)

A description of the thruster attitude control simulation and its application to the HEAO-C study

NASA Technical Reports Server (NTRS)

Brandon, L. B.

1971-01-01

During the design and evaluation of a reaction control system (RCS), it is desirable to have a digital computer program simulating vehicle dynamics, disturbance torques, control torques, and RCS logic. The thruster attitude control simulation (TACS) is just such a computer program. The TACS is a relatively sophisticated digital computer program that includes all the major parameters involved in the attitude control of a vehicle using an RCS for control. It includes the effects of gravity gradient torques and HEAO-C aerodynamic torques so that realistic runs can be made in the areas of fuel consumption and engine actuation rates. Also, the program is general enough that any engine configuration and logic scheme can be implemented in a reasonable amount of time. The results of the application of the TACS in the HEAO-C study are included.

Atmospheric thermal tides and planetary spin. I. The complex interplay between stratification and rotation

NASA Astrophysics Data System (ADS)

Auclair-Desrotour, P.; Mathis, S.; Laskar, J.

2018-02-01

Context. Thermal atmospheric tides can torque telluric planets away from spin-orbit synchronous rotation, as observed in the case of Venus. They thus participate in determining the possible climates and general circulations of the atmospheres of these planets. Aims: The thermal tidal torque exerted on an atmosphere depends on its internal structure and rotation and on the tidal frequency. Particularly, it strongly varies with the convective stability of the entropy stratification. This dependence has to be characterized to constrain and predict the rotational properties of observed telluric exoplanets. Moreover, it is necessary to validate the approximations used in global modelings such as the traditional approximation, which is used to obtain separable solutions for tidal waves. Methods: We wrote the equations governing the dynamics of thermal tides in a local vertically stratified section of a rotating planetary atmosphere by taking into account the effects of the complete Coriolis acceleration on tidal waves. This allowed us to analytically derive the tidal torque and the tidally dissipated energy, which we used to discuss the possible regimes of tidal dissipation and to examine the key role played by stratification. Results: In agreement with early studies, we find that the frequency dependence of the thermal atmospheric tidal torque in the vicinity of synchronization can be approximated by a Maxwell model. This behavior corresponds to weakly stably stratified or convective fluid layers, as observed previously. A strong stable stratification allows gravity waves to propagate, and makes the tidal torque negligible. The transition is continuous between these two regimes. The traditional approximation appears to be valid in thin atmospheres and in regimes where the rotation frequency is dominated by the forcing or the buoyancy frequencies. Conclusions: Depending on the stability of their atmospheres with respect to convection, observed exoplanets can be tidally driven toward synchronous or asynchronous final rotation rates. The domain of applicability of the traditional approximation is rigorously constrained by calculations.

The effects of creatine supplementation on thermoregulation and isokinetic muscular performance following acute (3-day) supplementation.

PubMed

Rosene, J M; Matthews, T D; Mcbride, K J; Galla, A; Haun, M; Mcdonald, K; Gagne, N; Lea, J; Kasen, J; Farias, C

2015-12-01

The purpose of this investigation was to determine the effects of 3 d of creatine supplementation on thermoregulation and isokinetic muscular performance. Fourteen males performed two exercise bouts following 3 d of creatine supplementation and placebo. Subjects exercised for 60 min at 60-65% of VO2max in the heat followed by isokinetic muscular performance at 60, 180, and 300°·s(-1). Dependent variables for pre- and postexercise included nude body weight, urine specific gravity, and serum creatinine levels. Total body water, extracellular water and intracellular water were measured pre-exercise. Core temperature was assessed every 5 min during exercise. Peak torque and Fatigue Index were used to assess isokinetic muscular performance. Core temperature increased during the run for both conditions. Total body water and extracellular water were significantly greater (P<0.05) following creatine supplementation. No significant difference (P>0.05) was found between conditions for intracellular water, nude body weight, urine specific gravity, and serum creatinine. Pre-exercise scores for urine specific gravity and serum creatinine were significantly less (P<0.05) versus post-exercise. No significant differences (P>0.05) were found in peak torque values or Fatigue Index between conditions for each velocity. A significant (P<0.05) overall velocity effect was found for both flexion and extension. As velocity increased, mean peak torque values decreased. Three d of creatine supplementation does not affect thermoregulation during submaximal exercise in the heat and is not enough to elicit an ergogenic effect for isokinetic muscle performance following endurance activity.

Derivation of the Torque Associated to Tesseral Resonances

NASA Astrophysics Data System (ADS)

El Moutamid, Maryame

2018-04-01

A so-called m+1:m Tesseral Resonance is simply equivalent to an inner m+1:m Lindblad Resonance or an outer Lindblad Resonance, where m is an integer. They are generated between a gravity anomaly that rotates with the primary and a test particle evolving around this primary, instead of being caused by a secondary, meaning that in this case the particle and the secondary do not share the same orbit. We show in this work that the torque is stronger for small values of |m|; as |m| tends to infinity, the torque tends to zero and that the Lagrange points are displaced away from the usual triangular configuration. These simple results have interesting implications on Saturn, Chariklo and Mars.

Adaptive momentum management for the dual keel Space Station

NASA Technical Reports Server (NTRS)

Hopkins, M.; Hahn, E.

1987-01-01

The report discusses momentum management for a large space structure with the structure selected configuration being the Initial Orbital Configuration of the dual-keel Space Station. The external torques considered were gravity gradient and aerodynamic torques. The goal of the momentum management scheme developed is to remove the bias components of the external torques and center the cyclic components of the stored angular momentum. The scheme investigated is adaptive to uncertainties of the inertia tensor and requires only approximate knowledge of principal moments of inertia. Computational requirements are minimal and should present no implementation problem in a flight-type computer. The method proposed is shown to be effective in the presence of attitude control bandwidths as low as 0.01 radian/sec.

The Influence of Surface Gravity Waves on Marine Current Turbine Performance

NASA Astrophysics Data System (ADS)

Lust, E.; Luznik, L.; Flack, K. A.; Walker, J.; Van Benthem, M.

2013-12-01

Surface gravity waves can significantly impact operating conditions for a marine current turbine, imparting unsteady velocities several orders of magnitude larger than the ambient turbulence. The influence of surface waves on the performance characteristics of a two-bladed horizontal axis marine current turbine was investigated experimentally in a large towing tank facility at the United States Naval Academy. The turbine model had a 0.8 m diameter (D) rotor with a NACA 63-618 cross section, which is Reynolds number independent with respect to lift coefficient in the operating range of Rec ≈ 4 x 105. The torque, thrust and rotational speed were measured at a range of tip speed ratios (TSR) from 5 < TSR < 11. Tests were performed at two rotor depths (1.3D and 2.25D) with and without waves. The average turbine performance characteristics were largely unchanged by depth or the presence of waves. However, tests with waves indicate large variations in thrust, rotational speed, and torque occurred with the passage of the wave. These results demonstrate the impact of surface gravity waves on power production and structural loading and suggest that turbines should be positioned vertically within the water column at a depth which maximizes power output while minimizing material fatigue. Keywords-- marine current turbine, tidal turbine, towing-tank experiments, surface gravity waves, fatigue loading, phase averaging

Deformation of a micro-torque swimmer

PubMed Central

Ishikawa, Takuji; Tanaka, Tomoyuki; Imai, Yohsuke; Omori, Toshihiro; Matsunaga, Daiki

2016-01-01

The membrane tension of some kinds of ciliates has been suggested to regulate upward and downward swimming velocities under gravity. Despite its biological importance, deformation and membrane tension of a ciliate have not been clarified fully. In this study, we numerically investigated the deformation of a ciliate swimming freely in a fluid otherwise at rest. The cell body was modelled as a capsule with a hyperelastic membrane enclosing a Newtonian fluid. Thrust forces due to the ciliary beat were modelled as torques distributed above the cell body. The effects of membrane elasticity, the aspect ratio of the cell's reference shape, and the density difference between the cell and the surrounding fluid were investigated. The results showed that the cell deformed like a heart shape, when the capillary number was sufficiently large. Under the influence of gravity, the membrane tension at the anterior end decreased in the upward swimming while it increased in the downward swimming. Moreover, gravity-induced deformation caused the cells to move gravitationally downwards or upwards, which resulted in a positive or negative geotaxis-like behaviour with a physical origin. These results are important in understanding the physiology of a ciliate's biological responses to mechanical stimuli. PMID:26997893

Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

NASA Astrophysics Data System (ADS)

Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

2017-08-01

In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.

Stability analysis of multiple-robot control systems

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

The Zig-zag Instability of Streamlined Bodies

NASA Astrophysics Data System (ADS)

Guillet, Thibault; Coux, Martin; Quere, David; Clanet, Christophe

2017-11-01

When a floating bluff body, like a sphere, impacts water with a vertical velocity, its trajectory is straight and the depth of its dive increases with its initial velocity. Even though we observe the same phenomenon at low impact speed for axisymmetric streamlined bodies, the trajectory is found to deviate from the vertical when the velocity overcomes a critical value. This instability results from a competition between the destabilizing torque of the lift and the stabilizing torque of the Archimede's force. Balancing these torques yields a prediction on the critical velocity above which the instability appears. This theoretical value is found to depend on the position of the gravity center of the projectile and predicts with a full agreement the behaviour observed in our different experiments. Project funded by DGA.

Stresses in Implant-Supported Fixed Complete Dentures with Different Screw-Tightening Sequences and Torque Application Modes.

PubMed

Barcellos, Leonardo H; Palmeiro, Marina Lobato; Naconecy, Marcos M; Geremia, Tomás; Cervieri, André; Shinkai, Rosemary S

2018-05-17

To compare the effects of different screw-tightening sequences and torque applications on stresses in implant-supported fixed complete dentures supported by five abutments. Strain gauges fixed to the abutments were used to test the sequences 2-4-3-1-5; 1-2-3-4-5; 3-2-4-1-5; and 2-5-4-1-3 with direct 10-Ncm torque or progressive torque (5 + 10 Ncm). Data were analyzed using analysis of variance and standardized effect size. No effects of tightening sequence or torque application were found except for the sequence 3-2-4-1-5 and some small to moderate effect sizes. Screw-tightening sequences and torque application modes have only a marginal effect on residual stresses.

Deformable micro torque swimmer

NASA Astrophysics Data System (ADS)

Ishikawa, Takuji; Tanaka, Tomoyuki; Omori, Toshihiro; Imai, Yohsuke

2015-11-01

We investigated the deformation of a ciliate swimming freely in a fluid otherwise at rest. The cell body was modeled as a capsule with a hyper elastic membrane enclosing Newtonian fluid. Thrust forces due to the ciliary beat were modeled as torques distributed above the cell body. Effects of the membrane elasticity, the aspect ratio of cell's reference shape and the density difference between the cell and the surrounding fluid were investigated. The results showed that the cell deformed like heart shape when Capillary number (Ca) was sufficiently large, and the swimming velocity decreased as Ca was increased. The gravity effect on the membrane tension suggested that the upwards and downwards swimming velocities of Paramecium might be reglated by the calcium ion channels distributed locally around the anterior end. Moreover, the gravity induced deformation made a cell directed vertically downwards, which resulted in a positive geotaxis like behavior with physical origin. These results are important to understand physiology of ciliate's biological responses to mechanical stimuli.

Aerothermal Analysis and Design of the Gravity Recovery and Climate Experiment (GRACE) Spacecraft

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D.; Kumar, Renjith R.; Qu, Min; Seywald, Hans

2000-01-01

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

A simple orbit-attitude coupled modelling method for large solar power satellites

NASA Astrophysics Data System (ADS)

Li, Qingjun; Wang, Bo; Deng, Zichen; Ouyang, Huajiang; Wei, Yi

2018-04-01

A simple modelling method is proposed to study the orbit-attitude coupled dynamics of large solar power satellites based on natural coordinate formulation. The generalized coordinates are composed of Cartesian coordinates of two points and Cartesian components of two unitary vectors instead of Euler angles and angular velocities, which is the reason for its simplicity. Firstly, in order to develop natural coordinate formulation to take gravitational force and gravity gradient torque of a rigid body into account, Taylor series expansion is adopted to approximate the gravitational potential energy. The equations of motion are constructed through constrained Hamilton's equations. Then, an energy- and constraint-conserving algorithm is presented to solve the differential-algebraic equations. Finally, the proposed method is applied to simulate the orbit-attitude coupled dynamics and control of a large solar power satellite considering gravity gradient torque and solar radiation pressure. This method is also applicable to dynamic modelling of other rigid multibody aerospace systems.

Equilibria of a charged artificial satellite subject to gravitational and Lorentz torques

NASA Astrophysics Data System (ADS)

Abdel-Aziz, Yehia A.; Shoaib, Muhammad

2014-07-01

The attitude dynamics of a rigid artificial satellite subject to a gravity gradient and Lorentz torques in a circular orbit are considered. Lorentz torque is developed on the basis of the electrodynamic effects of the Lorentz force acting on the charged satellite's surface. We assume that the satellite is moving in a Low Earth Orbit in the geomagnetic field, which is considered to be a dipole. Our model of torque due to the Lorentz force is developed for an artificial satellite with a general shape, and the nonlinear differential equations of Euler are used to describe its attitude orientation. All equilibrium positions are determined and conditions for their existence are obtained. The numerical results show that the charge q and radius ρ0 of the center of charge for the satellite provide a certain type of semi-passive control for the attitude of the satellite. The technique for this kind of control would be to increase or decrease the electrostatic screening on the satellite. The results obtained confirm that the change in charge can affect the magnitude of the Lorentz torque, which can also affect control of the satellite. Moreover, the relationship between magnitude of the Lorentz torque and inclination of the orbit is investigated.

Hamstrings to quadriceps peak torque ratios diverge between sexes with increasing isokinetic angular velocity.

PubMed

Hewett, Timothy E; Myer, Gregory D; Zazulak, Bohdanna T

2008-09-01

Our purpose was to determine if females demonstrate decreased hamstrings to quadriceps peak torque (H/Q) ratios compared to males and if H/Q ratios increase with increased isokinetic velocity in both sexes. Maturation disproportionately increases hamstrings peak torque at high velocity in males, but not females. Therefore, we hypothesised that mature females would demonstrate decreased H/Q ratios compared to males and the difference in H/Q ratio between sexes would increase as isokinetic velocity increased. Studies that analysed the H/Q ratio with gravity corrected isokinetic strength testing reported between 1967 and 2004 were included in our review and analysis. Keywords were hamstrings/quadriceps, isokinetics, peak torque and gravity corrected. Medline and Smart databases were searched combined with cross-checked bibliographic reference lists of the publications to determine studies to be included. Twenty-two studies were included with a total of 1568 subjects (1145 male, 423 female). Males demonstrated a significant correlation between H/Q ratio and isokinetic velocity (R=0.634, p<0.0001), and a significant difference in the isokinetic H/Q ratio at the lowest angular velocity (47.8+/-2.2% at 30 degrees /s) compared to the highest velocity (81.4+/-1.1% at 360 degrees /s, p<0.001). In contrast, females did not demonstrate a significant relationship between H/Q ratio and isokinetic velocity (R=0.065, p=0.77) or a change in relative hamstrings strength as the speed increased (49.5+/-8.8% at 30 degrees /s; 51.0+/-5.7% at 360 degrees /s, p=0.84). Gender differences in isokinetic H/Q ratios were not observed at slower angular velocities. However, at high knee flexion/extension angular velocities, approaching those that occur during sports activities, significant gender differences were observed in the H/Q ratio. Females, unlike males, do not increase hamstrings to quadriceps torque ratios at velocities that approach those of functional activities.

Gyroscopic Motion: Show Me the Forces!

ERIC Educational Resources Information Center

Kaplan, Harvey; Hirsch, Andrew

2014-01-01

Gyroscopes are frequently used in physics lecture demonstrations and in laboratory activities to teach students about rotational dynamics, namely, angular momentum and torque. Use of these powerful concepts makes it difficult for students to fully comprehend the mechanism that keeps the gyroscope from falling under the force of gravity. The…

Simulation of sloshing dynamics induced forces and torques actuated on dewar container driven by gravity gradient and jitter accelerations in microgravity

NASA Technical Reports Server (NTRS)

Hung, R. J.; Pan, H. L.

1993-01-01

Some experimental spacecraft use superconducting sensors for gyro read-out and so must be maintained at a very low temperature. The boil-off from the cryogenic liquid used to cool the sensors can also be used, as the Gravity Probe B (GP-B) spacecraft does, as propellant to maintain attitude control and drag-free operation of the spacecraft. The cryogenic liquid for such spacecraft is, however, susceptible to both slosh-like motion and non-axisymmetric configurations under the influence of various kinds of gravity jitter and gravity gradient accelerations. Hence, it is important to quantify the magnitude of the liquid-induced perturbations on the spacecraft. We use the example of the GP-B to investigate such perturbations by numerical simulations. For this spacecraft disturbances can be imposed on the liquid by atmospheric drag, spacecraft attitude control maneuvers, and the earth's gravity gradient. More generally, onboard machinery vibrations and crew motion can also create disturbances. Recent studies suggest that high frequency disturbances are relatively unimportant in causing liquid motions in comparison to low frequency ones. The results presented here confirm this conclusion. After an initial calibration period, the GP-B spacecraft rotates in orbit at 0.1 rpm about the tank symmetry axis. For this rotation rate, the equilibrium liquid free surface shape is a 'doughnut' configuration for all residual gravity levels of 10(exp -6) g(sub 0) or less, as shown by experiments and by numerical simulations; furthermore, the superfluid behavior of the 1.8 K liquid helium used in GP-B eliminates temperature gradients and therefore such effects as Marangoni convection do not have to be considered. Classical fluid dynamics theory is used as the basis of the numerical simulations here, since Mason's experiments show that the theory is applicable for cryogenic liquid helium in large containers. To study liquid responses to various disturbances, we investigate and simulate three levels of gravity jitter (10(exp -6), 10(exp -7), and 10(exp -8) g(sub 0)) each at three predominant frequencies (0.1, 1.0, and 10 Hz), combined with a gravity gradient appropriate for the GP-B orbit. Dynamical evolution of sloshing dynamics excited fluid forces and torque fluctuations exerted on the dewar container driven by the combined gravity gradient and jitter accelerations are also investigated and simulated.

Disk in a groove with friction: An analysis of static equilibrium and indeterminacy

NASA Astrophysics Data System (ADS)

Donolato, Cesare

2018-05-01

This note studies the statics of a rigid disk placed in a V-shaped groove with frictional walls and subjected to gravity and a torque. The two-dimensional equilibrium problem is formulated in terms of the angles that contact forces form with the normal to the walls. This approach leads to a single trigonometric equation in two variables whose domain is determined by Coulomb's law of friction. The properties of solutions (existence, uniqueness, or indeterminacy) as functions of groove angle, friction coefficient and applied torque are derived by a simple geometric representation. The results modify some of the conclusions by other authors on the same problem.

Torques Induced by Scattered Pebble-flow in Protoplanetary Disks

NASA Astrophysics Data System (ADS)

Benítez-Llambay, Pablo; Pessah, Martin E.

2018-03-01

Fast inward migration of planetary cores is a common problem in the current planet formation paradigm. Even though dust is ubiquitous in protoplanetary disks, its dynamical role in the migration history of planetary embryos has not been assessed. In this Letter, we show that the scattered pebble-flow induced by a low-mass planetary embryo leads to an asymmetric dust-density distribution that is able to exert a net torque. By analyzing a large suite of multifluid hydrodynamical simulations addressing the interaction between the disk and a low-mass planet on a fixed circular orbit, and neglecting dust feedback onto the gas, we identify two different regimes, gas- and gravity-dominated, where the scattered pebble-flow results in almost all cases in positive torques. We collect our measurements in a first torque map for dusty disks, which will enable the incorporation of the effect of dust dynamics on migration into population synthesis models. Depending on the dust drift speed, the dust-to-gas mass ratio/distribution, and the embryo mass, the dust-induced torque has the potential to halt inward migration or even induce fast outward migration of planetary cores. We thus anticipate that dust-driven migration could play a dominant role during the formation history of planets. Because dust torques scale with disk metallicity, we propose that dust-driven outward migration may enhance the occurrence of distant giant planets in higher-metallicity systems.

Satellite attitude prediction by multiple time scales method

NASA Technical Reports Server (NTRS)

Tao, Y. C.; Ramnath, R.

1975-01-01

An investigation is made of the problem of predicting the attitude of satellites under the influence of external disturbing torques. The attitude dynamics are first expressed in a perturbation formulation which is then solved by the multiple scales approach. The independent variable, time, is extended into new scales, fast, slow, etc., and the integration is carried out separately in the new variables. The theory is applied to two different satellite configurations, rigid body and dual spin, each of which may have an asymmetric mass distribution. The disturbing torques considered are gravity gradient and geomagnetic. Finally, as multiple time scales approach separates slow and fast behaviors of satellite attitude motion, this property is used for the design of an attitude control device. A nutation damping control loop, using the geomagnetic torque for an earth pointing dual spin satellite, is designed in terms of the slow equation.

Momentum flux measurements: Techniques and needs, part 4.5A

NASA Technical Reports Server (NTRS)

Fritts, D. C.

1984-01-01

The vertical flux of horizontal momentum by internal gravity waves is now recognized to play a significant role in the large-scale circulation and thermal structure of the middle atmosphere. This is because a divergence of momentum flux due to wave dissipation results in an acceleration of the local mean flow towards the phase speed of the gravity wave. Such mean flow acceleration are required to offset the large zonal accelerations driven by Coriolis torques acting on the diabatic meridional circulation. Techniques and observations regarding the momentum flux distribution in the middle atmosphere are discussed.

Does the centre of mass remain stable during complex human postural equilibrium tasks in weightlessness?

NASA Astrophysics Data System (ADS)

Stapley, Paul; Pozzo, Thierry

In normal gravity conditions the execution of voluntary movement involves the displacement of body segments as well as the maintenance of a stable reference value for equilibrium control. It has been suggested that centre of mass (CM) projection within the supporting base (BS) is the stabilised reference for voluntary action, and is conserved in weightlessness. The purpose of this study was to determine if the CM is stabilised during whole body reaching movements executed in weightlessness. The reaching task was conducted by two cosmonauts aboard the Russian orbital station MIR, during the Franco-Russian mission ALTAIR, 1993. Movements of reflective markers were recorded using a videocamera, successive images being reconstructed by computer every 40ms. The position of the CM, ankle joint torques and shank and thigh angles were computed for each subject pre- in- and post-flight using a 7-link mathematical model. Results showed that both cosmonauts adopted a backward leaning posture prior to reaching movements. Inflight, the CM was displaced throughout values in the horizontal axis three times those of pre-flight measures. In addition, ankle dorsi flexor torques inflight increased to values double those of pre- and post-flight tests. This study concluded that CM displacements do not remain stable during complex postural equilibrium tasks executed in weightlessness. Furthermore, in the absence of gravity, subjects changed their strategy for producing ankle torque during spaceflight from a forward to a backward leaning posture.

Gravitational and Dynamic Components of Muscle Torque Underlie Tonic and Phasic Muscle Activity during Goal-Directed Reaching.

PubMed

Olesh, Erienne V; Pollard, Bradley S; Gritsenko, Valeriya

2017-01-01

Human reaching movements require complex muscle activations to produce the forces necessary to move the limb in a controlled manner. How gravity and the complex kinetic properties of the limb contribute to the generation of the muscle activation pattern by the central nervous system (CNS) is a long-standing and controversial question in neuroscience. To tackle this issue, muscle activity is often subdivided into static and phasic components. The former corresponds to posture maintenance and transitions between postures. The latter corresponds to active movement production and the compensation for the kinetic properties of the limb. In the present study, we improved the methodology for this subdivision of muscle activity into static and phasic components by relating them to joint torques. Ten healthy subjects pointed in virtual reality to visual targets arranged to create a standard center-out reaching task in three dimensions. Muscle activity and motion capture data were synchronously collected during the movements. The motion capture data were used to calculate postural and dynamic components of active muscle torques using a dynamic model of the arm with 5 degrees of freedom. Principal Component Analysis (PCA) was then applied to muscle activity and the torque components, separately, to reduce the dimensionality of the data. Muscle activity was also reconstructed from gravitational and dynamic torque components. Results show that the postural and dynamic components of muscle torque represent a significant amount of variance in muscle activity. This method could be used to define static and phasic components of muscle activity using muscle torques.

Gravitational and Dynamic Components of Muscle Torque Underlie Tonic and Phasic Muscle Activity during Goal-Directed Reaching

PubMed Central

Olesh, Erienne V.; Pollard, Bradley S.; Gritsenko, Valeriya

2017-01-01

Human reaching movements require complex muscle activations to produce the forces necessary to move the limb in a controlled manner. How gravity and the complex kinetic properties of the limb contribute to the generation of the muscle activation pattern by the central nervous system (CNS) is a long-standing and controversial question in neuroscience. To tackle this issue, muscle activity is often subdivided into static and phasic components. The former corresponds to posture maintenance and transitions between postures. The latter corresponds to active movement production and the compensation for the kinetic properties of the limb. In the present study, we improved the methodology for this subdivision of muscle activity into static and phasic components by relating them to joint torques. Ten healthy subjects pointed in virtual reality to visual targets arranged to create a standard center-out reaching task in three dimensions. Muscle activity and motion capture data were synchronously collected during the movements. The motion capture data were used to calculate postural and dynamic components of active muscle torques using a dynamic model of the arm with 5 degrees of freedom. Principal Component Analysis (PCA) was then applied to muscle activity and the torque components, separately, to reduce the dimensionality of the data. Muscle activity was also reconstructed from gravitational and dynamic torque components. Results show that the postural and dynamic components of muscle torque represent a significant amount of variance in muscle activity. This method could be used to define static and phasic components of muscle activity using muscle torques. PMID:29018339

Static stretching vs. dynamic warm-ups: a comparison of their effects on torque and electromyography output of the quadriceps and hamstring muscles.

PubMed

Williams, N; Coburn, J; Gillum, T

2015-11-01

The aim of this paper was to determine if two different warm-up protocols differently affect torque of the quadriceps and hamstrings, and electromyography (EMG) output of the rectus femoris (RF) and vastus lateralis (VL) when completing 30 maximal leg extensions and curls. Twenty-one healthy male (N.=8) and female (N.=13) subjects volunteered to participate in a familiarization session and three testing sessions. The three testing sessions control, dynamic, and static were completed in a counterbalanced order on non-consecutive days. First, subjects warmed-up on a treadmill for five minutes before completing six dynamic movements, six static-stretches, or no stretches. They then rested for five minutes before completing 30 maximal leg extensions and curls at a speed of 60 s-1. A significant decrease in quadriceps torque output over time was determined for the dynamic protocol when compared to the control (P<0.01) and static (P<0.05) protocols. A significant decrease was found in peak quadriceps torque for the dynamic protocol (P<0.01) when compared to the static, and a significant increase was found for the static protocol (P<0.05) when compared to the control. A significant decrease in average quadriceps torque was found for the dynamic protocol when compared to the static (P<0.05) and control (P<0.01) protocols. No difference was found in hamstring torque or EMG output of the RF and VL. Short duration static-stretching has the ability to increase peak and average torque of the leg extensors, while some types of anaerobic exercise involving maximal contractions to fatigue may be hindered by performing dynamic movements as part of the warm-up.

Effects of inactivation of the anterior interpositus nucleus on the kinematic and dynamic control of multijoint movement.

PubMed

Cooper, S E; Martin, J H; Ghez, C

2000-10-01

We previously showed that inactivating the anterior interpositus nucleus in cats disrupts prehension; paw paths, normally straight and accurate, become curved, hypometric, and more variable. In the present study, we determined the joint kinematic and dynamic origins of this impairment. Animals were restrained in a hammock and trained to reach and grasp a cube of meat from a narrow food well at varied heights; movements were monitored using the MacReflex analysis system. The anterior interpositus nucleus was inactivated by microinjection of the GABA agonist muscimol (0.25-0.5 microgram in 0.5 microliter saline). For each joint, we computed the torque due to gravity, inertial resistance (termed self torque), interjoint interactions (termed interaction torque), and the combined effects of active muscle contraction and passive soft tissue stretch (termed generalized muscle torque). Inactivation produced significant reductions in the amplitude, velocity, and acceleration of elbow flexion. However, these movements continued to scale normally with target height. Shoulder extension was reduced by inactivation but wrist angular displacement and velocity were not. Inactivation also produced changes in the temporal coordination between elbow, shoulder, and wrist kinematics. Dynamic analysis showed that elbow flexion both before and during inactivation was produced by the combined action of muscle and interaction torque, but that the timing depended on muscle torque. Elbow interaction and muscle torques were scaled to target height both before and during inactivation. Inactivation produced significant reductions in elbow flexor interaction and muscle torques. The duration of elbow flexor muscle torque was prolonged to compensate for the reduction in flexor interaction torque. Shoulder extension was produced by extensor interaction and muscle torques both before and during inactivation. Inactivation produced a reduction in shoulder extension, primarily by reduced interaction torque, but without compensation. Wrist plantarflexion, which occurred during elbow flexion, was driven by plantarflexor interaction and gravitational torques both before and during inactivation. Muscle torque acted in the opposite direction with a phase lead to restrain the plantarflexor interaction torque. During inactivation, there was a reduction in plantarflexor interaction torque and a loss of the phase lead of the muscle torque. Our findings implicate the C1/C3 anterior interpositus zone of the cerebellum in the anticipatory control of intersegmental dynamics during reaching, which zone is required for coordinating the motions of the shoulder and wrist with those of the elbow. In contrast, this cerebellar zone does not play a role in scaling the movement to match a target.

Computational Modeling Using OpenSim to Simulate a Squat Exercise Motion

NASA Technical Reports Server (NTRS)

Gallo, C. A.; Thompson, W. K.; Lewandowski, B. E.; Humphreys, B. T.; Funk, J. H.; Funk, N. H.; Weaver, A. S.; Perusek, G. P.; Sheehan, C. C.; Mulugeta, L.

2015-01-01

Long duration space travel to destinations such as Mars or an asteroid will expose astronauts to extended periods of reduced gravity. Astronauts will use an exercise regime for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Since the area available in the spacecraft for an exercise device is limited and gravity is not present to aid loading, compact resistance exercise device prototypes are being developed. Since it is difficult to rigorously test these proposed devices in space flight, computational modeling provides an estimation of the muscle forces, joint torques and joint loads during exercise to gain insight on the efficacy to protect the musculoskeletal health of astronauts.

Kinematic functions for redundancy resolution using configuration control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1994-01-01

The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix of the end-effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.

Internal Stresses Lead to Net Forces and Torques on Extended Elastic Bodies

NASA Astrophysics Data System (ADS)

Aharoni, Hillel; Kolinski, John M.; Moshe, Michael; Meirzada, Idan; Sharon, Eran

2016-09-01

A geometrically frustrated elastic body will develop residual stresses arising from the mismatch between the intrinsic geometry of the body and the geometry of the ambient space. We analyze these stresses for an ambient space with gradients in its intrinsic curvature, and show that residual stresses generate effective forces and torques on the center of mass of the body. We analytically calculate these forces in two dimensions, and experimentally demonstrate their action by the migration of a non-Euclidean gel disc in a curved Hele-Shaw cell. An extension of our analysis to higher dimensions shows that these forces are also generated in three dimensions, but are negligible compared to gravity.

The effect of tidal forces on the minimum energy configurations of the full three-body problem

NASA Astrophysics Data System (ADS)

Levine, Edward

We investigate the evolution of minimum energy configurations for the Full Three Body Problem (3BP). A stable ternary asteroid system will gradually become unstable due to the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) effect and an unpredictable trajectory will ensue. Through the interaction of tidal torques, energy in the system will dissipate in the form of heat until a stable minimum energy configuration is reached. We present a simulation that describes the dynamical evolution of three bodies under the mutual effects of gravity and tidal torques. Simulations show that bodies do not get stuck in local minima and transition to the predicted minimum energy configuration.

Momentum Management Tool for Low-Thrust Missions

NASA Technical Reports Server (NTRS)

Swenka, Edward R.; Smith, Brett A.; Vanelli, Charles A.

2010-01-01

A momentum management tool was designed for the Dawn low-thrust interplanetary spacecraft en route to the asteroids Vesta and Ceres, in an effort to better understand the early creation of the solar system. Momentum must be managed to ensure the spacecraft has enough control authority to perform necessary turns and hold a fixed inertial attitude against external torques. Along with torques from solar pressure and gravity-gradients, ion-propulsion engines produce a torque about the thrust axis that must be countered by the four reaction wheel assemblies (RWA). MomProf is a ground operations tool built to address these concerns. The momentum management tool was developed during initial checkout and early cruise, and has been refined to accommodate a wide range of momentum-management issues. With every activity or sequence, wheel speeds and momentum state must be checked to avoid undesirable conditions and use of consumables. MomProf was developed to operate in the MATLAB environment. All data are loaded into MATLAB as a structure to provide consistent access to all inputs by individual functions within the tool. Used in its most basic application, the Dawn momentum tool uses the basic principle of angular momentum conservation, computing momentum in the body frame, and RWA wheel speeds, for all given orientations in the input file. MomProf was designed specifically to be able to handle the changing external torques and frequent de - saturations. Incorporating significant external torques adds complexity since there are various external torques that act under different operational modes.

Lightweight Monorail Transport System

NASA Technical Reports Server (NTRS)

Weir, Harold F.; Wood, Kenneth E.; Strecker, Myron T.

1987-01-01

Report proposes monorail transportation system for zero-gravity environment. System carries materials and parts between locations on space station. Includes tubular rails instead of open channels usually found in overhead conveyor systems. Since resistance to torque of closed tube greater than that of open channel for same amount of material, tubular monorail designed for higher loads or for greater spacing between support points.

Development of an Objective Space Suit Mobility Performance Metric Using Metabolic Cost and Functional Tasks

NASA Technical Reports Server (NTRS)

McFarland, Shane M.; Norcross, Jason

2016-01-01

Existing methods for evaluating EVA suit performance and mobility have historically concentrated on isolated joint range of motion and torque. However, these techniques do little to evaluate how well a suited crewmember can actually perform during an EVA. An alternative method of characterizing suited mobility through measurement of metabolic cost to the wearer has been evaluated at Johnson Space Center over the past several years. The most recent study involved six test subjects completing multiple trials of various functional tasks in each of three different space suits; the results indicated it was often possible to discern between different suit designs on the basis of metabolic cost alone. However, other variables may have an effect on real-world suited performance; namely, completion time of the task, the gravity field in which the task is completed, etc. While previous results have analyzed completion time, metabolic cost, and metabolic cost normalized to system mass individually, it is desirable to develop a single metric comprising these (and potentially other) performance metrics. This paper outlines the background upon which this single-score metric is determined to be feasible, and initial efforts to develop such a metric. Forward work includes variable coefficient determination and verification of the metric through repeated testing.

Customized altitude-azimuth mount for a raster-scanning Fourier transform spectrometer

NASA Astrophysics Data System (ADS)

Durrenberger, Jed E.; Gutman, William M.; Gammill, Troy D.; Grover, Dennis H.

1996-10-01

Applications of the Army Research Laboratory Mobile Atmospheric Spectrometer Remote Sensing Rover required development of a customized computer-controlled mount to satisfy a variety of requirements within a limited budget. The payload was designed to operate atop a military electronics shelter mounted on a 4-wheel drive truck to be above most atmospheric ground turbulence. Pointing orientation in altitude is limited by constraints imposed by use of a liquid nitrogen detector Dewar in the spectrometer. Stepper motor drives and control system are compatible with existing custom software used with other instrumentation for controlled incremental raster stepping. The altitude axis passes close to the center of gravity of the complete payload to minimize load eccentricity and drive torque requirements. Dovetail fixture mounting enables quick service and fine adjustment of balance to minimize stepper/gearbox drive backlash through the limited orientation range in altitude. Initial applications to characterization of remote gas plumes have been successful.

The accuracy of dynamic attitude propagation

NASA Technical Reports Server (NTRS)

Harvie, E.; Chu, D.; Woodard, M.

1990-01-01

Propagating attitude by integrating Euler's equation for rigid body motion has long been suggested for the Earth Radiation Budget Satellite (ERBS) but until now has not been implemented. Because of limited Sun visibility, propagation is necessary for yaw determination. With the deterioration of the gyros, dynamic propagation has become more attractive. Angular rates are derived from integrating Euler's equation with a stepsize of 1 second, using torques computed from telemetered control system data. The environmental torque model was quite basic. It included gravity gradient and unshadowed aerodynamic torques. Knowledge of control torques is critical to the accuracy of dynamic modeling. Due to their coarseness and sparsity, control actuator telemetry were smoothed before integration. The dynamic model was incorporated into existing ERBS attitude determination software. Modeled rates were then used for attitude propagation in the standard ERBS fine-attitude algorithm. In spite of the simplicity of the approach, the dynamically propagated attitude matched the attitude propagated with good gyros well for roll and yaw but diverged up to 3 degrees for pitch because of the very low resolution in pitch momentum wheel telemetry. When control anomalies significantly perturb the nominal attitude, the effect of telemetry granularity is reduced and the dynamically propagated attitudes are accurate on all three axes.

Attitude stabilization of a spacecraft equipped with large electrostatic protection screens

NASA Astrophysics Data System (ADS)

Nikitin, D. Yu.; Tikhonov, A. A.

2018-05-01

A satellite with a system of three electrostatic radiation protection (ERP) screens is under consideration. The screens are constructed as electrostatically charged toroidal shields with characteristic size of order equal to 100 m. The interaction of electric charge with the Earth's magnetic field (EMF) give rise to the Lorentz torque acting upon a satellite attitude motion. As the sizes of ERP system are large, we derive the Lorentz torque taking into account the complex form of ERP screens and gradient of the EMF in the screen volume. It is assumed that the satellite center of charge coincides with the satellite mass center. The EMF is modeled by the straight magnetic dipole. In the paper we investigate the usage of Lorentz torque for passive attitude stabilization for satellite in a circular equatorial orbit. Mathematical model for attitude dynamics of a satellite equipped with ERP interacting with the EMF is derived and first integral of corresponding differential equations is constructed. The straight equilibrium position of the satellite in the orbital frame is found. Sufficient conditions for stability of satellite equilibrium position are constructed with the use of the first integral. The gravity gradient torque is taken into account. The satellite equilibrium stability domain is constructed.

Dynamical Models for Sloshing Dynamics of Helium 2 Under Low-G Conditions

NASA Technical Reports Server (NTRS)

Hung, R. J.; Long, Y. T.

1997-01-01

Coupling of sloshing dynamics within a partially filled rotating dewar of superfluid helium 2 with spacecraft dynamics are investigated in response to the realistic environmental disturbance forces and torques acting on the spacecraft during normal operation. This study investigates: (1) the rotating bubble of superfluid helium 2 reacting to combined environmental disturbances, including gravity gradient, aerodynamic, and magnetic forces and torques; (2) characteristics of slosh reaction forces and torques coupling with spacecraft dynamics; (3) the contribution of slosh dynamics to over-all spacecraft dynamics; and (4) activating of attitude and translation control system. The numerical computation of sloshing dynamics is based on the rotational frame, while the spacecraft dynamics is associated with non-rotational frame. Results show that the contributions of spacecraft dynamics are driven by the environmental disturbances coupling with slosh dynamics. Without considering the effects of environmental disturbances-driven slosh dynamics acting on spacecraft coupling with the spacecraft dynamics may lead to the wrong results for the development of spacecraft system guidance and attitude control techniques.

Tests of the Weak Equivalence Principal Below Fifty Microns

NASA Astrophysics Data System (ADS)

Leopardi, Holly; Hoyle, C. D.; Smith, Dave; Cardenas, Crystal; Harter, Andrew Conrad

2014-03-01

Due to the incompatibility of the Standard Model and General Relativity, tests of gravity remain at the forefront of experimental physics research. The Weak Equivalence Principle (WEP), which states that in a uniform gravitational field all objects fall with the same acceleration regardless of composition, total mass, or structure, is fundamentally the result of the equality of inertial mass and gravitational mass. The WEP has been effectively studied since the time of Galileo, and is a central feature of General Relativity; its violation at any length scale would bring into question fundamental aspects of the current model of gravitational physics. A variety of scenarios predict possible mechanisms that could result in a violation of the WEP. The Humboldt State University Gravitational Physics Laboratory is using a torsion pendulum with equal masses of different materials (a ``composition dipole'' configuration) to determine whether the WEP holds below the 50-micron distance scale. The experiment will measure the twist of a torsion pendulum as an attractor mass is oscillated nearby in a parallel-plate configuration, providing a time varying torque on the pendulum. The size and distance dependence of the torque variation will provide means to determine deviations from accepted models of gravity on untested distance scales. P.I.

Recursive computation of mutual potential between two polyhedra

NASA Astrophysics Data System (ADS)

Hirabayashi, Masatoshi; Scheeres, Daniel J.

2013-11-01

Recursive computation of mutual potential, force, and torque between two polyhedra is studied. Based on formulations by Werner and Scheeres (Celest Mech Dyn Astron 91:337-349, 2005) and Fahnestock and Scheeres (Celest Mech Dyn Astron 96:317-339, 2006) who applied the Legendre polynomial expansion to gravity interactions and expressed each order term by a shape-dependent part and a shape-independent part, this paper generalizes the computation of each order term, giving recursive relations of the shape-dependent part. To consider the potential, force, and torque, we introduce three tensors. This method is applicable to any multi-body systems. Finally, we implement this recursive computation to simulate the dynamics of a two rigid-body system that consists of two equal-sized parallelepipeds.

Proposed CMG momentum management scheme for space station

NASA Technical Reports Server (NTRS)

Bishop, L. R.; Bishop, R. H.; Lindsay, K. L.

1987-01-01

A discrete control moment gyro (CMG) momentum management scheme (MMS) applicable to spacecraft with principal axes misalignments, such as the proposed NASA dual keel space station, is presented in this paper. The objective of the MMS is to minmize CMG angular momentum storage requirements for maintaining the space station near local vertical in the presence of environmental disturbances. It utilizes available environmental disturbances, namely gravity gradient torques, to minimize CMG momentum storage. The MMS is executed once per orbit and generates a commanded torque equilibrium attitude (TEA) time history which consists of a yaw, pitch and roll angle command profile. Although the algorithm is called only once per orbit to compute the TEA profile, the space station will maneuver several discrete times each orbit.

Adaptive momentum management for large space structures

NASA Technical Reports Server (NTRS)

Hahn, E.

1987-01-01

Momentum management is discussed for a Large Space Structure (LSS) with the structure selected configuration being the Initial Orbital Configuration (IOC) of the dual keel space station. The external forces considered were gravity gradient and aerodynamic torques. The goal of the momentum management scheme developed is to remove the bias components of the external torques and center the cyclic components of the stored angular momentum. The scheme investigated is adaptive to uncertainties of the inertia tensor and requires only approximate knowledge of principle moments of inertia. Computational requirements are minimal and should present no implementation problem in a flight type computer and the method proposed is shown to be effective in the presence of attitude control bandwidths as low as .01 radian/sec.

Pointing and tracking control for freedom's Solar Dynamic modules and vibration control of freedom

NASA Technical Reports Server (NTRS)

Quinn, Roger D.; Chen, Jiunn-Liang

1992-01-01

A control strategy is presented for pointing particular modules of flexible multibody space structures while simultaneously attenuating structural vibrations. The application that is addressed is the planned Space Station Freedom in a growth configuration with Solar Dynamic (SD) module. A NASTRAN model of Freedom is used to demonstrate the control strategy. Two cases of SD concentrator fine-pointing controller bandwidths are studied with examples. The effect of limiting the controller motor torques to realistic baseline values is examined. SD pointing and station vibration control is accomplished during realistic disturbances due to aerodynamic drag, Shuttle docking, and Shuttle reaction control system plume impingement on SD. Gravity gradient induced torques on SD are relatively small and pseudo-steady.

Analysis of the torque capacity of a completely customized lingual appliance of the next generation

PubMed Central

2014-01-01

Introduction In lingual orthodontic therapy, effective torque control of the incisors is crucial due to the biomechanical particularities associated with the point of force application and the tight link between third order deviations and vertical tooth position. Aim The aim of the present in vitro investigation was to analyze the torque capacity of a completely customized lingual appliance of the next generation (WIN) in combination with different finishing archwire dimensions. Methods Using a typodont of the upper arch carrying the WIN appliance, slot filling and undersized individualized β-titanium archwires were engaged. Horizontal forces ranging from 0 to 100 cN were applied at the central incisor by means of spring gauges. The resulting angular deviations were recorded and the corresponding torque moments were calculated. Results For fullsize archwires (0.018”×0.018” β-titanium and 0.018”×0.025” β-titanium), an initial torque play of 0-2° had to be overcome prior to the development of an effective torque moment. Thereafter, a linear correlation between torque angle and torque moment developed for both archwire dimensions with steeper slopes calculated for the specimens with the larger dimension. A torque moment of 2 Nmm required for effective torque correction was noted after a minimum of 2-3° of twist for the 0.018”×0.018” β-titanium wires as compared to 2-4° for the 0.018”×0.025” β-titanium study sample. When undersized archwires were analyzed (0.0175”×0.0175” β-titanium), the measured torque play ranged from 5-7°. After 8-12° of torque angle, the threshold of 2 Nmm was reached. A linear relationship between twist angle and torque moment in which the steepness of the slopes was generally flatter than the ones calculated for the slot filling archwires was noted. Conclusions Given the high precision of the bracket slot-archwire-combination provided with the WIN appliance, an effective torque control can be clinically realized. PMID:24502426

Evoked EMG-based torque prediction under muscle fatigue in implanted neural stimulation

NASA Astrophysics Data System (ADS)

Hayashibe, Mitsuhiro; Zhang, Qin; Guiraud, David; Fattal, Charles

2011-10-01

In patients with complete spinal cord injury, fatigue occurs rapidly and there is no proprioceptive feedback regarding the current muscle condition. Therefore, it is essential to monitor the muscle state and assess the expected muscle response to improve the current FES system toward adaptive force/torque control in the presence of muscle fatigue. Our team implanted neural and epimysial electrodes in a complete paraplegic patient in 1999. We carried out a case study, in the specific case of implanted stimulation, in order to verify the corresponding torque prediction based on stimulus evoked EMG (eEMG) when muscle fatigue is occurring during electrical stimulation. Indeed, in implanted stimulation, the relationship between stimulation parameters and output torques is more stable than external stimulation in which the electrode location strongly affects the quality of the recruitment. Thus, the assumption that changes in the stimulation-torque relationship would be mainly due to muscle fatigue can be made reasonably. The eEMG was proved to be correlated to the generated torque during the continuous stimulation while the frequency of eEMG also decreased during fatigue. The median frequency showed a similar variation trend to the mean absolute value of eEMG. Torque prediction during fatigue-inducing tests was performed based on eEMG in model cross-validation where the model was identified using recruitment test data. The torque prediction, apart from the potentiation period, showed acceptable tracking performances that would enable us to perform adaptive closed-loop control through implanted neural stimulation in the future.

Manifestations of the rotation and gravity of the Earth in high-energy physics experiments

NASA Astrophysics Data System (ADS)

Obukhov, Yuri N.; Silenko, Alexander J.; Teryaev, Oleg V.

2016-08-01

The inertial (due to rotation) and gravitational fields of the Earth affect the motion of an elementary particle and its spin dynamics. This influence is not negligible and should be taken into account in high-energy physics experiments. Earth's influence is manifest in perturbations in the particle motion, in an additional precession of the spin, and in a change of the constitutive tensor of the Maxwell electrodynamics. Bigger corrections are oscillatory, and their contributions average to zero. Other corrections due to the inhomogeneity of the inertial field are not oscillatory but they are very small and may be important only for the storage ring electric dipole moment experiments. Earth's gravity causes the Newton-like force, the reaction force provided by a focusing system, and additional torques acting on the spin. However, there are no observable indications of the electromagnetic effects due to Earth's gravity.

Measuring attitude with a gradiometer

NASA Technical Reports Server (NTRS)

Sonnabend, David; Gardner, Thomas G.

1994-01-01

This paper explores using a gravity gradiometer to measure the attitude of a satellite, given that the gravity field is accurately known. Since gradiometers actually measure a combination of the gradient and attitude rate and acceleration terms, the answer is far from obvious. The paper demonstrates that it can be done and at microradian accuracy. The technique employed is dynamic estimation, based on the momentum biased Euler equations. The satellite is assumed nominally planet pointed, and subject to control, gravity gradient, and partly radom drag torques. The attitude estimator is unusual. While the standard method of feeding back measurement residuals is used, the feedback gain matrix isn't derived from Kalman theory. instead, it's chosen to minimize a measure of the terminal covariance of the error in the estimate. This depends on the gain matrix and the power spectra of all the process and measurement noises. An integration is required over multiple solutions of Lyapunov equations.

Satellite attitude motion models for capture and retrieval investigations

NASA Technical Reports Server (NTRS)

Cochran, John E., Jr.; Lahr, Brian S.

1986-01-01

The primary purpose of this research is to provide mathematical models which may be used in the investigation of various aspects of the remote capture and retrieval of uncontrolled satellites. Emphasis has been placed on analytical models; however, to verify analytical solutions, numerical integration must be used. Also, for satellites of certain types, numerical integration may be the only practical or perhaps the only possible method of solution. First, to provide a basis for analytical and numerical work, uncontrolled satellites were categorized using criteria based on: (1) orbital motions, (2) external angular momenta, (3) internal angular momenta, (4) physical characteristics, and (5) the stability of their equilibrium states. Several analytical solutions for the attitude motions of satellite models were compiled, checked, corrected in some minor respects and their short-term prediction capabilities were investigated. Single-rigid-body, dual-spin and multi-rotor configurations are treated. To verify the analytical models and to see how the true motion of a satellite which is acted upon by environmental torques differs from its corresponding torque-free motion, a numerical simulation code was developed. This code contains a relatively general satellite model and models for gravity-gradient and aerodynamic torques. The spacecraft physical model for the code and the equations of motion are given. The two environmental torque models are described.

Cerebellar ataxia: abnormal control of interaction torques across multiple joints.

PubMed

Bastian, A J; Martin, T A; Keating, J G; Thach, W T

1996-07-01

1. We studied seven subjects with cerebellar lesions and seven control subjects as they made reaching movements in the sagittal plane to a target directly in front of them. Reaches were made under three different conditions: 1) "slow-accurate," 2) "fast-accurate," and 3) "fast as possible." All subjects were videotaped moving in a sagittal plane with markers on the index finger, wrist, elbow, and shoulder. Marker positions were digitized and then used to calculate joint angles. For each of the shoulder, elbow and wrist joints, inverse dynamics equations based on a three-segment limb model were used to estimate the net torque (sum of components) and each of the component torques. The component torques consisted of the torque due to gravity, the dynamic interaction torques induced passively by the movement of the adjacent joint, and the torque produced by the muscles and passive tissue elements (sometimes called "residual" torque). 2. A kinematic analysis of the movement trajectory and the change in joint angles showed that the reaches of subjects with cerebellar lesions were abnormal compared with reaches of control subjects. In both the slow-accurate and fast-accurate conditions the cerebellar subjects made abnormally curved wrist paths; the curvature was greater in the slow-accurate condition. During the slow-accurate condition, cerebellar subjects showed target undershoot and tended to move one joint at a time (decomposition). During the fast-accurate reaches, the cerebellar subjects showed target overshoot. Additionally, in the fast-accurate condition, cerebellar subjects moved the joints at abnormal rates relative to one another, but the movements were less decomposed. Only three subjects were tested in the fast as possible condition; this condition was analyzed only to determine maximal reaching speeds of subjects with cerebellar lesions. Cerebellar subjects moved more slowly than controls in all three conditions. 3. A kinetic analysis of torques generated at each joint during the slow-accurate reaches and the fast-accurate reaches revealed that subjects with cerebellar lesions produced very different torque profiles compared with control subjects. In the slow-accurate condition, the cerebellar subjects produced abnormal elbow muscle torques that prevented the normal elbow extension early in the reach. In the fast-accurate condition, the cerebellar subjects produced inappropriate levels of shoulder muscle torque and also produced elbow muscle torques that did not very appropriately with the dynamic interaction torques that occurred at the elbow. Lack of appropriate muscle torque resulted in excessive contributions of the dynamic interaction torque during the fast-accurate reaches. 4. The inability to produce muscle torques that predict, accommodate, and compensate for the dynamic interaction torques appears to be an important cause of the classic kinematic deficits shown by cerebellar subjects during attempted reaching. These kinematic deficits include incoordination of the shoulder and the elbow joints, a curved trajectory, and overshoot. In the fast-accurate condition, cerebellar subjects often made inappropriate muscle torques relative to the dynamic interaction torques. Because of this, interaction torques often determined the pattern of incoordination of the elbow and shoulder that produced the curved trajectory and target overshoot. In the slow-accurate condition, we reason that the cerebellar subjects may use a decomposition strategy so as to simplify the movement and not have to control both joints simultaneously. From these results, we suggest that a major role of the cerebellum is in generating muscle torques at a joint that will predict the interaction torques being generated by other moving joints and compensate for them as they occur.

Reusable Solid Rocket Motor Nozzle Joint 5 Redesign

NASA Technical Reports Server (NTRS)

Lui, R. C.; Stratton, T. C.; LaMont, D. T.

2003-01-01

Torque tension testing of a newly designed Reusable Solid Rocket Motor nozzle bolted assembly was successfully completed. Test results showed that the 3-sigma preload variation was as expected at the required input torque level and the preload relaxation were within the engineering limits. A shim installation technique was demonstrated as a simple process to fill a shear lip gap between nozzle housings in the joint region. A new automated torque system was successfully demonstrated in this test. This torque control tool was found to be very precise and accurate. The bolted assembly performance was further evaluated using the Nozzle Structural Test Bed. Both current socket head cap screw and proposed multiphase alloy bolt configurations were tested. Results indicated that joint skip and bolt bending were significantly reduced with the new multiphase alloy bolt design. This paper summarizes all the test results completed to date.

Efficient micromagnetic modelling of spin-transfer torque and spin-orbit torque

NASA Astrophysics Data System (ADS)

Abert, Claas; Bruckner, Florian; Vogler, Christoph; Suess, Dieter

2018-05-01

While the spin-diffusion model is considered one of the most complete and accurate tools for the description of spin transport and spin torque, its solution in the context of dynamical micromagnetic simulations is numerically expensive. We propose a procedure to retrieve the free parameters of a simple macro-spin like spin-torque model through the spin-diffusion model. In case of spin-transfer torque the simplified model complies with the model of Slonczewski. A similar model can be established for the description of spin-orbit torque. In both cases the spin-diffusion model enables the retrieval of free model parameters from the geometry and the material parameters of the system. Since these parameters usually have to be determined phenomenologically through experiments, the proposed method combines the strength of the diffusion model to resolve material parameters and geometry with the high performance of simple torque models.

MUSCLE WEAKNESS, FATIGUE, AND TORQUE VARIABILITY: EFFECTS OF AGE AND MOBILITY STATUS

PubMed Central

KENT-BRAUN, JANE A.; CALLAHAN, DAMIEN M.; FAY, JESSICA L.; FOULIS, STEPHEN A.; BUONACCORSI, JOHN P.

2013-01-01

Introduction Whereas deficits in muscle function, particularly power production, develop in old age and are risk factors for mobility impairment, a complete understanding of muscle fatigue during dynamic contractions is lacking. We tested hypotheses related to torque-producing capacity, fatigue resistance, and variability of torque production during repeated maximal contractions in healthy older, mobility-impaired older, and young women. Methods Knee extensor fatigue (decline in torque) was measured during 4 min of dynamic contractions. Torque variability was characterized using a novel 4-component logistic regression model. Results Young women produced more torque at baseline and during the protocol than older women (P < 0.001). Although fatigue did not differ between groups (P = 0.53), torque variability differed by group (P = 0.022) and was greater in older impaired compared with young women (P = 0.010). Conclusions These results suggest that increased torque variability may combine with baseline muscle weakness to limit function, particularly in older adults with mobility impairments. PMID:23674266

By counteracting gravity, triceps surae sets both kinematics and kinetics of gait

PubMed Central

Honeine, Jean‐Louis; Schieppati, Marco; Gagey, Oliver; Do, Manh‐Cuong

2014-01-01

Abstract In the single‐stance phase of gait, gravity acting on the center of mass (CoM) causes a disequilibrium torque, which generates propulsive force. Triceps surae activity resists gravity by restraining forward tibial rotation thereby tuning CoM momentum. We hypothesized that time and amplitude modulation of triceps surae activity determines the kinematics (step length and cadence) and kinetics of gait. Nineteen young subjects participated in two experiments. In the gait initiation (GI) protocol, subjects deliberately initiated walking at different velocities for the same step length. In the balance‐recovery (BR) protocol, subjects executed steps of different length after being unexpectedly released from an inclined posture. Ground reaction force was recorded by a large force platform and electromyography of soleus, gastrocnemius medialis and lateralis, and tibialis anterior muscles was collected by wireless surface electrodes. In both protocols, the duration of triceps activity was highly correlated with single‐stance duration (GI, R2 = 0.68; BR, R2 = 0.91). In turn, step length was highly correlated with single‐stance duration (BR, R2 = 0.70). Control of CoM momentum was obtained by decelerating the CoM fall via modulation of amplitude of triceps activity. By modulation of triceps activity, the central nervous system (CNS) varied the position of CoM with respect to the center of pressure (CoP). The CoM‐CoP gap in the sagittal plane was determinant for setting the disequilibrium torque and thus walking velocity. Thus, by controlling the gap, CNS‐modified walking velocity (GI, R2 = 0.86; BR, R2 = 0.92). This study is the first to highlight that by merely counteracting gravity, triceps activity sets the kinematics and kinetics of gait. It also provides evidence that the surge in triceps activity during fast walking is due to the increased requirement of braking the fall of CoM in late stance in order to perform a smoother step‐to‐step transition. PMID:24744898

Venusian atmospheric and Magellan properties from attitude control data. M.S. Thesis

NASA Technical Reports Server (NTRS)

Croom, Christopher A.; Tolson, Robert H.

1994-01-01

Results are presented of the study of the Venusian atmosphere, Magellan aerodynamic moment coefficients, moments of inertia, and solar moment coefficients. This investigation is based upon the use of attitude control data in the form of reaction wheel speeds from the Magellan spacecraft. As the spacecraft enters the upper atmosphere of Venus, measurable torques are experienced due to aerodynamic effects. Solar and gravity gradient effects also cause additional torques throughout the orbit. In order to maintain an inertially fixed attitude, the control system counteracts these torques by changing the angular rates of three reaction wheels. Model reaction wheel speeds are compared to observed Magellan reaction wheel speeds through a differential correction procedure. This method determines aerodynamic, atmospheric, solar pressure, and mass moment of inertia parameters. Atmospheric measurements include both base densities and scale heights. Atmospheric base density results confirm natural variability as measured by the standard orbital decay method. Potential inconsistencies in free molecular aerodynamic moment coefficients are identified. Moments of inertia are determined with a precision better than 1 percent of the largest principal moment of inertia.

The dynamical simulation of transient three-dimensional cryogenic liquid sloshing oscillations under low-gravity and microgravity

NASA Astrophysics Data System (ADS)

Chi, Yong Mann

A numerical simulation model has been developed for the dynamical behavior of spacecraft propellant, both during the draining and the closing of the tank outlet at the onset of suction dip affected by the asymmetric combined gravity gradient and gravity jitter accelerations. In particular the effect of the surface tension of the fluids in the partially filled dewar (applicable to the Gravity Probe-B spacecraft dewar tank and fuel tanks for a liquid rocket) with rotation has been simulated and investigated. Two different cases of accelerations, one with gravity jitter dominated and the other equally weighted between gravity gradient and gravity jitter accelerations, are studied. In the development of this numerical simulation model, the NASA-VOF3D has been used as a supplement to the numerical program of this dissertation. The NASA-VOF3D code has been used for performing the three-dimensional incompressible flows with free surface. This is also used for controlling liquid sloshing inside the tank when the spacecraft is orbiting. To keep track of the location of the liquid, the fractional volume of fluid (VOF) technique was used. The VOF is based on the indicator function of the region occupied by the liquid with an Eulerian approach to solve the free surface phenomena between liquid and gas phases. For the calculation of surface tension force, the VOF model is also used. The newly developed simulation model is used to investigate the characteristics of liquid hydrogen draining in terms of the residual amount of trapped liquid at the onset of the suction dip and residual liquid volume at the time the dip of the liquid-vapor interface formed. This investigation simulates the characteristics of liquid oscillations due to liquid container outlet shut-off at the onset of suction dip. These phenomena checked how these mechanisms affected the excitation of slosh waves during the course of liquid draining and after shut-off tank outlet. In the present study, the dynamical evolution of sloshing dynamics excited by fluid stress forces, fluid stress moments, and the arm of fluid moment exerted on the dewar container, is considered. This excitation was driven by the combined gravity gradient and gravity jitter acceleration inside the tank during the draining process and closing the tank outlet. The time evolution of the liquid-vapor interface profiles and the bubble mass center fluctuation, as well as liquid mass center and fluctuations of angular momentum caused by slosh wave excitations with 0.1 rpm in a reduced gravity, are also investigated and simulated. Force, angular momentum, and torque vector time histories and Power Spectral Density (PSD) are also plotted and discussed. The results of this investigation may be applied to determine the magnitude and nature of control forces and torques needed to minimize influence of slosh on the dynamics of liquid fueled vehicles in near earth orbit. Results show that induced fluid forces (or angular momentum) exerted on the container wall along x and y-axes, which are non-existent at the beginning, are introduced by the slosh waves excited by asymmetric gravity gradient and the gravity jitter acceleration.

Automatic Mass Balancing of Air-Bearing-Based Three-Axis Rotational Spacecraft Simulator

DTIC Science & Technology

2009-06-01

required at all possible combinations of spacecraft attitude, angular/linear position of rotating/translating parts, maneuver rates, etc., which is...solution is to generate a desired spacecraft momentum trajectory that can provide persistent maneuvering of the spacecraft simulator. We define the...disturbance torque becomes zero. Because the spacecraft is con- stantly maneuvering , the center of gravity also converges to zero to have a zero

An Active Z Gravity Compensation System

DTIC Science & Technology

1992-07-01

is necessary to convert the modified digital controller back into continuous time, assuming a zero -order hold for output, and using the Padd ...most likely higher frequency pole- zero pairs introduced by the motor and torque servo, these are generally non-oscillatory, and small in amplitude...on the output of the PI control. The detection scheme is the following: if the output of the fuzzy controller has remained zero (static system) for

A double-inverted pendulum model for studying the adaptability of postural control to frequency during human stepping in place.

PubMed

Breniere, Y; Ribreau, C

1998-10-01

In order to analyze the influence of gravity and body characteristics on the control of center of mass (CM) oscillations in stepping in place, equations of motion in oscillating systems were developed using a double-inverted pendulum model which accounts for both the head-arms-trunk (HAT) segment and the two-legged system. The principal goal of this work is to propose an equivalent model which makes use of the usual anthropometric data for the human body, in order to study the ability of postural control to adapt to the step frequency in this particular paradigm of human gait. This model allows the computation of CM-to-CP amplitude ratios, when the center of foot pressure (CP) oscillates, as a parametric function of the stepping in place frequency, whose parameters are gravity and major body characteristics. Motion analysis from a force plate was used to test the model by comparing experimental and simulated values of variations of the CM-to-CP amplitude ratio in the frontal plane versus the frequency. With data from the literature, the model is used to calculate the intersegmental torque which stabilizes the HAT when the Leg segment is subjected to a harmonic torque with an imposed frequency.

Angular momentum transport by heat-driven g-modes in slowly pulsating B stars

NASA Astrophysics Data System (ADS)

Townsend, R. H. D.; Goldstein, J.; Zweibel, E. G.

2018-03-01

Motivated by recent interest in the phenomenon of waves transport in massive stars, we examine whether the heat-driven gravity (g) modes excited in slowly pulsating B (SPB) stars can significantly modify the stars' internal rotation. We develop a formalism for the differential torque exerted by g modes, and implement this formalism using the GYRE oscillation code and the MESASTAR stellar evolution code. Focusing first on a 4.21M⊙ model, we simulate 1 000 yr of stellar evolution under the combined effects of the torque due to a single unstable prograde g mode (with an amplitude chosen on the basis of observational constraints), and diffusive angular momentum transport due to convection, overshooting, and rotational instabilities. We find that the g mode rapidly extracts angular momentum from the surface layers, depositing it deeper in the stellar interior. The angular momentum transport is so efficient that by the end of the simulation, the initially non-rotating surface layers are spun in the retrograde direction to ≈ 30 per cent of the critical rate. However, the additional inclusion of magnetic stresses in our simulations almost completely inhibits this spin-up. Expanding our simulations to cover the whole instability strip, we show that the same general behaviour is seen in all SPB stars. After providing some caveats to contextualize our results, we hypothesize that the observed slower surface rotation of SPB stars (as compared to other B-type stars) may be the direct consequence of the angular momentum transport that our simulations demonstrate.

Quantifying the magnitude of torque physiotherapists apply when stretching the hamstring muscles of people with spinal cord injury.

PubMed

Harvey, Lisa A; McQuade, Lea; Hawthorne, Scott; Byak, Adrian

2003-07-01

To quantify the magnitude of stretch that physiotherapists apply to the hamstring muscles of people with spinal cord injury (SCI). Repeated-measures design. SCI unit in Australia. Fifteen individuals with motor complete paraplegia or tetraplegia. Twelve physiotherapists manually administered a stretch to the hamstring muscles of each subject. The stretch was applied by flexing the hip with the knee extended. Applied hip flexor torque. Therapists applied median hip flexor torques of between 30 and 68Nm, although some torques were as large as 121Nm. The stretch applied by different therapists to any 1 subject varied as much as 40-fold. There is a large range of stretch torques provided by physiotherapists to patients with SCI. Some therapists provide stretch torques well in excess of those tolerated by individuals with intact sensation.

Spec Rekindled-A Simple Torque Correction Mechanics for Transposed Teeth in Conjunction with Pre-adjusted Edgewise Appliance System.

PubMed

Singh, Harpreet; Maurya, Raj Kumar; Thakkar, Surbhi

2016-12-01

Complete transposition of teeth is a rather rare phenomenon. After correction of transposed and malaligned lateral incisor and canine, attainment of appropriate individual antagonistic tooth torque is indispensable, which many orthodontists consider to be a herculean task. Here, a novel method is proposed which demonstrates the use of Spec reverse torquing auxillary as an effective adjunctive aid in conjunction with pre-adjusted edgewise brackets.

Hardware development for Gravity Probe-B

NASA Technical Reports Server (NTRS)

Bardas, D.; Cheung, W. S.; Gill, D.; Hacker, R.; Keiser, G. M.

1986-01-01

Gravity Probe-B (GP-B), also known as the Stanford Relativity Gyroscope Experiment, will test two fundamental predictions of Einstein's General Theory of Relativity by precise measurement of the precessions of nearly perfect gyroscopes in earth orbit. This endeavor embodies state-of-the-art technologies in many fields, including gyroscope fabrication and readout, cryogenics, superconductivity, magnetic shielding, precision optics and alignment methods, and satellite control systems. These technologies are necessary to enable measurement of the predicted precession rates to the milliarcsecond/year level, and to reduce to 'near zero' all non-General Relativistic torques on the gyroscopes. This paper provides a brief overview of the experiment followed by descriptions of several specific hardware items with highlights on progress to date and plans for future development and tests.

Diverse high-torque bacterial flagellar motors assemble wider stator rings using a conserved protein scaffold

PubMed Central

Ribardo, Deborah A.; Brennan, Caitlin A.; Ruby, Edward G.; Jensen, Grant J.; Hendrixson, David R.

2016-01-01

Although it is known that diverse bacterial flagellar motors produce different torques, the mechanism underlying torque variation is unknown. To understand this difference better, we combined genetic analyses with electron cryo-tomography subtomogram averaging to determine in situ structures of flagellar motors that produce different torques, from Campylobacter and Vibrio species. For the first time, to our knowledge, our results unambiguously locate the torque-generating stator complexes and show that diverse high-torque motors use variants of an ancestrally related family of structures to scaffold incorporation of additional stator complexes at wider radii from the axial driveshaft than in the model enteric motor. We identify the protein components of these additional scaffold structures and elucidate their sequential assembly, demonstrating that they are required for stator-complex incorporation. These proteins are widespread, suggesting that different bacteria have tailored torques to specific environments by scaffolding alternative stator placement and number. Our results quantitatively account for different motor torques, complete the assignment of the locations of the major flagellar components, and provide crucial constraints for understanding mechanisms of torque generation and the evolution of multiprotein complexes. PMID:26976588

An investigation of a movable mass-attitude stabilization system for artificial-G space

NASA Technical Reports Server (NTRS)

Childs, D. W.

1972-01-01

The application of a single movable mass to generate control torques for the attitude control of space vehicles is discussed. The feasibility of a movable mass control in stabilizing a cable-connected, artificial gravity configuration is proposed. A dynamic model for cable-connected configurations to account for the aggregate motion of the space station and relative torsional motion between the crew quarters and counter weight is developed.

Rolling Friction on a Wheeled Laboratory Cart

DTIC Science & Technology

2012-01-01

by gravity, and a vehicle (such as a car or bicycle) accelerating along a level road is driven by a motor or by pedalling. In such cases, static...is slowing down, its acceleration a points downhill). The normal force N, frictional force f and axle torque four wheels. θ υ N a θ ω τ ƒ mg...friction force pointed backward (to translationally decelerate the object), then it would simultaneously rotationally accelerate the cylinder about its

Moisture content of southern pine as related to thrust, torque, and chip formation in boring

Treesearch

Charles W. McMillin; George E. Woodson

1972-01-01

Holes 3-1/2 inches deep were bored with a 1-inch spur machine bit in southern pine having specific gravity of 0.53 (ovendry weight and volume at 10.4 percent moisture). The bit was rotated at 2,4000 rpm and removed chips 0.020 inch thick. For wood mositure contents ranging from ovendry to saturation, thrust was lower when boring along the grain (Average 98 pounds)...

Orbiter/Space lab momentum management for POP orientations

NASA Technical Reports Server (NTRS)

Cox, J. W.

1974-01-01

An angular momentum management scheme applicable to the orbiter/spacelab is described. The basis of the scheme is to periodically maneuver the vehicle through a small angle thereby using the gravity gradient torque to dump momentum from the control moment gyro (CMG) control system. The orbiter is operated with its principal vehicle axis perpendicular to the orbital plane. Numerous case runs were conducted on the hybrid simulation and representative cases are included.

Spec Rekindled-A Simple Torque Correction Mechanics for Transposed Teeth in Conjunction with Pre-adjusted Edgewise Appliance System

PubMed Central

Singh, Harpreet; Thakkar, Surbhi

2016-01-01

Complete transposition of teeth is a rather rare phenomenon. After correction of transposed and malaligned lateral incisor and canine, attainment of appropriate individual antagonistic tooth torque is indispensable, which many orthodontists consider to be a herculean task. Here, a novel method is proposed which demonstrates the use of Spec reverse torquing auxillary as an effective adjunctive aid in conjunction with pre-adjusted edgewise brackets. PMID:28209017

Atypical Brain Torque in Boys With Developmental Stuttering

PubMed Central

Mock, Jeffrey Ryan; Zadina, Janet N.; Corey, David M.; Cohen, Jeremy D.; Lemen, Lisa C.; Foundas, Anne L.

2017-01-01

The counterclockwise brain torque, defined as a larger right prefrontal and left parietal-occipital lobe, is a consistent brain asymmetry. Reduced or reversed lobar asymmetries are markers of atypical cerebral laterality and have been found in adults who stutter. It was hypothesized that atypical brain torque would be more common in children who stutter. MRI-based morphology measures were completed in boys who stutter (n=14) and controls (n=14), ages 8–13. The controls had the expected brain torque configurations whereas the boys who stutter were atypical. These results support the hypothesis that developmental stuttering is associated with atypical prefrontal and parietal-occipital lobe asymmetries. PMID:22799762

Spin-orbit torques and anisotropic magnetization damping in skyrmion crystals

NASA Astrophysics Data System (ADS)

Hals, Kjetil M. D.; Brataas, Arne

2014-02-01

The length scale of the magnetization gradients in chiral magnets is determined by the relativistic Dzyaloshinskii-Moriya interaction. Thus, even conventional spin-transfer torques are controlled by the relativistic spin-orbit coupling in these systems, and additional relativistic corrections to the current-induced torques and magnetization damping become important for a complete understanding of the current-driven magnetization dynamics. We theoretically study the effects of reactive and dissipative homogeneous spin-orbit torques and anisotropic damping on the current-driven skyrmion dynamics in cubic chiral magnets. Our results demonstrate that spin-orbit torques play a significant role in the current-induced skyrmion velocity. The dissipative spin-orbit torque generates a relativistic Magnus force on the skyrmions, whereas the reactive spin-orbit torque yields a correction to both the drift velocity along the current direction and the transverse velocity associated with the Magnus force. The spin-orbit torque corrections to the velocity scale linearly with the skyrmion size, which is inversely proportional to the spin-orbit coupling. Consequently, the reactive spin-orbit torque correction can be the same order of magnitude as the nonrelativistic contribution. More importantly, the dissipative spin-orbit torque can be the dominant force that causes a deflected motion of the skyrmions if the torque exhibits a linear or quadratic relationship with the spin-orbit coupling. In addition, we demonstrate that the skyrmion velocity is determined by anisotropic magnetization damping parameters governed by the skyrmion size.

Estimates of the dissipative heat and axial torque generated by ocean tides on icy satellites in the outer solar system.

NASA Astrophysics Data System (ADS)

Tyler, R.

2012-09-01

The tidal flow response generated in a satellite ocean depends strongly on the ocean configuration parameters as these parameters control the form and frequencies of the ocean's natural modes of oscillation; if there is a near match between the form and frequency of one of these natural modes and that of one of the available tidal forcing constituents, the ocean can be resonantly excited, producing a strong tidal response. The fundamental elements of the response are described by the tidal flow and surface fluctuations. Derivative elements of the response include the associated dissipative heat, stress, and forces/torques. The dissipative heat has received much previous attention as it may be important in explaining the heat budget on several of the satellites in the Outer Solar System. While these estimates will be reviewed and compared with the tidal dissipation estimates compiled in Hussman et al. (2010), the primary goal in this presentation is to extend the analysis to consider the tidally generated axial torque on the satellites and the potential consquences for rotation. Interestingly, even a synchronously rotating satellite will, if a global fluid layer is included, experience a complex set of opportunities for torques in both the prograde and retrograde sense. The amplitude and sense of the torque sensitively depends on the ocean parameters controlling the tidal response. This sensitivity, combined with expected feedbacks whereby the tides affect the orbital parameters, suggests that the evolution of the satellite system will experience phases of both prograde and retrograde tidal torques during its evolution. A related point is that parameters of the ocean might be inferred from inferences or observations of torque or rotational deviations. In the panels to the right we show the nondimensional tidal torques associated with obliquity (top) and eccentricity (bottom). The parameters described in the labeling are the fluid density ρ, surface gravity g, ocean surface area A, tidal equilibrium height ηF, dissipation quality factor Q,and c=(gh)1/2, cr=Ωa, with ocean thickness h, rotation rate Ω, and radius a. Torque due to tides forced by obliquity as a function of the parameters c/cr and Q. Retrograde ("Westward") and prograde ("Eastward") components shown in left and right panels, respectively. Log10 scale shown in colorbar.

Hip joint torques during the golf swing of young and senior healthy males.

PubMed

Foxworth, Judy L; Millar, Audrey L; Long, Benjamin L; Way, Michael; Vellucci, Matthew W; Vogler, Joshua D

2013-09-01

Descriptive, laboratory study. To compare the 3-D hip torques during a golf swing between young and senior healthy male amateur golfers. The secondary purpose was to compare the 3-D hip joint torques between the trail leg and lead leg. The generation of hip torques from the hip musculature is an important aspect of the golf swing. Golf is a very popular activity, and estimates of hip torques during the golf swing have not been reported. Twenty healthy male golfers were divided into a young group (mean ± SD age, 25.1 ± 3.1 years) and a senior group (age, 56.9 ± 4.7 years). All subjects completed 10 golf swings using their personal driver. A motion capture system and force plates were used to obtain kinematic and kinetic data. Inverse dynamic analyses were used to calculate 3-D hip joint torques of the trail and lead limbs. Two-way analyses of covariance (group by leg), with club-head velocity as a covariate, were used to compare peak hip torques between groups and limbs. Trail-limb hip external rotator torque was significantly greater in the younger group compared to the senior group, and greater in the trail leg versus the lead leg. When adjusting for club-head velocity, young and senior healthy male amateur golfers generated comparable hip torques during a golf swing, with the exception of the trail-limb hip external rotator torque. The largest hip torque found was the trail-limb hip extensor torque.

A large motion zero-gravity suspension system for experimental simulation of orbital construction and deployment. M.S. Thesis

NASA Technical Reports Server (NTRS)

Straube, Timothy Milton

1993-01-01

The design and implementation of a vertical degree of freedom suspension system is described which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate orbital construction events such as docking, multiple component assembly, or structural deployment. A unique aspect of this device is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing break-away friction by a factor of twenty over the passive system alone. The thesis describes the development of the suspension hardware and the control algorithm. Experiments were performed to verify the suspensions system's effectiveness in providing a gravity off-load and simulating the motion of a structure in orbit. Additionally, a three dimensional system concept is presented as an extension of the one dimensional suspension system which was implemented.

Reorientation of Sputnik Planitia implies a subsurface ocean on Pluto.

PubMed

Nimmo, F; Hamilton, D P; McKinnon, W B; Schenk, P M; Binzel, R P; Bierson, C J; Beyer, R A; Moore, J M; Stern, S A; Weaver, H A; Olkin, C B; Young, L A; Smith, K E

2016-12-01

The deep nitrogen-covered basin on Pluto, informally named Sputnik Planitia, is located very close to the longitude of Pluto's tidal axis and may be an impact feature, by analogy with other large basins in the Solar System. Reorientation of Sputnik Planitia arising from tidal and rotational torques can explain the basin's present-day location, but requires the feature to be a positive gravity anomaly, despite its negative topography. Here we argue that if Sputnik Planitia did indeed form as a result of an impact and if Pluto possesses a subsurface ocean, the required positive gravity anomaly would naturally result because of shell thinning and ocean uplift, followed by later modest nitrogen deposition. Without a subsurface ocean, a positive gravity anomaly requires an implausibly thick nitrogen layer (exceeding 40 kilometres). To prolong the lifetime of such a subsurface ocean to the present day and to maintain ocean uplift, a rigid, conductive water-ice shell is required. Because nitrogen deposition is latitude-dependent, nitrogen loading and reorientation may have exhibited complex feedbacks.

Reorientation of Sputnik Planitia implies a subsurface ocean on Pluto

NASA Astrophysics Data System (ADS)

Nimmo, F.; Hamilton, D. P.; McKinnon, W. B.; Schenk, P. M.; Binzel, R. P.; Bierson, C. J.; Beyer, R. A.; Moore, J. M.; Stern, S. A.; Weaver, H. A.; Olkin, C. B.; Young, L. A.; Smith, K. E.; Moore, J. M.; McKinnon, W. B.; Spencer, J. R.; Beyer, R.; Binzel, R. P.; Buie, M.; Buratti, B.; Cheng, A.; Cruikshank, D.; Ore, C. Dalle; Earle, A.; Gladstone, R.; Grundy, W.; Howard, A. D.; Lauer, T.; Linscott, I.; Nimmo, F.; Parker, J.; Porter, S.; Reitsema, H.; Reuter, D.; Roberts, J. H.; Robbins, S.; Schenk, P. M.; Showalter, M.; Singer, K.; Strobel, D.; Summers, M.; Tyler, L.; White, O. L.; Umurhan, O. M.; Banks, M.; Barnouin, O.; Bray, V.; Carcich, B.; Chaikin, A.; Chavez, C.; Conrad, C.; Hamilton, D. P.; Howett, C.; Hofgartner, J.; Kammer, J.; Lisse, C.; Marcotte, A.; Parker, A.; Retherford, K.; Saina, M.; Runyon, K.; Schindhelm, E.; Stansberry, J.; Steffl, A.; Stryk, T.; Throop, H.; Tsang, C.; Verbiscer, A.; Winters, H.; Zangari, A.; Stern, S. A.; Weaver, H. A.; Olkin, C. B.; Young, L. A.; Smith, K. E.

2016-12-01

The deep nitrogen-covered basin on Pluto, informally named Sputnik Planitia, is located very close to the longitude of Pluto’s tidal axis and may be an impact feature, by analogy with other large basins in the Solar System. Reorientation of Sputnik Planitia arising from tidal and rotational torques can explain the basin’s present-day location, but requires the feature to be a positive gravity anomaly, despite its negative topography. Here we argue that if Sputnik Planitia did indeed form as a result of an impact and if Pluto possesses a subsurface ocean, the required positive gravity anomaly would naturally result because of shell thinning and ocean uplift, followed by later modest nitrogen deposition. Without a subsurface ocean, a positive gravity anomaly requires an implausibly thick nitrogen layer (exceeding 40 kilometres). To prolong the lifetime of such a subsurface ocean to the present day and to maintain ocean uplift, a rigid, conductive water-ice shell is required. Because nitrogen deposition is latitude-dependent, nitrogen loading and reorientation may have exhibited complex feedbacks.

Results and Analysis from Space Suit Joint Torque Testing

NASA Technical Reports Server (NTRS)

Matty, Jennifer

2010-01-01

This joint mobility KC lecture included information from two papers, "A Method for and Issues Associated with the Determination of Space Suit Joint Requirements" and "Results and Analysis from Space Suit Joint Torque Testing," as presented for the International Conference on Environmental Systems in 2009 and 2010, respectively. The first paper discusses historical joint torque testing methodologies and approaches that were tested in 2008 and 2009. The second paper discusses the testing that was completed in 2009 and 2010.

Anatomy of a bearing torque problem

NASA Technical Reports Server (NTRS)

Phinney, Damon D.

1987-01-01

In the early 1970s, an antenna despin drive was developed for MBB solar science satellite HELIOS. A problem with high bearing drag torque that was encountered on the two flight models of this drive, after successful tests were completed on twelve bearings, an engineering model, and the qualification unit is discussed.

Effect of gravitational and aerodynamic torques on a rigid Skylab-type satellite

NASA Technical Reports Server (NTRS)

Sperling, H. J.

1974-01-01

A theoretical investigation of the influence of the aerodynamic torque on a Skylab-type satellite is presented. Only the case of free flow of uniform velocity and completely diffuse reflection is considered. It is found by linear stability analysis that the satellite has no stable equilibrium.

Evidence for non-synchronous rotation of Europa. Galileo Imaging Team.

PubMed

Geissler, P E; Greenberg, R; Hoppa, G; Helfenstein, P; McEwen, A; Pappalardo, R; Tufts, R; Ockert-Bell, M; Sullivan, R; Greeley, R; Belton, M J; Denk, T; Clark, B; Burns, J; Veverka, J

1998-01-22

Non-synchronous rotation of Europa was predicted on theoretical grounds, by considering the orbitally averaged torque exerted by Jupiter on the satellite's tidal bulges. If Europa's orbit were circular, or the satellite were comprised of a frictionless fluid without tidal dissipation, this torque would average to zero. However, Europa has a small forced eccentricity e approximately 0.01 , generated by its dynamical interaction with Io and Ganymede, which should cause the equilibrium spin rate of the satellite to be slightly faster than synchronous. Recent gravity data suggest that there may be a permanent asymmetry in Europa's interior mass distribution which is large enough to offset the tidal torque; hence, if non-synchronous rotation is observed, the surface is probably decoupled from the interior by a subsurface layer of liquid or ductile ice. Non-synchronous rotation was invoked to explain Europa's global system of lineaments and an equatorial region of rifting seen in Voyager images. Here we report an analysis of the orientation and distribution of these surface features, based on initial observations made by the Galileo spacecraft. We find evidence that Europa spins faster than the synchronous rate (or did so in the past), consistent with the possibility of a global subsurface ocean.

Moisture content of southern pine as related to thrust, torque, and chip formation in boring

Treesearch

C. W. McMillin; G. E. Woodson

1972-01-01

Holes 3-1/2 inches deep were bored with a 1-inch spur machine bit in southern pine having specific gravity of 0.53 (ovendry weight and volume at 10.4 percent moisture). The bit was rotated at 2,400 rpm and removed chips 0.020 inch thick. For wood moisture contents ranging from ovendry to saturation, thrust was lower when boring along the grain (average 98 pounds) than...

Magnetospheric Multiscale Mission Attitude Dynamics: Observations from Flight Data

NASA Technical Reports Server (NTRS)

Williams, Trevor; Shulman, Seth; Sedlak, Joseph; Ottenstein, Neil; Lounsbury, Brian

2016-01-01

Extensive flight data is being collected throughout the MMS mission that includes quantities that are of interest for attitude dynamics studies such as spin rate, spin axis orientation nutation rate, etc. One example of such data is the long-term evolution of the spin rates of the four spacecraft. Spikes in these rates are observed that are separated by the MMS orbital period (just under 24 hr) and occur around perigee due to gravity-gradient torque. Periodic discontinuities in spin rate are caused by the controller resetting the spin rate approximately to the nominal 3.1 RPM value at the time of each maneuver. In between, a slow decay in spin rate can be seen to occur. The paper will discuss various disturbance torque mechanisms that could potentially be responsible for this behavior: these include magnetic hysteresis, eddy currents, solar radiation pressure, and a possible interaction between gravity-gradient and wire boom flexibility effects. One additional disturbance mechanism is produced by the Active Spacecraft Potential Control (ASPOC) devices: these emit positive indium ions to keep the MMS spacecraft electrically neutral, so as not to corrupt the electric field observations that are made by some of the on-board instruments. The spin rate decays that could be produced by these various mechanisms will be quantified in the paper, and their signatures described. Comparing these with the observations from flight data then allow the most likely candidate to be determined.

Shoulder torques resulting from luggage handling tasks in non-inertial frames.

PubMed

Shippen, James; May, Barbara

2018-05-18

This paper reports on the torques developed in the shoulder joint experienced by occupants of moving vehicles during manual handling tasks. Handling heavy weights can cause musculoskeletal injuries, especially if handling is done with arms extended or at high levels. The aim of the study was to measure the longitudinal and lateral accelerations in a variety of passenger vehicles together with the postures of subjects lifting luggage onto storage shelves. This data enabled the application of inverse dynamics methods in a non-inertial reference frame to calculate the shoulder joint torques. The subjects lifted 3 pieces of luggage of masses of 5 kg, 10 kg and 14 kg onto shelving which were at heights of 1.2 m, 1.6 m and 1.8 m. The movement of subjects was measured using a 12 camera, 3-dimensional optical tracking system. The subjects stood on force plates to measure the ground reaction forces. Sixty-three trials were completed, although 9 trials were aborted because subjects felt unable to complete the task. It was found that the shoulder torques exceeded the levels recommend by the UK Health and Safety Executive for manual handling. A lift assistance device is suggested to reduce the shoulder torques required for luggage handling.

A new momentum management controller for the space station

NASA Technical Reports Server (NTRS)

Wie, B.; Byun, K. W.; Warren, V. W.

1988-01-01

A new approach to CMG (control moment gyro) momentum management and attitude control of the Space Station is developed. The control algorithm utilizes both the gravity-gradient and gyroscopic torques to seek torque equilibrium attitude in the presence of secular and cyclic disturbances. Depending upon mission requirements, either pitch attitude or pitch-axis CMG momentum can be held constant: yaw attitude and roll-axis CMG momentum can be held constant, while roll attitude and yaw-axis CMG momentum cannot be held constant. As a result, the overall attitude and CMG momentum oscillations caused by cyclic aero-dynamic disturbances are minimized. A state feedback controller with minimal computer storage requirement for gain scheduling is also developed. The overall closed-loop system is stable for + or - 30 percent inertia matrix variations and has more than + or - 10 dB and 45 deg stability margins in each loop.

Three-axis attitude determination via Kalman filtering of magnetometer data

NASA Technical Reports Server (NTRS)

Martel, Francois; Pal, Parimal K.; Psiaki, Mark L.

1988-01-01

A three-axis Magnetometer/Kalman Filter attitude determination system for a spacecraft in low-altitude Earth orbit is developed, analyzed, and simulation tested. The motivation for developing this system is to achieve light weight and low cost for an attitude determination system. The extended Kalman filter estimates the attitude, attitude rates, and constant disturbance torques. Accuracy near that of the International Geomagnetic Reference Field model is achieved. Covariance computation and simulation testing demonstrate the filter's accuracy. One test case, a gravity-gradient stabilized spacecraft with a pitch momentum wheel and a magnetically-anchored damper, is a real satellite on which this attitude determination system will be used. The application to a nadir pointing satellite and the estimation of disturbance torques represent the significant extensions contributed by this paper. Beyond its usefulness purely for attitude determination, this system could be used as part of a low-cost three-axis attitude stabilization system.

Preliminary design for a Zero Gravity Test Facility (ZGTF). Volume 1: Technical

NASA Technical Reports Server (NTRS)

Germain, A.

1981-01-01

The functional requirements and best conceptual design of a test facility that simulates weightless operating conditions for a high gain antenna systems (HGAS), that will broadcast to the Tracking Data Relay Satellites were defined. The typical HGAS defined is mounted on a low Earth orbiting satellite, and consists of an antenna with a double gimbal pointing system mounted on a 13 foot long mast. Typically, the gimbals are driven by pulse modulated dc motors or stepper motors. These drivers produce torques on the mast, with jitter that excites the satellite and may cause disturbances to sensitive experiments. The dynamic properties of the antenna support structure (mast), including flexible mode characteristics were defined. The torque profile induced on the spacecraft by motion of the high gain antenna was estimated. Gain and phase margins of the servo control loop of the gimbal drive electronics was also verified.

The fuelling of active galactic nuclei

NASA Technical Reports Server (NTRS)

Shlosman, Isaac; Begelman, Mitchell C.; Frank, Julian

1990-01-01

Accretion mechanisms for powering the central engines of active galactic nuclei (AGN) and possible sources of fuel are reviewed. It is a argued that the interstellar matter in the main body of the host galaxy is channeled toward the center, and the problem of angular momentum transport is addressed. Thin accretion disks are not a viable means of delivering fuel to luminous AGN on scales much larger than a parsec because of the long inflow time and effects of self-gravity. There are also serious obstacles to maintaining and regulating geometrically thick, hot accretion flows. The role of nonaxisymmetric perturbations of the gravitational potential on galactic scales and their triggers is emphasized. A unified model is outlined for fueling AGN, in which the inflow on large scales is driven by gravitational torques, and on small scales forms a mildly self-gravitating disk of clouds with inflow driven by magnetic torques or cloud-cloud collisions.

Pitching motion control of a butterfly-like 3D flapping wing-body model

NASA Astrophysics Data System (ADS)

Suzuki, Kosuke; Minami, Keisuke; Inamuro, Takaji

2014-11-01

Free flights and a pitching motion control of a butterfly-like flapping wing-body model are numerically investigated by using an immersed boundary-lattice Boltzmann method. The model flaps downward for generating the lift force and backward for generating the thrust force. Although the model can go upward against the gravity by the generated lift force, the model generates the nose-up torque, consequently gets off-balance. In this study, we discuss a way to control the pitching motion by flexing the body of the wing-body model like an actual butterfly. The body of the model is composed of two straight rigid rod connected by a rotary actuator. It is found that the pitching angle is suppressed in the range of +/-5° by using the proportional-plus-integral-plus-derivative (PID) control for the input torque of the rotary actuator.

The dynamics and control of large flexible space structures-IV

NASA Technical Reports Server (NTRS)

Bainum, P. M.; Kumar, V. K.; Krishna, R.; Reddy, A. S. S. R.

1981-01-01

The effects of solar radiation pressure as the main environmental disturbance torque were incorporated into the model of the rigid orbiting shallow shell and computer simulation results indicate that within the linear range the rigid modal amplitudes are excited in proportion to the area to mass ratio. The effect of higher order terms in the gravity-gradient torque expressions previously neglected was evaluated and found to be negligible for the size structures under consideration. A graph theory approach was employed for calculating the eigenvalues of a large flexible system by reducing the system (stiffness) matrix to lower ordered submatrices. The related reachability matrix and term rank concepts are used to verify controllability and can be more effective than the alternate numerical rank tests. Control laws were developed for the shape and orientation control of the orbiting flexible shallow shell and numerical results presented.

Load Dependency of Postural Control--Kinematic and Neuromuscular Changes in Response to over and under Load Conditions.

PubMed

Ritzmann, Ramona; Freyler, Kathrin; Weltin, Elmar; Krause, Anne; Gollhofer, Albert

2015-01-01

Load variation is associated with changes in joint torque and compensatory reflex activation and thus, has a considerable impact on balance control. Previous studies dealing with over (OL) and under loading (UL) used water buoyancy or additional weight with the side effects of increased friction and inertia, resulting in substantially modified test paradigms. The purpose of this study was to identify gravity-induced load dependency of postural control in comparable experimental conditions and to determine the underlying neuromuscular mechanisms. Balance performance was recorded under normal loading (NL, 1 g), UL (0.16 g 0.38 g) and OL (1.8 g) in monopedal stance. Center of pressure (COP) displacement and frequency distribution (low 0.15-0.5 Hz (LF), medium 0.5-2 Hz (MF), high 2-6 Hz (HF)) as well as ankle, knee and hip joint kinematics were assessed. Soleus spinal excitability was determined by H/M-recruitment curves (H/M-ratios). Compared to NL, OL caused an increase in ankle joint excursion, COP HF domain and H/M-ratio. Concomitantly, hip joint excursion and COP LF decreased. Compared to NL, UL caused modulations in the opposite direction: UL decreased ankle joint excursions, COP HF and H/M-ratio. Collaterally, hip joint excursion and COP LF increased. COP was augmented both in UL and in OL compared to NL. Subjects achieved postural stability in OL and UL with greater difficulty compared to NL. Reduced postural control was accompanied by modified balance strategies and compensatory reflex activation. With increasing load, a shift from hip to ankle strategy was observed. Accompanying, COP frequency distribution shifted from LF to HF and spinal excitability was enhanced. It is suggested that in OL, augmented ankle joint torques are compensated by quick reflex-induced postural reactions in distal muscles. Contrarily, UL is associated with diminished joint torques and thus, postural equilibrium may be controlled by the proximal segments to adjust the center of gravity above the base of support.

Muscle activity patterns altered during pedaling at different body orientations.

PubMed

Brown, D A; Kautz, S A; Dairaghi, C A

1996-10-01

Gravity is a contributing force that is believed to influence strongly the control of limb movements since it affects sensory input and also contributes to task mechanics. By altering the relative contribution of gravitational force to the overall forces used to control pedaling at different body orientations, we tested the hypothesis that joint torque and muscle activation patterns would be modified to generate steady-state pedaling at altered body orientations. Eleven healthy subjects pedaled a modified ergometer at different body orientations (from horizontal to vertical), maintaining the same workload (80 J), cadence (60 rpm), and hip and knee kinematics. Pedal reaction forces and crank and pedal kinematics were measured and used to calculate joint torques and angles. EMG was recorded from four muscles (tibialis anterior, triceps surae, rectus femoris, biceps femoris). Measures of muscle activation (joint torque and EMG activity) showed strong dependence on body orientation, indicating that muscle activity is not fixed and is modified in response to altered body orientation. Simulations confirmed that, while joint torque changes were not necessary to pedal at different body orientations, observed changes were necessary to maintain consistent crank angular velocity profiles. Dependence of muscle activity on body orientation may be due to neural integration of sensory information with an internal model that includes characteristics of the endpoint, to produce consistent pedaling trajectories. Thus, both sensory consequences and mechanical aspects of gravitational forces are important determinants of locomotor tasks such as pedaling.

Effects of Space Weather on Geosynchronous Electromagnetic Spacecraft Perturbations Using Statistical Fluxes

NASA Astrophysics Data System (ADS)

Hughes, J.; Schaub, H.

2017-12-01

Spacecraft can charge to very negative voltages at GEO due to interactions with the space plasma. This can cause arcing which can damage spacecraft electronics or solar panels. Recently, it has been suggested that spacecraft charging may lead to orbital perturbations which change the orbits of lightweight uncontrolled debris orbits significantly. The motions of High Area to Mass Ratio objects are not well explained with just perturbations from Solar Radiation Pressure (SRP) and earth, moon, and sun gravity. A charged spacecraft will experience a Lorentz force as the spacecraft moves relative to Earth's magnetic field, as well as a Lorentz torque and eddy current torques if the object is rotating. Prior work assuming a constant "worst case" voltage has shown that Lorentz and eddy torques can cause quite large orbital changes by rotating the object to experience more or less SRP. For some objects, including or neglecting these electromagnetic torques can lead to differences of thousands of kilometers after only two orbits. This paper will further investigate the effects of electromagnetic perturbations by using a charging model that uses measured flux distributions to better simulate natural charging. This differs from prior work which used a constant voltage or Maxwellian distributions. This is done to a calm space weather case of Kp = 2 and a stormy case where Kp = 8. Preliminary analysis suggests that electrostatics will still cause large orbital changes even with the more realistic charging model.

Numerical studies of surface tensions

NASA Technical Reports Server (NTRS)

Hung, R. J.

1995-01-01

Liquid-vapor (bubble) interface disturbances caused by various types of accelerations, including centrifugal, lateral and axial impulses, gravity gradient and g-jitter accelerations associated with spinning and slew motion in microgravity, are reviewed. Understanding of bubble deformations and fluctuations is important in the development of spacecraft orbital and attitude control techniques to secure its normal operation. This review discusses bubble deformations and oscillations driven by various forces in the microgravity environment. The corresponding bubble mass center fluctuations and slosh reaction forces and torques due to bubble deformations are also reviewed.

The reduction of a ""safety catastrophic'' potential hazard: A case history

NASA Technical Reports Server (NTRS)

Jones, J. P.

1971-01-01

A worst case analysis is reported on the safety of time watch movements for triggering explosive packages on the lunar surface in an experiment to investigate physical lunar structural characteristics through induced seismic energy waves. Considered are the combined effects of low pressure, low temperature, lunar gravity, gear train error, and position. Control measures constitute a seal control cavity and design requirements to prevent overbanking in the mainspring torque curve. Thus, the potential hazard is reduced to safety negligible.

Performance evaluation of candidate space suit elements for the next generation orbital EMU

NASA Technical Reports Server (NTRS)

West, Philip R.; Trausch, Stephanie V.

1992-01-01

The AX-5 all metallic, multibearing technologies developed at the Ames Research Center and the Mk III fabric and metallic technologies developed at the Johnson Space Center were evaluated using the current Space Shuttle space suit technologies as a baseline. Manned evaluations were performed in the Weightless Environment Training Facility and KC-135 zero-gravity aircraft. Joint torque, range, cycle life, and environmental protection characteristics were analyzed during unmanned tests. Both numerical results and test subject comments on performance are presented.

Development of Face Gear Technology for Industrial and Aerospace Power Transmission

NASA Technical Reports Server (NTRS)

Heath, Gregory F.; Filler, Robert R.; Tan, Jie

2002-01-01

Tests of a 250 horsepower proof-of-concept (POC) split torque face gear transmission were completed by The Boeing Company in Mesa, Arizona, while working under a Defense Advanced Research Projects Agency (DARPA) Technology Reinvestment Program (TRP) This report provides a summary of these cooperative tests, which were jointly funded by Boeing and DARPA Design, manufacture and testing of the scaled-power TRP split torque gearbox followed preliminary evaluations of the concept performed early in the program The testing demonstrated the theory of operation for the concentric, tapered face gear assembly The results showed that the use of floating pinions in a concentric face gear arrangement produces a nearly even torque split The POC split torque tests determined that, with some improvements, face gears can be applied effectively in a split torque configuration which yields significant weight, cost and reliability improvements over conventional designs.

Contraction type influences the human ability to use the available torque capacity of skeletal muscle during explosive efforts

PubMed Central

Tillin, Neale A.; Pain, Matthew T. G.; Folland, Jonathan P.

2012-01-01

The influence of contraction type on the human ability to use the torque capacity of skeletal muscle during explosive efforts has not been documented. Fourteen male participants completed explosive voluntary contractions of the knee extensors in four separate conditions: concentric (CON) and eccentric (ECC); and isometric at two knee angles (101°, ISO101 and 155°, ISO155). In each condition, torque was measured at 25 ms intervals up to 150 ms from torque onset, and then normalized to the maximum voluntary torque (MVT) specific to that joint angle and angular velocity. Explosive voluntary torque after 50 ms in each condition was also expressed as a percentage of torque generated after 50 ms during a supramaximal 300 Hz electrically evoked octet in the same condition. Explosive voluntary torque normalized to MVT was more than 60 per cent larger in CON than any other condition after the initial 25 ms. The percentage of evoked torque expressed after 50 ms of the explosive voluntary contractions was also greatest in CON (ANOVA; p < 0.001), suggesting higher concentric volitional activation. This was confirmed by greater agonist electromyography normalized to Mmax (recorded during the explosive voluntary contractions) in CON. These results provide novel evidence that the ability to use the muscle's torque capacity explosively is influenced by contraction type, with concentric contractions being more conducive to explosive performance due to a more effective neural strategy. PMID:22258636

Comparing passive angle-torque curves recorded simultaneously with a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments.

PubMed

Buckner, Samuel L; Jenkins, Nathaniel D M; Costa, Pablo B; Ryan, Eric D; Herda, Trent J; Cramer, Joel T

2015-05-01

The purpose of the present study was to compare the passive angle-torque curves and the passive stiffness (PS, N m °(-)(1)) values recorded simultaneously from a load cell versus an isokinetic dynamometer during dorsiflexion stretch tolerance assessments in vivo. Nine healthy men (mean ± SD age = 21.4 ± 1.6 years) completed stretch tolerance assessments on a custom-built apparatus where passive torque was measured simultaneously from an isokinetic dynamometer and a load cell. Passive torque values that corresponded with the last 10° of dorsiflexion, verified by surface electromyographic amplitude, were analyzed for each device (θ1, θ2, θ3, …, θ10). Passive torque values measured with the load cell were greater (p ≤ 0.05) than the dynamometer torque values for θ4 through θ10. There were more statistical differentiations among joint angles for passive torque measured by the load cell, and the load cell measured a greater (p ≤ 0.01) increase in passive torque and PS than the isokinetic dynamometer. These findings suggested that when examining the angle-torque curves from passive dorsiflexion stretch tolerance tests, a load cell placed under the distal end of the foot may be more sensitive than the torque recorded from an isokinetic dynamometer. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Driving magnetization dynamics with interfacial spin-orbit torques (Conference Presentation)

NASA Astrophysics Data System (ADS)

Hoffmann, Axel F.; Zhang, Wei; Sklenar, Joseph; Jungfleisch, Matthias Benjamin; Jiang, Wanjun; Hsu, Bo; Xiao, Jiao; Pearson, John E.; Fradin, Frank Y.; Liu, Yaohua; Ketterson, John B.; Yang, Zheng

2016-10-01

Bulk spin Hall effects are well know to provide spin orbit torques, which can be used to drive magnetization dynamics [1]. But one of the reoccurring questions is to what extend spin orbit torques may also originate at the interface between materials with strong spin orbit coupling and the ferromagnets. Using spin torque driven ferromagnetic resonance we show for two systems, where interfacial torques dominate, that they can be large enough to be practically useful. First, we show spin transfer torque driven magnetization dynamics based on Rashba-Edelstein effects at the Bi/Ag interface [2]. Second, we will show that combining permalloy with monolayer MoS2 gives rise to sizable spin-orbit torques. Given the monolayer nature of MoS2 it is clear that bilk spin Hall effects are negligible and therefore the spin transfer torques are completely interfacial in nature. Interestingly the spin orbit torques with MoS2 show a distinct dependence on the orientation of the magnetization in the permalloy, and become strongly enhanced, when the magnetization is pointing perpendicular to the interfacial plane. This work was supported by the U.S. Department of Energy, Office of Science, Materials Science and Engineering Division. [1] A. Hoffmann, IEEE Trans. Mag. 49, 5172 (2013). [2] W. Zhang et al., J. Appl. Phys. 117, 17C727 (2015). [3] M. B. Jungfleisch et al., arXiv:1508.01410.

Gravity-independent constant force resistive exercise unit

NASA Technical Reports Server (NTRS)

Colosky, Jr., Paul E. (Inventor); Ruttley, Tara M. (Inventor)

2004-01-01

This invention describes a novel gravity-independent exercise unit designed for use in microgravity, or on the ground, as a means by which to counter muscle atrophy and bone degradation due to disuse or underuse. Modular resistive packs comprising constant torque springs provide constant force opposing the withdrawal of an exercise cable from the device. In addition to uses within the space program, the compact resistive packs of the CFREU allow the unit to be small enough for easy use as a home gym for personal use, or as a supplement for rehabilitation programs. Resistive packs may be changed conveniently out of the CFREU according to the desired exercise regimen. Thus, the resistive packs replace the need for expensive, heavy, and bulky traditional weight plates. The CFREU may be employed by hospitals, rehabilitation and physical therapy clinics, and other related professional businesses.

Energy-efficient MRF clutch avoiding no-load losses

NASA Astrophysics Data System (ADS)

Güth, Dirk; Schamoni, Markus; Maas, Jürgen

2013-04-01

A challenge opposing a commercial use of actuators like brakes and clutches based on magnetorheological fluids (MRF) are durable no-load losses. A complete torque-free separation of these actuators is inherently not yet possible due to the permanent liquid intervention for the fluid engaging parts. Especially for applications with high rotational speeds up to some thousand RPM, this drawback of MRF actuators is not acceptable. In this paper, a novel approach will be presented that allows a controlled movement of the MRF from a torque-transmitting volume of the shear gap into an inactive volume of the shear gap, enabling a complete separation of the fluid engaging surfaces. This behavior is modeled for a novel clutch design by the use of the ferrohydrodynamics and therefore simulations are performed to investigate the transitions between engaged and idle mode. Measurements performed with a realized clutch show that the viscous induced drag torque can be reduced significantly.

Spin-Orbit Misalignment of Two-Planet-System KOI-89 Via Gravity Darkening

NASA Astrophysics Data System (ADS)

Ahlers, Jonathon; Barnes, Jason W.; Barnes, Rory

2015-12-01

We investigate the potential causes of spin-orbit misalignment in multiplanetary systems via two-planet-system KOI-89. We focus on this system because it can experimentally constrain the outstanding hypotheses that have been proposed to cause misalignments. Using gravity darkening, we constrain both the spin-orbit angles and the angle between the planes of the orbits. Our best-fit model shows that the 85-day-orbit and 208-day-orbit planets are misaligned from the host star's rotation axis by 72° ± 3° and 73° (+11 -5°), respectively. From these results, we limit KOI-89's potential causes of spin-orbit misalignment based on three criteria: agreement with KOI-89's fundamental parameters, the capability to cause extreme misalignment, and conformance with mutually aligned planets. Our results disfavor planet-embryo collisions, chaotic evolution of stellar spin, magnetic torquing, coplanar high-eccentricity migration, and inclination resonance, limiting possible causes to star-disk binary interactions, disk warping via planet-disk interactions, Kozai resonance, planet-planet scattering, or internal gravity waves in the convective interior of the star.

Displacement of Implant Abutments Following Initial and Repeated Torqueing.

PubMed

Yilmaz, Burak; Gilbert, Andy B; Seidt, Jeremy D; McGlumphy, Edwin A; Clelland, Nancy L

2015-01-01

To measure and compare the three-dimensional (3D) position of nine different abutments manufactured by different manufacturers after repeated torqueing on an internal-hexagon implant. Nine tapered implants were placed into an acrylic resin block. Five specimens each of nine different abutments (n = 45) were placed into one of nine implants. The abutments were handtightened and then torqued to the manufacturer-recommended torque of 30 Ncm. After 10 minutes, 30 Ncm of torque was reapplied. Another 10 minutes elapsed before testing was completed. Images were recorded in 12-second intervals. The spatial relationship of the abutments to the resin block was determined using 3D digital image correlation. Commercial image correlation software was used to analyze the displacements. Mean displacements for the abutments were calculated in three dimensions and overall for both torque applications. Statistical comparisons were done with a t test and a step-down Bonferroni correction. The overall 3D displacement of the Atlantis Titanium abutment after the second applied torque was significantly greater than that of two of the eight other abutments. Displacement in all three dimensions for the Atlantis Titanium abutment changed direction between the first and second torque applications. All abutments moved further in the same direction except for the Atlantis Titanium abutment, which moved back toward its original hand-tightened position horizontally after the second torque application. Re-torqueing of abutments after a 10-minute interval leads to minor displacement of varying degrees between the abutment and a tapered implant. A potential effect of embedment relaxation and/or manufacturing errors should be taken into consideration when selecting an abutment for a cement-retained crown on a tapered implant. Accordingly, clinicians may benefit from adjusting cement-retained implant crowns after re-torqueing the abutments to prevent potential occlusal and interproximal contact problems.

GOCE, Satellite Gravimetry and Antarctic Mass Transports

NASA Astrophysics Data System (ADS)

Rummel, Reiner; Horwath, Martin; Yi, Weiyong; Albertella, Alberta; Bosch, Wolfgang; Haagmans, Roger

2011-09-01

In 2009 the European Space Agency satellite mission GOCE (Gravity Field and Steady-State Ocean Circulation Explorer) was launched. Its objectives are the precise and detailed determination of the Earth's gravity field and geoid. Its core instrument, a three axis gravitational gradiometer, measures the gravity gradient components V xx , V yy , V zz and V xz (second-order derivatives of the gravity potential V) with high precision and V xy , V yz with low precision, all in the instrument reference frame. The long wavelength gravity field is recovered from the orbit, measured by GPS (Global Positioning System). Characteristic elements of the mission are precise star tracking, a Sun-synchronous and very low (260 km) orbit, angular control by magnetic torquing and an extremely stiff and thermally stable instrument environment. GOCE is complementary to GRACE (Gravity Recovery and Climate Experiment), another satellite gravity mission, launched in 2002. While GRACE is designed to measure temporal gravity variations, albeit with limited spatial resolution, GOCE is aiming at maximum spatial resolution, at the expense of accuracy at large spatial scales. Thus, GOCE will not provide temporal variations but is tailored to the recovery of the fine scales of the stationary field. GRACE is very successful in delivering time series of large-scale mass changes of the Antarctic ice sheet, among other things. Currently, emphasis of respective GRACE analyses is on regional refinement and on changes of temporal trends. One of the challenges is the separation of ice mass changes from glacial isostatic adjustment. Already from a few months of GOCE data, detailed gravity gradients can be recovered. They are presented here for the area of Antarctica. As one application, GOCE gravity gradients are an important addition to the sparse gravity data of Antarctica. They will help studies of the crustal and lithospheric field. A second area of application is ocean circulation. The geoid surface from the gravity field model GOCO01S allows us now to generate rather detailed maps of the mean dynamic ocean topography and of geostrophic flow velocities in the region of the Antarctic Circumpolar Current.

Next-Generation Maneuvering System with Control-Moment Gyroscopes for Extravehicular Activities Near Low-Gravity Objects

NASA Technical Reports Server (NTRS)

Carpenter, Michele; Jackson, Kimberly; Cohanim, Babak; Duda, Kevin R.; Rize, Jared; Dopart, Celena; Hoffman, Jeffrey; Curiel, Pedro; Studak, Joseph; Ponica, Dina;

America’s Cup Sailing: Effect of Standing Arm-Cranking (“Grinding”) Direction on Muscle Activity, Kinematics, and Torque Application

PubMed Central

Pearson, Simon N.; Hume, Patria A.; Cronin, John; Slyfield, David

2016-01-01

Grinding is a key physical element in America’s Cup sailing. This study aimed to describe kinematics and muscle activation patterns in relation to torque applied in forward and backward grinding. Ten male America’s Cup sailors (33.6 ± 5.7 years, 97.9 ± 13.4 kg, 186.6 ± 7.4 cm) completed forward and backward grinding on a customised grinding ergometer. In forward grinding peak torque (77 Nm) occurred at 95° (0° = crank vertically up) on the downward section of the rotation at the end of shoulder flexion and elbow extension. Backward grinding torque peaked at 35° (69 Nm) following the pull action (shoulder extension, elbow flexion) across the top of the rotation. During forward grinding, relatively high levels of torque (>50 Nm) were maintained through the majority (72%) of the cycle, compared to 47% for backward grinding, with sections of low torque corresponding with low numbers of active muscles. Variation in torque was negatively associated with forward grinding performance (r = −0.60; 90% CI −0.88 to −0.02), but positively associated with backward performance (r = 0.48; CI = −0.15 to 0.83). Magnitude and distribution of torque generation differed according to grinding direction and presents an argument for divergent training methods to improve forward and backward grinding performance.

Quadriceps rate of torque development and disability in individuals with anterior cruciate ligament reconstruction.

PubMed

Davis, Hope C; Troy Blackburn, J; Ryan, Eric D; Luc-Harkey, Brittney A; Harkey, Matthew S; Padua, Darin A; Pietrosimone, Brian

2017-07-01

The purpose of this study was to determine associations between self-reported function (International Knee Documentation Committee Index), isometric quadriceps strength and rate of torque development in individuals with a unilateral anterior cruciate ligament reconstruction. Forty-one individuals [31% male, BMI mean 25 (SD 4) kg/m 2 , months post anterior cruciate ligament reconstruction mean 49 (SD 40)] completed the self-reported function and isometric quadriceps function testing. Rate of torque development was assessed at 0-100ms (early), 100-200ms (late) ms, and peak following the onset of contraction. Associations were examined between rate of torque development, strength, and self-reported function. Linear regression was used to determine the unique amount of variance explained by the combination of rate of torque development and strength. Higher rate of torque development 100-200ms is weakly associated with higher self-reported function in individuals with a unilateral anterior cruciate ligament reconstruction (r=0.274, p=0.091); however, rate of torque development 100-200ms does not predict a significant amount of variance in self-reported function after accounting for strength (ΔR 2 =0.003, P=0.721). Quadriceps strength has a greater influence on self-reported function compared to rate of torque development in individuals with an anterior cruciate ligament reconstruction with time from surgery. Copyright © 2017 Elsevier Ltd. All rights reserved.

Experimental studies of protozoan response to intense magnetic fields and forces

NASA Astrophysics Data System (ADS)

Guevorkian, Karine

Intense static magnetic fields of up to 31 Tesla were used as a novel tool to manipulate the swimming mechanics of unicellular organisms. It is shown that homogenous magnetic fields alter the swimming trajectories of the single cell protozoan Paramecium caudatum, by aligning them parallel to the applied field. Immobile neutrally buoyant paramecia also oriented in magnetic fields with similar rates as the motile ones. It was established that the magneto-orientation is mostly due to the magnetic torques acting on rigid structures in the cell body and therefore the response is a non-biological, passive response. From the orientation rate of paramecia in various magnetic field strengths, the average anisotropy of the diamagnetic susceptibility of the cell was estimated. It has also been demonstrated that magnetic forces can be used to create increased, decreased and even inverted simulated gravity environments for the investigation of the gravi-responses of single cells. Since the mechanisms by which Earth's gravity affects cell functioning are still not fully understood, a number of methods to simulate different strength gravity environments, such as centrifugation, have been employed. Exploiting the ability to exert magnetic forces on weakly diamagnetic constituents of the cells, we were able to vary the gravity from -8 g to 10 g, where g is Earth's gravity. Investigations of the swimming response of paramecia in these simulated gravities revealed that they actively regulate their swimming speed to oppose the external force. This result is in agreement with centrifugation experiments, confirming the credibility of the technique. Moreover, the Paramecium's swimming ceased in simulated gravity of 10 g, indicating a maximum possible propulsion force of 0.7 nN. The magnetic force technique to simulate gravity is the only earthbound technique that can create increased and decreased simulated gravities in the same experimental setup. These findings establish a general technique for applying continuously variable forces to cells or cell populations suitable for exploring their force transduction mechanisms.

Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton.

PubMed

Agrawal, Sunil K; Banala, Sai K; Fattah, Abbas; Sangwan, Vivek; Krishnamoorthy, Vijaya; Scholz, John P; Hsu, Wei-Li

2007-09-01

The gravity balancing exoskeleton, designed at University of Delaware, Newark, consists of rigid links, joints and springs, which are adjustable to the geometry and inertia of the leg of a human subject wearing it. This passive exoskeleton does not use any motors but is designed to unload the human leg joints from the gravity load over its range-of-motion. The underlying principle of gravity balancing is to make the potential energy of the combined leg-machine system invariant with configuration of the leg. Additionally, parameters of the exoskeleton can be changed to achieve a prescribed level of gravity assistance, from 0% to 100%. The goal of the results reported in this paper is to provide preliminary quantitative assessment of the changes in kinematics and kinetics of the walking gait when a human subject wears such an exoskeleton. The data on kinematics and kinetics were collected on four healthy and three stroke patients who wore this exoskeleton. These data were computed from the joint encoders and interface torque sensors mounted on the exoskeleton. This exoskeleton was also recently used for a six-week training of a chronic stroke patient, where the gravity assistance was progressively reduced from 100% to 0%. The results show a significant improvement in gait of the stroke patient in terms of range-of-motion of the hip and knee, weight bearing on the hemiparetic leg, and speed of walking. Currently, training studies are underway to assess the long-term effects of such a device on gait rehabilitation of hemiparetic stroke patients.

The GOCE end-to-end system simulator

NASA Astrophysics Data System (ADS)

Catastini, G.; Cesare, S.; de Sanctis, S.; Detoma, E.; Dumontel, M.; Floberghagen, R.; Parisch, M.; Sechi, G.; Anselmi, A.

2003-04-01

The idea of an end-to-end simulator was conceived in the early stages of the GOCE programme, as an essential tool for assessing the satellite system performance, that cannot be fully tested on the ground. The simulator in its present form is under development at Alenia Spazio for ESA since the beginning of Phase B and is being used for checking the consistency of the spacecraft and of the payload specifications with the overall system requirements, supporting trade-off, sensitivity and worst-case analyses, and preparing and testing the on-ground and in-flight calibration concepts. The software simulates the GOCE flight along an orbit resulting from the application of Earth's gravity field, non-conservative environmental disturbances (atmospheric drag, coupling with Earth's magnetic field, etc.) and control forces/torques. The drag free control forces as well as the attitude control torques are generated by the current design of the dedicated algorithms. Realistic sensor models (star tracker, GPS receiver and gravity gradiometer) feed the control algorithms and the commanded forces are applied through realistic thruster models. The output of this stage of the simulator is a time series of Level-0 data, namely the gradiometer raw measurements and spacecraft ancillary data. The next stage of the simulator transforms Level-0 data into Level-1b (gravity gradient tensor) data, by implementing the following steps: - transformation of raw measurements of each pair of accelerometers into common and differential accelerations - calibration of the common and differential accelerations - application of the post-facto algorithm to rectify the phase of the accelerations and to estimate the GOCE angular velocity and attitude - computation of the Level-1b gravity gradient tensor from calibrated accelerations and estimated angular velocity in different reference frames (orbital, inertial, earth-fixed); computation of the spectral density of the error of the tensor diagonal components (measured gravity gradient minus input gravity gradient) in order to verify the requirement on the error of gravity gradient of 4 mE/sqrt(Hz) within the gradiometer measurement bandwidth (5 to 100 mHz); computation of the spectral density of the tensor trace in order to verify the requirement of 4 sqrt(3) mE/sqrt(Hz) within the measurement bandwidth - processing of GPS observations for orbit reconstruction within the required 10m accuracy and for gradiometer measurement geolocation. The current version of the end-to-end simulator, essentially focusing on the gradiometer payload, is undergoing detailed testing based on a time span of 10 days of simulated flight. This testing phase, ending in January 2003, will verify the current implementation and conclude the assessment of numerical stability and precision. Following that, the exercise will be repeated on a longer-duration simulated flight and the lesson learnt so far will be exploited to further improve the simulator's fidelity. The paper will describe the simulator's current status and will illustrate its capabilities for supporting the assessment of the quality of the scientific products resulting from the current spacecraft and payload design.

Single tooth torque correction in the lower frontal area by a completely customized lingual appliance.

PubMed

Jacobs, Collin; Katzorke, Milena; Wiechmann, Dirk; Wehrbein, Heiner; Schwestka-Polly, Rainer

2017-10-10

Aim of this study was to analyze the efficacy and precision of the completely customized lingual appliance (CCLA) regarding the single tooth torque correction. The study also examined external apical root resorptions as possible side effects of torque correction and the changings of the periodontal situation. A case series of three patients were included. The patients showed a single tooth torque problem with a gingival recession and were treated with the CCLA. Plaster casts before and after treatment and plaster casts of the set up were scanned and superimposed. Deviations between the two plaster casts were analyzed at different points of interest. Changes of the gingival recession were compared before and after treatment. Relative root resorptions were measured by the orthopantomograms. Treatment times were assessed by the records of the patients. Results were presented descriptively. The mean change of the most apical part of the root reached by the orthodontic treatment was 1.8 ± 0.3 mm. The largest deviation between set up and final model was measured on the occlusal surface of the tooth 36 with 0.8 mm. Most measurement points showed a deviation of 0.5 mm or less. The depths of the gingival recession showed a significant reduction of 4.7 mm. The widths of the gingival recession were reduced by 1.1 mm. The average relative root resorption of the corrected teeth was 2.7 ± 1.5%. The average treatment time was 13.8 ± 4.5 months. This is the first study showing that the CCLA with its high precision is very effective in correcting single tooth torque problems. Orthodontic torque correction resulted in a significant reduction of gingival recessions and caused only negligible root resorptions.

Gravity Survey of the Carson Sink - Data and Maps

DOE Data Explorer

Faulds, James E.

2013-12-31

A detailed gravity survey was carried out for the entire Carson Sink in western Nevada (Figure 1) through a subcontract to Zonge Engineering, Inc. The Carson Sink is a large composite basin containing three known, blind high-temperature geothermal systems (Fallon Airbase, Stillwater, and Soda Lake). This area was chosen for a detailed gravity survey in order to characterize the gravity signature of the known geothermal systems and to identify other potential blind systems based on the structural setting indicated by the gravity data. Data: Data were acquired at approximately 400, 800, and 1600 meter intervals for a total of 1,243 stations. The project location and station location points are presented in Figure 14. The station distribution for this survey was designed to complete regional gravity coverage in the Carson Sink area without duplication of available public and private gravity coverage. Gravity data were acquired using a Scintrex CG-5 gravimeter and a LaCoste and Romberg (L&R) Model-G gravimeter. The CG-5 gravity meter has a reading resolution of 0.001 milligals and a typical repeatability of less than 0.005 milligals. The L&R gravity meter has a reading resolution of 0.01 milligals and a typical repeatability of 0.02 milligals. The basic processing of gravimeter readings to calculate through to the Complete Bouguer Anomaly was made using the Gravity and Terrain Correction software version 7.1 for Oasis Montaj by Geosoft LTD. Results: The gravity survey of the Carson Sink yielded the following products. Project location and station location map (Figure 14). Complete Bouguer Anomaly @ 2.67 gm/cc reduction density. Gravity Complete Bouguer Anomaly at 2.50 g/cc Contour Map (Figure 15). Gravity Horizontal Gradient Magnitude Shaded Color Contour Map. Gravity 1st Vertical Derivative Color Contour Map. Interpreted Depth to Mesozoic Basement (Figure 16), incorporating drill-hole intercept values. Preliminary Interpretation of Results: The Carson Sink is a complex composite basin with several major depocenters (Figures 15 and 16). Major depocenters are present in the south-central, east-central, and northeastern parts of the basin. The distribution of gravity anomalies suggests a complex pattern of faulting in the subsurface of the basin, with many fault terminations, step-overs, and accommodation zones. The pattern of faulting implies that other, previously undiscovered blind geothermal systems are likely in the Carson Sink. The gravity survey was completed near the end of this project. Thus, more thorough analysis of the data and potential locations of blind geothermal systems is planned for future work.

Constraints on models for the flagellar rotary motor.

PubMed Central

Berg, H C

2000-01-01

Most bacteria that swim are propelled by flagellar filaments, each driven at its base by a rotary motor embedded in the cell wall and cytoplasmic membrane. A motor is about 45 nm in diameter and made up of about 20 different kinds of parts. It is assembled from the inside out. It is powered by a proton (or in some species, a sodium-ion) flux. It steps at least 400 times per revolution. At low speeds and high torques, about 1000 protons are required per revolution, speed is proportional to protonmotive force, and torque varies little with temperature or hydrogen isotope. At high speeds and low torques, torque increases with temperature and is sensitive to hydrogen isotope. At room temperature, torque varies remarkably little with speed from about -100 Hz (the present limit of measurement) to about 200 Hz, and then it declines rapidly reaching zero at about 300 Hz. These are facts that motor models should explain. None of the existing models for the flagellar rotary motor completely do so. PMID:10836502

A Large Motion Suspension System for Simulation of Orbital Deployment

NASA Technical Reports Server (NTRS)

Straube, T. M.; Peterson, L. D.

1994-01-01

This paper describes the design and implementation of a vertical degree of freedom suspension system which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate the on-orbit deployment of spacecraft components. A unique aspect of this system is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing breakaway friction by an order of magnitude over the passive system alone. The paper describes the development of the suspension hardware and the feedback control algorithm. Experiments were performed to verify the suspensions system's ability to provide a gravity off-load as well as its effect on the modal characteristics of a test article.

On the timing behaviour of PSR B1259-63 under the propeller torque from a transient accretion disc

NASA Astrophysics Data System (ADS)

Yi, Shu-Xu; Cheng, K. S.

2018-05-01

The γ-ray pulsar binary system PSR B1259-63 flares in GeV after each periastron. The origin of these flares is still under debate. Recently, in 2017, we proposed a mechanism that might explain the GeV flares. In that model, a transient accretion disc is expected to be formed from the matter that was gravity-captured by the neutron star from the main-sequence companion's circumstellar disc. The transient accretion disc exerts a spin-down torque on the neutron star (i.e. the propeller effect), which might be traceable via pulsar timing observations of PSR B1259-63. In this paper, we consider the propeller effect phenomenologically using a parameter χ, which describes the coupling between the disc matter and the neutron star. Comparing the expected timing residuals with recent observations by Shannon et al., we conclude that the angular momentum transfer is very weak (with the coupling parameter χ ≤ 10-4).

A model of neuro-musculo-skeletal system for human locomotion under position constraint condition.

PubMed

Ni, Jiangsheng; Hiramatsu, Seiji; Kato, Atsuo

2003-08-01

The human locomotion was studied on the basis of the interaction of the musculo-skeletal system, the neural system and the environment. A mathematical model of human locomotion under position constraint condition was established. Besides the neural rhythm generator, the posture controller and the sensory system, the environment feedback controller and the stability controller were taken into account in the model. The environment feedback controller was proposed for two purposes, obstacle avoidance and target position control of the swing foot. The stability controller was proposed to imitate the self-balancing ability of a human body and improve the stability of the model. In the stability controller, the ankle torque was used to control the velocity of the body gravity center. A prediction control algorithm was applied to calculate the torque magnitude of the stability controller. As an example, human stairs climbing movement was simulated and the results were given. The simulation result proved that the mathematical modeling of the task was successful.

GRACE Mission Design: Impact of Uncertainties in Disturbance Environment and Satellite Force Models

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D.; Kumar, Renjith R.; Seywald, Hans; Qu, Min

2000-01-01

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude, near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

ACL deficient potential copers and non-copers reveal different isokinetic quadriceps strength profiles in the early stage after injury

PubMed Central

Eitzen, I; Eitzen, TJ; Holm, I; Snyder-Mackler, L; Risberg, MA

2011-01-01

Background Isokinetic muscle strength tests using the peak torque value is the most frequently included quadriceps muscle strength measurement for anterior cruciate ligament (ACL) injured subjects. Aims The purpose of this study was to investigate quadriceps muscle performance during the whole isokinetic curve in ACL deficient subjects classified as potential copers or non-copers, and investigate whether these curve profiles were associated with single-leg hop performance. We hypothesized that quadriceps muscle torque at other knee flexion angles than peak torque would give more information about quadriceps muscle strength deficits. Furthermore, we hypothesized that there would be significant torque differences between potential copers and non-copers, and a significant relationship between angle specific torque values and single-leg hop performance. Study Design Cross-sectional study; Level of evidence, 2 Methods Seventy-six individuals with a complete unilateral ACL rupture within the last 3 months were included. The subjects were classified into potential copers and non-copers according to the criteria from Fitzgerald et al12. Isokinetic quadriceps muscle tests were performed at 60°/sec (Biodex 6000). Mean torque values were calculated for peak torque as well as for specific knee flexion angles. The one-leg hop and the 6 meter timed hop tests were included and symmetry indices were used. Results The peak torque value did not identify the largest quadriceps muscle strength deficit. Rather, these were established at knee flexion angles of less than 40°. There were significant differences in angle specific torque values between potential copers and non-copers (p<0.05). Moderate to strong associations were disclosed between angle specific torque values and single-leg hop performance, but only for non-copers (r≥0.32– 0.58). Conclusions Angle specific quadriceps muscle torque values of less than 40° of knee flexion provide more information on the quadriceps strength deficits after ACL injury compared to the commonly used peak torque values. PMID:20110458

Relationships Between Knee Extension Moments During Weighted and Unweighted Gait and Strength Measures That Predict Knee Moments After ACL Reconstruction.

PubMed

Hartigan, Erin; Aucoin, Jennifer; Carlson, Rita; Klieber-Kusak, Melanie; Murray, Thomas; Shaw, Bernadette; Lawrence, Michael

Weighted gait increases internal knee extension moment impulses (KEMI) in the anterior cruciate ligament-reconstructed (ACLR) limb; however, limb differences persist. (1) KEMI during normal gait will influence KEMI during weighted gait and (2) peak knee extension (PKE) torque and time to reach PKE torque will predict KEMI during gait tasks. Descriptive laboratory study. Twenty-four women and 14 men completed 3 gait tasks (unweighted, vest, sled) and strength testing after discharge from rehabilitation and clearance to return to sports. KEMI were calculated during the first 25% of stance. PKE torque and time to reach PKE torque were obtained using a dynamometer. Data on the ACLR limb and symmetry indices (SIs) were analyzed for each sex. Women presented with asymmetrical PKE torques and KEMI across tasks. There were three correlations noted for KEMI: between the walk and vest, walk and sled, and vest and sled tasks. Slower time to PKE torque predicted limb asymmetries across tasks and KEMI in the ACLR limb during the sled task. Men presented with asymmetrical PKE torques and KEMI during the sled task. There was a correlation noted for KEMI between walk and vest tasks only. During the sled task, ACLR limb time to PKE torque predicted KEMI in the ACLR limb and PKE torque SI predicted KEMI SI. Women use asymmetrical KEMI profiles during all gait tasks, and those with worse KEMI during walking have worse KEMI during weighted gait. Men have asymmetrical KEMI when sled towing, and these KEMIs do not correlate with KEMI during walking or vest tasks. PKE torque deficits persist when attempting to return to sports. Only men use gains in PKE torque to improve KEMI profiles. Although quicker PKE torque generation will increase KEMI in women, normalization of KEMI profiles will not occur by increasing rate of force development only. Gait retraining is recommended to correct asymmetrical KEMI profiles used across gait tasks in women.

Validity of Torque-Data Collection at Multiple Sites: A Framework for Collaboration on Clinical-Outcomes Research in Sports Medicine.

PubMed

Kuenze, Christopher; Eltouhky, Moataz; Thomas, Abbey; Sutherlin, Mark; Hart, Joseph

2016-05-01

Collecting torque data using a multimode dynamometer is common in sports-medicine research. The error in torque measurements across multiple sites and dynamometers has not been established. To assess the validity of 2 calibration protocols across 3 dynamometers and the error associated with torque measurement for each system. Observational study. 3 university laboratories at separate institutions. 2 Biodex System 3 dynamometers and 1 Biodex System 4 dynamometer. System calibration was completed using the manufacturer-recommended single-weight method and an experimental calibration method using a series of progressive weights. Both calibration methods were compared with a manually calculated theoretical torque across a range of applied weights. Relative error, absolute error, and percent error were calculated at each weight. Each outcome variable was compared between systems using 95% confidence intervals across low (0-65 Nm), moderate (66-110 Nm), and high (111-165 Nm) torque categorizations. Calibration coefficients were established for each system using both calibration protocols. However, within each system the calibration coefficients generated using the single-weight (System 4 = 2.42 [0.90], System 3a = 1.37 [1.11], System 3b = -0.96 [1.45]) and experimental calibration protocols (System 4 = 3.95 [1.08], System 3a = -0.79 [1.23], System 3b = 2.31 [1.66]) were similar and displayed acceptable mean relative error compared with calculated theoretical torque values. Overall, percent error was greatest for all 3 systems in low-torque conditions (System 4 = 11.66% [6.39], System 3a = 6.82% [11.98], System 3b = 4.35% [9.49]). The System 4 significantly overestimated torque across all 3 weight increments, and the System 3b overestimated torque over the moderate-torque increment. Conversion of raw voltage to torque values using the single-calibration-weight method is valid and comparable to a more complex multiweight calibration process; however, it is clear that calibration must be done for each individual system to ensure accurate data collection.

Simulation of gait and gait initiation associated with body oscillating behavior in the gravity environment on the moon, mars and Phobos.

PubMed

Brenière, Y

2001-04-01

A double-inverted pendulum model of body oscillations in the frontal plane during stepping [Brenière and Ribreau (1998) Biol Cybern 79: 337-345] proposed an equivalent model for studying the body oscillating behavior induced by step frequency in the form of: (1) a kinetic body parameter, the natural body frequency (NBF), which contains gravity and which is invariable for humans, (2) a parametric function of frequency, whose parameter is the NBF, which explicates the amplitude ratio of center of mass to center of foot pressure oscillation, and (3) a function of frequency which simulates the equivalent torque necessary for the control of the head-arms-trunk segment oscillations. Here, this equivalent model is used to simulate the duration of gait initiation, i.e., the duration necessary to initiate and execute the first step of gait in subgravity, as well as to calculate the step frequencies that would impose the same minimum and maximum amplitudes of the oscillating responses of the body center of mass, whatever the gravity value. In particular, this simulation is tested under the subgravity conditions of the Moon, Mars, and Phobos, where gravity is 1/6, 3/8, and 1/1600 times that on the Earth, respectively. More generally, the simulation allows us to establish and discuss the conditions for gait adaptability that result from the biomechanical constraints particular to each gravity system.

A Computational Study of the Mechanics of Gravity-induced Torque on Cells

NASA Astrophysics Data System (ADS)

Haranas, Ioannis; Gkigkitis, Ioannis; Zouganelis, George D.

2013-10-01

In this paper, we study the effects of the acceleration gravity on the sedimentation deposition probability, as well as the aerosol deposition rate on the surface of the Earth and Mars, but also aboard a spacecraft in orbit around Earth and Mars as well. For particles with density ?p = 1300 kg/m3, diameters dp = 1, 10, 30 μm and residence times t = 0.0272, 0.2 s respectively, we find that, on the surface of Earth and Mars the deposition probabilities are higher at the poles when compared to the ones at the equator. Similarly, when in orbit around Earth we find that the deposition probabilities exhibit 0.0001 % higher percentage difference in equatorial circular and elliptical orbits when compared to polar ones. For both residence times particles with the diameters considered above in circular and elliptical orbits around Mars, the deposition probabilities appear to be the same for all orbital inclinations. Sedimentation probability increases drastically with particle diameter and orbital eccentricity of the orbiting spacecraft. Finally, as an alternative framework for the study of interaction and the effect of gravity in biology, and in particular gravity and the respiratory system we introduce is the term information in a way Shannon has introduced it, considering the sedimentation probability as a random variable. This can be thought as a way in which gravity enters the cognitive processes of the system (processing of information) in the cybernetic sense.

Mode transition coordinated control for a compound power-split hybrid car

NASA Astrophysics Data System (ADS)

Wang, Chen; Zhao, Zhiguo; Zhang, Tong; Li, Mengna

2017-03-01

With a compound power-split transmission directly connected to the engine in hybrid cars, dramatic fluctuations in engine output torque result in noticeable jerks when the car is in mode transition from electric drive mode to hybrid drive mode. This study designed a mode transition coordinated control strategy, and verified that strategy's effectiveness with both simulations and experiments. Firstly, the mode transition process was analyzed, and ride comfort issues during the mode transition process were demonstrated. Secondly, engine ripple torque was modeled using the measured cylinder pumping pressure when the engine was not in operation. The complete dynamic plant model of the power-split hybrid car was deduced, and its effectiveness was validated by a comparison of experimental and simulation results. Thirdly, a coordinated control strategy was designed to determine the desired engine torque, motor torque, and the moment of fuel injection. Active damping control with two degrees of freedom, based on reference output shaft speed estimation, was designed to mitigate driveline speed oscillations. Carrier torque estimation based on transmission kinematics and dynamics was used to suppress torque disturbance during engine cranking. The simulation and experimental results indicate that the proposed strategy effectively suppressed vehicle jerks and improved ride comfort during mode transition.

Estimations of relative effort during sit-to-stand increase when accounting for variations in maximum voluntary torque with joint angle and angular velocity.

PubMed

Bieryla, Kathleen A; Anderson, Dennis E; Madigan, Michael L

2009-02-01

The main purpose of this study was to compare three methods of determining relative effort during sit-to-stand (STS). Fourteen young (mean 19.6+/-SD 1.2 years old) and 17 older (61.7+/-5.5 years old) adults completed six STS trials at three speeds: slow, normal, and fast. Sagittal plane joint torques at the hip, knee, and ankle were calculated through inverse dynamics. Isometric and isokinetic maximum voluntary contractions (MVC) for the hip, knee, and ankle were collected and used for model parameters to predict the participant-specific maximum voluntary joint torque. Three different measures of relative effort were determined by normalizing STS joint torques to three different estimates of maximum voluntary torque. Relative effort at the hip, knee, and ankle were higher when accounting for variations in maximum voluntary torque with joint angle and angular velocity (hip=26.3+/-13.5%, knee=78.4+/-32.2%, ankle=27.9+/-14.1%) compared to methods which do not account for these variations (hip=23.5+/-11.7%, knee=51.7+/-15.0%, ankle=20.7+/-10.4%). At higher velocities, the difference in calculating relative effort with respect to isometric MVC or incorporating joint angle and angular velocity became more evident. Estimates of relative effort that account for the variations in maximum voluntary torque with joint angle and angular velocity may provide higher levels of accuracy compared to methods based on measurements of maximal isometric torques.

Monte-Carlo-based uncertainty propagation with hierarchical models—a case study in dynamic torque

NASA Astrophysics Data System (ADS)

Klaus, Leonard; Eichstädt, Sascha

2018-04-01

For a dynamic calibration, a torque transducer is described by a mechanical model, and the corresponding model parameters are to be identified from measurement data. A measuring device for the primary calibration of dynamic torque, and a corresponding model-based calibration approach, have recently been developed at PTB. The complete mechanical model of the calibration set-up is very complex, and involves several calibration steps—making a straightforward implementation of a Monte Carlo uncertainty evaluation tedious. With this in mind, we here propose to separate the complete model into sub-models, with each sub-model being treated with individual experiments and analysis. The uncertainty evaluation for the overall model then has to combine the information from the sub-models in line with Supplement 2 of the Guide to the Expression of Uncertainty in Measurement. In this contribution, we demonstrate how to carry this out using the Monte Carlo method. The uncertainty evaluation involves various input quantities of different origin and the solution of a numerical optimisation problem.

Noncontacting measurement technologies for space propulsion condition monitoring

NASA Technical Reports Server (NTRS)

Randall, M. R.; Barkhoudarian, S.; Collins, J. J.; Schwartzbart, A.

1987-01-01

This paper describes four noncontacting measurement technologies that can be used in a turbopump condition monitoring system. The isotope wear analyzer, fiberoptic deflectometer, brushless torque-meter, and fiberoptic pyrometer can be used to monitor component wear, bearing degradation, instantaneous shaft torque, and turbine blade cracking, respectively. A complete turbopump condition monitoring system including these four technologies could predict remaining component life, thus reducing engine operating costs and increasing reliability.

Electromagnetic Torque in Tokamaks with Toroidal Asymmetries

NASA Astrophysics Data System (ADS)

Logan, Nikolas Christopher

Toroidal rotation and rotation shear strongly influences stability and confinement in tokamaks. Breaking of the toroidal symmetry by fields orders of magnitude smaller than the axisymmetric field can, however, produce electromagnetic torques that significantly affect the plasma rotation, stability and confinement. These electromagnetic torques are the study of this thesis. There are two typical types of electromagnetic torques in tokamaks: 1) "resonant torques" for which a plasma current defined by a single toroidal and single poloidal harmonic interact with external currents and 2) "nonresonant torques" for which the global plasma response to nonaxisymmetric fields is phase shifted by kinetic effects that drive the rotation towards a neoclassical offset. This work describes the diagnostics and analysis necessary to evaluate the torque by measuring the rate of momentum transfer per unit area in the vacuum region between the plasma and external currents using localized magnetic sensors to measure the Maxwell stress. These measurements provide model independent quantification of both the resonant and nonresonant electromagnetic torques, enabling direct verification of theoretical models. Measured values of the nonresonant torque are shown to agree well with the perturbed equilibrium nonambipolar transport (PENT) code calculation of torque from cross field transport in nonaxisymmetric equilibria. A combined neoclassical toroidal viscosity (NTV) theory, valid across a wide range of kinetic regimes, is fully implemented for the first time in general aspect ratio and shaped plasmas. The code captures pitch angle resonances, reproducing previously inaccessible collisionality limits in the model. The complete treatment of the model enables benchmarking to the hybrid kinetic MHD stability codes MARS-K and MISK, confirming the energy-torque equivalency principle in perturbed equilibria. Experimental validations of PENT results confirm the torque applied by nonaxisymmetric coils is often proportional to the energy put into the dominant ideal MHD kink mode. This reduces the control of nonresonant torque to a single mode model, enabling efficient feed forward optimization of applied fields. Initial results including the anisotropic kinetic pressure tensor directly in the plasma eigenmode calculations are presented here, and may eventually provide accurate metrics for multimodal coupling similar to the established single mode metrics.

Load Dependency of Postural Control - Kinematic and Neuromuscular Changes in Response to over and under Load Conditions

PubMed Central

Ritzmann, Ramona; Freyler, Kathrin; Weltin, Elmar; Krause, Anne; Gollhofer, Albert

2015-01-01

Introduction Load variation is associated with changes in joint torque and compensatory reflex activation and thus, has a considerable impact on balance control. Previous studies dealing with over (OL) and under loading (UL) used water buoyancy or additional weight with the side effects of increased friction and inertia, resulting in substantially modified test paradigms. The purpose of this study was to identify gravity-induced load dependency of postural control in comparable experimental conditions and to determine the underlying neuromuscular mechanisms. Methods Balance performance was recorded under normal loading (NL, 1g), UL (0.16g; 0.38g) and OL (1.8g) in monopedal stance. Center of pressure (COP) displacement and frequency distribution (low 0.15-0.5Hz (LF), medium 0.5-2Hz (MF), high 2-6Hz (HF)) as well as ankle, knee and hip joint kinematics were assessed. Soleus spinal excitability was determined by H/M-recruitment curves (H/M-ratios). Results Compared to NL, OL caused an increase in ankle joint excursion, COP HF domain and H/M-ratio. Concomitantly, hip joint excursion and COP LF decreased. Compared to NL, UL caused modulations in the opposite direction: UL decreased ankle joint excursions, COP HF and H/M-ratio. Collaterally, hip joint excursion and COP LF increased. COP was augmented both in UL and in OL compared to NL. Conclusion Subjects achieved postural stability in OL and UL with greater difficulty compared to NL. Reduced postural control was accompanied by modified balance strategies and compensatory reflex activation. With increasing load, a shift from hip to ankle strategy was observed. Accompanying, COP frequency distribution shifted from LF to HF and spinal excitability was enhanced. It is suggested that in OL, augmented ankle joint torques are compensated by quick reflex-induced postural reactions in distal muscles. Contrarily, UL is associated with diminished joint torques and thus, postural equilibrium may be controlled by the proximal segments to adjust the center of gravity above the base of support. PMID:26053055

The Motor and the Brake of the Trailing Leg in Human Walking: Leg Force Control Through Ankle Modulation and Knee Covariance

PubMed Central

Toney, Megan E.; Chang, Young-Hui

2016-01-01

Human walking is a complex task, and we lack a complete understanding of how the neuromuscular system organizes its numerous muscles and joints to achieve consistent and efficient walking mechanics. Focused control of select influential task-level variables may simplify the higher-level control of steady state walking and reduce demand on the neuromuscular system. As trailing leg power generation and force application can affect the mechanical efficiency of step-to-step transitions, we investigated how joint torques are organized to control leg force and leg power during human walking. We tested whether timing of trailing leg force control corresponded with timing of peak leg power generation. We also applied a modified uncontrolled manifold analysis to test whether individual or coordinated joint torque strategies most contributed to leg force control. We found that leg force magnitude was adjusted from step-to-step to maintain consistent leg power generation. Leg force modulation was primarily determined by adjustments in the timing of peak ankle plantar-flexion torque, while knee torque was simultaneously covaried to dampen the effect of ankle torque on leg force. We propose a coordinated joint torque control strategy in which the trailing leg ankle acts as a motor to drive leg power production while trailing leg knee torque acts as a brake to refine leg power production. PMID:27334888

Neural control of arm movements reveals a tendency to use gravity to simplify joint coordination rather than to decrease muscle effort.

PubMed

Wang, Wanyue; Dounskaia, Natalia

2016-12-17

How gravity influences neural control of arm movements remains under debate. We tested three alternative interpretations suggested by previous research: (1) that muscular control includes two components, tonic which compensates for gravity and phasic which produces the movement; (2) that there is a tendency to exploit gravity to reduce muscle effort; and (3) that there is a tendency to use a trailing pattern of joint control during which either the shoulder or elbow is rotated actively and the other joint rotates predominantly passively, and to exploit gravity for control of the passively rotated joint. A free-stroke drawing task was performed that required production of center-out strokes within a circle while selecting stroke directions randomly. The circle was positioned in the horizontal, sagittal, and frontal plane. The arm joints freely rotated in space. In each plane, the distribution of the strokes across directions was non-uniform. Directional histograms were built and their peaks were used to identify preferred movement directions. The directional preferences were especially pronounced in the two vertical planes. The upward directions were most preferred. To test the three interpretations, we used a kinetic analysis that determined the role of gravitational torque in the production of movement in the preferred directions. The results supported the third interpretation and provided evidence against the first and second interpretation. The trailing pattern has been associated with reduced neural effort for joint coordination, and therefore, we conclude that the major tendency with respect to gravity is to exploit it for simplification of joint coordination. Copyright © 2016 IBRO. Published by Elsevier Ltd. All rights reserved.

Evaluation of Aerodynamic Drag and Torque for External Tanks in Low Earth Orbit

PubMed Central

Stone, William C.; Witzgall, Christoph

2006-01-01

A numerical procedure is described in which the aerodynamic drag and torque in low Earth orbit are calculated for a prototype Space Shuttle external tank and its components, the “LO2” and “LH2” tanks, carrying liquid oxygen and hydrogen, respectively, for any given angle of attack. Calculations assume the hypersonic limit of free molecular flow theory. Each shell of revolution is assumed to be described by a series of parametric equations for their respective contours. It is discretized into circular cross sections perpendicular to the axis of revolution, which yield a series of ellipses when projected according to the given angle of attack. The drag profile, that is, the projection of the entire shell is approximated by the convex envelope of those ellipses. The area of the drag profile, that is, the drag area, and its center of area moment, that is, the drag center, are then calculated and permit determination of the drag vector and the eccentricity vector from the center of gravity of the shell to the drag center. The aerodynamic torque is obtained as the cross product of those vectors. The tanks are assumed to be either evacuated or pressurized with a uniform internal gas distribution: dynamic shifting of the tank center of mass due to residual propellant sloshing is not considered. PMID:27274926

Gravity anomaly map of Mars and Moon and analysis of Venus gravity field: New analysis procedures

NASA Technical Reports Server (NTRS)

1984-01-01

The technique of harmonic splines allows direct estimation of a complete planetary gravity field (geoid, gravity, and gravity gradients) everywhere over the planet's surface. Harmonic spline results of Venus are presented as a series of maps at spacecraft and constant altitudes. Global (except for polar regions) and local relations of gravity to topography are described.

Modeling of postural stability borders during heel-toe rocking.

PubMed

Murnaghan, Chantelle D; Elston, Beth; Mackey, Dawn C; Robinovitch, Stephen N

2009-08-01

To maintain balance during movements such as bending and reaching, the CNS must generate muscle forces to counteract destabilizing torques produced by gravitational (position-dependent) and inertial (acceleration-dependent) forces. This may create a trade-off between the attainable frequency and amplitude of movements. We used experiments and mathematical modeling to examine this relationship during the task of heel-toe rocking. During the experiments, participants (n=15) rocked about the ankles in the sagittal plane with maximum attainable amplitude at a frequency of 0.33 Hz or 0.66 Hz. As the frequency doubled, the maximum anterior position of the whole-body centre-of-gravity (COG) with respect to the ankle decreased by 11% of foot length (from 11.9 cm (S.D. 1.6) to 9.2 cm (S.D. 1.2); p<0.001), the minimum anterior position of the COG increased by 8% of foot length (from 1.6 cm to 3.5 cm in front on the ankle; p<0.0005), and the ankle stiffness increased from 787 Nm/rad (S.D. 156) to 1625 Nm/rad (S.D. 339). However, there was no difference between conditions in the maximum anterior position of the COP (p=0.51), the minimum anterior position of the COP (p=0.23), or the peak ankle torque (p=0.39). An inverted pendulum model driven by a rotational spring predicted the measured ankle stiffness to within 0.9% (S.D. 6.8), and the maximum anterior COG position to within 1.2% (S.D. 4.0). These results indicate that COG amplitude decreases with increasing rocking frequency, due to (a) invariability in peak ankle torque and (b) the need to allocate torque between gravitational and inertial components, the latter of which scales with the square of frequency.

Gravity compensation of an upper extremity exoskeleton.

PubMed

Moubarak, S; Pham, M T; Moreau, R; Redarce, T

2010-01-01

This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton is a wearable robotic device attached to the human arm. The user provides information signals to the controller by means of the force sensors around the wrist and the arm, and the robot controller generates the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users. For comfortable and efficient rehabilitation, a new heuristic method have been studied and applied on our prototype in order to calculate the gravity compensation model without the need to identify the mass parameters. It is based on the geometric model of the robot and accurate torque measurements of the prototype's actuators in a set of specifically chosen joint positions. The weight effect has been successfully compensated so that the user can move his arm freely while wearing the exoskeleton without feeling its mass.

How tides get dissipated in Saturn? A question probably answerable by Cassni

NASA Astrophysics Data System (ADS)

Luan, Jing

2017-06-01

Tidal dissipation inside a giant planet is important in understanding the orbital evolutions of its natural satellites and perhaps some of the extrasolar giant planets. The tidal dissipation is conventionally parameterized by the tidal quality factor, Q. The corresponding tidal torque declines rapidly with distance adopting constant Q. However, the current fast migration rates of some Saturnian satellites reported by Lainey et al. (2015) conflict this conventional conceptual belief. Alternatively, resonance lock between a satellite and an internal oscillation mode or wave of Saturn, proposed by Fuller et al. (2016), could naturally match the observational migration rates. However, the question still remains to be answered what type of mode or wave is locked with each satellite. There are two candidates for resonance lock, one is gravity mode, and the other is inertial wave attractor. They generate very different gravity acceleration anomaly near the surface of Saturn, which may be distinguishable by the data to be collected by Cassini during its proximal orbits between April and September, 2017. Indicative information about the interior of Saturn may be extracted since the existence of both gravity mode and inertial wave attractor depends on the internal structure of Saturn.

Knee-Extension Torque Variability and Subjective Knee Function in Patients with a History of Anterior Cruciate Ligament Reconstruction.

PubMed

Goetschius, John; Hart, Joseph M

2016-01-01

When returning to physical activity, patients with a history of anterior cruciate ligament reconstruction (ACL-R) often experience limitations in knee-joint function that may be due to chronic impairments in quadriceps motor control. Assessment of knee-extension torque variability may demonstrate underlying impairments in quadriceps motor control in patients with a history of ACL-R. To identify differences in maximal isometric knee-extension torque variability between knees that have undergone ACL-R and healthy knees and to determine the relationship between knee-extension torque variability and self-reported knee function in patients with a history of ACL-R. Descriptive laboratory study. Laboratory. A total of 53 individuals with primary, unilateral ACL-R (age = 23.4 ± 4.9 years, height = 1.7 ± 0.1 m, mass = 74.6 ± 14.8 kg) and 50 individuals with no history of substantial lower extremity injury or surgery who served as controls (age = 23.3 ± 4.4 years, height = 1.7 ± 0.1 m, mass = 67.4 ± 13.2 kg). Torque variability, strength, and central activation ratio (CAR) were calculated from 3-second maximal knee-extension contraction trials (90° of flexion) with a superimposed electrical stimulus. All participants completed the International Knee Documentation Committee (IKDC) Subjective Knee Evaluation Form, and we determined the number of months after surgery. Group differences were assessed using independent-samples t tests. Correlation coefficients were calculated among torque variability, strength, CAR, months after surgery, and IKDC scores. Torque variability, strength, CAR, and months after surgery were regressed on IKDC scores using stepwise, multiple linear regression. Torque variability was greater and strength, CAR, and IKDC scores were lower in the ACL-R group than in the control group (P < .05). Torque variability and strength were correlated with IKDC scores (P < .05). Torque variability, strength, and CAR were correlated with each other (P < .05). Torque variability alone accounted for 14.3% of the variance in IKDC scores. The combination of torque variability and number of months after surgery accounted for 21% of the variance in IKDC scores. Strength and CAR were excluded from the regression model. Knee-extension torque variability was moderately associated with IKDC scores in patients with a history of ACL-R. Torque variability combined with months after surgery predicted 21% of the variance in IKDC scores in these patients.

MRAS state estimator for speed sensorless ISFOC induction motor drives with Luenberger load torque estimation.

PubMed

Zorgani, Youssef Agrebi; Koubaa, Yassine; Boussak, Mohamed

2016-03-01

This paper presents a novel method for estimating the load torque of a sensorless indirect stator flux oriented controlled (ISFOC) induction motor drive based on the model reference adaptive system (MRAS) scheme. As a matter of fact, this method is meant to inter-connect a speed estimator with the load torque observer. For this purpose, a MRAS has been applied to estimate the rotor speed with tuned load torque in order to obtain a high performance ISFOC induction motor drive. The reference and adjustable models, developed in the stationary stator reference frame, are used in the MRAS scheme in an attempt to estimate the speed of the measured terminal voltages and currents. The load torque is estimated by means of a Luenberger observer defined throughout the mechanical equation. Every observer state matrix depends on the mechanical characteristics of the machine taking into account the vicious friction coefficient and inertia moment. Accordingly, some simulation results are presented to validate the proposed method and to highlight the influence of the variation of the inertia moment and the friction coefficient on the speed and the estimated load torque. The experimental results, concerning to the sensorless speed with a load torque estimation, are elaborated in order to validate the effectiveness of the proposed method. The complete sensorless ISFOC with load torque estimation is successfully implemented in real time using a digital signal processor board DSpace DS1104 for a laboratory 3 kW induction motor. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Effects of Gravity on Processing Heavy Metal Fluoride Fibers

NASA Technical Reports Server (NTRS)

Tucker, Dennis S.; Workman, Gary L.; Smith, Guy A.

1997-01-01

The effects of gravity on the crystal nucleation of heavy metal fluoride fibers have been studied in preliminary experiments utilizing NASA's KC-135 reduced gravity aircraft and a microgravity sounding rocket flight. Commercially produced fibers were heated to the crystallization temperature in normal and reduced gravity. The fibers processed in normal gravity showed complete crystallization while the fibers processed in reduced gravity did not show signs of crystallization.

Selecting Tasks for Evaluating Human Performance as a Function of Gravity

NASA Technical Reports Server (NTRS)

Norcross, J. R.; Gernhardt, M. L.

2010-01-01

A challenge in understanding human performance as a function of gravity is determining which tasks to research. Initial studies began with treadmill walking, which was easy to quantify and control. However, with the development of pressurized rovers, it is less important to optimize human performance for ambulation as rovers will likely perform gross translation for them. Future crews are likely to spend much of their extravehicular activity (EVA) performing geology, construction and maintenance type tasks, for which it is difficult to measure steady-state-workloads. To evaluate human performance in reduced gravity, we have collected metabolic, biomechanical and subjective data for different tasks at varied gravity levels. Methods: Ten subjects completed 5 different tasks including weight transfer, shoveling, treadmill walking, treadmill running and treadmill incline walking. All tasks were performed shirt-sleeved at 1-g, 3/8-g and 1/6-g. Off-loaded conditions were achieved via the Active Response Gravity Offload System. Treadmill tasks were performed for 3 minutes with reported oxygen consumption (VO2) averaged over the last 2 minutes. Shoveling was performed for 3 minutes with metabolic cost reported as ml O2 consumed per kg material shoveled. Weight transfer reports metabolic cost as liters O2 consumed to complete the task. Statistical analysis was performed via repeated measures ANOVA. Results: Statistically significant metabolic differences were noted between all 3 gravity levels for treadmill running and incline walking. For the other 3 tasks, there were significant differences between 1-g and each reduced gravity, but not between 1/6-g and 3/8-g. For weight transfer, significant differences were seen between gravities in both trial-average VO2 and time-to-completion with noted differences in strategy for task completion. Conclusion: To determine if gravity has a metabolic effect on human performance, this research may indicate that tasks should be selected that require the subject to work vertically against the force of gravity.

Brain structural and functional asymmetry in human situs inversus totalis.

PubMed

Vingerhoets, Guy; Li, Xiang; Hou, Lewis; Bogaert, Stephanie; Verhelst, Helena; Gerrits, Robin; Siugzdaite, Roma; Roberts, Neil

2018-05-01

Magnetic resonance imaging was used to investigate brain structural and functional asymmetries in 15 participants with complete visceral reversal (situs inversus totalis, SIT). Language-related brain structural and functional lateralization of SIT participants, including peri-Sylvian gray and white matter asymmetries and hemispheric language dominance, was similar to those of 15 control participants individually matched for sex, age, education, and handedness. In contrast, the SIT cohort showed reversal of the brain (Yakovlevian) torque (occipital petalia and occipital bending) compared to the control group. Secondary findings suggested different asymmetry patterns between SIT participants with (n = 6) or without (n = 9) primary ciliary dyskinesia (PCD, also known as Kartagener syndrome) although the small sample sizes warrant cautious interpretation. In particular, reversed brain torque was mainly due to the subgroup with PCD-unrelated SIT and this group also included 55% left handers, a ratio close to a random allocation of handedness. We conclude that complete visceral reversal has no effect on the lateralization of brain structural and functional asymmetries associated with language, but seems to reverse the typical direction of the brain torque in particular in participants that have SIT unrelated to PCD. The observed differences in asymmetry patterns of SIT groups with and without PCD seem to suggest that symmetry breaking of visceral laterality, brain torque, and language dominance rely on different mechanisms.

Magnetic fluid control for viscous loss reduction of high-speed MRF brakes and clutches with well-defined fail-safe behavior

NASA Astrophysics Data System (ADS)

Güth, Dirk; Schamoni, Markus; Maas, Jürgen

2013-09-01

No-load losses within brakes and clutches based on magnetorheological fluids are unavoidable and represent a major barrier towards their wide-spread commercial adoption. Completely torque free rotation is not yet possible due to persistent fluid contact within the shear gap. In this paper, a novel concept is presented that facilitates the controlled movement of the magnetorheological fluid from an active, torque-transmitting region into an inactive region of the shear gap. This concept enables complete decoupling of the fluid engaging surfaces such that viscous drag torque can be eliminated. In order to achieve the desired effect, motion in the magnetorheological fluid is induced by magnetic forces acting on the fluid, which requires an appropriate magnetic circuit design. In this investigation, we propose a methodology to determine suitable magnetic circuit designs with well-defined fail-safe behavior. The magnetically induced motion of magnetorheological fluids is modeled by the use of the Kelvin body force, and a multi-physics domain simulation is performed to elucidate various transitions between an engaged and disengaged operating mode. The modeling approach is validated by captured high-speed video frames which show the induced motion of the magnetorheological fluid due to the magnetic field. Finally, measurements performed with a prototype actuator prove that the induced viscous drag torque can be reduced significantly by the proposed magnetic fluid control methodology.

Influence of core flows on the decade variations of the polar motion

NASA Astrophysics Data System (ADS)

Hulot, G.; Le Huy, M.; Le Mouël, J.-L.

We address the possibility for the core flows that generate the geomagnetic field to contribute significantly to the decade variations of the mean pole position (generally called the Markowitz wobble). This assumption is made plausible by the observation that the flow at the surface of the core-estimated from the geomagnetic secular variation models-experiences important changes on this time scale. We discard the viscous and electromagnetic core-mantle couplings and consider only the pressure torque pf resulting from the fluid flow overpressure acting on the non-spherical core-mantle boundary (CMB) at the bottom of the mantle, and the gravity torque gf due to the density heterogeneity driving the core flow. We show that forces within the core balance each other on the time scale considered and, using global integrals over the core, the mantle and the whole Earth, we write Euler's equation for the mantle in terms of two more useful torques Pgeo and . The "geostrophic torque", γ Pgeo incorporates γpf and part of γgf, while γ is another fraction of γgf. We recall how the geostrophic pressure pgeo, and thus γPgeo for a given topography, can be derived from the flow at the CMB and compute the motion of the mean pole from 1900 to 1990, assuming in a first approach that the unknown γ can be neglected. The amplitude of the computed pole motion is three to ten times less than the observed one and out of the phase with it. In order to estimate the possible contribution of γ we then use a second approach and consider the case in which the reference state for the Earth is assumed to be the classical axisymmetric ellipsoidal figure with an almost constant ellipticity within the core. We show that (γPgeo + γ) is then equal to a pseudo-electromagnetic torque γL3, the torque exerted on the core by the component of the Lorentz force along the axis of rotation (this torque exists even though the mantle is assumed insulating). This proves that, at least in this case and probably in the more general case of a bumpy CMB, γ is not negligible compared with γ Pgeo. Eventually, we estimate the order of magnitude of γL3, show that it is likely to be small and conclude with further possibilities for the Markowitz wobble to be excited from within the core.

The use of multisensor data for robotic applications

NASA Technical Reports Server (NTRS)

Abidi, M. A.; Gonzalez, R. C.

1990-01-01

The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system were performed. Specifically, vision-driven techniques were implemented to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system was also equipped with a force/torque sensor that continuously monitored the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the two experiments were completed successfully and autonomously.

Hex ball torque test

NASA Technical Reports Server (NTRS)

Robinson, B. A.; Foster, C. L.

1986-01-01

A series of torque tests were performed on four flight-type hex ball universal joints in order to characterize and determine the actual load-carrying capability of this device. The universal joint is a part of manual actuation rods for scientific instruments within the Hubble Space Telescope. It was found that the hex ball will bind slightly during the initial load application. This binding did not affect the function of the universal joint, and the units would wear-in after a few additional loading cycles. The torsional yield load was approximately 50 ft-lb, and was consistent among the four test specimens. Also, the torque required to cause complete failure exceeded 80 ft-lb. It is concluded that the hex ball universal joint is suitable for its intended applications.

Spin Hall and Spin Swapping Torques in Diffusive Ferromagnets

NASA Astrophysics Data System (ADS)

Pauyac, Christian Ortiz; Chshiev, Mairbek; Manchon, Aurelien; Nikolaev, Sergey A.

2018-04-01

A complete set of the generalized drift-diffusion equations for a coupled charge and spin dynamics in ferromagnets in the presence of extrinsic spin-orbit coupling is derived from the quantum kinetic approach, covering major transport phenomena, such as the spin and anomalous Hall effects, spin swapping, spin precession, and relaxation processes. We argue that the spin swapping effect in ferromagnets is enhanced due to spin polarization, while the overall spin texture induced by the interplay of spin-orbital and spin precession effects displays a complex spatial dependence that can be exploited to generate torques and nucleate or propagate domain walls in centrosymmetric geometries without the use of external polarizers, as opposed to the conventional understanding of spin-orbit mediated torques.

Modelling and simulation of Space Station Freedom berthing dynamics and control

NASA Technical Reports Server (NTRS)

Cooper, Paul A.; Garrison, James L., Jr.; Montgomery, Raymond C.; Wu, Shih-Chin; Stockwell, Alan E.; Demeo, Martha E.

1994-01-01

A large-angle, flexible, multibody, dynamic modeling capability has been developed to help validate numerical simulations of the dynamic motion and control forces which occur during berthing of Space Station Freedom to the Shuttle Orbiter in the early assembly flights. This paper outlines the dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the orbiter. The simulation tool developed for the analysis is described and the results of two simulations are presented. The first is a simulated maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the station reaction control jets. The second simulation is the berthing of the station to the orbiter with the station control moment gyros actively maintaining an estimated torque equilibrium attitude. The influence of the elastic dynamic behavior of the station and of the Remote Manipulator System on the attitude control of the station/orbiter system during each maneuver was investigated. The flexibility of the station and the arm were found to have only a minor influence on the attitude control of the system during the maneuvers.

An overview of controls research on the NASA Langley Research Center grid

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.

1987-01-01

The NASA Langley Research Center has assembled a flexible grid on which control systems research can be accomplished on a two-dimensional structure that has many physically distributed sensors and actuators. The grid is a rectangular planar structure that is suspended by two cables attached to one edge so that out of plane vibrations are normal to gravity. There are six torque wheel actuators mounted to it so that torque is produced in the grid plane. Also, there are six rate gyros mounted to sense angular motion in the grid plane and eight accelerometers that measure linear acceleration normal to the grid plane. All components can be relocated to meet specific control system test requirements. Digital, analog, and hybrid control systems capability is provided in the apparatus. To date, research on this grid has been conducted in the areas of system and parameter identification, model estimation, distributed modal control, hierarchical adaptive control, and advanced redundancy management algorithms. The presentation overviews each technique and presents the most significant results generated for each area.

First ever in-situ density measurements in Venus' polar upper atmosphere by combined drag and torque measurements

NASA Astrophysics Data System (ADS)

Svedhem, Håkan; Mueller, Michael; Mueller-Wodarg, Ingo

Information on the atmospheric density in the altitude range 150-200 km in the atmosphere of Venus is difficult to gather remotely. The Pioneer Venus Orbiter Neutral Mass Spectrometer measured gas densities in the equatorial upper atmosphere in-situ, but no such measurements have ever been made in the polar regions of Venus. The Venus Express spacecraft on its orbit approaches the planet in the northern polar region, but is not equipped with a mass spectrometer instrument for in-situ gas density measurements. By reducing the pericentre altitude the total mass density can however be measured in situ by monitoring the orbital decay caused by the drag on the spacecraft by the atmosphere via direct tracking of the Doppler signal on the telecommunication link. Such measurements have been performed with Venus Express several times during the last year as part of the Venus Express Atmospheric Drag Experiment (VExADE). The results indicate a large variability within only a few days and have led to questions if these variations are real or within the uncertainty of the measurements. A completely different and independent measurement is given by monitoring the torque asserted by the atmosphere on the spacecraft. This is done by monitoring the momentum accumulated in the reaction wheels during the pericentre pass and at the same time considering all other perturbing forces. This requires the spacecraft to fly in an asymmetric attitude with respect to the centre of gravity, centre of drag and the velocity vector. This technique has proven very sensitive, in particular if the asymmetry is large, and offers a further method of measuring atmospheric densities in-situ that previously had not been explored with the Venus Express spacecraft. Similar measurements have been done in the past by Magellan at Venus and by Cassini at Titan. First torque measurements carried out during last years' low pericentre passes have confirmed the density measurements by the VExADE drag measurements to an amazingly good accuracy and added to the confidence in the results from these measurements. New combined measurements, where the asymmetry is increased by rotating the solar panels, are planned for February and April 2010. The new results will be discussed at the meeting.

The Effect of Tissue Entrapment on Screw Loosening at the Implant/Abutment Interface of External- and Internal-Connection Implants: An In Vitro Study.

PubMed

Zeno, Helios A; Buitrago, Renan L; Sternberger, Sidney S; Patt, Marisa E; Tovar, Nick; Coelho, Paulo; Kurtz, Kenneth S; Tuminelli, Frank J

2016-04-01

To compare the removal of torque values of machined implant abutment connections (internal and external) with and without soft tissue entrapment using an in vitro model. Thirty external- and 30 internal-connection implants were embedded in urethane dimethacrylate. Porcine tissue was prepared and measured to thicknesses of 0.5 and 1.0 mm. Six groups (n = 10) were studied: External- and internal-connection implants with no tissue (control), 0.5, and 1.0 mm of tissue were entrapped at the implant/abutment interface. Abutments were inserted to 20 Ncm for all six groups. Insertion torque values were recorded using a digital torque gauge. All groups were then immersed in 1 M NaOH for 48 hours to dissolve tissue. Subsequent reverse torque measurements were recorded. Mean and standard deviation were determined for each group, and one-way ANOVA and Bonferroni test were used for statistical analysis. All 60 specimens achieved a 20-Ncm insertion torque, despite tissue entrapment. Reverse torque measurements for external connection displayed a statistically significant difference (p < 0.05) between all groups with mean reverse torque values for the control (13.71 ± 1.4 Ncm), 0.5 mm (7.83 ± 2.4 Ncm), and 1.0 mm tissue entrapment (2.29 ± 1.4 Ncm) groups. Some statistically significant differences (p < 0.05) were found between internal-connection groups. In all specimens, tissue did not completely dissolve after 48 hours. External-connection implants were significantly affected by tissue entrapment; the thicker the tissue, the lower the reverse torque values noted. Internal-connection implants were less affected by tissue entrapment. © 2015 by the American College of Prosthodontists.

Locking design affects the jamming of screws in locking plates.

PubMed

Sandriesser, Sabrina; Rupp, Markus; Greinwald, Markus; Heiss, Christian; Augat, Peter; Alt, Volker

2018-06-01

The seizing of locking screws is a frequently encountered clinical problem during implant removal of locking compression plates (LCP) after completion of fracture healing. The aim of this study was to investigate the effect of two different locking mechanisms on the seizing of locking screws. Specifically, the removal torques before and after cyclic dynamic loading were assessed for screws inserted at the manufacturer-recommended torque or at an increased insertion torque. The seizing of 3.5-mm angular stable screws was assessed as a function of insertion torque for two different locking mechanisms (Thread & Conus and Thread Only). Locking screws (n=10 for each configuration) were inserted either according to the manufacturer-recommended torque or at an increased torque of 150% to simulate an over-insertion of the screw. Half of the screws were removed directly after insertion and the remaining half was removed after a dynamic load protocol of 100,000 cycles. The removal torques of locking screws exceeded the insertion torques for all tested conditions confirming the adequacy of the test setup in mimicking screw seizing in locked plating. Screw seizing was more pronounced for Thread Only design (+37%) compared to Thread & Conus design (+14%; P<0.0001). Cyclic loading of the locking construct consistently resulted in an increased seizing of the locking screws (P<0.0001). Clinical observations from patients treated with the Thread & Conus locking design confirm the biomechanical findings of reduction in seizing effect by using a Thread & Conus design. In conclusion, both over-tightening and cyclic loading are potential causes for screw seizing in locking plate implants. Both effects were found to be less pronounced in the Thread & Conus design as compared to the traditional Thread Only design. © 2018 Elsevier Ltd. All rights reserved.

Newton vs. Munchhausen in upper-troposphere dynamics

NASA Astrophysics Data System (ADS)

Bergmann, Juan Carlos

2010-05-01

Atmospheric angular momentum (AM) balance depends crucially on the existence and magnitude of the planetary-scale AM transport by 'eddies' in the upper troposphere. Its divergence has to provide the torque, which is necessary to realise the upper-troposphere branch of meridional circulation. (In the boundary layer, the torque is provided by surface-friction.) The torques in neighbouring circulation cells are opposed, so that the AM transport mediates a torque-interaction between the circulation cells. This interaction corresponds to a clear requirement of Newton's Third Law: torques (forces) exist only in interaction with other bodies, and their sum is equal to zero. In Münchhausen's physics, force (and torque) exists without interaction: In a famous tale, Münchhausen saves himself (and his horse!) from drowning in a swamp-hole by pulling himself up at his hair. Münchhausen-physics situations arise in the dynamical analysis of the torque exerted by a single eddy and in analysis of the cause for the AM transport of the single eddy. The local AM transport of the single eddy is defined by the difference in zonal velocity between the pole-ward and equator-ward branches (Δu) multiplied with meridional velocity-magnitude (¦v¦). For the average over many eddies, it transforms to the average product of the deviations of zonal and meridional velocities from their local averages (, eddy-correlation; the complete formulations include the local radius of rotation but it is omitted here for simplicity reasons). This definition is phenomenological but not dynamical. In dynamical analysis it turns out that the torque-related zonal equation of motion of an AM-transporting single eddy can be formulated without torque-interaction with other bodies (torque-free eddy). Newton III implies also the phenomenological torque (transport divergence -δ(¦v¦Δu)/δy) to be zero for this case because there is no partner of torque-interaction. However, the dynamically torque-free single eddy has an unavoidable 'transport' divergence - especially in the turning-region of the meridional motion. Thus, there is a phenomenological 'torque' (non-zero 'transport' divergence) without torque-interaction - a classical Münchhausen situation! The dynamical cause of phenomenological 'AM transport' and associated phenomenological 'torques' of the dynamically torque-free single eddy is 'hidden' in the non-torque-related meridional equation of motion for steady-state: δv-δ t = - u δv-δx - vδv-δ y - f u(x) + Fy(x) = 0 . Strong variation of the meridional pressure-gradient force Fy(x) (no torque!) over the eddy-path (longitude x) produces varying zonal velocities u(x) that are falsely interpreted as 'AM transport' on the phenomenological level (the 'advective' terms are negligible outside the eddy's turning regions). Thus, creation and destruction of phenomenological 'AM transport' (Δu) in a single eddy do not originate from torque-interaction with other bodies - another classical Münchhausen situation! Should the previous analysis be ignored in favour of maintaining the 'established' ideas of upper-troposphere dynamics or should there be an effort to formulate new ideas that are in accordance with Newtonian physics?

Performance analysis of a GPS Interferometric attitude determination system for a gravity gradient stabilized spacecraft. M.S. Thesis

NASA Technical Reports Server (NTRS)

Stoll, John C.

1995-01-01

The performance of an unaided attitude determination system based on GPS interferometry is examined using linear covariance analysis. The modelled system includes four GPS antennae onboard a gravity gradient stabilized spacecraft, specifically the Air Force's RADCAL satellite. The principal error sources are identified and modelled. The optimal system's sensitivities to these error sources are examined through an error budget and by varying system parameters. The effects of two satellite selection algorithms, Geometric and Attitude Dilution of Precision (GDOP and ADOP, respectively) are examined. The attitude performance of two optimal-suboptimal filters is also presented. Based on this analysis, the limiting factors in attitude accuracy are the knowledge of the relative antenna locations, the electrical path lengths from the antennae to the receiver, and the multipath environment. The performance of the system is found to be fairly insensitive to torque errors, orbital inclination, and the two satellite geometry figures-of-merit tested.

Space station preliminary design report

NASA Technical Reports Server (NTRS)

1982-01-01

The results of a 3 month preliminary design and analysis effort is presented. The configuration that emerged consists of a very stiff deployable truss structure with an overall triangular cross section having universal modules attached at the apexes. Sufficient analysis was performed to show feasibility of the configuration. An evaluation of the structure shows that desirable attributes of the configuration are: (1) the solar cells, radiators, and antennas will be mounted to stiff structure to minimize control problems during orbit maintenance and correction, docking, and attitude control; (2) large flat areas are available for mounting and servicing of equipment; (3) Large mass items can be mounted near the center of gravity of the system to minimize gravity gradient torques; (4) the trusses are lightweight structures and can be transported into orbit in one Shuttle flight; (5) the trusses are expandable and will require a minimum of EVA; and (6) the modules are anticipated to be structurally identical except for internal equipment to minimize cost.

Force characteristic analysis of a magnetic gravity compensator with annular magnet array for magnetic levitation positioning system

NASA Astrophysics Data System (ADS)

Zhou, Yiheng; Kou, Baoquan; Liu, Peng; Zhang, He; Xing, Feng; Yang, Xiaobao

2018-05-01

Magnetic levitation positioning system (MLPS) is considered to be the state of the art in inspection and manufacturing systems in vacuum. In this paper, a magnetic gravity compensator with annular magnet array (AMA-MGC) for MLPS is proposed. Benefiting from the double-layer annular Halbach magnet array on the stator, the proposed AMA-MGC possesses the advantages of symmetrical force, high force density and small force fluctuation. Firstly, the basic structure and operation principle of the AMA-MGC are introduced. Secondly, the basic characteristics of the AMA-MGC such as magnetic field distribution, levitation force, parasitic force and parasitic torque are analyzed by the three-dimensional finite element analysis (3-D FEA). Thirdly, the influence of structural parameters on force density and force fluctuation is investigated, which is conductive to the design and optimization of the AMA-MGC. Finally, a prototype of the AMA-MGC is constructed, and the experiment shows good agreement with the 3-D FEA results.

Room-temperature spin-orbit torque in NiMnSb

NASA Astrophysics Data System (ADS)

Ciccarelli, C.; Anderson, L.; Tshitoyan, V.; Ferguson, A. J.; Gerhard, F.; Gould, C.; Molenkamp, L. W.; Gayles, J.; Železný, J.; Šmejkal, L.; Yuan, Z.; Sinova, J.; Freimuth, F.; Jungwirth, T.

2016-09-01

Materials that crystallize in diamond-related lattices, with Si and GaAs as their prime examples, are at the foundation of modern electronics. Simultaneously, inversion asymmetries in their crystal structure and relativistic spin-orbit coupling led to discoveries of non-equilibrium spin-polarization phenomena that are now extensively explored as an electrical means for manipulating magnetic moments in a variety of spintronic structures. Current research of these relativistic spin-orbit torques focuses primarily on magnetic transition-metal multilayers. The low-temperature diluted magnetic semiconductor (Ga, Mn)As, in which spin-orbit torques were initially discovered, has so far remained the only example showing the phenomenon among bulk non-centrosymmetric ferromagnets. Here we present a general framework, based on the complete set of crystallographic point groups, for identifying the potential presence and symmetry of spin-orbit torques in non-centrosymmetric crystals. Among the candidate room-temperature ferromagnets we chose to use NiMnSb, which is a member of the broad family of magnetic Heusler compounds. By performing all-electrical ferromagnetic resonance measurements in single-crystal epilayers of NiMnSb we detect room-temperature spin-orbit torques generated by effective fields of the expected symmetry and of a magnitude consistent with our ab initio calculations.

MRF actuators with reduced no-load losses

NASA Astrophysics Data System (ADS)

Güth, Dirk; Maas, Jürgen

2012-04-01

Magnetorheological fluids (MRF) are smart fluids with the particular characteristics of changing their apparent viscosity significantly under the influence of a magnetic field. This property allows the design of mechanical devices for torque transmission, such as brakes and clutches, with a continuously adjustable and smooth torque generation. A challenge that is opposed to a commercial use, are durable no-load losses, because a complete torque-free separation due to the permanent liquid intervention is inherently not yet possible. In this paper, the necessity of reducing these durable no-load losses will be shown by measurements performed with a MRF brake for high rotational speeds of 6000min-1 in a first step. The detrimental high viscous torque motivates the introduction of a novel concept that allows a controlled movement of the MR fluid from an active shear gap into an inactive shear gap and thus an almost separation of the fluid engaging surfaces. Simulation and measurement results show that the viscous induced drag torque can be reduced significantly. Based on this new approach, it is possible to realize MRF actuators for an energy-efficient use in the drive technology or power train, which avoid this inherent disadvantage and extend additionally the durability of the entire component.

Structure of the torque ring of the flagellar motor and the molecular basis for rotational switching.

PubMed

Lee, Lawrence K; Ginsburg, Michael A; Crovace, Claudia; Donohoe, Mhairi; Stock, Daniela

2010-08-19

The flagellar motor drives the rotation of flagellar filaments at hundreds of revolutions per second, efficiently propelling bacteria through viscous media. The motor uses the potential energy from an electrochemical gradient of cations across the cytoplasmic membrane to generate torque. A rapid switch from anticlockwise to clockwise rotation determines whether a bacterium runs smoothly forward or tumbles to change its trajectory. A protein called FliG forms a ring in the rotor of the flagellar motor that is involved in the generation of torque through an interaction with the cation-channel-forming stator subunit MotA. FliG has been suggested to adopt distinct conformations that induce switching but these structural changes and the molecular mechanism of switching are unknown. Here we report the molecular structure of the full-length FliG protein, identify conformational changes that are involved in rotational switching and uncover the structural basis for the formation of the FliG torque ring. This allows us to propose a model of the complete ring and switching mechanism in which conformational changes in FliG reverse the electrostatic charges involved in torque generation.

Variability in Laboratory vs. Field Testing of Peak Power, Torque, and Time of Peak Power Production Among Elite Bicycle Motocross Cyclists.

PubMed

Rylands, Lee P; Roberts, Simon J; Hurst, Howard T

2015-09-01

The aim of this study was to ascertain the variation in elite male bicycle motocross (BMX) cyclists' peak power, torque, and time of power production during laboratory and field-based testing. Eight elite male BMX riders volunteered for the study, and each rider completed 3 maximal sprints using both a Schoberer Rad Messtechnik (SRM) ergometer in the laboratory and a portable SRM power meter on an Olympic standard indoor BMX track. The results revealed a significantly higher peak power (p ≤ 0.001, 34 ± 9%) and reduced time of power production (p ≤ 0.001, 105 ± 24%) in the field tests when compared with laboratory-derived values. Torque was also reported to be lower in the laboratory tests but not to an accepted level of significance (p = 0.182, 6 ± 8%). These results suggest that field-based testing may be a more effective and accurate measure of a BMX rider's peak power, torque, and time of power production.

Robust synchronization of spin-torque oscillators with an LCR load.

PubMed

Pikovsky, Arkady

2013-09-01

We study dynamics of a serial array of spin-torque oscillators with a parallel inductor-capacitor-resistor (LCR) load. In a large range of parameters the fully synchronous regime, where all the oscillators have the same state and the output field is maximal, is shown to be stable. However, not always such a robust complete synchronization develops from a random initial state; in many cases nontrivial clustering is observed, with a partial synchronization resulting in a quasiperiodic or chaotic mean-field dynamics.

A Method for and Issues Associated with the Determination of Space Suit Joint Requirements

NASA Technical Reports Server (NTRS)

Matty, Jennifer E.; Aitchison, Lindsay

2010-01-01

This joint mobility KC lecture included information from two papers, "A Method for and Issues Associated with the Determination of Space Suit Joint Requirements" and "Results and Analysis from Space Suit Joint Torque Testing," as presented for the International Conference on Environmental Systems in 2009 and 2010, respectively. The first paper discusses historical joint torque testing methodologies and approaches that were tested in 2008 and 2009. The second paper discusses the testing that was completed in 2009 and 2010.

Light rays and the tidal gravitational pendulum

NASA Astrophysics Data System (ADS)

Farley, A. N. St J.

2018-05-01

Null geodesic deviation in classical general relativity is expressed in terms of a scalar function, defined as the invariant magnitude of the connecting vector between neighbouring light rays in a null geodesic congruence projected onto a two-dimensional screen space orthogonal to the rays, where λ is an affine parameter along the rays. We demonstrate that η satisfies a harmonic oscillator-like equation with a λ-dependent frequency, which comprises terms accounting for local matter affecting the congruence and tidal gravitational effects from distant matter or gravitational waves passing through the congruence, represented by the amplitude, of a complex Weyl driving term. Oscillating solutions for η imply the presence of conjugate or focal points along the rays. A polarisation angle, is introduced comprising the orientation of the connecting vector on the screen space and the phase, of the Weyl driving term. Interpreting β as the polarisation of a gravitational wave encountering the light rays, we consider linearly polarised waves in the first instance. A highly non-linear, second-order ordinary differential equation, (the tidal pendulum equation), is then derived, so-called due to its analogy with the equation describing a non-linear, variable-length pendulum oscillating under gravity. The variable pendulum length is represented by the connecting vector magnitude, whilst the acceleration due to gravity in the familiar pendulum formulation is effectively replaced by . A tidal torque interpretation is also developed, where the torque is expressed as a coupling between the moment of inertia of the pendulum and the tidal gravitational field. Precessional effects are briefly discussed. A solution to the tidal pendulum equation in terms of familiar gravitational lensing variables is presented. The potential emergence of chaos in general relativity is discussed in the context of circularly, elliptically or randomly polarised gravitational waves encountering the null congruence.

Modulation of shoulder muscle and joint function using a powered upper-limb exoskeleton.

PubMed

Wu, Wen; Fong, Justin; Crocher, Vincent; Lee, Peter V S; Oetomo, Denny; Tan, Ying; Ackland, David C

2018-04-27

Robotic-assistive exoskeletons can enable frequent repetitive movements without the presence of a full-time therapist; however, human-machine interaction and the capacity of powered exoskeletons to attenuate shoulder muscle and joint loading is poorly understood. This study aimed to quantify shoulder muscle and joint force during assisted activities of daily living using a powered robotic upper limb exoskeleton (ArmeoPower, Hocoma). Six healthy male subjects performed abduction, flexion, horizontal flexion, reaching and nose touching activities. These tasks were repeated under two conditions: (i) the exoskeleton compensating only for its own weight, and (ii) the exoskeleton providing full upper limb gravity compensation (i.e., weightlessness). Muscle EMG, joint kinematics and joint torques were simultaneously recorded, and shoulder muscle and joint forces calculated using personalized musculoskeletal models of each subject's upper limb. The exoskeleton reduced peak joint torques, muscle forces and joint loading by up to 74.8% (0.113 Nm/kg), 88.8% (5.8%BW) and 68.4% (75.6%BW), respectively, with the degree of load attenuation strongly task dependent. The peak compressive, anterior and superior glenohumeral joint force during assisted nose touching was 36.4% (24.6%BW), 72.4% (13.1%BW) and 85.0% (17.2%BW) lower than that during unassisted nose touching, respectively. The present study showed that upper limb weight compensation using an assistive exoskeleton may increase glenohumeral joint stability, since deltoid muscle force, which is the primary contributor to superior glenohumeral joint shear, is attenuated; however, prominent exoskeleton interaction moments are required to position and control the upper limb in space, even under full gravity compensation conditions. The modeling framework and results may be useful in planning targeted upper limb robotic rehabilitation tasks. Copyright © 2018 Elsevier Ltd. All rights reserved.

An estimation of Envisat's rotational state accounting for the precession of its rotational axis caused by gravity-gradient torque

NASA Astrophysics Data System (ADS)

Lin, Hou-Yuan; Zhao, Chang-Yin

2018-01-01

The rotational state of Envisat is re-estimated using the specular glint times in optical observation data obtained from 2013 to 2015. The model is simplified to a uniaxial symmetric model with the first order variation of its angular momentum subject to a gravity-gradient torque causing precession around the normal of the orbital plane. The sense of Envisat's rotation can be derived from observational data, and is found to be opposite to the sense of its orbital motion. The rotational period is estimated to be (120.674 ± 0.068) · exp((4.5095 ± 0.0096) ×10-4 · t) s , where t is measured in days from the beginning of 2013. The standard deviation is 0.760 s, making this the best fit obtained for Envisat in the literature to date. The results demonstrate that the angle between the angular momentum vector and the negative normal of the orbital plane librates around a mean value of 8.53 ° ± 0.42 ° with an amplitude from about 0.7 ° (in 2013) to 0.5 ° (in 2015), with the libration period equal to the precession period of the angular momentum, from about 4.8 days (in 2013) to 3.4 days (in 2015). The ratio of the minimum to maximum principal moments of inertia is estimated to be 0.0818 ± 0.0011 , and the initial longitude of the angular momentum in the orbital coordinate system is 40.5 ° ± 9.3 ° . The direction of the rotation axis derived from our results at September 23, 2013, UTC 20:57 is similar to the results obtained from satellite laser ranging data but about 20 ° closer to the negative normal of the orbital plane.

Attitude and Translation Control of a Solar Sail Vehicle

NASA Technical Reports Server (NTRS)

Singh, Gurkirpal

2008-01-01

A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

MAP stability, design, and analysis

NASA Technical Reports Server (NTRS)

Ericsson-Jackson, A. J.; Andrews, S. F.; O'Donnell, J. R., Jr.; Markley, F. L.

1998-01-01

The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. The design and analysis of the MAP attitude control system (ACS) have been refined since work previously reported. The full spacecraft and instrument flexible model was developed in NASTRAN, and the resulting flexible modes were plotted and reduced with the Modal Significance Analysis Package (MSAP). The reduced-order model was used to perform the linear stability analysis for each control mode, the results of which are presented in this paper. Although MAP is going to a relatively disturbance-free Lissajous orbit around the Earth-Sun L(2) Lagrange point, a detailed disturbance-torque analysis is required because there are only a small number of opportunities for momentum unloading each year. Environmental torques, including solar pressure at L(2), aerodynamic and gravity gradient during phasing-loop orbits, were calculated and simulated. Thruster plume impingement torques that could affect the performance of the thruster modes were estimated and simulated, and a simple model of fuel slosh was derived to model its effect on the motion of the spacecraft. In addition, a thruster mode linear impulse controller was developed to meet the accuracy requirements of the phasing loop burns. A dynamic attitude error limiter was added to improve the performance of the ACS during large attitude slews. The result of this analysis is a stable ACS subsystem that meets all of the mission's requirements.

Probable Rotation States of Rocket Bodies in Low Earth Orbit

NASA Astrophysics Data System (ADS)

Ojakangas, G.; Anz-Meador, P.; Cowardin, H.

2012-09-01

In order for Active Debris Removal to be accomplished, it is critically important to understand the probable rotation states of orbiting, spent rocket bodies (RBs). However, rotational dynamics is non-intuitive and misconceptions are common. Determinations of rotation and precession rates from light curves have been published that are inconsistent with the theory presented here. In a state of free precession, the total angular momentum of the object is constant, while kinetic energy decreases due to internal friction, approaching rotation about the axis of maximum inertia. For solid internal friction the timescale is hundreds to thousands of years for quality factors of ~100 and assuming metallic rigidities, but for friction in partially-filled liquid fuel tanks we predict that the preferred rotational state is approached rapidly, within days to months. However, history has shown that theoretical predictions of the timescale have been notoriously inaccurate. In free precession, the 3-1-3 Euler angle rates dphi/dt (precession rate of long axis about fixed angular momentum with cone angle theta) and dpsi/dt (roll rate around long axis) have comparable magnitudes until very close to theta=pi/2, so that otherwise the true rotation period is not simply twice the primary light curve period. Furthermore dtheta/dt, nonzero due to friction, becomes asymptotically smaller as theta=pi/2 is approached, so that theta can linger within several degrees of flat spin for a relatively long time. Such a condition is likely common, and cannot be distinguished from the wobble of a cylinder with a skewed inertia tensor unless the RB has non-axisymmetric reflectivity characteristics. For an RB of known dimensions, a given value of theta fixes the relative values of dpsi/dt and dphi/dt. In forced precession, the angular momentum precesses about a symmetry axis defined by the relevant torque. However, in LEO, only gravity gradient and magnetic eddy current torques are dominant, and these cannot cause precession periods shorter than a week, or more likely, months. Thus forced precession is probably not observable over observation campaigns spanning a few days or less. Spin-orbit resonances are likely for low rotation rates approaching the mean motion, possibly causing large deviations between the symmetry axis and the geocentric direction. An expression for the eddy current torque on an arbitrarily rotating cylinder, hitherto not available in the literature, is presented here. Numerical integrations of the equations of motion for a cylindrical RB in LEO with arbitrary initial conditions and subject to eddy current and gravity gradient torques as well as prescribed internal dissipation are in progress. Acknowledgements: This work was produced under NASA contract NNJ05HI05.

Gravity data of Nevada

USGS Publications Warehouse

Ponce, David A.

1997-01-01

Gravity data for the entire state of Nevada and adjacent parts of California, Utah, and Arizona are available on this CD-ROM. About 80,000 gravity stations were compiled primarily from the National Geophysical Data Center and the U.S. Geological Survey. Gravity data was reduced to the Geodetic Reference System of 1967 and adjusted to the Gravity Standardization Net 1971 gravity datum. Data were processed to complete Bouguer and isostatic gravity anomalies by applying standard gravity corrections including terrain and isostatic corrections. Selected principal fact references and a list of sources for data from the National Geophysical Data Center are included.

Isometric and dynamic strength and neuromuscular attributes as predictors of vertical jump performance in 11- to 13-year-old male athletes.

PubMed

McKinlay, Brandon John; Wallace, Phillip J; Dotan, Raffy; Long, Devon; Tokuno, Craig; Gabriel, David A; Falk, Bareket

2017-09-01

In explosive contractions, neural activation is a major factor in determining the rate of torque development, while the latter is an important determinant of jump performance. However, the contribution of neuromuscular activation and rate of torque development to jump performance in children and youth is unclear. The purpose of this study was to examine the relationships between the rate of neuromuscular activation, peak torque, rate of torque development, and jump performance in young male athletes. Forty-one 12.5 ± 0.5-year-old male soccer players completed explosive, unilateral isometric and dynamic (240°/s) knee extensions (Biodex System III), as well as countermovement-, squat-, and drop-jumps. Peak torque (pT), peak rate of torque development (pRTD), and rate of vastus lateralis activation (Q 30 ) during the isometric and dynamic contractions were examined in relation to attained jump heights. Isometric pT and pRTD were strongly correlated (r = 0.71) but not related to jump performance. Dynamic pT and pRTD, normalized to body mass, were significantly related to jump height in all 3 jumps (r = 0.38-0.66, p < 0.05). Dynamic normalized, but not absolute pRTD, was significantly related to Q 30 (r = 0.35, p < 0.05). In young soccer players, neuromuscular activation and rate of torque development in dynamic contractions are related to jump performance, while isometric contractions are not. These findings have implications in the choice of training and assessment methods for young athletes.

Medial collateral ligament injuries and subsequent load on the anterior cruciate ligament: a biomechanical evaluation in a cadaveric model.

PubMed

Battaglia, Michael J; Lenhoff, Mark W; Ehteshami, John R; Lyman, Stephen; Provencher, Matthew T; Wickiewicz, Thomas L; Warren, Russell F

2009-02-01

Numerous studies have documented the effect of complete medial collateral ligament injury on anterior cruciate ligament loads; few have addressed how partial medial collateral ligament disruption affects knee kinematics. To determine knee kinematics and subsequent change in anterior cruciate ligament load in a partial and complete medial collateral ligament injury model. Controlled laboratory study. Ten human cadaveric knees were sequentially tested by a robot with the medial collateral ligament intact, in a partial injury model, and in a complete injury model with a universal force-moment sensor measuring system. Tibial translation, rotation, and anterior cruciate ligament load were measured under 3 conditions: anterior load (125 N), valgus load (10 N x m), and internal-external rotation torque (4 N x m; all at 0 degrees and 30 degrees of flexion). Anterior and posterior translation did not statistically increase with a partial or complete medial collateral ligament injury at 0 degrees and 30 degrees of flexion. In response to a 125 N anterior load, at 0 degrees , the anterior cruciate ligament load increased 8.7% (from 99.5 to 108.2 N; P = .006) in the partial injury and 18.3% (117.7 N; P < .001) in the complete injury; at 30 degrees , anterior cruciate ligament load was increased 12.3% (from 101.7 to 114.2 N; P = .001) in the partial injury and 20.6% (122.7 N; P < .001) in the complete injury. In response to valgus torque (10 N x m) at 30 degrees , anterior cruciate ligament load was increased 55.3% (30.4 to 47.2 N; P = .044) in the partial injury model and 185% (86.8 N; P = .001) in the complete injury model. In response to internal rotation torque (4 N.m) at 30 degrees , anterior cruciate ligament load was increased 29.3% (27.6 to 35.7 N; P = .001) in the partial injury model and 65.2% (45.6 N; P < .001) in the complete injury model. The amount of internal rotation at 30 degrees of flexion was significantly increased in the complete injury model (22.8 degrees ) versus the intact state (19.5 degrees ; P < .001). Partial and complete medial collateral ligament tears significantly increased the load on the anterior cruciate ligament. In a partial tear, the resultant load on the anterior cruciate ligament was increased at 30 degrees of flexion and with valgus load and internal rotation torque. Patients may need to be protected from valgus and internal rotation forces after anterior cruciate ligament reconstruction in the setting of a concomitant partial medial collateral ligament tear. This information may help clinicians understand the importance of partial injuries of the medial collateral ligament with a combined anterior cruciate ligament injury complex.

Mean winds and momemtum fluxes over Jicamarca, Peru, during June and August 1987

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

Hitchman, M.H.; Bywaters, K.W.; Fritts, D.C.

1992-12-15

Data from the mesophere-stratosphere-troposphere (MST) radar at Jicamarca, Peru, together with other available data, are used to diagnose the mean structure of winds and gravity-wave momentum fluxes from the surface to 90 km during two ten-day campaigns in June and August of 1987. In the stratosphere a layer of maximum eastward flow associated with the quasi-biennial oscillation (QBO) was seen to strengthen and descend rapidly from June to August, overlying persitent westward flow. A layer of enhanced signal return, suggestive of a turbulent layer, was observed just above the descending QBO eastward maximum. Notable zonal asymmetries were present during thismore » transition and the local meridional circulation departed form zonal-mean QBO theory. A substantial northeastward momentum flux was found below 25 km, which may be related to topographic gravity waves excited by southeastward flow across the Andes. In the lower mesosphere a relatively weak second mesopause semiannual oxcillation is confirmed. Gravity-wave zonal and meridional momentum fluxes usually opposed the flow, yielding body forces of [approximately]10-100 ms[sup [minus]1] day [sup [minus]1]. In both the lower stratosphere and mesosphere, body forces were comparable in magnitude to inferred Coriolis torques. 52 refs., 9 figs.« less

High-efficiency control of spin-wave propagation in ultra-thin yttrium iron garnet by the spin-orbit torque

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

Evelt, M.; Demidov, V. E., E-mail: demidov@uni-muenster.de; Bessonov, V.

2016-04-25

We study experimentally with submicrometer spatial resolution the propagation of spin waves in microscopic waveguides based on the nanometer-thick yttrium iron garnet and Pt layers. We demonstrate that by using the spin-orbit torque, the propagation length of the spin waves in such systems can be increased by nearly a factor of 10, which corresponds to the increase in the spin-wave intensity at the output of a 10 μm long transmission line by three orders of magnitude. We also show that, in the regime, where the magnetic damping is completely compensated by the spin-orbit torque, the spin-wave amplification is suppressed by themore » nonlinear scattering of the coherent spin waves from current-induced excitations.« less

Performance Evaluation of a Lower Limb Exoskeleton for Stair Ascent and Descent with Paraplegia*

PubMed Central

Farris, Ryan J.; Quintero, Hugo A.; Goldfarb, Michael

2013-01-01

This paper describes the application of a powered lower limb exoskeleton to aid paraplegic individuals in stair ascent and descent. A brief description of the exoskeleton hardware is provided along with an explanation of the control methodology implemented to allow stair ascent and descent. Tests were performed with a paraplegic individual (T10 complete injury level) and data is presented from multiple trials, including the hip and knee joint torque and power required to perform this functionality. Joint torque and power requirements are summarized, including peak hip and knee joint torque requirements of 0.75 Nm/kg and 0.87 Nm/kg, respectively, and peak hip and knee joint power requirements of approximately 0.65 W/kg and 0.85 W/kg, respectively. PMID:23366287

Interpretations of Complete Bouguer Gravity Anomalies from the GRAV-D Project in Alaska

NASA Astrophysics Data System (ADS)

Diehl, T. M.; Preaux, S. A.; Childers, V. A.

2010-12-01

The GRAV-D (Gravity for the Redefinition of the American Vertical Datum) Project of the U.S. National Geodetic Survey plans to collect airborne gravity data across the entire U.S. and its holdings over the next decade. The goal of the project is to create a gravimetric geoid model to use as the vertical datum for the U.S. by 2021. Airborne gravity survey work began more than two years ago, with Alaska as a high priority for new data collection. Data collection there is underway and will be ongoing for several more years, but two roughly 400 km x 400 km surveys have been completed: in 2008 (centered over Cook Inlet near Anchorage) and in 2009 (centered over the Interior, to the north of the Alaska Range and west of Fairbanks). The gravity data for both surveys was collected with a MicroG LaCoste TAGS system but each survey utilized a different aircraft and survey layout. The 2008 survey was flown at 35,000 ft with the NOAA Cessna Citation jet, with 10 km data line spacing and 60 km cross lines spacing. The 2009 survey was flown at 12,500 ft with the Naval Research Lab King Air (RC-12) turboprop, with 7.5 km data line spacing and 37.5 cross line spacing. The 2008 data reveal the > 20 km resolution gravity effects of all the near-trench features (from accretionary prism to volcanic arc) for a 400 km stretch of the active plate boundary. In comparison, the 2009 gravity data allow a slightly better resolution (> 15 km) view of the distal deformation to the north of the Alaska Range. The free-air gravity disturbances for each survey were computed and then complete (terrain-corrected) Bouguer gravity anomalies were calculated with Gauss-Legendre Quadrature integration (von Frese, et al., 1999) using standard density assumptions. Topography used to calculate the corrections came from the freely-available GTOPO30 (USGS, online) and bathymetry from the Smith and Sandwell (1997) altimetry-derived data. Interpretations of the complete Bouguer gravity anomalies will be made in the context of the tectonic activity in southern Alaska.

Poisson equations of rotational motion for a rigid triaxial body with application to a tumbling artificial satellite

NASA Technical Reports Server (NTRS)

Liu, J. J. F.; Fitzpatrick, P. M.

1975-01-01

A mathematical model is developed for studying the effects of gravity gradient torque on the attitude stability of a tumbling triaxial rigid satellite. Poisson equations are used to investigate the rotation of the satellite (which is in elliptical orbit about an attracting point mass) about its center of mass. An averaging method is employed to obtain an intermediate set of differential equations for the nonresonant, secular behavior of the osculating elements which describe the rotational motions of the satellite, and the averaged equations are then integrated to obtain long-term secular solutions for the osculating elements.

Control of power, torque, and instability drive using in-shot variable neutral beam energy in tokamaks

DOE PAGES

Pace, D. C.; Collins, C. S.; Crowley, B.; ...

2016-09-28

A first-ever demonstration of controlling power and torque injection through time evolution of neutral beam energy has been achieved in recent experiments at the DIII-D tokamak. Pre-programmed waveforms for the neutral beam energy produce power and torque inputs that can be separately and continuously controlled. Previously, these inputs were tailored using on/off modulation of neutral beams resulting in large perturbations (e.g. power swings of over 1 MW). The new method includes, importantly for experiments, the ability to maintain a fixed injected power while varying the torque. In another case, different beam energy waveforms (in the same plasma conditions) produce significantmore » changes in the observed spectrum of beam ion-driven instabilities. Measurements of beam ion loss show that one energy waveform results in the complete avoidance of coherent losses due to Alfvénic instabilities. This new method of neutral beam operation is intended for further application in a variety of DIII-D experiments including those concerned with high-performance steady state scenarios, fast particle effects, and transport in the low torque regime. As a result, developing this capability would provide similar benefits and improved plasma control for other magnetic confinement fusion facilities.« less

Control of power, torque, and instability drive using in-shot variable neutral beam energy in tokamaks

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

Pace, D. C.; Collins, C. S.; Crowley, B.

A first-ever demonstration of controlling power and torque injection through time evolution of neutral beam energy has been achieved in recent experiments at the DIII-D tokamak. Pre-programmed waveforms for the neutral beam energy produce power and torque inputs that can be separately and continuously controlled. Previously, these inputs were tailored using on/off modulation of neutral beams resulting in large perturbations (e.g. power swings of over 1 MW). The new method includes, importantly for experiments, the ability to maintain a fixed injected power while varying the torque. In another case, different beam energy waveforms (in the same plasma conditions) produce significantmore » changes in the observed spectrum of beam ion-driven instabilities. Measurements of beam ion loss show that one energy waveform results in the complete avoidance of coherent losses due to Alfvénic instabilities. This new method of neutral beam operation is intended for further application in a variety of DIII-D experiments including those concerned with high-performance steady state scenarios, fast particle effects, and transport in the low torque regime. As a result, developing this capability would provide similar benefits and improved plasma control for other magnetic confinement fusion facilities.« less

Control of power, torque, and instability drive using in-shot variable neutral beam energy in tokamaks

NASA Astrophysics Data System (ADS)

Pace, D. C.; Collins, C. S.; Crowley, B.; Grierson, B. A.; Heidbrink, W. W.; Pawley, C.; Rauch, J.; Scoville, J. T.; Van Zeeland, M. A.; Zhu, Y. B.; The DIII-D Team

2017-01-01

A first-ever demonstration of controlling power and torque injection through time evolution of neutral beam energy has been achieved in recent experiments at the DIII-D tokamak (Luxon 2002 Nucl. Fusion 42 614). Pre-programmed waveforms for the neutral beam energy produce power and torque inputs that can be separately and continuously controlled. Previously, these inputs were tailored using on/off modulation of neutral beams resulting in large perturbations (e.g. power swings of over 1 MW). The new method includes, importantly for experiments, the ability to maintain a fixed injected power while varying the torque. In another case, different beam energy waveforms (in the same plasma conditions) produce significant changes in the observed spectrum of beam ion-driven instabilities. Measurements of beam ion loss show that one energy waveform results in the complete avoidance of coherent losses due to Alfvénic instabilities. This new method of neutral beam operation is intended for further application in a variety of DIII-D experiments including those concerned with high-performance steady state scenarios, fast particle effects, and transport in the low torque regime. Developing this capability would provide similar benefits and improved plasma control for other magnetic confinement fusion facilities.

Wave Dynamics and Transport in the Stratosphere

NASA Technical Reports Server (NTRS)

Holton, James R.; Alexander, M. Joan

1999-01-01

The report discusses: (1) Gravity waves generated by tropical convection: A study in which a two-dimensional cloud-resolving model was used to examine the possible role of gravity waves generated by a simulated tropical squall line in forcing the quasi-biennial oscillation was completed. (2) Gravity wave ray tracing studies:It was developed a linear ray tracing model of gravity wave propagation to extend the nonlinear storm model results into the mesosphere and thermosphere. (3) tracer filamentation: Vertical soundings of stratospheric ozone often exhibit laminated tracer structures characterized by strong vertical tracer gradients. (4) Mesospheric gravity wave modeling studies: Although our emphasis in numerical simulation of gravity waves generated by convection has shifted from simulation of idealized two-dimensional squall lines to the most realistic (and complex) study of wave generation by three-dimensional storms. (5) Gravity wave climatology studies: Mr. Alexander applied a linear gravity wave propagation model together with observations of the background wind and stability fields to compute climatologies of gravity wave activity for comparison to observations. (6) Convective forcing of gravity waves: Theoretical study of gravity wave forcing by convective heat sources has completed. (7) Gravity waves observation from UARS: The objective of this work is to apply ray tracing, and other model technique, in order to determine to what extend the horizontal and vertical variation in satellite observed distribution of small-scale temperature variance can be attributed to gravity waves from particular sources. (8) The annual and interannual variations in temperature and mass flux near the tropical tropopause. and (9) Three dimensional cloud model.

GOES dynamic propagation of attitude

NASA Astrophysics Data System (ADS)

Markley, F. Landis; Seidewitz, Ed; Chu, Don; Rowe, John N.

1988-09-01

The spacecraft in the next series of Geostationary Operational Environmental Satellites (GOES-Next) are Earth pointing and have 5-year mission lifetimes. Because gyros can be depended on only for a few years of continuous use, they will be turned off during routine operations. This means attitude must, at times, be determined without benefit of gyros and, often, using only Earth sensor data. To minimize the interruption caused by dumping angular momentum, these spacecraft have been designed to reduce the environmental torque acting on them and incorporate an adjustable solar trim tab for fine adjustment. A new support requirement for GOES-Next is that of setting the solar trim tab. Optimizing its setting requires an estimate of the unbalanced torque on the spacecraft. These two requirements, determining attitude without gyros and estimating the external torque, are addressed by replacing or supplementing the gyro propagation with a dynamic one, that is, one that integrates the rigid body equations of motion. By processing quarter-orbit or longer batches, this approach takes advantage of roll-yaw coupling to observe attitude completely without Sun sensor data. Telemetered momentum wheel speeds are used as observations of the unbalanced external torques. GOES-Next provides a unique opportunity to study dynamic attitude propagation. The geosynchronous altitude and adjustable trim tab minimize the external torque and its uncertainty, making long-term dynamic propagation feasible. This paper presents the equations for dynamic propagation, an analysis of the environmental torques, and an estimate of the accuracies obtainable with the proposed method.

Complete analytical solution of electromagnetic field problem of high-speed spinning ball

NASA Astrophysics Data System (ADS)

Reichert, T.; Nussbaumer, T.; Kolar, J. W.

2012-11-01

In this article, a small sphere spinning in a rotating magnetic field is analyzed in terms of the resulting magnetic flux density distribution and the current density distribution inside the ball. From these densities, the motor torque and the eddy current losses can be calculated. An analytical model is derived, and its results are compared to a 3D finite element analysis. The model gives insight into the torque and loss characteristics of a solid rotor induction machine setup, which aims at rotating the sphere beyond 25 Mrpm.

Analysis and testing of a space crane articulating joint testbed

NASA Technical Reports Server (NTRS)

Sutter, Thomas R.; Wu, K. Chauncey

1992-01-01

The topics are presented in viewgraph form and include: space crane concept with mobile base; mechanical versus structural articulating joint; articulating joint test bed and reference truss; static and dynamic characterization completed for space crane reference truss configuration; improved linear actuators reduce articulating joint test bed backlash; 1-DOF space crane slew maneuver; boom 2 tip transient response finite element dynamic model; boom 2 tip transient response shear-corrected component modes torque driver profile; peak root member force vs. slew time torque driver profile; and open loop control of space crane motion.

A Bottom Gravity Survey of the Continental Shelf Between Point Lobos and Point Sur, California.

DTIC Science & Technology

From an occupation of 68 ocean bottom and 38 land gravity stations between Pt. Lobos and Pt. Sur, California, a complete Bouguer anomaly map was...produced and analyzed. The steps in data reduction leading to the complete Bouguer anomaly field are presented, unique features of which are associated

Principal Facts for Gravity Data Collected in Wisconsin: A Web Site and CD-ROM for Distribution of Data

USGS Publications Warehouse

Snyder, Stephen L.; Geister, Daniel W.; Daniels, David L.; Ervin, C. Patrick

2004-01-01

Principal facts for 40,488 gravity stations covering the entire state of Wisconsin are presented here in digital form. This is a compilation of previously published data collected between 1948 and 1992 from numerous sources, along with over 10,000 new gravity stations collected by the USGS since 1999. Also included are 550 gravity stations from previously unpublished sources. Observed gravity and complete-Bouguer gravity anomaly data for this statewide compilation are included here. Altogether, 14 individual surveys are presented here.

Comparison of regression models for estimation of isometric wrist joint torques using surface electromyography

PubMed Central

2011-01-01

Background Several regression models have been proposed for estimation of isometric joint torque using surface electromyography (SEMG) signals. Common issues related to torque estimation models are degradation of model accuracy with passage of time, electrode displacement, and alteration of limb posture. This work compares the performance of the most commonly used regression models under these circumstances, in order to assist researchers with identifying the most appropriate model for a specific biomedical application. Methods Eleven healthy volunteers participated in this study. A custom-built rig, equipped with a torque sensor, was used to measure isometric torque as each volunteer flexed and extended his wrist. SEMG signals from eight forearm muscles, in addition to wrist joint torque data were gathered during the experiment. Additional data were gathered one hour and twenty-four hours following the completion of the first data gathering session, for the purpose of evaluating the effects of passage of time and electrode displacement on accuracy of models. Acquired SEMG signals were filtered, rectified, normalized and then fed to models for training. Results It was shown that mean adjusted coefficient of determination (Ra2) values decrease between 20%-35% for different models after one hour while altering arm posture decreased mean Ra2 values between 64% to 74% for different models. Conclusions Model estimation accuracy drops significantly with passage of time, electrode displacement, and alteration of limb posture. Therefore model retraining is crucial for preserving estimation accuracy. Data resampling can significantly reduce model training time without losing estimation accuracy. Among the models compared, ordinary least squares linear regression model (OLS) was shown to have high isometric torque estimation accuracy combined with very short training times. PMID:21943179

Knee extension torque variability after exercise in ACL reconstructed knees.

PubMed

Goetschius, John; Kuenze, Christopher M; Hart, Joseph M

2015-08-01

The purpose of this study was to compare knee extension torque variability in patients with ACL reconstructed knees before and after exercise. Thirty two patients with an ACL reconstructed knee (ACL-R group) and 32 healthy controls (control group) completed measures of maximal isometric knee extension torque (90° flexion) at baseline and following a 30-min exercise protocol (post-exercise). Exercise included 30-min of repeated cycles of inclined treadmill walking and hopping tasks. Dependent variables were the coefficient of variation (CV) and raw-change in CV (ΔCV): CV = (torque standard deviation/torque mean x 100), ΔCV = (post-exercise - baseline). There was a group-by-time interaction (p = 0.03) on CV. The ACL-R group demonstrated greater CV than the control group at baseline (ACL-R = 1.07 ± 0.55, control = 0.79 ± 0.42, p = 0.03) and post-exercise (ACL-R = 1.60 ± 0.91, control = 0.94 ± 0.41, p = 0.001). ΔCV was greater (p = 0.03) in the ACL-R group (0.52 ± 0.82) than control group (0.15 ± 0.46). CV significantly increased from baseline to post-exercise (p = 0.001) in the ACL-R group, while the control group did not (p = 0.06). The ACL-R group demonstrated greater knee extension torque variability than the control group. Exercise increased torque variability more in the ACL-R group than control group. © 2015 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Quasilocal conserved charges in a covariant theory of gravity.

PubMed

Kim, Wontae; Kulkarni, Shailesh; Yi, Sang-Heon

2013-08-23

In any generally covariant theory of gravity, we show the relationship between the linearized asymptotically conserved current and its nonlinear completion through the identically conserved current. Our formulation for conserved charges is based on the Lagrangian description, and so completely covariant. By using this result, we give a prescription to define quasilocal conserved charges in any higher derivative gravity. As applications of our approach, we demonstrate the angular momentum invariance along the radial direction of black holes and reproduce more efficiently the linearized potential on the asymptotic anti-de Sitter space.

Torque and mechanomyogram relationships during electrically-evoked isometric quadriceps contractions in persons with spinal cord injury.

PubMed

Ibitoye, Morufu Olusola; Hamzaid, Nur Azah; Hasnan, Nazirah; Abdul Wahab, Ahmad Khairi; Islam, Md Anamul; Kean, Victor S P; Davis, Glen M

2016-08-01

The interaction between muscle contractions and joint loading produces torques necessary for movements during activities of daily living. However, during neuromuscular electrical stimulation (NMES)-evoked contractions in persons with spinal cord injury (SCI), a simple and reliable proxy of torque at the muscle level has been minimally investigated. Thus, the purpose of this study was to investigate the relationships between muscle mechanomyographic (MMG) characteristics and NMES-evoked isometric quadriceps torques in persons with motor complete SCI. Six SCI participants with lesion levels below C4 [(mean (SD) age, 39.2 (7.9) year; stature, 1.71 (0.05) m; and body mass, 69.3 (12.9) kg)] performed randomly ordered NMES-evoked isometric leg muscle contractions at 30°, 60° and 90° knee flexion angles on an isokinetic dynamometer. MMG signals were detected by an accelerometer-based vibromyographic sensor placed over the belly of rectus femoris muscle. The relationship between MMG root mean square (MMG-RMS) and NMES-evoked torque revealed a very high association (R(2)=0.91 at 30°; R(2)=0.98 at 60°; and R(2)=0.97 at 90° knee angles; P<0.001). MMG peak-to-peak (MMG-PTP) and stimulation intensity were less well related (R(2)=0.63 at 30°; R(2)=0.67 at 60°; and R(2)=0.45 at 90° knee angles), although were still significantly associated (P≤0.006). Test-retest interclass correlation coefficients (ICC) for the dependent variables ranged from 0.82 to 0.97 for NMES-evoked torque, between 0.65 and 0.79 for MMG-RMS, and from 0.67 to 0.73 for MMG-PTP. Their standard error of measurements (SEM) ranged between 10.1% and 31.6% (of mean values) for torque, MMG-RMS and MMG-PTP. The MMG peak frequency (MMG-PF) of 30Hz approximated the stimulation frequency, indicating NMES-evoked motor unit firing rate. The results demonstrated knee angle differences in the MMG-RMS versus NMES-isometric torque relationship, but a similar torque related pattern for MMG-PF. These findings suggested that MMG was well associated with torque production, reliably tracking the motor unit recruitment pattern during NMES-evoked muscle contractions. The strong positive relationship between MMG signal and NMES-evoked torque production suggested that the MMG might be deployed as a direct proxy for muscle torque or fatigue measurement during leg exercise and functional movements in the SCI population. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

46 CFR 151.15-1 - Tank types.

Code of Federal Regulations, 2010 CFR

2010-10-01

... its carrying vessel's hull. (c) Gravity. Tanks having a design pressure (as described in Part 54 of... where stress analysis is neither readily nor completely determinate. (Integral tanks are of the gravity.... Independent gravity tanks which are of normal pressure vessel configuration (i.e., bodies of revolution, in...

Gravity model improvement using GEOS-3 (GEM 9 and 10)

NASA Technical Reports Server (NTRS)

Lerch, F. J.; Klosko, S. M.; Laubscher, R. E.; Wagner, C. A.

1977-01-01

The use of collocation permitted GEM 9 to be a larger field than previous derived satellite models, GEM 9 having harmonics complete to 20 x 20 with selected higher degree terms. The satellite data set has approximately 840,000 observations, of which 200,000 are laser ranges taken on 9 satellites equipped with retroreflectors. GEM 10 is complete to 22 x 22 with selected higher degree terms out to degree and order 30 amounting to a total of 592 coefficients. Comparisons with surface gravity and altimeter data indicate a substantial improvement in GEM 9 over previous satellite solutions; GEM 9 is in even closer agreement with surface data than the previously published GEM 6 solution which contained surface gravity. In particular the free air gravity anomalies calculated from GEM 9 and a surface gravity solution are in excellent agreement for the high degree terms.

Geometry and gravity influences on strength capability

NASA Technical Reports Server (NTRS)

Poliner, Jeffrey; Wilmington, Robert P.; Klute, Glenn K.

1994-01-01

Strength, defined as the capability of an individual to produce an external force, is one of the most important determining characteristics of human performance. Knowledge of strength capabilities of a group of individuals can be applied to designing equipment and workplaces, planning procedures and tasks, and training individuals. In the manned space program, with the high risk and cost associated with spaceflight, information pertaining to human performance is important to ensuring mission success and safety. Knowledge of individual's strength capabilities in weightlessness is of interest within many areas of NASA, including workplace design, tool development, and mission planning. The weightless environment of space places the human body in a completely different context. Astronauts perform a variety of manual tasks while in orbit. Their ability to perform these tasks is partly determined by their strength capability as demanded by that particular task. Thus, an important step in task planning, development, and evaluation is to determine the ability of the humans performing it. This can be accomplished by utilizing quantitative techniques to develop a database of human strength capabilities in weightlessness. Furthermore, if strength characteristics are known, equipment and tools can be built to optimize the operators' performance. This study examined strength in performing a simple task, specifically, using a tool to apply a torque to a fixture.

On the evolution of vortices in massive protoplanetary discs

NASA Astrophysics Data System (ADS)

Pierens, Arnaud; Lin, Min-Kai

2018-05-01

It is expected that a pressure bump can be formed at the inner edge of a dead-zone, and where vortices can develop through the Rossby Wave Instability (RWI). It has been suggested that self-gravity can significantly affect the evolution of such vortices. We present the results of 2D hydrodynamical simulations of the evolution of vortices forming at a pressure bump in self-gravitating discs with Toomre parameter in the range 4 - 30. We consider isothermal plus non-isothermal disc models that employ either the classical β prescription or a more realistic treatment for cooling. The main aim is to investigate whether the condensating effect of self-gravity can stabilize vortices in sufficiently massive discs. We confirm that in isothermal disc models with Q ≳ 15, vortex decay occurs due to the vortex self-gravitational torque. For discs with 3≲ Q ≲ 7, the vortex develops gravitational instabilities within its core and undergoes gravitational collapse, whereas more massive discs give rise to the formation of global eccentric modes. In non-isothermal discs with β cooling, the vortex maintains a turbulent core prior to undergoing gravitational collapse for β ≲ 0.1, whereas it decays if β ≥ 1. In models that incorpore both self-gravity and a better treatment for cooling, however, a stable vortex is formed with aspect ratio χ ˜ 3 - 4. Our results indicate that self-gravity significantly impacts the evolution of vortices forming in protoplanetary discs, although the thermodynamical structure of the vortex is equally important for determining its long-term dynamics.

Large-Scale Flow Structure in Turbulent Nonpremixed Flames under Normal- And Low-Gravity Conditions

NASA Technical Reports Server (NTRS)

Clemens, N. T.; Idicheria, C. A.; Boxx, I. G.

2001-01-01

It is well known that buoyancy has a major influence on the flow structure of turbulent nonpremixed jet flames. Buoyancy acts by inducing baroclinic torques, which generate large-scale vortical structures that can significantly modify the flow field. Furthermore, some suggest that buoyancy can substantially influence the large-scale structure of even nominally momentum-dominated flames, since the low velocity flow outside of the flame will be more susceptible to buoyancy effects. Even subtle buoyancy effects may be important because changes in the large-scale structure affects the local entrainment and fluctuating strain rate, and hence the structure of the flame. Previous studies that have compared the structure of normal- and micro-gravity nonpremixed jet flames note that flames in microgravity are longer and wider than in normal-gravity. This trend was observed for jet flames ranging from laminar to turbulent regimes. Furthermore, imaging of the flames has shown possible evidence of helical instabilities and disturbances starting from the base of the flame in microgravity. In contrast, these characteristics were not observed in normal-gravity. The objective of the present study is to further advance our knowledge of the effects of weak levels of buoyancy on the structure of transitional and turbulent nonpremixed jet flames. In later studies we will utilize the drop tower facilities at NASA Glenn Research Center (GRC), but the preliminary work described in this paper was conducted using the 1.25-second drop tower located at the University of Texas at Austin. A more detailed description of these experiments can be found in Idicheria et al.

Principal facts of gravity stations with gravity and magnetic profiles from the Southwest Nevada Test Site, Nye County, Nevada, as of January, 1982

USGS Publications Warehouse

Jansma, P.E.; Snyder, D.B.; Ponce, David A.

1983-01-01

Three gravity profiles and principal facts of 2,604 gravity stations in the southwest quadrant of the Nevada Test Site are documented in this data report. The residual gravity profiles show the gravity measurements and the smoothed curves derived from these points that were used in geophysical interpretations. The principal facts include station label, latitude, longitude, elevation, observed gravity value, and terrain correction for each station as well as the derived complete Bouguer and isostatic anomalies, reduced at 2.67 g/cm 3. Accuracy codes, where available, further document the data.

Results of Gravity Fieldwork Conducted in March 2008 in the Moapa Valley Region of Clark County, Nevada

USGS Publications Warehouse

Scheirer, Daniel S.; Andreasen, Arne Dossing

2008-01-01

In March 2008, we collected gravity data along 12 traverses across newly-mapped faults in the Moapa Valley region of Clark County, Nevada. In areas crossed by these faults, the traverses provide better definition of the gravity field and, thus, the density structure, than prior gravity observations. Access problems prohibited complete gravity coverage along all of the planned gravity traverses, and we added and adjusted the locations of traverses to maximize our data collection. Most of the traverses exhibit isostatic gravity anomalies that have gradients characteristic of exposed or buried faults, including several of the newly-mapped faults.

Progress in the development of the GMM-2 gravity field model for Mars

NASA Technical Reports Server (NTRS)

Lemoine, F. G.; Smith, D. E.; Lerch, F. J.; Zuber, M. T.; Patel, G. B.

1994-01-01

Last year we published the GMM-1 (Goddard Mars Model-1) gravity model for Mars. We have completely re-analyzed the Viking and Mariner 9 tracking data in the development of the new field, designated GMM-2. The model is complete to degree and order 70. Various aspects of the model are discussed.

46 CFR 151.15-1 - Unknown Title

Code of Federal Regulations, 2014 CFR

2014-10-01

... vessel's hull. (c) Gravity. Tanks having a design pressure (as described in Part 54 of this chapter) not... analysis is neither readily nor completely determinate. (Integral tanks are of the gravity type.) (d... gravity tanks which are of normal pressure vessel configuration (i.e., bodies of revolution, in which the...

Self-completeness and the generalized uncertainty principle

NASA Astrophysics Data System (ADS)

Isi, Maximiliano; Mureika, Jonas; Nicolini, Piero

2014-03-01

The generalized uncertainty principle discloses a self-complete characteristic of gravity, namely the possibility of masking any curvature singularity behind an event horizon as a result of matter compression at the Planck scale. In this paper we extend the above reasoning in order to overcome some current limitations to the framework, including the absence of a consistent metric describing such Planck-scale black holes. We implement a minimum-size black hole in terms of the extremal configuration of a neutral non-rotating metric, which we derived by mimicking the effects of the generalized uncertainty principle via a short scale modified version of Einstein gravity. In such a way, we find a self- consistent scenario that reconciles the self-complete character of gravity and the generalized uncertainty principle.

Self-completeness and the generalized uncertainty principle

NASA Astrophysics Data System (ADS)

Isi, Maximiliano; Mureika, Jonas; Nicolini, Piero

2013-11-01

The generalized uncertainty principle discloses a self-complete characteristic of gravity, namely the possibility of masking any curvature singularity behind an event horizon as a result of matter compression at the Planck scale. In this paper we extend the above reasoning in order to overcome some current limitations to the framework, including the absence of a consistent metric describing such Planck-scale black holes. We implement a minimum-size black hole in terms of the extremal configuration of a neutral non-rotating metric, which we derived by mimicking the effects of the generalized uncertainty principle via a short scale modified version of Einstein gravity. In such a way, we find a self-consistent scenario that reconciles the self-complete character of gravity and the generalized uncertainty principle.

Newtonian potential and geodesic completeness in infinite derivative gravity

NASA Astrophysics Data System (ADS)

Edholm, James; Conroy, Aindriú

2017-08-01

Recent study has shown that a nonsingular oscillating potential—a feature of infinite derivative gravity theories—matches current experimental data better than the standard General Relativity potential. In this work, we show that this nonsingular oscillating potential can be given by a wider class of theories which allows the defocusing of null rays and therefore geodesic completeness. We consolidate the conditions whereby null geodesic congruences may be made past complete, via the Raychaudhuri equation, with the requirement of a nonsingular Newtonian potential in an infinite derivative gravity theory. In doing so, we examine a class of Newtonian potentials characterized by an additional degree of freedom in the scalar propagator, which returns the familiar potential of General Relativity at large distances.

Torque teno virus: an improved indicator for viral pathogens in drinking waters.

PubMed

Griffin, Jennifer S; Plummer, Jeanine D; Long, Sharon C

2008-10-03

Currently applied indicator organism systems, such as coliforms, are not fully protective of public health from enteric viruses in water sources. Waterborne disease outbreaks have occurred in systems that tested negative for coliforms, and positive coliform results do not necessarily correlate with viral risk. It is widely recognized that bacterial indicators do not co-occur exclusively with infectious viruses, nor do they respond in the same manner to environmental or engineered stressors. Thus, a more appropriate indicator of health risks from infectious enteric viruses is needed. Torque teno virus is a small, non-enveloped DNA virus that likely exhibits similar transport characteristics to pathogenic enteric viruses. Torque teno virus is unique among enteric viral pathogens in that it appears to be ubiquitous in humans, elicits seemingly innocuous infections, and does not exhibit seasonal fluctuations or epidemic spikes. Torque teno virus is transmitted primarily via the fecal-oral route and can be assayed using rapid molecular techniques. We hypothesize that Torque teno virus is a more appropriate indicator of viral pathogens in drinking waters than currently used indicator systems based solely on bacteria. To test the hypothesis, a multi-phased research approach is needed. First, a reliable Torque teno virus assay must be developed. A rapid, sensitive, and specific PCR method using established nested primer sets would be most appropriate for routine monitoring of waters. Because PCR detects both infectious and inactivated virus, an in vitro method to assess infectivity also is needed. The density and occurrence of Torque teno virus in feces, wastewater, and source waters must be established to define spatial and temporal stability of this potential indicator. Finally, Torque teno virus behavior through drinking water treatment plants must be determined with co-assessment of traditional indicators and enteric viral pathogens to assess whether correlations exist. If substantiated, Torque teno virus could provide a completely new, reliable, and efficient indicator system for viral pathogen risk. This indicator would have broad application to drinking water utilities, watershed managers, and protection agencies and would provide a better means to assess viral risk and protect public health.

Torque teno virus: an improved indicator for viral pathogens in drinking waters

PubMed Central

Griffin, Jennifer S; Plummer, Jeanine D; Long, Sharon C

2008-01-01

Background Currently applied indicator organism systems, such as coliforms, are not fully protective of public health from enteric viruses in water sources. Waterborne disease outbreaks have occurred in systems that tested negative for coliforms, and positive coliform results do not necessarily correlate with viral risk. It is widely recognized that bacterial indicators do not co-occur exclusively with infectious viruses, nor do they respond in the same manner to environmental or engineered stressors. Thus, a more appropriate indicator of health risks from infectious enteric viruses is needed. Presentation of the hypothesis Torque teno virus is a small, non-enveloped DNA virus that likely exhibits similar transport characteristics to pathogenic enteric viruses. Torque teno virus is unique among enteric viral pathogens in that it appears to be ubiquitous in humans, elicits seemingly innocuous infections, and does not exhibit seasonal fluctuations or epidemic spikes. Torque teno virus is transmitted primarily via the fecal-oral route and can be assayed using rapid molecular techniques. We hypothesize that Torque teno virus is a more appropriate indicator of viral pathogens in drinking waters than currently used indicator systems based solely on bacteria. Testing the hypothesis To test the hypothesis, a multi-phased research approach is needed. First, a reliable Torque teno virus assay must be developed. A rapid, sensitive, and specific PCR method using established nested primer sets would be most appropriate for routine monitoring of waters. Because PCR detects both infectious and inactivated virus, an in vitro method to assess infectivity also is needed. The density and occurrence of Torque teno virus in feces, wastewater, and source waters must be established to define spatial and temporal stability of this potential indicator. Finally, Torque teno virus behavior through drinking water treatment plants must be determined with co-assessment of traditional indicators and enteric viral pathogens to assess whether correlations exist. Implications of the hypothesis If substantiated, Torque teno virus could provide a completely new, reliable, and efficient indicator system for viral pathogen risk. This indicator would have broad application to drinking water utilities, watershed managers, and protection agencies and would provide a better means to assess viral risk and protect public health. PMID:18834517

Measurement of maximal isometric torque and muscle quality of the knee extensors and flexors in healthy 50- to 70-year-old women.

PubMed

Francis, Peter; Toomey, Clodagh; Mc Cormack, William; Lyons, Mark; Jakeman, Philip

2017-07-01

Muscle quality is defined as strength per unit muscle mass. The aim of this study was to measure the maximal voluntary isometric torque of the knee extensor and flexor muscle groups in healthy older women and to develop an index of muscle quality based on the combined knee extensor and flexor torque per unit lean tissue mass (LTM) of the upper leg. One hundred and thirty-six healthy 50- to 70-year-old women completed an initial measurement of isometric peak torque of the knee extensors and flexors (Con-Trex MJ; CMV AG, Dubendorf, Switzerland) that was repeated 7 days later. Subsequently, 131 women returned for whole- and regional-body composition analysis (iDXA ™ ; GE Healthcare, Chalfont St Giles, Buckinghamshire, UK). Isometric peak torque demonstrated excellent within-assessment reliability for both the knee extensors and flexors (ICC range: 0·991-1·000). Test-retest reliability was lower (ICC range: 0·777-0·828) with an observed mean increase of 5% in peak torque [6·2 (17·2) N m] on the second day of assessment (P<0·001). The relative mean decrease in combined isometric peak torque (-12·2%; P = 0·001) was double that of the relative, non-significant, median difference in upper leg LTM (-5·3%; P = 0·102) between those in the 5th and 6th decade. The majority of difference in peak isometric torque came from the knee extensors (15·1 N m, P<0·001 versus 2·4 N m, P = 0·234). Isometric peak torque normalized for upper leg LTM (muscle quality) was 8% lower between decades (P = 0·029). These findings suggest strength per unit tissue may provide a better indication of age-related differences in muscle quality prior to change in LTM. © 2016 Scandinavian Society of Clinical Physiology and Nuclear Medicine. Published by John Wiley & Sons Ltd.

Electromagnetic versus Lense-Thirring alignment of black hole accretion discs

NASA Astrophysics Data System (ADS)

Polko, Peter; McKinney, Jonathan C.

2017-01-01

Accretion discs and black holes (BHs) have angular momenta that are generally misaligned, which can lead to warped discs and bends in any jets produced. We examine whether a disc that is misaligned at large radii can be aligned more efficiently by the torque of a Blandford-Znajek (BZ) jet than by Lense-Thirring (LT) precession. To obtain a strong result, we will assume that these torques maximally align the disc, rather than cause precession, or disc tearing. We consider several disc states that include radiatively inefficient thick discs, radiatively efficient thin discs, and super-Eddington accretion discs. The magnetic field strength of the BZ jet is chosen as either from standard equipartition arguments or from magnetically arrested disc (MAD) simulations. We show that standard thin accretion discs can reach spin-disc alignment out to large radii long before LT would play a role, due to the slow infall time that gives even a weak BZ jet time to align the disc. We show that geometrically thick radiatively inefficient discs and super-Eddington discs in the MAD state reach spin-disc alignment near the BH when density profiles are shallow as in magnetohydrodynamical simulations, while the BZ jet aligns discs with steep density profiles (as in advection-dominated accretion flows) out to larger radii. Our results imply that the BZ jet torque should affect the cosmological evolution of BH spin magnitude and direction, spin measurements in active galactic nuclei and X-ray binaries, and the interpretations for Event Horizon Telescope observations of discs or jets in strong-field gravity regimes.

The development of contact force construction in the dynamic-contact task of cycling [corrected].

PubMed

Brown, Nicholas A T; Jensen, Jody L

2003-01-01

Purposeful movement requires that an individual produce appropriate joint torques to accelerate segments, and when environmental contact is involved, to develop task-appropriate contact forces. Developmental research has been confined largely to the mastery of unconstrained movement skills (pointing, kicking). The purpose of this study was to study the developmental progression that characterizes the interaction of muscular and non-muscular forces in tasks constrained by contact with the environment. Seven younger children (YC, 6-8 years), 7 older children (OC, 9-11 years) and 7 adults (AD) pedaled an ergometer (80 rpm) at an anthropometrically scaled cycling power. Resultant forces measured at the pedal's surface were decomposed into muscle, inertia and gravity components. Muscle pedal forces were further examined in terms of the underlying lower extremity joint torques and kinematic weights that constitute the muscular component of the pedal force. Data showed children applied muscle forces to the pedal in a significantly different manner compared to adults, and that this was due to the children's lower segmental mass and inertia. The children adjusted the contribution of the proximal joint muscle torques to compensate for reduced contributions to the resultant pedal force by gravitational and inertial components. These data show that smaller segmental mass and inertia limit younger children's ability to construct the dynamic-contact task of cycling in an adult-like form. On the basis of these results, however, the children's response was not "immature". Rather, the results show a task-appropriate adaptation to lower segmental mass and inertia. Copyright 2002 Elsevier Science Ltd.

Bias Momentum Sizing for Hovering Dual-Spin Platforms

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Shin, Jong-Yeob; Moerder, Daniel D.

2006-01-01

An atmospheric flight vehicle in hover is typically controlled by varying its thrust vector. Achieving both levitation and attitude control with the propulsion system places considerable demands on it for agility and precision, particularly if the vehicle is statically unstable, or nearly so. These demands can be relaxed by introducing an appropriately sized angular momentum bias aligned with the vehicle's yaw axis, thus providing an additional margin of attitude stability about the roll and pitch axes. This paper describes a methodical approach for trading off angular momentum bias level needed with desired levels of vehicle response due to the design disturbance environment given a vehicle's physical parameters. It also describes several simplifications that provide a more physical and intuitive understanding of dual-spin dynamics for hovering atmospheric vehicles. This approach also mitigates the need for control torques and inadvertent actuator saturation difficulties in trying to stabilize a vehicle via control torques produced by unsteady aerodynamics, thrust vectoring, and unsteady throttling. Simulation results, based on a subscale laboratory test flying platform, demonstrate significant improvements in the attitude control robustness of the vehicle with respect to both wind disturbances and off-center of gravity payload changes during flight.

Fluid/gravity correspondence for massive gravity

NASA Astrophysics Data System (ADS)

Pan, Wen-Jian; Huang, Yong-Chang

2016-11-01

In this paper, we investigate the fluid/gravity correspondence in the framework of massive Einstein gravity. Treating the gravitational mass terms as an effective energy-momentum tensor and utilizing the Petrov-like boundary condition on a timelike hypersurface, we find that the perturbation effects of massive gravity in bulk can be completely governed by the incompressible Navier-Stokes equation living on the cutoff surface under the near horizon and nonrelativistic limits. Furthermore, we have concisely computed the ratio of dynamical viscosity to entropy density for two massive Einstein gravity theories, and found that they still saturate the Kovtun-Son-Starinets (KSS) bound.

The JPL Mars gravity field, Mars50c, based upon Viking and Mariner 9 Doppler tracking data

NASA Technical Reports Server (NTRS)

Konopliv, Alexander S.; Sjogren, William L.

1995-01-01

This report summarizes the current JPL efforts of generating a Mars gravity field from Viking 1 and 2 and Mariner 9 Doppler tracking data. The Mars 50c solution is a complete gravity field to degree and order 50 with solutions as well for the gravitational mass of Mars, Phobos, and Deimos. The constants and models used to obtain the solution are given and the method for determining the gravity field is presented. The gravity field is compared to the best current gravity GMM1 of Goddard Space Flight Center.

NASA's Next Solar Sail: Lessons Learned from NanoSail - D2

NASA Technical Reports Server (NTRS)

Katan, Chelsea

2012-01-01

NanoSail-D2 unfurled January 17th, 2011 and commenced a nine month Low Earth Orbit path to reentry to evaluate a sail's capacity to deploy in space and deorbit satellites. The orbit was strongly affected by variables including but not limited to: initial attitude, orbit lighting, solar radiation pressure, aerodynamic drag, gravity, and Center of Pressure offsets. The effects of these variables were evaluated through a 3-DOF rigid body simulation. The sail experienced stability in orbits which were continuously lit, i.e. did not orbit behind Earth. Probable drag area experienced by the sail for the mission is also estimated from orbital data and compared to the attitude simulation results. Analysis focuses on sail behavior in full lighting conditions to establish the limits of the sails stability in full lighting. Solar radiation pressure, aerodynamic drag, and gravity torque effects are described. Lastly, a reasonable upper bound on the variation of the Center of Pressure from the geometric center of the sail plane is established. Each of these results contributes to the design requirements for future solar sails.

Measurements of vertical motions by the Saskatoon MF radar (1983-1985): Relationships with horizontal winds and gravity waves

NASA Technical Reports Server (NTRS)

Manson, A. H.; Meek, C. E.

1989-01-01

The continuing series of horizontal wind measurements by the spaced-antenna real time winds (RTW) method was supplemented by a phase coherent system for two years. Vertical motions are inferred from the complex autocorrelation functions, and an RTW system provides 5 min samples from 60 to 110 km. Comparisons with full interferometric 3-D velocity measurements confirm the validity of this approach. Following comparisons and corrections with the horizontal winds, mean summer and winter (24 h) days of vertical motions are shown. Tidal fluctuations are evident. In summer the motions are downward, consistent with data from Poker Flat, and the suggestion of Coy et al. (1986) that these represent Eulerian motions. The expected upward Lagrangian motion then results from adding up upward Stokes' drift. The winter motions are more complex, and are discussed in the context of gravity wave fluxes and possible meridional cells. The divergence of the vertical flux of zonal momentum is also calculated and found to be similar to the coriolis torque due to the meridional winds.

Determining the Ocean's Role on the Variable Gravity Field and Earth Rotation

NASA Technical Reports Server (NTRS)

Ponte, Rui M.; Frey, H. (Technical Monitor)

2000-01-01

A number of ocean models of different complexity have been used to study changes in the oceanic angular momentum (OAM) and mass fields and their relation to the variable Earth rotation and gravity field. Time scales examined range from seasonal to a few days. Results point to the importance of oceanic signals in driving polar motion, in particular the Chandler and annual wobbles. Results also show that oceanic signals have a measurable impact on length-of-day variations. Various circulation features and associated mass signals, including the North Pacific subtropical gyre, the equatorial currents, and the Antarctic Circumpolar Current play a significant role in oceanic angular momentum variability. The impact on OAM values of an optimization procedure that uses available data to constrain ocean model results was also tested for the first time. The optimization procedure yielded substantial changes, in OAM, related to adjustments in both motion and mass fields,as well as in the wind stress torques acting on the ocean. Constrained OAM values were found to yield noticeable improvements in the agreement with the observed Earth rotation parameters, particularly at the seasonal timescale.

Gravity data from the San Pedro River Basin, Cochise County, Arizona

USGS Publications Warehouse

Kennedy, Jeffrey R.; Winester, Daniel

2011-01-01

The U.S. Geological Survey, Arizona Water Science Center in cooperation with the National Oceanic and Atmospheric Administration, National Geodetic Survey has collected relative and absolute gravity data at 321 stations in the San Pedro River Basin of southeastern Arizona since 2000. Data are of three types: observed gravity values and associated free-air, simple Bouguer, and complete Bouguer anomaly values, useful for subsurface-density modeling; high-precision relative-gravity surveys repeated over time, useful for aquifer-storage-change monitoring; and absolute-gravity values, useful as base stations for relative-gravity surveys and for monitoring gravity change over time. The data are compiled, without interpretation, in three spreadsheet files. Gravity values, GPS locations, and driving directions for absolute-gravity base stations are presented as National Geodetic Survey site descriptions.

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

NASA Technical Reports Server (NTRS)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

Data Driven, Force Based Interaction for Quadrotors

NASA Astrophysics Data System (ADS)

McKinnon, Christopher D.

Quadrotors are small and agile, and are becoming more capable for their compact size. They are expected perform a wide variety of tasks including inspection, physical interaction, and formation flight. In all of these tasks, the quadrotors can come into close proximity with infrastructure or other quadrotors, and may experience significant external forces and torques. Reacting properly in each case is essential to completing the task safely and effectively. In this thesis, we develop an algorithm, based on the Unscented Kalman Filter, to estimate such forces and torques without making assumptions about the source of the forces and torques. We then show in experiment how the proposed estimation algorithm can be used in conjunction with controls and machine learning to choose the appropriate actions in a wide variety of tasks including detecting downwash, tracking the wind induced by a fan, and detecting proximity to the wall.

Experimental Robot Position Sensor Fault Tolerance Using Accelerometers and Joint Torque Sensors

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.; Juang, Jer-Nan

1997-01-01

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.

Positivity of Curvature-Squared Corrections in Gravity

NASA Astrophysics Data System (ADS)

Cheung, Clifford; Remmen, Grant N.

2017-02-01

We study the Gauss-Bonnet (GB) term as the leading higher-curvature correction to pure Einstein gravity. Assuming a tree-level ultraviolet completion free of ghosts or tachyons, we prove that the GB term has a nonnegative coefficient in dimensions greater than 4. Our result follows from unitarity of the spectral representation for a general ultraviolet completion of the GB term.

New results in the theory of dust grain alignment

NASA Technical Reports Server (NTRS)

Cugnon, Pierre

1989-01-01

Two complementary approaches are used in an attempt to propose an appropriate formulation of the solution to the problem of magnetic alignment of grains in the diffuse and/or the more denser clouds, whatever the mechanism of rotational excitation can be. The interest of such a unified formulation is mainly that the same theoretical expression for polarization can be used everywhere, allowing for easier comparisons between regions where the physical conditions are highly different. The first consists in applying a Monte-Carlo method to a limited number of representative cases, for which all the torques acting on the grain are taken into account: impulsive random torques due to direct collisions with gas atoms, to evaporation of atoms from the surface, and to exo-energetic recombinations forming hydrogen molecules, followed by violent ejections from peculiar sites; magnetic torques. Three characteristic times are associated with these torques: the collisional damping time, the time necessary to change completely the actual sites configuration narrowly bound to the correlation time of the suprathermal torque; and the magnetic damping time. The second approach starts from a heuristic point of view. It consists in a generalization of results (Cugnon, 1983; see also Purcell and Spitzer, 1971; Greenberg, 1978) obtained for thermal alignment to the suprathermal case. It appears indeed that in two extreme cases, the thermal formulation may be used after redefinition of involved times and temperatures.

Weight optimization of ultra large space structures

NASA Technical Reports Server (NTRS)

Reinert, R. P.

1979-01-01

The paper describes the optimization of a solar power satellite structure for minimum mass and system cost. The solar power satellite is an ultra large low frequency and lightly damped space structure; derivation of its structural design requirements required accommodation of gravity gradient torques which impose primary loads, life up to 100 years in the rigorous geosynchronous orbit radiation environment, and prevention of continuous wave motion in a solar array blanket suspended from a huge, lightly damped structure subject to periodic excitations. The satellite structural design required a parametric study of structural configurations and consideration of the fabrication and assembly techniques, which resulted in a final structure which met all requirements at a structural mass fraction of 10%.

The stellar and solar tracking system of the Geneva Observatory gondola

NASA Technical Reports Server (NTRS)

Huguenin, D.

1974-01-01

Sun and star trackers have been added to the latest version of the Geneva Observatory gondola. They perform an image motion compensation with an accuracy of plus or minus 1 minute of arc. The structure is held in the vertical position by gravity; the azimuth is controlled by a torque motor in the suspension bearing using solar or geomagnetic references. The image motion compensation is performed by a flat mirror, located in front of the telescope, controlled by pitch and yaw servo-loops. Offset pointing is possible within the solar disc and in a 3 degree by 3 degree stellar field. A T.V. camera facilitates the star identification and acquisition.

Attitude motion of a non-attitude-controlled cylindrical satellite

NASA Technical Reports Server (NTRS)

Wilkinson, C. K.

1988-01-01

In 1985, two non-attitude-controlled satellites were each placed in a low earth orbit by the Scout Launch Vehicle. The satellites were cylindrical in shape and contained reservoirs of hydrazine fuel. Three-axis magnetometer measurements, telemetered in real time, were used to derive the attitude motion of each satellite. Algorithms are generated to deduce possible orientations (and magnitudes) of each vehicle's angular momentum for each telemetry contact. To resolve ambiguities at each contact, a force model was derived to simulate the significant long-term effects of magnetic, gravity gradient, and aerodynamic torques on the angular momentum of the vehicles. The histories of the orientation and magnitude of the angular momentum are illustrated.

Effects of whole-body cryotherapy on recovery after hamstring damaging exercise: a crossover study.

PubMed

Fonda, B; Sarabon, N

2013-10-01

The purpose of this study was to examine the effects of whole-body cryotherapy (WBC) on biochemical, pain, and performance parameters during the 5-day recovery period after damaging exercise for hamstrings. Participants completed a bout of damaging exercise for the hamstring muscles on two separate occasions (control and experimental condition) separated by 10 weeks. During the control condition, subjects received no treatment after the damaging exercise. The experimental condition consisted of WBC everyday during the recovery period. WBC included single 3-min daily exposures to low temperatures (-140 to -19 °C) in the cryo-cabin. During the recovery period, subjects were tested for biochemical markers, perceived pain sensation, and physical performance (squat jump, counter movement jump, maximal isometric torque production, and maximally explosive isometric torque production). Majority of the observed variables showed statistically significant time effects (P < 0.05) in control group, which indicates the presence of muscle damage. Significant interaction between the control and WBC condition was evident for the rate of torque development (P < 0.05). Pain measures substantially differed between the WBC and the control condition after the exercise. Results of this study are not completely supportive of the use of WBC for recovery enhancement after strenuous training. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Integrated geophysical study of the northeastern margin of Tibetan Plateau

NASA Astrophysics Data System (ADS)

Shi, L.; Meng, X.; Guo, L.

2011-12-01

Tibetan Plateau, the so-called "Roof of the World", is a direct consequence of collision of the Indian plate with the Eurasian plate starting in the early Cenozoic time. The continent-continent collision is still going on. The northeastern margin of Tibetan Plateau is the front part of the Tibetan Plateau extends to mainland and favorable area for studying uplift and deformation of the Tibetan Plateau. In the past decades, a variety of geophysical methods were conducted to study geodynamics and geological tectonics of this region. We assembled satellite-derived free-air gravity anomalies with a resolution of one arc-minute from the Scripps Institution of Oceanography, and reduced them to obtain Complete Bouguer Gravity Anomalies. Then we gridded Complete Bouguer Gravity Anomalies on a regular grid, and subsequently processed them with the preferential continuation method to attenuate high-frequency noise and analyzed regional and residual anomalies. We also calculated tilt-angle derivative of Complete Bouguer Gravity Anomalies to derive clearer geological structures with more details. Then we calculated the depth distribution of the Moho discontinuity surface in this area by 3D density interface inversion. From the results of preliminary processing, we analyzed the main deep faults and geological tectonics in this region. We extracted seven important profiles' data of Complete Bouguer Gravity Anomalies in this area, and then did forward modeling and inversion on each profile with constraints of geological information and other geophysical data. In the future, we will perform 3D constrained inversion of Complete Bouguer Gravity Anomalies in this region for better understanding deep structure and tectonics of the northeastern margin of Tibetan Plateau. Acknowledgment: We acknowledge the financial support of the SinoProbe project (201011039), the Fundamental Research Funds for the Central Universities (2010ZY26 2011PY0184), and the National Natural Science Foundation of China (40904033).

Venus gravity - Analysis of Beta Regio

NASA Technical Reports Server (NTRS)

Esposito, P. B.; Sjogren, W. L.; Mottinger, N. A.; Bills, B. G.; Abbott, E.

1982-01-01

Radio tracking data acquired over Beta Regio were analyzed to obtain a surface mass distribution from which a detailed vertical gravity field was derived. In addition, a corresponding vertical gravity field was evaluated solely from the topography of the Beta region. A comparison of these two maps confirms the strong correlation between gravity and topography which was previously seen in line-of-sight gravity maps. It also demonstrates that the observed gravity is a significant fraction of that predicted from the topography alone. The effective depth of complete isostatic compensation for the Beta region is estimated to be 330 km, which is somewhat deeper than that found for other areas of Venus.

Haptic feedback can provide an objective assessment of arthroscopic skills.

PubMed

Chami, George; Ward, James W; Phillips, Roger; Sherman, Kevin P

2008-04-01

The outcome of arthroscopic procedures is related to the surgeon's skills in arthroscopy. Currently, evaluation of such skills relies on direct observation by a surgeon trainer. This type of assessment, by its nature, is subjective and time-consuming. The aim of our study was to identify whether haptic information generated from arthroscopic tools could distinguish between skilled and less skilled surgeons. A standard arthroscopic probe was fitted with a force/torque sensor. The probe was used by five surgeons with different levels of experience in knee arthroscopy performing 11 different tasks in 10 standard knee arthroscopies. The force/torque data from the hand and tool interface were recorded and synchronized with a video recording of the procedure. The torque magnitude and patterns generated were analyzed and compared. A computerized system was used to analyze the force/torque signature based on general principles for quality of performance using such measures as economy in movement, time efficiency, and consistency in performance. The results showed a considerable correlation between three haptic parameters and the surgeon's experience, which could be used in an automated objective assessment system for arthroscopic surgery. Level II, diagnostic study. See the Guidelines for Authors for a complete description of levels of evidence.

Results from a U.S. Absolute Gravity Survey,

DTIC Science & Technology

1982-01-01

National Bureau of Standards. La . ... ,., 831A08 NOV -2- 1. Introduction We have recently completed an absolute gravity survey at twelve sites in the...Air Force Geophysics Laboratory (AFGL) and the Istituto di Metrologia -7- "G. Colonnetti" (IMGC) [Marson and Alasia, 1978, 19801. All three...for ab- solute measurements of the earth’s gravity, Metrologia , in press, 1982. L 4 !" Table 1. Gravity values transferred to the floor in gal (cm

Logamediate Inflation in f(T) Teleparallel Gravity

NASA Astrophysics Data System (ADS)

Rezazadeh, Kazem; Abdolmaleki, Asrin; Karami, Kayoomars

2017-02-01

We study logamediate inflation in the context of f(T) teleparallel gravity. f(T)-gravity is a generalization of the teleparallel gravity which is formulated on the Weitzenbock spacetime, characterized by the vanishing curvature tensor (absolute parallelism) and the non-vanishing torsion tensor. We consider an f(T)-gravity model which is sourced by a canonical scalar field. Assuming a power-law f(T) function in the action, we investigate an inflationary universe with a logamediate scale factor. Our results show that, although logamediate inflation is completely ruled out by observational data in the standard inflationary scenario based on Einstein gravity, it can be compatible with the 68% confidence limit joint region of Planck 2015 TT,TE,EE+lowP data in the framework of f(T)-gravity.

Superconducting tensor gravity gradiometer for satellite geodesy and inertial navigation

NASA Technical Reports Server (NTRS)

Paik, H. J.

1981-01-01

A sensitive gravity gradiometer can provide much needed gravity data of the earth and improve the accuracy of inertial navigation. Superconductivity and other properties of materials at low temperatures can be used to obtain a sensitive, low-drift gravity gradiometer; by differencing the outputs of accelerometer pairs using superconducting circuits, it is possible to construct a tensor gravity gradiometer which measures all the in-line and cross components of the tensor simultaneously. Additional superconducting circuits can be provided to determine the linear and angular acceleration vectors. A tensor gravity gradiometer with these features is being developed for satellite geodesy. The device constitutes a complete package of inertial navigation instruments with angular and linear acceleration readouts as well as gravity signals.

Sedna and the cloud of comets surrounding the solar system in Milgromian dynamics

NASA Astrophysics Data System (ADS)

Paučo, R.; Klačka, J.

2016-05-01

We reconsider the hypothesis of a vast cometary reservoir surrounding the solar system - the Oort cloud of comets - within the framework of Milgromian dynamics (MD or MOND). For this purpose we built a numerical model of the cloud, assuming the theory of modified gravity, QUMOND. In modified gravity versions of MD, the internal dynamics of a system is influenced by the external gravitational field in which the system is embedded, even when this external field is constant and uniform, a phenomenon dubbed the external field effect (EFE). Adopting the popular pair ν(x) = [1-exp(-x1 / 2)] -1 for the MD interpolating function and a0 = 1.2 × 10-10 m s-2 for the MD acceleration scale, we found that the observationally inferred Milgromian cloud of comets is much more radially compact than its Newtonian counterpart. The comets of the Milgromian cloud stay away from the zone where the Galactic tide can torque their orbits significantly. However, this does not need to be an obstacle for the injection of the comets into the inner solar system as the EFE can induce significant change in perihelion distance during one revolution of a comet around the Sun. Adopting constraints on different interpolating function families and a revised value of a0 (provided recently by the Cassini spacecraft), the aforementioned qualitative results no longer hold, and, in conclusion, the Milgromian cloud is very similar to the Newtonian in its overall size, binding energies of comets and hence the operation of the Jupiter-Saturn barrier. However, EFE torquing of perihelia still play a significant role in the inner parts of the cloud. Consequently Sedna-like orbits and orbits of large semi-major axis Centaurs are easily comprehensible in MD. In MD, they both belong to the same population, just in different modes of their evolution.

The Role of Gravity on the Reproduction of Arabidopsis Plants

NASA Technical Reports Server (NTRS)

Hoshizaki, T.

1985-01-01

The presence of gravity as a necessary environmental factor for higher plants to complete their life cycle was examined. Arabidopsis thalliana (L.) Heynh. Columbia strain plants were grown continuously for three generations in a simulated micro-g environment as induced by horizontal clinostats. Growth, development and reproduction were followed. The Arabidopsis plants were selected for three generations on clinostats because: (1) a short life cycle of around 35 days; (2) the cells of third generation plants would in theory be free of gravity imprint; and (3) a third generation plant would therefore more than likely grow and respond like a plant growing in a micro-g environment. It is found that gravity is not a required environmental factor for higher plants to complete their life cycle, at least as tested by a horizontal clinostat. Clinostatting does not prevent the completion of the plant life cycle. However, clinostatting does appear to slow down the reproductive process of Arabidopsis plants. Whether higher plants can continue to reproduce for many generations in a true micro-g environment of space can only be determined by long duration experiments in space.

Vortex stretching in self-gravitating protoplanetary discs

NASA Astrophysics Data System (ADS)

Regály, Zs.; Vorobyov, E.

2017-10-01

Horseshoe-shaped brightness asymmetries of several transitional discs are thought to be caused by large-scale vortices. Anticyclonic vortices efficiently collect dust particles, therefore they can play a major role in planet formation. Former studies suggest that the disc self-gravity weakens vortices formed at the edge of the gap opened by a massive planet in discs whose masses are in the range of 0.01 ≤ Mdisc/M* ≤ 0.1. Here, we present an investigation on the long-term evolution of the large-scale vortices formed at the viscosity transition of the discs' dead zone outer edge by means of two-dimensional hydrodynamic simulations taking disc self-gravity into account. We perform a numerical study of low-mass, 0.001 ≤ Mdisc/M* ≤ 0.01, discs, for which cases disc self-gravity was previously neglected. The large-scale vortices are found to be stretched due to disc self-gravity even for low-mass discs with Mdisc/M* ≳ 0.005, where initially the Toomre Q-parameter was ≲ 50 at the vortex distance. As a result of stretching, the vortex aspect ratio increases and a weaker azimuthal density contrast develops. The strength of the vortex stretching is proportional to the disc mass. The vortex stretching can be explained by a combined action of a non-vanishing gravitational torque caused by the vortex and the Keplerian shear of the disc. Self-gravitating vortices are subject to significantly faster decay than non-self-gravitating ones. We found that vortices developed at sharp viscosity transitions of self-gravitating discs can be described by a Goodman - Narayan - Goldreich (GNG) model as long as the disc viscosity is low, I.e. αdz ≤ 10-5.

Experimental investigation of the fracture torque of orthodontic anchorage screws.

PubMed

Reimann, Susanne; Ayubi, Mustafa; McDonald, Fraser; Bourauel, Christoph

2016-07-01

In contrast to dental implants that remain in the bone, orthodontic anchorage screws serve as temporary anchorage for orthodontic tooth movement and are removed after completion of treatment. The aim of the present study was to evaluate the stability of various commercially available orthodontic anchorage screws against torsion. The torsional deflection of ten different orthodontic anchorage screws from different manufacturers [Ortho Easy Pin (Forestadent), Benefit, quattro (both PSM Medical Solutions), Vector TAS (Ormco), AbsoAnchor(®) (DENTOS Inc.), OrthoLox, Dual-Top JA (both Promedia Medizintechnik), TAD (3M Unitek), INFINITAS (ODS) and tomas(®) (Dentaurum)] was tested in vitro in relation to the rotation angle using a self-developed set-up. The screws were positioned in a resin model with bone-like material properties. Shear tests were performed using the manufacturers' own screwdrivers. Ten screws each were turned manually until a sudden drop in the measured torque occurred. At this point, the screw head was twisted off. Fracture torque and the torque at which the screws deformed plastically were evaluated. Mean values and standard deviations were calculated. According to the German industrial standard, the torque of orthodontic anchorage screws should reach at least 20 Ncm. The majority of the screws reached this nominal torque; however, a few screws fractured before reaching this value. Five screw types displayed plastic deformation below the threshold, at approximately 16 Ncm. The results suggest that orthodontic anchorage screws generally meet the requirements of the standard and ensure safe clinical use. However, according to the present data, it may be assumed that a portion of the screws will be plastically deformed upon removal.

Torque, power and muscle activation of eccentric and concentric isokinetic cycling.

PubMed

Green, David J; Thomas, Kevin; Ross, Emma Z; Green, Steven C; Pringle, Jamie S M; Howatson, Glyn

2018-06-01

This study aimed to establish the effect of cycling mode and cadence on torque, external power output, and lower limb muscle activation during maximal, recumbent, isokinetic cycling. After familiarisation, twelve healthy males completed 6 × 10 s of maximal eccentric (ECC) and concentric (CON) cycling at 20, 40, 60, 80, 100, and 120 rpm with five minutes recovery. Vastus lateralis, medial gastrocnemius, rectus femoris, and biceps femoris surface electromyography was recorded throughout. As cadence increased, peak torque linearly decreased during ECC (350-248 N·m) and CON (239-117 N·m) and peak power increased in a parabolic manner. Crank angle at peak torque increased with cadence in CON (+13°) and decreased in ECC (-9.0°). At all cadences, peak torque (mean +129 N·m, range 111-143 N·m), and power (mean +871 W, range 181-1406 W), were greater during ECC compared to CON. For all recorded muscles the crank angle at peak muscle activation was greater during ECC compared to CON. This difference increased with cadence in all muscles except the vastus lateralis. Additionally, peak vastus laterallis and biceps femoris activation was greater during CON compared to ECC. Eccentric cycling offers a greater mechanical stimulus compared to concentric cycling but the effect of cadence is similar between modalities. Markers of technique (muscle activation, crank angle at peak activation and torque) were different between eccentric and concentric cycling and respond differently to changes in cadence. Such data should be considered when comparing between, and selecting cadences for, recumbent, isokinetic, eccentric and concentric cycling. Crown Copyright © 2018. Published by Elsevier Ltd. All rights reserved.

Design, analysis and modeling of a novel hybrid powertrain system based on hybridized automated manual transmission

NASA Astrophysics Data System (ADS)

Wu, Guang; Dong, Zuomin

2017-09-01

Hybrid electric vehicles are widely accepted as a promising short to mid-term technical solution due to noticeably improved efficiency and lower emissions at competitive costs. In recent years, various hybrid powertrain systems were proposed and implemented based on different types of conventional transmission. Power-split system, including Toyota Hybrid System and Ford Hybrid System, are well-known examples. However, their relatively low torque capacity, and the drive of alternative and more advanced designs encouraged other innovative hybrid system designs. In this work, a new type of hybrid powertrain system based hybridized automated manual transmission (HAMT) is proposed. By using the concept of torque gap filler (TGF), this new hybrid powertrain type has the potential to overcome issue of torque gap during gearshift. The HAMT design (patent pending) is described in details, from gear layout and design of gear ratios (EV mode and HEV mode) to torque paths at different gears. As an analytical tool, mutli-body model of vehicle equipped with this HAMT was built to analyze powertrain dynamics at various steady and transient modes. A gearshift was decomposed and analyzed based basic modes. Furthermore, a Simulink-SimDriveline hybrid vehicle model was built for the new transmission, driveline and vehicle modular. Control strategy has also been built to harmonically coordinate different powertrain components to realize TGF function. A vehicle launch simulation test has been completed under 30% of accelerator pedal position to reveal details during gearshift. Simulation results showed that this HAMT can eliminate most torque gap that has been persistent issue of traditional AMT, improving both drivability and performance. This work demonstrated a new type of transmission that features high torque capacity, high efficiency and improved drivability.

Estimation of critical end-test torque using neuromuscular electrical stimulation of the quadriceps in humans.

PubMed

Janzen, Natalie R; Hight, Robert E; Patel, Darshit S; Campbell, Jason A; Larson, Rebecca D; Black, Christopher D

2018-05-02

Characterization of critical power/torque (CP/CT) during voluntary exercise requires maximal effort, making difficult for those with neuromuscular impairments. To address this issue we sought to determine if electrically stimulated intermittent isometric exercise resulted in a critical end-test torque (ETT) that behaved similar to voluntary CT. In the first experiment participants (n = 9) completed four bouts of stimulated exercise at a 3:2 duty cycle, at frequencies of 100, 50, 25 Hz, and a low frequency below ETT (Sub-ETT; ≤ 15 Hz). The second experiment (n = 20) consisted of four bouts at a 2:2 duty cycle-two bouts at 100 Hz, one at an intermediate frequency (15-30 Hz), and one at Sub-ETT. The third experiment (n = 12) consisted of two bouts at 50 Hz at a 3:2 duty* cycle with proximal blood flow occlusion during one of the bouts. ETT torque was similar (p ≥ 0.43) within and among stimulation frequencies in experiment 1. No fatigue was observed during the Sub-ETT bouts (p > 0.05). For experiment 2, ETT was similar at 100 Hz and at the intermediate frequency (p ≥ 0.29). Again, Sub-ETT stimulation did not result in fatigue (p > 0.05). Altering oxygen delivery by altering the duty cycle (3:2 vs. 2:2; p = 0.02) and by occlusion (p < 0.001) resulted in lower ETT values. Stimulated exercise resulted in an ETT that was consistent from day-to-day and similar regardless of initial torque, as long as that torque exceeded ETT, and was sensitive to oxygen delivery. As such we propose it represents a parameter similar to voluntary CT.

Small hydraulic turbine drives

NASA Technical Reports Server (NTRS)

Rostafinski, W. A.

1970-01-01

Turbine, driven by the fluid being pumped, requires no external controls, is completely integrated into the flow system, and has bearings which utilize the main fluid for lubrication and cooling. Torque capabilities compare favorably with those developed by positive displacement hydraulic motors.

Safety evaluation of large external fixation clamps and frames in a magnetic resonance environment.

PubMed

Luechinger, Roger; Boesiger, Peter; Disegi, John A

2007-07-01

Large orthopedic external fixation clamps and related components were evaluated for force, torque, and heating response when subjected to the strong electromagnetic fields of magnetic-resonance (MR) imaging devices. Forces induced by a 3-Tesla (T) MR scanner were compiled for newly designed nonmagnetic clamps and older clamps that contained ferromagnetic components. Heating trials were performed in a 1.5 and in a 3 T MR scanner with two assembled external fixation frames. Forces of the newly designed clamps were more than a factor 2 lower as the gravitational force on the device whereas, magnetic forces on the older devices showed over 10 times the force induced by earth acceleration of gravity. No torque effects could be found for the newly designed clamps. Temperature measurements at the tips of Schanz screws in the 1.5 T MR scanner showed a rise of 0.7 degrees C for a pelvic frame and of 2.1 degrees C for a diamond knee bridge frame when normalized to a specific absorption rate (SAR) of 2 W/kg. The normalized temperature increases in the 3 T MR scanner were 0.9 degrees C for the pelvic frame and 1.1 degrees C for the knee bridge frame. Large external fixation frames assembled with the newly designed clamps (390 Series Clamps), carbon fiber reinforced rods, and implant quality 316L stainless steel Schanz screws met prevailing force and torque limits when tested in a 3-T field, and demonstrated temperature increase that met IEC-60601 guidelines for extremities. The influence of frame-induced eddy currents on the risk of peripheral nerve stimulation was not investigated. Copyright 2006 Wiley Periodicals, Inc.

Knee and Ankle Joint Angles Influence the Plantarflexion Torque of the Gastrocnemius.

PubMed

Landin, Dennis; Thompson, Melissa; Reid, Meghan

2015-08-01

The gastrocnemius (GA) is the lone bi-articular muscle of the leg, crossing both the knee and ankle. As with any bi-articular muscle, both joints affect its length/tension curve. The role of the GA as a plantarflexor is firmly established; however, no current research has investigated how changes in knee and ankle joint positions on its ability to generate a plantarflexion (PF) torque. This paper reports on the PF force generated by the GA at specific knee and ankle joint combinations. The right GA of 26 participants was electrically stimulated via surface electrodes following a standardized protocol at 24 knee and ankle joint combinations. Three stimulations were applied at each of the 24 positions. Data were recorded on three dependent measures: the passive moment, which was the PF moment created by the tissue without stimulation, the maximum moment, which was the highest PF moment during the stimulation and included the passive moment, and the stimulated moment, which reflected the PF moment during stimulation minus the passive moment. A straight knee and dorsiflexed ankle create the position in which the GA generates the greatest PF moment, but it is also the position of greatest length. This finding is in contrast to conclusions from previous research with bi-articular muscles, which has consistently shown that the greatest length is not a muscle's optimal length. The full ranges of motion for the knee and ankle apparently do not elongate the GA beyond its optimal length for producing a PF moment. Clinicians commonly evaluate GA status with the patient seated and the foot subject to gravity. The present results indicate that manual testing of the GA in isolation should be performed, whenever possible, with the knee extended and the ankle dorsiflexed to potentially elicit the maximum PF torque from the GA.

Matter scattering in quadratic gravity and unitarity

NASA Astrophysics Data System (ADS)

Abe, Yugo; Inami, Takeo; Izumi, Keisuke; Kitamura, Tomotaka

2018-03-01

We investigate the ultraviolet (UV) behavior of two-scalar elastic scattering with graviton exchanges in higher-curvature gravity theory. In Einstein gravity, matter scattering is shown not to satisfy the unitarity bound at tree level at high energy. Among some of the possible directions for the UV completion of Einstein gravity, such as string theory, modified gravity, and inclusion of high-mass/high-spin states, we take R_{μν}^2 gravity coupled to matter. We show that matter scattering with graviton interactions satisfies the unitarity bound at high energy, even with negative norm states due to the higher-order derivatives of metric components. The difference in the unitarity property of these two gravity theories is probably connected to that in another UV property, namely, the renormalizability property of the two.

Gauge assisted quadratic gravity: A framework for UV complete quantum gravity

NASA Astrophysics Data System (ADS)

Donoghue, John F.; Menezes, Gabriel

2018-06-01

We discuss a variation of quadratic gravity in which the gravitational interaction remains weakly coupled at all energies, but is assisted by a Yang-Mills gauge theory which becomes strong at the Planck scale. The Yang-Mills interaction is used to induce the usual Einstein-Hilbert term, which was taken to be small or absent in the original action. We study the spin-two propagator in detail, with a focus on the high mass resonance which is shifted off the real axis by the coupling to real decay channels. We calculate scattering in the J =2 partial wave and show explicitly that unitarity is satisfied. The theory will in general have a large cosmological constant and we study possible solutions to this, including a unimodular version of the theory. Overall, the theory satisfies our present tests for being a ultraviolet completion of quantum gravity.

Geologic interpretation of gravity data from the Date Creek basin and adjacent areas, west-central Arizona

USGS Publications Warehouse

Otton, James K.; Wynn, Jeffrey C.

1978-01-01

A gravity survey of the Date Creek Basin and adjacent areas was conducted in June 1977 to provide information for the interpretation of basin geology. A comparison of facies relations in the locally uraniferous Chapin Wash Formation and the position of the Anderson mine gravity anomaly in the Date Creek Basin suggested that a relationship between gravity lows and the development of thick lacustrine sections in the region might exist. A second-order residual gravity map derived from the complete Bouguer gravity map for the survey area (derived from survey data and pre-existing U.S. Department of Defense data) shows an excellent correspondence between gravity lows and sediment-filled basins and suggests considerable variation in basin-fill thickness. Using the Anderson mine anomaly as a model, gravity data and facies relations suggest that the southeastern flank of the Aguila Valley gravity low and the gravity low at the western end of the Hassayampa Plain are likely areas for finding thick sections of tuffaceous lacustrine rocks.

Gravity-oriented satellite dynamics subject to gravitational and active damping torques

NASA Astrophysics Data System (ADS)

Sarychev, V. A.; Gutnik, S. A.

2018-01-01

The dynamics of the rotational motion of a satellite moving in the central Newtonian field of force over a circular orbit under the effect of gravitational and active damping torques, which depend on the satellite angular velocity projections, has been investigated. The paper proposes a method of determining all equilibrium positions (equilibrium orientations) of a satellite in the orbital coordinate system for specified values of damping coefficients and principal central moments of inertia. The conditions of their existence have been obtained. For a zero equilibrium position where the axes of the satellite-centered coordinate system coincide with the axes of the orbital coordinate system, the necessary and sufficient conditions for asymptotic stability are obtained using the Routh-Hurwitz criterion. A detailed analysis of the regions where the conditions of the asymptotic stability of a zero equilibrium position are fulfilled have been obtained depending on three dimensionless parameters of the problem, and the numerical study of the process of attenuation of satellite's spatial oscillations for various damping coefficients has been carried out. It has been shown that there is a wide range of damping parameters from which, by choosing the necessary values, one can provide the asymptotic stability of satellite's zero equilibrium position in the orbital coordinate system.

Loads produced by a suited subject performing tool tasks without the use of foot restraints

NASA Technical Reports Server (NTRS)

Rajulu, Sudhakar L.; Poliner, Jeffrey; Klute, Glenn K.

1993-01-01

With an increase in the frequency of extravehicular activities (EVA's) aboard the Space Shuttle, NASA is interested in determining the capabilities of suited astronauts while performing manual tasks during an EVA, in particular the situations in which portable foot restraints are not used to stabilize the astronauts. Efforts were made to document the forces that are transmitted to spacecraft while pushing and pulling an object as well as while operating a standard wrench and an automatic power tool. The six subjects studied aboard the KC-135 reduced gravity aircraft were asked to exert a maximum torque and to maintain a constant level of torque with a wrench, to push and pull an EVA handrail, and to operate a Hubble Space Telescope (HST) power tool. The results give an estimate of the forces and moments that an operator will transmit to the handrail as well as to the supporting structure. In general, it was more effective to use the tool inwardly toward the body rather than away from the body. There were no differences in terms of strength capabilities between right and left hands. The power tool was difficult to use. It is suggested that ergonomic redesigning of the power tool may increase the efficiency of power tool use.

The dynamics and control of large flexible space structures, 2. Part A: Shape and orientation control using point actuators

NASA Technical Reports Server (NTRS)

Bainum, P. M.; Reddy, A. S. S. R.

1979-01-01

The equations of planar motion for a flexible beam in orbit which includes the effects of gravity gradient torques and control torques from point actuators located along the beam was developed. Two classes of theorems are applied to the linearized form of these equations to establish necessary conditions for controlability for preselected actuator configurations. The feedback gains are selected: (1) based on the decoupling of the original coordinates and to obtain proper damping, and (2) by applying the linear regulator problem to the individual model coordinates separately. The linear control laws obtained using both techniques were evaluated by numerical integration of the nonlinear system equations. Numerical examples considering pitch and various number of modes with different combination of actuator numbers and locations are presented. The independent model control concept used earlier with a discretized model of the thin beam in orbit was reviewed for the case where the number of actuators is less than the number of modes. Results indicate that although the system is controllable it is not stable about the nominal (local vertical) orientation when the control is based on modal decoupling. An alternate control law not based on modal decoupling ensures stability of all the modes.

The gravity duals of modular Hamiltonians

DOE PAGES

Jafferis, Daniel L.; Suh, S. Josephine

2016-09-12

In this study, we investigate modular Hamiltonians defined with respect to arbitrary spatial regions in quantum field theory states which have semi-classical gravity duals. We find prescriptions in the gravity dual for calculating the action of the modular Hamiltonian on its defining state, including its dual metric, and also on small excitations around the state. Curiously, use of the covariant holographic entanglement entropy formula leads us to the conclusion that the modular Hamiltonian, which in the quantum field theory acts only in the causal completion of the region, does not commute with bulk operators whose entire gauge-invariant description is space-likemore » to the causal completion of the region.« less

The gravity duals of modular Hamiltonians

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

Jafferis, Daniel L.; Suh, S. Josephine

In this study, we investigate modular Hamiltonians defined with respect to arbitrary spatial regions in quantum field theory states which have semi-classical gravity duals. We find prescriptions in the gravity dual for calculating the action of the modular Hamiltonian on its defining state, including its dual metric, and also on small excitations around the state. Curiously, use of the covariant holographic entanglement entropy formula leads us to the conclusion that the modular Hamiltonian, which in the quantum field theory acts only in the causal completion of the region, does not commute with bulk operators whose entire gauge-invariant description is space-likemore » to the causal completion of the region.« less

Development and Utilization of Regional Oceanic Modeling System (ROMS). Delicacy, Imprecision, and Uncertainty of Oceanic Simulations: An Investigation with the Regional Oceanic Modeling System (ROMS). Submesoscale Flows and Mixing in the Ocean Surface Layer Using the Regional Oceanic Modeling System (ROMS). Eddy Effects in General Circulation, Spanning Mean Currents, Mesoscale Eddies, and Topographic Generation, including Submesoscale Nests

DTIC Science & Technology

2012-09-30

unbalanced motions is likely to occur. Due to an rapidly expanding set of investigation on oceanic flows at submesoscales, it is increasingly clear...Uchiyama, E. M. Lane, J. M. Restrepo, & J. C. McWilliams, 2011: A vortex force analysis of the interaction of rip currents and gravity waves. J. Geophys...particular topographic features, the torque is pervasively positive (cyclonic) along the Stream, in opposition to the anticyclonic wind curl in the

Numerical simulation of the helium gas spin-up channel performance of the relativity gyroscope

NASA Technical Reports Server (NTRS)

Karr, Gerald R.; Edgell, Josephine; Zhang, Burt X.

1991-01-01

The dependence of the spin-up system efficiency on each geometrical parameter of the spin-up channel and the exhaust passage of the Gravity Probe-B (GPB) is individually investigated. The spin-up model is coded into a computer program which simulates the spin-up process. Numerical results reveal optimal combinations of the geometrical parameters for the ultimate spin-up performance. Comparisons are also made between the numerical results and experimental data. The experimental leakage rate can only be reached when the gap between the channel lip and the rotor surface increases beyond physical limit. The computed rotating frequency is roughly twice as high as the measured ones although the spin-up torques fairly match.

COIS, Favier works with experiment assisted by Helms during LMS-1 mission

NASA Image and Video Library

1996-07-09

STS078-398-032 (20 June - 7 July 1996) --- Astronaut Susan J. Helms, payload commander, measures the distance between Jean-Jacques Favier’s head and the luminous torque, used for the Canal and Otolith Interaction Study (COIS) on the Life and Microgravity Spacelab (LMS-1) mission. Favier, representing the French Space Agency (CNES), is one of two international payload specialists on the almost-17-day flight. This view shows the Voluntary Head Movement (VHM) segment of the experiment. The VHM is meant to characterize how the coordination of head and eye movement changes as a result of spaceflight. Since most vestibular functions are influenced by gravity, the COIS experiment is meant to measure response differences in microgravity.

MX Siting Investigation. Gravity Survey - Sevier Desert Valley, Utah.

DTIC Science & Technology

1981-01-24

Cheyenne, Wyoming. DMAHTC reduces the data to Simple Bouguer Anomaly (see Section A1.4, Appendix Al.0). The Defense Mapping Agency Aerospace Center...Desert Valley, Utah ......... 2 2 Topographic Setting - Sevier Desert Valley, Utah . 3 LIST OF DRAWINGS Drawing Number 1 Complete Bouguer Anomaly...gravity stations were distributed throughout the valley at an approxi- mate interval of 1.4 miles (2.3 km). Drawing 1 is a Complete Bouguer Anomaly

Canonical and symplectic analysis for three dimensional gravity without dynamics

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

Escalante, Alberto, E-mail: aescalan@ifuap.buap.mx; Osmart Ochoa-Gutiérrez, H.

2017-03-15

In this paper a detailed Hamiltonian analysis of three-dimensional gravity without dynamics proposed by V. Hussain is performed. We report the complete structure of the constraints and the Dirac brackets are explicitly computed. In addition, the Faddeev–Jackiw symplectic approach is developed; we report the complete set of Faddeev–Jackiw constraints and the generalized brackets, then we show that the Dirac and the generalized Faddeev–Jackiw brackets coincide to each other. Finally, the similarities and advantages between Faddeev–Jackiw and Dirac’s formalism are briefly discussed. - Highlights: • We report the symplectic analysis for three dimensional gravity without dynamics. • We report the Faddeev–Jackiwmore » constraints. • A pure Dirac’s analysis is performed. • The complete structure of Dirac’s constraints is reported. • We show that symplectic and Dirac’s brackets coincide to each other.« less

Can chaos be observed in quantum gravity?

NASA Astrophysics Data System (ADS)

Dittrich, Bianca; Höhn, Philipp A.; Koslowski, Tim A.; Nelson, Mike I.

2017-06-01

Full general relativity is almost certainly 'chaotic'. We argue that this entails a notion of non-integrability: a generic general relativistic model, at least when coupled to cosmologically interesting matter, likely possesses neither differentiable Dirac observables nor a reduced phase space. It follows that the standard notion of observable has to be extended to include non-differentiable or even discontinuous generalized observables. These cannot carry Poisson-algebraic structures and do not admit a standard quantization; one thus faces a quantum representation problem of gravitational observables. This has deep consequences for a quantum theory of gravity, which we investigate in a simple model for a system with Hamiltonian constraint that fails to be completely integrable. We show that basing the quantization on standard topology precludes a semiclassical limit and can even prohibit any solutions to the quantum constraints. Our proposed solution to this problem is to refine topology such that a complete set of Dirac observables becomes continuous. In the toy model, it turns out that a refinement to a polymer-type topology, as e.g. used in loop gravity, is sufficient. Basing quantization of the toy model on this finer topology, we find a complete set of quantum Dirac observables and a suitable semiclassical limit. This strategy is applicable to realistic candidate theories of quantum gravity and thereby suggests a solution to a long-standing problem which implies ramifications for the very concept of quantization. Our work reveals a qualitatively novel facet of chaos in physics and opens up a new avenue of research on chaos in gravity which hints at deep insights into the structure of quantum gravity.

An innovative multi-gap clutch based on magneto-rheological fluids and electrodynamic effects: magnetic design and experimental characterization

NASA Astrophysics Data System (ADS)

Rizzo, R.

2017-01-01

In this paper an innovative multi-gap magnetorheological clutch is described. It is inspired by a device previously developed by the author’s research group and contains a novel solution based on electrodynamic effects, capable to considerably improve the transmissible torque during the engagement phase. Since this (transient) phase is characterized by a non-zero angular speed between the two clutch shafts, the rotation of a permanent magnets system, used to excite the fluid, induces eddy currents on some conductive material strategically positioned in the device. As a consequence, an electromagnetic torque is produced which is added to the torque transmitted by the magnetorheological fluid only. Once the clutch is completely engaged and the relative speed between the two shafts is zero, the electrodynamic effects vanish and the device operates like a conventional magnetorheological clutch. The system is investigated and designed by means a 3D FEM model and the performance of the device is experimentally validated on a prototype.

Quantifying Variations in Airborne Gravity Data Quality Due to Aircraft Selection with the Gravity for the Re-Definition of the American Vertical Datum Project

NASA Astrophysics Data System (ADS)

Youngman, M.; Weil, C.; Salisbury, T.; Villarreal, C.

2015-12-01

The U.S. National Geodetic Survey is collecting airborne gravity with the Gravity for the Redefinition of the American Vertical Datum (GRAV-D) project to produce a geoid supporting heights accurate to 2 centimeters, where possible, with a modernized U.S. vertical datum in 2022. Targeting 15.6 million square kilometers, the GRAV-D project is unprecedented in its scope of consistently collected airborne gravity data across the entire U.S. and its holdings. Currently over 42% of data collection has been completed by 42 surveys (field campaigns) covering 34 completed blocks (data collection areas). The large amount of data available offers a unique opportunity to evaluate the causes of data quality variation from survey to survey. Two metrics were chosen to use as a basis for comparing the quality of each survey/block: 1. total crossover error (i.e. difference in gravity recorded at all locations of crossing flight lines) and 2. the statistical difference of the airborne gravity from the EGM2008 global model. We have determined that the aircraft used for surveying contributes significantly to the variation in data quality. This paper will further expand upon that recent work, using statistical analysis to determine the contribution of aircraft selection to data quality taking into account other variables such as differences in survey setup or weather conditions during surveying.

Harmonic analysis of the DTU10 global gravity anomalies

NASA Astrophysics Data System (ADS)

Abrykosov, O.; Förste, Ch.; Gruber, Ch.; Shako, R.; Barthelmes, F.

2012-04-01

We have computed the Earth's gravity models to degree/order 5400 and 10800 (in terms of the ellipsoidal and spherical harmonics) from a rigorous integration of the 2'x2' and 1'x1' global grids of gravity anomalies provided by the Danish Technical University (DTU). The gravity signal recovered from the DTU10 data shows 1) a strong dependency on the truncation of the EGM2008 gravity model which were used to fill-in land areas in the DTU10 grids and 2) an irregular behaviour at frequencies behind the resolution of the EGM2008. We discuss the gravity signal and its accuracy estimation computed from the complete DTU10 grids as well as separately from the data over land and ocean areas.

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

Rezazadeh, Kazem; Karami, Kayoomars; Abdolmaleki, Asrin, E-mail: rezazadeh86@gmail.com

We study logamediate inflation in the context of f ( T ) teleparallel gravity. f ( T )-gravity is a generalization of the teleparallel gravity which is formulated on the Weitzenbock spacetime, characterized by the vanishing curvature tensor (absolute parallelism) and the non-vanishing torsion tensor. We consider an f ( T )-gravity model which is sourced by a canonical scalar field. Assuming a power-law f ( T ) function in the action, we investigate an inflationary universe with a logamediate scale factor. Our results show that, although logamediate inflation is completely ruled out by observational data in the standard inflationarymore » scenario based on Einstein gravity, it can be compatible with the 68% confidence limit joint region of Planck 2015 TT,TE,EE+lowP data in the framework of f ( T )-gravity.« less

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

Halliday, M.E.; Cook, K.L.

Regional gravity data were collected in portions of the Pavant Range, Tushar Mountains, northern Sevier Plateau, the Antelope Range, and throughout Sevier Valley approximately between the towns of Richfield and Junction, Utah. Additionally, detailed gravity and ground magnetic data were collected in the vicinity of hot springs in both the Monroe and Joseph Known Geothermal Resource Areas (KGRA's) and subsurface geologic models were constructed. The regional gravity data were terrain corrected out to a distance of 167 km from the station and 948 gravity station values were compiled into a complete Bouguer gravity anomaly map of the survey area. Thismore » map shows a strong correlation with most structural features mapped in the survey area. Four regional gravity profiles were modeled using two-dimensional formerd and inverse algorithms.« less

The Structure of a Quasi-Keplerian Accretion Disk around Magnetized Stars

NASA Astrophysics Data System (ADS)

Habumugisha, Isaac; Jurua, Edward; Tessema, Solomon B.; Simon, Anguma K.

2018-06-01

In this paper, we present the complete structure of a quasi-Keplerian thin accretion disk with an internal dynamo around a magnetized neutron star. We assume a full quasi-Keplerian disk with the azimuthal velocity deviating from the Keplerian fashion by a factor of ξ (0 < ξ < 2). In our approach, we vertically integrate the radial component of the momentum equation to obtain the radial pressure gradient equation for a thin quasi-Keplerian accretion disk. Our results show that, at large radial distance, the accretion disk behaves in a Keplerian fashion. However, close to the neutron star, pressure gradient force (PGF) largely modifies the disk structure, resulting into sudden dynamical changes in the accretion disk. The corotation radius is shifted inward (outward) for ξ > 1 (for ξ < 1), and the position of the inner edge with respect to the new corotation radius is also relocated accordingly, as compared to the Keplerian model. The resulting PGF torque couples with viscous torque (when ξ < 1) to provide a spin-down torque and a spin-up torque (when ξ > 1) while in the advective state. Therefore, neglecting the PGF, as has been the case in previous models, is a glaring omission. Our result has the potential to explain the observable dynamic consequences of accretion disks around magnetized neutron stars.

Angular momentum budget of the radiational S1 ocean tide

NASA Astrophysics Data System (ADS)

Schindelegger, Michael; Dobslaw, Henryk; Poropat, Lea; Salstein, David; Böhm, Johannes

2016-04-01

The balance of diurnal S1 oceanic angular momentum (OAM) variations through torques at the sea surface and the bottom topography is validated using both a barotropic and a baroclinic numerical tide model. This analysis discloses the extent to which atmosphere-driven S1 forward simulations are reliable for use in studies of high-frequency polar motion and changes in length-of-day. Viscous and dissipative torques associated with wind stress, bottom friction, as well as internal tidal energy conversion are shown to be small, and they are overshadowed by gravitational and pressure-related interaction forces. In particular, the zonal OAM variability of S1 is almost completely balanced by the water pressure torque on the local bathymetry, whereas in the prograde equatorial case also the air pressure torque on the seafloor as well as ellipsoidal contributions from the non-spherical atmosphere and solid Earth must be taken into account. Overall, the OAM budget is well closed in both the axial and the equatorial directions, thus allowing for an identification of the main diurnal angular momentum sinks in the ocean. The physical interaction forces are found to be largest at shelf breaks and continental slopes in low latitudes, with the most dominant contribution coming from the Indonesian archipelago.

Gravity Recovery and Interior Laboratory (GRAIL): Extended Mission and End-Game Status

NASA Technical Reports Server (NTRS)

Zuber, Maria T.; Smith, David E.; Wieczorek, Mark A.; Williams, James G.; Andrews-Hanna, Jeffrey C.; Head, James W.; Kiefer, Walter S.; Matsuyama, Isamu; McGovern, Patrick J.; Nimmo, Francis;

Hořava Gravity is Asymptotically Free in 2+1 Dimensions.

PubMed

Barvinsky, Andrei O; Blas, Diego; Herrero-Valea, Mario; Sibiryakov, Sergey M; Steinwachs, Christian F

2017-11-24

We compute the β functions of marginal couplings in projectable Hořava gravity in 2+1 spacetime dimensions. We show that the renormalization group flow has an asymptotically free fixed point in the ultraviolet (UV), establishing the theory as a UV-complete model with dynamical gravitational degrees of freedom. Therefore, this theory may serve as a toy model to study fundamental aspects of quantum gravity. Our results represent a step forward towards understanding the UV properties of realistic versions of Hořava gravity.

Rotation of an immersed cylinder sliding near a thin elastic coating

NASA Astrophysics Data System (ADS)

Rallabandi, Bhargav; Saintyves, Baudouin; Jules, Theo; Salez, Thomas; Schönecker, Clarissa; Mahadevan, L.; Stone, Howard A.

2017-07-01

It is known that an object translating parallel to a soft wall in a viscous fluid produces hydrodynamic stresses that deform the wall, which in turn results in a lift force on the object. Recent experiments with cylinders sliding under gravity near a soft incline, which confirmed theoretical arguments for the lift force, also reported an unexplained steady-state rotation of the cylinders [B. Saintyves et al., Proc. Natl. Acad. Sci. USA 113, 5847 (2016), 10.1073/pnas.1525462113]. Motivated by these observations, we show, in the lubrication limit, that an infinite cylinder that translates in a viscous fluid parallel to a soft wall at constant speed and separation distance must also rotate in order to remain free of torque. Using the Lorentz reciprocal theorem, we show analytically that for small deformations of the elastic layer, the angular velocity of the cylinder scales with the cube of the sliding speed. These predictions are confirmed numerically. We then apply the theory to the gravity-driven motion of a cylinder near a soft incline and find qualitative agreement with the experimental observations, namely, that a softer elastic layer results in a greater angular speed of the cylinder.

The effects of patch-potentials on the gravity probe B gyroscopes.

PubMed

Buchman, S; Turneaure, J P

2011-07-01

Gravity probe B (GP-B) was designed to measure the geodetic and frame dragging precessions of gyroscopes in the near field of the Earth using a drag-free satellite in a 642 km polar orbit. Four electrostatically suspended cryogenic gyroscopes were designed to measure the precession of the local inertial frame of reference with a disturbance drift of about 0.1 marc sec/yr-0.2 marc sec/yr. A number of unexpected gyro disturbance effects were observed during the mission: spin-speed and polhode damping, misalignment and roll-polhode resonance torques, forces acting on the gyroscopes, and anomalies in the measurement of the gyro potentials. We show that all these effects except possibly polhode damping can be accounted for by electrostatic patch potentials on both the gyro rotors and the gyro housing suspension and ground-plane electrodes. We express the rotor and housing patch potentials as expansions in spherical harmonics Y(l,m)(θ,φ). Our analysis demonstrates that these disturbance effects are approximated by a power spectrum for the coefficients of the spherical harmonics of the form V(0)(2)/l(r) with V(0) ≈ 100 mV and r ≈ 1.7.

Gravitational Instabilities in Protostellar and Protoplanetary Disks

NASA Astrophysics Data System (ADS)

Durisen, R. H.; Mejia, A. C.; Pickett, B. K.

Self-gravity in fluid and particle systems is the primary mechanism for the creation of structure in the Universe on astronomical scales. The rapidly rotating Solar System-sized disks which orbit stars during the early phases of star and planet formation can be massive and thus susceptible to spontaneous growth of spiral distortions driven by disk self-gravity. These are called gravitational instabilities (GI's). They can be important sources of mass and angular momentum transport due to the long-range torques they generate; and, if strong enough, they may fragment the disk into bound lumps with masses in therange of gas giant planets and brown dwarfs. My research group has been using numerical 3D hydrodynamics techniques to study the growth and nonlinear behavior of GI's in disks around young stars. Our simulations have demonstrated the sensitivity of outcomes to the thermal physics of the disks and have helped to delineate conditions conducive to the formation of dense clumps. We are currently concentrating our efforts on determining how GI's affect the long-term evolution and appearance of young stellar disks, with the hope of finding characteristic GI signatures by which we may recognize their occurrence in real systems.

Control of large space structures

NASA Technical Reports Server (NTRS)

Gran, R.; Rossi, M.; Moyer, H. G.; Austin, F.

1979-01-01

The control of large space structures was studied to determine what, if any, limitations are imposed on the size of spacecraft which may be controlled using current control system design technology. Using a typical structure in the 35 to 70 meter size category, a control system design that used actuators that are currently available was designed. The amount of control power required to maintain the vehicle in a stabilized gravity gradient pointing orientation that also damped various structural motions was determined. The moment of inertia and mass properties of this structure were varied to verify that stability and performance were maintained. The study concludes that the structure's size is required to change by at least a factor of two before any stability problems arise. The stability margin that is lost is due to the scaling of the gravity gradient torques (the rigid body control) and as such can easily be corrected by changing the control gains associated with the rigid body control. A secondary conclusion from the study is that the control design that accommodates the structural motions (to damp them) is a little more sensitive than the design that works on attitude control of the rigid body only.

Influence of prolonged intermittent high-intensity exercise on knee flexor strength in male and female soccer players.

PubMed

Mercer, Tom H; Gleeson, Nigel P; Wren, Karen

2003-06-01

This study investigated the effect of an acute, prolonged, intermittent, high-intensity single-leg pedalling exercise task (PIHIET) on the isokinetic leg strength of the knee flexors in six male and seven female collegiate soccer players. Following determination of single-leg VO(2peak), subjects completed a PIHIET designed to simulate the energetics of soccer match play (approximately 90 min in total; approximately 70% single-leg VO(2peak)). Pre-, mid- and post-PIHIET gravity-corrected indices of knee flexion peak torque (PT) and range of motion-relativised torque at 15% of knee flexion (RRT(15%); 0% = full knee extension) were assessed at a lever-arm angular velocity of 1.05 rad.s(-1)for intervention and control limbs using an isokinetic dynamometer. Repeated measures ANOVAs revealed significant condition (PIHIET, control) x time (pre-, mid-, post-PIHIET) interactions for knee flexion PT (F([2,22])=26.2; P<0.001) and RRT(15%) (F([2,22])=20.1; P<0.001). Flexion PT and RRT(15% )were observed to decrease, pre- to post-intervention, from 92.8 (28.7) N.m to 72.1 (28.0) N.m and from 63.8 (17.5) N.m to 47.9 (18.4) N.m respectively, for the intervention limb alone. These data corresponded to 22.3% and 24.9% mean reductions pre-post intervention in PT and RRT(15%). Exploratory post hoc analysis of the pattern of the relative deterioration (%) of PT and RRT(15%), for the intervention limb alone, revealed a three-way interaction [group (male, female) x parameter (PT, RRT(15%)) x assessment phase (pre- to mid-PIHIET, mid- to post-PIHIET)] (F(1,11)=5.2; P<0.05). This interaction characterised a greater deterioration of strength performance during the mid- to post-PIHIET assessment phase, at the extremes of range of motion (RRT(15%)) for the female group. The greater percentage of mid-post phase strength loss observed in women near the end-range extension may potentially be implicated in the higher incidence of knee injury reported in female soccer players.

Black holes in loop quantum gravity: the complete space-time.

PubMed

Gambini, Rodolfo; Pullin, Jorge

2008-10-17

We consider the quantization of the complete extension of the Schwarzschild space-time using spherically symmetric loop quantum gravity. We find an exact solution corresponding to the semiclassical theory. The singularity is eliminated but the space-time still contains a horizon. Although the solution is known partially numerically and therefore a proper global analysis is not possible, a global structure akin to a singularity-free Reissner-Nordström space-time including a Cauchy horizon is suggested.

Fiber pulling apparatus modification

NASA Technical Reports Server (NTRS)

Smith, Guy A.; Workman, Gary L.

1992-01-01

A reduced gravity fiber pulling apparatus (FPA) was constructed in order to study the effects of gravity on glass fiber formation. The apparatus was specifically designed and built for use on NASA's KC-135 aircraft. Four flights have been completed to date during which E-glass fiber was successfully produced in simulated zero, high, and lunar gravity environments. In addition simulated lunar soil samples were tested for their fiber producing properties using the FPA.

Anomaly-free cosmological perturbations in effective canonical quantum gravity

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

Barrau, Aurelien; Bojowald, Martin; Kagan, Mikhail

2015-05-01

This article lays out a complete framework for an effective theory of cosmological perturbations with corrections from canonical quantum gravity. Since several examples exist for quantum-gravity effects that change the structure of space-time, the classical perturbative treatment must be rethought carefully. The present discussion provides a unified picture of several previous works, together with new treatments of higher-order perturbations and the specification of initial states.

Comparison of Knee and Ankle Dynamometry between NASA's X1 Exoskeleton and Biodex System 4

NASA Technical Reports Server (NTRS)

English, K. L.; Newby, N. J.; Hackney, K. J.; DeWitt, J. K.; Beck, C. E.; Rovekamp, R. N.; Rea, R. L.; Ploutz-Snyder, L. L.

2014-01-01

Pre- and post-flight dynamometry is performed on International Space Station crewmembers to characterize microgravity-induced strength changes. Strength is not assessed in flight due to hardware limitations and there is poor understanding of the time course of in-flight changes. PURPOSE: To assess the reliability of a prototype dynamometer, the X1 Exoskeleton (EXO) and its agreement with a Biodex System 4 (BIO). METHODS: Eight subjects (4 M/4 F) completed 2 counterbalanced testing sessions of knee extension/flexion (KE/KF), 1 with BIO and 1 with EXO, with repeated measures within each session in normal gravity. Test-retest reliability (test 1 and 2) and device agreement (BIO vs. EXO) were evaluated. Later, to assess device agreement for ankle plantarflexion (PF), 10 subjects (4 M/6 F) completed 3 test conditions (BIO, EXO, and BIOEXO); BIOEXO was a hybrid condition comprised of the Biodex dynamometer motor and the X1 footplate and ankle frame. Ankle comparisons were: BIO vs. BIOEXO (footplate differences), BIOEXO vs. EXO (motor differences), and BIO vs. EXO (all differences). Reliability for KE/KF was determined by intraclass correlation (ICC). Device agreement was assessed with: 1) repeated measures ANOVA, 2) a measure of concordance (rho), and 3) average difference. RESULTS: ICCs for KE/KF were 0.99 for BIO and 0.96 to 0.99 for EXO. Agreement was high for KE (concordance: 0.86 to 0.95; average differences: -7 to +9 Nm) and low to moderate for KF (concordance: 0.64 to 0.78; average differences: -4 to -29 Nm, P<0.05). BIO vs. BIOEXO PF concordance ranged from 0.89 to 0.92 and mean differences ranged from -9 to +3 Nm (BIO < BIOEXO). BIOEXO vs. EXO PF concordance ranged from 0.73 to 0.80 while mean differences were -18 to -36 Nm (BIOEXO < EXO, P<0.05). PF concordance for BIO vs. EXO was slightly lower (0.61 to 0.84) and mean differences were greater (-27 to -33 Nm; BIO < EXO, P<0.05). CONCLUSION: BIO and EXO were similarly reliable for KE and KF. KE measures produced high agreement between devices; KF did not. For ankle PF, torque differences due to the two footplates were small. However, the X1 motor reports greater torques than the Biodex motor during PF. This first prototype provides proof of concept for a reliable, robotic-based exoskeleton to perform portable dynamometry for large muscle groups of the lower body.

Torque limit of PM motors for field-weakening region operation

DOEpatents

Royak, Semyon [Beachwood, OH; Harbaugh, Mark M [Richfield, OH

2012-02-14

The invention includes a motor controller and technique for controlling a permanent magnet motor. In accordance with one aspect of the present technique, a permanent magnet motor is controlled by receiving a torque command, determining a physical torque limit based on a stator frequency, determining a theoretical torque limit based on a maximum available voltage and motor inductance ratio, and limiting the torque command to the smaller of the physical torque limit and the theoretical torque limit. Receiving the torque command may include normalizing the torque command to obtain a normalized torque command, determining the physical torque limit may include determining a normalized physical torque limit, determining a theoretical torque limit may include determining a normalized theoretical torque limit, and limiting the torque command may include limiting the normalized torque command to the smaller of the normalized physical torque limit and the normalized theoretical torque limit.

Reliability and relationships among handgrip strength, leg extensor strength and power, and balance in older men.

PubMed

Jenkins, Nathaniel D M; Buckner, Samuel L; Bergstrom, Haley C; Cochrane, Kristen C; Goldsmith, Jacob A; Housh, Terry J; Johnson, Glen O; Schmidt, Richard J; Cramer, Joel T

2014-10-01

To quantify the reliability of isometric leg extension torque (LEMVC), rate of torque development (LERTD), isometric handgrip force (HGMVC) and RFD (HGRFD), isokinetic leg extension torque and power at 1.05rad·s(-1) and 3.14rad·s(-1); and explore relationships among strength, power, and balance in older men. Sixteen older men completed 3 isometric handgrips, 3 isometric leg extensions, and 3 isokinetic leg extensions at 1.05rad·s(-1) and 3.14rad·s(-1) during two visits. Intraclass correlation coefficients (ICCs), ICC confidence intervals (95% CI), coefficients of variation (CVs), and Pearson correlation coefficients were calculated. LERTD demonstrated no reliability. The CVs for LERTD and HGRFD were ≤23.26%. HGMVC wasn't related to leg extension torque or power, or balance (r=0.14-0.47; p>0.05). However, moderate to strong relationships were found among isokinetic leg extension torque at 1.05rad·s(-1) and 3.14rad·s(-1), leg extension mean power at 1.05rad·s(-1), and functional reach (r=0.51-0.95; p≤0.05). LERTD and HGRFD weren't reliable and shouldn't be used as outcome variables in older men. Handgrip strength may not be an appropriate surrogate for lower body strength, power, or balance. Instead, perhaps handgrip strength should only be used to describe upper body strength or functionality, which may compliment isokinetic assessments of lower body strength, which were reliable and related to balance. Copyright © 2014 Elsevier Inc. All rights reserved.

Field-free deterministic ultrafast creation of magnetic skyrmions by spin-orbit torques

NASA Astrophysics Data System (ADS)

Büttner, Felix; Lemesh, Ivan; Schneider, Michael; Pfau, Bastian; Günther, Christian M.; Hessing, Piet; Geilhufe, Jan; Caretta, Lucas; Engel, Dieter; Krüger, Benjamin; Viefhaus, Jens; Eisebitt, Stefan; Beach, Geoffrey S. D.

2017-11-01

Magnetic skyrmions are stabilized by a combination of external magnetic fields, stray field energies, higher-order exchange interactions and the Dzyaloshinskii-Moriya interaction (DMI). The last favours homochiral skyrmions, whose motion is driven by spin-orbit torques and is deterministic, which makes systems with a large DMI relevant for applications. Asymmetric multilayers of non-magnetic heavy metals with strong spin-orbit interactions and transition-metal ferromagnetic layers provide a large and tunable DMI. Also, the non-magnetic heavy metal layer can inject a vertical spin current with transverse spin polarization into the ferromagnetic layer via the spin Hall effect. This leads to torques that can be used to switch the magnetization completely in out-of-plane magnetized ferromagnetic elements, but the switching is deterministic only in the presence of a symmetry-breaking in-plane field. Although spin-orbit torques led to domain nucleation in continuous films and to stochastic nucleation of skyrmions in magnetic tracks, no practical means to create individual skyrmions controllably in an integrated device design at a selected position has been reported yet. Here we demonstrate that sub-nanosecond spin-orbit torque pulses can generate single skyrmions at custom-defined positions in a magnetic racetrack deterministically using the same current path as used for the shifting operation. The effect of the DMI implies that no external in-plane magnetic fields are needed for this aim. This implementation exploits a defect, such as a constriction in the magnetic track, that can serve as a skyrmion generator. The concept is applicable to any track geometry, including three-dimensional designs.

Acoustically assisted spin-transfer-torque switching of nanomagnets: An energy-efficient hybrid writing scheme for non-volatile memory

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

Biswas, Ayan K.; Bandyopadhyay, Supriyo; Atulasimha, Jayasimha

We show that the energy dissipated to write bits in spin-transfer-torque random access memory can be reduced by an order of magnitude if a surface acoustic wave (SAW) is launched underneath the magneto-tunneling junctions (MTJs) storing the bits. The SAW-generated strain rotates the magnetization of every MTJs' soft magnet from the easy towards the hard axis, whereupon passage of a small spin-polarized current through a target MTJ selectively switches it to the desired state with > 99.99% probability at room temperature, thereby writing the bit. The other MTJs return to their original states at the completion of the SAW cycle.

Human-robot interaction tests on a novel robot for gait assistance.

PubMed

Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Carpino, Giorgio; Accoto, Dino; Guglielmelli, Eugenio

2013-06-01

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.

Biomechanical Modeling Analysis of Loads Configuration for Squat Exercise

NASA Technical Reports Server (NTRS)

Gallo, Christopher A.; Thompson, William K.; Lewandowski, Beth E.; Jagodnik, Kathleen; De Witt, John K.

2017-01-01

INTRODUCTION: Long duration space travel will expose astronauts to extended periods of reduced gravity. Since gravity is not present to assist loading, astronauts will use resistive and aerobic exercise regimes for the duration of the space flight to minimize loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the area available for an exercise device in the next generation of spacecraft for travel to the Moon or to Mars is limited and therefore compact resistance exercise device prototypes are being developed. The Advanced Resistive Exercise Device (ARED) currently on the ISS is being used as a benchmark for the functional performance of these new devices. Biomechanical data collection and computational modeling aid the device design process by quantifying the joint torques and the musculoskeletal forces that occur during exercises performed on the prototype devices. METHODS The computational models currently under development utilize the OpenSim [1] software platform, consisting of open source code for musculoskeletal modeling, using biomechanical input data from test subjects for estimation of muscle and joint loads. The OpenSim Full Body Model [2] is used for all analyses. The model incorporates simplified wrap surfaces, a new knee model and updated lower body muscle parameters derived from cadaver measurements and magnetic resonance imaging of young adults. The upper body uses torque actuators at the lumbar and extremity joints. The test subjects who volunteer for this study are instrumented with reflective markers for motion capture data collection while performing squat exercising on the Hybrid Ultimate Lifting Kit (HULK) prototype device (ZIN Technologies, Middleburg Heights, OH). Ground reaction force data is collected with force plates under the feet, and device loading is recorded through load cells internal to the HULK. Test variables include the applied device load and the dual cable long bar or single cable T-bar interface between the test subject and the device. Data is also obtained using free weights with the identical loading for a comparison to the resistively loaded exercise device trials. The data drives the OpenSim biomechanical model, which has been scaled to match the anthropometrics of the test subject, to calculate the body loads. RESULTS Lower body kinematics, joint moments, joint forces and muscle forces are obtained from the OpenSim biomechanical analysis of the squat exercises under different loading conditions. Preliminary results from the model for the loading conditions will be presented as will hypotheses developed for follow on work.

Investigation of a geodesy coexperiment to the Gravity Probe B relativity gyroscope program

NASA Technical Reports Server (NTRS)

Everitt, C. W. F.; Parkinson, Bradford W.; Tapley, Mark

1993-01-01

Geodesy is the science of measuring the gravitational field of and positions on the Earth. Estimation of the gravitational field via gravitation gradiometry, the measurement of variations in the direction and magnitude of gravitation with respect to position, is this dissertation's focus. Gravity Probe B (GP-B) is a Stanford satellite experiment in gravitational physics. GP-B will measure the precession the rotating Earth causes on the space time around it by observing the precessions of four gyroscopes in a circular, polar, drag-free orbit at 650 km altitude. The gyroscopes are nearly perfect niobium-coated spheres of quartz, operating at 1.8 K to permit observations with extremely low thermal noise. The permissible gyroscope drift rate is miniscule, so the torques on the gyros must be tiny. A drag-free control system, by canceling accelerations caused by nongravitational forces, minimizes the support forces and hence torques. The GP-B system offers two main possibilities for geodesy. One is as a drag-free satellite to be used in trajectory-based estimates of the Earth's gravity field. We described calculations involving that approach in our previous reports, including comparison of laser only, GPS only, and combined tracking and a preliminary estimate of the possibility of estimating relativistic effects on the orbit. The second possibility is gradiometry. This technique has received a more cursory examination in previous reports, so we concentrate on it here. We explore the feasibility of using the residual suspension forces centering the GP-B gyros as gradiometer signals for geodesy. The objective of this work is a statistical prediction of the formal uncertainty in an estimate of the Earth's gravitation field using data from GP-B. We perform an instrument analysis and apply two mathematical techniques to predict uncertainty. One is an analytical approach using a flat-Earth approximation to predict geopotential information quality as a function of spatial wavelength. The second estimates the covariance matrix arising in a least-squares estimate of a spherical harmonic representation of the geopotential using GP-B gradiometer data. The results show that the GP-B data set can be used to create a consistent estimate of the geopotential up to spherical harmonic degree and order 60. The formal uncertainty of all coefficients between degrees 5 and 50 is reduced by factors of up to 30 over current satellite-only estimates and up to 7 over estimates which include surface data. The primary conclusion resulting from this study is that the gravitation gradiometer geodesy coexperiment to GP-B is both feasible and attractive.

Gravity quantized: Loop quantum gravity with a scalar field

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

Domagala, Marcin; Kaminski, Wojciech; Giesel, Kristina

2010-11-15

...''but we do not have quantum gravity.'' This phrase is often used when analysis of a physical problem enters the regime in which quantum gravity effects should be taken into account. In fact, there are several models of the gravitational field coupled to (scalar) fields for which the quantization procedure can be completed using loop quantum gravity techniques. The model we present in this paper consists of the gravitational field coupled to a scalar field. The result has similar structure to the loop quantum cosmology models, except that it involves all the local degrees of freedom of the gravitational fieldmore » because no symmetry reduction has been performed at the classical level.« less

MX Siting Investigation. Gravity Survey - Southern Snake Valley (Ferguson Desert), Utah.

DTIC Science & Technology

1980-03-28

Topographic Center (DMAHTC), head- quartered in Cheyenne, Wyoming. DMAHTC reduces the data to Simple Bouguer Anomaly (see Section A1.4, Appendix Al.0...Valley, Utah . . . . . ......... . . . . . 3 3 Complete Bouguer Anomaly Contours 4 Interpreted Gravity Profile SE-3,4 5 Interpreted Gravity Profile SE...observations and reduced them to Simple Bouguer Anomalies (SBA) for each station as described in Appendix Al.0. Up to three levels of terrain corrections were

A high resolution gravity model for Venus - GVM-1

NASA Technical Reports Server (NTRS)

Nerem, R. S.; Bills, B. G.; Mcnamee, J. B.

1993-01-01

A spherical harmonic model of the gravitational field of Venus complete to degree and order 50 has been developed using the S-band Doppler tracking data of the Pioneer Venus Orbiter (PVO) collected between 1979 and 1982. The short wavelengths of this model could only be resolved near the PVO periapse location (about 14 deg N latitude), therefore a priori constraints were applied to the model to bias poorly observed coefficients towards zero. The resulting model has a half-wavelength resolution of 400 km near the PVO periapse location, but the resolution degrades to greater than 1000 km near the poles. This gravity model correlates well with a degree 50 spherical harmonic expansion of the Venus topography derived from a combination of Magellan and PVO data. New tracking data from Magellan's gravity mission should provide some improvement to this model, although a complete model of the Venusian gravity field will depend on tracking of Magellan after the circularization of its orbit using aerobraking.

New Antarctic Gravity Anomaly Grid for Enhanced Geodetic and Geophysical Studies in Antarctica

PubMed Central

Scheinert, M.; Ferraccioli, F.; Schwabe, J.; Bell, R.; Studinger, M.; Damaske, D.; Jokat, W.; Aleshkova, N.; Jordan, T.; Leitchenkov, G.; Blankenship, D. D.; Damiani, T. M.; Young, D.; Cochran, J. R.; Richter, T. D.

2018-01-01

Gravity surveying is challenging in Antarctica because of its hostile environment and inaccessibility. Nevertheless, many ground-based, airborne and shipborne gravity campaigns have been completed by the geophysical and geodetic communities since the 1980s. We present the first modern Antarctic-wide gravity data compilation derived from 13 million data points covering an area of 10 million km2, which corresponds to 73% coverage of the continent. The remove-compute-restore technique was applied for gridding, which facilitated levelling of the different gravity datasets with respect to an Earth Gravity Model derived from satellite data alone. The resulting free-air and Bouguer gravity anomaly grids of 10 km resolution are publicly available. These grids will enable new high-resolution combined Earth Gravity Models to be derived and represent a major step forward towards solving the geodetic polar data gap problem. They provide a new tool to investigate continental-scale lithospheric structure and geological evolution of Antarctica. PMID:29326484

New Antarctic Gravity Anomaly Grid for Enhanced Geodetic and Geophysical Studies in Antarctica

NASA Technical Reports Server (NTRS)

Scheinert, M.; Ferraccioli, F.; Schwabe, J.; Bell, R.; Studinger, M.; Damaske, D.; Jokat, W.; Aleshkova, N.; Jordan, T.; Leitchenkov, G.;

New Antarctic Gravity Anomaly Grid for Enhanced Geodetic and Geophysical Studies in Antarctica.

PubMed

Scheinert, M; Ferraccioli, F; Schwabe, J; Bell, R; Studinger, M; Damaske, D; Jokat, W; Aleshkova, N; Jordan, T; Leitchenkov, G; Blankenship, D D; Damiani, T M; Young, D; Cochran, J R; Richter, T D

2016-01-28

Gravity surveying is challenging in Antarctica because of its hostile environment and inaccessibility. Nevertheless, many ground-based, airborne and shipborne gravity campaigns have been completed by the geophysical and geodetic communities since the 1980s. We present the first modern Antarctic-wide gravity data compilation derived from 13 million data points covering an area of 10 million km 2 , which corresponds to 73% coverage of the continent. The remove-compute-restore technique was applied for gridding, which facilitated levelling of the different gravity datasets with respect to an Earth Gravity Model derived from satellite data alone. The resulting free-air and Bouguer gravity anomaly grids of 10 km resolution are publicly available. These grids will enable new high-resolution combined Earth Gravity Models to be derived and represent a major step forward towards solving the geodetic polar data gap problem. They provide a new tool to investigate continental-scale lithospheric structure and geological evolution of Antarctica.

Functional outcomes of conservatively managed acute ruptures of the Achilles tendon.

PubMed

Lawrence, J E; Nasr, P; Fountain, D M; Berman, L; Robinson, A H N

2017-01-01

This prospective cohort study aims to determine if the size of the tendon gap following acute rupture of the Achilles tendon shows an association with the functional outcome following non-operative treatment. All patients presenting within two weeks of an acute unilateral rupture of the Achilles tendon between July 2012 and July 2015 were considered for the study. In total, 38 patients (nine female, 29 male, mean age 52 years; 29 to 78) completed the study. Dynamic ultrasound examination was performed to confirm the diagnosis and measure the gap between ruptured tendon ends. Outcome was assessed using dynamometric testing of plantarflexion and the Achilles tendon Total Rupture score (ATRS) six months after the completion of a rehabilitation programme. Patients with a gap ≥ 10 mm with the ankle in the neutral position had significantly greater peak torque deficit than those with gaps < 10 mm (mean 23.3%; 7% to 52% vs 14.3%; 0% to 47%, p = 0.023). However, there was no difference in ATRS between the two groups (mean score 87.2; 74 to 100 vs 87.4; 68 to 97, p = 0.467). There was no significant correlation between gap size and torque deficit (τ = 0.103), suggesting a non-linear relationship. There was also no significant correlation between ATRS and peak torque deficit (τ = -0.305). This is the first study to identify an association between tendon gap and functional outcome in acute rupture of the Achilles tendon. We have identified 10 mm as a gap size at which deficits in plantarflexion strength become significantly greater, however, the precise relationship between gap size and plantarflexion strength remains unclear. Large, multicentre studies will be needed to clarify this relationship and identify population subgroups in whom deficits in peak torque are reflected in patient-reported outcome measures. Cite this article: Bone Joint J 2017;99-B:87-93. ©2017 The British Editorial Society of Bone & Joint Surgery.

Hip abduction-adduction strength and one-leg hop tests: test-retest reliability and relationship to function in elite ice hockey players.

PubMed

Kea, J; Kramer, J; Forwell, L; Birmingham, T

2001-08-01

Single group, test-retest. To determine: (1) hip abduction and adduction torques during concentric and eccentric muscle actions, (2) medial and lateral one-leg hop distances, (3) the test-retest reliability of these measurements, and (4) the relationship between isokinetic measures of hip muscle strength and hop distances in elite ice hockey players. The skating motion used in ice hockey requires strong contractions of the hip and knee musculature. However, baseline scores for hip strength and hop distances, their test-retest reliability, and measures of the extent to which these tests are related for this population are not available. The dominant leg of 27 men (mean age 20 +/- 3 yrs) was tested on 2 occasions. Hip abduction and adduction movements were completed at 60 degrees.s(-1) angular velocity, with the subject lying on the non-test side and the test leg moving vertically in the subject's coronal plane. One-leg hops requiring jumping from and landing on the same leg without losing balance were completed in the medial and lateral directions. Hip adduction torques were significantly greater than abduction torques during both concentric and eccentric muscle actions, while no significant difference was observed between medial and lateral hop distances. Although hop test scores produced excellent ICCs (> 0.75) when determined using scores on 1 occasion, torques needed to be averaged over 2 test occasions to reach this level. Correlations between the strength and hop tests ranged from slight to low (r = -0.26 to 0.27) and were characterized by wide 95% confidence intervals (-0.54 to 0.61). Isokinetic tests of hip abduction and adduction did not provide a strong indication of performance during sideways hop tests. Although isokinetic tests can provide a measure of muscular strength under specific test conditions, they should not be relied upon as a primary indicator of functional abilities or readiness to return to activity.

Rarefied-flow pitching moment coefficient measurements of the Shuttle Orbiter

NASA Technical Reports Server (NTRS)

Blanchard, R. C.; Hinson, E. W.

1988-01-01

An overview of the process for obtaining the Shuttle Orbiter rarefied-flow pitching moment from flight gyro data is presented. The extraction technique involves differentiation of the output of the pitch gyro after accounting for nonaerodynamic torques, such as those produced by gravity gradient and the Orbiter's auxiliary power unit and adjusting for drift biases. The overview of the extraction technique includes examples of results from each of the steps involved in the process, using the STS-32 mission as a typical sample case. The total pitching moment and moment coefficient (Cm) for that flight are calculated and compared with preflight predictions. The flight results show the anticipated decrease in Cm with increasing altitude. However, the total moment coefficient is less than predicted using preflight estimates.

Dynamics of binary and planetary-system interaction with disks - Eccentricity changes

NASA Technical Reports Server (NTRS)

Atrymowicz, Pawel

1992-01-01

Protostellar and protoplanetary systems, as well as merging galactic nuclei, often interact tidally and resonantly with the astrophysical disks via gravity. Underlying our understanding of the formation processes of stars, planets, and some galaxies is a dynamical theory of such interactions. Its main goals are to determine the geometry of the binary-disk system and, through the torque calculations, the rate of change of orbital elements of the components. We present some recent developments in this field concentrating on eccentricity driving mechanisms in protoplanetary and protobinary systems. In those two types of systems the result of the interaction is opposite. A small body embedded in a disk suffers a decrease of orbital eccentricity, whereas newly formed binary stars surrounded by protostellar disks may undergo a significant orbital evolution increasing their eccentricities.

Acceleration Noise Measurements for LISA

NASA Astrophysics Data System (ADS)

Schlamminger, Stephan; Gundlach, Jens

2005-04-01

The close spacing between the proof mass and the housing in the LISA (Laser Interferometer Space Antenna) spacecraft has been a concern as there may be spurious feeble forces. Such forces may limit the performance of the gravity wave detector at frequencies below 3 mHz and must be studied experimentally. We are performing ultra sensitive torsion balance tests to investigate such effects. Our torsion pendulum and a nearby plate are designed to simulate the LISA proof mass with its adjacent housing surface. We study torque noise on the pendulum as a function of separation between the surfaces. In order to exceed the LISA requirement we are probing the acceleration noise at much closer separations, than those planned for LISA. We have taken data at separations as small as 0.15 mm.

Simulation gravity modeling to spacecraft-tracking data - Analysis and application

NASA Technical Reports Server (NTRS)

Phillips, R. J.; Sjogren, W. L.; Abbott, E. A.; Zisk, S. H.

1978-01-01

It is proposed that line-of-sight gravity measurements derived from spacecraft-tracking data can be used for quantitative subsurface density modeling by suitable orbit simulation procedures. Such an approach avoids complex dynamic reductions and is analogous to the modeling of conventional surface gravity data. This procedure utilizes the vector calculations of a given gravity model in a simplified trajectory integration program that simulates the line-of-sight gravity. Solutions from an orbit simulation inversion and a dynamic inversion on Doppler observables compare well (within 1% in mass and size), and the error sources in the simulation approximation are shown to be quite small. An application of this technique is made to lunar crater gravity anomalies by simulating the complete Bouguer correction to several large young lunar craters. It is shown that the craters all have negative Bouguer anomalies.

A Water-Immersion Technique for the Study of Mobility of a Pressure-Suited Subject Under Balanced-Gravity Conditions

DTIC Science & Technology

1966-01-01

simulating zero-gravity performance of an astronaut in a pressurized spacesuit by complete water immersion has been developed and inves- tigated. The...critical operational characteristics relating to space- craft and spacesuit design under conditions of zero gravity. In addition, the physical...the legs of the suit and are contained by insulated flight boots . The Mark IV suit used in the tests is shown in figure 1. 3 Pressure-Suit

Voltage-controlled magnetization switching in MRAMs in conjunction with spin-transfer torque and applied magnetic field

NASA Astrophysics Data System (ADS)

Munira, Kamaram; Pandey, Sumeet C.; Kula, Witold; Sandhu, Gurtej S.

2016-11-01

Voltage-controlled magnetic anisotropy (VCMA) effect has attracted a significant amount of attention in recent years because of its low cell power consumption during the anisotropy modulation of a thin ferromagnetic film. However, the applied voltage or electric field alone is not enough to completely and reliably reverse the magnetization of the free layer of a magnetic random access memory (MRAM) cell from anti-parallel to parallel configuration or vice versa. An additional symmetry-breaking mechanism needs to be employed to ensure the deterministic writing process. Combinations of voltage-controlled magnetic anisotropy together with spin-transfer torque (STT) and with an applied magnetic field (Happ) were evaluated for switching reliability, time taken to switch with low error rate, and energy consumption during the switching process. In order to get a low write error rate in the MRAM cell with VCMA switching mechanism, a spin-transfer torque current or an applied magnetic field comparable to the critical current and field of the free layer is necessary. In the hybrid processes, the VCMA effect lowers the duration during which the higher power hungry secondary mechanism is in place. Therefore, the total energy consumed during the hybrid writing processes, VCMA + STT or VCMA + Happ, is less than the energy consumed during pure spin-transfer torque or applied magnetic field switching.

Dyna Soars: Low Torque Measurement Dynamometer

ERIC Educational Resources Information Center

Dolph, Darrel A.

2004-01-01

Students in the Electronics Engineering Technology program at Pennsylvania College of Technology designed and built a computerized dynamometer platform for testing dc brushless motors. As the capstone experience for EET-320, Measurement and Tests course, students were divided into teams of four and were given three weeks to complete the project.…

Drilling Precise Orifices and Slots

NASA Technical Reports Server (NTRS)

Richards, C. W.; Seidler, J. E.

1983-01-01

Reaction control thrustor injector requires precisely machined orifices and slots. Tooling setup consists of rotary table, numerical control system and torque sensitive drill press. Components used to drill oxidizer orifices. Electric discharge machine drills fuel-feed orifices. Device automates production of identical parts so several are completed in less time than previously.

Rotary pneumatic valve

DOEpatents

Hardee, Harry C.

1991-01-01

A rotary pneumatic valve which is thrust balanced and the pneumatic pressure developed produces only radial loads on the valve cylinder producing negligible resistance and thus minimal torque on the bearings of the valve. The valve is multiplexed such that at least two complete switching cycles occur for each revolution of the cylinder spindle.

The Differential Effect of Arm Movements during Gait on the Forward Acceleration of the Centre of Mass in Children with Cerebral Palsy and Typically Developing Children.

PubMed

Meyns, Pieter; Molenaers, Guy; Duysens, Jacques; Jonkers, Ilse

2017-01-01

Background: We aimed to study the contribution of upper limb movements to propulsion during walking in typically developing (TD) children ( n = 5) and children with hemiplegic and diplegic cerebral palsy (CP; n = 5 and n = 4, respectively). Methods: Using integrated three-dimensional motion capture data and a scaled generic musculoskeletal model that included upper limbs, we generated torque driven simulations of gait in OpenSim. Induced acceleration analyses were then used to determine the contributions of the individual actuators located at the relevant degrees of freedoms of the upper and lower limb joints to the forward acceleration of the COM at each time point of the gait simulation. The mean values of the contribution of the actuators of upper limbs, lower limbs, and gravity in different phases of the gait cycle were compared between the three groups. Findings: The results indicated a limited contribution of the upper limb actuators to COM forward acceleration compared to the contribution of lower limbs and gravity, in the three groups. In diplegic CP, the contribution of the upper limbs seemed larger compared to TD during the preswing and swing phases of gait. In hemiplegic CP, the unaffected arm seemed to contribute more to COM deceleration during (pre)swing, while the affected side contributed to COM acceleration. Interpretation: These findings suggest that in the presence of lower limb dysfunction, the contribution of the upper limbs to forward propulsion is altered, although they remain negligible compared to the lower limbs and gravity.

Electric drive motors for industrial robots

NASA Astrophysics Data System (ADS)

Fichtner, K.

1985-04-01

In robotized industrial plants it is possible to use electric motors in the technological process and also for control, assembly, transport, testing, and measurements. Particularly suitable for these applications are permanent-magnet d.c. motors. A new special series was developed for industrial robots with hinge joints in kinematic pairs. The complete drive includes thyristors or transistor controls with regulators and, if necessary, a line transformer as well as a servomotor with tachometer and odometer for speed, current, and position control. The drive is coupled to a robot tong through mechanical torque and force converters. In addition to a 0 to 4000 rpm speed regulation, without wobble at low speeds, and a high torque-to-weight ratio for repetitive short-time heavy duty, these low-inertia motors develop high starting and accelerating torques over the entire speed range. They operate from a 1 to O 220 V a.c. line through a rectifier. The motors are totally enclosed, or of open construction for better ventilation. Their windings have class F insulation for operation at ambient temperatures up to 40 C.

A Trick of Gravity

ERIC Educational Resources Information Center

Newburgh, Ronald

2010-01-01

It's both surprising and rewarding when an old, standard problem reveals a subtlety that expands its pedagogic value. I realized recently that the role of gravity in the range equation for a projectile is not so simple as first appears. This realization may be completely obvious to others but was quite new to me.

Experimental Investigation of the Robinson-Type Cup Anemometer

NASA Technical Reports Server (NTRS)

Brevoort, M J; Joyner, U T

1936-01-01

This report presents the results of wind tunnel tests on a Robinson-type anemometer. The investigation covered force measurements on individual cups, as well as static and dynamic torque measurements and calibrations on complete cup wheels. In the tests on individual cups 5 cup forms were used and in the measurements on complete cup wheels 4 cup wheels with 3 arm lengths for each cup wheel were tested. All the results are presented in graphical form.

Mechanical load on the low back and shoulders during pushing and pulling of two-wheeled waste containers compared with lifting and carrying of bags and bins.

PubMed

Schibye, B; Søgaard, K; Martinsen, D; Klausen, K

2001-08-01

Compare the mechanical load on the low back and shoulders during pushing and pulling a two-wheeled container with the load during lifting and carrying the same amount of waste. Only little is known about risk factors and mechanical loads during push/pull operations. A complete 2(3) factor push/pull experiment. A two-wheeled container with 25 or 50 kg was pushed in front of and pulled behind the body by seven waste collectors. Further, the same subjects lifted and carried a paper bag and a dustbin both loaded with 7 and 25 kg. All operations were video recorded and the push/pull force was measured by means of a three-dimensional force transducer. Peak Motus and Watbak software were used for digitising and calculation of torque at L4/L5 and the shoulder joints and compression and shear forces at L4/L5. During pushing and pulling the compression at L4/L5 is from 605 to 1445 N. The extension torque at L4/L5 produced by the push/pull force is counteracted by the forward leaning of the upper body. The shear force is below 202 N in all situations. The torque at the shoulders is between 1 and 38 Nm. In the present experiments the torques at the low back and the shoulders are low during pushing and pulling. No relation exists between the size of the external force and the torque at the low back and the shoulder. Pushing and pulling are common in many workplaces and have often replaced lifting and carrying situations. This has emphasised the need for more knowledge of the internal mechanical load on the body during these activities.

Sex Comparison of Knee Extensor Size, Strength and Fatigue Adaptation to Sprint Interval Training.

PubMed

Bagley, Liam; Al-Shanti, Nasser; Bradburn, Steven; Baig, Osamah; Slevin, Mark; McPhee, Jamie S

2018-03-12

Regular sprint interval training (SIT) improves whole-body aerobic capacity and muscle oxidative potential, but very little is known about knee extensor anabolic or fatigue resistance adaptations, or whether effects are similar for males and females. The purpose of this study was to compare sex-related differences in knee extensor size, torque-velocity relationship and fatigability adaptations to 12 weeks SIT. Sixteen males and fifteen females (mean (SEM) age: 41 (±2.5) yrs) completed measurements of total body composition assessed by DXA, quadriceps muscle cross-sectional area (CSAQ) assessed by MRI, the knee extensor torque-velocity relationship (covering 0 - 240°·sec) and fatigue resistance, which was measured as the decline in torque from the first to the last of 60 repeated concentric knee extensions performed at 180°·sec. SIT consisted of 4 x 20 second sprints on a cycle ergometer set at an initial power output of 175% of power at VO2max, three times per week for 12 weeks. CSAQ increased by 5% (p=0.023) and fatigue resistance improved 4.8% (p=0.048), with no sex differences in these adaptations (sex comparisons: p=0.140 and p=0.282, respectively). Knee extensor isometric and concentric torque was unaffected by SIT in both males and females (p>0.05 for all velocities). 12 weeks SIT, totalling 4 minutes very intense cycling per week, significantly increased fatigue resistance and CSAQ similarly in males and females, but did not significantly increase torque in males or females. These results suggest that SIT is a time-effective training modality for males and females to increase leg muscle size and fatigue resistance.

Functional and Neuromuscular Changes in the Hamstrings After Drop Jumps and Leg Curls

PubMed Central

Sarabon, Nejc; Panjan, Andrej; Rosker, Jernej; Fonda, Borut

2013-01-01

The purpose of this study was to use a holistic approach to investigate changes in jumping performance, kinaesthesia, static balance, isometric strength and fast stepping on spot during a 5-day recovery period, following an acute bout of damaging exercise consisted of drop jumps and leg curls, where specific emphasis was given on the hamstring muscles. Eleven young healthy subjects completed a series of highly intensive damaging exercises for their hamstring muscles. Prior to the exercise, and during the 5-day recovery period, the subjects were tested for biochemical markers (creatine kinase, aspartate aminotransferase, and lactate dehydrogenase), perceived pain sensation, physical performance (squat jump, counter movement jump, maximal frequency leg stamping, maximal isometric torque production and maximally explosive isometric torque production), kinaesthesia (active torque tracking) and static balance. We observed significant decreases in maximal isometric knee flexion torque production, the rate of torque production, and majority of the parameters for vertical jump performance. No alterations were found in kinaesthesia, static balance and fast stepping on spot. The highest drop in performance and increase in perceived pain sensation generally occurred 24 or 48 hours after the exercise. Damaging exercise substantially alters the neuromuscular functions of the hamstring muscles, which is specifically relevant for sports and rehabilitation experts, as the hamstrings are often stretched to significant lengths, in particular when the knee is extended and hip flexed. These findings are practically important for recovery after high-intensity trainings for hamstring muscles. Key Points Hamstring function is significantly reduced following specifically damaging exercise. It fully recovers 120 hours after the exercise. Prevention of exercise-induced muscle damage is cruicial for maintaining normal training regime. PMID:24149148

Results and Analysis from Space Suit Joint Torque Testing

NASA Technical Reports Server (NTRS)

Matty, Jennifer E.; Aitchison, Lindsay

2009-01-01

A space suit s mobility is critical to an astronaut s ability to perform work efficiently. As mobility increases, the astronaut can perform tasks for longer durations with less fatigue. The term mobility, with respect to space suits, is defined in terms of two key components: joint range of motion and joint torque. Individually these measures describe the path which in which a joint travels and the force required to move it through that path. Previous space suits mobility requirements were defined as the collective result of these two measures and verified by the completion of discrete functional tasks. While a valid way to impose mobility requirements, such a method does necessitate a solid understanding of the operational scenarios in which the final suit will be performing. Because the Constellation space suit system requirements are being finalized with a relatively immature concept of operations, the Space Suit Element team elected to define mobility in terms of its constituent parts to increase the likelihood that the future pressure garment will be mobile enough to enable a broad scope of undefined exploration activities. The range of motion requirements were defined by measuring the ranges of motion test subjects achieved while performing a series of joint maximizing tasks in a variety of flight and prototype space suits. The definition of joint torque requirements has proved more elusive. NASA evaluated several different approaches to the problem before deciding to generate requirements based on unmanned joint torque evaluations of six different space suit configurations being articulated through 16 separate joint movements. This paper discusses the experiment design, data analysis and results, and the process used to determine the final values for the Constellation pressure garment joint torque requirements.

Use of a pitch adjustable foot restraint system: Operator strength capability and load requirements

NASA Technical Reports Server (NTRS)

Wilmington, Robert P.; Poliner, Jeffrey; Klute, Glenn K.

1994-01-01

The zero-gravity environment creates a need for a proper human body restraint system to maintain a comfortable posture with less fatigue and to maximize productivity. In addition, restraint systems must be able to meet the loading demands of maintenance and assembly tasks performed on orbit. The shuttle's primary intravehicular astronaut restraint system is currently a foot loop design that attaches to flat surfaces on the shuttle, allowing for varying mounting locations and easy egress and ingress. However, this design does not allow for elevation, pitch, or foot loop length adjustment. Several prototype foot restraint systems are being evaluated for use aboard the space station and the space shuttle. The JSC Anthropometry and Biomechanics Laboratory initiated this study to quantify the maximum axial forces and moments that would be induced on a foot loop type of restraint while operators performed a torque wrench task, also allowing for angling the restraint pitch angle to study yet another effect. Results indicate that the greatest forces into the torque wrench and into the foot restraint system occur while the operator performs an upward effort. This study did not see any significant difference in the operators' force due to pitch orientation. Thus, in a work environment in which hand holds are available, no significant influence of the pitch angle on forces imparted to the restraint system existed.

Configuration control of seven-degree-of-freedom arms

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor); Long, Mark K. (Inventor); Lee, Thomas S. (Inventor)

1992-01-01

A seven degree of freedom robot arm with a six degree of freedom end effector is controlled by a processor employing a 6 by 7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more) by 7 Jacobian matrix for defining 1 (or more) user specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more) by 7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7 by 7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arm. One of the kinematic functions constraints the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizes a sum of gravitational torques on the joints. Still another kinematic function constrains the location of the arm to perform collision avoidance. Generically, one kinematic function minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or gravity torques associated with individual joints.

Configuration control of seven degree of freedom arms

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1995-01-01

A seven-degree-of-freedom robot arm with a six-degree-of-freedom end effector is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more)-by-7 Jacobian matrix for defining 1 (or more) user-specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more)-by-7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7-by-7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arms. One of the kinematic functions constrains the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizing a sum of gravitational torques on the joints. Still another one of the kinematic functions constrains the location of the arm to perform collision avoidance. Generically, one of the kinematic functions minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or position errors or gravity torques associated with individual joints.

Closed Loop Software Control of the MIDEX Power System

NASA Technical Reports Server (NTRS)

Castell, Karen; Hernandez-Pellerano, Amri; Wismer, Margaret

1998-01-01

The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. The design and analysis of the MAP attitude control system (ACS) have been refined since work previously reported. The full spacecraft and instrument flexible model was developed in NASTRAN, and the resulting flexible modes were plotted and reduced with the Modal Significance Analysis Package (MSAP). The reduced-order model was used to perform the linear stability analysis for each control mode, the results of which are presented in this paper. Although MAP is going to a relatively disturbance-free Lissajous orbit around the Earth-Sun L2 Lagrange point, a detailed disturbance-torque analysis is required because there are only a small number of opportunities for momentum unloading each year. Environmental torques, including solar pressure at L2, and aerodynamic and gravity gradient during phasing-loop orbits, were calculated and simulated. A simple model of fuel slosh was derived to model its effect on the motion of the spacecraft. In addition, a thruster mode linear impulse controller was developed to meet the accuracy requirements of the phasing loop burns. A dynamic attitude error limiter was added to improve the performance of the ACS during large attitude slews. The result of this analysis is a stable ACS subsystem that meets all of the mission's requirements.

A novel single thruster control strategy for spacecraft attitude stabilization

NASA Astrophysics Data System (ADS)

Godard; Kumar, Krishna Dev; Zou, An-Min

2013-05-01

Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.

Small passenger car transmission test-Chevrolet 200 transmission

NASA Technical Reports Server (NTRS)

Bujold, M. P.

1980-01-01

The small passenger car transmission was tested to supply electric vehicle manufacturers with technical information regarding the performance of commerically available transmissions which would enable them to design a more energy efficient vehicle. With this information the manufacturers could estimate vehicle driving range as well as speed and torque requirements for specific road load performance characteristics. A 1979 Chevrolet Model 200 automatic transmission was tested per a passenger car automatic transmission test code (SAE J651b) which required drive performance, coast performance, and no load test conditions. The transmission attained maximum efficiencies in the mid-eighty percent range for both drive performance tests and coast performance tests. Torque, speed and efficiency curves map the complete performance characteristics for Chevrolet Model 200 transmission.

Journal of Gravitational Physiology, Volume 12, Number 1

NASA Technical Reports Server (NTRS)

Fuller, Charles A. (Editor); Cogoli, Augusto (Editor); Hargens, Alan R. (Editor); Smith, Arthur H. (Editor)

2005-01-01

The following topics were covered: System Specificity in Responsiveness to Intermittent -Gx Gravitation during Simulated Microgravity in Rats; A Brief Overview of Animal Hypergravity Studies; Neurovestibular Adaptation to Short Radius Centrifugation; Effect of Artificial Gravity with Exercise Load by Using Short-Arm Centrifuge with Bicycle Ergometer as a Countermeasure Against Disused Osteoporosis; Perception of Body Vertical in Microgravity during Parabolic Flight; Virtual Environment a Behavioral and Countermeasure Tool for Assisted Gesture in Weightlessness: Experiments during Parabolic Flight; Artificial Gravity: Physiological Perspectives for Long-Term Space Exploration; Comparison of the Effects of DL-threo-Beta-Benzyloxyaspartate on the Glutamate Release from Synaptosomes before and after Exposure of Rats to Artificial Gravity; Do Perception and Postrotatory Vestibulo-Ocular Reflex Share the Same Gravity Reference?; Vestibular Adaptation to Changing Gravity Levels and the Orientation of Listing's Plane; Compound Mechanism Hypothesis on +Gz - Induced Brain Injury and Dysfunction of Learning and Memory; Environmental Challenge Impairs Prefrontal Brain Functions; Effect of 6-Days of Support Withdrawal on Characteristics of Balance Function; Hypergravity-Induced Changes of Neuronal Activities in CA1 Region of Rat Hippocampus; Audiological Findings in Antiorthostatic Position Modelling Microgravitation; Investigating Human Cognitive Performance during Spaceflight; The Relevance of the Minimization of Torque Exchange with the Environment in Weightlessness is Confirmed by Asimulation Study; Characteristics of the Eyes Pursuit Function during Readaptation to Terrestrial Gravity after Prolonged Flights Aboard the International Space Station; Comparison of Cognitive Performance Tests for Promethazine Pharmacodynamics in Human Subjects; Structural Reappraisal of Dendritic Tree of Cerebellar Purkinje Cell for Novel Functional Modeling of Elementary Sensorimotor Adaptive Processes; Orpheus 0 G or Ear in Microgravity to Establish Symptoms Concomittant of Inner and Middle Ear and Osteoporosis in Microgravity; Understanding Visual Perception in the Perspective of Gravity; Cortical Regions Associated with Orthostatic Stress in Conscious Humans; Restoration of Central Blood Volume: Application of a Simple Concept and Simple Device to Counteract Cardiovascular Instability in Syncope and Hemorrhage; WISE-2005: Integrative Cardiovascular Responses with LBNP during 60-Day Bed Rest in Women; Intracranial Pressure Increases during Weightlessness. A Parabolic Flights Study; Lower Limb & Portal Veins Echography for Predicting Risk of Thrombosis during a 90-D Bed Rest; Calf Tissue Liquid Stowage and Muscular and Deep Vein Distension in Orthostatic Tests after a 90-Day Head Down Bed Rest; Morphology of Brain Vessels in the Tail Suspended Rats Exposed to Intermittent 2 G; Alterations in Vasoreactivity of Femoral Artery Induced by Hindlimb Unweighting are Related to the Changes of Contractile Protein in Rats; and Respiratory Sinus Arrhythmia: A Marker of Decreased Parasympathetic Modulation after Short Duration.

Improved image of intrusive bodies at Newberry Volcano, Oregon, based on 3D gravity modelling

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

Bonneville, Alain H.; Cladouhos, Trenton; Rose, Kelly K.

Beneath Newberry Volcano is one of the largest geothermal heat reservoirs in the western United States and it has been extensively studied for the last 40 years. Several magmatic intrusions have been recognized at depths between 2.5 and 8 km and some of them identified as suitable targets for enhanced geothermal energy and tested during two previous EGS campaigns. These subsurface structures have been intersected by three deep wells and imaged by various geophysical methods including seismic tomography and magnetotellurics. Although three high quality gravity surveys were completed between 2006 and 2010 as part of various projects, a complete synthesismore » and interpretation of the gravity data has not yet been performed. Regional gravity data also exist in the vicinity of the Newberry volcano and have been added to these surveys to constitute a dataset with a total of 1418 gravity measurements. When coupled with existing geologic and geophysical data and models, this new gravity dataset provides important constraints on the depth and contours of the magmatic bodies previously identified by other methods and thus greatly contributing to facilitate any future drilling and stimulation works. Using the initial structures discovered by seismic tomography, inversion of gravity data has been performed. Shape, density values and depths of various bodies were allowed to vary and three main bodies have been identified. Densities of the middle and lower intrusive bodies (~2.6-2.7 g/cm3) are consistent with rhyolite, basalt or granites. Modeled density of the near-surface caldera body match that of a low density tephra material and the density of the shallow ring structures contained in the upper kilometer correspond to that of welded tuff or low-density rhyolites. Modeled bodies are in reality a composite of thin layers; however, average densities of the modeled gravity bodies are in good agreement with the density log obtained in one well located on the western flank (well 55-29). Final gravity data residuals show that most of the observed gravity anomalies at the surface can be explained by the modeled gravity bodies and are consistent with other site characterization information.« less

MX Siting Investigation, Gravity Survey - Delamar Valley, Nevada.

DTIC Science & Technology

1981-07-20

reduces the data to Simple Bouguer Anomaly (see Section A1.4, Appendix A1.0). The Defense Mapping Agency Aerospace Center (DMAAC), St. Louis, Missouri...DRAWINGS Drawing Number 1 Complete Bouguer Anomaly Contours 2 Depth to Rock -Interpreted from In Pocket at Gravity Data End of Report iv E-TR-33-DM...ErtPX E-TR-3 3-DM 6 2.0 GRAVITY DATA REDUCTION DMAHTC/GSS obtained the basic observations for the new stations and reduced them to Simple Bouguer

Time and a physical Hamiltonian for quantum gravity.

PubMed

Husain, Viqar; Pawłowski, Tomasz

2012-04-06

We present a nonperturbative quantization of general relativity coupled to dust and other matter fields. The dust provides a natural time variable, leading to a physical Hamiltonian with spatial diffeomorphism symmetry. The surprising feature is that the Hamiltonian is not a square root. This property, together with the kinematical structure of loop quantum gravity, provides a complete theory of quantum gravity, and puts applications to cosmology, quantum gravitational collapse, and Hawking radiation within technical reach. © 2012 American Physical Society

Neuronal Activity in the Subthalamic Cerebrovasodilator Area under Partial-Gravity Conditions in Rats

PubMed Central

Zeredo, Jorge L.; Toda, Kazuo; Kumei, Yasuhiro

2014-01-01

The reduced-gravity environment in space is known to cause an upward shift in body fluids and thus require cardiovascular adaptations in astronauts. In this study, we recorded in rats the neuronal activity in the subthalamic cerebrovasodilator area (SVA), a key area that controls cerebral blood flow (CBF), in response to partial gravity. “Partial gravity” is the term that defines the reduced-gravity levels between 1 g (the unit gravity acceleration on Earth) and 0 g (complete weightlessness in space). Neuronal activity was recorded telemetrically through chronically implanted microelectrodes in freely moving rats. Graded levels of partial gravity from 0.4 g to 0.01 g were generated by customized parabolic-flight maneuvers. Electrophysiological signals in each partial-gravity phase were compared to those of the preceding 1 g level-flight. As a result, SVA neuronal activity was significantly inhibited by the partial-gravity levels of 0.15 g and lower, but not by 0.2 g and higher. Gravity levels between 0.2–0.15 g could represent a critical threshold for the inhibition of neurons in the rat SVA. The lunar gravity (0.16 g) might thus trigger neurogenic mechanisms of CBF control. This is the first study to examine brain electrophysiology with partial gravity as an experimental parameter. PMID:25370031

Synergies and strategies underlying normal and vestibulary deficient control of balance: implication for neuroprosthetic control.

PubMed

Allum, J H; Honegger, F

1993-01-01

Future developments of neuroprosthetic control will probably permit locomotion and posture to be maintained without the aid of crutches and will therefore require some form of balance control. Three fundamental questions will arise. First, the question of the location of imbalance-sensing transducers must be assessed. Secondly, the synergy, which is the relative amplitude and timing of muscle activity, and/or the strategy of joint torques required to re-establish a stable posture for different types of balance disturbances must be addressed. Thirdly, the control laws that map either trunk muscle activity or imbalance-sensing transducer outputs into multi-joint postural control of standing by paraplegic individuals must be generated. The most appropriate means of gathering the relevant information applicable to neuroprosthetic control systems is through the detailed analysis of normal and non-normal human models. In order to gain such detailed insights into normal balance control and its dependence on head angular and linear accelerations, the synergy and strategy of balance corrections in normal subjects or patients with vestibular deficits were investigated for two types of support surface perturbation, a dorsiflexion rotation (ROT) and a rearward translation (TRANS). These experimentally induced perturbations to upright stance were adjusted to cause equal amplitudes of ankle dorsiflexion, thus providing additional information about the role of lower leg proprioception on balance control. Synergies defined on the basis of peak cross-correlations of each recorded muscle's EMG to that of the largest muscle response were significantly different for TRANS and ROT. Translation synergies consisted of a sequential coactivation at several levels (soleus and abdominals some 30 msec before hamstrings, and trapezius some 15 msec before paraspinals), whereas the sequential activation of paraspinals and tibialis anterior dominated the balance synergy to ROT. Likewise, response strategies, defined using cross-correlations of joint torques, differed. That for TRANS was organised as a multi-link strategy with neck torques leading those of all other joints by 40 msec or more; hip joint lead ankle torques by 30 msec. That for ROT was organised around hip and ankle torques without a major correlation to neck torques. Vestibulary deficient subjects developed weaker synergies with respect to subjects with normal balance systems under eyes-open conditions and there was no clear synergy with eyes closed. Consequently, hip torques were delayed some 180 msec with respect to ankle torques, and correlations to neck torques were completely out of phase under eyes-closed conditions. Fundamental changes in TRANS synergies and strategies also occurred in vestibulary deficient subjects for eyes-open and eyes-closed conditions.(ABSTRACT TRUNCATED AT 400 WORDS)

Earth's gravity gradient and eddy currents effects on the rotational dynamics of space debris objects: Envisat case study

NASA Astrophysics Data System (ADS)

Gómez, Natalia Ortiz; Walker, Scott J. I.

2015-08-01

The space debris population has grown rapidly over the last few decades with the consequent growth of impact risk between current objects in orbit. Active Debris Removal (ADR) has been recommended to be put into practice by several National Agencies in order to remove objects that pose the biggest risk for the space community. The most immediate target that is being considered for ADR by the European Space Agency is the Earth-observing satellite Envisat. In order to safely remove such a massive object from its orbit, a capturing process followed by a controlled reentry is necessary. However, current ADR methods that require physical contact with the target have limitations on the maximum angular momentum that can be absorbed and a de-tumbling phase prior to the capturing process may be required. Therefore, it is of utmost importance for the ADR mission design to be able to predict accurately how the target will be rotating at the time of capture. This article analyses two perturbations that affect an object in Low Earth Orbit (LEO), the Earth's gravity gradient and the eddy currents induced by the Earth's magnetic field. The gravity gradient is analysed using the equation of conservation of total energy and a graphical method is presented to understand the expected behaviour of any object under the effect of this perturbation. The eddy currents are also analysed by studying the total energy of the system. The induced torque and the characteristic time of decay are presented as a function of the object's magnetic tensor. In addition, simulations were carried out for the Envisat spacecraft including the gravity gradient perturbation as well as the eddy currents effect using the International Geomagnetic Reference Field IGRF-11 to model the Earth's magnetic field. These simulations show that the combined effect of these two perturbations is a plausible explanation for the rotational speed decay observed between April 2013 and September 2013.

FSD- FLEXIBLE SPACECRAFT DYNAMICS

NASA Technical Reports Server (NTRS)

Fedor, J. V.

1994-01-01

The Flexible Spacecraft Dynamics and Control program (FSD) was developed to aid in the simulation of a large class of flexible and rigid spacecraft. FSD is extremely versatile and can be used in attitude dynamics and control analysis as well as in-orbit support of deployment and control of spacecraft. FSD has been used to analyze the in-orbit attitude performance and antenna deployment of the RAE and IMP class satellites, and the HAWKEYE, SCATHA, EXOS-B, and Dynamics Explorer flight programs. FSD is applicable to inertially-oriented spinning, earth oriented, or gravity gradient stabilized spacecraft. The spacecraft flexibility is treated in a continuous manner (instead of finite element) by employing a series of shape functions for the flexible elements. Torsion, bending, and three flexible modes can be simulated for every flexible element. FSD can handle up to ten tubular elements in an arbitrary orientation. FSD is appropriate for studies involving the active control of pointed instruments, with options for digital PID (proportional, integral, derivative) error feedback controllers and control actuators such as thrusters and momentum wheels. The input to FSD is in four parts: 1) Orbit Construction FSD calculates a Keplerian orbit with environmental effects such as drag, magnetic torque, solar pressure, thermal effects, and thruster adjustments; or the user can supply a GTDS format orbit tape for a particular satellite/time-span; 2) Control words - for options such as gravity gradient effects, control torques, and integration ranges; 3) Mathematical descriptions of spacecraft, appendages, and control systems- including element geometry, properties, attitudes, libration damping, tip mass inertia, thermal expansion, magnetic tracking, and gimbal simulation options; and 4) Desired state variables to output, i.e., geometries, bending moments, fast Fourier transform plots, gimbal rotation, filter vectors, etc. All FSD input is of free format, namelist construction. FSD is written in FORTRAN 77, PASCAL, and MACRO assembler for batch execution and has been implemented on a DEC VAX series computer operating under VMS. The PASCAL and MACRO routines (in addition to the FORTRAN program) are supplied as both source and object code, so the PASCAL compiler is not required for implementation. This program was last updated in 1985.

An analysis of methods for gravity determination and their utilization for the calculation of geopotential numbers in the Slovak national levelling network

NASA Astrophysics Data System (ADS)

Majkráková, Miroslava; Papčo, Juraj; Zahorec, Pavol; Droščák, Branislav; Mikuška, Ján; Marušiak, Ivan

2016-09-01

The vertical reference system in the Slovak Republic is realized by the National Levelling Network (NLN). The normal heights according to Molodensky have been introduced as reference heights in the NLN in 1957. Since then, the gravity correction, which is necessary to determine the reference heights in the NLN, has been obtained by an interpolation either from the simple or complete Bouguer anomalies. We refer to this method as the "original". Currently, the method based on geopotential numbers is the preferred way to unify the European levelling networks. The core of this article is an analysis of different ways to the gravity determination and their application for the calculation of geopotential numbers at the points of the NLN. The first method is based on the calculation of gravity at levelling points from the interpolated values of the complete Bouguer anomaly using the CBA2G_SK software. The second method is based on the global geopotential model EGM2008 improved by the Residual Terrain Model (RTM) approach. The calculated gravity is used to determine the normal heights according to Molodensky along parts of the levelling lines around the EVRF2007 datum point EH-V. Pitelová (UELN-1905325) and the levelling line of the 2nd order NLN to Kráľova hoľa Mountain (the highest point measured by levelling). The results from our analysis illustrate that the method based on the interpolated value of gravity is a better method for gravity determination when we do not know the measured gravity. It was shown that this method is suitable for the determination of geopotential numbers and reference heights in the Slovak national levelling network at the points in which the gravity is not observed directly. We also demonstrated the necessity of using the precise RTM for the refinement of the results derived solely from the EGM2008.

Isostatic gravity map of the Monterey 30 x 60 minute quadrangle and adjacent areas, California

USGS Publications Warehouse

Langenheim, V.E.; Stiles, S.R.; Jachens, R.C.

2002-01-01

The digital dataset consists of one file (monterey_100k.iso) containing 2,385 gravity stations. The file, monterey_100k.iso, contains the principal facts of the gravity stations, with one point coded per line. The format of the data is described below. Each gravity station has a station name, location (latitude and longitude, NAD27 projection), elevation, and an observed gravity reading. The data are on the IGSN71 datum and the reference ellipsoid is the Geodetic Reference System 1967 (GRS67). The free-air gravity anomalies were calculated using standard formulas (Telford and others, 1976). The Bouguer, curvature, and terrain corrections were applied to the free-air anomaly at each station to determine the complete Bouguer gravity anomalies at a reduction density of 2.67 g/cc. An isostatic correction was then applied to remove the long-wavelength effect of deep crustal and/or upper mantle masses that isostatically support regional topography.

Michigan Magnetic and Gravity Maps and Data: A Website for the Distribution of Data

USGS Publications Warehouse

Daniels, David L.; Kucks, Robert P.; Hill, Patricia L.; Snyder, Stephen L.

2009-01-01

This web site provides the best available, public-domain, aeromagnetic and gravity data in the State of Michigan and merges these data into composite grids that are available for downloading. The magnetic grid is compiled from 25 separate magnetic surveys that have been knit together to form a single composite digital grid and map. The magnetic survey grids have been continued to 305 meters (1,000 feet) above ground and merged together to form the State compilation. A separate map shows the location of the aeromagnetic surveys, color-coded to the survey flight-line spacing. In addition, a complete Bouguer gravity anomaly grid and map were generated from more than 20,000 gravity station measurements from 33 surveys. A table provides the facts about each gravity survey where known.

Quantum space and quantum completeness

NASA Astrophysics Data System (ADS)

Jurić, Tajron

2018-05-01

Motivated by the question whether quantum gravity can "smear out" the classical singularity we analyze a certain quantum space and its quantum-mechanical completeness. Classical singularity is understood as a geodesic incompleteness, while quantum completeness requires a unique unitary time evolution for test fields propagating on an underlying background. Here the crucial point is that quantum completeness renders the Hamiltonian (or spatial part of the wave operator) to be essentially self-adjoint in order to generate a unique time evolution. We examine a model of quantum space which consists of a noncommutative BTZ black hole probed by a test scalar field. We show that the quantum gravity (noncommutative) effect is to enlarge the domain of BTZ parameters for which the relevant wave operator is essentially self-adjoint. This means that the corresponding quantum space is quantum complete for a larger range of BTZ parameters rendering the conclusion that in the quantum space one observes the effect of "smearing out" the singularity.

The theory of spherically symmetric thin shells in conformal gravity

NASA Astrophysics Data System (ADS)

Berezin, Victor; Dokuchaev, Vyacheslav; Eroshenko, Yury

The spherically symmetric thin shells are the nearest generalizations of the point-like particles. Moreover, they serve as the simple sources of the gravitational fields both in General Relativity and much more complex quadratic gravity theories. We are interested in the special and physically important case when all the quadratic in curvature tensor (Riemann tensor) and its contractions (Ricci tensor and scalar curvature) terms are present in the form of the square of Weyl tensor. By definition, the energy-momentum tensor of the thin shell is proportional to Diracs delta-function. We constructed the theory of the spherically symmetric thin shells for three types of gravitational theories with the shell: (1) General Relativity; (2) Pure conformal (Weyl) gravity where the gravitational part of the total Lagrangian is just the square of the Weyl tensor; (3) Weyl-Einstein gravity. The results are compared with these in General Relativity (Israel equations). We considered in detail the shells immersed in the vacuum. Some peculiar properties of such shells are found. In particular, for the traceless ( = massless) shell, it is shown that their dynamics cannot be derived from the matching conditions and, thus, is completely arbitrary. On the contrary, in the case of the Weyl-Einstein gravity, the trajectory of the same type of shell is completely restored even without knowledge of the outside solution.

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.

Restructured Freedom configuration characteristics

NASA Technical Reports Server (NTRS)

Troutman, Patrick A.; Heck, Michael L.; Kumar, Renjith R.; Mazanek, Daniel D.

1991-01-01

In Jan. 1991, the LaRc SSFO performed an assessment of the configuration characteristics of the proposed pre-integrated Space Station Freedom (SSF) concept. Of particular concern was the relationship of solar array operation and orientation with respect to spacecraft controllability. For the man-tended configuration (MTC), it was determined that torque equilibrium attitude (TEA) seeking Control Moment Gyroscope (CMG) control laws could not always maintain attitude. The control problems occurred when the solar arrays were tracking the sun to produce full power while flying in an arrow or gravity gradient flight mode. The large solar array articulations that sometimes result from having the functions of the alpha and beta joints reversed on MTC induced large product of inertia changes that can invalidate the control system gains during an orbit. Several modified sun tracking techniques were evaluated with respect to producing a controllable configuration requiring no modifications to the CMG control algorithms. Another assessment involved the permanently manned configuration (PMC) which has a third asymmetric PV unit on one side of the transverse boom. Recommendations include constraining alpha rotations for MTC in the arrow and gravity gradient flight modes and perhaps developing new non-TEA seeking control laws. Recommendations for PMC include raising the operational altitude and moving to a symmetric configuration as soon as possible.

Instrumentation and Methods to Measure Dynamic Forces During Exercise Using the Horizontal Exercise Machine

NASA Technical Reports Server (NTRS)

Figueroa, Fernando

1999-01-01

It is hypothesized that bone loss experienced by astronauts in zero gravity conditions may be curtailed by appropriate exercise. According to Wolf's law, bone regenerates when muscles produce stresses by pulling on the bone during daily activity and/or exercise on Earth. To use this theory to prevent or decrease bone loss, one needs to quantify musculoskeletal loads and relate them to bone density changes. In the context of the space program, it is desirable to determine musculoskeletal loads during exercise so that one may make similar measurements on Earth and in space. In this manner, load measurements on Earth may be used as reference to generate similar loads during exercise in space. A research project to investigate the effects of high-resistive exercise to decrease bone density loss underzero-gravity conditions is being carried out in Life Sciences Research Laboratories at NASA JSC. The project consists of a bed-rest study whereby subjects remain in horizontal position for seventeen weeks. During the study, a subset of those subjects executes a regime of resistive exercises in the horizontal exercise machine (HEM). The HEM was designed so that subjects remain horizontal while exercising to minimize gravity loading even during exercise. Bone density of each subject is measured throughout the duration of their participation. The objective of the study is to determine if the resistive exercises are effective in diminishing or eliminating bone loss. My participation in this project relates to instrumentation, measurement, and processing of signals from displacement sensors (optical encoders) and load-cells. Measurement of displacements will be used to determine the motion of the body during exercise, and load measurements will be used (along with displacement data) to determine forces and torques exerted on each section of the body during exercise. Further, I have assisted in specifying new sensors to be added to the HEM and to a new prototype resistive exercise machine called the Interim Resistive Exercise Device (IRED). New load cells and encoders should be mounted in these devices to obtain more complete kineto-dynamic information. This report includes a description of the instrumentation that was built to perform measurements in the HEM and the IRED, along with the software that was developed to collect the measurements. It also includes examples of measurements taken in the HEM. Finally, a plan is laid out that describes how these measurements may be used to determine forces exerted by muscles for each exercise.

First independent lunar gravity field solution in the framework of project GRAZIL

NASA Astrophysics Data System (ADS)

Wirnsberger, Harald; Krauss, Sandro; Klinger, Beate; Mayer-Gürr, Torsten

2017-04-01

The twin satellite mission Gravity Recovery and Interior Laboratory (GRAIL) aims to recovering the lunar gravity field by means of intersatellite Ka-band ranging (KBR) observations. In order to exploit the potential of KBR data, absolute position information of the two probes is required. Hitherto, the Graz lunar gravity field models (GrazLGM) relies on the official orbit products provided by NASA. In this contribution, we present for the first time a completely independent Graz lunar gravity field model to spherical harmonic degree and order 420. The reduced dynamic orbits of the two probes are determined using variational equations following a batch least squares differential adjustment process. These orbits are based on S-band radiometric tracking data collected by the Deep Space Network and are used for the independent GRAIL gravity field recovery. To reveal a highly accurate lunar gravity field, an integral equation approach using short orbital arcs is adopted to process the KBR data. A comparison to state-of-the-art lunar gravity models computed at NASA-GSFC, NASA-JPL and AIUB demonstrate the progress of Graz lunar gravity field models derived within the project GRAZIL.

Superconducting gravity gradiometer for sensitive gravity measurements. I. Theory

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

Chan, H.A.; Paik, H.J.

1987-06-15

Because of the equivalence principle, a global measurement is necessary to distinguish gravity from acceleration of the reference frame. A gravity gradiometer is therefore an essential instrument needed for precision tests of gravity laws and for applications in gravity survey and inertial navigation. Superconductivity and SQUID (superconducting quantum interference device) technology can be used to obtain a gravity gradiometer with very high sensitivity and stability. A superconducting gravity gradiometer has been developed for a null test of the gravitational inverse-square law and space-borne geodesy. Here we present a complete theoretical model of this instrument. Starting from dynamical equations for themore » device, we derive transfer functions, a common mode rejection characteristic, and an error model of the superconducting instrument. Since a gradiometer must detect a very weak differential gravity signal in the midst of large platform accelerations and other environmental disturbances, the scale factor and common mode rejection stability of the instrument are extremely important in addition to its immunity to temperature and electromagnetic fluctuations. We show how flux quantization, the Meissner effect, and properties of liquid helium can be utilized to meet these challenges.« less

Biomechanical measurements of stopping and stripping torques during screw insertion in five types of human and artificial humeri.

PubMed

Aziz, Mina Sr; Tsuji, Matthew Rs; Nicayenzi, Bruce; Crookshank, Meghan C; Bougherara, Habiba; Schemitsch, Emil H; Zdero, Radovan

2014-05-01

During orthopedic surgery, screws are inserted by "subjective feel" in humeri for fracture fixation, that is, stopping torque, while trying to prevent accidental over-tightening that causes screw-bone interface failure, that is, stripping torque. However, no studies exist on stopping torque, stripping torque, or stopping/stripping torque ratio in human or artificial humeri. This study evaluated five types of humeri, namely, human fresh-frozen (n = 19), human embalmed (n = 18), human dried (n = 15), artificial "normal" (n = 13), and artificial "osteoporotic" (n = 13). An orthopedic surgeon used a torque screwdriver to insert 3.5-mm-diameter cortical screws into humeral shafts and 6.5-mm-diameter cancellous screws into humeral heads by "subjective feel" to obtain stopping and stripping torques. The five outcome measures were raw and normalized stopping torque, raw and normalized stripping torque, and stopping/stripping torque ratio. Normalization was done as raw torque/screw-bone interface area. For "gold standard" fresh-frozen humeri, cortical screw tests yielded averages of 1312 N mm (raw stopping torque), 30.4 N/mm (normalized stopping torque), 1721 N mm (raw stripping torque), 39.0 N/mm (normalized stripping torque), and 82% (stopping/stripping torque ratio). Similarly, fresh-frozen humeri gave cancellous screw average results of 307 N mm (raw stopping torque), 0.9 N/mm (normalized stopping torque), 392 N mm (raw stripping torque), 1.2 N/mm (normalized stripping torque), and 79% (stopping/stripping torque ratio). Of the five cortical screw parameters for fresh-frozen humeri versus other groups, statistical equivalence (p ≥ 0.05) occurred in four cases (embalmed), three cases (dried), four cases (artificial "normal"), and four cases (artificial "osteoporotic"). Of the five cancellous screw parameters for fresh-frozen humeri versus other groups, statistical equivalence (p ≥ 0.05) occurred in five cases (embalmed), one case (dried), one case (artificial "normal"), and zero cases (artificial "osteoporotic"). Stopping/stripping torque ratios were relatively constant for all groups at 77%-88% (cortical screws) and 79%-92% (cancellous screws). © IMechE 2014.

Modeling of toroidal torques exerted by internal kink instability in a tokamak plasma

NASA Astrophysics Data System (ADS)

Zhang, N.; Liu, Y. Q.; Yu, D. L.; Wang, S.; Xia, G. L.; Dong, G. Q.; Bai, X.

2017-08-01

Toroidal modeling efforts are initiated to systematically compute and compare various toroidal torques, exerted by an unstable internal kink in a tokamak plasma, using the MARS-F/K/Q suite of codes. The torques considered here include the resonant electromagnetic torque due to the Maxwell stress (the EM or JXB torque), the neoclassical toroidal viscous (NTV) torque, and the torque associated with the Reynolds stress. Numerical results show that the relative magnitude of the net resonant electromagnetic and the Reynolds stress torques increases with the equilibrium flow speed of the plasma, whilst the net NTV torque follows the opposite trend. The global flow shear sensitively affects the Reynolds stress torque, but not the electromagnetic and the NTV torques. Detailed examinations reveal dominant contributions to the Maxwell and Reynolds stress torques, in terms of the poloidal harmonic numbers of various perturbation fields, as well as their relative toroidal phasing.

Accuracy of electronic implant torque controllers following time in clinical service.

PubMed

Mitrani, R; Nicholls, J I; Phillips, K M; Ma, T

2001-01-01

Tightening of the screws in implant-supported restorations has been reported to be problematic, in that if the applied torque is too low, screw loosening occurs. If the torque is too high, then screw fracture can take place. Thus, accuracy of the torque driver is of the utmost importance. This study evaluated 4 new electronic torque drivers (controls) and 10 test electronic torque drivers, which had been in clinical service for a minimum of 5 years. Torque values of the test drivers were measured and were compared with the control values using a 1-way analysis of variance. Torque delivery accuracy was measured using a technique that simulated the clinical situation. In vivo, the torque driver turns the screw until the selected tightening torque is reached. In this laboratory experiment, an implant, along with an attached abutment and abutment gold screw, was held firmly in a Tohnichi torque gauge. Calibration accuracy for the Tohnichi is +/- 3% of the scale value. During torque measurement, the gold screw turned a minimum of 180 degrees before contact was made between the screw and abutment. Three torque values (10, 20, and 32 N-cm) were evaluated, at both high- and low-speed settings. The recorded torque measurements indicated that the 10 test electronic torque drivers maintained a torque delivery accuracy equivalent to the 4 new (unused) units. Judging from the torque output values obtained from the 10 test units, the clinical use of the electronic torque driver suggests that accuracy did not change significantly over the 5-year period of clinical service.

Intended and Achieved Torque of Implant Abutment's Screw using Manual Wrenches in Simulated Clinical Setting.

PubMed

Al-Otaibi, Hanan N

2016-11-01

To measure the difference between the intended torque and the achieved torque by the operator using the spring-style mechanical torque-limiting device (MTLD). Inexperienced and experienced clinicians used one spring-type MTLD to torque two abutment screws of each anterior and posterior implants, which were attached to two digital torque meters through a jaw model. The jaw model was part of a preclinical bench manikin attached to a dental chair. The intended torque value was 35 N cm (recommended by manufacturer) and the technique of torquing was observed for all the participants (instantaneous and repeated). The mean torque value was calculated for each subject for the anterior and posterior implants independently; t-test was used to compare between the intended and achieved torque values and to compare between the experienced and inexperienced clinicians (p ≤ 0.05). Thirty-seven clinicians participated, with an overall mean torque value of 34.30 N cm. The mean torque value of the achieved torque (34.30 ± 4.13 N cm) was statistically significantly less than the intended torque (p = 0.041). The male clinicians produced more statistically significantly accurate torque value (34.54 ± 3.78 N cm) than the female clinicians (p = 0.034), and the experienced clinicians produced more accurate torque values (34.9 ± 5.13 N cm) than the inexperienced clinicians (p = 0.048). Within the limitation of this study, the use of MTLDs did not always produce consistent torque values and the technique by which the operators use the MTLD might affect the torque value.

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

Hessell, Steven M.; Morris, Robert L.; McGrogan, Sean W.

A powertrain including an engine and torque machines is configured to transfer torque through a multi-mode transmission to an output member. A method for controlling the powertrain includes employing a closed-loop speed control system to control torque commands for the torque machines in response to a desired input speed. Upon approaching a power limit of a power storage device transferring power to the torque machines, power limited torque commands are determined for the torque machines in response to the power limit and the closed-loop speed control system is employed to determine an engine torque command in response to the desiredmore » input speed and the power limited torque commands for the torque machines.« less

Mechanical stability of the subtalar joint after lateral ligament sectioning and ankle brace application: a biomechanical experimental study.

PubMed

Kamiya, Tomoaki; Kura, Hideji; Suzuki, Daisuke; Uchiyama, Eiichi; Fujimiya, Mineko; Yamashita, Toshihiko

2009-12-01

The roles of each ligament supporting the subtalar joint have not been clarified despite several biomechanical studies. The effects of ankle braces on subtalar instability have not been shown. The ankle brace has a partial effect on restricting excessive motion of the subtalar joint. Controlled laboratory study. Ten normal fresh-frozen cadaveric specimens were used. The angular motions of the talus were measured via a magnetic tracking system. The specimens were tested while inversion and eversion forces, as well as internal and external rotation torques, were applied. The calcaneofibular ligament, cervical ligament, and interosseous talocalcaneal ligament were sectioned sequentially, and the roles of each ligament, as well as the stabilizing effects of the ankle brace, were examined. Complete sectioning of the ligaments increased the angle between the talus and calcaneus in the frontal plane to 51.7 degrees + or - 11.8 degrees compared with 35.7 degrees + or - 6.0 degrees in the intact state when inversion force was applied. There was a statistically significant difference in the angles between complete sectioning of the ligaments and after application of the brace (34.1 degrees + or - 7.3 degrees ) when inversion force was applied. On the other hand, significant differences in subtalar rotation were not found between complete sectioning of the ligaments and application of the brace when internal and external rotational torques were applied. The ankle brace limited inversion of the subtalar joint, but it did not restrict motion after application of internal or external rotational torques. In cases of severe ankle sprains involving the calcaneofibular ligament, cervical ligament, and interosseous talocalcaneal ligament injuries, application of an ankle brace might be less effective in limiting internal-external rotational instabilities than in cases of inversion instabilities in the subtalar joint. An improvement in the design of the brace is needed to restore better rotational stability in the subtalar joint.

Microalga propels along vorticity direction in a shear flow

NASA Astrophysics Data System (ADS)

Chengala, Anwar; Hondzo, Miki; Sheng, Jian

2013-05-01

Using high-speed digital holographic microscopy and microfluidics, we discover that, when encountering fluid flow shear above a threshold, unicellular green alga Dunaliella primolecta migrates unambiguously in the cross-stream direction that is normal to the plane of shear and coincides with the local fluid flow vorticity. The flow shear drives motile microalgae to collectively migrate in a thin two-dimensional horizontal plane and consequently alters the spatial distribution of microalgal cells within a given suspension. This shear-induced algal migration differs substantially from periodic rotational motion of passive ellipsoids, known as Jeffery orbits, as well as gyrotaxis by bottom-heavy swimming microalgae in a shear flow due to the subtle interplay between torques generated by gravity and viscous shear. Our findings could facilitate mechanistic solutions for modeling planktonic thin layers and sustainable cultivation of microalgae for human nutrition and bioenergy feedstock.

Maui Gravity and Soil Gas Surveys

DOE Data Explorer

John Akerley

2010-04-01

Contains a ground-based gravity survey of South Maui and a series of soil CO2 flux and temperature surveys encompassing Maui and the Big Island. The gravity survey was collected from approximately 284 km2 and consisted of 400 gravity stations with 400 m spacing. Locations were derived with full DGPS. Station and line location, Complete Bouger Anomaly, first vertical derivative and horizontal gradient maps were calculated and produced. The soil CO2 flux and temperature surveys were conducted on the islands of Hawaii and Maui in April and July 2010. Average soil temperatures were measured over 10 cm depth using a hand-held thermocouple. Soil CO2 fluxes were measured using a portable accumulation chamber instrument.

Gravity on-shell diagrams

DOE PAGES

Herrmann, Enrico; Trnka, Jaroslav

2016-11-22

Here, we study on-shell diagrams for gravity theories with any number of super-symmetries and find a compact Grassmannian formula in terms of edge variables of the graphs. Unlike in gauge theory where the analogous form involves only d log-factors, in gravity there is a non-trivial numerator as well as higher degree poles in the edge variables. Based on the structure of the Grassmannian formula for N = 8 supergravity we conjecture that gravity loop amplitudes also possess similar properties. In particular, we find that there are only logarithmic singularities on cuts with finite loop momentum and that poles at infinitymore » are present, in complete agreement with the conjecture presented in.« less

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

Transient Torque Method: A Fast and Non-Intrusive Technique to Simultaneously Determine Viscosity and Electrical Conductivity of Semiconducting and Metallic Melts

NASA Technical Reports Server (NTRS)

Li, C.; Ban, H.; Lin, B.; Scripa, R. N.; Su, C.; Lehoczky, S. L.; Zhu, S.

2003-01-01

A transient torque method was developed to rapidly and simultaneously determine the viscosity and electrical conductivity of semiconducting or metallic melts. The experimental setup is similar to that for the oscillation cup technique. The melt sample is sealed inside a fused silica ampoule, and the ampoule is suspended by a long quartz fiber to form a torsional oscillation system. A rotating magnetic field is used to induce a rotating flow in the conductive melt, which causes the ampoule to rotate along its axis. A sensitive angular detector is used to measure the deflection angle of the ampoule. Based on the transient behavior of the deflection angle as the rotating magnetic field is applied, the electrical conductivity and viscosity of the melt can be obtained simultaneously by numerically fitting the data to a set of governing equations. The transient torque viscometer was applied successfully to measure the viscosity and electrical conductivity of high purity mercury at 53.4 C. The results were in excellent agreement with the published data. The main advantage of the technique is that the measurement can be completed in one or two minutes, as opposed to the one or two-hour measurement time required by the oscillation cup technique. The method is non-intrusive; capable of rapid measurement of the viscosity of toxic, high vapor pressure melts at elevated temperatures. In addition, the transient torque viscometer can also be operated as an oscillation cup viscometer if desired.

Development of Static Balance Measurement and Correction Compound Platform for Single Blade of Controllable Pitch Propeller

NASA Astrophysics Data System (ADS)

Chao, Zhang; Shijie, Su; Yilin, Yang; Guofu, Wang; Chao, Wang

2017-11-01

Aiming at the static balance of the controllable pitch propeller (CPP), a high efficiency static balance method based on the double-layer structure of the measuring table and gantry robot is adopted to realize the integration of torque measurement and corrected polish for controllable pitch propeller blade. The control system was developed by Microsoft Visual Studio 2015, and a composite platform prototype was developed. Through this prototype, conduct an experiment on the complete process of torque measurement and corrected polish based on a 300kg class controllable pitch propeller blade. The results show that the composite platform can correct the static balance of blade with a correct, efficient and labor-saving operation, and can replace the traditional method on static balance of the blade.

Electromagnetic torque tweezers: a versatile approach for measurement of single-molecule twist and torque.

PubMed

Janssen, Xander J A; Lipfert, Jan; Jager, Tessa; Daudey, Renier; Beekman, Jaap; Dekker, Nynke H

2012-07-11

The well-established single-molecule force-spectroscopy techniques have recently been complemented by methods that can measure torque and twist directly, notably magnetic torque tweezers and the optical torque wrench. A limitation of the current torque measurement schemes is the intrinsic coupling between the force and torque degrees of freedom. Here we present electromagnetic torque tweezers (eMTT) that combine permanent and electromagnets to enable independent control of the force and torsional trap stiffness for sensitive measurements of single molecule torque and twist. Using the eMTT, we demonstrate sensitive torque measurements on tethered DNA molecules from simple tracking of the beads' (x,y)-position, obviating the need for any angular tracking algorithms or markers. Employing the eMTT for high-resolution torque measurements, we experimentally confirm the theoretically predicted torque overshoot at the DNA buckling transition in high salt conditions. We envision that the flexibility and control afforded by the eMTT will enable a range of new torque and twist measurement schemes from single-molecules to living cells.

Oregon Magnetic and Gravity Maps and Data: A Web Site for Distribution of Data

USGS Publications Warehouse

Roberts, Carter W.; Kucks, Robert P.; Hill, Patricia L.

2008-01-01

This web site gives the results of a USGS project to acquire the best available, public-domain, aeromagnetic and gravity data in the United States and merge these data into uniform, composite grids for each State. The results for the State of Oregon are presented here on this site. Files of aeromagnetic and gravity grids and images are available for these States for downloading. In Oregon, 49 magnetic surveys have been knit together to form a single digital grid and map. Also, a complete Bouguer gravity anomaly grid and map was generated from 40,665 gravity station measurements in and adjacent to Oregon. In addition, a map shows the location of the aeromagnetic surveys, color-coded to the survey flight-line spacing. This project was supported by the Mineral Resource Program of the USGS.

On the ratio of dynamic topography and gravity anomalies in a dynamic Earth

NASA Astrophysics Data System (ADS)

Colli, L.; Ghelichkhan, S.; Bunge, H. P.

2016-12-01

Growing evidence from a variety of geologic indicators points to significant topography maintained convectively by viscous stresses in the mantle. However, while gravity is sensitive to dynamically supported topography, there are only small free-air gravity anomalies (<30 mGal) associated with Earth's long-wavelength topography. This has been used to suggest that surface heights computed assuming a complete isostatic equilibrium provide a good approximation to observed topography. Here we show that the apparent paradox is resolved by the well-established formalism of global, self-gravitating, viscously stratified Earth models. The models predict a complex relation between dynamic topography, mass, and gravity anomalies that is not summarized by a constant admittance—i.e., ratio of gravity anomalies to surface deflections—as one would infer from analytic flow solutions formulated in a half-space.

Strong Constraints on Cosmological Gravity from GW170817 and GRB 170817A

NASA Astrophysics Data System (ADS)

Baker, T.; Bellini, E.; Ferreira, P. G.; Lagos, M.; Noller, J.; Sawicki, I.

2017-12-01

The detection of an electromagnetic counterpart (GRB 170817A) to the gravitational-wave signal (GW170817) from the merger of two neutron stars opens a completely new arena for testing theories of gravity. We show that this measurement allows us to place stringent constraints on general scalar-tensor and vector-tensor theories, while allowing us to place an independent bound on the graviton mass in bimetric theories of gravity. These constraints severely reduce the viable range of cosmological models that have been proposed as alternatives to general relativistic cosmology.

Testing gravity with EG: mapping theory onto observations

NASA Astrophysics Data System (ADS)

Leonard, C. Danielle; Ferreira, Pedro G.; Heymans, Catherine

2015-12-01

We present a complete derivation of the observationally motivated definition of the modified gravity statistic EG. Using this expression, we investigate how variations to theory and survey parameters may introduce uncertainty in the general relativistic prediction of EG. We forecast errors on EG for measurements using two combinations of upcoming surveys, and find that theoretical uncertainties may dominate for a futuristic measurement. Finally, we compute predictions of EG under modifications to general relativity in the quasistatic regime, and comment on the pros and cons of using EG to test gravity with future surveys.

Tensor and Spin Representations of SO(4) and Discrete Quantum Gravity

NASA Astrophysics Data System (ADS)

Lorente, M.; Kramer, P.

Starting from the defining transformations of complex matrices for the SO(4) group, we construct the fundamental representation and the tensor and spinor representations of the group SO(4). Given the commutation relations for the corresponding algebra, the unitary representations of the group in terms of the generalized Euler angles are constructed. These mathematical results help us to a more complete description of the Barret-Crane model in Quantum Gravity. In particular a complete realization of the weight function for the partition function is given and a new geometrical interpretation of the asymptotic limit for the Regge action is presented.

Amount of torque and duration of stretching affects correction of knee contracture in a rat model of spinal cord injury.

PubMed

Moriyama, Hideki; Tobimatsu, Yoshiko; Ozawa, Junya; Kito, Nobuhiro; Tanaka, Ryo

2013-11-01

Joint contractures are a common complication of many neurologic conditions, and stretching often is advocated to prevent and treat these contractures. However, the magnitude and duration of the stretching done in practice usually are guided by subjective clinical impressions. Using an established T8 spinal cord injury rat model of knee contracture, we sought to determine what combination of static or intermittent stretching, varied by magnitude (high or low) and duration (long or short), leads to the best (1) improvement in the limitation in ROM; (2) restoration of the muscular and articular factors leading to contractures; and (3) prevention and treatment of contracture-associated histologic alterations of joint capsule and articular cartilage. Using a rat animal model, the spinal cord was transected completely at the level of T8. The rats were randomly assigned to seven treatment groups (n = 4 per group), which were composed of static or intermittent stretching in combination with different amounts of applied torque magnitude and duration. We assessed the effect of stretching by measuring the ROM and evaluating the histologic alteration of the capsule and cartilage. Contractures improved in all treated groups except for the low-torque and short-duration static stretching conditions. High-torque stretching was effective against shortening of the synovial membrane and adhesions in the posterosuperior regions. Collagen Type II and VEGF in the cartilage were increased by stretching. High-torque and long-duration static stretching led to greater restoration of ROM than the other torque and duration treatment groups. Stretching was more effective in improving articular components of contractures compared with the muscular components. Stretching in this rat model prevented shortening and adhesion of the joint capsule, and affected biochemical composition, but did not change morphologic features of the cartilage. This animal study tends to support the ideas that static stretching can influence joint ROM and histologic qualities of joint tissues, and that the way stretching is performed influences its efficacy. However, further studies are warranted to determine if our findings are clinically applicable.

Extraneous torque and compensation control on the electric load simulator

NASA Astrophysics Data System (ADS)

Jiao, Zongxia; Li, Chenggong; Ren, Zhiting

2003-09-01

In this paper a novel motor-drive load simulator based on compensation control strategy is proposed and designed. Through analyzing the torque control system consisting of DC torque motor, PWM module and torque sensor, it is shown that performance of the motor-drive load simulator is possible to be as good as that of the electro-hydraulic load simulator in the range of small torque. In the course of loading, the rotation of the actuator would cause a strong disturbance torque through the motor back-EMF, which produces extraneous torque similar as in electro-hydraulic load simulator. This paper analyzes the cause of extraneous torque inside the torque motor in detail and presents an appropriate compensation control with which the extraneous torque can be compensated and the good performance of the torque control system can be obtained. The results of simulation indicate that the compensation is very effective and the track performance is according with the request.

Pressurized fluid torque driver control and method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

Methods and apparatus are provided for a torque driver including a displaceable gear to limit torque transfer to a fastener at a precisely controlled torque limit. A biasing assembly biases a first gear into engagement with a second gear for torque transfer between the first and second gear. The biasing assembly includes a pressurized cylinder controlled at a constant pressure that corresponds to a torque limit. A calibrated gage and valve is used to set the desired torque limit. One or more coiled output linkages connect the first gear with the fastener adaptor which may be a socket for a nut. A gear tooth profile provides a separation force that overcomes the bias to limit torque at the desired torque limit. Multiple fasteners may be rotated simultaneously to a desired torque limit if additional output spur gears are provided. The torque limit is adjustable and may be different for fasteners within the same fastener configuration.

Displaceable Gear Torque Controlled Driver

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1997-01-01

Methods and apparatus are provided for a torque driver including a displaceable gear to limit torque transfer to a fastener at a precisely controlled torque limit. A biasing assembly biases a first gear into engagement with a second gear for torque transfer between the first and second gear. The biasing assembly includes a pressurized cylinder controlled at a constant pressure that corresponds to a torque limit. A calibrated gage and valve is used to set the desired torque limit. One or more coiled output linkages connect the first gear with the fastener adaptor which may be a socket for a nut. A gear tooth profile provides a separation force that overcomes the bias to limit torque at the desired torque limit. Multiple fasteners may be rotated simultaneously to a desired torque limit if additional output spur gears are provided. The torque limit is adjustable and may be different for fasteners within the same fastener configuration.

Atmospheric Torques on the Solid Earth and Oceans Based on the GEOS-1 General Circulation Model

NASA Technical Reports Server (NTRS)

Sanchez, Braulio V.; Au, Andrew Y.

1998-01-01

The GEOS-1 general circulation model has been used to compute atmospheric torques on the oceans and solid Earth for the period 1980-1995. The time series for the various torque components have been analyzed by means of Fourier transform techniques. It was determined that the wind stress torque over land is more powerful than the wind stress torque over water by 55%, 42%, and 80% for the x, y, and z components respectively. This is mainly the result of power in the high frequency range. The pressure torques due to polar flattening, equatorial ellipticity, marine geoid, and continental orography were computed. The orographic or "mountain torque" components are more powerful than their wind stress counterparts (land plus ocean) by 231% (x), 191% (y), and 77% (z). The marine pressure torques due to geoidal undulations are much smaller than the orographic ones, as expected. They are only 3% (x), 4% (y), and 5% (z) of the corresponding mountain torques. The geoidal pressure torques are approximately equal in magnitude to those produced by the equatorial ellipticity of the Earth. The pressure torque due to polar flattening makes the largest contributions to the atmospheric torque budget. It has no zonal component, only equatorial ones. Most of the power of the latter, between 68% and 69%, is found in modes with periods under 15 days. The single most powerful mode has a period of 361 days. The gravitational torque ranks second in power only to the polar flattening pressure torque. Unlike the former, it does produce a zonal component, albeit much smaller (1%) than the equatorial ones. The gravitational and pressure torques have opposite signs, therefore, the gravitational torque nullifies 42% of the total pressure torque. Zonally, however, the gravitational torque amounts to only 6% of the total pressure torque. The power budget for the total atmospheric torque yields 7595 and 7120 Hadleys for the equatorial components and 966 Hadleys for the zonal. The x-component exhibits a large mean value (1811 H), mainly the result of polar flattening pressure torque acting on the ocean surfaces. Atmospheric torque modes with periods of 408, 440, and 476 days appear in the spectrum of the equatorial components.

Atmospheric Torques on the Solid Earth and Oceans Based on the GEOS-1 General Circulation Model

NASA Technical Reports Server (NTRS)

Sanchez, Braulio

1999-01-01

The GEOS-1 general circulation model has been used to compute atmospheric torques on the oceans and solid Earth for the period 1980-1995. The time series for the various torque components have been analyzed by means of Fourier transform techniques. It was determined that the wind stress torque over land is more powerful than the wind stress torque over water by 55\\%, 42\\%, and 80\\t for the x, y, and z components respectively. This is mainly the result of power in the high frequency range. The pressure torques due to polar flattening, equatorial ellipticity, marine geoid, and continental orography were computed. The orographic or "mountain torque" components are more powerful than their wind stress counterparts (land plus ocean) by 231\\% (x), 191\\% (y), and 77\\% (z). The marine pressure torques due to geoidal undulations are much smaller than the orographic ones, as expected. They are only 3\\% (x), 4\\% (y), and 5\\% (z) of the corresponding mountain torques. The geoidal pressure torques are approximately equal in magnitude to those produced by the equatorial ellipticity of the Earth. The pressure torque due to polar flattening makes the largest contributions to the atmospheric'torque budget. It has no zonal component, only equatorial ones. Most of the power of the latter, between 68\\% and 69 %, is found in modes with periods under 15 days. The single most powerful mode has a period of 361 days. The gravitational torque ranks second in power only to the polar flattening pressure torque. Unlike the former, it does produce a zonal component, albeit much smaller (1\\ ) than the equatorial ones. The gravitational and pressure torques have opposite signs, therefore, the gravitational torque nullifies 42\\% of the total pressure torque. Zonally, however, the gravitational torque amounts to only 6\\% of the total pressure torque. The power budget for the total atmospheric torque yields 7595 and 7120 Hadleys for the equatorial components and 966 Hadleys for the zonal. The x-component exhibits a large mean value (1811 H), mainly the result of polar flattening pressure torque acting on the ocean surfaces. Atmospheric torque modes with periods of 408, 440, and 476 days appear in the spectrum of the equatorial components.

Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks

PubMed Central

Ruiz Garate, Virginia; Parri, Andrea; Yan, Tingfang; Munih, Marko; Molino Lova, Raffaele; Vitiello, Nicola; Ronsse, Renaud

2017-01-01

An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for locomotion assistive devices based on the concept of motor primitives. The weighted combination of artificial primitives results in a set of virtual muscle stimulations. These stimulations then activate a virtual musculoskeletal model producing reference assistive torque profiles for different locomotion tasks (i.e., walking, ascending stairs, and descending stairs). The paper reports the validation of the controller through a set of experiments conducted with healthy participants. The proposed controller was tested for the first time with a unilateral leg exoskeleton assisting hip, knee, and ankle joints by delivering a fraction of the computed reference torques. Importantly, subjects performed a track involving ground-level walking, ascending stairs, and descending stairs and several transitions between these tasks. These experiments highlighted the capability of the controller to provide relevant assistive torques and to effectively handle transitions between the tasks. Subjects displayed a natural interaction with the device. Moreover, they significantly decreased the time needed to complete the track when the assistance was provided, as compared to wearing the device with no assistance. PMID:28367121

Dynamics of a split torque helicopter transmission

NASA Astrophysics Data System (ADS)

Krantz, Timothy L.

1994-06-01

Split torque designs, proposed as alternatives to traditional planetary designs for helicopter main rotor transmissions, can save weight and be more reliable than traditional designs. This report presents the results of an analytical study of the system dynamics and performance of a split torque gearbox that uses a balance beam mechanism for load sharing. The Lagrange method was applied to develop a system of equations of motion. The mathematical model includes time-varying gear mesh stiffness, friction, and manufacturing errors. Cornell's method for calculating the stiffness of spur gear teeth was extended and applied to helical gears. The phenomenon of sidebands spaced at shaft frequencies about gear mesh fundamental frequencies was simulated by modeling total composite gear errors as sinusoid functions. Although the gearbox has symmetric geometry, the loads and motions of the two power paths differ. Friction must be considered to properly evaluate the balance beam mechanism. For the design studied, the balance beam is not an effective device for load sharing unless the coefficient of friction is less than 0.003. The complete system stiffness as represented by the stiffness matrix used in this analysis must be considered to precisely determine the optimal tooth indexing position.

Dynamics of a split torque helicopter transmission. M.S. Thesis - Cleveland State Univ.

NASA Technical Reports Server (NTRS)

Krantz, Timothy L.

1994-01-01

Split torque designs, proposed as alternatives to traditional planetary designs for helicopter main rotor transmissions, can save weight and be more reliable than traditional designs. This report presents the results of an analytical study of the system dynamics and performance of a split torque gearbox that uses a balance beam mechanism for load sharing. The Lagrange method was applied to develop a system of equations of motion. The mathematical model includes time-varying gear mesh stiffness, friction, and manufacturing errors. Cornell's method for calculating the stiffness of spur gear teeth was extended and applied to helical gears. The phenomenon of sidebands spaced at shaft frequencies about gear mesh fundamental frequencies was simulated by modeling total composite gear errors as sinusoid functions. Although the gearbox has symmetric geometry, the loads and motions of the two power paths differ. Friction must be considered to properly evaluate the balance beam mechanism. For the design studied, the balance beam is not an effective device for load sharing unless the coefficient of friction is less than 0.003. The complete system stiffness as represented by the stiffness matrix used in this analysis must be considered to precisely determine the optimal tooth indexing position.

Ultraviolet complete dark energy model

NASA Astrophysics Data System (ADS)

Narain, Gaurav; Li, Tianjun

2018-04-01

We consider a local phenomenological model to explain a nonlocal gravity scenario which has been proposed to address dark energy issues. This nonlocal gravity action has been seen to fit the data as well as Λ -CDM and therefore demands a more fundamental local treatment. The induced gravity model coupled with higher-derivative gravity is exploited for this proposal, as this perturbatively renormalizable model has a well-defined ultraviolet (UV) description where ghosts are evaded. We consider a generalized version of this model where we consider two coupled scalar fields and their nonminimal coupling with gravity. In this simple model, one of the scalar field acquires a vacuum expectation value (VEV), thereby inducing a mass for one of the scalar fields and generating Newton's constant. The induced mass however is seen to be always above the running energy scale thereby leading to its decoupling. The residual theory after decoupling becomes a platform for driving the accelerated expansion under certain conditions. Integrating out the residual scalar generates a nonlocal gravity action. The leading term of which is the nonlocal gravity action used to fit the data of dark energy.

Magnetohydrodynamic Convection in the Outer Core and its Geodynamic Consequences

NASA Technical Reports Server (NTRS)

Kuang, Weijia; Chao, Benjamin F.; Fang, Ming

2004-01-01

The Earth's fluid outer core is in vigorous convection through much of the Earth's history. In addition to generating and maintaining Earth s time-varying magnetic field (geodynamo), the core convection also generates mass redistribution in the core and a dynamical pressure field on the core-mantle boundary (CMB). All these shall result in various core-mantle interactions, and contribute to surface geodynamic observables. For example, electromagnetic core-mantle coupling arises from finite electrically conducting lower mantle; gravitational interaction occurs between the cores and the heterogeneous mantle; mechanical coupling may also occur when the CMB topography is aspherical. Besides changing the mantle rotation via the coupling torques, the mass-redistribution in the core shall produce a spatial-temporal gravity anomaly. Numerical modeling of the core dynamical processes contributes in several geophysical disciplines. It helps explain the physical causes of surface geodynamic observables via space geodetic techniques and other means, e.g. Earth's rotation variation on decadal time scales, and secular time-variable gravity. Conversely, identification of the sources of the observables can provide additional insights on the dynamics of the fluid core, leading to better constraints on the physics in the numerical modeling. In the past few years, our core dynamics modeling efforts, with respect to our MoSST model, have made significant progress in understanding individual geophysical consequences. However, integrated studies are desirable, not only because of more mature numerical core dynamics models, but also because of inter-correlation among the geophysical phenomena, e.g. mass redistribution in the outer core produces not only time-variable gravity, but also gravitational core-mantle coupling and thus the Earth's rotation variation. They are expected to further facilitate multidisciplinary studies of core dynamics and interactions of the core with other components of the Earth.

TEM and Gravity Data for Roosevelt Hot Springs, Utah FORGE Site

DOE Data Explorer

Hardwick, Christian; Nash, Greg

2018-02-05

This submission includes a gravity data in text format and as a GIS point shapefile and transient electromagnetic (TEM) raw data. Each text file additionally contains location data (UTM Zone 12, NAD83) and elevation (meters) data for that station. The gravity data shapefile was in part downloaded from PACES, University of Texas at El Paso, http://gis.utep.edu/subpages/GMData.html, and in part collected by the Utah Geological Survey (UGS) as part of the DOE GTO supported Utah FORGE geothermal energy project near Milford, Utah. The PACES data were examined and scrubbed to eliminate any questionable data. A 2.67 g/cm^3 reduction density was used for the Bouguer correction. The attribute table column headers for the gravity data shapefile are explained below. There is also metadata attached to the GIS shapefile. name: the individual gravity station name. HAE: height above ellipsoid [meter] NGVD29: vertical datum for geoid [meter] obs: observed gravity ERRG: gravity measurement error [mGal] IZTC: inner zone terrain correction [mGal] OZTC: outer zone terrain correction [mGal] Gfa: free air gravity gSBGA: Bouguer horizontal slab sCBGA: Complete Bouguer anomaly

James Webb Space Telescope Deployment Brushless DC Motor Characteristics Analysis

NASA Technical Reports Server (NTRS)

Tran, Ahn N.

2016-01-01

A DC motor's performance is usually characterized by a series of tests, which are conducted by pass/fail criteria. In most cases, these tests are adequate to address the performance characteristics under environmental and loading effects with some uncertainties and decent power/torque margins. However, if the motor performance requirement is very stringent, a better understanding of the motor characteristics is required. The purpose of this paper is to establish a standard way to extract the torque components of the brushless motor and gear box characteristics of a high gear ratio geared motor from the composite geared motor testing and motor parameter measurement. These torque components include motor magnetic detent torque, Coulomb torque, viscous torque, windage torque, and gear tooth sliding torque. The Aerospace Corp bearing torque model and MPB torque models are used to predict the Coulomb torque of the motor rotor bearings and to model the viscous components. Gear tooth sliding friction torque is derived from the dynamo geared motor test data. With these torque data, the geared motor mechanical efficiency can be estimated and provide the overall performance of the geared motor versus several motor operating parameters such as speed, temperature, applied current, and transmitted power.

Variations in the Magnetic Torque Acting on a Wire

ERIC Educational Resources Information Center

Bonati, Claudio

2012-01-01

The relation M = [mu] x B is presented in all elementary courses on electromagnetism, but it is usually given just for the simple case of a rectangular wire. We will present a completely general but elementary proof of this relation together with two more advanced proof methods. We will then provide some extensions: non-closed wires and…

Modeling and Analysis of High Torque Density Transverse Flux Machines for Direct-Drive Applications

NASA Astrophysics Data System (ADS)

Hasan, Iftekhar

Commercially available permanent magnet synchronous machines (PMSM) typically use rare-earth-based permanent magnets (PM). However, volatility and uncertainty associated with the supply and cost of rare-earth magnets have caused a push for increased research into the development of non-rare-earth based PM machines and reluctance machines. Compared to other PMSM topologies, the Transverse Flux Machine (TFM) is a promising candidate to get higher torque densities at low speed for direct-drive applications, using non-rare-earth based PMs. The TFMs can be designed with a very small pole pitch which allows them to attain higher force density than conventional radial flux machines (RFM) and axial flux machines (AFM). This dissertation presents the modeling, electromagnetic design, vibration analysis, and prototype development of a novel non-rare-earth based PM-TFM for a direct-drive wind turbine application. The proposed TFM addresses the issues of low power factor, cogging torque, and torque ripple during the electromagnetic design phase. An improved Magnetic Equivalent Circuit (MEC) based analytical model was developed as an alternative to the time-consuming 3D Finite Element Analysis (FEA) for faster electromagnetic analysis of the TFM. The accuracy and reliability of the MEC model were verified, both with 3D-FEA and experimental results. The improved MEC model was integrated with a Particle Swarm Optimization (PSO) algorithm to further enhance the capability of the analytical tool for performing rigorous optimization of performance-sensitive machine design parameters to extract the highest torque density for rated speed. A novel concept of integrating the rotary transformer within the proposed TFM design was explored to completely eliminate the use of magnets from the TFM. While keeping the same machine envelope, and without changing the stator or rotor cores, the primary and secondary of a rotary transformer were embedded into the double-sided TFM. The proposed structure allowed for improved flux-weakening capabilities of the TFM for wide speed operations. The electromagnetic design feature of stator pole shaping was used to address the issue of cogging torque and torque ripple in 3-phase TFM. The slant-pole tooth-face in the stator showed significant improvements in cogging torque and torque ripple performance during the 3-phase FEA analysis of the TFM. A detailed structural analysis for the proposed TFM was done prior to the prototype development to validate the structural integrity of the TFM design at rated and maximum speed operation. Vibration performance of the TFM was investigated to determine the structural performance of the TFM under resonance. The prototype for the proposed TFM was developed at the Alternative Energy Laboratory of the University of Akron. The working prototype is a testament to the feasibility of developing and implementing the novel TFM design proposed in this research. Experiments were performed to validate the 3D-FEA electromagnetic and vibration performance result.

Temperature dependence of spin-orbit torques in Cu-Au alloys

NASA Astrophysics Data System (ADS)

Wen, Yan; Wu, Jun; Li, Peng; Zhang, Qiang; Zhao, Yuelei; Manchon, Aurelien; Xiao, John Q.; Zhang, Xixiang

2017-03-01

We investigated current driven spin-orbit torques in C u40A u60/N i80F e20/Ti layered structures with in-plane magnetization. We have demonstrated a reliable and convenient method to separate dampinglike torque and fieldlike torque by using the second harmonic technique. It is found that the dampinglike torque and fieldlike torque depend on temperature very differently. Dampinglike torque increases with temperature, while fieldlike torque decreases with temperature, which are different from results obtained previously in other material systems. We observed a nearly linear dependence between the spin Hall angle and longitudinal resistivity, suggesting that skew scattering may be the dominant mechanism of spin-orbit torques.

Speed, not magnitude, of knee extensor torque production is associated with self-reported knee function early after anterior cruciate ligament reconstruction.

PubMed

Hsieh, Chao-Jung; Indelicato, Peter A; Moser, Michael W; Vandenborne, Krista; Chmielewski, Terese L

2015-11-01

To examine the magnitude and speed of knee extensor torque production at the initiation of advanced anterior cruciate ligament (ACL) reconstruction rehabilitation and the associations with self-reported knee function. Twenty-eight subjects who were 12 weeks post-ACL reconstruction and 28 age- and sex-matched physically active controls participated in this study. Knee extensor torque was assessed bilaterally with an isokinetic dynamometer at 60°/s. The variables of interest were peak torque, average rate of torque development, time to peak torque and quadriceps symmetry index. Knee function was assessed with the International Knee Documentation Committee Subjective Knee Form (IKDC-SKF). Peak torque and average rate of torque development were lower on the surgical side compared to the non-surgical side and controls. Quadriceps symmetry index was lower in subjects with ACL reconstruction compared to controls. On the surgical side, average rate of torque development was positively correlated with IKDC-SKF score (r = 0.379) while time to peak torque was negatively correlated with IKDC-SKF score (r = -0.407). At the initiation of advanced ACL reconstruction rehabilitation, the surgical side displayed deficits in peak torque and average rate of torque development. A higher rate of torque development and shorter time to peak torque were associated with better self-reported knee function. The results suggest that the rate of torque development should be addressed during advanced ACL reconstruction rehabilitation and faster knee extensor torque generation may lead to better knee function. III.

Detection and characterization of buried lunar craters with GRAIL data

NASA Astrophysics Data System (ADS)

Sood, Rohan; Chappaz, Loic; Melosh, Henry J.; Howell, Kathleen C.; Milbury, Colleen; Blair, David M.; Zuber, Maria T.

2017-06-01

We used gravity mapping observations from NASA's Gravity Recovery and Interior Laboratory (GRAIL) to detect, characterize and validate the presence of large impact craters buried beneath the lunar maria. In this paper we focus on two prominent anomalies detected in the GRAIL data using the gravity gradiometry technique. Our detection strategy is applied to both free-air and Bouguer gravity field observations to identify gravitational signatures that are similar to those observed over buried craters. The presence of buried craters is further supported by individual analysis of regional free-air gravity anomalies, Bouguer gravity anomaly maps, and forward modeling. Our best candidate, for which we propose the informal name of Earhart Crater, is approximately 200 km in diameter and forms part of the northwestern rim of Lacus Somniorum, The other candidate, for which we propose the informal name of Ashoka Anomaly, is approximately 160 km in diameter and lies completely buried beneath Mare Tranquillitatis. Other large, still unrecognized, craters undoubtedly underlie other portions of the Moon's vast mare lavas.

Integrating stations from the North America Gravity Database into a local GPS-based land gravity survey

USGS Publications Warehouse

Shoberg, Thomas G.; Stoddard, Paul R.

2013-01-01

The ability to augment local gravity surveys with additional gravity stations from easily accessible national databases can greatly increase the areal coverage and spatial resolution of a survey. It is, however, necessary to integrate such data seamlessly with the local survey. One challenge to overcome in integrating data from national databases is that these data are typically of unknown quality. This study presents a procedure for the evaluation and seamless integration of gravity data of unknown quality from a national database with data from a local Global Positioning System (GPS)-based survey. The starting components include the latitude, longitude, elevation and observed gravity at each station location. Interpolated surfaces of the complete Bouguer anomaly are used as a means of quality control and comparison. The result is an integrated dataset of varying quality with many stations having GPS accuracy and other reliable stations of unknown origin, yielding a wider coverage and greater spatial resolution than either survey alone.

An improved model for the Earth's gravity field

NASA Technical Reports Server (NTRS)

Tapley, B. D.; Shum, C. K.; Yuan, D. N.; Ries, J. C.; Schutz, B. E.

1989-01-01

An improved model for the Earth's gravity field, TEG-1, was determined using data sets from fourteen satellites, spanning the inclination ranges from 15 to 115 deg, and global surface gravity anomaly data. The satellite measurements include laser ranging data, Doppler range-rate data, and satellite-to-ocean radar altimeter data measurements, which include the direct height measurement and the differenced measurements at ground track crossings (crossover measurements). Also determined was another gravity field model, TEG-1S, which included all the data sets in TEG-1 with the exception of direct altimeter data. The effort has included an intense scrutiny of the gravity field solution methodology. The estimated parameters included geopotential coefficients complete to degree and order 50 with selected higher order coefficients, ocean and solid Earth tide parameters, Doppler tracking station coordinates and the quasi-stationary sea surface topography. Extensive error analysis and calibration of the formal covariance matrix indicate that the gravity field model is a significant improvement over previous models and can be used for general applications in geodesy.

Infrared consistency and the weak gravity conjecture

DOE PAGES

Cheung, Clifford; Remmen, Grant N.

2014-12-11

The weak gravity conjecture (WGC) asserts that an Abelian gauge theory coupled to gravity is inconsistent unless it contains a particle of charge q and mass m such that q ≥ m/m Pl. This criterion is obeyed by all known ultraviolet completions and is needed to evade pathologies from stable black hole remnants. In this paper, we explore the WGC from the perspective of low-energy effective field theory. Below the charged particle threshold, the effective action describes a photon and graviton interacting via higher-dimension operators. We derive infrared consistency conditions on the parameters of the effective action using i )more » analyticity of light-by-light scattering, ii ) unitarity of the dynamics of an arbitrary ultraviolet completion, and iii ) absence of superluminality and causality violation in certain non-trivial backgrounds. For convenience, we begin our analysis in three spacetime dimensions, where gravity is non-dynamical but has a physical effect on photon-photon interactions. We then consider four dimensions, where propagating gravity substantially complicates all of our arguments, but bounds can still be derived. Operators in the effective action arise from two types of diagrams: those that involve electromagnetic interactions (parameterized by a charge-to-mass ratio q/m) and those that do not (parameterized by a coefficient γ). In conclusion, infrared consistency implies that q/m is bounded from below for small γ.« less

The Lighter Side of Gravity

NASA Astrophysics Data System (ADS)

Narlikar, Jayant Vishnu

1996-10-01

From the drop of an apple to the stately dance of the galaxies, gravity is omnipresent in the Cosmos. Even with its high profile, gravity is the most enigmatic of all the known basic forces in nature. The Lighter Side of Gravity presents a beautifully clear and completely nontechnical introduction to the phenomenon of this force in all its manifestations. Astrophysicist Jayant Narlikar begins with an historical background to the discovery of the law of gravitation by Isaac Newton in the seventeenth century. Using familiar analogies, interesting anecdotes, and numerous illustrations to get across subtle effects and difficult points to readers, he goes on to describe the general theory of relativity and some of its strange and unfamiliar ideas such as curved spacetime, the bending of light, and black holes. Since first publication in 1982 (W.H. Freeman), Dr. Narlikar has brought his book completely up to date and expanded it to include the discovery of gigantic gravitational lenses in space, the findings of the Cosmic Background Explorer (COBE) satellite, the detection of dark matter in galaxies, the investigation of the very early Universe, and other new ideas in cosmology. This lucid and stimulating book presents a clear approach to the intriguing phenomenon of gravity for everyone who has ever felt caught in its grip. Jayant Narlikar is the winner of many astronomical prizes and the author of Introduction to Cosmology (Cambridge University Press, 1993).

Accuracy of dental torque wrenches.

PubMed

Wood, James S; Marlow, Nicole M; Cayouette, Monica J

2015-01-01

The aim of this in vitro study was to compare the actual torque of 2 manual wrench systems to their stated (target) torque. New spring- (Nobel Biocare USA, LLC) and friction-style (Zimmer Dental, Inc.) manual dental torque wrenches, as well as spring torque wrenches that had undergone sterilization and clinical use, were tested. A calibrated torque gauge was used to compare actual torque to target torque values of 15 and 35 N/cm. Data were statistically analyzed via mixed-effects regression model with Bonferroni correction. At a target torque of 15 N/cm, the mean torque of new spring wrenches (13.97 N/cm; SE, 0.07 N/cm) was significantly different from that of used spring wrenches (14.94 N/cm; SE, 0.06 N/cm; P < 0.0001). However, the mean torques of new spring and new friction wrenches (14.10 N/cm; SE, 0.07 N/cm; P = 0.21) were not significantly different. For torque measurements calibrated at 35 N/cm, the mean torque of new spring wrenches (35.29 N/cm; SE, 0.10 N/cm) was significantly different (P < 0.0001) from the means of new friction wrenches (36.20 N/cm; SE, 0.08 N/cm) and used spring wrenches (36.45 N/cm; SE, 0.08 N/cm). Discrepancies in torque could impact the clinical success of screw-retained dental implants. It is recommended that torque wrenches be checked regularly to ensure that they are performing to target values.

A contrastive study on the influences of radial and three-dimensional satellite gravity gradiometry on the accuracy of the Earth's gravitational field recovery

NASA Astrophysics Data System (ADS)

Zheng, Wei; Hsu, Hou-Tse; Zhong, Min; Yun, Mei-Juan

2012-10-01

The accuracy of the Earth's gravitational field measured from the gravity field and steady-state ocean circulation explorer (GOCE), up to 250 degrees, influenced by the radial gravity gradient Vzz and three-dimensional gravity gradient Vij from the satellite gravity gradiometry (SGG) are contrastively demonstrated based on the analytical error model and numerical simulation, respectively. Firstly, the new analytical error model of the cumulative geoid height, influenced by the radial gravity gradient Vzz and three-dimensional gravity gradient Vij are established, respectively. In 250 degrees, the GOCE cumulative geoid height error measured by the radial gravity gradient Vzz is about 2½ times higher than that measured by the three-dimensional gravity gradient Vij. Secondly, the Earth's gravitational field from GOCE completely up to 250 degrees is recovered using the radial gravity gradient Vzz and three-dimensional gravity gradient Vij by numerical simulation, respectively. The study results show that when the measurement error of the gravity gradient is 3 × 10-12/s2, the cumulative geoid height errors using the radial gravity gradient Vzz and three-dimensional gravity gradient Vij are 12.319 cm and 9.295 cm at 250 degrees, respectively. The accuracy of the cumulative geoid height using the three-dimensional gravity gradient Vij is improved by 30%-40% on average compared with that using the radial gravity gradient Vzz in 250 degrees. Finally, by mutual verification of the analytical error model and numerical simulation, the orders of magnitude from the accuracies of the Earth's gravitational field recovery make no substantial differences based on the radial and three-dimensional gravity gradients, respectively. Therefore, it is feasible to develop in advance a radial cold-atom interferometric gradiometer with a measurement accuracy of 10-13/s2-10-15/s2 for precisely producing the next-generation GOCE Follow-On Earth gravity field model with a high spatial resolution.

Minimization of torque ripple in ferrite-assisted synchronous reluctance motors by using asymmetric stator

NASA Astrophysics Data System (ADS)

Xu, Meimei; Liu, Guohai; Zhao, Wenxiang; Aamir, Nazir

2018-05-01

Torque ripple is one of the important issues for ferrite assisted synchronous reluctance motors (FASRMs). In this paper, an asymmetrical stator is proposed for the FASRM to reduce its torque ripple. In the proposed FASRM, an asymmetrical stator is designed by appropriately choosing the angle of the slot-opening shift. Meanwhile, its analytical torque expressions are derived. The results show that the proposed FASRM has an effective reduction in the cogging torque, reluctance torque ripple and total torque ripple. Moreover, it is easy to implement while the average torque is not sacrificed.

Nonlinear modal resonances in low-gravity slosh-spacecraft systems

NASA Technical Reports Server (NTRS)

Peterson, Lee D.

1991-01-01

Nonlinear models of low gravity slosh, when coupled to spacecraft vibrations, predict intense nonlinear eigenfrequency shifts at zero gravity. These nonlinear frequency shifts are due to internal quadratic and cubic resonances between fluid slosh modes and spacecraft vibration modes. Their existence has been verified experimentally, and they cannot be correctly modeled by approximate, uncoupled nonlinear models, such as pendulum mechanical analogs. These predictions mean that linear slosh assumptions for spacecraft vibration models can be invalid, and may lead to degraded control system stability and performance. However, a complete nonlinear modal analysis will predict the correct dynamic behavior. This paper presents the analytical basis for these results, and discusses the effect of internal resonances on the nonlinear coupled response at zero gravity.

A magneto-rheological fluid-based torque sensor for smart torque wrench application

NASA Astrophysics Data System (ADS)

Ahmadkhanlou, Farzad; Washington, Gregory N.

2013-04-01

In this paper, the authors have developed a new application where MR fluid is being used as a sensor. An MR-fluid based torque wrench has been developed with a rotary MR fluid-based damper. The desired set torque ranges from 1 to 6 N.m. Having continuously controllable yield strength, the MR fluid-based torque wrench presents a great advantage over the regular available torque wrenches in the market. This design is capable of providing continuous set toque from the lower limit to the upper limit while regular torque wrenches provide discrete set torques only at some limited points. This feature will be especially important in high fidelity systems where tightening torque is very critical and the tolerances are low.

Electrically Stimulated Antagonist Muscle Contraction Increased Muscle Mass and Bone Mineral Density of One Astronaut - Initial Verification on the International Space Station.

PubMed

Shiba, Naoto; Matsuse, Hiroo; Takano, Yoshio; Yoshimitsu, Kazuhiro; Omoto, Masayuki; Hashida, Ryuki; Tagawa, Yoshihiko; Inada, Tomohisa; Yamada, Shin; Ohshima, Hiroshi

2015-01-01

Musculoskeletal atrophy is one of the major problems of extended periods of exposure to weightlessness such as on the International Space Station (ISS). We developed the Hybrid Training System (HTS) to maintain an astronaut's musculoskeletal system using an electrically stimulated antagonist to resist the volitional contraction of the agonist instead of gravity. The present study assessed the system's orbital operation capability and utility, as well as its preventative effect on an astronaut's musculoskeletal atrophy. HTS was attached to the non-dominant arm of an astronaut staying on the ISS, and his dominant arm without HTS was established as the control (CTR). 10 sets of 10 reciprocal elbow curls were one training session, and 12 total sessions of training (3 times per week for 4 weeks) were performed. Pre and post flight ground based evaluations were performed by Biodex (muscle performance), MRI (muscle volume), and DXA (BMD, lean [muscle] mass, fat mass). Pre and post training inflight evaluations were performed by a hand held dynamometer (muscle force) and a measuring tape (upper arm circumference). The experiment was completed on schedule, and HTS functioned well without problems. Isokinetic elbow extension torque (Nm) changed -19.4% in HTS, and -21.7% in CTR. Isokinetic elbow flexion torque changed -23.7% in HTS, and there was no change in CTR. Total Work (Joule) of elbow extension changed -8.3% in HTS, and +0.3% in CTR. For elbow flexion it changed -23.3% in HTS and -32.6% in CTR. Average Power (Watts) of elbow extension changed +22.1% in HTS and -8.0% in CTR. For elbow flexion it changed -6.5% in HTS and -4.8% in CTR. Triceps muscle volume according to MRI changed +11.7% and that of biceps was +2.1% using HTS, however -0.1% and -0.4% respectively for CTR. BMD changed +4.6% in the HTS arm and -1.2% for CTR. Lean (muscle) mass of the arm changed only +10.6% in HTS. Fat mass changed -12.6% in HTS and -6.4% in CTR. These results showed the orbital operation capability and utility, and the preventive effect of HTS for an astronaut's musculoskeletal atrophy. The initial flight data together with the ground data obtained so far will be utilized in the future planning of human space exploration.

Method to Measure Tone of Axial and Proximal Muscle

PubMed Central

Gurfinkel, Victor S.; Cacciatore, Timothy W.; Cordo, Paul J.; Horak, Fay B.

2011-01-01

The control of tonic muscular activity remains poorly understood. While abnormal tone is commonly assessed clinically by measuring the passive resistance of relaxed limbs1, no systems are available to study tonic muscle control in a natural, active state of antigravity support. We have developed a device (Twister) to study tonic regulation of axial and proximal muscles during active postural maintenance (i.e. postural tone). Twister rotates axial body regions relative to each other about the vertical axis during stance, so as to twist the neck, trunk or hip regions. This twisting imposes length changes on axial muscles without changing the body's relationship to gravity. Because Twister does not provide postural support, tone must be regulated to counteract gravitational torques. We quantify this tonic regulation by the restive torque to twisting, which reflects the state of all muscles undergoing length changes, as well as by electromyography of relevant muscles. Because tone is characterized by long-lasting low-level muscle activity, tonic control is studied with slow movements that produce "tonic" changes in muscle length, without evoking fast "phasic" responses. Twister can be reconfigured to study various aspects of muscle tone, such as co-contraction, tonic modulation to postural changes, tonic interactions across body segments, as well as perceptual thresholds to slow axial rotation. Twister can also be used to provide a quantitative measurement of the effects of disease on axial and proximal postural tone and assess the efficacy of intervention. PMID:22214974

Direct measurement of the intrinsic ankle stiffness during standing.

PubMed

Vlutters, M; Boonstra, T A; Schouten, A C; van der Kooij, H

2015-05-01

Ankle stiffness contributes to standing balance, counteracting the destabilizing effect of gravity. The ankle stiffness together with the compliance between the foot and the support surface make up the ankle-foot stiffness, which is relevant to quiet standing. The contribution of the intrinsic ankle-foot stiffness to balance, and the ankle-foot stiffness amplitude dependency remain a topic of debate in the literature. We therefore developed an experimental protocol to directly measure the bilateral intrinsic ankle-foot stiffness during standing balance, and determine its amplitude dependency. By applying fast (40 ms) ramp-and-hold support surface rotations (0.005-0.08 rad) during standing, reflexive contributions could be excluded, and the amplitude dependency of the intrinsic ankle-foot stiffness was investigated. Results showed that reflexive activity could not have biased the torque used for estimating the intrinsic stiffness. Furthermore, subjects required less recovery action to restore balance after bilateral rotations in opposite directions compared to rotations in the same direction. The intrinsic ankle-foot stiffness appears insufficient to ensure balance, ranging from 0.93±0.09 to 0.44±0.06 (normalized to critical stiffness 'mgh'). This implies that changes in muscle activation are required to maintain balance. The non-linear stiffness decrease with increasing rotation amplitude supports the previous published research. With the proposed method reflexive effects can be ruled out from the measured torque without any model assumptions, allowing direct estimation of intrinsic stiffness during standing. Copyright © 2015 Elsevier Ltd. All rights reserved.

Development of a series wrapping cam mechanism for energy transfer in wearable arm support applications.

PubMed

Schroeder, Jeremiah S; Perry, Joel C

2017-07-01

An estimated 17 million individuals suffer a stroke each year with over 5 million resulting in permanent disability. For many of these, the provision of gravity support to the impaired upper limb can provide significant and immediate improvement in arm mobility. This added mobility has the potential to improve arm function and user independence overall, but, so far, wearable arm supports have found only limited uptake by end-users. The reasons are unclear, but it is hypothesized that device uptake is strongly affected by aspects of arm support implementation such as added weight and volume and the effectiveness of the support provided. In the interest of reducing the size and visibility of wearable arm supports, cable driven actuation was investigated, and a device called the series wrapping cam was developed. This device uses two wrapping cams to stretch a spring as the user's arm elevation decreases. It optimally uses the range of motion of a custom latex spring in a compact mechanism. A one degree-of-freedom proof-of-concept prototype of the series wrapping cam was manufactured and tested. The torque supplied by the prototype correctly responds to shoulder elevation to balance the weight of the extended arm at any level of elevation. However, the support is unaffected by the degree of elbow flexion-extension. Shoulder joint torque is a function of both shoulder elevation and elbow flexion, suggesting further benefits could be achieved through a bi-articular design.

Simplicity constraints: A 3D toy model for loop quantum gravity

NASA Astrophysics Data System (ADS)

Charles, Christoph

2018-05-01

In loop quantum gravity, tremendous progress has been made using the Ashtekar-Barbero variables. These variables, defined in a gauge fixing of the theory, correspond to a parametrization of the solutions of the so-called simplicity constraints. Their geometrical interpretation is however unsatisfactory as they do not constitute a space-time connection. It would be possible to resolve this point by using a full Lorentz connection or, equivalently, by using the self-dual Ashtekar variables. This leads however to simplicity constraints or reality conditions which are notoriously difficult to implement in the quantum theory. We explore in this paper the possibility of using completely degenerate actions to impose such constraints at the quantum level in the context of canonical quantization. To do so, we define a simpler model, in 3D, with similar constraints by extending the phase space to include an independent vielbein. We define the classical model and show that a precise quantum theory by gauge unfixing can be defined out of it, completely equivalent to the standard 3D Euclidean quantum gravity. We discuss possible future explorations around this model as it could help as a stepping stone to define full-fledged covariant loop quantum gravity.

Illinois, Indiana, and Ohio Magnetic and Gravity Maps and Data: A Website for Distribution of Data

USGS Publications Warehouse

Daniels, David L.; Kucks, Robert P.; Hill, Patricia L.

2008-01-01

This web site gives the results of a USGS project to acquire the best available, public-domain, aeromagnetic and gravity data in the United States and merge these data into uniform, composite grids for each state. The results for the three states, Illinois, Indiana, and Ohio are presented here in one site. Files of aeromagnetic and gravity grids and images are available for these states for downloading. In Illinois, Indiana, and Ohio, 19 magnetic surveys have been knit together to form a single digital grid and map. And, a complete Bouguer gravity anomaly grid and map was generated from 128,227 gravity station measurements in and adjacent to Illinois, Indiana, and Ohio. In addition, a map shows the location of the aeromagnetic surveys, color-coded to the survey flight-line spacing. This project was supported by the Mineral Resource Program of the USGS.

High-Efficiency Inhibition of Gravity Segregation in Al-Bi Immiscible Alloys by Adding Lanthanum

NASA Astrophysics Data System (ADS)

Jia, Peng; Zhang, Jinyang; Geng, Haoran; Teng, Xinying; Zhao, Degang; Yang, Zhongxi; Wang, Yi; Hu, Song; Xiang, Jun; Hu, Xun

2018-05-01

The inhibition of gravity segregation has been a long-standing challenge in fabrication and applications of homogeneous immiscible alloys. Therefore, the effect of rare-earth La on the gravity segregation of Al-Bi immiscible alloys was investigated to understand the homogenization mechanism. The results showed that the addition of La can completely suppress the gravity segregation. This is attributed to the nucleation of Bi-rich liquid phase on the in-situ produced LaBi2 phase and the change of the shape of LaBi2@Bi droplets. In addition, a novel strategy is developed to prepare the homogeneous immiscible alloys through the addition of rare-earth elements. This strategy not only is applicable to other immiscible alloys, but also is conducive to finding more elements to suppress the gravity segregation. This study provided a useful reference for the fabrication of the homogeneous immiscible alloys.

Soft collinear effective theory for gravity

NASA Astrophysics Data System (ADS)

Okui, Takemichi; Yunesi, Arash

2018-03-01

We present how to construct a soft collinear effective theory (SCET) for gravity at the leading and next-to-leading powers from the ground up. The soft graviton theorem and decoupling of collinear gravitons at the leading power are manifest from the outset in the effective symmetries of the theory. At the next-to-leading power, certain simple structures of amplitudes, which are completely obscure in Feynman diagrams of the full theory, are also revealed, which greatly simplifies calculations. The effective Lagrangian is highly constrained by effectively multiple copies of diffeomorphism invariance that are inevitably present in gravity SCET due to mode separation, an essential ingredient of any SCET. Further explorations of effective theories of gravity with mode separation may shed light on Lagrangian-level understandings of some of the surprising properties of gravitational scattering amplitudes. A gravity SCET with an appropriate inclusion of Glauber modes may serve as a powerful tool for studying gravitational scattering in the Regge limit.

Force, Torque and Stiffness: Interactions in Perceptual Discrimination

PubMed Central

Wu, Bing; Klatzky, Roberta L.; Hollis, Ralph L.

2011-01-01

Three experiments investigated whether force and torque cues interact in haptic discrimination of force, torque and stiffness, and if so, how. The statistical relation between force and torque was manipulated across four experimental conditions: Either one type of cue varied while the other was constant, or both varied so as to be positively correlated, negatively correlated, or uncorrelated. Experiment 1 showed that the subjects’ ability to discriminate force was improved by positively correlated torque but impaired with uncorrelated torque, as compared to the constant torque condition. Corresponding effects were found in Experiment 2 for the influence of force on torque discrimination. These findings indicate that force and torque are integrated in perception, rather than being processed as separate dimensions. A further experiment demonstrated facilitation of stiffness discrimination by correlated force and torque, whether the correlation was positive or negative. The findings suggest new means of augmenting haptic feedback to facilitate perception of the properties of soft objects. PMID:21359137

Charge-induced spin torque in Weyl semimetals

NASA Astrophysics Data System (ADS)

Kurebayashi, Daichi; Nomura, Kentaro

In this work, we present phenomenological and microscopic derivations of spin torques in magnetically doped Weyl semimetals. As a result, we obtain the analytical expression of the spin torque generated, without a flowing current, when the chemical potential is modulated. We also find that this spin torque is a direct consequence of the chiral anomaly. Therefore, observing this spin torque in magnetic Weyl semimetals might be an experimental evidence of the chiral anomaly. This spin torque has also a great advantage in application. In contrast to conventional current-induced spin torques such as the spin-transfer torques, this spin torque does not accompany a constant current flow. Thus, devices using this operating principle is free from the Joule heating and possibly have higher efficiency than devices using conventional current-induced spin torques. This work was supported by JSPS KAKENHI Grant Number JP15H05854 and JP26400308.

A reactive torque control law for gyroscopically controlled space vehicles

NASA Technical Reports Server (NTRS)

Farmer, J. E.

1973-01-01

A method of control is developed based on the reactive torques as seen by the individual CMG gimbals. The application of a torque to the gimbal of a CMG rotates the momentum vector and applies a torque to the spacecraft according to well-known laws. The response (rotation) of the vehicle produces a reverse or reaction torque opposing the torque producing the gimbal movement. The reactive torque and the pseudoinverse control schemes are contrasted in order to point out the simplicity of the first method. Simulation was performed only to the extent necessary to prove that reactive torque stabilization and control is feasible.

An Approach to Sensorless Detection of Human Input Torque and Its Application to Power Assist Motion in Electric Wheelchair

NASA Astrophysics Data System (ADS)

Kaida, Yukiko; Murakami, Toshiyuki

A wheelchair is an important apparatus of mobility for people with disability. Power-assist motion in an electric wheelchair is to expand the operator's field of activities. This paper describes force sensorless detection of human input torque. Reaction torque estimation observer calculates the total disturbance torque first. Then, the human input torque is extracted from the estimated disturbance. In power-assist motion, assist torque is synthesized according to the product of assist gain and the average torque of the right and left input torque. Finally, the proposed method is verified through the experiments of power-assist motion.

Torque Limit for Bolted Joint for Composites. Part A; TTTC Properties of Laminated Composites

NASA Technical Reports Server (NTRS)

Zhao, Yi

2003-01-01

The existing design code for torque limit of bolted joints for composites at Marshall Space Flight Center is MSFC-STD-486B, which was originally developed in 1960s for metallic materials. The theoretical basis for this code was a simplified mechanics analysis, which takes into account only the bolt, nut and washers, but not the structural members to be connected. The assumption was that metallic materials would not fail due to the bearing stress at the contact area between washer and the mechanical member. This is true for metallic materials; but for composite materials the results could be completely different. Unlike most metallic materials, laminated composite materials have superior mechanical properties (such as modulus and strength) in the in-plane direction, but not in the out-of-plane, or through-the-thickness (TTT) direction. During the torquing, TTT properties (particularly compressive modulus and compressive strength) play a dominant role in composite failure. Because of this concern, structural design engineers at Marshall are currently using a compromised empirical approach: using 50% of the torque value for composite members. Companies like Boeing is using a similar approach. An initial study was conducted last summer on this topic to develop theoretical model(s) that takes into consideration of composite members. Two simplified models were developed based on stress failure criterion and strain failure criterion, respective. However, these models could not be used to predict the torque limit because of the unavailability of material data, specifically, through-the-thickness compression (TTTC) modulus and strength. Therefore, the task for this summer is to experimentally determine the TTTC properties. Due to the time limitation, only one material has been tested: IM7/8552 with [0 degrees,plus or minus 45 degrees, 90 degree ] configuration. This report focuses the test results and their significance, while the experimentation will be described in a separate report by Mr. Kris Kostreva.

Effects of Static and Dynamic Stretching on the Isokinetic Peak Torques and Electromyographic Activities of the Antagonist Muscles.

PubMed

Serefoglu, Abdullah; Sekir, Ufuk; Gür, Hakan; Akova, Bedrettin

2017-03-01

The aim of this study was to investigate if static and dynamic stretching exercises of the knee muscles (quadriceps and hamstring muscles) have any effects on concentric and eccentric isokinetic peak torques and electromyographic amplitudes (EMG) of the antagonist muscles. Twenty healthy male athletes (age between 18-30 years) voluntarily participated in this study. All of the subjects visited the laboratory to complete the following intervention in a randomized order on 5 separate days; (a) non-stretching (control), (b) static stretching of the quadriceps muscles, (c) static stretching of the hamstring muscles, (d) dynamic stretching of the quadriceps muscles, and (e) dynamic stretching of the hamstring muscles. Static stretching exercises either for the quadriceps or the hamstring muscles were carried out at the standing and sitting positions. Subjects performed four successive repetitions of each stretching exercises for 30 seconds in both stretching positions. Similar to static stretching exercises two different stretching modes were designed for dynamic stretching exercises. Concentric and eccentric isokinetic peak torque for the non-stretched antagonist quadriceps or hamstring muscles at angular velocities of 60°/sec and 240°/sec and their concurrent electromyographic (EMG) activities were measured before and immediately after the intervention. Isokinetic peak torques of the non-stretched agonist hamstring and quadriceps muscles did not represent any significant (p > 0.05) differences following static and dynamic stretching of the antagonist quadriceps and hamstring muscles, respectively. Similarly, the EMG activities of the agonist muscles exhibited no significant alterations (p > 0.05) following both stretching exercises of the antagonist muscles. According to the results of the present study it is possible to state that antagonist stretching exercises either in the static or dynamic modes do not affect the isokinetic peak torques and the EMG activities of the non-stretched agonist quadriceps or hamstring muscles.

Effects of warm-up on hamstring muscles stiffness: Cycling vs foam rolling.

PubMed

Morales-Artacho, A J; Lacourpaille, L; Guilhem, G

2017-12-01

This study investigated the effects of active and/or passive warm-up tasks on the hamstring muscles stiffness through elastography and passive torque measurements. On separate occasions, fourteen males randomly completed four warm-up protocols comprising Control, Cycling, Foam rolling, or Cycling plus Foam rolling (Mixed). The stiffness of the hamstring muscles was assessed through shear wave elastography, along with the passive torque-angle relationship and maximal range of motion (ROM) before, 5, and 30 minutes after each experimental condition. At 5 minutes, Cycling and Mixed decreased shear modulus (-10.3% ± 5.9% and -7.7% ± 8.4%, respectively; P≤.0003, effect size [ES]≥0.24) and passive torque (-7.17% ± 8.6% and -6.2% ± 7.5%, respectively; P≤.051, ES≥0.28), and increased ROM (+2.9% ± 2.9% and +3.2% ± 3.5%, respectively; P≤.001, ES≥0.30); 30 minutes following Mixed, shear modulus (P=.001, ES=0.21) and passive torque (P≤.068, ES≥0.2) were still slightly decreased, while ROM increased (P=.046, ES=0.24). Foam rolling induced "small" immediate short-term decreases in shear modulus (-5.4% ± 5.7% at 5 minutes; P=.05, ES=0.21), without meaningful changes in passive torque or ROM at any time point (P≥.12, ES≤0.23). These results suggest that the combined warm-up elicited no acute superior effects on muscle stiffness compared with cycling, providing evidence for the key role of active warm-up to reduce muscle stiffness. The time between warm-up and competition should be considered when optimizing the effects on muscle stiffness. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

A Ground-Based Comparison of the Muscle Atrophy Research and Exercise System (MARES) and a Standard Isokinetic Dynamometer

NASA Technical Reports Server (NTRS)

Hackney, K. J.; English, K. L.; Redd, E.; DeWitt, J. K.; Ploutz-Snyder, R.; Ploutz-Snyder, L. L.

2010-01-01

PURPOSE: 1) To compare the test-to-test reliability of Muscle Atrophy Research and Exercise System (MARES) with a standard laboratory isokinetic dynamometer (ISOK DYN) and; 2) to determine if measures of peak torque and total work differ between devices. METHODS: Ten subjects (6M, 4F) completed two trials on both MARES and an ISOK DYN in a counterbalanced order. Peak torque values at 60 deg & 180 deg / s were obtained from five maximal repetitions of knee extension (KE) and knee flexion (KF). Total work at 180 deg / s was determined from the area under the torque vs. displacement curve during twenty maximal repetitions of KE and KF. Reliability of measures within devices was interpreted from the intraclass correlation coefficient (ICC) and compared between devices using the ratio of the within-device standard deviations. Indicators of agreement for the two devices were evaluated from: 1) a calculation of concordance (rho) and; 2) the correlation between the mean of measures versus the delta difference between measures (m u vs delta). RESULTS: For all outcome measures ICCs were high for both the ISOK DYN (0.95-0.99) and MARES (0.90-0.99). However, ratios of the within-device standard deviation were 1.3 to 4.3 times higher on MARES. On average, a wide range (3.3 to 1054 Nm) of differences existed between the values obtained. Only KE peak torque measured at 60 deg & 180 deg / s showed similarities between devices (rho = 0.91 & 0.87; Pearson's r for m u vs delta = -0.22 & -0.37, respectively). CONCLUSION: Although MARES was designed for use in microgravity it was quite reliable during ground-based testing. However, MARES was consistently more variable than an ISOK DYN. Future longitudinal studies evaluating a change in isokinetic peak torque or total work should be limited within one device.

Gyrokinetic simulations with external resonant magnetic perturbations: Island torque and nonambipolar transport with plasma rotation

NASA Astrophysics Data System (ADS)

Waltz, R. E.; Waelbroeck, F. L.

2012-03-01

Static external resonant magnetic field perturbations (RMPs) have been added to the gyrokinetic code GYRO [J. Candy and R. E. Waltz, J. Comp. Phys. 186, 545 (2003)]. This allows nonlinear gyrokinetic simulations of the nonambipolar radial current flow jr, and the corresponding j→×B→ plasma torque (density) R[jrBp/c], induced by magnetic islands that break the toroidal symmetry of a tokamak. This extends the previous GYRO formulation for the transport of toroidal angular momentum (TAM) [R. E. Waltz, G. M. Staebler, J. Candy, and F. L. Hinton, Phys. Plasmas 14, 122507 (2007); errata 16, 079902 (2009)]. The focus is on electrostatic full torus radial slice simulations of externally induced q =m/n=6/3 islands with widths 5% of the minor radius or about 20 ion gyroradii. Up to moderately strong E ×B rotation, the island torque scales with the radial electric field at the resonant surface Er, the island width w, and the intensity I of the high-n micro-turbulence, as Erw√I . The radial current inside the island is carried (entirely in the n =3 component) and almost entirely by the ion E ×B flux, since the electron E ×B and magnetic flutter particle fluxes are cancelled. The net island torque is null at zero Er rather than at zero toroidal rotation. This means that while the expected magnetic braking of the toroidal plasma rotation occurs at strong co- and counter-current rotation, at null toroidal rotation, there is a small co-directed magnetic acceleration up to the small diamagnetic (ion pressure gradient driven) co-rotation corresponding to the zero Er and null torque. This could be called the residual stress from an externally induced island. At zero Er, the only effect is the expected partial flattening of the electron temperature gradient within the island. Finite-beta GYRO simulations demonstrate almost complete RMP field screening and n =3 mode unlocking at strong Er.

Attitude control requirements for various solar sail missions

NASA Technical Reports Server (NTRS)

Williams, Trevor

1990-01-01

The differences are summarized between the attitude control requirements for various types of proposed solar sail missions (Earth orbiting; heliocentric; asteroid rendezvous). In particular, it is pointed out that the most demanding type of mission is the Earth orbiting one, with the solar orbit case quite benign and asteroid station keeping only slightly more difficult. It is then shown, using numerical results derived for the British Solar Sail Group Earth orbiting design, that the disturbance torques acting on a realistic sail can completely dominate the torques required for nominal maneuvering of an 'ideal' sail. This is obviously an important consideration when sizing control actuators; not so obvious is the fact that it makes the standard rotating vane actuator unsatisfactory in practice. The reason for this is given, and a set of new actuators described which avoids the difficulty.

Bony increased-offset reversed shoulder arthroplasty: minimizing scapular impingement while maximizing glenoid fixation.

PubMed

Boileau, Pascal; Moineau, Grégory; Roussanne, Yannick; O'Shea, Kieran

2011-09-01

Scapular notching, prosthetic instability, limited shoulder rotation and loss of shoulder contour are associated with conventional medialized design reverse shoulder arthroplasty. Prosthetic (ie, metallic) lateralization increases torque at the baseplate-glenoid interface potentially leading to failure. We asked whether bony lateralization of reverse shoulder arthroplasty would avoid the problems caused by humeral medialization without increasing torque or shear force applied to the glenoid component. We prospectively followed 42 patients with rotator cuff deficiency treated with bony increased-offset reverse shoulder arthroplasty. A cylinder of autologous cancellous bone graft, harvested from the humeral head, was placed between the reamed glenoid surface and baseplate. Graft and baseplate fixation was achieved using a lengthened central peg (25 mm) and four screws. Patients underwent clinical, radiographic, and CT assessment at a minimum of 2 years after surgery. The humeral graft incorporated completely in 98% of cases (41 of 42) and partially in one. At a mean of 28 months postoperatively, no graft resorption, glenoid loosening, or postoperative instability was observed. Inferior scapular notching occurred in 19% (eight of 42). The absolute Constant-Murley score improved from 31 to 67. Thirty-six patients (86%) were able to internally rotate sufficiently to reach their back over the sacrum. Grafting of the glenoid surface during reverse shoulder arthroplasty effectively creates a long-necked scapula, providing the benefits of lateralization. Bony increased-offset reverse shoulder arthroplasty is associated with low rates of inferior scapular notching, improved shoulder rotation, no prosthetic instability and improved shoulder contour. In contrast to metallic lateralization, bony lateralization has the advantage of maintaining the prosthetic center of rotation at the prosthesis-bone interface, thus minimizing torque on the glenoid component. Level IV, therapeutic study. See Guidelines for Authors for a complete description of levels of evidence.

Torque Compensator for Mirror Mountings

NASA Technical Reports Server (NTRS)

Howe, S. D.

1983-01-01

Device nulls flexural distributions of pivotal torques. Magnetic compensator for flexing pivot torque consists of opposing fixed and movable magnet bars. Magnetic torque varies nonlinearly as function of angle of tilt of movable bar. Positions of fixed magnets changed to improve magnetic torque linearity.

Localize and identify the gravity sensing mechanism of plants

NASA Technical Reports Server (NTRS)

Bandurski, Robert S.

1990-01-01

The machinery by which a plant transduces the gravity stimulus into a growth response is localized and identified at the cellular level. The fact that a plant grows unequally on the lower side of a horizontally placed stem implies that there must be an asymmetric distribution of some of the chemical substances involved in the growth response. The three most likely chemicals to cause this growth were determined to be potassium, calcium, or the growth hormone, indole-3-acetic acid (IAA). IAA was chosen for this study and the results present a fairly complete understanding of the transduction of the gravity stimulus.

A summary of existing and planned experiment hardware for low-gravity fluids research

NASA Technical Reports Server (NTRS)

Hill, Myron E.; O'Malley, Terence F.

1991-01-01

NASA's ground-based and space-based low-gravity facilities are summarized, and an overview of selected experiments that have been developed for use in these facilities is presented. A variety of ground-based facilities (drop towers and aircraft) used to conduct low-gravity experiments for in-space experimentation are described. Capabilities that are available to the researcher and future on-orbit fluids facilities are addressed. The payload bay facilities range from the completely self-contained, relatively small get-away-special canisters to the Materials Science Laboratory and to the larger Spacelab facilities that require crew interaction.

New 2D dilaton gravity for nonsingular black holes

NASA Astrophysics Data System (ADS)

Kunstatter, Gabor; Maeda, Hideki; Taves, Tim

2016-05-01

We construct a two-dimensional action that is an extension of spherically symmetric Einstein-Lanczos-Lovelock (ELL) gravity. The action contains arbitrary functions of the areal radius and the norm squared of its gradient, but the field equations are second order and obey Birkhoff’s theorem. In complete analogy with spherically symmetric ELL gravity, the field equations admit the generalized Misner-Sharp mass as the first integral that determines the form of the vacuum solution. The arbitrary functions in the action allow for vacuum solutions that describe a larger class of interesting nonsingular black hole spacetimes than previously available.

Accuracy of mechanical torque-limiting devices for dental implants.

PubMed

L'Homme-Langlois, Emilie; Yilmaz, Burak; Chien, Hua-Hong; McGlumphy, Edwin

2015-10-01

A common complication in implant dentistry is unintentional implant screw loosening. The critical factor in the prevention of screw loosening is the delivery of the appropriate target torque value. Mechanical torque-limiting devices (MTLDs) are the most frequently recommended devices by the implant manufacturers to deliver the target torque value to the screw. Two types of MTLDs are available: friction-style and spring-style. Limited information is available regarding the influence of device type on the accuracy of MTLDs. The purpose of this study was to determine and compare the accuracy of spring-style and friction-style MTLDs. Five MTLDs from 6 different dental implant manufacturers (Astra Tech/Dentsply, Zimmer Dental, Biohorizons, Biomet 3i, Straumann [ITI], and Nobel Biocare) (n=5 per manufacturer) were selected to determine their accuracy in delivering target torque values preset by their manufacturers. All torque-limiting devices were new and there were 3 manufacturers for the friction-style and 3 manufacturers for the spring-style. The procedure of target torque measurement was performed 10 times for each device and a digital torque gauge (Chatillon Model DFS2-R-ND; Ametek) was used to record the measurements. Statistical analysis used nonparametric tests to determine the accuracy of the MTLDs in delivering target torque values and Bonferroni post hoc tests were used to assess pairwise comparisons. Median absolute difference between delivered torque values and target torque values of friction-style and spring-style MTLDs were not significantly different (P>.05). Accuracy of Astra Tech and Zimmer Dental friction-style torque-limiting devices were significantly different than Biohorizons torque-limiting devices (P<.05). There is no difference between the accuracy of new friction-style MTLDs and new spring-style MTLDs. All MTLDs fell within ±10% of the target torque value. Astra Tech and Zimmer Dental friction-style torque-limiting devices were significantly more accurate than Biohorizons (C) torque-limiting devices (P<.05); however, all the torque-limiting devices fell within ±10% of the target torque value preset by the manufacturers. Copyright © 2015 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.

Determining a Method of Enabling and Disabling the Integral Torque in the SDO Science and Inertial Mode Controllers

NASA Technical Reports Server (NTRS)

Vess, Melissa F.; Starin, Scott R.

2007-01-01

During design of the SDO Science and Inertial mode PID controllers, the decision was made to disable the integral torque whenever system stability was in question. Three different schemes were developed to determine when to disable or enable the integral torque, and a trade study was performed to determine which scheme to implement. The trade study compared complexity of the control logic, risk of not reenabling the integral gain in time to reject steady-state error, and the amount of integral torque space used. The first scheme calculated a simplified Routh criterion to determine when to disable the integral torque. The second scheme calculates the PD part of the torque and looked to see if that torque would cause actuator saturation. If so, only the PD torque is used. If not, the integral torque is added. Finally, the third scheme compares the attitude and rate errors to limits and disables the integral torque if either of the errors is greater than the limit. Based on the trade study results, the third scheme was selected. Once it was decided when to disable the integral torque, analysis was performed to determine how to disable the integral torque and whether or not to reset the integrator once the integral torque was reenabled. Three ways to disable the integral torque were investigated: zero the input into the integrator, which causes the integral part of the PID control torque to be held constant; zero the integral torque directly but allow the integrator to continue integrating; or zero the integral torque directly and reset the integrator on integral torque reactivation. The analysis looked at complexity of the control logic, slew time plus settling time between each calibration maneuver step, and ability to reject steady-state error. Based on the results of the analysis, the decision was made to zero the input into the integrator without resetting it. Throughout the analysis, a high fidelity simulation was used to test the various implementation methods.

Gait adaptations in patients with chronic posterior instability of the knee.

PubMed

Hooper, D M; Morrissey, M C; Crookenden, R; Ireland, J; Beacon, J P

2002-03-01

A retrospective analysis was performed to assess gait in individuals with a long history of posterior knee instability. Descriptive study. There are few studies in the literature concerning evaluation of the biomechanics of the knee in patients with knee posterior instability. Nine individuals with posterior knee instability and a matched control group of uninjured subjects were tested in regards to knee kinematics and kinetics while walking and ascending and descending stairs. The mean follow up time for the individuals with posterior instability was 11.1 years. Individual satisfaction with the knee was measured by having participants complete the Flandry (also known as Hughston Clinic) self-assessment questionnaire. It was found that patients with knee posterior instability who indicated a higher level of satisfaction on the Flandry score walked in a manner that demonstrated greater peak knee extensor torque during stance phase, while less satisfied patients with knee posterior instability demonstrated lower peak knee extensor torque. There was a significant correlation between the self-assessment score and the peak knee extensor torque during level walking (P=0.003). During stair ascent and descent, patients with posterior instability averaged lower knee extensor torque and power than the control subjects, but those differences were only statistically significant in power while descending stairs (P=0.048). Individuals with chronic knee posterior instability modify their gait, and the adaptation can be predicted based upon the individuals self-assessment of their knee using the Flandry questionnaire. These data suggest that gait retraining may be a valuable addition to the traditional muscle strengthening programs, which are commonly used during conservative management of knee posterior instability.

Forces and torques on rigid inclusions in an elastic environment: Resulting matrix-mediated interactions, displacements, and rotations

NASA Astrophysics Data System (ADS)

Puljiz, Mate; Menzel, Andreas M.

2017-05-01

Embedding rigid inclusions into elastic matrix materials is a procedure of high practical relevance, for instance, for the fabrication of elastic composite materials. We theoretically analyze the following situation. Rigid spherical inclusions are enclosed by a homogeneous elastic medium under stick boundary conditions. Forces and torques are directly imposed from outside onto the inclusions or are externally induced between them. The inclusions respond to these forces and torques by translations and rotations against the surrounding elastic matrix. This leads to elastic matrix deformations, and in turn results in mutual long-ranged matrix-mediated interactions between the inclusions. Adapting a well-known approach from low-Reynolds-number hydrodynamics, we explicitly calculate the displacements and rotations of the inclusions from the externally imposed or induced forces and torques. Analytical expressions are presented as a function of the inclusion configuration in terms of displaceability and rotateability matrices. The role of the elastic environment is implicitly included in these relations. That is, the resulting expressions allow a calculation of the induced displacements and rotations directly from the inclusion configuration, without having to explicitly determine the deformations of the elastic environment. In contrast to the hydrodynamic case, compressibility of the surrounding medium is readily taken into account. We present the complete derivation based on the underlying equations of linear elasticity theory. In the future, the method will, for example, be helpful to characterize the behavior of externally tunable elastic composite materials, to accelerate numerical approaches, as well as to improve the quantitative interpretation of microrheological results.

Quantifying the Precision of Single-Molecule Torque and Twist Measurements Using Allan Variance.

PubMed

van Oene, Maarten M; Ha, Seungkyu; Jager, Tessa; Lee, Mina; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H

2018-04-24

Single-molecule manipulation techniques have provided unprecedented insights into the structure, function, interactions, and mechanical properties of biological macromolecules. Recently, the single-molecule toolbox has been expanded by techniques that enable measurements of rotation and torque, such as the optical torque wrench (OTW) and several different implementations of magnetic (torque) tweezers. Although systematic analyses of the position and force precision of single-molecule techniques have attracted considerable attention, their angle and torque precision have been treated in much less detail. Here, we propose Allan deviation as a tool to systematically quantitate angle and torque precision in single-molecule measurements. We apply the Allan variance method to experimental data from our implementations of (electro)magnetic torque tweezers and an OTW and find that both approaches can achieve a torque precision better than 1 pN · nm. The OTW, capable of measuring torque on (sub)millisecond timescales, provides the best torque precision for measurement times ≲10 s, after which drift becomes a limiting factor. For longer measurement times, magnetic torque tweezers with their superior stability provide the best torque precision. Use of the Allan deviation enables critical assessments of the torque precision as a function of measurement time across different measurement modalities and provides a tool to optimize measurement protocols for a given instrument and application. Copyright © 2018 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Strength Modeling Report

NASA Technical Reports Server (NTRS)

Badler, N. I.; Lee, P.; Wong, S.

1985-01-01

Strength modeling is a complex and multi-dimensional issue. There are numerous parameters to the problem of characterizing human strength, most notably: (1) position and orientation of body joints; (2) isometric versus dynamic strength; (3) effector force versus joint torque; (4) instantaneous versus steady force; (5) active force versus reactive force; (6) presence or absence of gravity; (7) body somatotype and composition; (8) body (segment) masses; (9) muscle group envolvement; (10) muscle size; (11) fatigue; and (12) practice (training) or familiarity. In surveying the available literature on strength measurement and modeling an attempt was made to examine as many of these parameters as possible. The conclusions reached at this point toward the feasibility of implementing computationally reasonable human strength models. The assessment of accuracy of any model against a specific individual, however, will probably not be possible on any realistic scale. Taken statistically, strength modeling may be an effective tool for general questions of task feasibility and strength requirements.

The long-period librations of large synchronous icy moons

NASA Astrophysics Data System (ADS)

Yseboodt, Marie; Van Hoolst, Tim

2014-11-01

A moon in synchronous rotation has longitudinal librations because of its non-spherical mass distribution and its elliptical orbit around the planet. We study the long-period librations of the Galilean satellites and Titan and include deformation effects and the existence of a subsurface ocean. We take into account the fact that the orbit is not keplerian and has other periodicities than the main period of orbital motion around Jupiter or Saturn due to perturbations by the Sun, other planets and moons. An orbital theory is used to compute the orbital perturbations due to these other bodies. For Titan we also take into account the large atmospheric torque at the semi-annual period of Saturn around the Sun.We numerically evaluate the amplitude and phase of the long-period librations for many interior structure models of the icy moons constrained by the mass, radius and gravity field.

Innovative mechanism for measuring the mass properties of an object

NASA Technical Reports Server (NTRS)

Wolcott, Kedron R.; Graham, Todd A.; Doty, Keith L.

1994-01-01

The Kennedy Space Center Robotics Group recently completed development and testing on a novel approach to measure the mass properties of a rigid body. This unique design can measure the payload's weight, mass center location, and moments of inertia about three orthogonal axes. Furthermore, these measurements only require a single torque sensor and a single angular position sensor.

A method to accurately estimate the muscular torques of human wearing exoskeletons by torque sensors.

PubMed

Hwang, Beomsoo; Jeon, Doyoung

2015-04-09

In exoskeletal robots, the quantification of the user's muscular effort is important to recognize the user's motion intentions and evaluate motor abilities. In this paper, we attempt to estimate users' muscular efforts accurately using joint torque sensor which contains the measurements of dynamic effect of human body such as the inertial, Coriolis, and gravitational torques as well as torque by active muscular effort. It is important to extract the dynamic effects of the user's limb accurately from the measured torque. The user's limb dynamics are formulated and a convenient method of identifying user-specific parameters is suggested for estimating the user's muscular torque in robotic exoskeletons. Experiments were carried out on a wheelchair-integrated lower limb exoskeleton, EXOwheel, which was equipped with torque sensors in the hip and knee joints. The proposed methods were evaluated by 10 healthy participants during body weight-supported gait training. The experimental results show that the torque sensors are to estimate the muscular torque accurately in cases of relaxed and activated muscle conditions.

Investigation of torque generated by Test Blanket Module mock-up in DIII-D

NASA Astrophysics Data System (ADS)

Salmi, A.; Tala, T.; Lanctot, M.; Degrassie, J. S.; Paz-Soldan, C.; Logan, N.; Solomon, W. M.; Grierson, B. A.

2015-11-01

Experiments at DIII-D have investigated the scaling of Test Blanket Module (TBM) torque with plasma pressure and collisionality by performing dimensionless parameter scans. In each configuration, neutral beam torque modulation and TBM torque modulation were sequentially applied to allow experimental characterization of the TBM generated torque and the underlying transport. Calculations of the neoclassical toroidal viscosity (NTV) torque with PENT code of these plasmas find that TBM torque is strongly edge localized while the tentative experimental analysis indicates a more radially broad TBM torque profile. Both the experimental and PENT results will be elaborated and experimental TBM torque scaling with pressure and collisionality presented. Experimental validation of existing plasma response and NTV torque models is an important step toward understanding the impact of magnetic field ripple on plasma rotation, and for predicting the required compensation fields. Work supported by the US Department of Energy under DE-AC52-07NA27344, DE-FC02-04ER54698 and DE-AC02-09CH11466.

Torque coordinating robust control of shifting process for dry dual clutch transmission equipped in a hybrid car

NASA Astrophysics Data System (ADS)

Zhao, Z.-G.; Chen, H.-J.; Yang, Y.-Y.; He, L.

2015-09-01

For a hybrid car equipped with dual clutch transmission (DCT), the coordination control problems of clutches and power sources are investigated while taking full advantage of the integrated starter generator motor's fast response speed and high accuracy (speed and torque). First, a dynamic model of the shifting process is established, the vehicle acceleration is quantified according to the intentions of the driver, and the torque transmitted by clutches is calculated based on the designed disengaging principle during the torque phase. Next, a robust H∞ controller is designed to ensure speed synchronisation despite the existence of model uncertainties, measurement noise, and engine torque lag. The engine torque lag and measurement noise are used as external disturbances to initially modify the output torque of the power source. Additionally, during the torque switch phase, the torque of the power sources is smoothly transitioned to the driver's demanded torque. Finally, the torque of the power sources is further distributed based on the optimisation of system efficiency, and the throttle opening of the engine is constrained to avoid sharp torque variations. The simulation results verify that the proposed control strategies effectively address the problem of coordinating control of clutches and power sources, establishing a foundation for the application of DCT in hybrid cars.

How joint torques affect hamstring injury risk in sprinting swing-stance transition.

PubMed

Sun, Yuliang; Wei, Shutao; Zhong, Yunjian; Fu, Weijie; Li, Li; Liu, Yu

2015-02-01

The potential mechanisms of hamstring strain injuries in athletes are not well understood. The study, therefore, was aimed at understanding hamstring mechanics by studying loading conditions during maximum-effort overground sprinting. Three-dimensional kinematics and ground reaction force data were collected from eight elite male sprinters sprinting at their maximum effort. Maximal isometric torques of the hip and knee were also collected. Data from the sprinting gait cycle were analyzed via an intersegmental dynamics approach, and the different joint torque components were calculated. During the initial stance phase, the ground reaction force passed anteriorly to the knee and hip, producing an extension torque at the knee and a flexion torque at the hip joint. Thus, the active muscle torque functioned to produce flexion torque at the knee and extension torque at the hip. The maximal muscle torque at the knee joint was 1.4 times the maximal isometric knee flexion torque. During the late swing phase, the muscle torque counterbalanced the motion-dependent torque and acted to flex the knee joint and extend the hip joint. The loading conditions on the hamstring muscles were similar to those of the initial stance phase. During both the initial stance and late swing phases, the large passive torques at both the knee and hip joints acted to lengthen the hamstring muscles. The active muscle torques generated mainly by the hamstrings functioned to counteract those passive effects. As a result, during sprinting or high-speed locomotion, the hamstring muscles may be more susceptible to high risk of strain injury during these two phases.

The Effect of a Combination of Implant Controller and Handpiece from Different Manufacturers on the Torque Value.

PubMed

Lee, Du-Hyeong; Kim, Yong-Gun; Lee, Jong-Ho; Hong, Sam-Pyo; Lim, Young-Jun; Lee, Kyu-Bok

2015-01-01

To determine the accuracy of applied torque of different implant controller and handpiece combinations by using an electronic torque gauge. Four combinations of the following devices were tested: Surgic XT controller (NSK), XIP10 controller (Saeshin), X-SG20L handpiece (NSK), CRB26LX handpiece (Saeshin). For five torque settings, 30 measurements were recorded at 30 revolutions per minute by using an electronic torque gauge fixed to jigs, and means were calculated. Applied torques were generally higher than the set torque of 10 and 20 Ncm and lower than the set values of 40 and 50 Ncm. The average torque deviations differed significantly among the combinations (P < .05). At 10 and 20 Ncm, the Surgic XT/X-SG20L combination yielded the closest value to the intended torque, followed by the XIP10/X-SG20L combination. At 30 Ncm, the XIP10/X-SG20L combination showed the nearest value. At 40 Ncm, the Surgic XT/X-SG20L, XIP10/CRB26LX, and XIP10/X-SG20L combinations showed deviations within 10%. At 50 Ncm, all the combinations showed lower applied torque than the set value. Large standard deviations were observed in the Surgic XT/CRB26LX (13.288) and Surgic XT/X-SG20L (7.858) combinations. Different combinations of implant controllers and handpieces do not generate significant variations in applied torque. The actual torque varies according to the torque setting. It is necessary to calibrate devices before use to reduce potentially problematic torque.

How Joint Torques Affect Hamstring Injury Risk in Sprinting Swing–Stance Transition

PubMed Central

SUN, YULIANG; WEI, SHUTAO; ZHONG, YUNJIAN; FU, WEIJIE; LI, LI; LIU, YU

2015-01-01

ABSTRACT Purpose The potential mechanisms of hamstring strain injuries in athletes are not well understood. The study, therefore, was aimed at understanding hamstring mechanics by studying loading conditions during maximum-effort overground sprinting. Methods Three-dimensional kinematics and ground reaction force data were collected from eight elite male sprinters sprinting at their maximum effort. Maximal isometric torques of the hip and knee were also collected. Data from the sprinting gait cycle were analyzed via an intersegmental dynamics approach, and the different joint torque components were calculated. Results During the initial stance phase, the ground reaction force passed anteriorly to the knee and hip, producing an extension torque at the knee and a flexion torque at the hip joint. Thus, the active muscle torque functioned to produce flexion torque at the knee and extension torque at the hip. The maximal muscle torque at the knee joint was 1.4 times the maximal isometric knee flexion torque. During the late swing phase, the muscle torque counterbalanced the motion-dependent torque and acted to flex the knee joint and extend the hip joint. The loading conditions on the hamstring muscles were similar to those of the initial stance phase. Conclusions During both the initial stance and late swing phases, the large passive torques at both the knee and hip joints acted to lengthen the hamstring muscles. The active muscle torques generated mainly by the hamstrings functioned to counteract those passive effects. As a result, during sprinting or high-speed locomotion, the hamstring muscles may be more susceptible to high risk of strain injury during these two phases. PMID:24911288

Geophysical investigation using gravity data in Kinigi geothermal field, northwest Rwanda

NASA Astrophysics Data System (ADS)

Uwiduhaye, Jean d.'Amour; Mizunaga, Hideki; Saibi, Hakim

2018-03-01

A land gravity survey was carried out in the Kinigi geothermal field, Northwest Rwanda using 184 gravity stations during August and September, 2015. The aim of the gravity survey was to understand the subsurface structure and its relation to the observed surface manifestations in the study area. The complete Bouguer Gravity anomaly was produced with a reduction density of 2.4 g/cm3. Bouguer anomalies ranging from -52 to -35 mGals were observed in the study area with relatively high anomalies in the east and northwest zones while low anomalies are observed in the southwest side of the studied area. A decrease of 17 mGals is observed in the southwestern part of the study area and caused by the low-density of the Tertiary rocks. Horizontal gradient, tilt angle and analytical signal methods were applied to the observed gravity data and showed that Mubona, Mpenge and Cyabararika surface springs are structurally controlled while Rubindi spring is not. The integrated results of gravity gradient interpretation methods delineated a dominant geological structure trending in the NW-SE, which is in agreement with the regional geological trend. The results of this gravity study will help aid future geothermal exploration and development in the Kinigi geothermal field.

Rayleigh lidar observations of gravity wave characteristics in the middle atmosphere at Gadanki, India (13.5 degrees N, 79.2 degreesE.)

NASA Astrophysics Data System (ADS)

Parameswaran, K.; Rajeev, K.; Sasi, M. N.; Ramkumar, Geetha; Krishna Murthy, B. V.; Satheesan, K.; Jain, A. R.; Bhavanikumar, Y.; Raghunath, Kalavai J.; Krishnaiah, M.

2002-01-01

Rayleigh lidar observations of temperature in the stratosphere and mesosphere are carried out an Gadanki from February 29 to March 31, 2000, which provided a powerful means of studying the gravity wave characteristics over the tropical atmosphere during winter. The potential energy per unit mass associated with the gravity wave activity in the upper stratosphere and mesosphere is found to undergo periodic fluctuations, which are closely correlated with the zonal wind fluctuations in the stratosphere produced by the equatorial waves. This provides the first observational evidence for the modulation of the gravity wave activity by the long period equatorial waves over the tropical middle atmosphere. The vertical wave number spectra of gravity waves shows that power spectral density decease with increasing wave number with a slope less than that expected for the saturated gravity wave spectrum in the stratosphere and mesosphere. PSD decreases for vertical wavelengths smaller than about 10 km in the stratosphere while the decrease is observed for the complete range of observed gravity wave spectrum in the mesosphere. A monochromatic upward propagating gravity wave with periodicity of 6 hour, amplitude of about 1 K to 3 K and vertical wavelength of 11 km was observed on 22 March, 2000.

Torus Approach in Gravity Field Determination from Simulated GOCE Gravity Gradients

NASA Astrophysics Data System (ADS)

Liu, Huanling; Wen, Hanjiang; Xu, Xinyu; Zhu, Guangbin

2016-08-01

In Torus approach, observations are projected to the nominal orbits with constant radius and inclination, lumped coefficients provides a linear relationship between observations and spherical harmonic coefficients. Based on the relationship, two-dimensional FFT and block-diagonal least-squares adjustment are used to recover Earth's gravity field model. The Earth's gravity field model complete to degree and order 200 is recovered using simulated satellite gravity gradients on a torus grid, and the degree median error is smaller than 10-18, which shows the effectiveness of Torus approach. EGM2008 is employed as a reference model and the gravity field model is resolved using the simulated observations without noise given on GOCE orbits of 61 days. The error from reduction and interpolation can be mitigated by iterations. Due to polar gap, the precision of low-order coefficients is lower. Without considering these coefficients the maximum geoid degree error and cumulative error are 0.022mm and 0.099mm, respectively. The Earth's gravity field model is also recovered from simulated observations with white noise 5mE/Hz1/2, which is compared to that from direct method. In conclusion, it is demonstrated that Torus approach is a valid method for processing massive amount of GOCE gravity gradients.

Moisture content and specific gravity of the four major southern pines under the same age and site conditions

Treesearch

Mark D. Gibson; Charles W. McMillin; Eugene Shoulders

1986-01-01

Slash, loblolly, longleaf, and shortleaf pines in northern Louisiana were examined for differences in moisture content (MC) and basic specific gravity (SG) of wood and bark in the complete tree, root, stem, and branches and differences in diameter at breast height (dbh), total height, and taproot length of trees in even-aged plantations under identical site conditions...

Overload control of artificial gravity facility using spinning tether system for high eccentricity transfer orbits

NASA Astrophysics Data System (ADS)

Gou, Xing-wang; Li, Ai-jun; Tian, Hao-chang; Wang, Chang-qing; Lu, Hong-shi

2018-06-01

As the major part of space life supporting systems, artificial gravity requires further study before it becomes mature. Spinning tether system is a good alternative solution to provide artificial gravity for the whole spacecraft other than additional devices, and its longer tether length could significantly reduce spinning velocity and thus enhance comfortability. An approximated overload-based feedback method is proposed to provide estimated spinning velocity signals for controller, so that gravity level could be accurately controlled without complicated GPS modules. System behavior in high eccentricity transfer orbits is also studied to give a complete knowledge of the spinning stabilities. The application range of the proposed method is studied in various orbit cases and spinning velocities, indicating that it is accurate and reliable for most of the mission phases especially for the final constant gravity level phase. In order to provide stable gravity level for transfer orbit missions, a sliding mode controller based on estimated angular signals is designed for closed-loop control. Numerical results indicate that the combination of overload-based feedback and sliding mode controller could satisfy most of the long-term artificial gravity missions. It is capable of forming flexible gravity environment in relatively good accuracy even in the lowest possible orbital radiuses and high eccentricity orbits of crewed space missions. The proposed scheme provides an effective tether solution for the artificial gravity construction in interstellar travel.

The effect of sterilization and number of use on the accuracy of friction-style mechanical torque limiting devices for dental implants

PubMed Central

Fayaz, Ali; Mahshid, Minoo; Saboury, Aboulfazl; Sadr, Seyed Jalil; Ansari, Ghassem

2014-01-01

Background: Mechanical torque limiting devices (MTLDs) are necessary tools to control a peak torque and achieving target values of screw component of dental implants. Due to probable effect of autoclaving and number of use on the accuracy of these devices, this study aimed to evaluate the effect of sterilization and number of use on the accuracy of friction-style mechanical torque limiting devices (F-S MTLDs) in achieving their target torque values. Materials and Methods: Peak torque measurements of 15 new F-S MTLDs from three different manufacturers (Astra Tech, BioHorizons, Dr. Idhe) were measured ten times before and after 100 steam sterilization using a digital torque gauge. To simulate the clinical situation of aging (number of use) target torque application process was repeated 10 times after each sterilization cycle and the peak torque values were registered. Comparison of the mean differences with target torque in each cycle was performed using one sample t test. Considering the type of MTLDs as inter subject comparison, One-way repeated measure ANOVA was used to evaluate the absolute values of differences between devices of each manufacturer in each group (α = 0.05). Results: The results of this study in Dr. Idhe group showed that, mean of difference values significantly differed from the target torque (P = 0.002) until 75 cycles. In Astra Tech group, also mean of difference values with under estimation trend, showed a significant difference with the target torque (P < 0.001). Mean of difference values significantly differed from the target torque with under estimation trend during all the 100 cycles in BioHorizons group (P < 0.05). Conclusion: The torque output of each individual device stayed in 10% difference from target torque values before 100 sterilization cycles, but more than 10% difference from the target torque was seen in varying degrees during these consequent cycles. PMID:24688564

Interface for Physics Simulation Engines

NASA Technical Reports Server (NTRS)

Damer, Bruce

2007-01-01

DSS-Prototyper is an open-source, realtime 3D virtual environment software that supports design simulation for the new Vision for Space Exploration (VSE). This is a simulation of NASA's proposed Robotic Lunar Exploration Program, second mission (RLEP2). It simulates the Lunar Surface Access Module (LSAM), which is designed to carry up to four astronauts to the lunar surface for durations of a week or longer. This simulation shows the virtual vehicle making approaches and landings on a variety of lunar terrains. The physics of the descent engine thrust vector, production of dust, and the dynamics of the suspension are all modeled in this set of simulations. The RLEP2 simulations are drivable (by keyboard or joystick) virtual rovers with controls for speed and motor torque, and can be articulated into higher or lower centers of gravity (depending on driving hazards) to enable drill placement. Gravity also can be set to lunar, terrestrial, or zero-g. This software has been used to support NASA's Marshall Space Flight Center in simulations of proposed vehicles for robotically exploring the lunar surface for water ice, and could be used to model all other aspects of the VSE from the Ares launch vehicles and Crew Exploration Vehicle (CEV) to the International Space Station (ISS). This simulator may be installed and operated on any Windows PC with an installed 3D graphics card.

[Biomechanical testing of the new torque-segmented arch (TSA)].

PubMed

Wichelhaus, A; Sander, F G

1995-07-01

New torque-segmented arch wires are presented which consist of a superelastic anterior component with 30 degrees or 45 degrees torque and which are connected to 2 steel lateral components by means of a crimped connector. When using such torque-segmented arch wires, the crimped connector rests mesially to the canine bracket and the lateral components exhibit a torque of 0 degree. The use of the torque-segmented arch wires requires the practitioner to adjust the anterior tooth segment, to bend in first order bends in the steel lateral portion as well as to bend in a sweep to avoid an anterior tooth extrusion, and, if desired, to bend in third order bends to influence premolars and molars. In some cases the simultaneous application of palatal arches can become necessary, because each torque transfer results in a transversal enlargement in the molar area. Compared to conventional steel wires with dimensions of 0.016 x 0.022 in which an anterior tooth torque is bent, the torque segmented arch wires exhibit considerably fewer side effects, but there is a larger distally rotating moment for the molars. 1. When applying torque-segmented arch wires, the extrusive force transferred to the anterior teeth is considerably smaller. 2. The protrusive force acting on the anterior teeth is also considerably smaller, which results in a reduced demand being placed on the anchorage of the molars. 3. The torque transfer to the incisors rests in a quite moderate range, even in the case of a 50 degrees torque. For this reason, the practitioner can expect diminished or no resorptions at all compared to the aforementioned steel wires. 4. The Martensite plateau of the torque-segmented arch wires exhibit constant moments in large areas so that such arch wires can be used in almost every anterior tooth position. 5. The segmented wires presented here can be applied not only in the case of the standard edgewise technique but also in each case of the straight-wire technique. 6. These new arch wires require no readjustment of torque values. 7. To control the transferred torque values it is recommended that the already transferred torque values be monitored during each check-up with the help of the described torque key. 8. When the torque values of the brackets are known, the torque key renders frequent patient X-rays superfluous. 9. When the desired torque values are attained, treatment can proceed using conventional arch wires.

NASA Workshop on Animal Gravity-Sensing Systems

NASA Technical Reports Server (NTRS)

Corcoran, M. L. (Editor)

1986-01-01

The opportunity for space flight has brought about the need for well-planned research programs that recognize the significance of space flight as a scientific research tool for advancing knowledge of life on Earth, and that utilize each flight opportunity to its fullest. For the first time in history, gravity can be almost completely eliminated. Thus, studies can be undertaken that will help to elucidate the importance of gravity to the normal functioning of living organisms, and to determine the effects microgravity may have on an organism. This workshop was convened to organize a plan for space research on animal gravity-sensing systems and the role that gravity plays in the development and normal functioning of these systems. Scientists working in the field of animal gravity-sensing systems use a wide variety of organisms in their research. The workshop presentations dealt with topics which ranged from the indirect gravity receptor of the water flea, Daphnia (whose antennal setae apparently act as current-sensing receptors as the animal moves up and down in water), through specialized statocyst structures found in jellyfish and gastropods, to the more complex vestibular systems that are characteristic of amphibians, avians, and mammals.

14 CFR 27.361 - Engine torque.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Engine torque. 27.361 Section 27.361... STANDARDS: NORMAL CATEGORY ROTORCRAFT Strength Requirements Flight Loads § 27.361 Engine torque. (a) For turbine engines, the limit torque may not be less than the highest of— (1) The mean torque for maximum...

14 CFR 27.361 - Engine torque.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Engine torque. 27.361 Section 27.361... STANDARDS: NORMAL CATEGORY ROTORCRAFT Strength Requirements Flight Loads § 27.361 Engine torque. (a) For turbine engines, the limit torque may not be less than the highest of— (1) The mean torque for maximum...

14 CFR 27.361 - Engine torque.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Engine torque. 27.361 Section 27.361... STANDARDS: NORMAL CATEGORY ROTORCRAFT Strength Requirements Flight Loads § 27.361 Engine torque. (a) For turbine engines, the limit torque may not be less than the highest of— (1) The mean torque for maximum...

14 CFR 27.361 - Engine torque.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Engine torque. 27.361 Section 27.361... STANDARDS: NORMAL CATEGORY ROTORCRAFT Strength Requirements Flight Loads § 27.361 Engine torque. (a) For turbine engines, the limit torque may not be less than the highest of— (1) The mean torque for maximum...

14 CFR 27.361 - Engine torque.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Engine torque. 27.361 Section 27.361... STANDARDS: NORMAL CATEGORY ROTORCRAFT Strength Requirements Flight Loads § 27.361 Engine torque. (a) For turbine engines, the limit torque may not be less than the highest of— (1) The mean torque for maximum...

Torque and Learning and Behavior Problems in Children.

ERIC Educational Resources Information Center

Zendel, Ivan H.; Pihl, R. O.

1980-01-01

Findings indicate minimal differences, on diagnostic tests, between children who exhibited torque and those who did not. Torque is defined as the circling of any X in a clockwise direction. Torque is not associated with learning problems in school. Diagnostic utility of torque should be carefully considered. (Author)

Description of and preliminary tests results for the Joint Damping Experiment (JDX)

NASA Technical Reports Server (NTRS)

Bingham, Jeffrey G.; Folkman, Steven L.

1995-01-01

An effort is currently underway to develop an experiment titled joint Damping E_periment (JDX) to fly on the Space Shuttle as Get Away Special Payload G-726. This project is funded by NASA's IN-Space Technology Experiments Program and is scheduled to fly in July 1995 on STS-69. JDX will measure the influence of gravity on the structural damping of a three bay truss having clearance fit pinned joints. Structural damping is an important parameter in the dynamics of space structures. Future space structures will require more precise knowledge of structural damping than is currently available. The mission objectives are to develop a small-scale shuttle flight experiment that allows researchers to: (1) characterize the influence of gravity and joint gaps on structural damping and dynamic behavior of a small-scale truss model, and (2) evaluate the applicability of low-g aircraft test results for predicting on-orbit behavior. Completing the above objectives will allow a better understanding and/or prediction of structural damping occurring in a pin jointed truss. Predicting damping in joints is quite difficult. One of the important variables influencing joint damping is gravity. Previous work has shown that gravity loads can influence damping in a pin jointed truss structure. Flying this experiment as a GAS payload will allow testing in a microgravity environment. The on-orbit data (in micro-gravity) will be compared with ground test results. These data will be used to help develop improved models to predict damping due to pinned joints. Ground and low-g aircraft testing of this experiment has been completed. This paper describes the experiment and presents results of both ground and low-g aircraft tests which demonstrate that damping of the truss is dramatically influenced by gravity.

Adventures in Topological Field Theory

NASA Astrophysics Data System (ADS)

Horne, James H.

1990-01-01

This thesis consists of 5 parts. In part I, the topological Yang-Mills theory and the topological sigma model are presented in a superspace formulation. This greatly simplifies the field content of the theories, and makes the Q-invariance more obvious. The Feynman rules for the topological Yang -Mills theory are derived. We calculate the one-loop beta-functions of the topological sigma model in superspace. The lattice version of these theories is presented. The self-duality constraints of both models lead to spectrum doubling. In part II, we show that conformally invariant gravity in three dimensions is equivalent to the Yang-Mills gauge theory of the conformal group in three dimensions, with a Chern-Simons action. This means that conformal gravity is finite and exactly soluble. In part III, we derive the skein relations for the fundamental representations of SO(N), Sp(2n), Su(m| n), and OSp(m| 2n). These relations can be used recursively to calculate the expectation values of Wilson lines in three-dimensional Chern-Simons gauge theory with these gauge groups. A combination of braiding and tying of Wilson lines completely describes the skein relations. In part IV, we show that the k = 1 two dimensional gravity amplitudes at genus 3 agree precisely with the results from intersection theory on moduli space. Predictions for the genus 4 intersection numbers follow from the two dimensional gravity theory. In part V, we discuss the partition function in two dimensional gravity. For the one matrix model at genus 2, we use the partition function to derive a recursion relation. We show that the k = 1 amplitudes completely determine the partition function at arbitrary genus. We present a conjecture for the partition function for the arbitrary topological field theory coupled to topological gravity.

Installation Torque Tables for Noncritical Applications

NASA Technical Reports Server (NTRS)

Rivera-Rosario, Hazel T.; Powell, Joseph S.

2017-01-01

The objective of this project is to define torque values for bolts and screws when loading is not a concern. Fasteners require a certain torque to fulfill its function and prevent failure. NASA Glenn Research Center did not have a set of fastener torque tables for non-critical applications without loads, usually referring to hand-tight or wrench-tight torqueing. The project is based on two formulas, torque and pullout load. Torque values are calculated giving way to preliminary data tables. Testing is done to various bolts and metal plates, torqueing them until the point of failure. Around 640 torque tables were developed for UNC, UNF, and M fasteners. Different lengths of thread engagement were analyzed for the 5 most common materials used at GRC. The tables were put together in an Excel spreadsheet and then formatted into a Word document. The plan is to later convert this to an official technical publication or memorandum.

Robust tuning of robot control systems

NASA Technical Reports Server (NTRS)

Minis, I.; Uebel, M.

1992-01-01

The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

Torque characteristics of a 122-centimeter butterfly valve with a hydro/pneumatic actuator

NASA Technical Reports Server (NTRS)

Lin, F. N.; Moore, W. I.; Lundy, F. E.

1981-01-01

Actuating torque data from field testing of a 122-centimeter (48 in.) butterfly valve with a hydro/pneumatic actuator is presented. The hydraulic cylinder functions as either a forward or a reverse brake. Its resistance torque increases when the valve speeds up and decreases when the valve slows down. A reduction of flow resistance in the hydraulic flow path from one end of the hydraulic cylinder to the other will effectively reduce the hydraulic resistance torque and hence increase the actuating torque. The sum of hydrodynamic and friction torques (combined resistance torque) of a butterfly valve is a function of valve opening time. An increase in the pneumatic actuating pressure will result in a decrease in both the combined resistance torque and the actuator opening torque; however, it does shorten the valve opening time. As the pneumatic pressure increases, the valve opening time for a given configuration approaches an asymptotical value.

Spin transfer torque in antiferromagnetic spin valves: From clean to disordered regimes

NASA Astrophysics Data System (ADS)

Saidaoui, Hamed Ben Mohamed; Manchon, Aurelien; Waintal, Xavier

2014-05-01

Current-driven spin torques in metallic spin valves composed of antiferromagnets are theoretically studied using the nonequilibrium Green's function method implemented on a tight-binding model. We focus our attention on G-type and L-type antiferromagnets in both clean and disordered regimes. In such structures, spin torques can either rotate the magnetic order parameter coherently (coherent torque) or compete with the internal antiferromagnetic exchange (exchange torque). We show that, depending on the symmetry of the spin valve, the coherent and exchange torques can either be in the plane, ∝n×(q×n) or out of the plane ∝n×q, where q and n are the directions of the order parameter of the polarizer and the free antiferromagnetic layers, respectively. Although disorder conserves the symmetry of the torques, it strongly reduces the torque magnitude, pointing out the need for momentum conservation to ensure strong spin torque in antiferromagnetic spin valves.

Pelvic rotation torque during fast-pitch softball hitting under three ball height conditions.

PubMed

Iino, Yoichi; Fukushima, Atsushi; Kojima, Takeji

2014-08-01

The purpose of this study was to investigate the relevance of hip joint angles to the production of the pelvic rotation torque in fast-pitch softball hitting and to examine the effect of ball height on this production. Thirteen advanced female softball players hit stationary balls at three different heights: high, middle, and low. The pelvic rotation torque, defined as the torque acting on the pelvis through the hip joints about the pelvic superior-inferior axis, was determined from the kinematic and force plate data using inverse dynamics. Irrespective of the ball heights, the rear hip extension, rear hip external rotation, front hip adduction, and front hip flexion torques contributed to the production of pelvic rotation torque. Although the contributions of the adduction and external rotation torques at each hip joint were significantly different among the ball heights, the contributions of the front and rear hip joint torques were similar among the three ball heights owing to cancelation of the two torque components. The timings of the peaks of the hip joint torque components were significantly different, suggesting that softball hitters may need to adjust the timings of the torque exertions fairly precisely to rotate the upper body effectively.

The effect of the use of a counter-torque device on the abutment-implant complex.

PubMed

Lang, L A; May, K B; Wang, R F

1999-04-01

Little is known about the condition of the abutment-screw joint before loading, after the development of the preload. This study examined the tightening force transmitted to the implant with and without the use of a counter-torque device during the tightening of the abutment screw. Forty Brânemark implants and 10 CeraOne, Estheticone, Procera, and AurAdapt abutments formed the experimental populations. Samples in each group were further divided into 2 groups, 1 group was tightened with a torque controller without the use of a counter-torque device, whereas the other used the counter-torque device. Samples were positioned in a special holder within the grips of a Tohnichi BTG-6 torque gauge for measuring transmitted forces. There were significant differences (P =. 0001) in the tightening forces transmitted to the implant with and without the use of a counter-torque device when tightening the abutment screws. An average of 91% of the recommended preload tightening torque was transmitted to the implant-bone interface in the absence of a counter-torque device. In all abutment systems, less than 10% of the recommended preload tightening torque was transmitted to the implant when the counter-torque device was used.

Muscle activation and the isokinetic torque-velocity relationship of the human triceps surae.

PubMed

Harridge, S D; White, M J

1993-01-01

The influence of muscle activation and the time allowed for torque generation on the angle-specific torque-velocity relationship of the triceps surae was studied during plantar flexion using supramaximal electrical stimulation and a release technique on six male subjects [mean (SD) age 25 (4) years]. Torque-velocity data were obtained under different levels of constant muscle activation by varying the stimulus frequency and the time allowed for isometric torque generation prior to release and isokinetic shortening. To eliminate the effects of the frequency response on absolute torque the isokinetic data were normalized to the maximum isometric torque values at 0.44 rad. There were no significant differences in the normalized torques generated at any angular velocity using stimulus frequencies of 20, 50 or 80 Hz. When the muscle was stimulated at 50 Hz the torques obtained after a 400 ms and 1 s pre-release isometric contraction did not differ significantly. However, with no pre-release contraction significantly less torque was generated at all angular velocities beyond 1.05 rad.s-1 when compared with either the 200, 400 ms or 1 s condition. With a 200 ms pre-release contraction significantly less torque was generated at angular velocities beyond 1.05 rad.s-1 when compared with the 400 ms or 1 s conditions. It would seem that the major factor governing the shape of the torque-velocity curve at a constant level of muscle activation is the time allowed for torque generation.

Measurement of clinicians' ability to hand torque dental implant components.

PubMed

Kanawati, Ali; Richards, Mark W; Becker, Jeffery J; Monaco, Natalie E

2009-01-01

There is a varying degree of hand torque abilities using finger drivers among clinicians. Calibrating one's own abilities requires complicated instruments not readily available. This study evaluated a simple-to-use method that allows dental practitioners to have a quantifiable clinical assessment of relative torque ability using finger drivers to torque down dental implant components. A typodont that includes dental implants was mounted in a mannequin placed in a patient-reclined position. The subjects were asked to torque as tightly as they could a new healing abutment to an implant secured firmly in resin within the typodont. All participants wore moistened gloves when using a finger driver. The healing abutment was countertorqued using a certified precalibrated precision torque measurement device. The reading on the torque driver was recorded when the healing abutment disengaged. An average of torque values of dentists and dental students was calculated. Fifty subjects had an average maximum torque ability of 24 Ncm (male dentists: 28 Ncm; students: 22 Ncm; male students: 24 Ncm; female students: 19 Ncm). Maximum torque values for all participants ranged from 11 Ncm to 38 Ncm. There was no significant difference between groups. This study showed a varying degree of hand torquing abilities using a finger driver. Clinicians should regularly calibrate their ability to torque implant components to more predictably perform implant dentistry. Dental implant manufacturers should more precisely instruct clinicians as to maximum torque, as opposed to "finger tighten only".

New design and facilities for the International Database for Absolute Gravity Measurements (AGrav): A support for the Establishment of a new Global Absolute Gravity Reference System

NASA Astrophysics Data System (ADS)

Wziontek, Hartmut; Falk, Reinhard; Bonvalot, Sylvain; Rülke, Axel

2017-04-01

After about 10 years of successful joint operation by BGI and BKG, the International Database for Absolute Gravity Measurements "AGrav" (see references hereafter) was under a major revision. The outdated web interface was replaced by a responsive, high level web application framework based on Python and built on top of Pyramid. Functionality was added, like interactive time series plots or a report generator and the interactive map-based station overview was updated completely, comprising now clustering and the classification of stations. Furthermore, the database backend was migrated to PostgreSQL for better support of the application framework and long-term availability. As comparisons of absolute gravimeters (AG) become essential to realize a precise and uniform gravity standard, the database was extended to document the results on international and regional level, including those performed at monitoring stations equipped with SGs. By this it will be possible to link different AGs and to trace their equivalence back to the key comparisons under the auspices of International Committee for Weights and Measures (CIPM) as the best metrological realization of the absolute gravity standard. In this way the new AGrav database accommodates the demands of the new Global Absolute Gravity Reference System as recommended by the IAG Resolution No. 2 adopted in Prague 2015. The new database will be presented with focus on the new user interface and new functionality, calling all institutions involved in absolute gravimetry to participate and contribute with their information to built up a most complete picture of high precision absolute gravimetry and improve its visibility. A Digital Object Identifier (DOI) will be provided by BGI to contributors to give a better traceability and facilitate the referencing of their gravity surveys. Links and references: BGI mirror site : http://bgi.obs-mip.fr/data-products/Gravity-Databases/Absolute-Gravity-data/ BKG mirror site: http://agrav.bkg.bund.de/agrav-meta/ Wilmes, H., H. Wziontek, R. Falk, S. Bonvalot (2009). AGrav - the New Absolute Gravity Database and a Proposed Cooperation with the GGP Project. J. of Geodynamics, 48, pp. 305-309. doi:10.1016/j.jog.2009.09.035. Wziontek, H., H. Wilmes, S. Bonvalot (2011). AGrav: An international database for absolute gravity measurements. In Geodesy for Planet Earth (S. Kenyon at al. eds). IAG Symposia, 136, 1035-1040, Springer, Berlin. 2011. doi:10.1007/978-3-642-20338-1_130.

Temporal gravity variations associated with the November 1975 deflation of Kilauea Volcano

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

Jachens, R.; Eaton, G.; Lipman, P.

1976-12-01

Repeated high-precision gravity measurements made near the summit of Kilauea Volcano, Hawaii have revealed temporal variations in gravity associated with the deflation of the volcano that followed the earthquake and eruption of November 29, 1975. Gravity differences with respect to a base station located on the south flank of Mauna Loa were measured at 18 sites within 5 km of Kilauea Crater. The original survey, conducted between November 10 and November 23, 1975, was repeated during the two weeks following the earthquake. Standard errors of the gravity differences measured during both surveys average about 5 ..mu..gal. These two surveys indicatemore » that gravity at sites near the summit of Kilauea increased with respect to gravity at sites located away from the summit. The pattern of gravity increase is roughly radially symmetrical about the geodetically determined locus of this deflation event, located approximately 1 km southeast of Kilauea Crater, and has a half-width of 2.2 km. The gravity changes correlate closely with elevation changes that occurred between level surveys conducted on September 22, 1975 and January 8, 1976. The relation between gravity change and elevation change (-1.70 +- 0.07 (s.e.) ..mu..gal/cm)) determined from these data shows that the local mass distribution beneath the summit of Kilauea changed during the time between the surveys. Mass balance calculations indicate that the volume of subsidence is too small to account for the gravity changes, presumably because some magma moved away from the summit area without complete collapse of the resulting voids.« less

Jerks as Guiding Influences on the Global Environment: Effects on the Solid Earth, Its Angular Momentum and Lithospheric Plate Motions, the Atmosphere, Weather, and Climate

NASA Astrophysics Data System (ADS)

Quinn, J. M.; Leybourne, B. A.

2010-12-01

Jerks are thought to be the result of torques applied at the core-mantle boundary (CMB) caused by either of two possible processes, working together or separately: 1) Electromagnetic Induction and 2) Mechanical Slippage. In the first case, it is thought that electromagnetic energy slowly builds-up at the CMB, reaches some critical level, and is then suddenly released, causing a geomagneticly induced torque at the CMB due to the differential electrical conductivity between the lower mantle and the surface of the outer core. The second case is driven by stress and strain increases that buildup mechanical potential energy, which is released when a critical level is reached, thereby generating a torque at the CMB. Generally, a trigger is required to start the Jerk process in motion. In the electromagnetic case, it is suggested that energy from the Sun may supply the requisite energy buildup that is subsequently released by a magnetic storm trigger, for instance. In the case of mechanical slippage, bari-center motion among the Earth, Moon, and Sun, as well as tidal forces and mass redistributions through Earth's wobbles combine to provide the accumulated stress/strain buildup and subsequent trigger. The resulting fluid flow changes at the CMB result in geomagnetic field changes and Joule heating throughout the solid Earth, its oceans, and atmosphere. It is shown that the Global Temperature Anomaly (GTA), which is measured at Earth's surface, correlates with changes in the geomagnetic non-dipole moment, and thus with core fluid motions. This links Global Warming and weather with core processes, important examples being the 1930's Dust Bowl Era and the 1947 Impulse. The CMB torque also affects Earth's angular momentum. But it appears that magnetic storms can as well. As a consequence, the Jet Stream, atmospheric circulation patterns, and the Global Oscillation System (i.e., El-Nino/Southern-Oscillation, North Atlantic Oscillation, the Pacific Decade Oscillation, etc.) are modulated. These parameters in turn affect the weather and climate (e.g., the Dust Bowl Era, El Ninos, La Ninas, and hurricanes). The stress/strain within the Earth leads to Earth torsion, vibration, and mass redistribution, which leads to tectonic plate motion, seismicity, volcanism, and gravity waves, which drive atmospheric circulation and the teleconnection processes (i.e., a redistribution of magma beneath the plates) via surge tectonics. Various other connections among these processes and parameters will be discussed.

Venus Gravity Handbook

NASA Technical Reports Server (NTRS)

Konopliv, Alexander S.; Sjogren, William L.

1996-01-01

This report documents the Venus gravity methods and results to date (model MGNP90LSAAP). It is called a handbook in that it contains many useful plots (such as geometry and orbit behavior) that are useful in evaluating the tracking data. We discuss the models that are used in processing the Doppler data and the estimation method for determining the gravity field. With Pioneer Venus Orbiter and Magellan tracking data, the Venus gravity field was determined complete to degree and order 90 with the use of the JPL Cray T3D Supercomputer. The gravity field shows unprecedented high correlation with topography and resolution of features to the 2OOkm resolution. In the procedure for solving the gravity field, other information is gained as well, and, for example, we discuss results for the Venus ephemeris, Love number, pole orientation of Venus, and atmospheric densities. Of significance is the Love number solution which indicates a liquid core for Venus. The ephemeris of Venus is determined to an accuracy of 0.02 mm/s (tens of meters in position), and the rotation period to 243.0194 +/- 0.0002 days.

Gravity and Biology

NASA Technical Reports Server (NTRS)

Morey-Holton, Emily R.

1996-01-01

Gravity has been the most constant environmental factor throughout the evolution of biological species on Earth. Organisms are rarely exposed to other gravity levels, either increased or decreased, for prolonged periods. Thus, evolution in a constant 1G field has historically prevented us from appreciating the potential biological consequences of a multi-G universe. To answer the question 'Can terrestrial life be sustained and thrive beyond our planet?' we need to understand the importance of gravity on living systems, and we need to develop a multi-G, rather than a 1G, mentality. The science of gravitational biology took a giant step with the advent of the space program, which provided the first opportunity to examine living organisms in gravity environments lower than could be sustained on Earth. Previously, virtually nothing was known about the effects of extremely low gravity on living organisms, and most of the initial expectations were proven wrong. All species that have flown in space survive in microgravity, although no higher organism has ever completed a life cycle in space. It has been found, however, that many systems change, transiently or permanently, as a result of prolonged exposure to microgravity.

Assessment of isometric muscle strength and rate of torque development with hand-held dynamometry: Test-retest reliability and relationship with gait velocity after stroke.

PubMed

Mentiplay, Benjamin F; Tan, Dawn; Williams, Gavin; Adair, Brooke; Pua, Yong-Hao; Bower, Kelly J; Clark, Ross A

2018-04-27

Isometric rate of torque development examines how quickly force can be exerted and may resemble everyday task demands more closely than isometric strength. Rate of torque development may provide further insight into the relationship between muscle function and gait following stroke. Aims of this study were to examine the test-retest reliability of hand-held dynamometry to measure isometric rate of torque development following stroke, to examine associations between strength and rate of torque development, and to compare the relationships of strength and rate of torque development to gait velocity. Sixty-three post-stroke adults participated (60 years, 34 male). Gait velocity was assessed using the fast-paced 10 m walk test. Isometric strength and rate of torque development of seven lower-limb muscle groups were assessed with hand-held dynamometry. Intraclass correlation coefficients were calculated for reliability and Spearman's rho correlations were calculated for associations. Regression analyses using partial F-tests were used to compare strength and rate of torque development in their relationship with gait velocity. Good to excellent reliability was shown for strength and rate of torque development (0.82-0.97). Strong associations were found between strength and rate of torque development (0.71-0.94). Despite high correlations between strength and rate of torque development, rate of torque development failed to provide significant value to regression models that already contained strength. Assessment of isometric rate of torque development with hand-held dynamometry is reliable following stroke, however isometric strength demonstrated greater relationships with gait velocity. Further research should examine the relationship between dynamic measures of muscle strength/torque and gait after stroke. Copyright © 2018 Elsevier Ltd. All rights reserved.

Two-Finger Tightness: What Is It? Measuring Torque and Reproducibility in a Simulated Model.

PubMed

Acker, William B; Tai, Bruce L; Belmont, Barry; Shih, Albert J; Irwin, Todd A; Holmes, James R

2016-05-01

Residents in training are often directed to insert screws using "two-finger tightness" to impart adequate torque but minimize the chance of a screw stripping in bone. This study seeks to quantify and describe two-finger tightness and to assess the variability of its application by residents in training. Cortical bone was simulated using a polyurethane foam block (30-pcf density) that was prepared with predrilled holes for tightening 3.5 × 14-mm long cortical screws and mounted to a custom-built apparatus on a load cell to capture torque data. Thirty-three residents in training, ranging from the first through fifth years of residency, along with 8 staff members, were directed to tighten 6 screws to two-finger tightness in the test block, and peak torque values were recorded. The participants were blinded to their torque values. Stripping torque (2.73 ± 0.56 N·m) was determined from 36 trials and served as a threshold for failed screw placement. The average torques varied substantially with regard to absolute torque values, thus poorly defining two-finger tightness. Junior residents less consistently reproduced torque compared with other groups (0.29 and 0.32, respectively). These data quantify absolute values of two-finger tightness but demonstrate considerable variability in absolute torque values, percentage of stripping torque, and ability to consistently reproduce given torque levels. Increased years in training are weakly correlated with reproducibility, but experience does not seem to affect absolute torque levels. These results question the usefulness of two-finger tightness as a teaching tool and highlight the need for improvement in resident motor skill training and development within a teaching curriculum. Torque measuring devices may be a useful simulation tools for this purpose.

The Effect of Aging on the Accuracy of New Friction-Style Mechanical Torque Limiting Devices for Dental Implants

PubMed Central

Saboury, Aboulfazl; Sadr, Seyed Jalil; Fayaz, Ali; Mahshid, Minoo

2013-01-01

Objective: High variability in delivering the target torque is reported for friction-style mechanical torque limiting devices (F-S MTLDs). The effect of aging (number of use) on the accuracy of these devices is not clear. The purpose of this study was to assess the effect of aging on the accuracy (±10% of the target torque) of F-S MTLDs. Materials and Methods: Fifteen new F-S MTLDs and their appropriate drivers from three different implant manufacturers (Astra Tech, Biohorizon and Dr Idhe), five for each type, were selected. The procedure of peak torque measurement was performed in ten sequences before and after aging. In each sequence, ten repetitions of peak torque values were registered for the aging procedure. To measure the output of each device, a Tohnichi torque gauge was used. Results: Before aging, peak torque measurements of all the devices tested in this study falled within 10% of their preset target values. After aging, a significant difference was seen between raw error values of three groups of MTLDs (P<0.05). More than 50% of all peak torque measurements demonstrated more than 10% difference from their torque values after aging. Conclusion: Within the limitation of this study, aging as an independent factor affects the accuracy of F-S MTLDs. Astra Tech MTLDs presented the most consistent torque output for 25 Ncm target torque. PMID:23724202

The effects of two torque values on the screw preload of implant-supported prostheses with passive fit or misfit.

PubMed

Al-Otaibi, Hanan Nejer; Akeel, Riyadh Fadul

2014-01-01

To determine the effect of increased torque of the abutment screw and retorquing after 10 minutes on implant-supported fixed prostheses. Two strain gauges (SGs) were attached to four implants stabilized on an acrylic resin mandible. Four implant-supported frameworks were constructed to represent passive fit (PF) and different amounts of misfit (MF1, MF2, and MF3). Vertical misfit was measured using a traveling microscope. Each framework was torqued to 35 Ncm (the manufacturer's recommendation) and 40 Ncm, and the preload was recorded immediately and again after retorquing 10 minutes later (torque stage). The smallest gap was observed under the PF framework. Three-way analysis of variance revealed significant effects of the framework, torque value, and torque stage on preload. The PF showed the highest mean preload under both torque values. An independent-sample t test between the torque values revealed a statistically significant difference only for MF1 and MF2. A dependent-sample t test of the torque stage revealed a statistically significant difference at a torque value of 35 Ncm under the PF and MF3 frameworks. Increasing the torque value beyond the manufacturer's recommended amount and retorquing of the screws at 10 minutes after the initial torque did not necessarily lead to a significant increase in preload in full-arch implant-supported fixed prostheses, particularly under non-passively fitting frameworks.

Knudsen effects in a Scott effect experiment.

NASA Technical Reports Server (NTRS)

Wells, C. W.; Wood, L. T.; Hildebrandt, A. F.

1973-01-01

A thermal torque sometimes observed in Scott effect measurements has been studied experimentally and an explanation for the thermal torque proposed. The magnitude of the thermal torque can be comparable to the Scott torque depending on geometrical and thermal anisotropies. The thermal torque is predicted to decrease with application of an axial magnetic field.

Design and control of the phase current of a brushless dc motor to eliminate cogging torque

NASA Astrophysics Data System (ADS)

Jang, G. H.; Lee, C. J.

2006-04-01

This paper presents a design and control method of the phase current to reduce the torque ripple of a brushless dc (BLDC) motor by eliminating cogging torque. The cogging torque is the main source of torque ripple and consequently of speed error, and it is also the excitation source to generate the vibration and noise of a motor. This research proposes a modified current wave form, which is composed of main and auxiliary currents. The former is the conventional current to generate the commutating torque. The latter generates the torque with the same magnitude and opposite sign of the corresponding cogging torque at the given position in order to eliminate the cogging torque. Time-stepping finite element method simulation considering pulse-width-modulation switching method has been performed to verify the effectiveness of the proposed method, and it shows that this proposed method reduces torque ripple by 36%. A digital-signal-processor-based controller is also developed to implement the proposed method, and it shows that this proposed method reduces the speed ripple significantly.

Evaluation Method for Fieldlike-Torque Efficiency by Modulation of the Resonance Field

NASA Astrophysics Data System (ADS)

Kim, Changsoo; Kim, Dongseuk; Chun, Byong Sun; Moon, Kyoung-Woong; Hwang, Chanyong

2018-05-01

The spin Hall effect has attracted a lot of interest in spintronics because it offers the possibility of a faster switching route with an electric current than with a spin-transfer-torque device. Recently, fieldlike spin-orbit torque has been shown to play an important role in the magnetization switching mechanism. However, there is no simple method for observing the fieldlike spin-orbit torque efficiency. We suggest a method for measuring fieldlike spin-orbit torque using a linear change in the resonance field in spectra of direct-current (dc)-tuned spin-torque ferromagnetic resonance. The fieldlike spin-orbit torque efficiency can be obtained in both a macrospin simulation and in experiments by simply subtracting the Oersted field from the shifted amount of resonance field. This method analyzes the effect of fieldlike torque using dc in a normal metal; therefore, only the dc resistivity and the dimensions of each layer are considered in estimating the fieldlike spin-torque efficiency. The evaluation of fieldlike-torque efficiency of a newly emerging material by modulation of the resonance field provides a shortcut in the development of an alternative magnetization switching device.

A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors

PubMed Central

Hwang, Beomsoo; Jeon, Doyoung

2015-01-01

In exoskeletal robots, the quantification of the user’s muscular effort is important to recognize the user’s motion intentions and evaluate motor abilities. In this paper, we attempt to estimate users’ muscular efforts accurately using joint torque sensor which contains the measurements of dynamic effect of human body such as the inertial, Coriolis, and gravitational torques as well as torque by active muscular effort. It is important to extract the dynamic effects of the user’s limb accurately from the measured torque. The user’s limb dynamics are formulated and a convenient method of identifying user-specific parameters is suggested for estimating the user’s muscular torque in robotic exoskeletons. Experiments were carried out on a wheelchair-integrated lower limb exoskeleton, EXOwheel, which was equipped with torque sensors in the hip and knee joints. The proposed methods were evaluated by 10 healthy participants during body weight-supported gait training. The experimental results show that the torque sensors are to estimate the muscular torque accurately in cases of relaxed and activated muscle conditions. PMID:25860074

Studies of torsional properties of DNA and nucleosomes using angular optical trapping

NASA Astrophysics Data System (ADS)

Sheinin, Maxim Y.

DNA in vivo is subjected to torsional stress due to the action of molecular motors and other DNA-binding proteins. Several decades of research have uncovered the fascinating diversity of DNA transformations under torsion and the important role they play in the regulation of vital cellular processes such as transcription and replication. Recent studies have also suggested that torsion can influence the structure and stability of nucleosomes---basic building blocks of the eukaryotic genome. However, our understanding of the impact of torsion is far from being complete due to significant experimental challenges. In this work we have used a powerful single-molecule experimental technique, angular optical trapping, to address several long-standing issues in the field of DNA and nucleosome mechanics. First, we utilized the high resolution and direct torque measuring capability of the angular optical trapping to precisely measure DNA twist-stretch coupling. Second, we characterized DNA melting under tension and torsion. We found that torsionally underwound DNA forms a left-handed structure, significantly more flexible compared to the regular B-DNA. Finally, we performed the first comprehensive investigation of the single nucleosome behavior under torque and force. Importantly, we discovered that positive torque causes significant dimer loss, which can have implications for transcription through chromatin.

Two-Body Convection in the Mantle of the Earth: E/W Asymmetry, Under Astronomically Determined Tilt in g

NASA Astrophysics Data System (ADS)

Bostrom, R. C.

2002-12-01

Under purely geocentric gravity, over time displacement under mantle convection is globally symmetrical, resulting in zero net lithosphere rotation. The effect is here explored of substituting the asymmetric Earth-Moon field, gconv, prevalent in actuality. The gravity responsible for mantle convection is defined as the vector sum of a vertical component and the day-averaged attraction of masses lagging tidal equilibrium. The increasingly accurately measured lunar recession may then be used to delimit the internal field in terms of the secular luni-tidal interval of the Earth as a whole, some 600 seconds [1], without having to identify tidal components i.e. separate marine from body tides. In context the astronomic phase-lag may be viewed as a global isostatic anomaly, in which the longitude circles marking Earth's gravimetric figure are located east of those describing its perpetually unattained equilibrium figure by some 89 km at the Equator. Reference the hydrostatic ellipsoid gconv is tilted by the astronomically delimited amount, albeit that the phase lag is attributable in part to the convection itself. As with the convection, the tectonic significance of its asymmetry is determinable geodetically. Using present art-state a strategically located GPS grid [2] would provide continuously more precise separation of the asymmetric component of surface displacement. In developing plate-motion models including members of the Nuvel series, it would be logical to follow up rather than discard the set permitting minor asymmetrical convection sans net torque, such as an element of net-lithosphere-rotation relative to plumes. To conserve system angular-momentum, this may be the only valid set. Characteristics of the convection to be expected accord with 'paradoxical' features of plate tectonics under purely radial gravity, including: difficulty in closing plate-motion circuits; net-lithosphere-rotation refce. hot-spots, sans net torque; geotectonic maps ranging from Wegener to the present day [3], identifying a 'global tectonic polarity'; and westward drift, of which the asymmetry may be regarded as its engine. In sum, Earth's mantle is subject to three non-reversing force systems acting in the direction of causing net surface-west horizontal displacement, namely: I, Weak and tectonically insignificant forces ('tidal drag'), in unison constituting GH Darwin's tidal retarding couple; II, The forces inducing cumulative vorticity (TVI) [4] in an imperfectly elastic mantle, under passage of tidal M2. The operation of this system is ineluctable, and based on stress and energy consumption is likely to be significant, but its quantification requires separation of the marine from the bodily tidal energy dissipation utilizing secondary effects [4,5]; and III, Buoyancy-forces under convection now recognized as fundamental in geotectonics; - as normally modeled, greatly superadiabatic and dissipative, but within a field gconv minutely west-tilted, rather than artifically devoid of the Moon. Asymmetry of its internal gravity is unique to the asynchronous member of Kuiper's Earth-Moon double planet. The asymmetry distinguishes Earth's steady-state convection from the episodic regime of its moonless and almost non-rotating 'identical twin', Venus. Refs: [1] Tuoma, J. and J. Wisdom, 1994. Astron. J. 108(5) 1943-1961. [2] RCB, 2002. Episodes: J. Int. Geosc. 25(3), in pr. [3] Doglioni, C., 1993. J. Geol. Soc. 150, 991-1002. [4] RCB, 2000. Tectonic Consequences of Earth's Rotation (Oxford UP) s.4.3. [5] Lambeck, K., 1988. Geophysical Geodesy: The Slow Deformations of the Earth (Oxford UP) s. 11.3.

Heat engine and electric motor torque distribution strategy for a hybrid electric vehicle

DOEpatents

Boberg, Evan S.; Gebby, Brian P.

1999-09-28

A method is provided for controlling a power train system for a hybrid electric vehicle. The method includes a torque distribution strategy for controlling the engine and the electric motor. The engine and motor commands are determined based upon the accelerator position, the battery state of charge and the amount of engine and motor torque available. The amount of torque requested for the engine is restricted by a limited rate of rise in order to reduce the emissions from the engine. The limited engine torque is supplemented by motor torque in order to meet a torque request determined based upon the accelerator position.

Do changes in neuromuscular activation contribute to the knee extensor angle-torque relationship?

PubMed

Lanza, Marcel B; Balshaw, Thomas G; Folland, Jonathan P

2017-08-01

What is the central question of the study? Do changes in neuromuscular activation contribute to the knee extensor angle-torque relationship? What is the main finding and its importance? Both agonist (quadriceps) and antagonist coactivation (hamstrings) differed with knee joint angle during maximal isometric knee extensions and thus both are likely to contribute to the angle-torque relationship. Specifically, two independent measurement techniques showed quadriceps activation to be lower at more extended positions. These effects might influence the capacity for neural changes in response to training and rehabilitation at different knee joint angles. The influence of joint angle on knee extensor neuromuscular activation is unclear, owing in part to the diversity of surface electromyography (sEMG) and/or interpolated twitch technique (ITT) methods used. The aim of the study was to compare neuromuscular activation, using rigorous contemporary sEMG and ITT procedures, during isometric maximal voluntary contractions (iMVCs) of the quadriceps femoris at different knee joint angles and examine whether activation contributes to the angle-torque relationship. Sixteen healthy active men completed two familiarization sessions and two experimental sessions of isometric knee extension and knee flexion contractions. The experimental sessions included the following at each of four joint angles (25, 50, 80 and 106 deg): iMVCs (with and without superimposed evoked doublets); submaximal contractions with superimposed doublets; and evoked twitch and doublet contractions whilst voluntarily passive, and knee flexion iMVC at the same knee joint positions. The absolute quadriceps femoris EMG was normalized to the peak-to-peak amplitude of an evoked maximal M-wave, and the doublet-voluntary torque relationship was used to calculate activation with the ITT. Agonist activation, assessed with both normalized EMG and the ITT, was reduced at the more extended compared with the more flexed positions (25 and 50 versus 80 and 106 deg; P ≤ 0.016), whereas antagonist coactivation was greatest in the most flexed compared with the extended positions (106 versus 25 and 50 deg; P ≤ 0.02). In conclusion, both agonist and antagonist activation differed with knee joint angle during knee extension iMVCs, and thus both are likely to contribute to the knee extensor angle-torque relationship. © 2017 The Authors. Experimental Physiology © 2017 The Physiological Society.

The overuse of the implant motor: effect on the output torque in overloading condition.

PubMed

Lee, Du-Hyeong; Cho, Sung-Am; Lee, Cheong-Hee; Lee, Kyu-Bok

2015-06-01

The overloading of the motor affects its performance. The output torque of the implant motor under overloading condition has not been reported. The purpose of this study was to determine the reliability and the tendency of the output torque when an implant motor is consecutively used. Three implant motors were evaluated: SurgicXT/X-SG20L (NSK), INTRAsurg300/CL3-09 (KaVo), and XIP10/CRB26LX (Saeshin). The output torque was measured using an electronic torque gauge fixed with jigs. For the 40 and 50 Ncm torque settings, 300 measurements were taken at 30 rpm. Repeated measures of analysis of variance (ANOVA) and one-way ANOVA were used to compare the torque values within each group and between the groups. As repeating measures, the output torque values decreased gradually compared with the baseline. In within-group analysis, the different torque value from the first measurement appeared earliest in NSK motor, followed in order by Saeshin and KaVo motors. NSK motor showed a different torque decrease between 40 and 50 Ncm settings (p < .05). Intergroup analysis revealed Saeshin motor to have the least deviation from the baseline, followed by KaVo motor. NSK motor had the most inconsistent torque at the 6, 8, 9, and 10 repeat counts (p < .05). The actual torque decreases when the surgical motor is continuously used. The NSK motor showed more significant decreases in torque than KaVo and Saeshin motors in overloading condition. © 2014 Wiley Periodicals, Inc.

Effectiveness of the surgical torque limiter: a model comparing drill- and hand-based screw insertion into locking plates.

PubMed

Ioannou, Christopher; Knight, Matthew; Daniele, Luca; Flueckiger, Lee; Tan, Ezekiel S L

2016-10-17

The objective of this study is to analyse the effectiveness of the surgical torque limiter during operative use. The study also investigates the potential differences in torque between hand and drill-based screw insertion into locking plates using a standardised torque limiter. Torque for both hand and power screw insertion was measured through a load cell, registering 6.66 points per second. This was performed in a controlled environment using synthetic bone, a locking plate and locking screws to simulate plate fixation. Screws were inserted by hand and by drill with torque values measured. The surgical torque limiter (1.5 Nm) was effective as the highest recorded reading in the study was 1.409 Nm. Comparatively, there is a statistically significant difference between screw insertion methods. Torque produced for manually driven screw insertion into locking plates was 1.289 Nm (95 % CI 1.269-1.308) with drill-powered screw insertion at 0.740 Nm (95 % CI 0.723-0.757). The surgical torque limiter proved to be effective as per product specifications. Screws inserted under power produce significantly less torque when compared to manual insertion by hand. This is likely related to the mechanism of the torque limiter when being used at higher speeds for which it was designed. We conclude that screws may be inserted using power to the plate with the addition of a torque limiter. It is recommended that all screws inserted by drill be hand tightened to achieve adequate torque values.